Thermal imaging telescope calibration method and device and thermal imaging telescope

Abstract

The invention relates to a thermal imaging telescope calibration method and device and a thermal imaging telescope. Wherein the thermal imaging telescope is carried on the emission platform; the calibration method comprises the following steps: indicating the emission platform to emit a solid emission object to a preset solid surface and generating a first drop point; under the condition that the thermal imaging telescope is controlled to move to a target mark point of the thermal imaging telescope to aim at the position where the first drop point is located, the emission platform is indicated to emit the solid emission object to the preset solid surface based on the target mark point, and a second drop point is generated; acquiring thermal imaging images of the first drop point and the second drop point acquired by the thermal imaging telescope; and determining a position offset between the first drop point and the second drop point based on the thermal imaging image, and calibrating a target mark point of the thermal imaging telescope based on the position offset. According to the invention, the problem that the thermal imaging telescope is low in calibration efficiency and precision is solved.

Description

Technical Field

[0001] The present application relates to the technical field of thermal imaging telescopes, and particularly to a calibration method and device for a thermal imaging telescope and a thermal imaging telescope. Background Art

[0002] A thermal imaging telescope generally has an initial target marking point located at the center of the screen. If other deviations are not considered, the actual screen position corresponding to the target marking point is the final landing point. However, due to assembly and other reasons in reality, there may be a situation where the target marking point is inconsistent with the actual landing point. Therefore, it is necessary to manually adjust the target marking point to the actual landing point to ensure that the observation point coincides with the landing point. However, in the related art, the thermal imaging telescope is usually calibrated by manual calibration, resulting in low calibration efficiency and accuracy of the thermal imaging telescope.

[0003] Currently, no effective solution has been proposed for the problem of low calibration efficiency and accuracy of thermal imaging telescopes in the related art. Summary of the Invention

[0004] Embodiments of the present application provide a calibration method, device and thermal imaging telescope for a thermal imaging telescope, so as to at least solve the problem of low calibration accuracy and efficiency of the thermal imaging telescope in the related art.

[0005] In a first aspect, embodiments of the present application provide a calibration method for a thermal imaging telescope, where the thermal imaging telescope is carried on a launch platform; the method includes:

[0006] Instruct the launch platform to launch a solid projectile towards a preset solid surface and generate a first landing point;

[0007] When controlling the thermal imaging telescope to move to a position where the target marking point of the thermal imaging telescope coincides with the position where the first landing point is located, instruct the launch platform to launch the solid projectile towards the preset solid surface based on the target marking point, and generate a second landing point;

[0008] Obtain thermal imaging images collected by the thermal imaging telescope for the first landing point and the second landing point;

[0009] Based on the thermal imaging images, determine the position offset between the first landing point and the second landing point, and calibrate the target marking point of the thermal imaging telescope based on the position offset.

[0010] In some embodiments, based on the thermal imaging images, determining the position offset between the first landing point and the second landing point, and calibrating the thermal imaging telescope based on the position offset includes:

[0011] Based on the thermal imaging image, obtain the first temperature information of the first landing point and the second temperature information of the second landing point;

[0012] According to the comparison result of the first temperature information and the second temperature information, determine the low-temperature landing point among the first landing point and the second landing point, and the high-temperature landing point among the first landing point and the second landing point;

[0013] Determine the position offset, and based on the position offset, control the target marking point to move from the low-temperature landing point to the high-temperature landing point to obtain the calibrated marking point position.

[0014] In some embodiments, the determining the position offset and controlling the target marking point to move from the low-temperature landing point to the high-temperature landing point based on the position offset to obtain the calibrated marking point position includes:

[0015] Based on the thermal imaging image, obtain the first horizontal position information and the first vertical position information of the low-temperature landing point, and the second horizontal position information and the second vertical position information of the high-temperature landing point;

[0016] Calculate the horizontal offset according to the first horizontal position information and the second horizontal position information, and determine the vertical offset according to the first vertical position information and the second vertical position information; wherein, the position offset includes the horizontal offset and the vertical offset;

[0017] Based on the horizontal offset, control the target marking point to move horizontally from the low-temperature landing point to the high-temperature landing point, and based on the vertical offset, control the target marking point to move from the low-temperature landing point to the high-temperature landing point to obtain the calibrated marking point position.

[0018] In some embodiments, the thermal imaging telescope includes an azimuth sensing device; the obtaining the thermal imaging images collected by the thermal imaging telescope for the first landing point and the second landing point includes:

[0019] Obtain the vibration signal detected by the azimuth sensing device in real time;

[0020] When it is detected that the vibration signal is less than a preset first signal threshold, obtain the thermal imaging image.

