CN114942014A - Direct-injection laser tracker, target tracking recovery method, device, and storage medium - Google Patents
Direct-injection laser tracker, target tracking recovery method, device, and storage medium Download PDFInfo
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Abstract
The utility model provides a direct-injection type laser tracker is applied to automatic control technical field, includes: the main part, position slewing mechanism with the main part rotates to be connected for control optics measuring mechanism position rotates, every single move slewing mechanism with position slewing mechanism connects for control optics measuring mechanism every single move rotates, optics measuring mechanism sets up on every single move slewing mechanism, optics measuring mechanism includes vision imaging module and laser range finding module, vision imaging module is used for shooing the current image that contains the target ball, the laser range finding module is used for launching the laser beam for the target ball, and measure and the target ball between the current distance value, the electric cabinet, be used for utilizing current distance value and current image to calculate the skew angle value between laser beam and the target ball, and rotate based on skew angle value control position slewing mechanism and every single move slewing mechanism. The disclosure also provides a target tracking recovery method, an electronic device and a storage medium.
Description
Technical Field
The present disclosure relates to the field of automatic control technologies, and in particular, to a direct-emitting laser tracker, a target tracking recovery method, an electronic device, and a storage medium.
Background
The laser tracker is widely applied to the field of on-site large-size space precision measurement, and when the laser tracker is used, a cooperative target is lost and tracking measurement is interrupted due to on-site sudden factors such as misoperation and shielding, so that the complicated guiding operation is required to be manually carried out by an operator, and the on-site measurement working efficiency of the laser tracker is seriously influenced.
The vision-based cooperative target ball detection and positioning is an effective solution for realizing the automatic control of the laser tracker and aligning the laser beam to the target ball. The prior art provides a method for identifying and positioning a cooperative target ball under a complex background based on a deep learning technology, but does not solve the relationship between a positioning value of a target in an image and the alignment of a laser beam on the cooperative target ball, and meanwhile, a convolutional neural network has large calculation amount and long calculation time and is not beneficial to system integration and engineering application. The prior art also provides a method for realizing visual target identification and positioning of a cooperative target based on an active infrared illumination method, focuses on a processing method of an infrared image, and provides a compensation method of a deviation angle of a system which is not coaxial, but does not mention a determination method of a reference center point in an identification process and a specific calculation method of the deviation angle, and meanwhile, the SLED has large heat dissipation capacity, cannot realize integration, can only be applied to principle experiments, and cannot form a product prototype.
Disclosure of Invention
The main object of the present disclosure is to provide a direct-projection laser tracker, a target tracking recovery method, an electronic device, and a storage medium, which have strong environmental adaptability and good system integration, and implement autonomous tracking measurement recovery of the laser tracker.
To achieve the above object, a first aspect of the embodiments of the present disclosure provides a direct-projection laser tracker, including:
a main body;
the azimuth rotating mechanism is rotationally connected with the main body and used for controlling the optical measuring mechanism to rotate in azimuth;
the pitching rotation mechanism is connected with the azimuth rotation mechanism and is used for controlling the optical measurement mechanism to pitch and rotate;
the optical measuring mechanism is arranged on the pitching rotating mechanism, when the pitching rotating mechanism and the azimuth rotating mechanism move, the optical measuring mechanism rotates at the same movement speed by the same angle, the optical measuring mechanism comprises a visual imaging module and a laser ranging module, the visual imaging module is used for shooting a current image containing the target ball, and the laser ranging module is used for transmitting a laser beam to the target ball and measuring a current distance value 1 between the laser ranging module and the target ball;
and the electric cabinet is used for calculating a deviation angle value beta between the laser beam and the target ball by using the current distance value 1 and the current image under the condition that the direct-injection laser tracker loses the event of tracking the target ball, and controlling the azimuth rotating mechanism and the pitching rotating mechanism to rotate based on the deviation angle value beta so as to enable the laser beam to be aligned with the target ball.
