Long-distance temperature compensation method and device based on TOF technology, terminal and medium

Abstract

The present application belongs to infrared thermal imager technical field, especially in kind of based on TOF technology's long distance temperature compensation method, device, user terminal, medium, including: acquire comprehensive array pixel point position range parameter;Acquire compensation coefficient table;Acquire the detection time interval array parameter of light wave signal;According to the detection time interval array parameter, calculate comprehensive array array distance parameter;According to comprehensive array pixel point position range parameter, acquire comprehensive array pixel point pre-compensation temperature value;According to compensation coefficient table, comprehensive array array distance parameter and comprehensive array pixel point pre-compensation temperature value, calculate comprehensive array pixel point post-compensation temperature value.This method is based on TOF technology to acquire comprehensive array array distance parameter, and combines long distance intelligent temperature compensation algorithm to carry out comprehensive array distance temperature compensation in real time, so as to solve the problem of user manual input distance parameter.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of infrared thermal imager temperature detection, and particularly relates to a long-distance temperature compensation method and device based on TOF technology, a terminal and a medium. BACKGROUND

[0002] With the development of science and technology, an automatic control technology based on artificial intelligence appears, and application of the technology can realize automatic and intelligent control of equipment. The basis of automatic control is accurate detection of related parameters, and detection of temperature is very important among the related parameters.

[0003] In infrared thermal imager detection, when a single infrared probe is used to collect indoor environment temperature or user body temperature, the farther the user or indoor heat object is from the infrared probe, the lower the temperature detection precision is.

[0004] In related technologies, most infrared thermal imagers use a distance parameter applicable comprehensive array temperature distance compensation method, that is, a user needs to manually input a distance parameter, and then a compensation temperature is calculated according to the distance parameter. In this way, the above method needs manual input operation of the user, and the temperature precision after compensation is reduced due to different distances of actual objects, which causes inaccurate measurement.

[0005] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0006] In view of at least one of the above technical problems, the present application provides a long-distance temperature compensation method and device based on TOF technology, a terminal and a medium, which solve the problem that in related technologies, most infrared thermal imagers use a distance parameter applicable comprehensive array temperature distance compensation method, that is, a user needs to manually input a distance parameter, and then a compensation temperature is calculated according to the distance parameter. In this way, the above method needs manual input operation of the user, and the temperature precision after compensation is reduced due to different distances of actual objects, which causes inaccurate measurement.

[0007] In a first aspect, a long-distance temperature compensation method based on TOF technology is provided, which is applied to an infrared thermal imager having a TOF detector, and the method includes the following steps.

[0008] Obtaining a comprehensive array pixel point position range parameter, which is determined by the TOF detector;

[0009] The compensation coefficient table includes a first compensation coefficient, a second compensation coefficient, a third compensation coefficient, a fourth compensation coefficient, a fifth compensation coefficient, and a sixth compensation coefficient, and the compensation coefficient table is pre-stored in the infrared thermal imager.

[0010] An array parameter of detection time intervals of the optical wave signal is obtained, wherein the optical wave signal includes a first optical wave band and a second optical wave band, the first optical wave band is emitted to the surface of the measured target according to the range parameter of the pixel positions of the full array by the TOF detector, and the second optical wave band is bounced back to the TOF detector by the surface of the measured target and received.

[0011] The array distance parameter of the full array is calculated according to the array parameter of the detection time intervals.

[0012] A temperature value before compensation of the pixel of the full array is obtained according to the range parameter of the pixel positions of the full array.

[0013] A temperature value after compensation of the pixel of the full array is calculated according to the compensation coefficient table, the array distance parameter of the full array, and the temperature value before compensation of the pixel of the full array.

[0014] The method has the following technical effects: the array distance parameter of the full array is obtained based on the TOF technology, and the distance temperature compensation of the full array is performed in real time by combining the long-distance intelligent temperature compensation algorithm, so that the problem of manually inputting the distance parameter by the user is solved.

[0015] In an implementation manner, the compensation coefficient table includes a first compensation coefficient, a second compensation coefficient, a third compensation coefficient, a fourth compensation coefficient, and a fifth compensation coefficient, and the compensation coefficient table is pre-stored in the infrared thermal imager, including:

[0016] An ideal temperature value of the black body is determined, and the ideal temperature value of the black body includes a first ideal temperature value, a second ideal temperature value, a third ideal temperature value, and a fourth ideal temperature value.

