Reset method, calibration method and reset device of telescope and telescope

Abstract

The invention relates to a reset method, a calibration method and a reset device of a telescope and the telescope. Wherein the telescope is carried on the transmitting platform, and the telescope is provided with azimuth sensing equipment. The resetting method comprises the following steps: acquiring initial azimuth information of the telescope acquired by the azimuth sensing equipment; when it is detected that the launching platform completes the launching action, to-be-reset azimuth information, collected by the azimuth sensing equipment, of the telescope is obtained; and resetting the telescope according to the initial azimuth information and the azimuth information to be reset. According to the invention, the problem that the calibration accuracy of the telescope is low is solved, and the precise and efficient resetting method of the telescope is realized.

Description

Technical Field

[0001] The present application relates to the technical field of telescopes, and in particular to a reset method, a calibration method, a reset device and a telescope of a telescope. Background Art

[0002] Telescopes generally have 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 reasons such as assembly in practice, 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 is consistent with the landing point. However, in the related art, during the calibration process of the telescope, it is usually difficult to achieve a relatively accurate reset of the telescope, which will affect the calibration accuracy of the telescope.

[0003] Currently, there is no effective solution to the problem of low calibration accuracy of telescopes in the related art. Summary of the Invention

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

[0005] In a first aspect, an embodiment of the present application provides a reset method of a telescope. The telescope is carried on a launch platform, and an azimuth sensing device is installed on the telescope. The method includes:

[0006] Obtain the initial azimuth information of the telescope collected by the azimuth sensing device;

[0007] When it is detected that the launch platform has completed the launch action, obtain the azimuth information to be reset of the telescope collected by the azimuth sensing device;

[0008] Reset the telescope according to the initial azimuth information and the azimuth information to be reset.

[0009] In some of these embodiments, the resetting of the telescope according to the initial azimuth information and the azimuth information to be reset includes:

[0010] Obtain a preset first azimuth difference threshold;

[0011] Based on the azimuth information to be reset, adjust the telescope in the direction of the initial azimuth information for reset, and obtain the current azimuth information of the telescope collected by the azimuth sensing device in real time during the adjustment process of the telescope;

[0012] Calculate first error information between the initial orientation information and the current orientation information; stop resetting the telescope when it is detected that the first error information is less than the first orientation difference threshold.

[0013] In some embodiments, adjusting the telescope towards the direction of the initial orientation information based on the orientation information to be reset includes:

[0014] Generate orientation display information based on the initial orientation information and the orientation information to be reset;

[0015] Detect a reset adjustment instruction based on the orientation display information;

[0016] In response to the detected reset adjustment instruction, control the telescope to move towards the direction of the initial orientation information according to the orientation information to be reset.

[0017] In some embodiments, resetting the telescope according to the initial orientation information and the orientation information to be reset includes:

[0018] Generate path planning information for the launch platform based on the initial orientation information and the orientation information to be reset;

[0019] Based on the path planning information, direct the launch platform to drive the telescope to move towards the direction of the initial orientation information according to the orientation information to be reset, and reset the telescope.

[0020] In a second aspect, an embodiment of the present application provides a calibration method for a telescope. The telescope is carried on a launch platform, and an orientation sensing device is installed on the telescope. The method includes:

[0021] Obtain the initial orientation information of the telescope collected by the orientation sensing device;

[0022] Direct the launch platform to launch a solid projectile towards the target entity surface based on the target marking point of the telescope and generate an actual landing point;

[0023] When it is detected that the launch platform has completed the launch action, obtain the orientation information to be reset of the telescope collected by the orientation sensing device, and reset the telescope according to the initial orientation information and the orientation information to be reset;

[0024] When it is detected that the reset of the telescope is completed, obtain the image information collected by the telescope including the target marking point and the actual landing point, and calibrate the telescope based on the image information.

[0025] In some of these embodiments, obtaining the image information including the target marking point and the actual landing point collected by the telescope includes:

[0026] Obtaining the real-time azimuth information of the telescope collected by the azimuth sensing device;

[0027] Calculating the second error information between the initial azimuth information and the real-time azimuth information; and obtaining the image information when it is detected that the second error information is less than a preset second azimuth difference threshold.

