A method for remotely guiding an infrared observation device to observe a target

Abstract

The application is a kind of method for remotely guiding infrared observation equipment to observe target, belonging to the technical field of remote guidance, which comprises the following steps: a remote control terminal locates the observation target and obtains target position information, and then wirelessly transmits the target information to first, second and third infrared observation equipment; the remote control terminal estimates the optimal observation distance based on the estimated size of the target and the field of view angle and resolution of the first infrared observation equipment; the remote control terminal guides the first, second and third infrared observation equipment to move to the optimal observation distance from the target position and to the positions of the three apexes of the inscribed regular hexagon in the circle for cooperative target observation; the remote control terminal remotely controls the real-time adjustment of the direction, position and focal length of each infrared observation equipment based on the video stream images returned by the first, second and third infrared observation equipment. The application is used to remotely and real-timely guide infrared observation equipment to observe the specified target.

Description

Technical Field

[0001] This invention belongs to the field of remote guidance technology, specifically relating to a method for remotely wirelessly guiding an infrared observation device to observe a target. Background Technology

[0002] In the current technological field, infrared observation and target guidance technologies have been widely applied. Traditional infrared observation methods typically involve the use of specialized equipment and sensors, such as infrared cameras or infrared telescopes, for manual observation and target guidance. Meanwhile, military equipment, such as infrared night vision devices, is increasingly being used in civilian applications. However, civilian equipment requires simple and convenient operation, so the operation of military-to-civilian equipment is gradually shifting towards civilian operating habits. Binocular infrared night vision devices offer stronger visual perception than monocular infrared night vision devices, but outdoor equipment suffers from a lack of information interaction. Observers usually need to be physically present at the observation site, meaning the guide must communicate with the observer, lacking more efficient communication methods. For example, if the guide points to a distant mountain peak, the observer, with both eyes on the telescope, must remove it and follow the guide's direction to see the mountain. This limits the time and geographical location of the observer's target observation. Or, if the guide needs to see a lake or low-lying area, the observer may be unable to see the target or reach the observation destination because a mountain is blocking their view.

[0003] Not only do infrared observation devices require target guidance when stationary, but the target guidance function also needs to be updated in real time as the infrared observation device moves. For example, when traveling by car or airplane, the observer's speed is relatively fast, and the target to be observed also changes rapidly, making the movement and real-time performance of the target guidance particularly important.

[0004] Currently available technologies include target guidance functions where latitude, longitude, and altitude values ​​are set on the observer's infrared observation device, and then local calculations are performed based on distance. However, remote operation is not yet possible. The main drawback of current target guidance functions is that while the observer's infrared observation device sets geographical coordinates and distance, calculating the target information is less convenient and slower than using a mobile phone / computer remote control terminal. Mobile phones / computer remote control terminals provide map information, allowing instructors to directly and accurately obtain location information simply by pointing. Furthermore, inputting information from the infrared observation device can only be performed by the observer on-site; remote target guidance and collaborative guidance are not possible. Summary of the Invention

[0005] Based on the above analysis, the embodiments of the present invention aim to provide a method for remotely wirelessly guiding infrared observation equipment to observe targets, thereby improving the convenience, flexibility, and accuracy of remotely guiding target observation.

[0006] To solve the above-mentioned technical problems, the main technical solutions adopted by the present invention include:

[0007] This manual provides a method for remotely wirelessly guiding an infrared observation device to observe a target, including the following steps:

[0008] The remote control terminal locates the observation target, obtains the target location information, and wirelessly transmits the target location information to the first, second, and third infrared observation devices;

[0009] The remote control terminal estimates the optimal observation distance based on the estimated size of the target and the field of view and resolution of the first infrared observation device;

[0010] The remote control terminal guides the first, second, and third infrared observation devices to move to the optimal observation distance from the target position, with the intervals located at the three vertices of an inscribed regular hexagon, so as to conduct target observation in a coordinated manner.

[0011] The remote control terminal adjusts the direction, position, and focal length of each infrared observation device in real time based on the video stream images transmitted back from the first, second, and third infrared observation devices.

[0012] Optionally, the remote control terminal performs target positioning and obtains target location information, including:

[0013] Based on the online map function of the remote control terminal, select the observation target and obtain the target location information;

[0014] The target location information includes the latitude, longitude, and altitude of the observed target.

[0015] Optionally, the target location information is wirelessly transmitted to the first, second, and third infrared observation devices as follows:

[0016] Generate a JSON data packet containing the latitude, longitude, and altitude values ​​of the target location information;

[0017] Send the JSON data packet to the first, second, and third infrared observation devices;

[0018] Each infrared observation device receives and parses the JSON data packet, extracts the latitude, longitude, and altitude information of the target location, and saves it to the memory of each infrared observation device.

[0019] Optionally, the estimation of the optimal observation distance includes:

[0020] Based on the estimated size of the target, the field of view and resolution of the first infrared observation device, the optimal observation distance is estimated using the following formula:

[0021]

[0022] Where d is the estimated optimal observation distance, L is the estimated size of the target, and θ and s are the field of view and resolution of the first infrared observation device, respectively.

[0023] Optionally, the remote control terminal guides the first, second, and third infrared observation devices to move to the optimal observation distance from the target position, with the distance between them located at the three vertices of an inscribed regular hexagon, to coordinate target observation, including:

[0024] A circle is constructed with the observation target as the center and the optimal observation distance as the radius. The remote control terminal guides the first infrared observation device to move to the position on the nearest circumference.

[0025] If the video stream image transmitted back by the first infrared observation device shows an obstruction, the first infrared observation device is remotely guided to move in a circle until there is no obstruction.