In an embodiment of the present disclosure, the optical measurement mechanism further includes:
an illumination module for illuminating the entire imaging field of view;
the laser ranging module is further used for measuring the distance between the laser ranging module and the target ball under the condition that the direct-projection laser tracker does not lose the event of tracking the target ball;
the visual imaging module is also used for shooting a plurality of images containing the target ball, and the distance between the target ball and the laser ranging module in each image is different;
and the electric control box is also used for determining the pixel coordinate values of the reference central point at different distances based on the plurality of pictures to obtain a corresponding relation table of the distances and the pixel coordinate values of the reference central point.
In an embodiment of the present disclosure, the illumination module, the vision imaging module and the laser ranging module are disposed in parallel and fixed relative to each other, so that the coverage of the vision imaging module viewing field is consistent with the emission direction of the laser beam.
In an embodiment of the present disclosure, the electric cabinet is specifically configured to, in case that the direct-projection laser tracker loses track of the target ball event,
receiving the current distance value 1 sent by the laser ranging module and the current image sent by the visual imaging module;
determining the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 )；
Searching the distance point j and the distance point k corresponding to the current distance value 1 and the pixel coordinate value (x) corresponding to the distance point j in the corresponding relation table j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k;
according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating the pixel coordinate value A of the reference center point under the current distance value 1 1 (x 1 ，y 1 )；
Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) And calculating the offset angle value beta between the laser beam and the target ball.
In an embodiment of the present disclosure, the pixel coordinate value (x) corresponding to the distance point j is described j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating the pixel coordinate value A of the reference center point under the current distance value 1 1 (x 1 ，y 1 ) The method comprises the following steps:
in an embodiment of the present disclosure, the utilizing the reference center pixel coordinate value a 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) Calculating the offset angle value β between the laser beam and the target ball comprises:
wherein f represents a focal length of the vision imaging module, and P represents the current coordinate value P 1 (x 1 ，y 1 ) A distance value from a center point of the vision imaging module in the vision imaging module coordinate system, a represents the reference center pixel coordinate value A 1 (x 1 ，y 1 ) A distance value from a center point of the vision imaging module in the vision imaging module coordinate system.
A second aspect of the embodiments of the present disclosure provides a target tracking recovery method, which is applied to the direct-injection laser tracker of the first aspect, including:
receiving a current distance value 1 sent by a laser ranging module and a current image sent by a visual imaging module;
under the condition that the direct-projection laser tracker has a target ball loss tracking event, calculating a deviation angle value beta between the laser beam and the target ball by using the current distance value 1 and the current image;
and controlling the azimuth rotating mechanism and the pitching rotating mechanism to rotate based on the offset angle value beta so as to enable the laser beam to be aligned with the target ball.
In an embodiment of the present disclosure, the calculating the deviation angle value β between the laser beam and the target ball using the current distance value 1 and the current image includes:
determining the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 )；
Searching the distance point j and the distance point k corresponding to the current distance value 1 and the pixel coordinate value (x) corresponding to the distance point j in the corresponding relation table j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k;
according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating the pixel coordinate value A of the reference center point under the current distance value 1 1 (x 1 ，y 1 )；
Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) And calculating the offset angle value beta between the laser beam and the target ball.
A third aspect of the embodiments of the present disclosure provides an electronic device, including:
the target tracking recovery method is characterized in that the target tracking recovery method provided by the first aspect of the embodiment of the present disclosure is implemented when the processor executes the program.
A fourth aspect of the embodiments of the present disclosure provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the target tracking recovery method provided in the first aspect of the embodiments of the present disclosure.
It can be known from the foregoing embodiments of the present disclosure that the direct-injection laser tracker, the target tracking recovery method, the electronic device, and the storage medium provided in the present disclosure avoid complicated coordinate system conversion and calibration while ensuring precision, and can achieve the effect of once calibration and multiple use. The method can avoid complex optical axis-visual axis calibration, avoid harsh requirements on the precision of an internal optical path and mechanical installation of a laser tracker, and improve the fault tolerance and robustness of the system.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a direct-emitting laser tracker according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an optical measurement mechanism according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram of a direct laser tracker according to an embodiment of the present disclosure in normal operation;
fig. 4 is a schematic diagram illustrating calibration of reference center pixel coordinate values at different distances according to an embodiment of the disclosure;
FIG. 5 is a schematic diagram of a direct laser tracker according to an embodiment of the present disclosure during abnormal operation;
fig. 6 is a schematic diagram illustrating a principle of calculating the offset angle β according to an embodiment of the disclosure;
fig. 7 is a schematic flowchart of a target tracking recovery method according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of an optical measurement mechanism according to an embodiment of the present disclosure.