[0028] In some of these embodiments, the telescope is a thermal imaging telescope, and the image information is a thermal imaging image; calibrating the telescope based on the image information includes:

[0029] Determining the first position information of the target marking point;

[0030] Obtaining pixel point temperature information based on the thermal imaging image, determining the actual landing point and the second position information of the actual landing point according to the pixel point temperature information;

[0031] Determining a calibration amount according to the first position information and the second position information, and calibrating the target marking point of the thermal imaging telescope based on the calibration amount.

[0032] In some of these embodiments, after resetting the telescope according to the initial azimuth information and the azimuth information to be reset, the method further includes:

[0033] Obtaining the average cooling duration of the actual landing point, and obtaining the current reset duration of the telescope;

[0034] When it is detected that the current reset duration exceeds the average cooling duration, re-obtaining the new initial azimuth information of the telescope, and re-obtaining the new information to be reset of the telescope after the launch platform launches again to generate a new reference point and a new actual landing point;

[0035] Resetting and calibrating the telescope based on the new initial azimuth information and the new azimuth information to be reset.

[0036] In a third aspect, an embodiment of the present application provides a reset device for a telescope. The telescope is carried on a launch platform, and an azimuth sensing device is installed on the telescope. The device includes: an acquisition module, a collection module, and a reset module;

[0037] The acquisition module is used to acquire the initial azimuth information of the telescope collected by the azimuth sensing device;

[0038] The acquisition module is configured to obtain the azimuth information to be reset of the telescope collected by the azimuth sensing device when it is detected that the launch platform has completed the launch action;

[0039] The reset module is configured to reset the telescope according to the initial azimuth information and the azimuth information to be reset.

[0040] In a fourth aspect, an embodiment of the present application provides a telescope, which includes a telescope body and a main control device; wherein, the telescope body is mounted on a launch platform, and the telescope is equipped with an azimuth sensing device;

[0041] The main control device is connected to the telescope body and the launch platform, and is configured to execute the reset method of the telescope described in the first aspect above, or the calibration method of the telescope described in the second aspect above.

[0042] Compared with the related art, the reset method, calibration method, reset device and telescope provided by the embodiment of the present application, the telescope is mounted on a launch platform, and the telescope is equipped with an azimuth sensing device, by obtaining the initial azimuth information of the telescope collected by the azimuth sensing device; when it is detected that the launch platform has completed the launch action, obtaining the azimuth information to be reset of the telescope collected by the azimuth sensing device; resetting the telescope according to the initial azimuth information and the azimuth information to be reset, solves the problem of low calibration accuracy of the telescope, and realizes an accurate and efficient reset method for the telescope.

[0043] 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 apparent and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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 of the present application are used to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0045] Figure 1 is a hardware structure block diagram of a terminal of a reset method for a telescope according to an embodiment of the present application;

[0046] Figure 2 is a flowchart of a reset method for a telescope according to an embodiment of the present application;

[0047] Figure 3 is a schematic diagram of a display interface according to an embodiment of the present application;

[0048] Figure 4 is a flowchart of a calibration method for a telescope according to an embodiment of the present application;

[0049] Figure 5 It is a schematic diagram of a low-temperature landing point and a high-temperature landing point according to an embodiment of the present application;

[0050] Figure 6 It is a flowchart of another telescope calibration method according to an embodiment of the present application;

[0051] Figure 7 It is a structural block diagram of a telescope reset device according to an embodiment of the present application. Detailed implementation manners

[0052] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and explained below with reference to 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 making creative efforts belong to 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 designs, manufacturing or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be understood that the content disclosed in the present application is insufficient.

[0053] 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 does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application can be combined with other embodiments without conflict.

[0054] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the ordinary meanings understood by those with ordinary skills in the technical field to which this application belongs. 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 "include", "comprise", "have" and any variations thereof involved in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including 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 "connect", "be connected", "couple" 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 of the objects.

[0055] 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 structure block diagram of a terminal of a calibration method for 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 programmable logic device 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.

[0056] 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, implements the above method. 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 may be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0057] The transmission device 106 is used to receive or send data via a network. Specific examples of the above 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 (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices through a base station and thus 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.