[0026] Using the distance between the first observation device and the observation target as the side length, construct an inscribed regular hexagon. Move the second and third infrared observation devices to the vertex of the regular hexagon, with a vertex separating the three infrared observation devices.

[0027] If one of the video stream images transmitted back by the second and third infrared observation devices shows an obstruction, the first, second and third infrared observation devices will move in a circle in conjunction until there are no obstructions in the images transmitted back by all infrared observation devices.

[0028] Optionally, it can be determined that there are no obstructions in the images transmitted back by the first, second, or third infrared observation equipment by the following method:

[0029] The first, second, or third infrared observation device acquires its own location information;

[0030] The first, second, or third infrared observation device calculates the azimuth angle and distance between the observed target and itself based on the target location information and its own location information;

[0031] The azimuth angle and the distance are displayed in real time on the first, second or third infrared observation device, and the video stream image including the vernier caliper image and the infrared image of the observed target is transmitted back to the remote control terminal.

[0032] If the distance is the optimal observation distance, the azimuth angle is 0 degrees, and the displayed infrared image of the observed target is clear and complete, the remote control terminal determines that the corresponding first, second, or third infrared observation device has no obstructions.

[0033] Optionally, if the position of the observed target changes during the observation process, the first, second, and third infrared observation devices will move in coordination and remain in a fixed position relative to the observed target.

[0034] Optionally, the first, second, and third infrared observation devices obtain their own location information through their onboard positioning modules;

[0035] The device's own location information, including latitude, longitude, and altitude, is stored in the memory of the first, second, and third infrared observation devices.

[0036] The first, second, and third infrared observation devices save video stream images in real time and transmit them back to the remote control terminal via RTSP technology.

[0037] Optionally, the remote control terminal, based on the video stream images transmitted back by the first, second, and third infrared observation devices, remotely controls and adjusts the direction, position, and focal length of each infrared observation device in real time, including:

[0038] Based on the video stream image received by the remote control terminal, the azimuth angle and the distance are analyzed, and the infrared image of the observed target is observed and analyzed.

[0039] The visibility, accuracy, and clarity of the observed target are assessed, and the direction, position, and focal length of the infrared observation equipment are adjusted in real time.

[0040] Optionally, the remote control terminal establishes a wireless connection with the first, second, and third infrared observation devices; establishing the wireless connection includes:

[0041] Remote control terminal: turn on the hotspot or use the router;

[0042] The three infrared observation devices are connected to the remote control terminal's hotspot or router using Wi-Fi STA mode.

[0043] Compared with the prior art, the beneficial effects of the present invention are:

[0044] 1. Wireless Remote Control Capability. The system allows for wireless connection between the infrared observation equipment and a remote control terminal (mobile phone or computer) via Wi-Fi's WLAN (Wireless Local Area Network) mode. This connects to a router and integrates with the command center's local area network. The commander issues observation commands from the command center, guiding observers to operate the infrared observation equipment and observe targets. This eliminates the limitation of traditional methods requiring the commander to personally visit the target site, improving the convenience and flexibility of observation; it separates observation from command, and the infrared observation equipment is portable, easy to conceal, and suitable for target tracking. The commander can conduct secure and efficient data analysis, send commands, and provide precise guidance from the rear.

[0045] 2. Collaborative Command. Infrared observation equipment can be used in Wi-Fi hotspot mode. After a mobile app (a third-party application on a mobile phone) connects to the infrared observation equipment's hotspot, the user can view the video stream image from the infrared observation equipment on their phone. Multiple instructors can open multiple mobile phones, utilize the online map function of the phones, select target locations, send guidance commands, and guide observers to operate the infrared observation equipment, thus coordinating command. For example, different military branches may have different observation focuses. Some may focus more on camouflage observation in mountains and forests, some on detailed observation of the sky, and some on observation of markings on lakes and shallows. When multiple people coordinate command, the effect of 1+1 is greater than 2.

[0046] 3. Accurate target positioning: By utilizing the latitude, longitude, and altitude information of the target location, combined with the position information of the infrared observation equipment itself, the accurate direction angle and distance can be calculated, thereby achieving accurate target positioning. This helps instructors and observers better grasp the position and direction of the target, improving the accuracy of observation and guidance.

[0047] 4. Easy to operate. Both the mobile app and computer version come with a map SDK (Software Development Kit), which can directly return geographical location information. It is more than 20 times faster than manual input on infrared observation equipment and 10 times faster than voice input recognition.

[0048] 5. Real-time observation and adjustment. Instructors can observe infrared video stream images in real time through applications on their mobile phones or computers and provide real-time guidance based on the observation results, guiding the observer to make adjustments. This allows the observer to respond quickly to changes in the observed target, improving the accuracy and efficiency of observation. For example, if an instructor needs to observe a lake or low-lying area but is unaware that the observer is blocked by a mountain peak, they can provide multi-step guidance through remote real-time images, directing the observer to bypass the mountain peak and reach the side of the mountain for observation. Alternatively, by utilizing forest trails discovered by the observer, the instructor can directly observe the target through the mountains and interact with the observer in real time.

[0049] 6. Visual Operation. Information is synchronously displayed on the UI (User Interface) and linked to the field of view of the infrared observation equipment, providing an informational representation of the target's position within the equipment. For example, if the target is more than 10km away, the observer can align the observation with the direction displayed on the instrument and move until they reach a position close to the target, providing directional guidance. Alternatively, when already near the target, the observer can perform omnidirectional mobile observation. During movement, the infrared observation equipment displays the target's location information in real time, providing immediate directional guidance.