Detailed Description
In order to make the objects, features and advantages of the present disclosure more apparent and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a direct-emitting laser tracker according to an embodiment of the present disclosure, the structure mainly includes:
a main body 1;
the azimuth rotating mechanism 2 is rotationally connected with the main body 1 and is used for controlling the optical measuring mechanism to rotate in azimuth;
the pitching rotation mechanism 3 is connected with the azimuth rotation mechanism 2 and is used for controlling the optical measurement mechanism to pitch and rotate;
the optical measuring mechanism 4 is arranged on the pitching rotating mechanism 3, when the pitching rotating mechanism 3 and the azimuth rotating mechanism 2 move, the optical measuring mechanism 4 rotates at the same movement speed by the same angle, the optical measuring mechanism 4 comprises a visual imaging module 6 and a laser ranging module 7, the visual imaging module 6 is used for shooting a current image containing a target ball, and the laser ranging module 7 is used for transmitting a laser beam to the target ball and measuring a current distance value 1 between the optical measuring mechanism and the target ball;
and the electric cabinet 5 is used for calculating a deviation angle value beta between the laser beam and the target ball by using the current distance value 1 and the current image under the condition that the direct-projection laser tracker loses a tracking target ball event, and controlling the azimuth rotating mechanism 2 and the pitching rotating mechanism 3 to rotate based on the deviation angle value beta so as to enable the laser beam to be aligned with the target ball.
In the present disclosure, for example, the visual imaging module 6 includes a camera and a lens, a light sensing range of the camera may include 850nm wavelength, and the lens includes a narrowband filter with 850nm wavelength, so that the lens has a better transmittance for light in a wavelength band near the 850nm wavelength, and has a better filtering function for light in other wavelength bands.
In an embodiment of the present disclosure, as shown in fig. 2, the optical measurement mechanism 4 further includes: an illumination module 8 for illuminating the entire imaging field of view; the laser ranging module 7 is also used for measuring the distance between the target ball and the direct-emitting laser tracker under the condition that the tracking target ball is not lost; the visual imaging module 6 is also used for shooting a plurality of images containing target balls, and the distances between the target balls in each image and the laser ranging module 7 are different; the electric cabinet 5 is further configured to determine pixel coordinate values of the reference center point at different distances based on the plurality of pictures, and obtain a correspondence table between the distances and the pixel coordinate values of the reference center point.
In the present disclosure, for example, the illumination module 8 may include 4 infrared LEDs of 850nm, the LEDs on the illumination module 8 are uniformly distributed around the lens of the visual imaging module 6, the divergence angle of the illumination light emitted by the 4 LEDs is larger than the lens field angle of the visual imaging module 6, that is, the illumination light source can cover the whole imaging field of view
In the present disclosure, the electric cabinet 5 can realize on-off control of the lighting module 8.
In the present disclosure, when the direct-projection laser tracker is working normally, i.e. no lost tracking event occurs, as shown in fig. 3, the laser beam will be directed to the target ball, and the pixel coordinate value of the target ball in the image captured by the vision imaging module 6 is the same as that of the target ballA i (x 0 ，y 0 ) The pixel coordinate point is the pixel coordinate value of the reference center point under the distance value.