[0021] In some embodiments, the thermal imaging image includes at least one frame of image; after obtaining the thermal imaging image, the method further includes:

[0022] In the case where the detected vibration signal is less than a preset second signal threshold, generate a freezing instruction for the current frame image in the thermal imaging image; wherein, the second signal threshold is less than the first signal threshold;

[0023] In response to the freezing instruction, perform image freezing processing on the current frame image to obtain a current frozen image, and send the current frozen image to a display interface for display.

[0024] In some embodiments, the preset solid surface is a wall or a mound.

[0025] In a second aspect, an embodiment of the present application provides a calibration device for a thermal imaging telescope, and the thermal imaging telescope is carried on a launch platform; the device includes: a first launch module, a second launch module, an imaging module, and a calibration module;

[0026] The first launch module is used to instruct the launch platform to launch a solid projectile towards a preset solid surface and generate a first landing point;

[0027] The second launch module is used to, in the case where the thermal imaging telescope is controlled to move to a position where the target marking point of the thermal imaging telescope coincides with the position of the first landing point, instruct the launch platform to launch the solid projectile towards the preset solid surface based on the target marking point, and generate a second landing point;

[0028] The imaging module is used to acquire thermal imaging images of the first landing point and the second landing point collected by the thermal imaging telescope;

[0029] The calibration module is used to determine a position offset between the first landing point and the second landing point based on the thermal imaging image, and calibrate the target marking point of the thermal imaging telescope based on the position offset.

[0030] In a third aspect, an embodiment of the present application provides a thermal imaging telescope, and the thermal imaging telescope includes a telescope body and a main control device; wherein, the telescope body is carried on a launch platform;

[0031] The main control device is connected to the telescope body and the launch platform, and is used to execute the calibration method of the thermal imaging telescope as described in the first aspect above.

[0032] In a fourth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, it implements the calibration method of the thermal imaging telescope as described in the first aspect above.

[0033] In a fifth aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the calibration method of the thermal imaging telescope as described in the first aspect above.

[0034] Compared with the related art, the calibration method, device and thermal imaging telescope provided by the embodiments of the present application, the thermal imaging telescope is carried on a launch platform; by instructing the launch platform to launch a solid projectile towards a preset solid surface and generating a first landing point; when controlling the thermal imaging telescope to move to the target marking point of the thermal imaging telescope to aim at the position where the first landing point is located, instructing the launch platform to launch the solid projectile towards the preset solid surface based on the target marking point and generating a second landing point; acquiring the thermal imaging images collected by the thermal imaging telescope for the first landing point and the second landing point; based on the thermal imaging images, determining the position offset between the first landing point and the second landing point, and calibrating the target marking point of the thermal imaging telescope based on the position offset, which solves the problem of low calibration efficiency and accuracy of the thermal imaging telescope, and realizes an efficient and accurate calibration method for the thermal imaging telescope.

[0035] Details of one or more embodiments of the present application are set forth in the following drawings and description, so that other features, objects and advantages of the present application will become more clearly understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments and descriptions thereof are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0037] Figure 1 is a hardware structure block diagram of a terminal for a calibration method of a thermal imaging telescope according to an embodiment of the present application;

[0038] Figure 2 is a flowchart of a calibration method of a thermal imaging telescope according to an embodiment of the present application;

[0039] Figure 3 is a schematic diagram of a low-temperature landing point and a high-temperature landing point according to an embodiment of the present application;

[0040] Figure 4 is a schematic diagram of a vibration signal according to an embodiment of the present application;

[0041] Figure 5 is a flowchart of an image acquisition triggering method according to an embodiment of the present application;

[0042] Figure 6 is a flowchart of another calibration method of a thermal imaging telescope according to an embodiment of the present application;

[0043] Figure 7 It is a structural block diagram of a calibration device for a thermal imaging telescope according to an embodiment of the present application. Specific embodiments

[0044] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without creative efforts fall within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be understood as insufficient disclosure of the content of the present application.

[0045] Referring to "embodiment" in the present application means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase appears in various positions in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in the present application may be combined with other embodiments without conflict.

