阅读说明：本技术 一种地平式光电跟踪系统的轴系垂直度检测装置及方法 (Shafting perpendicularity detection device and method for horizontal photoelectric tracking system ) 是由 张巳龙 谭逢富 靖旭 于 2019-11-07 设计创作，主要内容包括：本发明提供一种地平式光电跟踪系统的轴系垂直度检测装置及方法,以简单的结构检测方位轴系与俯仰轴系、俯仰轴系与视准轴系垂直度误差。轴系垂直度检测装置(200)包括：出射第一准直光(301)的第一准直光光源(201)；出射第二准直光(401)的第二准直光光源(202)；和监视器(204),用于观察第一准直光和第二准直光在地平式光电跟踪系统(100)的视准轴系的成像视场中所成图像,第一准直光光源用于调节地平式光电跟踪系统的视准轴系与俯仰轴系的垂直度,第二准直光光源用于在地平式光电跟踪系统的视准轴系与俯仰轴系的垂直度已调节后,调节俯仰轴系与方位轴系的垂直度。(The invention provides a device and a method for detecting the perpendicularity of a shaft system of a horizontal photoelectric tracking system, which are used for detecting the perpendicularity errors of an azimuth shaft system and a pitching shaft system and between the pitching shaft system and a sighting axis system by a simple structure. The shafting perpendicularity detection device (200) includes: a first collimated light source (201) that emits first collimated light (301); a second collimated light source (202) that emits second collimated light (401); and the monitor (204) is used for observing images formed by the first collimated light and the second collimated light in an imaging view field of a collimation axis of the horizontal photoelectric tracking system (100), the first collimated light source is used for adjusting the verticality between the collimation axis and a pitching axis of the horizontal photoelectric tracking system, and the second collimated light source is used for adjusting the verticality between the pitching axis and the pitching axis of the horizontal photoelectric tracking system after the verticality between the collimation axis and the pitching axis of the horizontal photoelectric tracking system is adjusted.)

1. A shafting straightness detection device that hangs down of ground formula photoelectric tracking system, ground formula photoelectric tracking system comprises the azimuth shafting as the axis of rotation, every single move shafting and the collimation shafting as the motionless shafting, shafting straightness detection device's characterized in that includes:

a first collimated light source that emits first collimated light;

a second collimated light source that emits second collimated light; and

a monitor for viewing images of the first collimated light and the second collimated light in an imaging field of view of a boresight system of the horizontal photo-tracking system,

the first collimation light source is used for adjusting the verticality of a sighting axis system and a pitching axis system of the horizontal photoelectric tracking system, and when the verticality is adjusted, the first collimation light source is configured to enable the first collimation light emitted horizontally to be coaxial with the sighting axis of the horizontal photoelectric tracking system,

the second collimated light source is used for adjusting the verticality of the pitching axis and the azimuth axis after the verticality of the collimation axis and the pitching axis of the horizontal photoelectric tracking system is adjusted, and when the verticality of the pitching axis and the azimuth axis of the horizontal photoelectric tracking system is adjusted, the second collimated light source is configured to emit second collimated light to the lower side in a slanting mode, and the second collimated light is coaxial with the collimation axis of the horizontal photoelectric tracking system, wherein the azimuth angle and the pitch angle of the second collimated light are adjusted through the verticality of the collimation axis and the pitching axis, and the azimuth angle and the pitch angle of the second collimated light source are adjusted.

2. The shafting perpendicularity detection apparatus as claimed in claim 1, wherein:

the horizontal photoelectric tracking system is arranged on a mounting base with adjustable height, and the relative height of the horizontal photoelectric tracking system and the first collimation light source is adjusted by adjusting the height of the mounting base.

3. The shafting perpendicularity detection apparatus as claimed in claim 1, wherein:

the second collimated light source is disposed directly above the first collimated light source.

4. The shafting perpendicularity detection apparatus as claimed in claim 1, wherein:

when the second collimated light is coaxial with the collimation axis of the horizontal photoelectric tracking system, the elevation angle of the collimation axis is more than 45 degrees.

5. The shafting perpendicularity detection apparatus as claimed in claim 4, wherein:

when the second collimated light is coaxial with a sighting axis of the horizontal photoelectric tracking system, the elevation angle of the sighting axis is close to 90 degrees.

6. A shafting perpendicularity adjusting method of a horizontal photoelectric tracking system, which uses the shafting perpendicularity detecting device of claim 1 to adjust the shafting perpendicularity, and is characterized in that:

the horizontal photoelectric tracking system is provided with a first adjusting mechanism for adjusting the verticality of the collimation axis and the pitching axis and a second adjusting mechanism for adjusting the verticality of the pitching axis and the azimuth axis,

the shafting perpendicularity adjusting method comprises the following steps:

a first step of adjusting the perpendicularity of the sighting axis system and the pitching axis system; and

a second step of adjusting perpendicularity of the pitch axis system and the azimuth axis system after the first step,

in the first step, in a state where a collimation axis of the horizontal photoelectric tracking system is horizontal and coaxial with an optical axis of the first collimated light source, a first operation of rotating an azimuth axis and a pitch axis by 180 ° respectively is performed on the horizontal photoelectric tracking system, and then the first adjustment mechanism is adjusted so that an image formed by the first collimated light in the imaging field is positioned at the center of the position of the image formed by the first collimated light before and after the first operation in an azimuth direction,

in the second step, in a state where the boresight axis of the horizontal photoelectric tracking system is coaxial with the optical axis of the second collimated light source, the horizontal photoelectric tracking system is subjected to a second operation of rotating the azimuth axis by 180 °, then adjusting the pitch axis to a position where the image formed by the second collimated light is positioned at the center of the imaging field in the pitch direction, and then adjusting the second adjustment mechanism to position the image formed by the second collimated light in the imaging field in the azimuth direction at the center of the position of the image formed by the second collimated light before and after the second operation.

7. The method for adjusting the perpendicularity of the shaft system as claimed in claim 6, wherein:

the first step comprises:

a first sub-step of adjusting the relative height of the horizontal photoelectric tracking system and the first collimating light source, the installation angle of the first collimating light source, and the azimuth angle and the pitch angle of the horizontal photoelectric tracking system, so that the collimation axis of the horizontal photoelectric tracking system is horizontal and coaxial with the optical axis of the first collimating light source, and the image formed by the first collimating light in the imaging field is located at the center position of the imaging field in the azimuth and pitch directions;

a second substep of performing said first operation on said horizontal photoelectric tracking system;

a third substep of recording the position in the azimuth direction of the image formed by the first collimated light in the imaging field of view after the first operation; and

a fourth substep of adjusting the first adjustment mechanism so that an image formed by the first collimated light in the imaging field of view is centered between the center position and the position recorded in the third substep.