[0017] The ideal temperature values of the black body are collected at equal intervals, and a compensation-before-temperature data collection table is generated.

[0018] The compensation coefficient table is obtained according to the compensation-before-temperature data collection table and based on multi-dimensional matrix operation.

[0019] In an implementation manner, the TOF detector is an array detector.

[0020] In an implementation manner, the array parameter of the detection time intervals of the optical wave signal includes:

[0021] The emission time of the first optical wave band is obtained.

[0022] The receiving time of the second optical wave band is obtained.

[0023] According to the emission time of the first light wave band and the receiving time of the second light wave band, the detection time interval array parameter is determined.

[0024] In an implementation manner, the overall array distance parameter is calculated according to the detection time interval array parameter, including:

[0025] The overall array distance parameter is calculated based on a first mapping relationship, and the first mapping relationship is:

[0026]

[0027] In the formula, arrDist (i，j) represents the overall array distance parameter, c represents the speed of light, and Δtof (i，j) represents the detection time interval array parameter, i represents a horizontal axis parameter of the overall array pixel position range parameter, and j represents a vertical axis parameter of the overall array pixel position range parameter.

[0028] In an implementation manner, the overall array pixel pre-compensation temperature value is obtained according to the overall array pixel position range parameter, including:

[0029] The horizontal axis parameter and the vertical axis parameter of the overall array pixel position range parameter are obtained, and the horizontal axis parameter and the vertical axis parameter are determined by the TOF detector.

[0030] The overall array pixel pre-compensation temperature value of each pixel point in the overall array pixel position range parameter is obtained.

[0031] In an implementation manner, the overall array pixel post-compensation temperature value is calculated according to the compensation coefficient table, the overall array distance parameter and the overall array pixel pre-compensation temperature value, including:

[0032] The overall array pixel post-compensation temperature value is calculated based on a second mapping relationship, and the second mapping relationship is:

[0033] arrTempDist (i，j) = DistCoef[0] + DistCoef[1] × arrDist (i，j) + DistCoef[2] × arrT0 (i，j) + DistCoef[3] × arrDist (i，j) × arrT0 (i，j) + DistCoef[4] × arrDist (i，j) 2 × arrT0 (i，j) + istCoef[5] × arrDist (i，j) × arrT0 (i，j) 2

[0034] arrTempDist = arrTempDist + DistCoef[0] * arrDist + DistCoef[1] * arrDist * arrDist + DistCoef[2] * arrDist * arrDist * arrDist + DistCoef[3] * arrDist * arrDist * arrDist * arrDist + DistCoef[4] * arrDist * arrDist * arrDist * arrDist * arrDist + DistCoef[5] * arrDist * arrDist * arrDist * arrDist * arrDist (i，j) arrTempDist represents the temperature value of the panoramic array pixel point after compensation, DistCoef[0] represents the first compensation coefficient, arrDist represents the panoramic array distance parameter, arrT0 represents the temperature value of the panoramic array pixel point before compensation.

[0035] DistCoef[1] represents the second compensation coefficient, DistCoef[2] represents the third compensation coefficient, DistCoef[3] represents the fourth compensation coefficient, DistCoef[4] represents the fifth compensation coefficient, DistCoef[5] represents the sixth compensation coefficient, and arrDist represents the panoramic array distance parameter. (i，j) arrDist represents the panoramic array distance parameter, arrT0 represents the temperature value of the panoramic array pixel point before compensation. (i，j) arrTempDist represents the temperature value of the panoramic array pixel point after compensation.

[0036] The second aspect of the embodiment of the present application provides a long-distance temperature compensation device based on a TOF technology, which is applied to an infrared thermal imager having a TOF detector, and the device comprises:

[0037] A first acquisition module is configured to acquire a panoramic array pixel point position range parameter, which is determined by the TOF detector.

[0038] A second acquisition module is configured to acquire a compensation coefficient table, which comprises a first compensation coefficient, a second compensation coefficient, a third compensation coefficient, a fourth compensation coefficient, a fifth compensation coefficient, and a sixth compensation coefficient, and is pre-stored in the infrared thermal imager.