[0046] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the ordinary meanings understood by those of ordinary skill in the technical field to which this application pertains. The words such as "a", "an", "one kind", "the" and the like involved in this application do not indicate a limitation in quantity and may represent a singular or plural number. The terms "comprising", "including", "having" and any variations thereof involved in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or units, but may further include unlisted steps or units, or may further include other steps or units inherent to these processes, methods, products or devices. The words such as "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application means greater than or equal to two. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. The terms "first", "second", "third" and the like involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0047] The method embodiments provided in this embodiment can be executed on a terminal, a computer or a similar computing device. Taking running on a terminal as an example, Figure 1 is a hardware structural block diagram of a terminal for a calibration method of a thermal imaging telescope according to an embodiment of this application. As Figure 1 shown, the terminal may include one or more ( Figure 1 only one is shown in the figure) processors 102 (the processors 102 may include, but are not limited to, processing devices such as a microprocessor MCU or a field programmable gate array FPGA) and a memory 104 for storing data. Optionally, the above terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only schematic and does not limit the structure of the above terminal. For example, the terminal may further include more or fewer components than those shown in Figure 1 the figure, or have a different configuration from that shown in Figure 1 the figure.

[0048] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to a calibration method of a thermal imaging telescope in an embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above-mentioned method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely disposed relative to the processor 102, and these remote memories can be connected to the terminal through a network. Examples of the above-mentioned network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0049] The transmission device 106 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by a communication provider of the terminal. In one instance, the transmission device 106 includes a network adapter (abbreviated as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one instance, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0050] This embodiment provides a calibration method for a thermal imaging telescope, and the thermal imaging telescope is carried on a launch platform. Figure 2 It is a flowchart of a calibration method for a thermal imaging telescope according to an embodiment of the present application. As Figure 2 shown, the process includes the following steps:

[0051] Step S210, instruct the launch platform to launch a solid projectile towards a preset solid surface and generate a first landing point.

[0052] It should be noted that the above-mentioned launch platform carrying the thermal imaging telescope can launch a solid projectile towards a target aiming object. For example, the solid projectile can be a bullet, and the launch platform can be a bullet launching device. When the thermal imaging telescope is used to observe the target object, the bullet launching device launches a bullet towards the target object based on the aiming point of the thermal imaging telescope. The above-mentioned preset solid surface refers to any uniform solid surface with an entity deployed near the calibration site of the thermal imaging telescope and facing the field of view of the thermal imaging telescope. Exemplarily, the preset solid surface can be a wall or an earthen mound, etc.

[0053] Specifically, before calibrating the thermal imaging telescope, the launch platform first aims at any point on the preset solid surface based on the thermal imaging telescope and launches a solid projectile; the solid projectile finally lands at a certain landing point on the preset solid surface. It can be understood that at this time, during the process of the solid projectile moving at high speed towards the preset solid surface after being launched, due to factors such as gravity and wind direction, there will be a certain deviation from the established movement trajectory, resulting in a certain distance between the first landing point where the solid projectile finally lands on the preset solid surface and the aiming point that was pre-aimed at.

[0054] Step S220, when controlling the thermal imaging telescope to move to the target marking point of the thermal imaging telescope to aim at the position where the first landing point is located, instruct the launch platform to launch the solid projectile towards the preset solid surface based on the target marking point, and generate a second landing point.

[0055] The above-mentioned target marking point refers to the target marking point initially located at the center of the thermal imaging telescope's screen. Specifically, after the launch platform launches a solid projectile towards any point on the preset solid surface and generates a first landing point through the above-mentioned step S210, the launch platform and the thermal imaging telescope carried by it can be controlled to move so that the target marking point of the thermal imaging telescope aims at the position where the first landing point is located, so that the launch platform launches a solid projectile towards the position where the first landing point is located on the preset solid surface again. Similarly, due to factors such as gravity and wind direction, the landing point of the solid projectile on the preset solid surface will not completely coincide with the first landing point. At this time, a second landing point that has a certain distance from the first landing point can be detected.

[0056] Step S230, obtain the thermal imaging images collected by the thermal imaging telescope for the first landing point and the second landing point.

[0057] After the above-mentioned launch platform launches solid projectiles twice at any point on the preset solid surface, the thermal imaging telescope can capture images of the landing points generated by the two launches to obtain the above-mentioned thermal imaging image. It should be added that in the related art, an optical telescope is usually used to aim at the target object, so that during the calibration process of the telescope, specific feature points need to be set on the solid surface in advance, and the optical telescope collects images containing the specific feature points. In the embodiment of the present application, after the launch platform launches twice and two landing points are generated before and after, a thermal imaging image containing the two landing points is collected for automatic calibration, avoiding the problem that the optical telescope cannot observe the landing point when there are no feature points on the preset solid surface. Specifically, after the calibration personnel observe the end of the two launches, the above-mentioned thermal imaging telescope can be manually controlled to start collecting the above-mentioned thermal imaging image through an interaction operation with the thermal imaging telescope, such as pressing a collection button or inputting a collection instruction. In another embodiment, the image collection instruction can also be automatically triggered after the program detects the end of the two launches, and the thermal imaging telescope starts collecting images in response to the detected image collection instruction to improve the intelligence level of the adaptive calibration method.