[0058] This embodiment provides a reset method for a telescope. The telescope is carried on a launch platform, and the telescope is equipped with an azimuth sensing device; Figure 2 is a flowchart of a reset method for a telescope according to an embodiment of the present application, as Figure 2 shown, the process includes the following steps:

[0059] Step S210, obtain the initial azimuth information of the telescope collected by the azimuth sensing device.

[0060] Among them, the above azimuth sensing device can be installed inside the telescope or carried on the 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, before the launch platform carried by the telescope launches, the azimuth sensing device can first record information such as the azimuth angle of the telescope when the target identification point of the telescope aims at the reference point on the target entity surface, and then obtain the above initial azimuth information. The initial azimuth information includes information such as the initial horizontal azimuth angle, initial pitch azimuth angle, and initial rotation azimuth angle of the telescope before launch, which is used to represent the azimuth of the telescope at this moment.

[0061] Step S220, when it is detected that the launch platform has completed the launch action, obtain the azimuth information to be reset of the telescope collected by the azimuth sensing device.

[0062] It should be noted that the above launch platform equipped with a telescope can launch solid projectiles towards the target solid surface. For example, the solid projectile can be a bullet, and the launch platform can be a bullet launching device. When observing the target object with the telescope, the bullet launching device aims based on the target marking point of the telescope and launches a bullet towards the target object. The target solid surface refers to any uniform solid surface deployed near the reset and calibration site of the telescope and facing the field of view of the telescope. Exemplarily, the target solid surface can be a wall or a mound, etc.

[0063] After the launch platform launches a solid projectile towards the reference point of the target solid surface, due to factors such as vibration caused by the launch, the telescope and its mounted launch platform will move a certain distance; therefore, in order to ensure the accuracy of telescope calibration and application, the telescope needs to be reset. In this embodiment, it can be detected by a sensing device or manually whether the launch platform has completed the launch action on the reference point of the target solid surface. For example, when the staff manually determines that the launch platform has completed the launch action, the staff can input an instruction indicating reset to the telescope or click a button indicating reset to prompt for subsequent reset steps; alternatively, the azimuth sensing device can also detect the vibration information of the telescope in real time to determine whether the launch platform has completed the launch action. Next, after detecting that the launch platform has completed the launch action, the azimuth sensing device can collect the azimuth angle information of the telescope at the current moment, and then obtain the above-mentioned azimuth information to be reset. The azimuth information to be reset includes information such as the horizontal azimuth angle to be reset, the pitch azimuth angle to be reset, and the rotation azimuth angle to be reset of the telescope after launch, which are used to represent the azimuth of the telescope at this moment.

[0064] Step S230, reset the telescope according to the initial azimuth information and the azimuth information to be reset.

[0065] Among them, after detecting that the launch platform has completed the launch action and stabilized, the telescope can be controlled to be reset according to the azimuth difference between the to-be-reset azimuth information obtained through the above steps and the initial azimuth information. Specifically, the reset method of the telescope can be as follows: manual reset by the staff, that is, the staff manually adjusts the telescope and its carried launch platform from the current pose to the pre-launch pose corresponding to the initial azimuth information according to the initial azimuth information and the to-be-reset azimuth information displayed by the device; or, the staff can also determine the direction that the telescope needs to be adjusted according to the initial azimuth information and the to-be-reset azimuth information, and input an instruction for the moving direction. The main control device such as a computer responds to the detected moving direction instruction and controls the telescope to move in the direction set by the staff; or, the reset method of the telescope can also be: automatically controlled by a computer program to adjust the pose of the telescope until it is detected that the telescope is in place for reset.

[0066] Through the above steps S210 to S230, by collecting and comparing the azimuth information of the telescope through the azimuth sensing device, the accurate adjustment and reset of the telescope device and the carried launch platform after launch are carried out. Thus, using the azimuth sensing information as the basis for resetting the telescope during the operation calibration process reduces the error caused by resetting, realizes precise telescope reset during telescope calibration, eliminates the need for manual guarantee of the constant azimuth of the telescope device, and effectively solves the problem of low calibration accuracy of the telescope.