[0039] A third acquisition module is configured to acquire a detection time interval array parameter of a light wave signal, wherein the light wave signal comprises a first light wave band and a second light wave band, the first light wave band is emitted to a surface of a measured target by the TOF detector according to the panoramic array pixel point position range parameter, and the second light wave band is bounced back to the TOF detector by the surface of the measured target.

[0040] A first calculation module is configured to calculate a panoramic array distance parameter according to the detection time interval array parameter.

[0041] A fourth acquisition module is configured to acquire a temperature value of a panoramic array pixel point before compensation according to the panoramic array pixel point position range parameter.

[0042] A second calculation module is configured to calculate a temperature value of a panoramic array pixel point after compensation according to the compensation coefficient table, the panoramic array distance parameter, and the temperature value of the panoramic array pixel point before compensation.

[0043] The third aspect of the embodiment of the present application provides a user terminal, which comprises a storage and a processor, the storage stores a computer program, and the processor realizes the steps of the compensation method of the first aspect when executing the computer program.

[0044] In a fourth aspect, the present application provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the compensation method of the first aspect.

[0045] The application will be further described below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0047] Figure 1 is a flowchart of the compensation method in the embodiments of the present application;

[0048] Figure 2 is a schematic diagram of a detection target of a TOF detector in the embodiments of the present application;

[0049] Figure 3 is a schematic diagram of emitted and received light waves of a TOF detector in the embodiments of the present application;

[0050] Figure 4 is a flowchart of obtaining a compensation coefficient table in the embodiments of the present application;

[0051] Figure 5 is a flowchart of obtaining an array parameter of a detection time interval of a light wave signal in the embodiments of the present application;

[0052] Figure 6 is a flowchart of obtaining a temperature value before compensation of a full-array pixel point according to a full-array pixel point position range parameter in the embodiments of the present application;

[0053] Figure 7 is a structural diagram of a compensation device in the embodiments of the present application;

[0054] Figure 8 is a structural diagram of a user terminal in the embodiments of the present application; DETAILED DESCRIPTION

[0055] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the drawings. In the following description, a large number of specific details are set forth in order to facilitate a full understanding of the present application. However, the present application can be implemented in many different ways other than those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0056] In the infrared thermal imager detection, when a single infrared probe is used to collect indoor environment temperature or user body temperature, the farther the user or indoor heat object is from the infrared probe, the lower the temperature precision obtained by the infrared probe is. In the related technology, the infrared thermal imager mostly uses a distance parameter comprehensive array temperature distance compensation method, that is, a user needs to manually input a distance parameter, and then a compensation temperature is calculated according to the distance parameter, so that the above method needs the user to manually input an operation, and the temperature precision after compensation is reduced due to the different distances of actual objects, so that the measurement is inaccurate. The method obtains a comprehensive array distance parameter based on a TOF technology, and combines a long-distance intelligent temperature compensation algorithm to perform comprehensive array distance temperature compensation in real time, so that the problem of manually inputting a distance parameter by the user is solved.

[0057] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 , wherein Figure 1 is a flowchart of the compensation method in the embodiment of the application; Figure 2 is a detection target schematic diagram of a TOF detector in the embodiment of the application; Figure 3 is a schematic diagram of emitted and received light waves of the TOF detector in the embodiment of the application; Figure 4 is a flowchart of obtaining a compensation coefficient table in the embodiment of the application; Figure 5 is a flowchart of obtaining a detection time interval array parameter of a light wave signal in the embodiment of the application; Figure 6 is a flowchart of obtaining a comprehensive array pixel point temperature value before compensation according to a comprehensive array pixel point position range parameter in the embodiment of the application; Figure 7 is a structure diagram of a compensation device in the embodiment of the application; Figure 8 is a structure diagram of a user terminal in the embodiment of the application; the first aspect of the embodiment of the application provides a long-distance temperature compensation method based on a TOF technology, applied to an infrared thermal imager, the infrared thermal imager having a TOF detector, and the method comprises steps 100 to 600.

[0058] In combination with reference Figures 1 to 3 , the long-distance temperature compensation method based on the TOF technology is described in detail below.