[0058] Step S240: Based on the thermal imaging image, determine the position offset between the first landing point and the second landing point, and calibrate the target marking point of the thermal imaging telescope based on the position offset.

[0059] Among them, when the launch platform launches the solid projectile for the second time, the target marking point of the thermal imaging telescope is moved to the position where the landing point generated by the first launch is located, and aiming and launching are carried out based on the position of the moved target marking point. Therefore, the position offset between the above two landing points is the actual offset of the target marking point of the thermal imaging telescope, that is to say, the above position offset can be used as the calibration amount for the thermal imaging telescope, thereby realizing the adaptive calibration of the target marking point of the thermal imaging telescope.

[0060] Through the above steps S210 to S240, a thermal imaging image containing the landing points formed by the launch platform launching solid projectiles twice on the preset solid surface is collected by the thermal imaging telescope, and the target marking point of the thermal imaging telescope is calibrated based on the position offset between the two landing points in the thermal imaging image. Thus, by first generating a landing point on the solid surface to create a reference point for the solid surface, the universality of the calibration scheme is increased. Without additionally setting obvious feature points on the preset solid surface, a method for automatically and precisely calibrating the thermal imaging telescope by generating actual landing points twice and collecting thermal imaging images can be realized, solving the problems of low calibration efficiency and accuracy of the thermal imaging telescope, and realizing an efficient and precise calibration method for the thermal imaging telescope.

[0061] In some of these embodiments, determining the position offset between the first landing point and the second landing point based on the thermal imaging image, and calibrating the thermal imaging telescope based on the position offset includes the following steps:

[0062] Step S241: Based on the thermal imaging image, obtain the first temperature information of the first landing point and the second temperature information of the second landing point.

[0063] It can be understood that the above thermal imaging telescope performs image acquisition after two solid objects are launched. At the same time, when the two solid projectiles launched fall onto a preset solid surface under high-speed movement, the landing points generated by them will generate heat due to high-speed movement, making the temperatures of these two landing points on the preset solid surface higher than those of other regions. Therefore, for the two landing points in the same frame of image, it is first necessary to determine their positions through the gray values in the thermal imaging image in order to implement subsequent calibration processing.

[0064] The above first temperature information includes the pixel gray value of the first landing point in the thermal imaging image; the above second temperature information includes the pixel gray value of the second landing point in the thermal imaging image. Specifically, the above thermal imaging telescope can collect consecutive frames of thermal imaging images for the two landing points generated by the launch platform launching solid projectiles on the preset solid surface, and respectively determine two relatively high-temperature points in each frame of thermal imaging image based on the pixel gray values of each frame of thermal imaging image, that is, obtain the above first temperature information and the above second temperature information, and calculate the average value of the temperature information of each frame of image to determine the two landing points in the image. In another embodiment, it is also possible to determine one frame of image from the consecutive frames of thermal imaging images, or the thermal imaging telescope collects a single frame of image for the two landing points on the preset solid surface, and determines two relatively high-temperature points through the gray values of each pixel point in this frame of image, and then determines the above two landing points.

[0065] Step S242: According to the comparison result of the first temperature information and the second temperature information, determine the low-temperature landing point among the first landing point and the second landing point, and the high-temperature landing point among the first landing point and the second landing point.

[0066] Among them, the above thermal imaging telescope acquires thermal imaging images for the same collection of two landing points after two launches of the launch platform, and there are no additional feature points or reference points set on the preset solid surface; in order to implement the automatic calibration method, it is necessary to distinguish the two landing points in the thermal imaging image. It can be understood that in the above steps, the launch platform launches solid projectiles towards the preset solid surface twice successively and generates two landing points, that is, there is a certain time difference between the two generated landing points, making the temperature of the second landing point generated by the second launch higher than that of the first landing point generated by the first launch. Therefore, in this embodiment, the temperature between the two landing points can be compared according to the above first temperature information and second temperature information, and the landing point with a relatively lower temperature among the two landing points and its position in the image can be determined in the above thermal imaging image, that is, the above low-temperature landing point is determined, and this low-temperature landing point is the first landing point generated by the launch platform's first launch of the solid projectile; at the same time, the landing point with a relatively higher temperature among the two landing points and its position in the image can be determined in the above thermal imaging image, that is, the above high-temperature landing point is determined, and this high-temperature landing point is the second landing point generated by the launch platform's second launch of the solid projectile. Thus, the first landing point and the second landing point can be adaptively determined based on the temperature information detected by the thermal imaging image in the program.

[0067] Step S243: Determine the position offset, and based on this position offset, control the target marker point to move from the low-temperature landing point to the high-temperature landing point to obtain the position of the calibrated marker point.

