A portable thermal imaging precision target reporting system and calibration method

Abstract

The application discloses a kind of portable thermal imaging precision target reporting system and calibration method, it is related to military, police firearms live ammunition shooting training equipment technical field.The portable thermal imaging precision target reporting system and calibration method, including background master control through wireless network receiving the bullet point information sent by front end collector, the visual display of bullet point is carried out on master control interface, the front end collector is used to collect the thermal imaging image of target point, the bullet receiving component is used as the target point equipment of live ammunition practice.In the application, target reporting collector adopts integrated design, and is easy to use;Calibration uses two modes of factory calibration and on-site calibration, uses the spot position and distance of laser to carry out rough calibration, uses thermal imager and industrial camera to carry out joint accurate calibration, without sticking hot spot and calibrating thermal imager, realize the automatic calibration of target reporting equipment, accurate display of bullet point data and use portability.

Description

Technical Field

[0001] This invention relates to the technical field of live-fire training equipment for military and police firearms, specifically a portable thermal imaging accuracy reporting system and calibration method. Background Technology

[0002] In order to improve the combat capabilities of public security and armed police personnel, it is necessary to conduct live-fire shooting training regularly. The essential equipment for live-fire shooting training includes: fixed-precision target drone equipment, which is an essential hardware device for the automatic target reporting system. The automatic target reporting system can transmit shooting data in real time to the large screen in the observation area and the small screen in the shooting area.

[0003] Thermal imaging target reporting technology is widely used in precision shooting training in public security and armed police systems. Its principle is that when a bullet hits a target, it generates heat at the bullet hole, which appears as a bright spot on the thermal imager's screen. By detecting this bright spot, the point of impact can be determined. Traditional thermal imager calibration technology requires manually placing hot spots on the target. When the positions of the target and the reporting device change, the hot spots need to be manually placed again for calibration. This is time-consuming and labor-intensive, and may result in low calibration accuracy, leading to inaccurate bullet point positions displayed to the user. Summary of the Invention

[0004] Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a portable thermal imaging accuracy reporting system and calibration method. It solves the problem that traditional thermal imager calibration technology requires manual placement of hot spots on the target for calibration. When the positions of the target and the reporting device change, the hot spots need to be manually placed on the target again for calibration. This is time-consuming and labor-intensive, and may result in low calibration accuracy, leading to inaccurate bullet point positions displayed to the user.

[0006] Technical solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: a portable thermal imaging accuracy target reporting system and calibration method, comprising a back-end main control unit, a front-end acquisition unit, and a projectile receiving component. The back-end main control unit receives projectile point information sent by the front-end acquisition unit via a wireless network and displays the projectile points visually on the main control interface. The front-end acquisition unit is used to acquire thermal imaging images of the target points. The projectile receiving component is used as a target point device for live-fire practice. The projectile receiving component includes a support frame and a bulletproof steel plate. Target plates are mounted on the top surfaces of the two support frames. Printed target patterns are mounted on one side surface of the target plates. The bulletproof steel plate is mounted on one side surface of the target plates.

[0008] As a preferred embodiment of the present invention, the front-end acquisition device includes an integrated target box and a bottom rotating bracket. The integrated target box is mounted on the top surface of the bottom rotating bracket via a flange, enabling vertical pitch and horizontal rotation. The integrated target box contains a filter assembly and an imaging assembly.

[0009] As a preferred technical solution of the present invention, the integrated target box includes a lower box body and an upper cover plate. The lower box body is installed on the top surface of the bottom rotating bracket via a flange. The upper cover plate is installed on the top surface of the lower box body. An equipment nameplate is installed on the outer surface of the lower box body. Heat dissipation windows are provided on both outer sides of the lower box body. The shell edge is used to protect the lens from being scratched by flying shrapnel.

[0010] As a preferred embodiment of the present invention, a panel assembly is installed on one side surface of the lower housing. The panel assembly includes a calibration switch, a power socket, a network interface socket, a power-on switch, and an antenna. The calibration switch, power socket, network interface socket, power-on switch, and antenna are all located on one side surface of the lower housing. The power-on switch is used to control the power-on of the entire system, and the calibration switch is used to control the power-on of the laser calibrator. Its surface can display the laser ranging distance in real time.

[0011] As a preferred embodiment of the present invention, the filter assembly includes an industrial camera light transmittance sheet, a thermal imager filter, and a laser calibrator light transmittance sheet, which are respectively installed on the inner wall of the lower housing.