[0067] In some embodiments, resetting the telescope according to the initial azimuth information and the to-be-reset azimuth information includes the following steps:

[0068] Step S231, obtaining a preset first azimuth difference threshold. Among them, the above first azimuth difference threshold can be set and stored by the staff in advance in combination with the actual situation. The first azimuth difference threshold can be expressed as The threshold ω for representing the horizontal azimuth angle difference m The threshold κ for representing the pitch azimuth angle difference m The threshold for representing the rotation azimuth angle difference.

[0069] Step S232, based on the to-be-reset azimuth information, adjust the telescope in the direction of the initial azimuth information, and obtain the current azimuth information of the telescope collected in real time by the azimuth sensing device during the adjustment process of the telescope.

[0070] Step S233, calculate the first error information between the initial azimuth information and the current azimuth information. When it is detected that the first error information is less than the first azimuth difference threshold, stop resetting the telescope.

[0071] In the above steps S232 to S233, in order to avoid the deviation of the launch platform and the telescope carried thereon after launch, resulting in a large error in the calibration of the telescope, in this embodiment, based on the collected azimuth information to be reset, the telescope is adjusted and reset in the direction of the initial azimuth information according to the azimuth information to be reset, and the current azimuth information of the telescope is collected in real time during the reset process, so as to detect in real time whether the telescope is reset in place.

[0072] Among them, the above initial azimuth information can be expressed as (φ 0 , ω 0 , κ 0 ), which is used to represent the initial horizontal azimuth angle, ω 0 is used to represent the initial pitch azimuth angle, κ 0 is used to represent the initial rotation azimuth angle. The above current azimuth information can be expressed as (φ t , ω t , κ t ), φ t is used to represent the horizontal azimuth angle collected at the current time t, ω t is used to represent the pitch azimuth angle collected at the current time t, κ t is used to represent the rotation azimuth angle collected at the current time t; it can be understood that at the moment when the reset is just started, the current azimuth information is the above-mentioned azimuth information to be reset. Specifically, during the adjustment and reset process, the first error information between the initial azimuth information and the current azimuth information can be calculated by the following formula: Δω = ω t - ω 0 ; Δκ = κ t - κ 0 . Then when it is detected that Δω < ω m , Δκ < κ m , it means that the deviation between the current azimuth information detected in real time during the reset process and the initial azimuth information is small at this time, and it can be considered that the reset of the telescope is completed at this moment.

[0073] Through the above steps S231 to S233, by comparing the current azimuth information detected in real time during the reset process of the telescope with the initial azimuth information, when the error between the two is less than a certain threshold, it is considered that the reset is completed at this time, so as to realize an adaptive and accurate judgment on whether the telescope is reset, and at the same time, based on the set first azimuth difference threshold, a certain error tolerance rate is ensured, effectively improving the accuracy of the telescope reset.

[0074] In some of these embodiments, adjusting the telescope towards the initial orientation information based on the to-be-reset orientation information includes the following steps: generating orientation display information based on the initial orientation information and the to-be-reset orientation information. Next, detecting a reset adjustment instruction based on the orientation display information; in response to the detected reset adjustment instruction, controlling the telescope to move towards the initial orientation information in accordance with the to-be-reset orientation information.

[0075] Among them, the above-mentioned reset adjustment instruction can be generated based on the interaction operation of the staff. Specifically, the generated orientation display information can be directly sent to the display interface for display, or, alternatively, the orientation display information can be stored locally first, and in the case of detecting a display instruction input by the staff through interaction with the display interface, in response to the display instruction, the orientation display information is sent to the display interface. Next, based on the orientation display information including the initial orientation information and the to-be-reset orientation information displayed on the display interface, the staff determines the direction that needs to be adjusted during the telescope reset process, and inputs a reset adjustment instruction to the display interface based on the manual observation situation, and finally controls the telescope to move towards the initial orientation information in accordance with the to-be-reset orientation information. Taking the above-mentioned orientation sensing device as a gyroscope as an example, Figure 3 is a schematic diagram of a display interface according to an embodiment of the present application, as Figure 3 shown, the coordinate information of the three orientations of the gyroscope is displayed on the display interface, and the detected orientation display information can be displayed in real time at the corresponding position on the display interface. In another embodiment, the above-mentioned orientation display information may further include the current orientation information of the telescope detected in real time during the reset process, so that the staff can observe the reset situation of the telescope in real time through the above-mentioned display interface.

