Ultra-wide angle and coaxial visual fusion laser tracking break light recovery device and method

Abstract

This invention discloses a laser tracking light-loss recovery device and method that integrates ultra-wide-angle and coaxial vision. The device includes a laser tracking two-dimensional turntable, an ultra-wide-angle vision camera, a coaxial vision camera, and a control unit. The ultra-wide-angle vision camera, rotating with the hollow rotating platform, achieves large-area environmental imaging and coarse target positioning. Then, using a monocular camera mounted at a fixed angle to the laser incident direction within the coaxial vision camera, combined with a pitch motor to adjust the tracking mirror angle, coaxial alignment with the laser optical axis is indirectly achieved, completing the fine target positioning. Infrared light source modulation, angle calculation, and deviation compensation are employed to achieve fully automatic light-loss recovery from large-area search to high-precision alignment. This invention achieves coarse positioning through ultra-wide-angle vision and reuses the tracking mirror in conjunction with monocular vision for fine positioning. While reducing system hardware complexity, it achieves fully automatic, high-precision light-loss recovery over a wide field of view without relying on prior target distance information.

Description

Technical Field

[0001] This invention relates to a laser tracking light-loss recovery device, and to the field of laser tracking measurement technology and instruments, specifically to a laser tracking light-loss recovery device and method that integrates ultra-wide-angle and coaxial vision. Background Technology

[0002] Laser trackers, as core equipment for large-scale spatial coordinate precision measurement, play a crucial role in the manufacturing of large components, equipment assembly, and testing. They achieve high-precision dynamic tracking measurement by emitting a laser beam and receiving reflected light from a target mirror. However, in actual operation, factors such as environmental obstructions and human operation can cause the laser beam to deviate from the target mirror, resulting in light loss. In this case, it is necessary to realign the laser beam and the target mirror to restore tracking. Current methods for light loss recovery mainly rely on two approaches: manual guidance and machine vision guidance. Manual guidance depends on the operator's experience, is inefficient, and is easily affected by subjective factors; machine vision guidance, on the other hand, achieves automatic recovery through image recognition and servo control, demonstrating significant advantages. Current vision guidance methods can be mainly divided into the following two categories: One type of monocular vision-based technique typically mounts the camera and laser optical axis coaxially, calculating the recovery angle by identifying the offset of the target mirror in the image. However, this method has significant limitations: to ensure the target mirror remains stable in the image under different distance conditions, the camera's visual axis and the laser optical axis must be precisely coaxial. This requirement usually means that the camera's optical path must be shared with or coupled to the laser's optical path, making the system structure more complex and significantly increasing the difficulty of optical path debugging and mechanical installation.

[0003] Another approach is based on binocular vision technology, such as using two cameras symmetrically arranged on both sides of the pitch and rotation axis of a two-dimensional turntable. By constructing a virtual imaging plane to decouple distance variables, this approach effectively overcomes the inherent limitations of monocular systems to some extent. However, this scheme still requires the installation of two sets of cameras and corresponding tracking mirrors on both sides of the turntable, which complicates the system structure, increases costs, and places higher demands on system calibration.

[0004] Of particular concern is the limited field of view of current visual guidance methods. Once the target mirror leaves the field of view, manual intervention is still required for approximate aiming, making it difficult to achieve light loss recovery under large-scale conditions. To address these issues, there is an urgent need to develop a light loss recovery method and device with a simpler structure, a wider field of view, stronger anti-interference capabilities, and no reliance on prior distance information, in order to achieve fully automated, large-scale tracking recovery capabilities for laser-tracked two-dimensional turntables in complex industrial environments. Summary of the Invention

[0005] To address the problems existing in the background technology, this invention provides a laser tracking light-loss recovery device and method that integrates ultra-wide-angle and coaxial vision. This invention is a laser tracking light-loss recovery device and method with a simplified structure, wide field of view, and strong anti-interference capability. It introduces ultra-wide-angle vision for coarse positioning and reuses the rotating mirror of a two-dimensional turntable in conjunction with coaxial monocular vision for fine positioning. It does not rely on prior target distance information, achieving fully automatic and high-precision light-loss recovery within a wide field of view.

[0006] The technical solution adopted in this invention is: I. A laser tracking device for light loss recovery that combines ultra-wide-angle and coaxial vision: The device includes a base, a laser-tracking 2D turntable, a laser source, a pitch motor, a hollow rotating platform, a tracking mirror, a target mirror, an ultra-wide-angle vision camera, a coaxial vision camera, and a control unit. The laser-tracking 2D turntable, the hollow rotating platform rotating around a vertical axis, and the base are installed sequentially from top to bottom. The bottom of the laser-tracking 2D turntable and the top of the base have vertical through holes, a first through hole and a second through hole, respectively, that are coaxial with the hollow rotating platform. A viewing window is provided on one side of the laser-tracking 2D turntable. The tracking mirror is installed inside the laser-tracking 2D turntable and directly above the first through hole. The two ends of the central axis of the tracking mirror are hinged to the inner wall of the laser-tracking 2D turntable by horizontal support rods. The body of the pitch motor is installed on the outer side of the laser-tracking 2D turntable near the viewing window. The output shaft of the pitch motor is synchronously connected to one end of the support rod to control the rotation of the tracking mirror around its central axis. The target mirror is located outside the laser tracking 2D turntable and faces the tracking mirror inside the viewing window. It is located within the field of view of the ultra-wide-angle vision camera equipped with an ultra-wide-angle visual infrared illumination source. The ultra-wide-angle vision camera is mounted on the top surface of the laser tracking 2D turntable and faces the target mirror. The coaxial vision camera equipped with a coaxial visual infrared illumination source is mounted on the inner top surface of the laser tracking 2D turntable and faces the tracking mirror. The laser source is installed in the device base and is located directly below the second through hole. The laser optical axis of the laser source is coaxial with the hollow rotating platform. The laser tracking 2D turntable, laser source, pitch motor, hollow rotating platform, ultra-wide-angle vision camera, and coaxial vision camera are all electrically connected to the control unit.

[0007] The control unit includes a data processing main control module and a motor drive control module electrically connected to a host computer. The data processing main control module is electrically connected to a laser light source, an ultra-wide-angle vision camera, and a coaxial vision camera. The motor drive control module is electrically connected to a pitch motor and a hollow rotating platform. The host computer controls the motor drive control module to drive the pitch motor to rotate the tracking mirror, so that the line of sight of the ultra-wide-angle vision camera is coplanar with the laser beam emitted from the laser light source and reflected after reaching the tracking mirror. At the same time, it coordinates with the hollow rotating platform to rotate the laser tracking two-dimensional turntable, so that the target mirror is always located at the horizontal center of the wide-angle image captured by the ultra-wide-angle vision camera, and vertically located at the center of the wide-angle image. The image should be near the center of the angular image. The coaxial vision camera's line of sight is perpendicular to the horizontal axis and intersects with the tracking mirror at the origin of the measurement coordinate system of the laser tracking 2D turntable. The line of sight of the coaxial vision camera and the laser beam emitted from the laser source form a preset angle 2α. When the pitch motor is controlled to rotate the tracking mirror by angle α, the line of sight of the coaxial vision camera, after being reflected by the tracking mirror, remains coaxial with the optical axis of the laser source within the working area of ​​the coaxial vision camera. Furthermore, when the laser beam after reflection is aligned with the target mirror, the pitch motor is controlled to rotate the tracking mirror by angle α. The target mirror is always located in the exact center of the monocular image captured by the coaxial vision camera, thus completing the installation of the device.