[0050] 7. Unified Multi-Angle Target Observation. Infrared observation equipment uses Wi-Fi STA mode (Station, Wi-Fi operates in wireless terminal mode) to connect to a mobile phone / computer hotspot or router. It receives guidance information from one or more remote control terminals (mobile phones or computers), enabling one or more infrared observation devices (stationary or moving) to simultaneously observe a single target. Real-time observation from different angles allows for the observation of multiple hidden details from the front, sides, and back of the target, achieving comprehensive and more precise observation. For example, when observing a building from the front, there might be an observation hut or tower behind it, facilitating precise multi-faceted analysis of the target.

[0051] In summary, the target location information is wirelessly transmitted to the infrared observation device via a remote control terminal (mobile phone or computer). The map SDK calculates the azimuth and distance between the infrared observation device and the target location, and the target information is displayed dynamically in real time. After receiving the geographic coordinates of the target, the infrared observation device calculates the target's position relative to the device, providing the corresponding azimuth data (accurate to 0.1°) and distance data, which are then displayed on the UI. If the infrared observation device moves in direction or position, the azimuth and distance are recalculated in real time, and the UI is updated accordingly.

[0052] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0053] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0054] Appendix Figure 1Flowchart of a method for remotely guiding infrared observation equipment to observe targets using a remote control terminal;

[0055] Appendix Figure 2 A schematic diagram showing the connection modes between the remote control terminal and the first, second, and third infrared observation devices;

[0056] Appendix Figure 3 A diagram showing the estimated optimal observation distance between the first infrared observation device and the observation target;

[0057] Appendix Figure 4 Deployment diagram of the observation positions of the first, second, and third infrared observation devices;

[0058] Appendix Figure 5 A schematic diagram of a vernier caliper used to display direction angles and distances;

[0059] Appendix Figure 6 This diagram illustrates the principle of real-time display of the orientation angle and distance of the first, second, and third infrared observation devices using a vernier caliper. Detailed Implementation

[0060] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0061] This invention aims to address the problems that when instructors and observers collaborate in observing a target, or when instructors provide on-site / remote guidance to observers in observing a target, the observers may not respond in a timely manner, leading to information bias. Furthermore, the lack of clear guidance information can result in inconvenience and inaccuracy in observing the target.

[0062] This invention provides a method for remotely guiding an infrared observation device to observe a target using wireless means. The hardware required for this invention includes:

[0063] (1) Infrared observation equipment, such as an infrared camera or infrared telescope, one or three units. This equipment is used to capture the infrared radiation of the target and convert it into a visual image or data;

[0064] (2) Mobile phone or computer: As a remote control terminal, it has Wi-Fi connection function and online map function.

[0065] like Figure 1 The flowchart shown illustrates a method for remotely wirelessly guiding an infrared observation device to observe a target, including steps S1-S3, as follows: Figure 1 As shown.

[0066] Step S1: The remote control terminal locates the observation target, obtains the target location information, and wirelessly transmits the target information to the first, second, and third infrared observation devices.

[0067] Step S2: The remote control terminal estimates the optimal observation distance based on the estimated size of the target and the field of view and resolution of the first infrared observation device; the remote control terminal guides the first, second and third infrared observation devices to move to the optimal observation distance from the target position and to be located at the three vertices of a hexagon, so as to conduct target observation in a coordinated manner.

[0068] Step S3: Based on the video stream images transmitted back by the first, second, and third infrared observation devices, the remote control terminal remotely controls and adjusts the direction, position, and focal length of each infrared observation device in real time; if the position of the observation target changes, the first, second, and third infrared observation devices coordinate and move to observe.

[0069] The method of this invention utilizes three infrared observation devices for coordinated observation of the target, enabling multi-angle observation of the target. This invention is based on the premise that the infrared observation devices used have identical parameters.

[0070] Step S1 specifically:

[0071] This includes steps S11-S13.

[0072] Step S11: The remote control terminal wirelessly connects to the first, second, and third infrared observation devices.

[0073] like Figure 2 As shown, this illustrates the connection modes between the remote control terminal and the first, second, and third infrared observation devices.

[0074] Establish a wireless connection with the first, second, and third infrared observation devices using a remote control terminal (mobile phone or computer), specifically as follows:

[0075] 1) The remote control terminal turns on the hotspot or uses a router;

[0076] 2) The first, second and third infrared observation devices use Wi-Fi STA mode to connect to the hotspot or router of the remote control terminal, so as to realize the function of three infrared observation devices observing a target at the same time, and to observe in real time from 360 degrees, which is more accurate.

[0077] Step S12: The remote control terminal performs target positioning and obtains target location information.

[0078] The instructor uses the online map function of a remote control terminal (mobile phone or computer) to select the target location and obtain its latitude, longitude, and altitude information. Specifically:

[0079] Step 1: Open an online map application on your phone or computer.

[0080] Step 2: Locate the target. In the map application, use gestures or mouse operations to move or zoom the map to find the target you want to observe.

[0081] Use the search function or markers on the map to quickly locate targets. For example, enter the place name, address, or POI (Point of Interest) to search, or click the marker icon on the map to select the target to observe.

[0082] Step 3: Obtain target location information. Once the target location to be observed is determined, the target location will be displayed as a location point or marker on the map's UI.

[0083] On a mobile phone, you can select a target by long-pressing or double-tapping the touchscreen to obtain the target's location information; on a computer, you can select a location by clicking the marker icon on the map with the mouse.

[0084] Step 4: Display latitude, longitude, and altitude information.

[0085] In an online map application, select a target to obtain its latitude, longitude, and altitude information. The latitude, longitude, and altitude information of the selected target are displayed numerically in an information box or sidebar on the online map interface.