8. The method for adjusting the perpendicularity of the shaft system as claimed in claim 7, wherein:

recording an azimuth reading FW1 of said horizontal photoelectric tracking system after said first operation in said second sub-step,

the second substep is followed by a first decision step,

in the first judging step, it is judged whether or not an image formed by the first collimated light appears in the imaging field of view after the first operation, the third to fourth sub-steps are performed in a case of appearing in the imaging field of view, the following fifth to eighth sub-steps are performed in a case of not appearing in the imaging field of view, and thereafter, the second sub-step is returned to,

in a fifth sub-step, while viewing through the monitor, adjusting azimuth to look for an image formed by the first collimated light, moving it to the center position of the imaging field of view, recording an azimuth reading FW 2',

in a sixth sub-step, the azimuth is adjusted to return the reading to reading FW1 recorded in said second sub-step,

in a seventh sub-step, adjusting said first adjustment mechanism to coarsely adjust said first collimated light formed image to the center of the position of said first collimated light formed image before and after said first operation in accordance with an azimuth angle change amount | FW1-FW 2')/2 | as viewed through said monitor,

in an eighth substep, the pitch and azimuth angles of the horizontal photoelectric tracking system are adjusted so that the image formed by the first collimated light is centered in the azimuth and pitch directions of the imaging field of view.

9. The method for adjusting the perpendicularity of the shaft system as claimed in claim 7, wherein:

after the fourth substep, adjusting the pitch angle and the azimuth angle of the horizontal type photoelectric tracking system so that the image formed by the first collimated light is located at the center in the azimuth direction and the pitch direction of the imaging field of view, and then performing the second substep,

in a case where the second substep causes a change in the position of the image formed by the first collimated light in the azimuth direction of the imaging field of view, the third substep to the fourth substep are continued, and the adjustment of the first step is ended without causing a change in the position of the image formed by the first collimated light in the azimuth direction of the imaging field of view.

10. The method for adjusting the perpendicularity of the shaft system according to any one of claims 6 to 8, wherein:

the second step includes:

a ninth substep, adjusting the installation angle of the second collimated light source, the azimuth angle and the pitch angle of the horizontal photoelectric tracking system to make the sight axis of the horizontal photoelectric tracking system and the optical axis of the second collimated light source coaxial, and the image formed by the second collimated light in the imaging field of view is located at the center position of the imaging field of view in the azimuth and pitch directions;

a tenth sub-step of performing the second operation on the horizontal photoelectric tracking system;

an eleventh substep of recording the position in the azimuthal direction of the image formed by the second collimated light in the imaging field of view after the second operation; and

a twelfth substep of adjusting the second adjustment mechanism so that the second collimated light generated image in the imaging field of view is centered between the center position and the position recorded in the eleventh substep.

11. The method for adjusting the perpendicularity of the shaft system as claimed in claim 10, wherein:

recording an azimuth reading FW3 of said horizontal photo-tracking system after said second operation in said tenth sub-step,

the tenth sub-step is followed by a second decision step,

in the second determination step, it is determined whether or not the second collimated light formed image appears in the imaging field of view after the second operation, the eleventh sub-step to the twelfth sub-step are performed in the case of appearing in the imaging field of view, the thirteenth sub-step to the sixteenth sub-step described below are performed in the case of not appearing in the imaging field of view, and thereafter, the tenth sub-step is returned to, wherein,

in a thirteenth sub-step, looking through the monitor while adjusting the azimuth, looking for the image formed by the second collimated light, moving it to the center position of the imaging field of view, recording an azimuth reading FW 4',

in a fourteenth sub-step, the azimuth is adjusted to return the reading to reading FW3 recorded in said tenth sub-step,

in a fifteenth sub-step, adjusting said second adjustment mechanism while viewing through said monitor to coarsely adjust said second collimated light generated image to the center of the position of said second collimated light generated image before and after said second operation by an azimuth angle change amount | FW3-FW 4')/2 |,

in a sixteenth sub-step, the pitch and azimuth angles of the horizontal photoelectric tracking system are adjusted such that the second collimated light generated image is centered in the azimuth and pitch directions of the imaging field of view.

12. The method for adjusting the perpendicularity of the shaft system as claimed in claim 10, wherein:

after the twelfth substep, adjusting the pitch angle and the azimuth angle of the horizontal type photoelectric tracking system to make the image formed by the second collimated light be located at the center of the imaging visual field in the azimuth direction and the pitch direction, and then performing the tenth substep,

in a case where the tenth sub-step causes a change in the position of the second collimated-light formed image in the azimuth direction of the imaging field of view, the eleventh to twelfth sub-steps are continued, and the adjustment of the second step is ended without causing a change in the position of the second collimated-light formed image in the azimuth direction of the imaging field of view.

Technical Field

The invention belongs to the technical field of precision shafting detection, and particularly relates to a device and a method for detecting shafting perpendicularity of a horizontal photoelectric tracking system.

Background

With the continuous development of the optical-electromechanical integration technology, the integration level of the photoelectric tracking system is also continuously improved, wherein the high-precision tracking capability becomes the inevitable trend of the current development. In order to ensure that the photoelectric tracking system can quickly and accurately capture and track a target, the requirements on the precision of a transmission system and a shaft system of the photoelectric tracking system are higher and higher.

The horizontal photoelectric tracking system is widely used as a structural form of the photoelectric tracking system due to the characteristics of simple structure, good applicability and the like. The structure of the horizontal photoelectric tracking system is characterized in that the system consists of two rotating shafting (an azimuth shafting and a pitching shafting) and a fixed shafting (a sighting shafting of an optical imaging system). FIG. 1 illustrates an example of a ground level type photoelectric tracking system 100, as shown in FIG. 1: the azimuth axis system 101 is generally located at the lowest part, so that the pitching axis system 102 and the sighting axis system 103 rotate around the azimuth axis together; the pitch axis system 102 is generally formed by connecting a left half shaft component and a right half shaft component through a middle frame component (for example, the left half shaft component and the right half shaft component are formed into a U-shaped structure in fig. 1), and the collimation axis system 103 rotates around the pitch axis; the collimation axis 103 is installed in the middle frame between the two half-axis components of the pitch axis 102, and is composed of an optical system and an imaging element, and is generally regarded as a whole. The azimuth axis, the pitch axis and the collimation axis intersect with each other in pairs, and the azimuth axis is required to be perpendicular to the pitch axis and the pitch axis is required to be perpendicular to the collimation axis.