[0008] II. A method for recovering light loss using a laser tracking light loss recovery device that integrates ultra-wide-angle and coaxial vision, comprising: Step 1) When the laser beam emitted by the laser source fails to hit the target mirror after being reflected by the tracking mirror, the light is interrupted. The infrared beams emitted by the ultra-wide-angle visual infrared illumination source and the coaxial visual infrared illumination source are modulated, and the first position and the second position of the target mirror are obtained by the ultra-wide-angle visual camera and the coaxial visual camera, respectively.

[0009] Step 2) Establish the light-loss recovery rotation angle model for the ultra-wide-angle vision camera and the coaxial vision camera. Based on the first and second positions of the target mirror and the light-loss recovery rotation angle model, the compensated light-loss recovery rotation angle is obtained after compensation of the light-loss recovery rotation angle.

[0010] Step 3) By controlling the rotation angle of the ultra-wide-angle vision camera and the coaxial vision camera to recover from light loss, the laser beam emitted by the laser source is reflected by the tracking mirror and then incident on the target mirror, thus recovering the light loss.

[0011] In step 1), coarse positioning is first performed by modulating the ultra-wide-angle visual infrared illumination source with a square wave, emitting a first infrared beam through the ultra-wide-angle visual infrared illumination source. The target mirror receives the first infrared beam and returns along the same path. The ultra-wide-angle visual camera receives the returned first infrared beam and acquires a first foreground image and a first background image at one of the adjacent peaks and troughs of the modulated wave, respectively. The difference is calculated to obtain a first frame difference image, and then the first position of the target mirror in the image coordinate system of the first frame difference image is obtained, which is located on the imaging plane of the ultra-wide-angle visual camera. Then, fine positioning is performed by modulating the coaxial visual infrared illumination source with a square wave, emitting a second infrared beam through the coaxial visual infrared illumination source. The target mirror receives the second infrared beam and returns along the same path. The coaxial visual camera receives the returned second infrared beam and acquires a second foreground image and a second background image at one of the adjacent peaks and troughs of the modulated wave, respectively. The difference is calculated to obtain a second frame difference image, and then the second position of the target mirror in the image coordinate system of the second frame difference image is obtained, which is located on the imaging plane of the coaxial visual camera.

[0012] In step 2), compensation for the rotation angle during light outage recovery is performed. First, the ultra-wide-angle vision camera is calibrated and corrected using a general polynomial projection model. Then, a deviation compensation method based on the image zero-point coordinates is used to obtain the compensated light outage recovery rotation angle of the ultra-wide-angle vision camera, including the azimuth rotation angle θ of the ultra-wide-angle vision camera. WX and compensate for pitch and rotation angle θ´ WY Then, the compensated rotation angle for light loss recovery of the coaxial vision camera is obtained, including the compensated azimuth rotation angle θ´ of the coaxial vision camera. CX and compensate for pitch and rotation angle θ´ CY .

[0013] The aforementioned deviation compensation method based on image zero-point coordinates specifically involves first calibrating the vertical zero point of the ultra-wide-angle vision camera. C WY This allows for the confirmation of the first zero-point position of the target mirror on the imaging plane of the ultra-wide-angle vision camera. C WX , C WY The first zero point position and the principal point of the ultra-wide-angle vision camera ( c x , c y The target mirror is approximately coincident; as the ultra-wide-angle vision camera rotates with the hollow rotating platform, the target mirror is acquired at any first position on the imaging plane of the ultra-wide-angle vision camera. P WX , P WY A wide-angle correction model is established as follows:

[0014] in, P´ WY The first position of the corrected target mirror on the imaging plane of the ultra-wide-angle vision camera. Y W Coordinates along the axis; c x and c y These are the x and y axis coordinates of the principal point of the ultra-wide-angle vision camera; f W The focal length of the lens for an ultra-wide-angle vision camera; For angle parameters.

[0015] The first position and the first zero point position of the target mirror on the imaging plane of the ultra-wide-angle vision camera are set at... X W Coordinates in the axial direction C WX The common input to the ultra-wide-angle correction model is processed and output as the first position of the corrected ultra-wide-angle vision camera. P WX , P´ WY Then, the first position of the corrected ultra-wide-angle vision camera ( P WX , P´ WY ) and the first zero point position on the imaging plane of the ultra-wide-angle vision camera ( C WX , C WY The input model for recovering the rotation angle after light outage of the ultra-wide-angle vision camera is processed and output as the compensated rotation angle after light outage of the ultra-wide-angle vision camera.

[0016] The vertical zero point of the ultra-wide-angle vision camera is calibrated. C WY Specifically, when the reflected laser beam is at the pitch measurement zero point of the laser tracking 2D turntable, the target mirror is aligned with the reflected laser beam. The vertical position of the target mirror in the image is taken at the nearest and farthest detection distance positions of the ultra-wide-angle vision camera, and the midpoint between the two vertical positions is taken as the vertical zero point of the ultra-wide-angle vision camera. C WY .

[0017] In step 3), firstly, light loss recovery is performed on the ultra-wide-angle vision camera, based on the azimuth rotation angle θ of the ultra-wide-angle vision camera. WX and compensate for pitch and rotation angle θ´ WY The pitch motor and the hollow rotary platform are controlled to rotate by the first angle respectively.θ´ pitch Second angle θ´ yaw The details are as follows:

[0018]

[0019] Where, θ Z The angle of the hollow rotating platform is when the laser beam is located at the pitch measurement zero point of the laser tracking two-dimensional turntable.

[0020] In step 3), after performing light loss recovery on the ultra-wide-angle vision camera, light loss recovery is then performed on the coaxial vision camera, based on the compensated azimuth rotation angle θ´ of the coaxial vision camera. CX and compensate for pitch and rotation angle θ´ CY The pitch motor and the hollow rotary platform are controlled to rotate by a third angle respectively. θ pitch and the fourth angle θ yaw The details are as follows:

[0021]

[0022] This invention achieves wide-area environmental imaging and coarse target positioning using an ultra-wide-angle vision camera that rotates with a hollow rotating platform. Then, by utilizing a monocular camera mounted at a fixed angle to the laser incident direction within a coaxial vision camera, combined with a pitch motor to adjust the tracking mirror angle, coaxial alignment with the laser optical axis is indirectly achieved, completing the fine target positioning. Infrared light source modulation, angle calculation, and deviation compensation are employed to achieve fully automatic light-loss recovery from wide-area search to high-precision alignment. This invention achieves coarse positioning through ultra-wide-angle vision and reuses the tracking mirror in conjunction with monocular vision for fine positioning. While reducing system hardware complexity, it achieves fully automatic, high-precision light-loss recovery over a wide field of view without relying on prior target distance information.