[0068] Please refer to Figure 3 , after determining the low-temperature landing point and the high-temperature landing point as above, calculate the position offset according to the two landing points before and after in the collected thermal imaging image. Since during the second launch, the target marker point of the thermal imaging telescope is moved to the position where the landing point generated by the first launch is located, and aiming and launching are performed based on the position of the moved target marker point, the position offset between these two landing points is the calibration amount for the above thermal imaging telescope. Specifically, during the calibration process, the initial position of the target marker point of the thermal imaging telescope is adjusted based on the above position offset in the direction from the low-temperature landing point to the high-temperature landing point to obtain the position of the target marker point of the calibrated thermal imaging telescope, that is, the above position of the calibrated marker point.

[0069] Through the above steps S241 to S243, the two landing points and their positions generated before and after the two launches of the launch platform are distinguished by the gray values of the pixel points of the thermal imaging image, and then the precise calibration amount is determined through the position offset between the two landing points, without the need for obvious feature points on the preset solid surface where the target marker point of the thermal imaging telescope is aligned, or realigning the thermal imaging telescope to the feature points after the landing points are generated, thereby effectively improving the calibration accuracy and efficiency of the thermal imaging telescope.

[0070] In some of these embodiments, determining the position offset, controlling the target marking point to move from the low-temperature landing point to the high-temperature landing point based on the position offset, and obtaining the calibrated marking point position includes the following steps:

[0071] Based on the thermal imaging image, obtain the first horizontal position information and the first vertical position information of the low-temperature landing point, and the second horizontal position information and the second vertical position information of the high-temperature landing point. Among them, the above horizontal position information refers to the position of the corresponding landing point along the X-axis direction in the thermal imaging image, and the above vertical position information refers to the position of the corresponding landing point along the Y-axis direction in the thermal imaging image. Please refer to Figure 3 , the first horizontal position and the first vertical position of the low-temperature landing point can be expressed as (x1, y1), and the second horizontal position and the second vertical position of the high-temperature landing point can be expressed as (x2, y2).

[0072] Next, calculate the horizontal offset according to the first horizontal position information and the second horizontal position information, and determine the vertical offset according to the first vertical position information and the second vertical position information; among them, the position offset includes the horizontal offset and the vertical offset. Specifically, taking Figure 3 as an example, the horizontal offset is Δx = x2 - x1, and the vertical offset is Δy = y2 - y1.

[0073] Then, control the target marking point to move horizontally from the low-temperature landing point to the high-temperature landing point based on the horizontal offset, and control the target marking point to move from the low-temperature landing point to the high-temperature landing point based on the vertical offset, to obtain the calibrated marking point position. The initial position of the target marking point is O 0 (x0, y0), then based on the above horizontal offset and the above vertical offset, after controlling the target marking point to adjust its position, the obtained calibrated marking point position is (xt, yt). Among them, xt = x0 + Δx, yt = y0 + Δy.

[0074] Through the above embodiments, calibrate the target marking point of the thermal imaging telescope according to the determined horizontal offset and vertical offset, so as to be able to accurately and quickly determine the adjustment distance of the target marking point.

[0075] In some of these embodiments, the above thermal imaging telescope includes an azimuth sensing device; obtaining the thermal imaging images collected by the thermal imaging telescope for the first landing point and the second landing point includes the following steps:

[0076] Step S231, obtain the vibration signal detected by the azimuth sensing device in real time.

[0077] The above azimuth sensing device can be installed inside the thermal imaging telescope or carried on the thermal imaging telescope; the azimuth sensing device includes but is not limited to various gyroscopes, direction sensors or other hardware devices for detecting azimuth sensing signals. Specifically, after the launch platform launches solid projectiles twice, the vibration generated by the launch of the launch platform can be detected in real time by the above azimuth sensing device, that is, the above vibration signal is obtained. Exemplarily, please refer to Figure 4 , where the abscissa is the time when the azimuth sensing device collects signals, and the ordinate is the detected vibration offset distance, then Figure 4 the signal is the above series of vibration signals collected in real time.

[0078] Step S232, when it is detected that the vibration signal is less than a preset first signal threshold, obtain the thermal imaging image.

[0079] The above first signal threshold can be pre-set and stored by the calibration personnel in combination with the actual situation. Then when it is detected that the vibration signal at the current moment is less than the first signal threshold, it means that the vibration of the launch platform has basically ended at this time, and the launch platform and the thermal imaging telescope carried thereon tend to be stable again, and the picture no longer shakes. Therefore, an image acquisition instruction can be automatically triggered, and the above thermal imaging telescope responds to the image acquisition instruction to adaptively obtain the above thermal imaging image. Taking Figure 4 as an example, the amplitude of the vibration signal collected at 97 ms is already less than the first signal threshold, then this moment is the trigger point indicating the automatic acquisition of the image, and the thermal imaging telescope automatically obtains the thermal imaging image at this moment.