In a high-precision horizontal photoelectric tracking system, adjusting mechanisms are generally designed for adjusting the perpendicularity between an azimuth axis and a pitch axis and the perpendicularity between the pitch axis and a collimation axis, but how to detect the perpendicularity is a key link in the assembling and adjusting process. The axis perpendicularity detection method of the existing horizontal photoelectric tracking system uses two sets of different detection devices to respectively detect the perpendicularity of an azimuth axis and a pitch axis and the perpendicularity of the pitch axis and a collimation axis, and after the perpendicularity detection of one pair of axes is finished, a detection station or a detection instrument needs to be replaced to detect the perpendicularity of the next pair of axes, so that the operation process is complicated. In addition, when a precise optical instrument such as a high-precision collimator with a cross reticle and an autocollimator is generally used for detection, and the verticality between the pitch axis and the collimation axis is detected, as described in patent document 1, auxiliary components such as an adjustable mirror and an adjustable cross wire are generally required to be mounted on two half-shaft components of the pitch axis, so that the operation process is complicated, the requirement on the precision of the operation process is high, and errors are easily caused by factors such as adjustment of the detection components and operation of the detection process, and the detection precision is affected. In addition, the existing detection method can only detect the error of the shafting perpendicularity at one time, and can adjust according to the error, so that the error cannot be monitored in real time, and the perpendicularity can not be adjusted according to the real-time error.

Patent document 1: CN 101922923B

Disclosure of Invention

The invention aims to overcome the following defects of the conventional shafting perpendicularity detection device and method of the horizontal photoelectric tracking system in the background art: after the perpendicularity detection of the first pair of shafting is finished, a detection station or a detection instrument needs to be replaced to carry out the perpendicularity detection of the second pair of shafting, and the operation process is complicated; a precise optical instrument and an auxiliary optical component are required, the operation process is complex, and errors are easily caused to influence the detection precision; the error amount can not be monitored in real time, and the adjustment is not convenient. The shafting perpendicularity detection device and method of the horizontal photoelectric tracking system, provided by the invention, have the advantages of simple structure, easiness in operation, high detection precision and convenience in adjustment.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the invention provides a shafting verticality detection device of a horizontal photoelectric tracking system, wherein the horizontal photoelectric tracking system consists of an azimuth shafting serving as a rotating shafting, a pitching shafting and a collimation shafting serving as a fixed shafting, and the shafting verticality detection device comprises: a first collimated light source that emits first collimated light; a second collimated light source that emits second collimated light; a monitor for viewing images of the first collimated light and the second collimated light in an imaging field of view of a boresight system of the horizontal photo-tracking system, the first collimation light source is used for adjusting the verticality of a sighting axis system and a pitching axis system of the horizontal photoelectric tracking system, the first collimated light source is configured to direct the first collimated light emitted horizontally to be coaxial with a boresight of the horizontal photoelectric tracking system when adjusted, the second collimated light source is used for adjusting the verticality of a pitching axis system and an azimuth axis system of the horizontal photoelectric tracking system, the second collimated light source is configured to emit the second collimated light obliquely downward when adjusted, and the second collimated light is coaxial with the collimation axis of the horizontal photoelectric tracking system, the azimuth angle and the pitch angle of which are adjusted after the perpendicularity of the collimation axis and the pitch axis is adjusted.

In addition, the invention provides a shafting perpendicularity adjusting method of a horizontal photoelectric tracking system, which is used for adjusting the shafting perpendicularity by using the shafting perpendicularity detecting device, wherein the horizontal photoelectric tracking system is provided with a first adjusting mechanism for adjusting the perpendicularity between a sighting axis and a pitching axis and a second adjusting mechanism for adjusting the perpendicularity between the pitching axis and an azimuth axis, and the shafting perpendicularity adjusting method comprises the following steps: a first step of adjusting the perpendicularity of the sighting axis system and the pitching axis system; and a second step of adjusting perpendicularity of a pitch axis system and an azimuth axis system after the first step, in a state where a collimation axis of the ground photoelectric tracking system and an optical axis of the first collimated light source are horizontal and coaxial, performing a first operation of rotating the azimuth axis system and the pitch axis system by 180 ° each, on the ground photoelectric tracking system, and then adjusting the first adjustment mechanism so that an image formed by the first collimated light in the imaging field is located in the center of a position of the image formed by the first collimated light before and after the first operation in the azimuth direction, in the second step, in a state where the collimation axis of the ground photoelectric tracking system and the optical axis of the second collimated light source are coaxial, performing a rotation of the azimuth axis system by 180 ° on the ground photoelectric tracking system, and then adjusting the pitch axis system to a second operation axis in which the image formed by the second collimated light is located in the center of the imaging field in the pitch direction Then, the second adjustment mechanism is adjusted so that the second collimated light formed image in the imaging field is located at the center of the position of the second collimated light formed image before and after the second operation in the azimuth direction.

By adopting the shafting perpendicularity detection device and method, the leveling operation of the horizontal photoelectric tracking system to be detected is not needed before detection (adjustment), namely whether the azimuth axis of the horizontal photoelectric tracking system is vertical or not and whether the pitching axis is horizontal or not do not influence the subsequent detection result.

In the shafting perpendicularity adjusting method, the collimation axis of the horizontal photoelectric tracking system and the optical axis of the first collimation light source are both horizontal, equal in height and coaxial in the first step, the perpendicularity error of the azimuth shafting and the pitching shafting of the horizontal photoelectric tracking system cannot influence the first operation, namely the result of the inverse mirror operation, and the inverse mirror result is only related to the perpendicularity error of the pitching shafting and the collimation axis. Therefore, after the perpendicularity between the pitching axis and the sighting axis is adjusted according to the inverted mirror result, the perpendicularity adjustment between the pitching axis and the sighting axis can be considered to be completed, and the two axes are perpendicular to each other.

In the second step, after the second operation, that is, the azimuth axis of the horizontal photoelectric tracking system rotates 180 degrees, and then the pitch axis is adjusted until the image formed by the second collimated light is located at the center of the imaging field of view in the pitch direction, the perpendicularity error between the azimuth axis and the pitch axis and the perpendicularity error between the pitch axis and the view axis of the horizontal photoelectric tracking system all affect the offset of the image formed by the second collimated light in the azimuth direction of the imaging field of view. However, the perpendicularity of the pitching axis and the sighting axis is adjusted through the first step, and the two axes are perpendicular to each other, so that the offset at the moment is only caused by the perpendicularity error of the azimuth axis and the pitching axis, and the perpendicularity of the azimuth axis and the pitching axis is adjusted according to the position offset at the moment, so that the perpendicularity of the two axes can be adjusted.