[0059] Step 100: Obtain a comprehensive array pixel point position range parameter, which is determined by a TOF detector;

[0060] In step 100, the detection target of the TOF detector is in a matrix, i.e., a square detection target, and a plurality of square detection units a are arranged in the matrix in the square detection target, and each square detection unit a corresponds to a pixel point of the measured object. For example, the range of the square detection target is (i, j), i.e., i columns and j rows. When the TOF detector determines the full-array pixel point position range parameter, it is transmitted to the infrared thermal imager.

[0061] In addition, the number of square detection units a in the detection target of the TOF detector is fixed.

[0062] Step 200: Obtain a compensation coefficient table, which includes a first compensation coefficient, a second compensation coefficient, a third compensation coefficient, a fourth compensation coefficient, a fifth compensation coefficient, and a sixth compensation coefficient. The compensation coefficient table is pre-stored in the infrared thermal imager.

[0063] In step 200, the infrared thermal imager obtains a compensation coefficient table, wherein the first compensation coefficient, the second compensation coefficient, the third compensation coefficient, the fourth compensation coefficient, the fifth compensation coefficient, and the sixth compensation coefficient in the compensation coefficient table are pre-stored in the infrared thermal imager, i.e., during the production stage of the infrared thermal imager, the compensation coefficient table already exists in the infrared thermal imager, and when performing long-distance temperature compensation, it can be directly called. In this way, the calculation and processing steps of long-distance temperature compensation are reduced, and the compensation reaction speed is faster.

[0064] In addition, step 200 has no sequence relationship with steps 100 to 500, i.e., step 200 can occur before step 600.

[0065] Step 300: Obtain a detection time interval array parameter of a light wave signal, wherein the light wave signal includes a first light wave band b and a second light wave band c, the first light wave band b is emitted to the surface of the measured object by the TOF detector according to the full-array pixel point position range parameter, and the second light wave band c is bounced back to the TOF detector by the surface of the measured object.

[0066] In step 300, the infrared thermal imager obtains a detection time interval array parameter of a light wave signal. The light wave signal is emitted by the TOF detector.

[0067] Specifically, when the TOF detector emits the first light wave band b, the TOF detector emits the first light wave band b to the pixel points in each square detection unit a in the detection target, the first light wave band b is emitted to the pixel points on the surface of the measured object, and then the second light wave band c is formed by reflection, and the TOF detector receives the second light wave band c.

[0068] Therefore, since the measured target surface can be a plane or a concave-convex surface, the first light wave band b emitted into each square detection unit a and the second light wave band c reflected back will have different lengths, and the detection time intervals are also different.

[0069] The detection time intervals of each detection unit collectively constitute a detection time interval array parameter.

[0070] Step 400: According to the detection time interval array parameter, calculate the full array distance array parameter;

[0071] In step 400, the infrared thermal imager calculates the full array distance array parameter according to the detection time interval array parameter.

[0072] Step 500: According to the full array pixel point position range parameter, obtain the full array pixel point pre-compensation temperature value;

[0073] In step 500, the infrared thermal imager obtains the full array pixel point pre-compensation temperature value according to the full array pixel point position range parameter.

[0074] Step 600: According to the compensation coefficient table, the full array distance array parameter and the full array pixel point pre-compensation temperature value, calculate the full array pixel point post-compensation temperature value.

[0075] In step 600, the infrared thermal imager calculates the full array pixel point post-compensation temperature value according to the compensation coefficient table, the full array distance array parameter and the full array pixel point pre-compensation temperature value.

[0076] In some examples, in combination with reference Figure 4 , the compensation coefficient table is obtained, the compensation coefficient table includes a first compensation coefficient, a second compensation coefficient, a third compensation coefficient, a fourth compensation coefficient and a fifth compensation coefficient, the compensation coefficient table is pre-stored in the infrared thermal imager, and includes steps 210 to 230.

[0077] Step 210: Determine the blackbody ideal temperature value, the blackbody ideal temperature value includes a first ideal temperature value, a second ideal temperature value, a third ideal temperature value and a fourth ideal temperature value;

[0078] For example, the first ideal temperature value is 15°C, the second ideal temperature value is 40°C, the third ideal temperature value is 80°C, and the second ideal temperature value is 120°C.