[0023] The beneficial effects of this invention are: 1) This invention reuses the original tracking mirror of the laser tracking two-dimensional turntable to support coaxial vision. Compared with the binocular vision method, it eliminates the need for two additional sets of tracking mirrors and their adjustment mechanisms, which significantly reduces the complexity, size and cost of the hardware.

[0024] 2) This invention achieves an ultra-wide field of view search by using an ultra-wide-angle camera, which can cope with situations where the target mirror deviates significantly from the laser beam. It uses coaxial vision to directly measure the angular deviation of the target mirror relative to the laser optical axis. The calculation of the recovery angle is independent of the distance to the target mirror, avoiding complex nonlinear modeling and truly realizing fully automatic large-scale light loss recovery.

[0025] 3) This invention constructs a target mirror position deviation model for an ultra-wide-angle vision module and a coaxial vision module, and compensates for the servo angle error caused by factors such as the divergence angle of the illumination source and camera lens distortion. This enables accurate calculation of the servo angle for light-out recovery when the target mirror distance parameter is unknown.

[0026] In summary, this invention enables rapid, autonomous, and highly reliable autonomous laser alignment of a laser-tracking two-dimensional turntable under conditions of unknown distance, complex lighting, and large offset light interruption, significantly improving the measurement efficiency and continuous operation capability of the laser tracking measurement system. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the measurement and light-out recovery states of the device of the present invention, wherein, Figure 1 (a) is a schematic diagram of the measurement state of the device of the present invention. Figure 1 (b) is a schematic diagram of the light-out recovery state of the device of the present invention; Figure 2 This is a schematic diagram illustrating the dynamic indirect coaxiality between the visual axis of the coaxial vision camera and the laser optical axis of the present invention. Figure 3 This is a two-level positioning model diagram of the laser tracking light-loss recovery method of the present invention; Figure 4 This is a schematic diagram illustrating the calculation principle of the azimuth and pitch rotation angles in the laser tracking light-loss recovery method of the present invention. In the diagram: 1. Laser source, 2. Pitch motor, 3. Hollow rotating platform, 4. Tracking mirror, 5. Target mirror, 6. Ultra-wide-angle vision camera, 7. Coaxial vision camera, 8. Ultra-wide-angle vision infrared illumination source, 9. Coaxial vision infrared illumination source, 10. Data processing main control module, 11. Motor drive control module, 12. Host computer. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1As shown, the ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery device used in the specific implementation of this invention includes a device base, a laser tracking two-dimensional turntable, a laser source 1, a pitch motor 2, a hollow rotating platform 3, a tracking rotating mirror 4, a target mirror 5, an ultra-wide-angle vision camera 6, a coaxial vision camera 7, and a control unit. The laser tracking two-dimensional turntable, the hollow rotating platform 3 rotating around a vertical axis, and the device base are installed sequentially from top to bottom. The bottom of the laser tracking two-dimensional turntable and the top of the device base are respectively provided with a vertical first through hole and a second through hole that are coaxial with the hollow rotating platform 3. A viewing window is provided on one side of the laser tracking two-dimensional turntable; the tracking rotating mirror 4... The tracking mirror 4 is installed inside the laser tracking 2D turntable and directly above the first through hole. The two ends of its central axis are hinged to the inner wall of the turntable via horizontal support rods. The body of the pitch motor 2 is mounted on the outer side of the turntable near the viewing window. The output shaft of the pitch motor 2 is synchronously connected to one end of the support rod to control the rotation of the tracking mirror 4 around its central axis. The target mirror 5 is located outside the laser tracking 2D turntable and faces the tracking mirror 4 within the viewing window. It is within the field of view of the ultra-wide-angle vision camera 6, which is equipped with an ultra-wide-angle visual infrared illumination source 8. The ultra-wide-angle vision camera 6 is mounted on the top surface of the laser tracking 2D turntable and faces the target mirror. During installation, the line of sight of the ultra-wide-angle vision camera 6 does not need to be strictly parallel to the pitch angle measurement reference plane of the laser tracking 2D turntable, i.e., the laser reference plane when the pitch angle is zero degrees. A certain installation angle is allowed. The ultra-wide-angle vision camera 6 rotates with the hollow rotating platform 3 to perform large-area imaging of the surrounding environment. The coaxial vision camera 7, equipped with a coaxial vision infrared illumination source 9, is installed on the inner top surface of the laser tracking 2D turntable and faces the tracking mirror 4. Both the ultra-wide-angle vision camera 6 and the coaxial vision camera 7 are located directly above the tracking mirror 4. The ultra-wide-angle vision infrared illumination source 8 is installed at the position of the ultra-wide-angle vision camera 6 and faces its line of sight. The coaxial visual infrared illumination source 9 is installed at the position of the coaxial visual camera 7 and faces its visual axis. The ultra-wide-angle visual infrared illumination source 8 and the coaxial visual infrared illumination source 9 can be ring light sources and are electrically connected to their respective cameras. The laser source 1 is installed in the device base and is located directly below the second through hole. The laser optical axis of the laser source 1 is coaxial with the hollow rotating platform 3. The laser beam emitted from the laser source 1 passes through the second through hole, the hollow rotating platform 3 and the first through hole in sequence and is emitted to the tracking rotating mirror 4. The laser tracking two-dimensional turntable, the laser source 1, the pitch motor 2, the hollow rotating platform 3, the ultra-wide-angle visual camera 6 and the coaxial visual camera 7 are all electrically connected to the control unit.

[0030] The control unit includes a data processing main control module 10 and a motor drive control module 11 electrically connected to the host computer 12. The data processing main control module 10 is electrically connected to the laser light source 1, the ultra-wide-angle vision camera 6, and the coaxial vision camera 7. The motor drive control module 11 is electrically connected to the pitch motor 2 and the hollow rotating platform 3. The host computer 12 controls the motor drive control module 11 to drive the pitch motor 2 to rotate the tracking mirror 4, so that the line of sight of the ultra-wide-angle vision camera 6 is coplanar with the laser beam emitted from the laser light source 1 and reflected after reaching the tracking mirror 4. At the same time, it coordinates the control of the hollow rotating platform 3 to rotate the laser tracking two-dimensional turntable, so that the target mirror 5 is always located in the horizontal center of the wide-angle image captured by the ultra-wide-angle vision camera 6, and in the vertical direction near the center of the wide-angle image. The visual axis of the coaxial vision camera 7 is perpendicular to the horizontal axis and intersects with the tracking mirror 4 at the origin of the measurement coordinate system of the laser tracking 2D turntable. The visual axis of the coaxial vision camera 7 is at a preset angle 2α with the laser beam emitted from the laser source 1. To avoid the coaxial vision camera 7 blocking the measurement range of the laser beam, the preset angle is about 180°. When the pitch motor 2 is controlled to rotate the tracking mirror 4α, the visual axis of the coaxial vision camera 7, after being reflected by the tracking mirror 4, remains coaxial with the optical axis of the laser source 1 within the working area of ​​the coaxial vision camera 7. Furthermore, when the laser beam after reflection from the laser source 1 is aligned with the target mirror 5, the pitch motor 2 is controlled to rotate the tracking mirror 4α. The target mirror 5 is always located in the center of the monocular image captured by the coaxial vision camera 7, and the device installation is complete. The data processing main control module 10 is connected to the ultra-wide-angle vision module, the coaxial vision module, and the laser tracking 2D turntable servo drive system, respectively, and is used for image processing, target mirror recognition, angle calculation, and control command generation to complete the light loss recovery.