[0086] The specific steps for locating the target may vary depending on the map application used.

[0087] Step S13: Wirelessly transmit the target location information to the infrared observation device.

[0088] The instructor sends the obtained latitude, longitude, and altitude information of the target location to the infrared observation equipment in the form of a JSON (JavaScript Object Notation) data packet.

[0089] The data is simultaneously uploaded to the central management system, which records all process data for subsequent data analysis and review. All data from subsequent processes will be uploaded to the central management system; this will not be elaborated upon further.

[0090] A mobile phone or computer sends a JSON data packet to the infrared observation device via a Wi-Fi network. The infrared observation device receives and parses the data packet, saving the target location information into its memory.

[0091] Specifically:

[0092] Step 1: Open a data transfer application. Open a data transfer application on your phone or computer. If you don't have a specific data transfer application, you can also use a general file transfer or data sharing application to complete the data transfer.

[0093] Step 2: Generate the latitude, longitude, and altitude information of the target location into a JSON data packet, such as {"mode":"pctest","command":"convertObPara",

[0094] The expression "tar_longitude":120, "tar_latitude":30, "tar_altitude":10" is used to represent the attribute name and the attribute value. tar_longitude, tar_latitude, and tar_altitude represent longitude, latitude, and altitude, respectively.

[0095] Step 3: Select the infrared observation device. In the data transmission application, select the target location information to be sent to the infrared observation device and transmit it via wireless network.

[0096] Step 4: The infrared observation equipment receives and parses JSON data packets. The infrared observation equipment interacts with the network, receiving JSON data packets containing target location information sent by a mobile phone or computer. It then parses the longitude, latitude, and altitude information from the target location and stores it in the infrared observation equipment's memory.

[0097] Step S2 specifically:

[0098] This includes steps S21-S25.

[0099] Step S21: Based on the estimated size of the target, the field of view and resolution of the first infrared observation device, estimate the optimal observation distance.

[0100] like Figure 3 The optimal observation distance between the first infrared observation device and the observation target is estimated. The remote control terminal estimates the size L of the observation target and estimates the optimal observation distance d based on the field of view θ and resolution s of the first device, as shown in formula (1):

[0101]

[0102] Where d is the estimated optimal observation distance, L is the estimated size of the observed target, θ is the field of view of the first infrared observation device, and s is the resolution of the first infrared observation device.

[0103] Step S22: Construct a circle with the observation target as the center and the optimal observation distance as the radius, and guide the first infrared observation device to the position on the nearest circle.

[0104] The remote control terminal constructs a circle with the observation target as the center and the optimal observation distance as the radius, such as... Figure 4 The circular dashed line shown.

[0105] The first infrared observation device is remotely and wirelessly guided to a position on the circumference closest to it.

[0106] Step S23: If the video stream image returned by the first infrared observation device shows an obstruction, then remotely guide the first infrared observation device to move in a circle until there is no obstruction.

[0107] If the video stream image returned by the first infrared observation device shows an obstruction, then the first infrared observation device is remotely guided to move in a circle until there is no obstruction.

[0108] Step S24: Construct an inscribed regular hexagon with the distance between the first infrared observation device and the observation target as the side length. Move the second and third infrared observation devices to the optimal observation distance from the target position, and position them at the three vertices of the inscribed regular hexagon. The three infrared observation devices are spaced one vertex apart and work together to observe the target.

[0109] 1) Construct an inscribed regular hexagon with the distance from the first infrared observation device to the observation target as its side length, such as... Figure 4 The circle shown is an inscribed regular hexagon;

[0110] 2) The remote control terminal remotely guides the second and third infrared observation devices to the vertices of the regular hexagon. The first, second and third infrared observation devices are spaced one vertex apart, and the three work together to observe the target.

[0111] Step S25: Determine whether there are any obstructions in the video stream images transmitted back by the second and third infrared observation devices.

[0112] If one of the video stream images transmitted back by the second and third infrared observation devices shows an obstruction, the first, second and third infrared observation devices will move in a circle in conjunction until there are no obstructions in the images transmitted back by all infrared observation devices.

[0113] The methods for determining whether the first, second, or third infrared observation devices have obstructions are the same.

[0114] Specifically, the following five steps are used to determine that there are no obstructions in the images transmitted back by the first, second, or third infrared observation equipment.

[0115] Step 1: The first, second, or third infrared observation device acquires its own location information.

[0116] The first, second, or third infrared observation equipment uses its own GPS (Global Positioning System) or BeiDou Navigation Satellite System satellite positioning module to obtain its own location information, including latitude, longitude, and altitude, and saves it to the infrared observation equipment's memory.

[0117] 1) Ensure that the infrared observation equipment has a positioning function and determine whether it is equipped with a GPS or Beidou navigation system satellite positioning module. The infrared observation equipment being equipped with a positioning module is the basis for this step.

[0118] 2) Activate the positioning function of the infrared observation equipment;

[0119] 3) Obtain its own location information. The positioning module directly obtains the latitude, longitude and altitude information of the infrared observation device and displays its own location information in digital form on the screen of the infrared observation device, or it can be found in the settings menu.

[0120] 4) Record its own location information. Record the latitude, longitude, and altitude of the infrared observation equipment and save it to the memory of the infrared observation equipment.

[0121] The second step involves the first, second, or third infrared observation device calculating the orientation angle between the observed target and itself based on the target's location information and its own location information.

[0122] The azimuth angle represents the directional relationship between the infrared observation equipment and the location of the target to be observed.