[0076] Through the above embodiments, orientation display information that can be sent to a display device for real-time display is generated through the initial orientation information and the to-be-reset orientation information, thereby improving the visualization degree during the telescope reset process, facilitating the staff to input corresponding reset instructions based on the display result or observe the reset situation in real time.

[0077] In some of these embodiments, resetting the telescope according to the initial orientation information and the to-be-reset orientation information includes the following steps: generating path planning information for the launch platform based on the initial orientation information and the to-be-reset orientation information; based on the path planning information, instructing the launch platform to drive the telescope to move towards the initial orientation information in accordance with the to-be-reset orientation information.

[0078] In this embodiment, the automatic reset method of the telescope can be implemented through a computer program. Specifically, the launch platform can be controlled to move autonomously according to the path planning information calculated from the above initial orientation information and the to-be-reset orientation information; since the telescope is mounted on the launch platform, the telescope will move with the launch platform and be reset. It should be added that during the reset process, the current orientation information of the telescope can also be detected in real time, so that the computer program can calibrate the path planning information in real time based on the current orientation information, and automatically determine whether the telescope has been reset based on the error between the current orientation information and the initial orientation information.

[0079] Through the above embodiment, the path planning information is generated from the initial orientation information and the to-be-reset orientation information, and the launch platform is controlled to autonomously drive the telescope to move according to the path planning information, thus realizing an adaptive telescope reset method. During the reset process, the manual participation is reduced, the error easily introduced by manual reset is effectively avoided, and it is beneficial to improve the accuracy of telescope reset.

[0080] This embodiment also provides a calibration method for a telescope. The telescope is mounted on a launch platform, and the telescope is equipped with an orientation sensing device; Figure 4 is a flowchart of a calibration method for a telescope according to an embodiment of the present application, as Figure 4 shown, the process includes the following steps:

[0081] Step S410, obtain the initial orientation information of the telescope collected by the orientation sensing device.

[0082] Step S420, instruct the launch platform to launch a solid projectile towards the target entity surface based on the target marking point of the telescope and generate an actual landing point.

[0083] Specifically, in this embodiment, the initial orientation information at this moment can be recorded when the telescope device is in a stable state; at this time, the target marking point of the telescope should aim at any position on the target entity surface. Then the launch platform launches a solid projectile towards the target entity surface based on the target marking point; among them, the solid projectile lands on the target entity surface and generates the above actual landing point. It can be understood that during the process of the solid projectile moving at high speed towards the target entity surface after being launched, it will deviate from the established movement trajectory due to factors such as gravity and wind direction, so that there is a certain distance between the actual landing point where the solid projectile finally lands on the target entity surface and the position where the target marking point pre-aims at the target entity surface.

[0084] Step S430: When it is detected that the launch platform has completed the launch action, obtain the azimuth information to be reset of the telescope collected by the azimuth sensing device, and reset the telescope according to the initial azimuth information and the azimuth information to be reset.

[0085] Step S440: When it is detected that the reset of the telescope is completed, obtain the image information containing the target marking point and the actual landing point collected by the telescope, and calibrate the telescope based on the image information.

[0086] Among them, after the telescope is reset through the above steps, the target marking point of the telescope can be accurately calibrated according to the deviation between the target marking point and the actual landing point in the image information collected by the above telescope.

[0087] Through the above steps S410 to S440, by collecting and comparing the azimuth information of the telescope through the azimuth sensing device, the accurate adjustment and reset of the telescope device and the carried launch platform after launch are carried out, and the image information collected by the telescope is intercepted for automatic calibration after the reset is completed, so as to ensure the accuracy of the calibration of the telescope through a high-precision telescope reset method.