[0031] The device of this invention also defines the X-axis, Y-axis, Z-axis, and origin O of the measurement coordinate system of the laser-tracking two-dimensional turntable. The line of sight of the ultra-wide-angle vision camera 6 is parallel to the XOZ plane, the reference plane for pitch angle measurement defined by the laser-tracking two-dimensional turntable, and is coplanar with OZ. The line of sight of the coaxial vision camera 7 forms a specific angle with the direction YO in front of the laser incident tracking turntable 4, specifically opposite to the direction in front of the laser incident tracking turntable 4, and passes through the origin O of the measurement coordinate system of the laser-tracking two-dimensional turntable and is coplanar with the YOZ plane, the reference plane for azimuth angle measurement of the laser-tracking two-dimensional turntable. The ultra-wide-angle vision infrared illumination source 8 and the coaxial vision infrared illumination source 9 are respectively mounted around the ultra-wide-angle vision camera 6 and the coaxial vision camera 7, so that the first infrared beam and the second infrared beam reflected back from the target mirror 5 reflect a uniform light spot contour of the target mirror 5.

[0032] The ultra-wide-angle vision camera 6 and its matching ultra-wide-angle vision infrared illumination source 8 constitute the ultra-wide-angle vision module. During installation, the optical axis AW of the ultra-wide-angle vision camera 6 must be parallel to the pitch angle measurement reference plane XOZ (i.e., the laser reference plane when the pitch angle is zero degrees) defined by the laser-tracking two-dimensional turntable and coplanar with OZ. Simultaneously, its optical center should be positioned as close as possible in space to the origin O of the measurement coordinate system of the laser-tracking two-dimensional turntable. This installation method aims to reduce system calibration and calculation errors, and in particular, significantly improves the accuracy of the light-break recovery angle calculated by the ultra-wide-angle vision camera 6 when measuring the target mirror 5 at close range.

[0033] The coaxial vision camera 7 and its matching coaxial vision infrared illumination source 9 constitute the coaxial vision module. The coaxial vision module is fixedly mounted on the laser tracking two-dimensional turntable and rotates as a whole with the hollow rotating platform 3. Its viewing axis direction is at a specific angle to the direction in front of the laser incident tracking mirror 4 (for example, opposite to the direction in front of the laser incident tracking mirror 4). By controlling the hollow rotating platform 3 to rotate by a corresponding angle (90° when reversed), the camera optical axis can be made to remain coaxial with the laser output optical axis in the working area after being reflected by the mirror surface of the tracking mirror 4.

[0034] like Figure 1 As shown in (a), when the tracking mirror 4 is in the measurement state, the laser beam emitted by the laser source 1 is reflected by the tracking mirror 4 and then incident on the target mirror 5. The laser beam returning from the target mirror 5 returns to the laser source 1, thus realizing target tracking and spatial coordinate measurement. Figure 1 As shown in (b), after the tracking mirror 4 rotates 90°, it operates in the light-out recovery state. The visual axis of the coaxial vision camera 7 and the second infrared beam from the coaxial vision infrared illumination source 9 are reflected by the tracking mirror 4 and then incident on the front working area of ​​the laser tracking two-dimensional turntable to identify the position of the target mirror 5 and realize the light-out recovery.

[0035] The target mirror image acquired by the ultra-wide-angle vision camera 6 is processed by the data processing main control module 10 to calculate the azimuth rotation angle θ. WX and pitch and rotation angle θ WY The signal is then sent to the motor drive control module 11 to control the azimuth motor 3 to rotate θ. WX Angle, control the pitch motor 2 to rotate to θ WY The laser beam is coarsely tracked at an angle of / 2+90°, bringing the target mirror 5 into the field of view of the coaxial vision module. Then, the fine tracking stage begins. The target mirror image acquired by the coaxial vision camera 7 is processed by the data processing main control module 10 to calculate a higher-precision azimuth rotation angle θ. CX and pitch and rotation angle θ CY The signal is then sent to the motor drive control module 11 to control the azimuth motor 3 to rotate θ. CX Angle, controlling the rotation θ of the pitch motor 2CY The laser beam is precisely tracked from 2 to 90 degrees, ensuring accurate alignment between the laser beam and the target mirror, thus completing the tracking recovery. The main control module 10 for data processing interacts with the host computer 12.

[0036] like Figure 2 As shown, this illustrates the principle of dynamic indirect coaxiality between the visual axis and the laser optical axis of the coaxial vision module used in a specific embodiment of the present invention, wherein A C ´ represents the optical axis of the coaxial vision camera 7 before reflection by the untracked rotating mirror 4, A L The optical axis of the laser beam before reflection by the tracking mirror 4 is defined. The coaxial vision module consists of a coaxial vision camera 7 and its matching coaxial vision infrared illumination source 9. During installation, the following condition must be met: the optical axis A of the coaxial vision camera 7 before reflection by the tracking mirror 4 is defined. C The axis of rotation is perpendicular to the axis of rotation of the pitch motor 2 and intersects the origin O of the measurement coordinate system of the laser tracking 2D turntable; its direction is the same as the optical axis A of the laser beam before it is reflected by the tracking mirror 4. L The directions of the laser beam and the target sphere 5 are at a specific angle (approximately 180° is recommended to avoid the camera obstructing the laser beam measurement range). By controlling the pitch motor 2 to rotate the coaxial vision camera 7's line of sight before reflection by the tracking mirror 4 by half the angle α between the direction of the line of sight and the direction of the laser beam incident on the tracking mirror 4, the line of sight of the coaxial vision camera 7 can be kept coaxial with the laser optical axis within the working area after reflection by the tracking mirror 4. After installation, when the laser beam is aligned with the target sphere 5, controlling the pitch motor 2 to rotate half the angle α should ensure that the target sphere 5 is located in the center of the image of the coaxial vision camera 7. Even if there is a deviation in camera installation, or if the design requires a certain angle between the initial line of sight and the laser incident direction, it can still be compensated by adjusting the rotation angle of the pitch motor 2, thereby achieving the above alignment effect.

[0037] Specifically, the coaxial vision module is fixedly mounted on a laser-tracking two-dimensional turntable. Dynamic indirect coaxial alignment with the laser optical axis is achieved by controlling the hollow rotating platform 3 to rotate at a corresponding angle. Specifically, the coaxial vision camera 7 is installed so that its viewing axis, before reflection by the tracking mirror 4, forms a specific angle with the YO direction and passes through the origin O of the laser-tracking two-dimensional turntable's measurement coordinate system, coplanar with the YOZ plane, the reference plane for azimuth angle measurement of the two-dimensional turntable. By controlling the hollow rotating platform 3 to rotate at a specific angle (90° in the reverse direction), the optical axis A of the coaxial vision camera 7, after reflection by the tracking mirror 4, can be aligned. C The camera remains coaxial with the laser optical axis M within the working area. When there is a deviation in camera installation or design requirements, even if there is a certain angle between its initial line of sight and the incident direction of the laser optical axis M, it can still be compensated by adjusting the rotation angle of the hollow rotating platform 3, thereby achieving dynamic indirect coaxial alignment with the laser optical axis M.