[0123] The first, second, or third infrared observation device uses its own location information (latitude, longitude, and altitude) and the received target location information to calculate the azimuth angle between the first infrared observation device and the target.

[0124] 1) The longitude, latitude, and altitude values ​​of the first, second, and third infrared observation devices are represented as (lon_i1,lat_i1,alt_i1), lon_i2,lat_i2,alt_i2), and lon_i3,lat_i3,alt_i3, while the longitude, latitude, and altitude values ​​of the observed target are represented as (lon_t,lat_t,alt_t).

[0125] 2) Calculate the longitude difference using longitude values ​​and the latitude difference using latitude values.

[0126] The latitude and longitude difference of the first infrared observation device is shown in formulas (2)-(3).

[0127] Δlon1=lon_t-lon_i1 (2)

[0128] Δlat1=lat_t-lat_i1 (3)

[0129] Where Δlon1 is the longitude difference, Δlat1 is the latitude difference, lon_t is the target longitude, and lon_i1 is...

[0130] The longitude of the first infrared observation device, lat_t is the target latitude, and lat_i1 is the latitude of the first infrared observation device.

[0131] Using the same method, the latitude and longitude differences of the second infrared observation device are calculated as Δlon2 and Δlat2, and the latitude and longitude differences of the third observation device are calculated as Δlon3 and Δlat3, which will not be elaborated here.

[0132] 3) Convert the latitude and longitude differences to radians.

[0133] The latitude and longitude difference of the first infrared observation equipment is converted into radians, as shown in formulas (4)-(5):

[0134] Δlon_rad1=Δlon_t1×π / 180 (4)

[0135] Δlat_rad1=Δlat_t1×π / 180 (5)

[0136] Wherein, Δlon_rad1 is the longitude difference of the first infrared observation device expressed in radians, Δlat_rad1 is the latitude difference of the first infrared observation device expressed in radians, and Δlon_t1 and Δlat_t1 are the longitude difference and latitude difference of the first infrared observation device, respectively.

[0137] Using this method, the latitude and longitude differences in radians between the second and third observation devices were calculated as Δlon_rad2, Δlat_rad2, and Δlon_rad3Δlat_rad3, respectively.

[0138] 4) Calculate the horizontal distance of the target position relative to the infrared observation equipment.

[0139] Calculate the horizontal distance HD1 of the target position relative to the first infrared observation device, as shown in formula (6).

[0140] As shown.

[0141] HD1=R×arccos(sin(lat_i1)×sin(lat_t)+cos(lat_i1)×cos(lat_t)×cos(Δlon_rad1)) (6)

[0143] Where R is the Earth's radius, and you can choose a suitable value, such as using an average radius of 6371 km.

[0144] Using this method, the horizontal distances HD2 and HD3 of the target position relative to the second and third infrared observation devices are calculated.

[0145] 5) Calculate the vertical distance of the target position relative to the infrared observation equipment.

[0146] Calculate the vertical distance of the target position relative to the first infrared observation device, as shown in formula (7).

[0147] h1 = alt_t - alt_i1 (7)

[0148] Where alt_t is the elevation value of the target location, and alt_i1 is the elevation value of the target location.

[0149] Using this method, the vertical distances h2 and h3 of the target position relative to the second and third infrared observation devices are calculated.

[0150] 6) Calculate the direction angle.

[0151] Calculate the azimuth angle of the first infrared observation device pointing to the target position, as shown in formula (8):

[0152] α1= atan2(h1,HD1) (8)

[0153] The azimuth angle α1 represents the direction in which the first infrared observation device points to the target position, expressed as an angle relative to true north.

[0154] Using this method, the azimuth angles α2 and α3 between the second and third infrared observation devices and the target position are then calculated.

[0155] Direction angles are expressed in degrees.

[0156] The third step is to calculate the distance between the infrared observation device and the observed target based on the horizontal and vertical distances of the target position relative to the observation device.

[0157] Based on the horizontal distance HD1 between the target position and the first infrared observation device, and the vertical distance h1 between them, the distance between the first infrared observation device and the target position is obtained using the Pythagorean theorem, as shown in formula (9):

[0158]

[0159] The same method was used to calculate the distances D2 and D3 of the target position relative to the second and third infrared observation devices.

[0160] The fourth step involves displaying the direction angle and distance in real time on the vernier caliper of the first, second, or third infrared observation device, and simultaneously transmitting a video stream containing the vernier caliper image and the infrared image of the observed target back to the remote control terminal.

[0161] like Figure 5 As shown in (a), the vernier caliper of the infrared observation equipment is a horizontal line with scales and markings, used to visualize the real-time display of the direction angle and target position on the infrared observation equipment.

[0162] The calculated direction angle and distance values ​​are displayed in real time on the vernier caliper of the infrared observation equipment's display screen, so that the observer can intuitively understand the directional and distance relationship between the infrared observation equipment and the target position.

[0163] Figure 5 This is a diagram illustrating the principle of real-time display of direction angle and distance using a vernier caliper, not an actual display effect on an infrared observation device.

[0164] The first, second, or third infrared observation device displays its own vernier caliper on the screen of the infrared observation device.

[0165] Second, when the three devices are used for collaborative observation, the video stream image transmitted back to the remote control terminal by each device contains its own vernier caliper image. Figure 6 This is a schematic diagram of the vernier calipers used in the coordinated observation by the first, second, and third infrared observation devices. The image is a composite image of the vernier calipers received by the remote control terminal from the individual vernier caliper images of the three observation devices.