[0088] In some of the embodiments, the obtaining of the image information containing the target marking point and the actual landing point collected by the telescope includes the following steps:

[0089] Obtain the real-time azimuth information of the telescope collected by the azimuth sensing device. Specifically, after it is detected by the azimuth sensing device that the reset of the telescope is completed, in order to further ensure the accuracy of the image collected by the telescope, the azimuth sensing device can continue to detect and collect the real-time azimuth information of the telescope.

[0090] Next, calculate the second error information between the initial orientation information and the real-time orientation information; when it is detected that the second error information is less than a preset second orientation difference threshold, obtain the image information. Among them, the above-mentioned second orientation difference threshold can be preset and stored by the staff in combination with the actual situation, and the second orientation difference threshold is less than the above-mentioned first orientation difference threshold. Then, when it is detected that the error between the real-time orientation information at the current moment and the above-mentioned initial orientation information is less than the second orientation difference threshold, it indicates that the vibration of the launch platform has basically ended at this time, the launch platform and the thermal imaging telescope carried by it tend to be stable again, the picture no longer shakes, and the above-mentioned telescope has been completely reset in place. Therefore, an image acquisition instruction can be automatically triggered, and the above-mentioned telescope adaptively obtains the above-mentioned image information in response to the image acquisition instruction. In another embodiment, the value of the above-mentioned second orientation difference threshold can also be set to the same value as the above-mentioned first orientation difference threshold. At this time, the above-mentioned real-time orientation information is also the above-mentioned current orientation information. That is to say, when it is detected that the telescope has completed the reset based on the above-mentioned first orientation difference threshold, the image collected by the telescope at this moment is immediately obtained and used as the above-mentioned image information.

[0091] Through the above embodiments, the real-time orientation information of the telescope detected by the orientation sensing device adaptively triggers the image acquisition action, so that there is no need for the staff to intervene in the operation, effectively reducing the picture offset error caused by manual operation, and further reducing the calibration error of the telescope, and further improving the calibration efficiency and accuracy of the telescope.

[0092] In some of the embodiments, the above-mentioned telescope is a thermal imaging telescope, and the above-mentioned image information is a thermal imaging image; calibrating the above-mentioned telescope based on the image information includes the following steps:

[0093] Step S421, determine the first position information of the target marking point.

[0094] It should be noted that the above-mentioned telescope has an initial target marking point located at the center of the picture; that is to say, the position of the target marking point, that is, the above-mentioned first position information, is predetermined and stored in advance.

[0095] Step S422, obtain the pixel point temperature information based on the thermal imaging image, and determine the actual landing point and the second position information of the actual landing point according to the pixel point temperature information.

[0096] It can be understood that the above pixel temperature information includes the gray values of each pixel in the thermal imaging image. Among them, the above thermal imaging telescope acquires image information after emitting a fixed projectile to generate an actual landing point and detecting that the reset is completed. Since the solid projectile launched by the launch platform generates heat due to high-speed movement when it hits the target entity surface, the temperature of the actual landing point in the thermal imaging image is higher than that of other regions. Therefore, for the acquired thermal imaging image, the temperature of the thermal imaging image can be detected first by counting the gray values of each pixel in the image, and the position information of the actual landing point can be determined, that is, the above second position information can be obtained.

[0097] Step S433: Determine a calibration amount according to the first position information and the second position information, and calibrate the target marking point of the thermal imaging telescope based on the calibration amount.

[0098] Optionally, after detecting that the telescope has completed the reset through the above method embodiment, the image information collected by the telescope can be acquired and calibrated. Specifically, in this embodiment, the above telescope is a thermal imaging telescope, and the above image information is a thermal imaging image. Then the calibration process based on the thermal imaging image can be: after determining the first position information of the above target marking point and the second position information of the above actual landing point based on the thermal imaging image, the calibration amount can be determined based on the position offset between the first position information and the second position information, and the target marking point of the telescope can be calibrated based on the calibration amount.

[0099] Specifically, during the calibration process, based on the above position offset, the initial position of the target marking point of the telescope is adjusted in the direction from the current target marking point to the actual landing point to obtain the position of the target marking point of the calibrated thermal imaging telescope. Exemplarily, please refer to Figure 5 , the first position information of the above target marking point is expressed as (x1, y1), the second position information of the above actual landing point is expressed as (x2, y2), then the position offset between the target marking point and the actual landing point is (△x, △y), △x = x2 - x1, △y = y2 - y1. The initial position of the above target marking point is O 0 (x0, y0), then based on the above position offset, after controlling the target marking point to adjust its position, the position of the calibrated marking point obtained is (xt, yt). Wherein, xt = x0 + △x, yt = y0 + △y.