In one example, the correspondence table of the distance and the reference center point pixel coordinate value may be obtained in the following manner. Step S1: enabling a direct-projection type laser tracker to be in a normal tracking state, firstly placing a target ball at a position 1 m away from the direct-projection type laser tracker, and keeping the position fixed, wherein at the moment, a visual imaging module 6 is used for shooting an image, and the image data is recorded as C1; step S2: as shown in fig. 4, the tracking measurement state is maintained, the target ball is moved by a distance of 1 meter, that is, the target ball is placed at a fixed position at a distance of 2 meters from the direct-projection laser tracker i, and the obtained image data is recorded as C2; step S3: repeating step S2 to continue to acquire image data Ci; step S4: according to the acquired image data Ci, acquiring a reference center point A corresponding to the distance in a manual calibration mode i Pixel coordinate value A of i (x i ，y i ) (ii) a Step S5: storing the reference central point A corresponding to different distance values i by using a lookup table i Pixel coordinate value A i (x i ，y i ) Record is made as AL. I.e. completing the reference center point a i Pixel coordinate value A of i (x i ，y i ) And (5) calibrating. Reference center points A of different distances i Pixel coordinate value A i (x i ，y i ) May be stored in the memory means of the electric cabinet 5, waiting for the application to calculate.
In an embodiment of the present disclosure, the illumination module 8, the vision imaging module 6, and the laser ranging module 7 are disposed in parallel and fixed relative to each other, so that the coverage of the visual field of the vision imaging module 6 is consistent with the emission direction of the laser beam.
In an embodiment of the present disclosure, the electric cabinet 5 is specifically configured to, in a case where the direct-injection laser tracker has a target ball loss event, receive the current distance value 1 sent by the laser ranging module 7 and the current image sent by the visual imaging module 6, and determine the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 ) In pairsSearching a distance point j and a distance point k corresponding to the current distance value 1 and a pixel coordinate value (x) corresponding to the distance point j in the corresponding relation table j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k, according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating the pixel coordinate value A of the reference center point under the current distance value 1 1 (x 1 ，y 1 ) Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) And calculating a deviation angle value beta between the laser beam and the target ball.
In the present disclosure, when a lost tracking target ball event occurs, as shown in fig. 5, the laser beam is no longer directed at the target ball, and the pixel coordinate value of the target ball in the image captured by the vision imaging module 6 is set as P i (x, y). In order to realize that the laser beam aims at the target ball again to finish the tracking measurement recovery, the rotation direction rotating mechanism 2 and the pitching rotating mechanism 3 of the direct-injection laser tracker are required to drive the direct-injection laser to measure distance and move for a certain angle value, and the angle value is the deviation angle value beta required by the tracking measurement recovery.
In the present disclosure, 2 calibrated distance points j, k corresponding to the current distance value 1 and the pixel coordinate value (x) corresponding to the distance points j, k can be found in the reference center summary table AL by using a sorting and searching manner j ，y j )，(x k ，y k ) Calculating the pixel coordinate value A of the reference center point under the current distance value 1 by using the calibration coordinate value 1 (x 1 ，y 1 ) Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P of the target 1 (x 1 ，y 1 ) And the camera internal parameters which are calibrated in advance, calculating a deviation angle value beta, sending the calculated deviation angle value beta to a servo controller of the direct-injection laser tracker, enabling the azimuth rotating mechanism 2 and the pitching rotating mechanism 3 to rotate, enabling the laser beam to be aligned to the target ball, and finishing active tracking measurementAnd (6) recovering.
In an embodiment of the present disclosure, the pixel coordinate value (x) corresponding to the distance point j is determined according to the distance point j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating the pixel coordinate value A of the reference center point under the current distance value 1 1 (x 1 ，y 1 ) The method comprises the following steps:
in one embodiment of the present disclosure, as shown in FIG. 6, a reference center pixel coordinate value A is utilized 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) Calculating the deviation angle value β between the laser beam and the target ball comprises:
where f denotes a focal length of the visual imaging module 6 and P denotes a current coordinate value P 1 (x 1 ，y 1 ) A distance value from a center point of the vision imaging module 6 in a coordinate system of the vision imaging module 6, a represents a reference center pixel coordinate value A 1 (x 1 ，y 1 ) A distance value from a center point of the vision imaging module 6 in a coordinate system of the vision imaging module 6. In the present disclosure, P may be represented by a current coordinate value P 1 (x 1 ，y 1 ) The reference with the vision imaging module 6 is calculated, and a can be obtained by A 1 (x 1 ，y 1 ) And the internal reference of the visual imaging module 6 is calculated.