[0079] Step 220: Collect the blackbody ideal temperature values at equal intervals, and generate a pre-compensation temperature data collection table;

[0080] For example, the first ideal temperature value, the second ideal temperature value, the third ideal temperature value and the fourth ideal temperature value are collected at positions 0.3, 1, 2, 3 and 4 meters away from the black body respectively, and a pre-compensation temperature data collection table is generated.

[0081] For example, the pre-compensation temperature data collection table is as follows:

[0082] 0.3m 0.6m 1m 2m 3m 4m 15℃ 15.7 15.9 16.1 16.4 16.8 17.4 40℃ 41.2 40.9 40.4 39.8 39.2 38.4 80℃ 80.9 79.8 79.1 78.0 76.8 75.4 120℃ 121.9 119.9 118.2 115.2 112.6 109.8

[0083] In the table, the infrared thermal imager collects the first ideal temperature value at a distance of 0.3 meters from the black body before compensation, and the collected temperature is 15.7℃.

[0084] Step 230: According to the pre-compensation temperature data collection table, a compensation coefficient table is obtained based on multi-dimensional matrix operation.

[0085] In step 230, according to the pre-compensation temperature data collection table described above, the data is input into matlab or software such as C / C++, multi-dimensional matrix operation is performed, and then the compensation coefficient table is obtained. The compensation coefficient table is input into the infrared imager.

[0086] The steps 210 to 230 described above are completed in the research and development or generation stage, and only need to be performed once.

[0087] In some examples, in combination with reference Figure 1 The TOF detector is an array detector.

[0088] In some examples, in combination with reference Figure 5 The detection time interval array parameter of the light wave signal includes:

[0089] Step 410: Obtain the emission time of the first light wave band b;

[0090] Step 420: Obtain the receiving time of the second light wave band c;

[0091] Step 430: Determine the detection time interval array parameter according to the emission time of the first light wave band b and the receiving time of the second light wave band c.

[0092] In step 430, the detection time interval array parameter is determined according to the emission time of the first light wave band b and the receiving time of the second light wave band c based on the first formula, wherein the first formula is:

[0093] Δtof (i，j) = |T t tof (i，j) -T f tof (i，j) |

[0094] In the formula, Δtof (i，j) represents the detection time interval array parameter, T t tof (i，j) represents the receiving time of the second light wave band c, T f tof (i，j) represents the emitting time of the first light wave band b.

[0095] In some examples, in combination with reference Figure 1 , the full-array array distance parameter is calculated according to the detection time interval array parameter, including:

[0096] The full-array array distance parameter is calculated based on the first mapping relationship, and the first mapping relationship is:

[0097]

[0098] In the formula, arrDist (i，j) represents the full-array array distance parameter, c represents the speed of light, Δtof (i，j) represents the detection time interval array parameter, i represents the horizontal axis parameter of the full-array pixel point position range parameter, and j represents the vertical axis parameter of the full-array pixel point position range parameter.

[0099] In some examples, in combination with reference Figure 6 , the full-array pixel point pre-compensation temperature value is obtained according to the full-array pixel point position range parameter, including steps 510 to 520.

[0100] Step 510: Obtain the horizontal axis parameter and the vertical axis parameter of the full-array pixel point position range parameter, which are determined by the TOF detector;

[0101] The horizontal axis parameter and the vertical axis parameter are i columns and j rows in the range of the plurality of square detection targets.

[0102] Step 520: Obtain the full-array pixel point pre-compensation temperature value of each pixel point in the full-array pixel point position range parameter.