[0012] As a preferred embodiment of the present invention, the imaging assembly includes an industrial camera, a laser calibrator, a thermal imager, an industrial computer, a switch, and a power splitter. The industrial camera, laser calibrator, thermal imager, industrial computer, switch, and power splitter are all installed on the inner wall of the lower housing. External power is supplied to the industrial computer, industrial camera, laser calibrator, and thermal imager respectively through the power socket and the power splitter. The industrial camera, thermal imager, industrial computer, and network interface socket exchange data through the switch. The industrial computer has a built-in wireless module that transmits the calculated impact point information to the backend main control 2 via an antenna and a wireless network for visualization display.

[0013] The present invention also provides a calibration method for a portable thermal imaging accuracy target reporting system, including factory calibration and on-site calibration, defining the coordinate system of the thermal image as Coordinate1, the coordinate system of the industrial camera image as Coordinate2, and the coordinate system of the computer target image as Coordinate3.

[0014] As a preferred embodiment of the present invention, the factory calibration includes the following steps:

[0015] S1: Install the receiving component and place the front-end data collector directly in front of the receiving component;

[0016] S2: The front-end data collector is powered on, and the back-end main controller remotely logs into the industrial control computer;

[0017] S3: Open the industrial camera video stream on the background main control, move the position of the front-end acquisition device and adjust the horizontal tilt angle of the integrated target box to ensure that the target board occupies about 80% of the entire screen in the video stream.

[0018] S4: Turn on the calibration switch, adjust the horizontal pitch angle of the integrated target box to ensure that the light spot emitted by the laser calibrator is basically aligned with the cross on the target center. At this time, the target plate is basically in the center of the video stream. Record the laser ranging distance displayed by the calibration switch.

[0019] S5: Use an industrial camera to acquire color images of the target shape. After the acquired images are processed by the image processing algorithm, the four corner points of the target shape's outer rectangle are automatically found. These four corner points are saved as feature points, and the positional relationship R2 and T2 of the industrial camera image coordinate system Coordinate2 relative to the computer target image coordinate system Coordinate3 are calculated.

[0020] S6: Manually arrange hot spots at the four corners of the target-shaped rectangular frame to form four obvious bright spots in the thermal imager's image. Find these bright spots through image processing algorithms, save them as feature points, and calculate the positional relationship R1 and T1 between the coordinate system Coordinate1 of the thermal imager image and the coordinate system Coordinate3 of the computer target image.

[0021] S7: Based on S5 and S6, the positional relationship R and T between the thermal image coordinate system Coordinate1 and the industrial camera image coordinate system Coordinate2 can be calculated, and the calibration is complete.

[0022] As a preferred embodiment of the present invention, the on-site calibration includes the following steps:

[0023] S1: Install the receiving component and place the front-end data collector directly in front of the receiving component;

[0024] S2: Turn on the calibration switch and adjust the placement of the front-end data acquisition unit to ensure that the display distance of the calibration switch is within 10% of the factory-set distance.

[0025] S3: Adjust the horizontal rotation angle and pitch angle of the integrated target box to ensure that the laser spot coincides with the crosshair at the center of the target plate, and turn off the calibration switch.

[0026] S4: The industrial camera automatically acquires color images of the target. After the acquired images are processed by the image processing algorithm, the four corner points of the target's outer rectangle are automatically found. These four corner points are saved as feature points, and the positional relationship R2 and T2 of the industrial camera image coordinate system Coordinate2 relative to the computer target image coordinate system Coordinate3 are calculated.

[0027] S5: Based on the positional relationship R and T of Coordinate1 relative to Coordinate2 obtained from the factory calibration, and the positional relationship R2 and T2 of Coordinate2 relative to Coordinate3 calculated in step 4, the positional relationship R1 and T1 of the thermal image coordinate system Coordinate1 relative to the computer target image coordinate system Coordinate3 can be obtained, and the calibration is completed.