The invention has the beneficial effects that:

the shafting perpendicularity detection device of the horizontal photoelectric tracking system only consists of two collimated light sources and an external display device, and is simple in structure. After the two collimated light sources and the equipment to be detected are installed and fixed, the perpendicularity errors of the azimuth axis and the pitch axis and the perpendicularity errors of the pitch axis and the collimation axis can be detected and adjusted, a station or detection equipment does not need to be replaced midway, and the operation is simple and convenient. The device has the advantages of no precise optical instrument, no need of auxiliary optical components in the detection process, and no detection error caused by operation.

According to the shafting perpendicularity adjusting method of the horizontal photoelectric tracking system, the detection and adjustment of the perpendicularity errors of the azimuth shafting and the pitching shafting and the collimation shafting are carried out in two steps, mutual influence is avoided, and interference errors cannot be generated. The visual adjustment can be carried out according to the imaging on the external display equipment, and the detection and adjustment precision is high; the adjusting process can be monitored in real time, and the adjusting amount can be conveniently controlled.

Drawings

Fig. 1 is a schematic structural diagram of a horizontal photoelectric tracking system.

Fig. 2 is a schematic layout diagram of a shafting perpendicularity detection device of the horizontal photoelectric tracking system.

FIG. 3 is a schematic view of the orientation of the perpendicularity between the pitch axis and the collimation axis during detection and adjustment.

Fig. 4 is a schematic view of the orientation of the azimuth axis and the perpendicularity of the pitch axis during detection and adjustment.

FIG. 5 is a schematic view of the image and adjustment in the imaging field of view of the collimation system.

Fig. 6 is a main flow chart of a method for adjusting the shafting perpendicularity of the horizontal photoelectric tracking system.

Fig. 7(a) and 7(b) are sub-flowcharts of the main flow shown in fig. 6.

Detailed Description

The following describes a specific embodiment of the present invention with reference to the drawings.

In the following embodiments, when reference is made to a number of an element or the like (including a number, a numerical value, an amount, a range, and the like), the element or the like is not limited to a specific number except for a case where the element or the like is specifically and clearly described and a case where the element or the like is obviously limited to the specific number in principle, and may be a specific number or more or less.

In the following embodiments, the constituent elements (including step elements and the like) are not necessarily essential unless explicitly stated otherwise or clearly understood to be essential in principle, and may include elements not explicitly stated in the specification, which need not be explicitly stated.

Similarly, in the following embodiments, when referring to the shape, positional relationship, and the like of the constituent elements and the like, elements substantially similar to or similar to the shape and the like thereof are included except for the case where they are specifically and clearly described and the case where they are obviously understood as not being feasible in principle. The same applies to the above-mentioned values and ranges.

In addition, the drawings are examples, and the relative size relationship of the components and the proportional relationship of the components are not limited by the examples in the drawings.

Referring to fig. 2, a shafting perpendicularity detecting apparatus 200 of a horizontal photoelectric tracking system according to an embodiment of the present invention is described. The shafting perpendicularity detection apparatus 200 of the present embodiment includes: collimated light source 201 (i.e., a first collimated light source), collimated light source 202 (i.e., a second collimated light source), mounting base 203, monitor 204. Fig. 2 shows an installation layout of the verticality detection apparatus 200 and a horizontal type photoelectric tracking system to be detected (to be adjusted) (the horizontal type photoelectric tracking system 100 shown in fig. 1 is shown as an example). In fig. 2, an example of a fixed tripod (also referred to as a fixed tripod 203) is given as the mounting base 203, and an external display (also referred to as an external display 204) is shown as the monitor 204. Although the mounting base 203 is described as a component of the shafting perpendicularity detecting apparatus 200, the mounting base 203 may be a component of the horizontal photoelectric tracking system 100 or a separate component independent of both the horizontal photoelectric tracking system 100 and the shafting perpendicularity detecting apparatus 200, and the present invention is not limited thereto.

The horizontal photoelectric tracking system 100 is fixed to a fixed tripod 203 adjustable in height, and the fixed tripod 203 is placed on a support 205 such as the ground. The collimated light source 201 and the collimated light source 202 can emit collimated light beams, the wavelengths of the light emitted by the two are not limited, and the light may be visible light or invisible light such as infrared light, as long as the light can be imaged on the imaging element of the collimation system 103 of the horizontal photoelectric tracking system 100, and the two light sources may be the same light source or different light sources. The collimated light source 201 and the collimated light source 202 are fixed to a light source mounting surface 206 such as a wall surface (hereinafter, referred to as a wall surface 206) by using a mounting transition piece, and are vertically distributed in the same vertical plane. Here, the mounting transition piece may enable the position of the collimated light sources 201, 202 to be adjustable (e.g., up and down, etc.) relative to the wall surface 206. The collimated light source 201 is positioned below, and the installation angle is adjusted to enable the optical axis O1 to be in a horizontal state as shown by a chain line in fig. 2, so as to adjust the perpendicularity between the sighting axis system 103 and the pitching axis system 102 of the horizontal photoelectric tracking system 100; the collimated light source 202 is located above, and the installation angle is adjusted to enable the optical axis O2 to be in a state of being inclined downwards as shown by a dotted line in fig. 2, so as to adjust the perpendicularity of the pitch axis system 102 and the azimuth axis system 101 after the perpendicularity of the collimation axis system 103 and the pitch axis system 102 of the horizontal photoelectric tracking system 100 is adjusted. The collimated light source 202 is attached to the wall surface 206 at a position as high as possible so that the angle formed by the optical axis O2 when the collimated light source is coaxial with the collimation axis 103 of the horizontal photoelectric tracking system 100 with respect to the horizontal optical axis O1 (i.e., the elevation angle of the collimation axis in this case) is preferably at least 45 degrees or more, more preferably 60 degrees or more, and the closer to 90 degrees, the better. The closer the elevation angle is to 90 degrees, the more accurate the detection and adjustment of the perpendicularity of the azimuth axis and the pitch axis, which will be described later.

In the present embodiment, since the wall surface as the light source attachment surface 206 is a vertical surface, the collimated light source 202 is positioned vertically directly above the collimated light source 201, but the arrangement of the collimated light source 202 is not limited to this, and it is sufficient if the optical axis O2 is in a state of being inclined downward when coaxial with the collimation axis, and if the projection of the optical axis of the collimated light source 202 overlaps the projection of the optical axis of the collimated light source 201 when projected in the vertical direction. That is, the collimated light source 202 may be located at any position on the optical axis O2 shown by a broken line in fig. 2, and is not limited to being directly above the collimated light source 201, and therefore, the light source mounting surface 206 is not limited to a vertical plane.

The external display 204 is placed at a position convenient for observation, is connected with the horizontal photoelectric tracking system 100 (the connection mode is omitted in the figure), and is used for displaying the condition that collimated light emitted by the collimated light sources 201 and 202 passes through a collimation axis of the horizontal photoelectric tracking system 100 and forms an image on an imaging element.