[0103] In some examples, in combination with reference Figure 1 , the full-array pixel point post-compensation temperature value is calculated according to the compensation coefficient table, the full-array array distance parameter, and the full-array pixel point pre-compensation temperature value, including:

[0104] The full-array pixel point post-compensation temperature value is calculated based on the second mapping relationship, and the second mapping relationship is:

[0105] arrTempDist (i，j) = DistCoef[0] + DistCoef[1] × arrDist (i，j)+ DistCoef[2] x arrT0 (i，j) + DistCoef[3] x arrDist (i，j) x arrT0 (i，j) + DistCoef[4] x arrDist (i，j) 2 x arrT0 (i，j) + DistCoef[5] x arrDist (i，j) x arrT0 (i，j) 2

[0106] In the formula, arrTempDist (i，j) represents the temperature value after compensation of the full array pixel point, DistCoef[0]

[0107] represents the first compensation coefficient, DistCoef[1] represents the second compensation coefficient, DistCoef[2] represents the third compensation coefficient, DistCoef[3] represents the fourth compensation coefficient, DistCoef[4] represents the fifth compensation coefficient, DistCoef[5] represents the sixth compensation coefficient, arrDist (i，j) represents the full array distance parameter, arrT0 (i，j) represents the temperature value before compensation of the full array pixel point.

[0108] With reference to Figure 7 , a second aspect of the embodiments of the present application provides a long-distance temperature compensation device based on TOF technology, which is applied to an infrared thermal imager having a TOF detector, and the device comprises:

[0109] A first acquisition module S100 is configured to acquire a full array pixel point position range parameter, which is determined by the TOF detector.

[0110] A second acquisition module S200 is configured to acquire a compensation coefficient table, which comprises a first compensation coefficient, a second compensation coefficient, a third compensation coefficient, a fourth compensation coefficient, a fifth compensation coefficient and a sixth compensation coefficient, and is pre-stored in the infrared thermal imager.

[0111] A third acquisition module S300 is configured to acquire a detection time interval array parameter of a light wave signal, wherein the light wave signal comprises a first light wave band b and a second light wave band c, the first light wave band b is emitted to a surface of a measured target by the TOF detector according to the full array pixel point position range parameter, and the second light wave band c is bounced back to the TOF detector by the surface of the measured target.

[0112] A first calculation module S400 is configured to calculate a full array distance parameter according to the detection time interval array parameter.

[0113] The fourth obtaining module S500 is configured to obtain the temperature value of the full-array pixel point before compensation according to the full-array pixel point position range parameter.

[0114] The second calculating module S600 is configured to calculate the temperature value of the full-array pixel point after compensation according to the compensation coefficient table, the full-array array distance parameter and the temperature value of the full-array pixel point before compensation.

[0115] The compensation device of the second aspect of the embodiments of the present application can be implemented with reference to the specific description of the first aspect of the embodiments of the present application, and has similar beneficial effects to the compensation method of the first aspect of the embodiments of the present application, which will not be described here.

[0116] With reference to Figure 8 The third aspect of the embodiments of the present application provides a user terminal, which comprises a storage and a processor, the storage stores a computer program, and the processor implements the steps of the compensation method of the first aspect when executing the computer program.

[0117] The user terminal of the third aspect of the embodiments of the present application can be implemented with reference to the specific description of the first aspect of the embodiments of the present application, and has similar beneficial effects to the compensation method of the first aspect of the embodiments of the present application, which will not be described here.

[0118] The user terminal 10 can be implemented in the form of a general-purpose computing device. The components of the user terminal 10 can include but are not limited to one or more processors or processing units 11, system memory 12, and bus 13 connecting different system components including system memory 12 and processing unit 11.

[0119] The bus 13 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0120] User terminal 10 typically includes a variety of computer system readable media. These media can be any available media that is accessible by user terminal 10 and includes both volatile and non- volatile media, removable and non-removable media.

[0121] Memory 12 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 14 and / or cache memory 15. User terminal 10 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 16 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (not shown and typically called a "hard drive"). Figure 5 Although not shown, a magnetic disk drive can also be utilized in some embodiments for reading from and writing to a removable, non-volatile magnetic media (such as a "floppy disk"), and an optical disk drive can be utilized for reading from and writing to a removable, non-volatile optical disk (such as a CD-ROM, DVD-ROM or other optical media). In such instances, each drive can be connected to bus 13 by one or more data media interfaces. The memory can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure.

[0122] Program / utility 18, having a set (at least one) of program modules 17, can be stored in, for example, memory by way of example, such program modules include, but are not limited to, an operating system, one or more application programs, other program modules 17, and program data, each or some combination thereof, can include implementation of a networking environment. Program modules 17 generally carry out the functions and / or methodologies of embodiments of the disclosure as described herein.