[0038] The installation method of the ultra-wide-angle vision camera 6 is designed to reduce system calibration and calculation errors, and can significantly improve the accuracy of the light-break recovery angle calculated by the ultra-wide-angle vision camera 6 when the target mirror 5 is measured at close range; it also makes the optical center of the ultra-wide-angle vision camera 6 as close as possible to the origin of the measurement coordinate system of the laser tracking two-dimensional turntable; and when the coaxial vision camera 7 is installed, even if there is a deviation in the installation of the coaxial vision camera 7, or if there is a certain angle between its initial line of sight and the laser incident direction due to design requirements, it can still be compensated by adjusting the rotation angle of the pitch motor 2, thereby achieving the above alignment effect.

[0039] The method for restoring light loss in the ultra-wide-angle and coaxial vision fusion laser tracking light loss recovery device of the present invention comprises the following specific implementation steps: Step 1) When the laser beam emitted by the laser source 1 is reflected by the tracking mirror 4 and does not hit the target mirror 5, the light is cut off. The infrared beams emitted by the ultra-wide-angle visual infrared illumination source 8 and the coaxial visual infrared illumination source 9 are modulated, and the first position and the second position of the target mirror 5 are obtained by the ultra-wide-angle visual camera 6 and the coaxial visual camera 7, respectively. In specific implementation, coarse positioning is first performed by modulating the ultra-wide-angle visual infrared illumination source 8 with a square wave, emitting a first infrared beam. The target mirror 5 receives the first infrared beam and returns along the same path. The ultra-wide-angle visual camera 6 receives the returned first infrared beam and acquires a first foreground image and a first background image at one of the adjacent peaks and troughs of the modulated wave, respectively. The difference is calculated to obtain a first frame difference image, and then the first position of the target mirror 5 in the image coordinate system of the first frame difference image is obtained, which is located on the imaging plane of the ultra-wide-angle visual camera 6. Then, fine positioning is performed by modulating the coaxial visual infrared illumination source 9 with a square wave, emitting a second infrared beam. The target mirror 5 receives the second infrared beam and returns along the same path. The coaxial visual camera 7 receives the returned second infrared beam and acquires a second foreground image and a second background image at one of the adjacent peaks and troughs of the modulated wave, respectively. The difference is calculated to obtain a second frame difference image, and then the second position of the target mirror 5 in the image coordinate system of the second frame difference image is obtained, which is located on the imaging plane of the coaxial visual camera 7.

[0040] like Figure 3 As shown, this is a two-level positioning model of the ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery method used in a specific implementation of the present invention, wherein A W For the optical axis of the ultra-wide-angle vision camera 6, A CZ For the pitch zero-point optical axis of coaxial vision camera 7, A C For the optical axis of the coaxial vision camera 7, R W For the detection field of view of the ultra-wide-angle vision camera 6, R C For the detection field of view of coaxial vision camera 7, θ WYP is the pitch and rotation angle calculated for the ultra-wide-angle vision camera 6, and P is the intersection point where the optical axis of the ultra-wide-angle vision camera 6 enters the detection field of view of the coaxial vision camera 7.

[0041] The optical axis A of the ultra-wide-angle vision camera 6 W With the pitch zero optical axis A of the coaxial vision camera 7 CZ Parallel and intersecting at infinity. After the ultra-wide-angle vision camera 6 acquires images of the target mirror 5, the pitch and rotation angle θ of the ultra-wide-angle vision camera 6 is calculated. WY Control the pitch motor 2 to rotate to θ. WY / 2+90° angle, so that the pitch zero point optical axis A of the coaxial vision camera 7 CZ Rotate to the optical axis A of the coaxial vision camera 7 C At this point, the target mirror 5 appears in the detection field of view R of the coaxial vision camera 7. C Within this range, the coarse pitch localization based on the ultra-wide-angle visual camera 6 is now complete. The effective coarse localization range of the ultra-wide-angle visual camera 6 is from the optical axis A of the ultra-wide-angle visual camera 6. W Starting from the intersection point P of the detection field of view of the coaxial vision camera 7, the effective distance extends to infinity, far away from the laser-tracked 2D turntable. This effective distance depends on the distance between the optical center of the ultra-wide-angle vision camera 6 and the origin O of the measurement coordinate system of the laser-tracked 2D turntable, as well as the detection field of view R of the coaxial vision camera 7. C Size.

[0042] Within the range from the intersection point P of the optical axis of the ultra-wide-angle vision camera 6 and the detection field of view of the coaxial vision camera 7 to the laser-tracking 2D turntable, rotate the ultra-wide-angle vision camera 6 to calculate the pitch rotation angle θ. WY / 2+90°, the target mirror 5 cannot be made to appear in the detection field of view R of the coaxial vision camera 7. C Internally, it is necessary to establish a deviation model between the target mirror 5 distance and the marker zero point to calculate the pitch rotation angle θ of the ultra-wide-angle vision camera 7. WY Compensation is performed to achieve a detection field of view R of the ultra-wide-angle vision camera 7. W Coarse positioning across the entire range.

[0043] An ultra-wide-angle vision camera 6 is fixedly mounted on a laser-tracking two-dimensional turntable, rotating synchronously with the hollow rotating platform 3. Its optical axis A... W The XOZ plane is parallel to the pitch angle measurement reference plane defined by the laser-tracking two-dimensional turntable, and lies in the same plane as OZ. The azimuth rotation angle θ is calculated by the ultra-wide-angle vision camera 6 by controlling the rotation of the hollow rotating platform 3. WX This allows the target mirror 5 to enter the detection field of view R of the coaxial vision camera 7. C This enables coarse orientation positioning based on the ultra-wide-angle vision camera 6.

[0044] like Figure 4 The figure shows the rotation angle calculation model of the coaxial vision module in the laser tracking light-loss recovery method using ultra-wide-angle and coaxial vision fusion in a specific implementation of the present invention, where M is the laser optical axis and C is the laser optical axis. C The zero point position of target mirror 5, O C Let R be the current position of the target mirror 5 on the imaging plane of the coaxial vision camera 7, and let θ be the optical center of the coaxial vision camera 7. CX The orientation rotation angle of the coaxial vision camera 7, θ CY d represents the pitch and rotation angle of the coaxial vision camera 7. X For X C Directional target mirror offset, d Y For Y C Directional target mirror offset.