The shafting perpendicularity detection device of the horizontal photoelectric tracking system in one embodiment of the invention only needs two collimated light sources 201 and 202 and an external display 204 for observing images formed by collimated light, and can conveniently, highly precisely and real-timely detect and adjust the perpendicularity errors between the azimuth shafting and the pitch shafting and between the pitch shafting and the collimation shafting. Moreover, before detection (adjustment), leveling operation on the horizontal photoelectric tracking system 100 to be detected is not needed, that is, whether the azimuth axis of the horizontal photoelectric tracking system 100 is vertical or not and whether the pitch axis is horizontal or not do not affect subsequent detection results.

The following describes a specific embodiment of the method for adjusting the shafting perpendicularity of the device for detecting the shafting perpendicularity of the horizontal photoelectric tracking system according to the present invention.

As described above, the horizontal-type photoelectric tracking system 100 can adjust the azimuth angle and the pitch angle of the boresight system, and specifically, the boresight system rotates around the pitch axis through the pitch angle transmission mechanism, and the pitch axis and the boresight system rotate around the azimuth axis through the azimuth angle transmission mechanism, and the rotation can be realized through manual driving or electric control driving, and is usually electric control driving. In addition, the adjusting mechanism (i.e., the first and second adjusting mechanisms, not shown) is provided separately from the pitch angle transmission mechanism and the azimuth angle transmission mechanism, and is dedicated to adjusting the perpendicularity between the boresight axis and the pitch axis, and the adjusting mechanism (i.e., the first and second adjusting mechanisms, not shown) is provided to adjust the perpendicularity between the pitch axis and the azimuth axis. In the following description, unless otherwise specified, the term "adjustment" of the azimuth angle and the pitch angle refers to the rotation of the pitch axis system and the boresight axis system about the azimuth axis and the rotation of the boresight axis system about the pitch axis, both achieved by the above-described azimuth angle transmission mechanism and pitch angle transmission mechanism. For example, the operation of inverting the mirror (first operation) to rotate the azimuth axis system and the pitch axis system by 180 ° each in (2) of the first step S601 described below, and the operation (second operation) to rotate the azimuth axis system by 180 ° and then adjust the pitch angle to center the image formed by the collimated light 401 in the field of view in (2) of the second step S602 are both (electrically controlled) the azimuth angle actuator and the pitch angle actuator of the horizontal type photoelectric tracking system 100 to achieve rotation of the pitch axis system and the sight axis system about the azimuth axis and rotation of the sight axis system about the pitch axis.

The main process of the method for adjusting the shafting perpendicularity of the horizontal photoelectric tracking system of the present invention is shown in fig. 6, and as shown in fig. 6, the main process includes a first step S601 and a second step S602.

In S601, the perpendicularity between the pitch axis system and the collimation axis system of the horizontal photoelectric tracking system 100 is detected and adjusted, specifically, in a state where the collimation axis of the horizontal photoelectric tracking system 100 is horizontal and coaxial with the optical axis O1 of the collimated light source 201 (which may also be expressed as the collimation axis being coaxial with the collimated light, which is not particularly distinguished in this specification), the horizontal photoelectric tracking system 100 is subjected to a flip operation (a first operation) in which the azimuth axis system and the pitch axis system are respectively rotated by 180 °, and then an adjustment mechanism for adjusting the perpendicularity between the pitch axis system and the collimation axis system is adjusted, so that an image formed by the first collimated light 301 in an imaging field of view is located at the center of the position of an image formed by the first collimated light 301 before and after the flip operation in the azimuth direction.

In S602, the perpendicularity between the azimuth axis system and the pitch axis system of the horizontal photoelectric tracking system 100 is detected and adjusted, specifically, in a state where the collimation axis of the horizontal photoelectric tracking system 100 is coaxial with the optical axis O2 of the collimated light source 202, the horizontal photoelectric tracking system 100 is subjected to an operation (second operation) of rotating the azimuth axis system by 180 °, then adjusting the pitch axis system to the position where the image formed by the collimated light 401 is located in the center of the imaging field in the pitch direction, and then adjusting the adjusting mechanism of the perpendicularity between the azimuth axis system and the pitch axis system, so that the image formed by the second collimated light 401 in the imaging field is located in the center of the position where the image formed by the second collimated light 401 before and after the above-mentioned operation is located in the azimuth direction.

The first step S601 will be specifically described below. The first step detects and adjusts the perpendicularity between the pitch axis system and the collimation axis system of the horizontal photoelectric tracking system 100, and comprises the following sub-steps.

(1) As shown in fig. 3, the horizontal photoelectric tracking system 100 is attached to a fixed tripod 203, and the position of the fixed tripod 203 is moved so that the horizontal photoelectric tracking system 100 is as close as possible to the collimated light sources 201 and 202. Adjusting the collimation axis of the horizontal photoelectric tracking system 100 to be horizontal, and adjusting the installation angle of the collimated light source 201 to make the optical axis O1 to be horizontal; the height of the fixed tripod 203 is adjusted so that the collimation axis is equal to the height of the optical axis O1 of the collimated light source 201. In addition, since the collimated light sources 201, 202 are movable relative to the wall surface 206 by the mounting transition piece, the position of the collimated light source 201 may also be adjusted here instead of adjusting the height of the fixed tripod.

Here, although the ground level photoelectric tracking system 100 is brought as close as possible to the collimated light sources 201, 202 by moving the position of the fixed tripod 203, this is only a preferable way and is not necessary as long as the imaging of the respective collimated light sources in the axis of view is not affected.

Then, an image (i.e., a light spot) of the collimated light 301 of the collimated light source 201 is observed through the external display 204. The field of view of the external display 204 is shown in fig. 5, for example, where each light spot represents an image of collimated light 301, the horizontal direction corresponds to the azimuth direction of the horizontal photoelectric tracking system 100, and the vertical direction corresponds to the elevation direction. Adjusting the focal length of the collimation axis of the horizontal photoelectric tracking system 100 to make the imaging clear, and controlling the rotation of the azimuth axis of the horizontal photoelectric tracking system 100 to adjust the azimuth angle of the horizontal photoelectric tracking system 100 to make the image formed by the collimated light 301 be located at the center position of the azimuth direction of the imaging view field of the collimation axis, that is, making the total pixel number in the azimuth direction of the view field be 2A, and then making the azimuth coordinate of the center position be a. Since the collimation axis and the optical axis O1 of the collimated light source 201 are adjusted to be horizontal and equal in height, the image formed by the collimated light 301 should be centered in the top view direction, and it is considered that the collimation axis of the horizontal photoelectric tracking system 100 and the optical axis O1 of the collimated light source 201 are adjusted to be horizontal, equal in height and coaxial.