[0028] As a preferred technical solution of the present invention, during live-fire target reporting, the position of the bullet point collected in real time by the thermal imager can be calculated based on the positional relationship R1 and T1 between the thermal image coordinate system Coordinate1 and the computer target image coordinate system Coordinate3, and then sent to the back-end main control for visualization display via wireless network. Beneficial effects

[0029] The present invention has the following advantages: the portable thermal imaging precision target reporting system and calibration method adopt an integrated design for the target reporting acquisition device, which is easy to use; the calibration uses two modes: factory calibration and on-site calibration. Coarse calibration is performed by using the position and distance of the laser spot, and precise calibration is performed by using a thermal imager and an industrial camera. There is no need to attach hot spots and calibrate the thermal imager, which realizes automatic calibration of the target reporting equipment, accurate display of bullet point data and portability.

[0030] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall system structure of the present invention;

[0032] Figure 2 This is a schematic diagram of the external structure of the front-end data collector of the present invention;

[0033] Figure 3 This is a schematic diagram of the external structure of the front-end data collector from another angle of the present invention;

[0034] Figure 4 This is a schematic diagram of the internal structure of the front-end data collector of the present invention;

[0035] Figure 5This is a schematic diagram of the external structure of the projectile receiving component of the present invention;

[0036] Figure 6 This is a schematic diagram of the factory calibration process of the present invention;

[0037] Figure 7 This is a schematic diagram of the on-site calibration process of the present invention.

[0038] In the diagram: 1. Front-end data acquisition unit; 2. Back-end main control unit; 3. Projectile receiving component; 4. Rotating bracket; 5. Integrated target reporting box; 6. Top cover plate; 7. Lower box body; 8. Heat dissipation window; 9. Nameplate; 10. Industrial camera light-transmitting plate; 11. Laser calibrator light-transmitting plate; 12. Thermal imager filter; 13. Panel assembly; 14. Industrial control computer; 15. Industrial camera; 16. Laser calibrator; 17. Thermal imager; 18. Power splitter; 19. Switch; 20. Support frame; 21. Bulletproof steel plate; 22. Printed target shape; 23. Target plate. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0041] Please see Figures 1-5This invention provides a technical solution: a portable thermal imaging precision target reporting system, including a back-end main control unit 2, a front-end acquisition unit 1, and a projectile receiving component 3. The back-end main control unit 2 receives projectile information sent by the front-end acquisition unit 1 via a wireless network and displays the projectile information on the main control interface. The front-end acquisition unit 1 is used to collect thermal imaging images of the target points. The projectile receiving component 3 is used as a target point device for live-fire practice. The projectile receiving component 3 includes a support frame 20 and a bulletproof steel plate 21. Target plates 23 are installed on the top surfaces of the two support frames 20. A printed target shape 22 is installed on one side surface of the target plate 23. The bulletproof steel plate 21 is installed on one side surface of the target plate 23. The target plate 23 has a chest ring target shape 22 printed on its surface. The printed target shape 22 includes an outer rectangular frame and a cross symbol printed at the target center. The bulletproof steel plate 21 is placed directly in front of the target plate 23 to prevent ricochets. The support frames 20 are divided into two groups, arranged in a triangular pattern, with sharpened ends for easy insertion into the ground for fixation.

[0042] Specifically, the front-end acquisition unit 1 includes an integrated target box 5 and a bottom rotating bracket 4. The integrated target box 5 is installed on the top surface of the bottom rotating bracket 4 via a flange, enabling vertical pitch and horizontal rotation. The integrated target box 5 contains a filter assembly and an imaging assembly.

[0043] Furthermore, the integrated target box 5 includes a lower box body 7 and an upper cover plate 6. The lower box body 7 is installed on the top surface of the bottom rotating bracket 4 via a flange. The upper cover plate 6 is installed on the top surface of the lower box body 7. An equipment nameplate 9 is installed on the outer surface of the lower box body 7. The nameplate 9 is embedded in the lower box body 7. Heat dissipation windows 8 are provided on both outer sides of the lower box body 7. The shell edge is used to protect the lens from being scratched by flying shrapnel.

[0044] Furthermore, a panel assembly 13 is installed on one side surface of the lower housing 7. The panel assembly 13 includes a calibration switch, a power socket, a network interface socket, a power-on switch, and an antenna. The calibration switch, power socket, network interface socket, power-on switch, and antenna are all located on one side surface of the lower housing 7. The calibration switch is used to control the laser calibrator 16 to be powered on, and its surface can display the laser ranging distance in real time.

[0045] Furthermore, the filter assembly includes an industrial camera light transmittance 10, a thermal imager filter 12, and a laser calibrator light transmittance 11, which are respectively installed on the inner wall of the lower housing 7.

