Laser tracker target tracking recovery method based on detection system with active infrared vision

In order to realize the automatic fast tracking recovery of laser tracker, a tracking recovery method based on active infrared vision was proposed. Firstly, the principle of tracking recovery was analyzed. Secondly, the active infrared vision detection system was designed by making full use of the strong reflection characteristic of the cooperative target ball of laser tracker. The system adopted infrared SLED as the active light source. The divergence angle of SLED light source was larger and the view angle of infrared camera was far greater than the detection range of PSD of laser tracker. Based on the above comprehensive advantages, the system can achieve a wide range of active detection for cooperative target ball. Then, the fast target recognition and location algorithm was studied, and a fast target recognition method based on cooperative target feature score was proposed. Finally, an experimental device of the tracking recovery system was set up. The verification experiments were carried out in the aspects of processing speed and recognition accuracy of the algorithm, tracking recovery range and speed of the system. The experimental results show that the average processing speed of the algorithm is about 28 frames per second, and the positioning deviation of 95.4% target center pixel is less than 5 pixel values. When the cooperative target ball is 3 meters away from the system, the tracking recovery system can achieve tracking recovery within the space of 0.5 meters which is completed in 1.8 seconds.