[0100] Through the above steps S421 to S422, a thermal imaging image including the landing point formed by the solid projectile launched by the launch platform towards the target entity 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 two points in the thermal imaging image, so that the adjustment distance of the target marking point can be accurately and quickly determined, effectively improving the calibration efficiency and accuracy of the thermal imaging telescope.

[0101] In some of these embodiments, after resetting the telescope according to the initial orientation information and the to-be-reset orientation information, the method further includes:

[0102] Step S451, obtaining the average cooling duration of the actual landing point and obtaining the current reset duration of the telescope.

[0103] In this embodiment, if the actual landing point is generated by the launch platform launching a solid projectile towards any point on the target entity surface, when the solid projectile launched by the launch platform hits the target entity surface at a high speed, the landing point generated will generate heat due to the high speed. However, when the reset process of the telescope is too long, the heat of the actual landing point will have cooled to a certain temperature, making it impossible to observe by thermal imaging, thus affecting the calibration of the telescope. To improve the above problem, the average cooling duration of the actual landing point obtained based on experimental data can be obtained first. The average cooling duration can be determined by the generation time of the landing point in the experimental data and the time when the temperature of the landing point drops to within the preset temperature; and the preset temperature can be set in advance by the staff according to the actual situation. When the temperature of the landing point drops below the preset temperature, it means that the temperature of the landing point cannot be accurately identified by thermal imaging technology at this time. Therefore, the time period between the generation time of the landing point and the time when the temperature of the landing point drops to within the preset temperature can be set as the average cooling duration. Then, after the telescope starts to be reset, the current reset duration of the telescope is obtained in real time; the current reset duration can be determined by the start time of the telescope reset and the current time.

[0104] Step S452, in the case where it is detected that the current reset duration exceeds the average cooling duration, re-obtain the new initial orientation information of the telescope, and re-obtain the new to-be-reset information of the telescope after the launch platform launches again to generate a new actual landing point; based on the new initial orientation information and the new to-be-reset orientation information, reset and calibrate the telescope.

[0105] Among them, if the above-mentioned current reset duration has exceeded the average cooling duration and the telescope has not completed the reset yet, it indicates that the reset time of the telescope this time is too long, resulting in the inability to accurately determine the positions of the reference point and the actual landing point in the thermal imaging image during subsequent calibration. Therefore, in order to save calibration time, the subsequent steps are not performed at this time, but it is considered that the adjustment times out this time, and the current reset process can be directly ended and the above-mentioned step S410 can be returned to start a new reset and calibration process. It can be understood that if it is detected that the current reset duration has not reached the average cooling duration and it is detected through the sensing signal collected by the above-mentioned azimuth sensing device that the telescope device has completed the reset, it indicates that there is still a certain temperature remaining at the actual landing point on the solid surface. Therefore, after the reset, the image containing the two landing points collected by the telescope can be normally obtained and the calibration of the target marking point of the telescope can be performed.

[0106] Through the above steps, by detecting whether the current reset duration of the telescope exceeds the average cooling duration of the actual landing point, it is automatically determined whether a new reset and calibration process needs to be restarted, thus avoiding the problem that after the reset is completed, the position of the actual landing point cannot be determined through the thermal imaging image collected by the above-mentioned telescope, resulting in the failure of telescope calibration, which is beneficial to further improving the accuracy and efficiency of telescope calibration.

[0107] The following will describe the embodiments of the present application in detail in combination with actual application scenarios. Figure 6 is a flowchart of another calibration method for a telescope according to an embodiment of the present application. As Figure 6 shown, the process includes the following steps:

[0108] Step S601, start the calibration process; adjust the devices including the telescope and the launch platform to a stable state.

[0109] Step S602, the azimuth sensing device records the initial azimuth information of the telescope.