(2) The horizontal photoelectric tracking system 100 is subjected to a reverse mirror operation (i.e., a first operation), i.e., the azimuth axis is controlled to rotate 180 ° and the pitch axis is controlled to rotate 180 °. An azimuth reading FW1 of the inverted mirror back-level photoelectric tracking system 100 is recorded.

Since the collimation axis of the horizontal photoelectric tracking system 100 and the optical axis O1 of the collimated light source 201 are both horizontal, equal in height, and coaxial in sub-step (1), the image formed by the collimated light 301 is at the center position of the imaging field in the pitch direction of the field. Therefore, after the operation of the inverted mirror, the position of the image formed by the collimated light 301 in the pitch direction of the imaging field of view should be still at the center position in fig. 5, for example. If not, it may be because the collimation axis of the horizontal photoelectric tracking system 100 and the optical axis O1 of the collimated light source 201 are not strictly horizontal and equal in height. However, the detection result is not affected by the factor, and the shafting perpendicularity adjustment is still performed according to the position of the image formed by the collimated light 301 in front and back of the inverted mirror in the azimuth direction of the imaging view field. Therefore, in the subsequent description of the first step, the position in the pitch direction of the image made of the collimated light 301 is not specifically described.

(3) After the inverse mirror operation, as shown in fig. 5, the orientation coordinate of the image formed by the collimated light 301 in the imaging field becomes a'. The azimuth coordinate a' at this time is recorded, and then the azimuth angle of the horizontal photoelectric tracking system 100 is adjusted to move the image formed by the collimated light 301 to the center position in the azimuth direction of the imaging field of view, that is, the azimuth coordinate a, and the azimuth angle reading FW2 of the horizontal photoelectric tracking system 100 at this time is recorded.

(4) Adjusting the azimuth of the horizontal photoelectric tracking system 100 moves the image formed by the collimated light 301 back to coordinate a', i.e., the azimuth reading is returned to FW 1.

(5) The imaging position is observed through the external display 204, and the adjusting mechanism (i.e., the first mechanism) for adjusting the perpendicularity between the pitch axis and the collimation axis of the horizontal photoelectric tracking system 100 is adjusted, as shown in fig. 5, until the position of the image formed by the collimated light 301 in the azimuth direction in the imaging view field is located at the center of coordinates a and a ', that is, the azimuth coordinate is (a + a')/2. Correspondingly, the adjustment results in an azimuth angle change of | (FW1-FW2)/2 |.

Due to factors such as adjustment accuracy and operation error, after the sub-step (5), a certain amount of error may still exist in the perpendicularity of the pitch axis system and the collimation axis system of the horizontal photoelectric tracking system 100. The inverse operation of the sub-step (2) is required, and verification is performed according to the position of the image formed by the collimated light 301 in the azimuth direction in the imaging field of view before and after the inverse mirror.

The criterion for the completion of the adjustment is as follows: before and after the reverse mirror operation of sub-step (2) performed after sub-step (5), the positions of the images formed by the collimated light 301 in the azimuth direction of the imaging field of view are almost unchanged, i.e., both are at the center of the azimuth direction of the imaging field of view, i.e., a and a' coincide, and at this time, the adjustment of the first step S601 is considered to be completed. If there is a change in the position of the image formed by the collimated light 301 in the azimuth direction in the imaging field of view before and after the reverse mirror operation in sub-step (2) performed after sub-step (5), it is determined that the adjustment in the first step S601 is not completed.

Here, it is preferable to perform substep (6) after substep (5) and before returning to substep (2). In sub-step (6), the pitch and azimuth angles of the level-type photoelectric tracking system 100 are adjusted so that the collimated light 301 is imaged back to the center position in the azimuth direction and the pitch direction of the imaging field of view. Then, by performing the substep (6) before returning to the substep (2), when it is determined after the substep (2) that the position of the image formed by the collimated light 301 in the imaging field has changed due to the inverse mirror operation, that is, when the adjustment has not been completed, the subsequent substeps (3) to (5) can be directly performed to further adjust the image.

It should be noted that if the initial error of the perpendicularity between the pitch axis system and the view axis system is large, the image formed by the collimated light 301 may be out of the imaging field of view after the inverse mirror operation in the sub-step (2), and the image formed by the collimated light 301 cannot be observed in the sub-step (3), which is performed as follows.

(3 ') assuming that the azimuth coordinate of the image is a "(as described in sub-step (2), the azimuth reading is FW1), the position of the image formed by the collimated light 301 cannot be accurately adjusted by viewing the external display 204, and only the azimuth of the horizontal photoelectric tracking system 100 can be adjusted, the image formed by the collimated light 301 is searched and moved to the center position in the azimuth direction of the imaging field of view, that is, the azimuth coordinate a, and the azimuth reading FW 2' of the horizontal photoelectric tracking system 100 is recorded.

(4') then, the azimuth angle of the horizontal photoelectric tracking system 100 is adjusted again, and the image formed by the collimated light 301 is moved to the position of the coordinate a ″, i.e., the azimuth angle reading is FW1 (since the coordinate a ″, which is outside the imaging field of view, is invisible, this step can be adjusted only according to the azimuth angle reading of the horizontal photoelectric tracking system 100, i.e., the azimuth angle reading is returned to FW 1).

(5 ') then, observing through the external display 204, the adjusting mechanism for adjusting the perpendicularity between the pitch axis and the visual axis of the horizontal photoelectric tracking system 100 adjusts the formed image in the direction of the centers of the coordinates a and a ", i.e., the collimated light 301 is estimated to be roughly adjusted to the centers of the coordinates a and a", according to the azimuth angle change amount | (FW1-FW 2')/2 |.

(6') the pitch and azimuth angles of the level type photoelectric tracking system 100 are then adjusted so that the collimated light 301 is imaged back to the center position in the azimuth direction and the pitch direction of the imaging field of view.

Returning again to sub-step (2), if the image formed by the collimated light 301 appears within the imaging field of view after the mirror-reversing operation, then operation is then performed starting from sub-step (3) to the completion of adjustment. If the image formed by the collimated light 301 after the inverse operation is still not present in the imaging field of view, substeps (3 ') through (6') continue and then substep (2) returns again until the image formed by the collimated light after the inverse operation is within the imaging field of view.

After the first step is completed, the verticality between the pitching axis and the collimation axis of the horizontal photoelectric tracking system 100 to be detected is detected and adjusted.