[0046] Furthermore, the imaging components include an industrial camera 15, a laser calibrator 16, a thermal imager 17, an industrial computer 14, a switch 19, and a power splitter 18. These components are all installed on the inner wall of the lower housing 7. External power is supplied to the industrial computer 14, industrial camera 15, laser calibrator 16, and thermal imager 17 via a power socket and then through the power splitter 18. A power switch controls the power-on of the entire system. The industrial camera 15, thermal imager 17, industrial computer 14, and network interface socket exchange data via the switch 19. The industrial computer 14 has a built-in wireless module that transmits the calculated impact point information via an antenna to the backend main control 2 for visualization display.

[0047] The present invention also provides a calibration method for a portable thermal imaging accuracy target reporting system, including factory calibration and on-site calibration, defining the coordinate system of the thermal image 17 as Coordinate1, the coordinate system of the industrial camera 15 as Coordinate2, and the coordinate system of the computer target image as Coordinate3.

[0048] See Figure 6 Furthermore, factory calibration includes the following steps:

[0049] S1: Install the receiving component 3 and place the front-end collector 1 directly in front of the receiving component 3;

[0050] S2: Front-end data collector 1 is powered on, and the back-end main controller 2 remotely logs into the industrial control computer 14;

[0051] S3: On the background main control 2, open the video stream of the industrial camera 15, move the position of the front-end acquisition device 1 and adjust the horizontal pitch angle of the integrated target box 5 to ensure that the target plate 23 occupies about 80% of the entire screen in the video stream.

[0052] S4: Turn on the calibration switch, adjust the horizontal pitch angle of the integrated target box 5, and ensure that the light spot emitted by the laser calibrator 16 is basically aligned with the cross at the target center. At this time, the target plate 23 is basically in the center of the video stream. Record the laser ranging distance displayed by the calibration switch.

[0053] S5: Use industrial camera 15 to acquire color images of the target shape. After the acquired images are processed by the image processing algorithm, the four corner points of the target shape's outer rectangle are automatically found. These four corner points are saved as feature points, and the positional relationship R2 and T2 of the industrial camera 15 image coordinate system Coordinate2 relative to the computer target shape image coordinate system Coordinate3 is calculated.

[0054] S6: Hot spots are manually arranged at the four corners of the target-shaped rectangular frame, forming four obvious bright spots in the image of thermal imager 17. These bright spots are found by image processing algorithm, and they are saved as feature points. The positional relationship R1 and T1 of the coordinate system Coordinate1 of thermal imager 17 image relative to the coordinate system Coordinate3 of computer target image is calculated.

[0055] S7: Based on S5 and S6, the positional relationship R and T between the thermal imager 17 image coordinate system Coordinate1 and the industrial camera 15 image coordinate system Coordinate2 can be calculated, and the calibration ends.

[0056] See Figure 7 Furthermore, on-site calibration includes the following steps:

[0057] S1: Install the receiving component 3 and place the front-end collector 1 directly in front of the receiving component 3;

[0058] S2: Turn on the calibration switch and adjust the placement of the front-end data acquisition unit 1 to ensure that the display distance of the calibration switch is within 10% of the factory-set distance.

[0059] S3: Adjust the horizontal rotation angle and pitch angle of the integrated target box 5 to ensure that the laser spot coincides with the crosshair at the center of the target plate 23, and turn off the calibration switch.

[0060] S4: The industrial camera 15 automatically acquires color images of the target shape. After the acquired images are processed by the image processing algorithm, the four corner points of the target shape's outer rectangle are automatically found. These four corner points are saved as feature points, and the positional relationship R2 and T2 of the industrial camera 15 image coordinate system Coordinate2 relative to the computer target shape image coordinate system Coordinate3 are calculated.

[0061] S5: Based on the positional relationship R and T of Coordinate1 relative to Coordinate2 obtained from the factory calibration, and the positional relationship R2 and T2 of Coordinate2 relative to Coordinate3 calculated in step 4, the positional relationship R1 and T1 of the thermal imager 17 image coordinate system Coordinate1 relative to the computer target image coordinate system Coordinate3 can be obtained, and the calibration is completed.

[0062] Furthermore, during live-fire target reporting, the thermal imager 17 collects the bullet point position in real time. Based on the positional relationship R1 and T1 between the thermal imager 17's image coordinate system Coordinate1 and the computer target image coordinate system Coordinate3, the position coordinates corresponding to the computer target image can be calculated and sent to the backend main control 2 for visualization display via wireless network.