[0123] User terminal 10 can also be in communication with one or more external devices 19 such as a keyboard, a pointing device, a display 20, etc.; one or more devices that enable a user to interact with computer system / server; and / or one or more devices that enable computer system / server to communicate with one or more other computing devices. Such communication can be via Input / Output (I / O) interface(s) 21. Still yet, user terminal 10 can communicate with one or more networks, such as one or more Local Area Networks (LANs), Wide Area Networks (WANs), and / or the Internet, through network adapter 22. As an example, network adapter 22 can include a modem, a network card (wireless or wired), or other well-known interface devices. It will be appreciated that other hardware and / or software components could be used in conjunction with user terminal 10. Such components not only enhance the performance of user terminal 10, but can also present a greater challenge to those that would seek to break the encryption associated with the methods according to embodiments of the present application.

[0124] Processing unit 11 performs various function applications and data processing by running programs stored in system memory 12, such as implementing the methods mentioned in the foregoing embodiments.

[0125] User terminal 10 according to embodiments of the present application can be a server, or a terminal device with limited computing power.

[0126] According to a fourth aspect of embodiments of the present application, a storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps of the compensation method according to the first aspect.

[0127] The storage medium according to the fourth aspect of embodiments of the present application can be implemented with reference to the specific description of the first aspect according to embodiments of the present application, and has similar beneficial effects to the compensation method according to the first aspect according to embodiments of the present application, and will not be described here.

[0128] Generally, the computer instructions for implementing the methods of the present application can be carried by any combination of one or more computer readable storage media. The non-transitory computer readable storage medium can include any computer readable medium except a signal per se that is transitory.

[0129] Computer readable storage media can include, at least, volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer readable storage media includes, but is not limited to, RAM, ROM, EEPROM, solid state drives, flash memory cards, optical media, magnetic media, or any other medium which can be used to store and access computer readable instructions, data structures, program modules or other data. The instructions can further be transmitted or received using a transmission medium via a computer readable communication network, including a telephone network, the Internet, mobile communications networks, other types of wireless networks, or any combination thereof. The aforementioned media can be used in the implementation of a computer readable storage medium.

[0130] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages, and specifically Python language and platform frameworks based on TensorFlow, PyTorch, etc. suitable for neural network computing. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0131] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not contradict each other, they should be considered to be within the scope of the present disclosure.

[0132] The above, only is the preferred embodiment of the present application, not any form of the present application is restricted. Any skilled in the art, without departing from the scope of the present application, the technical solution of the present application can be made by the above-mentioned method and technical content of the present application technical solution of many possible changes and modifications, or modified as equivalent variation of equivalent embodiment. Therefore, any without departing from the scope of the present application, according to the shape, structure and principle of the present application, the equivalent change, should be covered in the protection scope of the present application.

Claims

1. A long-distance temperature compensation method based on Time-of-Flight (TOF) technology, characterized in that, Applied to an infrared thermal imager having a TOF detector, the method includes: Obtain the position range parameters of the entire array pixels, which are determined by the TOF detector; A compensation coefficient table is obtained, comprising a first compensation coefficient, a second compensation coefficient, a third compensation coefficient, a fourth compensation coefficient, a fifth compensation coefficient, and a sixth compensation coefficient, which is pre-stored in the infrared thermal imager; wherein, the ideal blackbody temperature value is determined, comprising a first ideal temperature value, a second ideal temperature value, a third ideal temperature value, and a fourth ideal temperature value; the ideal blackbody temperature value is collected at equal intervals and a pre-compensation temperature data acquisition table is generated; based on the pre-compensation temperature data acquisition table and multi-dimensional matrix operations, the compensation coefficient table is obtained; The detection time interval array parameters of the light wave signal are obtained, wherein the light wave signal includes a first light band and a second light band. The first light band is emitted by the TOF detector to the surface of the target under test according to the full array pixel position range parameters, and the second light band is reflected back to the TOF detector from the surface of the target under test. Calculate the full array distance parameters based on the detection time interval array parameters; Based on the full array pixel position range parameters, obtain the temperature value of the full array pixel before compensation; Based on the compensation coefficient table, the full array distance parameters, and the pre-compensation temperature values ​​of the full array pixels, the post-compensation temperature values ​​of the full array pixels are calculated. Specifically, the post-compensation temperature values ​​of the full array pixels are calculated based on a second mapping relationship, which is as follows: In the formula, This represents the temperature value after full-array pixel compensation. This represents the first compensation coefficient. This represents the second compensation coefficient. This represents the third compensation coefficient. This represents the fourth compensation coefficient. This represents the fifth compensation coefficient. This represents the sixth compensation coefficient. This represents the array distance parameter of the entire array. This represents the temperature value before full-array pixel compensation.