[0080] Through the above steps S231 to S232, the vibration signal detected in real time by the azimuth sensing device adaptively triggers the image acquisition action, so that there is no need for the calibration personnel to intervene in the manual operation, effectively reducing the picture offset error caused by the manual operation, thereby reducing the calibration error of the thermal imaging telescope, and further improving the calibration efficiency and accuracy of the thermal imaging telescope.

[0081] The following will describe the embodiments of the present application in detail in combination with actual application scenarios. Figure 5 is a flowchart of an image acquisition triggering method according to an embodiment of the present application. As Figure 5 shown, the process includes the following steps:

[0082] Step S501, start the automatic trigger detection process; collect the vibration signal of the launch platform through the above azimuth sensing device.

[0083] Step S502, detect whether the current vibration signal is less than the first signal threshold. If the judgment result is no, return to the above step S501, and continue to collect the vibration signal in real time by the azimuth sensing device.

[0084] Step S503, if the judgment result in the above step S502 is yes, automatically trigger the acquisition of a thermal imaging image; end the automatic trigger detection process.

[0085] In some embodiments, the above thermal imaging image includes at least one frame of image; after acquiring the thermal imaging image, the calibration method of the above thermal imaging telescope further includes the following steps:

[0086] Step S251, when it is detected that the vibration signal is less than a preset second signal threshold, generate a freezing instruction for the current frame image in the thermal imaging image; wherein, the second signal threshold is less than the first signal threshold.

[0087] The above second signal threshold can be pre-set and stored by the calibration personnel in combination with the actual situation. It should be added that in order to avoid a certain distance offset of the launch platform and the thermal imaging telescope carried by it after generating the impact point twice, resulting in a large error in the calibration of the thermal imaging telescope. In this embodiment, after the thermal imaging telescope continuously acquires multiple frames of thermal imaging images, when it is detected that the vibration signal at the current moment gradually weakens to be less than the second signal threshold, it indicates that the stability of the launch platform at this time is better than that of the launch platform when the image acquisition is triggered. Therefore, the current frame of the thermal imaging image acquired by the thermal imaging telescope at this time can be frozen, that is, the above freezing instruction is automatically generated. In another embodiment, the value of the above second signal threshold can be set to the same value as the above first signal threshold, that is, the image acquisition and the image freezing instruction are triggered simultaneously.

[0088] Step S252, in response to the freezing instruction, perform image freezing processing on the current frame image to obtain a current frozen image, and send the current frozen image to the display interface for display.

[0089] It can be understood that after freezing the current frame of the thermal imaging image based on the above freezing instruction and displaying it on the display interface, the launch platform and the thermal imaging telescope carried by it can move, so that it is not necessary to keep the azimuth of the launch platform and the thermal imaging telescope unchanged after generating the impact point, which is beneficial to simplifying the calibration operation and avoiding calibration errors.

[0090] Through the above steps S251 to S252, after detecting that the vibration of the launch platform has basically ended, the current frame image is automatically frozen and displayed on the display interface. Therefore, it is not necessary to keep the direction of the thermal imaging telescope unchanged after the landing point is generated on the launch platform carried by the thermal imaging telescope, avoiding problems such as extremely difficult implementation and easy introduction of deviations in actual operations caused by continuously maintaining the direction of the thermal imaging telescope. At the same time, it also avoids the problem of large actual offsets generated after the thermal imaging telescope and its carried launch platform move a certain distance, resulting in large calibration data errors, thereby effectively improving the simplicity and accuracy of the calibration of the thermal imaging telescope.

[0091] The present application will be described in detail below in combination with actual application scenarios. Figure 6 is a flowchart of another calibration method for a thermal imaging telescope according to an embodiment of the present application, as Figure 6 shown, this process includes the following steps:

[0092] Step S601, start the process; a solid projectile is launched from the launch platform towards a preset solid surface to generate a first landing point on the preset solid surface.

[0093] Step S602, the target marking point of the thermal imaging telescope is aligned with the landing point, and the launch platform is triggered again to launch and generate a landing point.

[0094] Step S603, determine whether the vibration of the launch platform has ended. If not, continue to judge.

[0095] Step S604, if the judgment result of the above step S603 is yes, freeze the thermal imaging image of the current frame.

[0096] Step S605, based on the thermal imaging image, calculate the calibration amount of the target marking point of the thermal imaging telescope, adjust the position of the target marking point; end the process.