Referring to fig. 7, fig. 7 is a schematic flowchart of a target tracking recovery method according to an embodiment of the present disclosure, applied to the direct-type laser tracker shown in fig. 1, the method mainly includes:
s701, receiving a current distance value 1 sent by a laser ranging module and a current image sent by a visual imaging module;
s702, under the condition that the direct-projection laser tracker loses a tracking target ball event, calculating a deviation angle value beta between the laser beam and the target ball by using the current distance value 1 and the current image;
and S703, controlling the azimuth rotating mechanism and the pitching rotating mechanism to rotate based on the offset angle value beta so as to enable the laser beam to be aligned with the target ball.
In an embodiment of the present disclosure, the calculating the deviation angle β between the laser beam and the target ball by using the current distance value 1 and the current image includes: determining the current coordinate value P of the target ball according to the current image 1 (x 1 ，y 1 ) Searching the distance point j and the distance point k corresponding to the current distance value 1 and the pixel coordinate value (x) corresponding to the distance point j in the corresponding relation table j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein j is less than or equal to 1 and less than or equal to k, and the pixel coordinate value (x) corresponding to the distance point j is used j ，y j ) The pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating the pixel coordinate value A of the reference center point at the current distance value 1 1 (x 1 ，y 1 ) Using the reference center pixel coordinate value A 1 (x 1 ，y 1 ) And the current coordinate value P 1 (x 1 ，y 1 ) And calculating the deviation angle value beta between the laser beam and the target ball.
Referring to fig. 8, fig. 8 is a hardware structure diagram of an electronic device.
The electronic device described in this embodiment includes:
a memory 41, a processor 42 and a computer program stored on the memory 41 and executable on the processor, the processor implementing the synchronous control method of the multi-axis motion system described in the foregoing embodiment shown in fig. 1 when executing the program.
Further, the electronic device further includes:
at least one input device 43; at least one output device 44.
The memory 41, processor 42 input device 43 and output device 44 are connected by a bus 45.
The input device 43 may be a camera, a touch panel, a physical button, or a mouse. The output device 44 may specifically be a display screen.
The Memory 41 may be a high-speed Random Access Memory (RAM) Memory or a non-volatile Memory (non-volatile Memory), such as a magnetic disk Memory. The memory 41 is used for storing a set of executable program code, and the processor 42 is coupled to the memory 41.
Further, an embodiment of the present disclosure also provides a computer-readable storage medium, where the computer-readable storage medium may be an electronic device provided in the foregoing embodiments, and the computer-readable storage medium may be the electronic device in the foregoing embodiment shown in fig. 8. The computer readable storage medium has a computer program stored thereon, and the program, when executed by a processor, implements the target tracking recovery method described in the foregoing embodiment shown in fig. 8. Further, the computer-readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that each functional module in each embodiment of the present disclosure may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, or a part or all of the technical solution that substantially contributes to the prior art.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art will appreciate that the embodiments described in this specification are presently considered to be preferred embodiments and that no single act or module is essential to the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the above description, for a person skilled in the art, there are variations on the specific implementation and application scope according to the concepts of the embodiments of the present invention, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A direct-injection laser tracker, comprising:
a main body;
the azimuth rotating mechanism is rotationally connected with the main body and is used for controlling the optical measuring mechanism to rotate in azimuth;
the pitching rotation mechanism is connected with the azimuth rotation mechanism and is used for controlling the optical measurement mechanism to pitch and rotate;
the optical measuring mechanism is arranged on the pitching rotating mechanism and rotates at the same angle at the same movement speed when the pitching rotating mechanism and the azimuth rotating mechanism move, the optical measuring mechanism comprises a visual imaging module and a laser ranging module, the visual imaging module is used for shooting a current image containing the target ball, and the laser ranging module is used for transmitting a laser beam to the target ball and measuring a current distance value l between the laser beam and the target ball;
and the electric cabinet is used for calculating a deviation angle value beta between the laser beam and the target ball by using the current distance value l and the current image under the condition that the direct-injection laser tracker loses the event of tracking the target ball, and controlling the azimuth rotating mechanism and the pitching rotating mechanism to rotate based on the deviation angle value beta so as to enable the laser beam to be aligned with the target ball.