[0166] Specifically:

[0167] Step 1: Set the starting point and scale markings. Set a starting point at the center of the vernier caliper, representing the azimuth angle of the infrared observation device, with a value of 0°. On the left and right sides of the vernier caliper, set scale markings according to the field of view of the infrared observation device, representing the observable azimuth angle range, with the unit of azimuth angle being degrees.

[0168] Step 2: Display points O and Q.

[0169] Mark a point O on the vernier caliper to indicate the direction of observation by the infrared observation equipment.

[0170] Mark a point Q on the vernier caliper to represent the target position relative to the orientation angle corresponding to the infrared observation equipment, such as... Figure 5 As shown in (a), the 20-degree angle below point Q is the direction angle.

[0171] Step 3: Update the Q point location in real time.

[0172] The position of point Q is updated in real time based on the target position information received by the infrared observation equipment and the calculated direction angle.

[0173] When point Q and point O coincide, it means that the azimuth angle between the infrared observation device and the target is 0°, the infrared observation device is aligned with the target, and the two are in the same direction.

[0174] If point O is within the field of view of the infrared observation equipment, it will be displayed on the vernier caliper; otherwise, if it is not within the field of view, it will remain at the boundary, such as... Figure 5 As shown in (b), the azimuth information is updated in real time.

[0175] Step 4: Display distance information. At point Q of the vernier caliper, the distance is displayed, showing the precise distance record between the infrared observation equipment and the target location. The distance data is updated in real time. Figure 5 As shown in (a), the 500m mark next to point Q is the distance value.

[0176] Step 5: The infrared observation equipment transmits video stream images back to the remote control terminal in real time.

[0177] The video stream images include: real-time transmitted vernier caliper images and infrared images of the target location, wherein the infrared images of the target location are target images observed using infrared observation equipment.

[0178] The infrared observation equipment saves video stream images in real time and transmits the video stream images back to the remote control terminal through RTSP (Real Time Streaming Protocol) technology. The instructor can receive, view and analyze the images in real time through the remote control terminal.

[0179] Step 5: Based on the video stream images transmitted back by the first, second, or third infrared observation equipment, the remote control terminal determines that there are no obstructions blocking the infrared observation equipment.

[0180] The remote control terminal determines whether the first, second, or third infrared observation device is obstructed by any object.

[0181] 1) The remote control terminal determines the orientation angle of all observation devices. When the orientation angles of the first, second, and third infrared observation devices with the observation target are all 0°, it indicates that all infrared observation devices are aligned with the target orientation.

[0182] 2) The remote control terminal observes the infrared image of the target; the infrared image of the target must be clear and complete.

[0183] 3) The remote control terminal determines whether the distance between all infrared observation devices and the observation target is equal to the optimal observation distance.

[0184] When the first, second, and third infrared observation targets are at the optimal observation distance and the azimuth angle is 0 degrees, and the infrared image of the observed targets is clear and complete, it is determined that there are no obstructions between the first, second, or third infrared observation equipment and the target.

[0185] Step S3 specifically:

[0186] Based on the video stream images transmitted back by the first, second, and third infrared observation devices, the remote control terminal adjusts the direction, position, and focal length of the infrared observation devices in real time. During the observation process, if the position of the observed target changes, the first, second, and third infrared observation devices move in coordination and remain fixed in relative position to the observed target.

[0187] The instructor receives real-time video streams from the infrared observation equipment via a remote control application on a mobile phone or computer. These streams include caliper images and infrared images of the target location. The images are stored in the phone's memory or the computer's hard drive for real-time observation. Based on the observations, the instructor provides immediate guidance and adjustments. This technology allows for continuous observation of the infrared images, whether the infrared observation equipment is stationary or moving, enabling remote guidance for accurate target location observation.

[0188] Step 1: Real-time display of vernier calipers. The instructor uses an application on a mobile phone or computer to observe the real-time images of the vernier calipers and the infrared image of the target location transmitted back by the infrared observation device, analyzes the direction angle and distance of the vernier calipers, and observes the details of the target infrared image and the target location.

[0189] Step 2: Analyze the video stream image. The instructor uses the video stream image to determine the accuracy, visibility, and sharpness of the target location. Based on how the target location appears in the video stream image, the instructor determines whether the orientation, position, and focal length of the infrared observation equipment need to be adjusted.

[0190] (1) For the judgment of visibility: In the vernier caliper image, if point Q is at the boundary, it is invisible; otherwise, it is visible and the direction of the infrared observation equipment needs to be adjusted.

[0191] (2) Judgment of accuracy: By transmitting back video stream images, the images of the three infrared observation devices can be integrated, stitched and compared according to the image analysis application. The transmitted images contain accurate target location information, which can clearly determine that the target observed by the three infrared observation devices is the same target.

[0192] (3) For the judgment of sharpness: The ISP (Image Signal Processor) algorithm is used to measure the sharpness of the infrared image at the target location. The larger the FV (Focus Value) value, the higher the sharpness of the infrared image at the target location. A focused image has greater sharpness and a larger corresponding FV value.

[0193] Step 3: Real-time guidance and adjustment. If the target location is inaccurate, invisible, or unclear in the video stream image, the instructor communicates with the infrared observation equipment in real time via a mobile phone or computer application, providing guidance and adjustment instructions. The instructor sends instructions to the observer through the application to adjust the direction, position, or focal length parameters of the infrared observation equipment, optimizing the observation of the target location. For example, if guiding the target to a building in a complex, the instructor needs to make a second, accurate judgment.

[0194] Step 4: Real-time feedback and confirmation.

[0195] The observer makes real-time adjustments based on the instructor's instructions and sends back the video stream image.