[0063] See Figure 1 The portable thermal imaging precision target reporting system consists of three parts: a background main control unit 2, a front-end data acquisition unit 1, and a projectile receiving component 3.

[0064] See Figures 2-4 The main control unit 2 is usually installed in the observation area. It receives the bullet point information sent by the front-end collector 1 through the wireless network and displays the bullet points on the main control interface.

[0065] Furthermore, the front-end data acquisition unit 1 includes an integrated target box 5 and a bottom rotating bracket 4. The integrated target box 5 is connected to the rotating bracket 4 via a flange, enabling vertical pitch and horizontal rotation.

[0066] Furthermore, the integrated target box 5 includes an upper cover plate 6 and a lower box body 7; the upper cover plate 6 has an equipment nameplate 9 installed in the middle, which is embedded in the lower box body 7; the lower box body 7 has heat dissipation windows 8 on both sides, and the shell edge is used to protect the lens from being scratched by flying shrapnel. The front-end filter assembly mainly includes an industrial camera filter 10, a thermal imager filter 12, and a laser calibrator filter 11. The rear-end panel assembly 13 mainly includes a calibration switch, a power socket, a network interface socket, a power switch, and an antenna. The interior of the box body 7 mainly includes an industrial camera 15, a laser calibrator 16, a thermal imager 17, an industrial control computer 14, and a communication interface. The system includes a power switch 19 and a power distribution unit 18. External power is supplied to the industrial computer 14, industrial camera 15, laser calibrator 16, and thermal imager 17 via the power distribution unit 18 after passing through the power socket. A power switch controls the power-on of the entire system. The industrial camera 15, thermal imager 17, industrial computer 14, and network interface socket exchange data through the switch 19. A calibration switch controls the power-on of the laser calibrator 16, whose surface can display the laser ranging distance in real time. The industrial computer 14 has a built-in wireless module that transmits the calculated impact point information to the backend main control unit 2 via an antenna and a wireless network for visual display.

[0067] See Figure 5 Furthermore, the projectile receiving component 3 mainly includes a target plate 23, a bulletproof steel plate 21, and a support frame 20; wherein the target plate 23 has a chest ring target pattern 22 printed on its surface, the target pattern 22 includes an outer rectangular frame, and a cross symbol is printed at the center of the target; the target plate 23 is connected to the support frame through a target clamp assembly; the bulletproof steel plate 21 is placed directly in front of the target clamp assembly to prevent ricochets; the support frame 20 is divided into two groups, arranged in a triangular pattern, and the sharpened ends are easy to insert into the ground for fixation.

[0068] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0069] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A portable thermal imaging precision target reporting system, comprising a back-end main control unit (2), a front-end data acquisition unit (1), and a projectile receiving component (3), characterized in that: The back-end main control (2) receives the bullet point information sent by the front-end collector (1) through the wireless network and displays the bullet point on the main control interface. The front-end collector (1) is used to collect thermal imaging images of the target point. The bullet receiving component (3) is used as a target point device for live-fire practice. The bullet receiving component (3) includes a support frame (20) and a bulletproof steel plate (21). The top surfaces of the two support frames (20) are equipped with target plates (23). A printed target shape (22) is installed on one side surface of the target plate (23). The bulletproof steel plate (21) is installed on one side surface of the target plate (23). The front-end acquisition unit (1) includes an integrated target box (5) and a bottom rotating bracket (4). The integrated target box (5) is installed on the top surface of the bottom rotating bracket (4) through a flange. The integrated target box (5) is equipped with a filter assembly and an imaging assembly. The filter assembly includes an industrial camera light transmittance sheet (10), a thermal imager filter (12), and a laser calibrator light transmittance sheet (11), which are respectively installed on the inner wall of the lower housing (7). The imaging components include an industrial camera (15), a laser calibrator (16), a thermal imager (17), an industrial computer (14), a switch (19), and a power splitter (18), all of which are installed on the inner wall of the lower housing (7).

2. The portable thermal imaging accuracy target reporting system according to claim 1, characterized in that: The integrated target box (5) includes a lower box body (7) and an upper cover plate (6). The lower box body (7) is installed on the top surface of the bottom rotating bracket (4) through a flange. The upper cover plate (6) is installed on the top surface of the lower box body (7). An equipment nameplate (9) is installed on the outer surface of the lower box body (7). Heat dissipation windows (8) are opened on both sides of the lower box body (7).