[0045] The rotation angle model for recovering from light outage is the same as that in patent CN120103364B. The rotation angle for recovering from light outage includes azimuth rotation angle and pitch rotation angle, as detailed below: The rotation angle for light recovery in the ultra-wide-angle vision camera 6 is as follows:

[0046]

[0047] in, and These are the azimuth and pitch rotation angles of the ultra-wide-angle vision camera 6, respectively. P WX and P WY The first position of the target mirror 5 is located on the imaging plane of the ultra-wide-angle vision camera 6. X W Axial direction and Y W Coordinates along the axis; C WX and C WY The first zero-point position of the target mirror 5 is located on the imaging plane of the ultra-wide-angle vision camera 6. X W Axial direction and Y W The coordinates along the axis, the first zero point position is the position of the laser spot located at infinity on the imaging plane of the ultra-wide-angle vision camera 6 when the laser beam emitted by the laser source 1 is reflected by the tracking rotating mirror 4 and incident on the target mirror 5. p W The distance coefficient from the imaging plane coordinates of the calibrated ultra-wide-angle vision camera 6 to the actual measurement space; f WThis refers to the focal length of the lens of the Ultra Wide Angle Vision Camera 6.

[0048] The current position O of the target mirror 5 on the imaging plane of the coaxial vision camera 7. C The zero point position C of the target mirror 5 C Obtained in X C Directional target mirror offset d X and in Y C Directional target mirror offset d Y Then calculate the azimuth rotation angle θ CX and pitch and rotation angle θ CY ,as follows:

[0049]

[0050] in, and These are the azimuth rotation angle and pitch rotation angle of the coaxial vision camera 7, respectively. P CX and P CY The second position of the target mirror 5 is located on the imaging plane of the coaxial vision camera 7. X C Axial direction and Y C Coordinates along the axis; C CX and C CY The second zero-point position of the target mirror 5 is located on the imaging plane of the coaxial vision camera 7. X C Axial direction and Y C The coordinates along the axis, the second zero point position is the position of the laser spot located at infinity on the imaging plane of the coaxial vision camera 7 when the laser beam emitted by the laser source 1 is reflected by the tracking rotating mirror 4 and incident on the target mirror 5. p C The distance coefficient from the imaging plane coordinates of the calibrated coaxial vision camera 7 to the actual measurement space; f C This refers to the focal length of the lens of the coaxial vision camera 7.

[0051] Step 2) Establish the light-loss recovery rotation angle model for the ultra-wide-angle vision camera 6 and the coaxial vision camera 7. Based on the first and second positions of the target mirror 5 and the light-loss recovery rotation angle model, the compensated light-loss recovery rotation angle is obtained after compensation. In specific implementation, when compensating for the light-loss recovery rotation angle, the ultra-wide-angle vision camera 6 is first calibrated and corrected using a general polynomial projection model, thereby correcting the image of the ultra-wide-angle vision camera 6 into a perspective projection image. At this time, the relationship between the image coordinate system and the camera coordinate system can be described by the pinhole model. The essence of this problem is the rotation coordinate transformation of a rigid body around a fixed axis. Addressing the issue of non-constant deviation of the target mirror 5 in the YW axis direction of the imaging plane when the ultra-wide-angle vision camera 6 rotates with the hollow rotating platform 3, the compensated light-loss recovery rotation angle of the ultra-wide-angle vision camera 6, including the azimuth rotation angle θ of the ultra-wide-angle vision camera 6, is obtained using a deviation compensation method based on the image zero-point coordinates. WX and compensate for pitch and rotation angle θ´ WY Then, the compensated light-loss recovery rotation angle of the coaxial vision camera 7 is obtained, including the compensated azimuth rotation angle θ´ of the coaxial vision camera 7. CX and compensate for pitch and rotation angle θ´ CY .

[0052] The positional deviation model between the coaxial vision camera 7 and the target mirror 5 is constructed in the same way as in patent CN120103364B. Utilizing the precise angle readings provided by the laser tracker's angle grating, the motor is controlled to advance at precise angle steps. The error between the calculated angle and the step angle of the coaxial vision camera 7 is observed, establishing a linear relationship model between the position of the target mirror 5 and the calculated angle error. This compensates for the deviation in calculating the rotation angle for light recovery caused by the illumination light divergence angle. After compensation, the compensated azimuth rotation angle θ´ of the target mirror 5 is obtained. CX and compensate for pitch and rotation angle θ´ CY .

[0053] The deviation compensation method based on image zero-point coordinates specifically involves first calibrating the vertical zero point of the ultra-wide-angle vision camera 6. C WY This confirms the first zero-point position of the target mirror 5 on the imaging plane of the ultra-wide-angle vision camera 6. C WX , C WY The first zero point position and the principal point of the ultra-wide-angle vision camera 6 c x , c y Approximately coincident; as the ultra-wide-angle vision camera 6 rotates with the hollow rotating platform 3, the target mirror 5 is acquired at any first position on the imaging plane of the ultra-wide-angle vision camera 6. PWX , P WY A wide-angle correction model is established as follows:

[0054] in, P´ WY The first position of the corrected target mirror 5 on the imaging plane of the ultra-wide-angle vision camera 6 Y W Coordinates along the axis; c x and c y These are the x and y axis coordinates of the principal point of the ultra-wide-angle vision camera 6; f W The focal length of the lens for the Ultra Wide Angle Vision Camera 6; For angle parameters.

[0055] The first position and the first zero point position of the target mirror 5 on the imaging plane of the ultra-wide-angle vision camera 6 are determined. X W Coordinates in the axial direction C WX The first position of the ultra-wide-angle vision camera 6 is output after processing in the common input ultra-wide-angle correction model. P WX , P´ WY ,use P WX , P´ WY Instead of using the original coordinates, the rotation angle for light-out recovery is calculated, effectively suppressing the YW axis coordinate deviation introduced by the camera's rotation with the yaw motor, thus ensuring the accuracy of the light-out recovery angle. This compensation method is particularly suitable for rotation tracking scenarios under ultra-wide-angle lenses with large field of view, improving the stability and accuracy of laser tracking guidance; then, the first position of the corrected ultra-wide-angle vision camera 6 is... P WX , P´ WY The first zero point position on the imaging plane of the ultra-wide-angle vision camera 6 C WX , C WY Input the light-out recovery rotation angle model of the ultra-wide-angle vision camera 6, and output the compensated light-out recovery rotation angle of the ultra-wide-angle vision camera 6 after processing.

[0056] Calibrate the vertical zero point of the ultra-wide-angle vision camera 6 C WY Specifically as follows: The ultra-wide-angle vision camera 6 rotates together with the hollow rotating platform 3. Its viewing axis and the axis of the reflected laser beam rotate synchronously around the same rotation axis, always remaining parallel and coplanar. Therefore, the target mirror 5 remains fixed at the zero point position in the horizontal direction of the image coordinate system. In the pitch direction, since the ultra-wide-angle vision camera 6 remains stationary when the pitch motor 2 rotates, it is necessary to first calibrate the angle of the pitch motor 2 as the zero point angle θ when the reflected laser beam is located at the pitch measurement zero point of the laser tracking two-dimensional turntable. Z Meanwhile, although the viewing axis of the ultra-wide-angle vision camera 6 and the reflected laser beam are coplanar in the pitch direction, they are not coaxial. This structural feature causes the zero-point position of the target mirror 5 in the vertical direction of the image coordinate system to shift with changes in target distance. To ensure that the calculated angular deviation is evenly distributed across the entire detection range, when the reflected laser beam is at the pitch measurement zero point of the laser tracking 2D turntable, the target mirror 5 is aligned with the reflected laser beam. The vertical positions of the target mirror 5 in the image are taken at the closest and farthest detection distance positions of the ultra-wide-angle vision camera 6, and the midpoint between the two vertical positions is taken as the vertical zero point of the ultra-wide-angle vision camera 6. C WY .