After the inverse mirror operation in the above sub-step (2), in the case where the image formed by the collimated light 301 is outside the imaging field of view, by performing the above sub-steps (3 ') to (5 '), it is possible to adjust the perpendicularity of the sight axis and the pitch axis to some extent, but since the adjustment in the sub-step (5 ') is estimated to be roughly adjusted, the accuracy cannot be fully ensured. Therefore, by performing the sub-step (2) in return at the sub-step (6') and performing the sub-steps (3) to (5) in a case where the image formed by the collimated light 301 after the mirror-down operation appears in the imaging field of view, the perpendicularity of the sighting axis and the pitching axis can be accurately adjusted.

In the first step, since the collimation axis of the horizontal photoelectric tracking system 100 and the optical axis O1 of the collimated light source 201 are both horizontal, equal in height, and coaxial, the verticality error between the azimuth axis and the pitch axis of the horizontal photoelectric tracking system 100 does not affect the inverse mirror result, and the inverse mirror result is only related to the verticality error between the pitch axis and the collimation axis. Therefore, after the perpendicularity between the pitching axis and the sighting axis is adjusted according to the inverted mirror result, the perpendicularity adjustment between the pitching axis and the sighting axis can be considered to be completed, and the two axes are perpendicular to each other.

The above sub-steps of the first step may be represented in fig. 7(a) as a sub-flowchart.

As shown in fig. 7(a), the first step S601 includes sub-steps S601-1 to S601-12, where S601-1 to S601-6 correspond to the sub-steps (1) to (6) of the above first step, and S601-9 to S601-12 correspond to the sub-steps (3 ') to (6') of the above first step. The sub-step S601-7 is configured to determine whether an image formed by the collimated light 301 after the mirror-down operation (i.e., the first operation) in the sub-step S601-2 is located in the view axis system imaging field, and divert the flow to S601-3 or S601-9 according to the determination result. The sub-step S601-8 is used to determine whether the adjustment is completed, and if the image formed by the collimated light 301 is not changed in the azimuth direction in the imaging field of view by the mirror-reversing operation in the sub-step S601-2, it is determined that the adjustment is completed, otherwise, it is determined that the adjustment is not completed, and the process proceeds to the sub-step S601-3.

Next, the second step S602 will be specifically described. The second step detects and adjusts the perpendicularity of the azimuth axis system and the pitch axis system of the horizontal photoelectric tracking system 100, and includes the following sub-steps.

(1) As shown in fig. 4, the azimuth and the pitch angle of the horizontal photoelectric tracking system 100 are adjusted and the installation orientation of the collimated light source 202 is adjusted so that the collimation axis of the horizontal photoelectric tracking system 100 is coaxial with the optical axis O2 of the collimated light source 202.

The external display 204 is used for observing an image formed by collimated light 401 of the collimated light source 202, and the focal length of the collimation system is adjusted to enable the image to be clear. The azimuth angle and the pitch angle of the horizontal photoelectric tracking system 100 are adjusted so that the image formed by the collimated light 401 is located at the center of the imaging field of view of the collimation system. Similarly to the substep (1) of the first step, using fig. 5, the azimuth coordinate of the center position is a when the total number of pixels in the azimuth direction of the field of view is 2A. Likewise, the center position is also adjusted in the pitch direction. Thus, the boresight of the horizontal photoelectric tracking system 100 is considered to have been adjusted to be coaxial with the optical axis O2 of the collimated light source 202.

(2) And performing a second operation on the horizontal photoelectric tracking system 100, namely, controlling the azimuth axis of the horizontal photoelectric tracking system 100 to rotate 180 degrees, observing the imaging position condition through the external display 204, and simultaneously adjusting the angle of the pitch axis, so that the image formed by the collimated light 401 is positioned in the center of the imaging view field in the pitch direction. An azimuth reading FW3 of the now leveled photoelectric tracking system 100 is recorded.

(3) As shown in fig. 5, the azimuth coordinate of the image formed by the collimated light 401 in the imaging field of view becomes B'. The azimuth coordinate B' at this time is recorded, and then the azimuth angle of the horizontal photoelectric tracking system 100 is adjusted to move the image formed by the collimated light 401 to the center position of the imaging field of view, that is, the azimuth coordinate a, and the azimuth angle reading FW4 of the horizontal photoelectric tracking system 100 at this time is recorded.

(4) Adjusting the azimuth of the horizontal photoelectric tracking system 100 moves the image formed by the collimated light 401 back to coordinate B', i.e., the azimuth reading is returned to FW 3.

(5) The imaging position is observed through the external display 204, and the adjusting mechanism (i.e., the second adjusting mechanism) for adjusting the perpendicularity between the azimuth axis and the pitch axis of the horizontal photoelectric tracking system 100 is adjusted, as shown in fig. 5, until the position of the image formed by the collimated light 401 in the azimuth direction in the imaging field of view is located at the center of coordinates a and B ', that is, the azimuth coordinate is (a + B')/2. Correspondingly, the adjustment results in an azimuth angle change of | (FW3-FW4)/2 |.

Due to factors such as adjustment accuracy and operation error, after the sub-step (5), a certain amount of error may still exist in the perpendicularity between the azimuth axis and the pitch axis of the horizontal photoelectric tracking system 100. The second operation of sub-step (2) is required, and verification is performed based on the position in the azimuth direction of the image formed by the collimated light 401 before and after the operation in the imaging field of view.

The criterion for the completion of the adjustment is as follows: before and after the second operation of sub-step (2) performed after sub-step (5), the position of the image formed by the collimated light 401 in the azimuth direction of the imaging field is almost unchanged, i.e., both are at the center of the azimuth direction of the imaging field, i.e., a and B' coincide, at which point the second step S602 adjustment is considered to be completed. If there is still a change in the position of the image formed by the collimated light 401 in the azimuth direction in the imaging field of view before and after the second operation in sub-step (2) performed after sub-step (5), it is considered that the second step S602 is not yet adjusted.

Here, it is preferable to perform substep (6) after substep (5) and before returning to substep (2). In sub-step (6), the pitch and azimuth angles of the level-type photoelectric tracking system 100 are adjusted so that the collimated light 401 is imaged back to the center position in the azimuth direction and the pitch direction of the imaging field of view. Then, by performing the substep (6) before returning to the substep (2), when it is determined after the substep (2) that the position of the image formed by the collimated light 401 in the azimuth direction in the imaging field has changed due to the second operation, that is, when the adjustment has not been completed, the subsequent substeps (3) to (5) can be directly performed to further adjust the image.

It should also be noted that if the initial error of the perpendicularity between the azimuth axis and the pitch axis is large, the image formed by the collimated light 401 may be out of the imaging field of view after the operation of sub-step (2), and the image formed by the collimated light 401 cannot be observed in sub-step (3), which is performed as follows.