[0097] It should be noted that the steps shown in the above process or the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0098] This embodiment also provides a calibration device for a thermal imaging telescope. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used below, terms such as "module", "unit", "sub-unit", etc. can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0099] Figure 7 is a structural block diagram of a calibration device for a thermal imaging telescope according to an embodiment of the present application. As Figure 7 shown, the device includes: a first emission module 72, a second emission module 74, an imaging module 76, and a calibration module 78; the first emission module 72 is configured to instruct the emission platform to emit a solid projectile towards a preset solid surface and generate a first landing point; the second emission module 74 is configured to, when controlling the thermal imaging telescope to move to the target marking point of the thermal imaging telescope to aim at the position where the first landing point is located, instruct the emission platform to emit the solid projectile towards the preset solid surface based on the target marking point and generate a second landing point; the imaging module 76 is configured to acquire thermal imaging images of the first landing point and the second landing point collected by the thermal imaging telescope; the calibration module 78 is configured to determine the position offset between the first landing point and the second landing point based on the thermal imaging images, and calibrate the target marking point of the thermal imaging telescope based on the position offset.

[0100] Through the above embodiments, the imaging module 76 collects, through the thermal imaging telescope, thermal imaging images including the landing points formed by the emission platform emitting solid projectiles towards the preset solid surface twice. The calibration module 78 calibrates the target marking point of the thermal imaging telescope based on the position offset between the two landing points in the thermal imaging images. Thus, by first generating a landing point on the solid surface to create a reference point for the solid surface, the universality of the calibration scheme is increased. Without additionally setting obvious feature points on the preset solid surface, it is possible to realize self-adaptive and precise calibration of the thermal imaging telescope based on generating actual landing points twice and collecting thermal imaging images, solving the problems of low calibration efficiency and accuracy of the thermal imaging telescope, and realizing an efficient and precise calibration device for the thermal imaging telescope.

[0101] It should be noted that the above-mentioned various modules can be functional modules or program modules, and can be implemented either by software or by hardware. For the modules implemented by hardware, the above-mentioned various modules can be located in the same processor; or the above-mentioned various modules can also be located in different processors in any combined form.

[0102] This embodiment also provides a thermal imaging telescope, which includes a thermal imaging body and a main control device; wherein, the telescope body is mounted on an emission platform. The main control device is connected to the telescope body and the emission platform, and is configured to execute the steps described in any one of the above method embodiments. The main control device includes, but is not limited to, various single-chip microcomputers, main control chips, computers, or servers and other hardware devices for controlling the calibration process of the above thermal imaging telescope. The main control device can be installed on the telescope body or the emission platform, or the main control device can also be independently installed and communicatively connected to the telescope body and the emission platform.

[0103] In some of these embodiments, the above thermal imaging telescope further includes an azimuth sensing device. The above main control device is further configured to obtain the vibration signal detected in real time by the azimuth sensing device; when the main control device detects that the vibration signal is less than a preset first signal threshold, it obtains the thermal imaging image. Among them, the azimuth sensing device can be installed on the above telescope body.

[0104] In some of these embodiments, the above thermal imaging telescope further includes a display terminal. The above main control device is further configured to generate a freeze instruction for the current frame image in the thermal imaging image when it detects that the vibration signal is less than a preset second signal threshold; among them, the second signal threshold range is within the first signal threshold range; in response to the freeze instruction, the main control device performs image freezing processing on the current frame image to obtain a current frozen image, and sends the current frozen image to the display interface of the display terminal for display. Among them, the display terminal can be installed on the above telescope body.

[0105] This embodiment also provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any of the above method embodiments.

[0106] Optionally, the above electronic device may further include a transmission device and an input / output device. Among them, the transmission device is connected to the above processor, and the input / output device is connected to the above processor.

[0107] Optionally, in this embodiment, the above processor may be configured to execute the following steps through a computer program:

[0108] S1, instruct the launch platform to launch a solid projectile towards a preset solid surface and generate a first landing point.

[0109] S2, when controlling the thermal imaging telescope to move to the target marking point of the thermal imaging telescope to aim at the position where the first landing point is located, instruct the launch platform to launch a solid projectile based on the target marking point to generate a second landing point.

[0110] S3, based on the thermal imaging images collected by the thermal imaging telescope for the first landing point and the second landing point.

[0111] S4, based on the thermal imaging image, determine the position offset between the first landing point and the second landing point, and calibrate the target marking point of the thermal imaging telescope based on the position offset.

[0112] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation manners, and will not be elaborated here.