2. The long-distance temperature compensation method based on TOF technology according to claim 1, characterized in that, The TOF detector is an array detector.

3. The long-distance temperature compensation method based on TOF technology according to claim 1, characterized in that, The array parameters for the detection time interval of acquiring the optical signal include: Obtain the emission time of the first optical band; Obtain the reception time of the second optical band; The detection time interval array parameters are determined based on the transmission time of the first optical band and the reception time of the second optical band.

4. The long-distance temperature compensation method based on TOF technology according to claim 1, characterized in that, The step of calculating the full array distance parameters based on the detection time interval array parameters includes: Based on the first mapping relationship, the array distance parameters of the entire array are calculated. The first mapping relationship is as follows: In the formula, This represents the distance parameter of the entire array, where c represents the speed of light. denoted by , where i represents the horizontal axis parameter of the total array pixel position range parameter, and j represents the vertical axis parameter of the total array pixel position range parameter.

5. The long-distance temperature compensation method based on TOF technology according to claim 1, characterized in that, The step of obtaining the temperature value of the entire array pixels before compensation based on the position range parameters of the entire array pixels includes: The horizontal and vertical axis parameters of the full array pixel position range parameters are obtained, and these horizontal and vertical axis parameters are determined by the TOF detector. Obtain the pre-compensation temperature value of each pixel within the full array pixel position range parameter.

6. A long-distance temperature compensation device based on TOF technology, characterized in that, Applied in an infrared thermal imager having a TOF detector, the device includes: The first acquisition module is used to acquire the position range parameters of the full array pixels, which are determined by the TOF detector. The second acquisition module is used to acquire a compensation coefficient table, which includes a first compensation coefficient, a second compensation coefficient, a third compensation coefficient, a fourth compensation coefficient, a fifth compensation coefficient, and a sixth compensation coefficient. This compensation coefficient table is pre-stored in the infrared thermal imager. Specifically, the module determines the ideal blackbody temperature value, which includes a first ideal temperature value, a second ideal temperature value, a third ideal temperature value, and a fourth ideal temperature value. The module collects the ideal blackbody temperature values ​​at equal intervals and generates a pre-compensation temperature data acquisition table. Based on the pre-compensation temperature data acquisition table and multi-dimensional matrix operations, the compensation coefficient table is acquired. The third acquisition module is used to acquire the detection time interval array parameters of the optical wave signal, wherein the optical wave signal includes a first optical band and a second optical band. The first optical band is emitted by the TOF detector to the surface of the target under test according to the full array pixel position range parameters, and the second optical band is reflected back to the TOF detector by the surface of the target under test. The first calculation module is used to calculate the full array distance parameters based on the detection time interval array parameters; The fourth acquisition module is used to acquire the temperature value of the full array pixels before compensation based on the full array pixel position range parameter. The second calculation module is used to calculate the temperature value of the full array pixels after compensation based on the compensation coefficient table, the full array distance parameters, and the temperature value of the full array pixels before compensation. Specifically, the calculation of the temperature value of the full array pixels after compensation is based on a second mapping relationship, which is as follows: In the formula, This represents the temperature value after full-array pixel compensation. This represents the first compensation coefficient. This represents the second compensation coefficient. This represents the third compensation coefficient. This represents the fourth compensation coefficient. This represents the fifth compensation coefficient. This represents the sixth compensation coefficient. This represents the array distance parameter of the entire array. This represents the temperature value before full-array pixel compensation.

7. A user terminal, comprising a storage unit and a processor, wherein the storage unit stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of any one of the compensation methods according to claims 1 to 5.

8. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of any one of the compensation methods described in claims 1 to 5.

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