[0196] like Figure 6 As shown, the vernier calipers display the real-time changes in the orientation angle and distance of the first, second, and third infrared observation devices, indicating the target's direction and distance from the infrared observation devices. As the infrared observation devices move, the target becomes clearer, and with continuous remote guidance from the supervisor, the observer adjusts the orientation, position, and focal length of the infrared observation devices based on the real-time image results to accurately and clearly observe the target.

[0197] Using the above methods, instructors can remotely guide observers to operate infrared instruments and equipment to observe targets via mobile phones or computer remote control terminals, achieving convenience, flexibility, and accuracy in remote guidance and control. This method provides a new approach to infrared observation and target observation guidance, and can be applied to multiple business fields (such as military-civilian integration, public security and fire protection, disaster relief, and forest fire prevention), with broad application prospects and practical value.

[0198] During the observation process, if the position of the observed target changes, the first, second and third infrared observation devices will move in coordination and remain in a fixed position relative to the observed target.

[0199] If the observed target moves or changes position, the first, second, and third infrared observation devices should maintain a constant distance from the observed target. Figure 4 The relative positions shown are fixed, and coordinated movement is carried out to conduct all-round observation in real time and transmit video stream images back to the remote control terminal.

[0200] If there are any obstructions in the middle, please refer to step S23, which will not be repeated here.

[0201] Alternatively, an offline task package observation mode can be used.

[0202] The first step involves the infrared observation device receiving multiple sets of data to be observed from the instructor as an offline task package under a Wi-Fi connection, which is then stored in the memory of the infrared observation device.

[0203] The second step involves activating the infrared observation equipment in silent mode and disconnecting Wi-Fi and GPS connections. The observer then uses the target information stored in the equipment to stealthily move and observe, and can save data during the observation process using the equipment's video recording and photography functions.

[0204] The third step is to observe the target, then in a safe place, turn on Wi-Fi to transfer videos and photos from the device, and send the video stream images back to the instructor.

[0205] Compared with the prior art, the beneficial effects of the present invention are:

[0206] 1. Wireless Remote Control Capability. The system allows for wireless connection between the infrared observation equipment and a remote control terminal (mobile phone or computer) via Wi-Fi's WLAN (Wireless Local Area Networks) mode. This connects to a router and integrates with the command center's local area network. The commander issues observation commands from the command center, guiding observers to operate the infrared observation equipment and observe targets. This eliminates the limitation of traditional methods where the commander must personally go to the target site, improving the convenience and flexibility of observation; it separates observation from command, and the infrared observation equipment is portable, easy to conceal, and suitable for target tracking. The commander can conduct secure and efficient data analysis, send commands, and provide precise guidance from the rear.

[0207] 2. Collaborative Command. Infrared observation equipment can be used in Wi-Fi hotspot mode. After a mobile app (a third-party application on a mobile phone) connects to the infrared observation equipment's hotspot, the user can view the video stream image from the infrared observation equipment on their phone. Multiple instructors can open multiple mobile phones, utilize the online map function of the phones, select target locations, send guidance commands, and guide observers to operate the infrared observation equipment, thus coordinating command. For example, different military branches may have different observation focuses. Some may focus more on camouflage observation in mountains and forests, some on detailed observation of the sky, and some on observation of markings on lakes and shallows. When multiple people coordinate command, the effect of 1+1 is greater than 2.

[0208] 3. Accurate target positioning: By utilizing the latitude, longitude, and altitude information of the target location, combined with the position information of the infrared observation equipment itself, the accurate direction angle and distance can be calculated, thereby achieving accurate target positioning. This helps instructors and observers better grasp the position and direction of the target, improving the accuracy of observation and guidance.

[0209] 4. Easy to operate. Both the mobile app and computer version come with a map SDK (Software Development Kit), which can directly return geographical location information. It is more than 20 times faster than manual input on infrared observation equipment and 10 times faster than voice input recognition.

[0210] 5. Real-time observation and adjustment. Instructors can observe infrared video stream images in real time through applications on their mobile phones or computers and provide real-time guidance based on the observation results, guiding the observer to make adjustments. This allows the observer to respond quickly to changes in the observed target, improving the accuracy and efficiency of observation. For example, if an instructor needs to observe a lake or low-lying area but is unaware that the observer is blocked by a mountain peak, they can provide multi-step guidance through remote real-time images, directing the observer to bypass the mountain peak and reach the side of the mountain for observation. Alternatively, by utilizing forest trails discovered by the observer, the instructor can directly observe the target through the mountains and interact with the observer in real time.

[0211] 6. Visual Operation. Information is synchronously displayed on the UI (User Interface) and linked to the field of view of the infrared observation equipment, providing an informational representation of the target's position within the equipment. For example, if the target is more than 10km away, the observer can align the observation with the direction displayed on the instrument and move until they reach a position close to the target, providing directional guidance. Alternatively, when already near the target, the observer can perform omnidirectional mobile observation. During movement, the infrared observation equipment displays the target's location information in real time, providing immediate directional guidance.

[0212] 7. Unified Multi-Angle Target Observation. Infrared observation equipment uses Wi-Fi STA mode (Station, Wi-Fi operates in wireless terminal mode) to connect to a mobile phone / computer hotspot or router. It receives guidance information from one or more remote control terminals (mobile phones or computers), enabling one or more infrared observation devices (stationary or moving) to simultaneously observe a single target. Real-time observation from different angles allows for the observation of multiple hidden details from the front, sides, and back of the target, achieving comprehensive and more precise observation. For example, when observing a building from the front, there might be an observation hut or tower behind it, facilitating precise multi-faceted analysis of the target.