[0113] In addition, in combination with the calibration method of the thermal imaging telescope in the above embodiments, the embodiments of the present application can provide a storage medium to implement. A computer program is stored on the storage medium; when the computer program is executed by a processor, any one of the calibration methods of the thermal imaging telescope in the above embodiments is implemented.

[0114] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided by the present application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0115] Those skilled in the art should understand that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as these combinations of technical features do not conflict, they should be considered as within the scope described in this specification.

[0116] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for calibrating a thermal imaging telescope, characterized in that: The thermal imaging telescope is carried on a launching platform; the method comprises: Instructing the launch platform to launch a solid projectile toward a preset solid surface and generate a first landing point; Under the condition that the thermal imaging telescope is controlled to move to the target mark point of the thermal imaging telescope to aim at the location of the first landing point, the launching platform is instructed to launch the solid projectile toward the preset solid surface based on the target mark point, and a second landing point is generated; Acquire thermal imaging images collected by the thermal imaging telescope at the first landing point and the second landing point; Based on the thermal imaging image, a position offset between the first landing point and the second landing point is determined, and a target marking point of the thermal imaging telescope is calibrated based on the position offset.

2. The calibration method according to claim 1, characterized in that: Determining a position offset between the first landing point and the second landing point based on the thermal imaging image, and calibrating the thermal imaging telescope based on the position offset, comprising: Based on the thermal imaging image, obtaining first temperature information of the first landing point and second temperature information of the second landing point; Determine, according to a comparison result of the first temperature information and the second temperature information, a low temperature landing point between the first landing point and the second landing point, and a high temperature landing point between the first landing point and the second landing point; The position offset is determined, and based on the position offset, the target mark point is controlled to move from the low temperature landing point to the high temperature landing point to obtain the calibration mark point position.

3. The calibration method according to claim 2, characterized in that: The determining the position offset, and controlling the target mark point to move from the low temperature landing point to the high temperature landing point based on the position offset, to obtain the calibration mark point position, includes: Based on the thermal imaging image, obtaining first horizontal position information and first vertical position information of the low-temperature landing point, and second horizontal position information and second vertical position information of the high-temperature landing point; Calculating a horizontal offset according to the first horizontal position information and the second horizontal position information, and determining a vertical offset according to the first vertical position information and the second vertical position information; wherein the position offset includes the horizontal offset and the vertical offset; The target mark point is controlled to move horizontally from the low temperature landing point to the high temperature landing point based on the horizontal offset, and the target mark point is controlled to move from the low temperature landing point to the high temperature landing point based on the vertical offset to obtain the calibration mark point position.

4. The calibration method according to claim 1, characterized in that: The thermal imaging telescope includes an azimuth sensing device; and obtaining thermal imaging images collected by the thermal imaging telescope at the first landing point and the second landing point includes: Acquiring a vibration signal detected in real time by the orientation sensing device; When it is detected that the vibration signal is less than a preset first signal threshold, the thermal imaging image is acquired.

5. The calibration method according to claim 4, characterized in that: The thermal imaging image includes at least one frame of image; after acquiring the thermal imaging image, the method further includes: generating a freeze instruction for a current frame image in the thermal imaging image when it is detected that the vibration signal is less than a preset second signal threshold; wherein the second signal threshold is less than the first signal threshold; In response to the freezing instruction, the current frame image is subjected to image freezing processing to obtain a current frozen image, and the current frozen image is sent to a display interface for display.

6. The calibration method according to any one of claims 1 to 5, characterized in that: The preset solid surface is a wall or a soil pile.

7. A calibration device for a thermal imaging telescope, characterized in that: The thermal imaging telescope is mounted on a launch platform; the device comprises: a first launch module, a second launch module, an imaging module and a calibration module; The first launch module is used to instruct the launch platform to launch a solid projectile toward a preset solid surface and generate a first landing point; The second launch module is used to instruct the launch platform to launch the solid projectile toward the preset solid surface based on the target mark point and generate a second landing point when controlling the thermal imaging telescope to move to the position where the target mark of the thermal imaging telescope is aimed at the first landing point; The imaging module is used to obtain thermal imaging images collected by the thermal imaging telescope on the first landing point and the second landing point; The calibration module is used to determine a position offset between the first landing point and the second landing point based on the thermal imaging image, and calibrate a target marking point of the thermal imaging telescope based on the position offset.

8. A thermal imaging telescope, characterized in that: The thermal imaging telescope comprises a telescope body and a main control device; wherein the telescope body is mounted on a launching platform; The main control device is connected to the telescope body and the launching platform, and is used to execute the calibration method of the thermal imaging telescope as described in any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the calibration method for the thermal imaging telescope according to any one of claims 1 to 6.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the calibration method for the thermal imaging telescope according to any one of claims 1 to 6 when running.

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