(3 ') assuming that the azimuth coordinate of the image at this time is B "(as described in sub-step (2), the azimuth reading is FW3), the position of the image formed by the collimated light 401 cannot be accurately adjusted at this time by observing the external display 204, only the azimuth of the horizontal photoelectric tracking system 100 can be adjusted, the image formed by the collimated light 401 is searched and moved to the center position in the azimuth direction of the imaging field of view, that is, the azimuth coordinate a, and the azimuth reading FW 4' of the horizontal photoelectric tracking system at this time is recorded.

(4') then, the azimuth angle of the horizontal photoelectric tracking system 100 is adjusted again, and the image formed by the collimated light 401 is moved again to the position of the coordinate B ", i.e. the azimuth angle reading is FW3 (since the coordinate B" is outside the imaging field of view and is invisible, the step can be adjusted only according to the azimuth angle reading of the horizontal photoelectric tracking system 100, i.e. the azimuth angle reading is returned to FW 3).

(5 ') then, observing through the external display 204, the adjusting mechanism for adjusting the perpendicularity between the azimuth axis and the pitch axis of the horizontal photoelectric tracking system 100 adjusts the formed image in the direction toward the centers of the coordinates a and B "in accordance with the azimuth angle change amount | (FW3-FW 4')/2 |, i.e., the image formed by the collimated light 401 is estimated to be roughly adjusted to the centers of the coordinates a and B".

(6') the pitch and azimuth angles of the level-based electro-optical tracking system 100 are then adjusted so that the collimated light 401 is imaged back to the center position in the azimuth and pitch directions of the imaging field of view.

Returning again to substep (2), if the image formed by the collimated light 401 after the second operation appears within the imaging field of view, then operation proceeds from substep (3) to completion of the adjustment. If the image formed by the second operated collimated light 401 of substep (2) is not yet present within the imaging field of view, substeps (3 ') through (6') continue and substep (2) returns again until the image formed by the second operated collimated light 401 is within the imaging field of view.

After the steps are completed, the verticality of the azimuth axis and the verticality of the pitch axis of the horizontal photoelectric tracking system to be detected are detected and adjusted.

In the second step, after the azimuth axis of the horizontal photoelectric tracking system is rotated by 180 ° and the pitch axis is adjusted until the image formed by the collimated light 401 is located at the center of the imaging field of view in the pitch direction through the operation in the substep (2), the perpendicularity error between the azimuth axis and the pitch axis, and the perpendicularity error between the pitch axis and the view axis of the horizontal photoelectric tracking system all affect the offset of the image formed by the collimated light 401 in the imaging field of view in the direction of view caused by the operation. However, since the perpendicularity of the pitch axis system and the collimation axis system is adjusted through the first step, and the two axes are perpendicular to each other, the offset at the moment can be considered to be caused only by the perpendicularity error of the azimuth axis system and the pitch axis system, and the perpendicularity can be adjusted by adjusting the perpendicularity of the azimuth axis system and the pitch axis system according to the position offset at the moment.

The above sub-steps of the second step may be represented in fig. 7(b) as a sub-flowchart.

As shown in fig. 7(b), the second step S602 includes sub-steps S602-1 to S602-12, where S602-1 to S602-6 correspond to the sub-steps (1) to (6) of the second step described above, and S602-9 to S602-12 correspond to the sub-steps (3 ') to (6') of the second step described above. Step S602-7 is configured to determine whether the image formed by the collimated light 401 after the operation (i.e., the second operation) of sub-step S602-2 is located within the view axis system imaging field, and divert the flow to S602-3 or S602-9 according to the result of the determination. The sub-step S602-8 is used to determine whether the adjustment is completed, and if the second operation of the sub-step S602-2 does not cause the image formed by the collimated light 401 to change in the azimuth direction within the imaging field of view, it is determined that the adjustment is completed, otherwise, it is determined that the adjustment is not completed, and the process proceeds to the sub-step S602-3.

So far, the shafting verticality of the horizontal photoelectric tracking system 100 to be detected is detected and adjusted.

As in the case of the horizontal photoelectric tracking system 100 according to the present embodiment, the adjustment of the adjustment mechanism (i.e., the first mechanism) for adjusting the perpendicularity between the pitch axis and the collimation axis and the adjustment mechanism (i.e., the second mechanism) for adjusting the azimuth axis and the pitch axis of the horizontal photoelectric tracking system are not a stepless continuous adjustment method, but an adjustment method in which an amount to be adjusted is calculated based on an error amount and then a one-time quantitative adjustment is performed based on the adjustment amount is required. In this case, the spot positions a and a ', a and B' before and after the inverse mirror are used as the detection basis for the completion of the adjustment of the shafting perpendicularity, and the azimuth angle readings FW1 and FW2, FW1 and FW2 ', FW3 and FW4, and FW3 and FW 4' before and after the inverse mirror are used for quantitatively calculating the adjustment amount required by the shafting perpendicularity adjusting mechanism. The shafting perpendicularity detection device and method weaken the difference of detailed operation caused by the specific adjusting mode of the adjusting mechanism, so that the operation steps for the condition that the adjusting amount needs to be calculated in advance are still reserved. In the case of an adjustment mechanism in stepless continuous adjustment mode, where the operating steps do not conflict with the above description, it is only the reading of the azimuth angle reading that becomes unnecessary in, for example, sub-steps (2), (3) of the first step. Further, neither the operation performed to read the reading FW2 in sub-step (3) nor sub-step (4) is required. The same is true for the second step.

As mentioned above, the shafting verticality detection device of the horizontal photoelectric tracking system can be composed of only two collimated light sources and one monitor, and the structure is simple. After the two collimated light sources and the to-be-detected horizontal photoelectric tracking system are installed and fixed, the perpendicularity errors between the azimuth axis and the pitching axis and between the pitching axis and the collimation axis can be detected and adjusted, the station or detection equipment does not need to be replaced midway, and the operation is simple and convenient. The device has the advantages of no precise optical instrument, no need of auxiliary optical components in the detection process, and no detection error caused by operation.

In addition, the shafting perpendicularity adjusting method of the horizontal photoelectric tracking system firstly detects and adjusts the perpendicularity error between the pitching shafting and the sighting shafting, and then detects and adjusts the perpendicularity error between the azimuth shafting and the pitching shafting, and the method is carried out in two steps without mutual influence and interference error. Moreover, visual adjustment can be performed according to imaging on an external display, and the detection and adjustment precision is high; the adjusting process can be monitored in real time, and the adjusting amount can be conveniently controlled.

In addition, the application object of the shafting perpendicularity detection device and method is not limited to a horizontal photoelectric tracking system, and the shafting perpendicularity detection device and method can be applied as long as the device is composed of an azimuth shafting serving as a rotating shafting, a pitching shafting and a collimation shafting serving as a fixed shafting (capable of imaging).