[0057] Step 3) By controlling the rotation angle of the ultra-wide-angle vision camera 6 and the coaxial vision camera 7 to recover from light loss, the laser beam emitted by the laser source 1 is reflected by the tracking rotating mirror 4 and then incident on the target mirror 5, thus recovering the light loss. In specific implementation, light loss recovery is first performed on the ultra-wide-angle vision camera 6, based on the azimuth rotation angle θ of the ultra-wide-angle vision camera 6. WX and compensate for pitch and rotation angle θ´ WY The pitch motor 2 and the hollow rotary platform 3 are controlled to rotate by the first angle respectively. θ´ pitch Second angle θ´ yaw The details are as follows:

[0058]

[0059] Where, θ Z The angle of the hollow rotating platform 3 is when the laser beam is located at the pitch measurement zero point of the laser tracking two-dimensional turntable.

[0060] This puts the tracking mirror 4 into a light-off recovery state, causing the target mirror 5 to appear within the field of view of the coaxial vision camera 7, thus completing coarse tracking of the target mirror 5. The pitch motor 2 is set so that the rotation direction of the laser beam as it rises is the direction of angle increase.

[0061] The light-out recovery rotation angle for the coaxial vision camera 7 is the same as that in patent CN120103364B; after performing light-out recovery on the ultra-wide-angle vision camera 6, light-out recovery is then performed on the coaxial vision camera 7, based on the compensated azimuth rotation angle θ´ of the coaxial vision camera 7. CX and compensate for pitch and rotation angle θ´ CY The pitch motor 2 and the hollow rotary platform 3 are controlled to rotate by a third angle respectively. θ pitch and the fourth angle θ yaw The details are as follows:

[0062]

[0063] Specifically, during the recovery from light outage, the two-dimensional turntable, which is driven by laser tracking, is first activated based on the azimuth angle θ calculated by the ultra-wide-angle vision module. WX The hollow rotating platform 3 is controlled to rotate, achieving coarse horizontal positioning. Simultaneously, the pitch angle θ calculated by this module... WY Based on the relationship that the laser pitch angle in the optical path is twice the motor rotation angle, the pitch motor 2 is driven to rotate to θ. WY An angle of / 2+α is used to complete coarse tracking of the laser beam, bringing the target mirror 5 into the field of view of the coaxial vision module. α is determined by a specific angle between the direction of the line of sight of the coaxial vision camera 7 of the coaxial vision module before reflection by the tracking mirror 4 and the direction YO in front of the laser incident tracking mirror 4. When the direction of the line of sight of the coaxial vision camera 7 of the coaxial vision module before reflection by the tracking mirror 4 is opposite to the direction YO in front of the laser incident tracking mirror 4, α is 90°.

[0064] Then, the process moves to the fine tracking stage. This involves calculating a higher-precision azimuth angle θ based on the coaxial vision module. CX The hollow rotating platform 3 is controlled to perform precise tracking. Simultaneously, based on its pitch angle θ... CY Drive the pitch motor 2 to rotate to θ CY / 2-α angle. This operation returns the tracking mirror 4 to the precise measurement state, ultimately achieving precise alignment of the laser beam with the target mirror 5, and completing the tracking recovery.

[0065] The above specific embodiments are used to explain and illustrate the present invention, but not to limit the present invention. Any modifications and changes made to the present invention within the spirit and scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A laser tracking light-loss recovery device that combines ultra-wide-angle and coaxial vision, characterized in that: The device includes a base, a laser-tracking two-dimensional turntable, a laser source (1), a pitch motor (2), a hollow rotating platform (3), a tracking mirror (4), a target mirror (5), an ultra-wide-angle vision camera (6), a coaxial vision camera (7), and a control unit. The laser-tracking two-dimensional turntable, the hollow rotating platform (3) rotating around a vertical axis, and the device base are installed sequentially from top to bottom. The bottom of the laser-tracking two-dimensional turntable and the top of the device base are respectively provided with a first through hole and a second through hole that are coaxial with the hollow rotating platform (3). A viewing window is opened on one side of the laser-tracking two-dimensional turntable. The tracking mirror (4) is installed inside the laser-tracking two-dimensional turntable and is located directly above the first through hole. The two ends of the central axis of the tracking mirror (4) are hinged to the inner wall of the laser-tracking two-dimensional turntable by horizontal support rods. The body of the pitch motor (2) is installed on the outer side of the laser-tracking two-dimensional turntable near the viewing window. The output shaft of the machine (2) is synchronously connected to one end of the support rod; the target mirror (5) is located outside the laser tracking two-dimensional turntable and faces the tracking mirror (4) inside the viewing window, and is located within the field of view of the ultra-wide-angle vision camera (6) equipped with an ultra-wide-angle visual infrared illumination source (8). The ultra-wide-angle vision camera (6) is installed on the top surface of the laser tracking two-dimensional turntable and faces the target mirror (5). The coaxial vision camera (7) equipped with a coaxial visual infrared illumination source (9) is installed on the inner top surface of the laser tracking two-dimensional turntable and faces the tracking mirror (4); the laser source (1) is installed in the device base and is located directly below the second through hole. The laser optical axis of the laser source (1) is coaxial with the hollow rotating platform (3); the laser tracking two-dimensional turntable, the laser source (1), the pitch motor (2), the hollow rotating platform (3), the ultra-wide-angle vision camera (6), and the coaxial vision camera (7) are all electrically connected to the control unit.

2. The ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery device according to claim 1, characterized in that: The control unit includes a data processing main control module (10) and a motor drive control module (11) electrically connected to the host computer (12). The data processing main control module (10) is electrically connected to the laser light source (1), the ultra-wide-angle vision camera (6), and the coaxial vision camera (7). The motor drive control module (11) is electrically connected to the pitch motor (2) and the hollow rotating platform (3). The host computer (12) controls the motor drive control module (11) to drive the pitch motor (2) to rotate the tracking mirror (4), so that the line of sight of the ultra-wide-angle vision camera (6) is coplanar with the laser beam reflected after the laser light source (1) is emitted to the tracking mirror (4). At the same time, the hollow rotating platform (3) is coordinated to rotate the laser tracking two-dimensional turntable, so that the target mirror (5) is always located in the wide field of view captured by the ultra-wide-angle vision camera (6). The horizontal center of the angular image; the visual axis of the coaxial vision camera (7) is perpendicular to the horizontal axis and intersects with the tracking mirror (4) at the origin of the measurement coordinate system of the laser tracking two-dimensional turntable. The visual axis of the coaxial vision camera (7) and the laser beam emitted from the laser source (1) are at a preset angle 2α. When the pitch motor (2) is controlled to rotate the tracking mirror (4) by an angle α, the visual axis of the coaxial vision camera (7) is reflected by the tracking mirror (4) and remains coaxial with the optical axis of the laser source (1) within the working area of ​​the coaxial vision camera (7). When the laser beam reflected by the laser source (1) is aligned with the target mirror (5), the pitch motor (2) is controlled to rotate the tracking mirror (4) by an angle α. The target mirror (5) is always located in the center of the monocular image captured by the coaxial vision camera (7), and the device installation is completed.