2. The direct laser tracker of claim 1, wherein the optical measurement mechanism further comprises:
an illumination module for illuminating the entire imaging field of view;
the laser ranging module is further used for measuring the distance between the laser ranging module and the target ball under the condition that the direct-projection laser tracker does not lose the event of tracking the target ball;
the visual imaging module is also used for shooting a plurality of images containing the target ball, and the distance between the target ball and the laser ranging module in each image is different;
the electric cabinet is further used for determining pixel coordinate values of the reference central point at different distances based on the plurality of pictures to obtain a corresponding relation table of the distances and the pixel coordinate values of the reference central point.
3. The direct laser tracker according to claim 2, wherein the illumination module, the vision imaging module and the laser ranging module are fixed relative to each other in a parallel arrangement such that the vision imaging module field of view covers the same direction as the laser beam is emitted.
4. The direct laser tracker according to claim 2, wherein said electrical cabinet is configured to, in the event of said direct laser tracker losing track of said target ball,
receiving the current distance value l sent by the laser ranging module and the current image sent by the visual imaging module;
according to the current image, determiningDetermining the current coordinate value P of the target ball l (x l ，y l )；
Searching the distance point j and the distance point k corresponding to the current distance value l and the pixel coordinate value (x) corresponding to the distance point j in the corresponding relation table j ，y j ) The pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein l is more than or equal to j and less than or equal to k;
according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating the pixel coordinate value A of the reference center point under the current distance value l l (x l ，y l )；
Using the reference center pixel coordinate value A l (x l ，y l ) And the current coordinate value P l (x l ，y l ) And calculating the offset angle value beta between the laser beam and the target ball.
5. The direct laser tracker according to claim 2, wherein the distance point j corresponds to a pixel coordinate value (x) j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating the pixel coordinate value A of the reference center point under the current distance value l l (x l ，y l ) The method comprises the following steps:
6. the direct laser tracker according to claim 2, wherein said use of said center of reference pixel coordinate value a l (x l ，y l ) And the current coordinate value P l (x l ，y l ) Calculating the offset angle value β between the laser beam and the target ball comprises:
wherein f represents a focal length of the vision imaging module, and P represents the current coordinate value P l (x l ，y l ) A distance value from a center point of the vision imaging module in the vision imaging module coordinate system, a represents the reference center pixel coordinate value A l (x l ，y l ) A distance value from a center point of the vision imaging module in the vision imaging module coordinate system.
7. A target tracking recovery method applied to the direct-irradiation laser tracker according to any one of claims 1 to 6, comprising:
receiving a current distance value l sent by a laser ranging module and a current image sent by a visual imaging module;
under the condition that the direct-projection laser tracker has a target ball loss tracking event, calculating a deviation angle value beta between the laser beam and the target ball by using the current distance value l and the current image;
and controlling the azimuth rotating mechanism and the pitching rotating mechanism to rotate based on the offset angle value beta so as to enable the laser beam to be aligned with the target ball.
8. The direct laser tracker according to claim 7, wherein the calculating an offset angle value β between the laser beam and the target ball using the current distance value i and the current image comprises:
determining the current coordinate value P of the target ball according to the current image l (x l ，y l )；
Searching the distance point j and the distance point k corresponding to the current distance value l and the pixel coordinate value (x) corresponding to the distance point j in the corresponding relation table j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Wherein l is more than or equal to j and less than or equal to k;
according to the pixel coordinate value (x) corresponding to the distance point j j ，y j ) Pixel coordinate value (x) corresponding to the distance point k k ，y k ) Calculating the pixel coordinate value A of the reference center point under the current distance value l l (x l ，y l )；
Using the reference center pixel coordinate value A l (x l ，y l ) And the current coordinate value P l (x l ，y l ) And calculating the offset angle value beta between the laser beam and the target ball.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the target tracking recovery method according to claim 7 or 8 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for target tracking recovery of claim 7 or 8.
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