[0213] In summary, the target location information is wirelessly transmitted to the infrared observation device via a remote control terminal (mobile phone or computer). The map SDK calculates the azimuth and distance between the infrared observation device and the target location, and the target information is displayed dynamically in real time. After receiving the geographic coordinates of the target, the infrared observation device calculates the target's position relative to the device, providing the corresponding azimuth data (accurate to 0.1°) and distance data, which are then displayed on the UI. If the infrared observation device moves in direction or position, the azimuth and distance are recalculated in real time, and the UI is updated accordingly.

[0214] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0215] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for remotely guiding an infrared observation device to observe a target, comprising the following steps: The remote control terminal locates the observation target, obtains the target location information, and wirelessly transmits the target location information to the first, second, and third infrared observation devices; wherein the parameters of the first, second, and third infrared observation devices are identical; The remote control terminal estimates the optimal observation distance based on the estimated size of the target and the field of view and resolution of the first infrared observation device; The remote control terminal guides the first, second, and third infrared observation devices to move to the optimal observation distance from the target position, with the intervals located at the three vertices of an inscribed regular hexagon. A circle is constructed with the target as the center and the optimal observation distance as the radius. The distance between the first infrared observation device and the target is used as the side length to construct an inscribed regular hexagon. The second and third infrared observation devices are moved to the optimal observation distance from the target position, with the intervals located at the three vertices of the inscribed regular hexagon, to collaboratively observe the target. The remote control terminal uses the video stream images transmitted back from the first, second, and third infrared observation devices to remotely control and adjust the direction, position, and focal length of each infrared observation device in real time.

2. The method for observing a target according to claim 1, characterized in that, The remote control terminal performs target positioning and obtains target location information, including: Based on the online map function of the remote control terminal, select the observation target and obtain the target location information; The target location information includes the latitude, longitude, and altitude of the observed target.

3. The method for observing a target according to claim 2, characterized in that, The target location information is wirelessly transmitted to the first, second, and third infrared observation devices as follows: Generate a JSON data packet containing the latitude, longitude, and altitude values ​​of the target location information; Send the JSON data packet to the first, second, and third infrared observation devices; Each infrared observation device receives and parses the JSON data packet, extracts the latitude, longitude, and altitude information of the target location, and saves it to the memory of each infrared observation device.

4. The method for observing a target according to claim 1, characterized in that, The estimation of the optimal observation distance includes: Based on the estimated size of the target, the field of view and resolution of the first infrared observation device, the optimal observation distance is estimated using the following formula: Where d is the estimated optimal observation distance, and L is the estimated size of the target. s and s represent the field of view and resolution of the first infrared observation device, respectively.

5. The method for observing a target according to claim 4, characterized in that, The remote control terminal guides the first, second, and third infrared observation devices to move to the optimal observation distance from the target location, with the devices spaced at the three vertices of an inscribed regular hexagon, to coordinate target observation, including: A circle is constructed with the observation target as the center and the optimal observation distance as the radius. The remote control terminal guides the first infrared observation device to move to the position on the nearest circumference. If the video stream image transmitted back by the first infrared observation device shows an obstruction, the first infrared observation device is remotely guided to move in a circle until there is no obstruction. Using the distance between the first infrared observation device and the observation target as the side length, construct an inscribed regular hexagon. Move the second and third infrared observation devices to the vertex of the regular hexagon, with a vertex separating the three infrared observation devices. If one of the video stream images transmitted back by the second and third infrared observation devices shows an obstruction, the first, second and third infrared observation devices will move in a circle in conjunction until there are no obstructions in the images transmitted back by all infrared observation devices.

6. The method for observing a target according to claim 5, characterized in that, The following method can be used to determine whether the images transmitted back by the first, second, or third infrared observation equipment are free of obstructions: The first, second, or third infrared observation device acquires its own location information; The first, second, or third infrared observation device calculates the azimuth angle and distance between the observed target and itself based on the target location information and its own location information; The azimuth angle and the distance are displayed in real time on the first, second or third infrared observation device, and the video stream image including the vernier caliper image and the infrared image of the observed target is transmitted back to the remote control terminal. If the distance is the optimal observation distance, the azimuth angle is 0 degrees, and the displayed infrared image of the observed target is clear and complete, the remote control terminal determines that the corresponding first, second, or third infrared observation device has no obstructions.

7. The method for observing a target according to claim 6, characterized in that, Also includes: During the observation process, if the position of the observed target changes, the first, second, and third infrared observation devices will move in coordination and remain in a fixed position relative to the observed target.

8. The method for observing a target according to claim 7, characterized in that, The first, second, and third infrared observation devices obtain their own location information through their onboard positioning modules; The device's own location information, including latitude, longitude, and altitude, is stored in the memory of the first, second, and third infrared observation devices. The first, second, and third infrared observation devices save video stream images in real time and transmit them back to the remote control terminal via RTSP technology.

9. The method for observing a target according to claim 8, characterized in that, The remote control terminal, based on the video stream images transmitted back by the first, second, and third infrared observation devices, remotely controls and adjusts the direction, position, and focal length of each infrared observation device in real time, including: Based on the video stream image received by the remote control terminal, the azimuth angle and the distance are analyzed, and the infrared image of the observed target is observed and analyzed. The visibility, accuracy, and clarity of the observed target are assessed, and the direction, position, and focal length of the infrared observation equipment are adjusted in real time.

10. The method for observing a target according to any one of claims 1-9, characterized in that, The remote control terminal establishes a wireless connection with the first, second, and third infrared observation devices; establishing the wireless connection includes: Remote control terminal: turn on the hotspot or use the router; The three infrared observation devices are connected to the remote control terminal's hotspot or router using Wi-Fi STA mode.

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