3. The light-loss recovery method of the ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery device according to any one of claims 1-2, characterized in that, include: Step 1) When the laser beam emitted by the laser source (1) is reflected by the tracking mirror (4) and does not hit the target mirror (5), the light is cut off. The infrared beams emitted by the ultra-wide-angle visual infrared illumination source (8) and the coaxial visual infrared illumination source (9) are modulated, and the first position and the second position of the target mirror (5) are obtained by the ultra-wide-angle visual camera (6) and the coaxial visual camera (7) respectively. Step 2) Establish the light-loss recovery rotation angle model of the ultra-wide-angle vision camera (6) and the coaxial vision camera (7). Based on the first and second positions of the target mirror (5) and the light-loss recovery rotation angle model, the compensated light-loss recovery rotation angle is obtained after compensation of the light-loss recovery rotation angle. Step 3) By controlling the rotation angle of the ultra-wide-angle vision camera (6) and the coaxial vision camera (7) to recover the light interruption, the ultra-wide-angle vision camera (6) and the coaxial vision camera (7) are rotated, and then the laser beam emitted by the laser source (1) is reflected by the tracking rotating mirror (4) and incident on the target mirror (5), thus recovering the light interruption.

4. The light-loss recovery method of the ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery device according to claim 3, characterized in that: In step 1), coarse positioning is first performed by modulating the ultra-wide-angle visual infrared illumination source (8) with a square wave and emitting a first infrared beam through the ultra-wide-angle visual infrared illumination source (8). The target mirror (5) receives the first infrared beam and returns along the original path. The ultra-wide-angle visual camera (6) receives the returned first infrared beam and acquires the first foreground image and the first background image at one of the adjacent peaks and troughs of the modulation wave, respectively. After subtracting, the first frame difference image is obtained, and then the first position of the target mirror (5) in the image coordinate system of the first frame difference image is obtained. Then, fine positioning is performed by modulating the coaxial visual infrared illumination source (9) with a square wave and emitting a second infrared beam through the coaxial visual infrared illumination source (9). The target mirror (5) receives the second infrared beam and returns along the original path. The coaxial visual camera (7) receives the returned second infrared beam and acquires the second foreground image and the second background image at one of the adjacent peaks and troughs of the modulation wave, respectively. After subtracting, the second frame difference image is obtained, and then the second position of the target mirror (5) in the image coordinate system of the second frame difference image is obtained.

5. The light-loss recovery method of the ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery device according to claim 3, characterized in that: In step 2), compensation for the rotation angle during light outage recovery is performed. First, the ultra-wide-angle vision camera (6) is calibrated and corrected using a polynomial projection model. Then, the compensation rotation angle for light outage recovery of the ultra-wide-angle vision camera (6) is obtained using a deviation compensation method based on the image zero-point coordinates, including the azimuth rotation angle θ of the ultra-wide-angle vision camera (6). WX and compensate for pitch and rotation angle θ´ WY Then, the compensated light-loss recovery rotation angle of the coaxial vision camera (7) is obtained, including the compensated azimuth rotation angle θ´ of the coaxial vision camera (7). CX and compensate for pitch and rotation angle θ´ CY .

6. The light-loss recovery method of the ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery device according to claim 5, characterized in that: The aforementioned deviation compensation method based on image zero-point coordinates specifically involves first calibrating the vertical zero point of the ultra-wide-angle vision camera (6). C WY This confirms the first zero-point position of the target mirror (5) on the imaging plane of the ultra-wide-angle vision camera (6). C WX , C WY ); As the ultra-wide-angle vision camera (6) rotates with the hollow rotating platform (3), the first position of the target mirror (5) on the imaging plane of the ultra-wide-angle vision camera (6) is obtained. P WX , P WY A wide-angle correction model is established as follows: in, P´ WY The first position of the corrected target mirror (5) on the imaging plane of the ultra-wide-angle vision camera (6) Y W Coordinates along the axis; c x and c y The x and y coordinates of the principal point of the ultra-wide-angle vision camera (6) are respectively. f W The focal length of the lens of the ultra-wide-angle vision camera (6); For angle parameters; The first position and the first zero point position of the target mirror (5) on the imaging plane of the ultra-wide-angle vision camera (6) are set at... X W Coordinates in the axial direction C WX In the common input ultra-wide-angle correction model, the first position of the processed and corrected ultra-wide-angle vision camera (6) is output. P WX , P´ WY ); then the first position of the corrected ultra-wide-angle vision camera (6) ( P WX , P´ WY The first zero point position on the imaging plane of the ultra-wide-angle vision camera (6) and the ultra-wide-angle vision camera (6) C WX , C WY The light-out recovery rotation angle model of the ultra-wide-angle vision camera (6) is input, and the compensated light-out recovery rotation angle of the ultra-wide-angle vision camera (6) is output after processing.

7. The light-loss recovery method of the ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery device according to claim 6, characterized in that: The vertical zero point of the ultra-wide-angle vision camera (6) is calibrated. C WY Specifically, when the reflected laser beam is at the pitch measurement zero point of the laser tracking two-dimensional turntable, the target mirror (5) is aligned with the reflected laser beam. The vertical position of the target mirror (5) in the image is taken at the nearest and farthest detection distance positions of the ultra-wide-angle vision camera (6), and the midpoint of the two vertical positions is taken as the vertical zero point of the ultra-wide-angle vision camera (6). C WY .

8. The light-loss recovery method of the ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery device according to claim 5, characterized in that: In step 3), firstly, light loss recovery is performed on the ultra-wide-angle visual camera (6), based on the azimuth rotation angle θ of the ultra-wide-angle visual camera (6). WX and compensate for pitch and rotation angle θ´ WY The pitch motor (2) and the hollow rotary platform (3) are controlled to rotate by the first angle respectively. θ´ pitch Second angle θ´ yaw The details are as follows: Where, θ Z Let be the angle of the hollow rotating platform (3) when the laser beam is located at the pitch measurement zero point of the laser tracking two-dimensional turntable.

9. The light-loss recovery method of the ultra-wide-angle and coaxial vision fusion laser tracking light-loss recovery device according to claim 5, characterized in that: In step 3), after performing light loss recovery on the ultra-wide-angle vision camera (6), light loss recovery is then performed on the coaxial vision camera (7), based on the compensated azimuth rotation angle θ´ of the coaxial vision camera (7). CX and compensate for pitch and rotation angle θ´ CY The pitch motor (2) and the hollow rotary platform (3) are controlled to rotate by a third angle respectively. θ pitch and the fourth angle θ yaw The details are as follows: 。

Images