3. The portable thermal imaging accuracy target reporting system according to claim 2, characterized in that: A panel assembly (13) is installed on one side surface of the lower housing (7). The panel assembly (13) includes a calibration switch, a power socket, a network interface socket, a power-on switch, and an antenna. The calibration switch, power socket, network interface socket, power-on switch, and antenna are all located on one side surface of the lower housing (7).

4. A calibration method for a portable thermal imaging accuracy reporting system, used in any one of claims 1-3, characterized in that: Including factory calibration and field calibration, the coordinate system of the thermal imager (17) image is defined as Coordinate1, the coordinate system of the industrial camera (15) image is defined as Coordinate2, and the coordinate system of the computer target image is defined as Coordinate3.

5. The calibration method for a portable thermal imaging accuracy reporting system according to claim 4, characterized in that: The factory calibration includes the following steps: S1: Install the receiving component (3) and place the front-end collector (1) directly in front of the receiving component (3); S2: The front-end collector (1) is powered on, and the back-end main controller (2) remotely logs into the industrial control computer (14). S3: Open the video stream of the industrial camera (15) on the background main control (2), move the position of the front-end acquisition device (1) and adjust the horizontal pitch angle of the integrated target box (5) to ensure that the target plate (23) occupies about 80% of the entire screen in the video stream; S4: Turn on the calibration switch, adjust the horizontal pitch angle of the integrated target box (5) to ensure that the light spot emitted by the laser calibrator (16) is basically aligned with the cross at the center of the target. At this time, the target plate (23) is basically in the center of the video stream. Record the laser ranging distance displayed by the calibration switch. S5: Use an industrial camera (15) to collect color images of the target shape. After the collected images are processed by the image processing algorithm, the four corner points of the target shape's outer rectangle are automatically found. These four corner points are saved as feature points, and the positional relationship R2 and T2 of the industrial camera (15) image coordinate system Coordinate2 relative to the computer target shape image coordinate system Coordinate3 is calculated. S6: Manually arrange hot spots at the four corners of the target-shaped outer frame rectangle to form four obvious bright spots in the thermal imager (17) image. Find these bright spots through image processing algorithms, save them as feature points, and calculate the positional relationship R1 and T1 of the coordinate system Coordinate1 of the thermal imager (17) image relative to the coordinate system Coordinate3 of the computer target image. S7: Based on S5 and S6, the positional relationship R and T of the thermal imager (17) image coordinate system Coordinate1 relative to the industrial camera (15) image coordinate system Coordinate2 can be calculated, and the calibration ends.

6. The calibration method for a portable thermal imaging accuracy reporting system according to claim 5, characterized in that: The on-site calibration includes the following steps: S1: Install the receiving component (3) and place the front-end collector (1) directly in front of the receiving component (3); S2: Turn on the calibration switch and adjust the placement of the front-end data acquisition unit (1) to ensure that the display distance of the calibration switch is within 10% of the factory-set distance. S3: Adjust the horizontal rotation angle and pitch angle of the integrated target box (5) to ensure that the laser spot coincides with the crosshair at the center of the target plate (23), and turn off the calibration switch; S4: The industrial camera (15) automatically acquires color images of the target shape. After the acquired images are processed by the image processing algorithm, the four corner points of the target shape's outer rectangle are automatically found. These four corner points are saved as feature points, and the positional relationship R2 and T2 of the industrial camera (15) image coordinate system Coordinate2 relative to the computer target shape image coordinate system Coordinate3 is calculated. S5: Based on the positional relationship R and T of Coordinate1 relative to Coordinate2 obtained from the factory calibration, and the positional relationship R2 and T2 of Coordinate2 relative to Coordinate3 obtained from step 4, the positional relationship R1 and T1 of the thermal imager (17) image coordinate system Coordinate1 relative to the computer target image coordinate system Coordinate3 can be obtained, and the calibration ends.

7. An application of a portable thermal imaging precision target reporting system, characterized in that: During live-fire target reporting, the position of the bullet point collected in real time by the thermal imager (17) can be calculated based on the positional relationship R1 and T1 of the thermal imager (17) image coordinate system Coordinate1 relative to the computer target image coordinate system Coordinate3. The coordinates of the position of the target can be sent to the back-end main control (2) for visualization display via wireless network.

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