[0110] Step S603, maintain the current state and the launch platform launches towards the reference point of the target solid surface to generate a first landing point.

[0111] Step S604, the azimuth sensing device records the azimuth information to be reset of the telescope and prompts to start resetting the device according to the azimuth information.

[0112] Step S605, the azimuth sensing device records the current azimuth information of the telescope during the reset process; detect the azimuth angle difference between the initial azimuth information and the current azimuth information during the reset process of the telescope, that is, obtain the above-mentioned first error information, and determine whether the azimuth angle difference at the current moment is less than the first azimuth difference threshold; if not, continue to execute this step.

[0113] Step S606: If the judgment result in the above step S605 is yes, the telescope automatically acquires an image, calculates the calibration amount of the target marking point of the telescope based on the acquired image information, and adjusts the position of the target marking point of the telescope based on the calibration amount of the target marking point; the calibration process ends.

[0114] 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.

[0115] This embodiment also provides a reset device for a telescope. The telescope is carried on a launch platform, and the telescope is equipped with an azimuth sensing device; this device is used to implement the above embodiment and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, 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.

[0116] Figure 7 is a structural block diagram of a reset device for a telescope according to an embodiment of the present application, as Figure 7 shown, the device includes: an acquisition module 72, a collection module 74, and a reset module 76; the acquisition module 72 is used to acquire the initial azimuth information of the telescope collected by the azimuth sensing device; the collection module 74 is used to acquire the to-be-reset azimuth information of the telescope collected by the azimuth sensing device when it is detected that the launch platform has completed the launch action; the reset module 76 is used to reset the telescope according to the initial azimuth information and the to-be-reset azimuth information.

[0117] This embodiment also provides a calibration device for a telescope. The calibration device includes Figure 7 all the modules shown, and in addition, includes a launch module and a calibration module; the launch module is used to acquire the initial azimuth information of the telescope collected by the azimuth sensing device; the calibration module is used to acquire the image information of the telescope including the reference point and the actual landing point collected by the telescope when it is detected that the reset of the telescope is completed, and calibrate the telescope based on the image information.

[0118] In some embodiments, the above calibration device further includes a loop module; the loop module is configured to obtain the average cooling duration of the actual landing point and obtain the current reset duration of the telescope; when the loop module detects that the current reset duration exceeds the average cooling duration, it re-obtains the new initial azimuth information of the telescope and re-obtains the new information to be reset of the telescope after the launch platform launches again to generate a new actual landing point; the loop module resets and calibrates the telescope based on the new initial azimuth information and the new information to be reset azimuth information.

[0119] It should be noted that the above-mentioned 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 modules can be located in the same processor; or the above-mentioned modules can also be located in different processors in any combined form.

[0120] This embodiment also provides a telescope, which includes a thermal imaging body and a main control device; wherein, the telescope body is mounted on a launch platform. The main control device is connected to the telescope body and the launch 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, 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 launch platform, or the main control device can also be independently installed and communicatively connected to the telescope body and the launch platform.

[0121] In some of these embodiments, the above telescope further includes a display terminal. The main control device is further configured to generate azimuth display information based on the initial azimuth information and the information to be reset azimuth information, and send the azimuth display information to the display terminal, and the display terminal displays it on its display interface. Among them, the display terminal can be installed on the above telescope body.

[0122] This embodiment also provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0123] Optionally, the above electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the above processor, and the input / output device is connected to the above processor.

[0124] Optionally, in this embodiment, the above processor can be configured to execute the following steps through a computer program:

[0125] S1. Obtain the initial azimuth information of the telescope collected by the azimuth sensing device.

[0126] S2. When it is detected that the launch platform has completed the launch action, obtain the azimuth information to be reset of the telescope collected by the azimuth sensing device.

[0127] S3. Reset the telescope according to the initial azimuth information and the azimuth information to be reset.

[0128] 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 repeated here.

[0129] 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 telescope reset methods or calibration methods in the above embodiments is implemented.

[0130] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in 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.

[0131] 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, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0132] The embodiments described above merely represent several implementation manners of the present application. The description thereof 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 fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A method for resetting a telescope, characterized in that: The telescope is mounted on a launching platform and is equipped with an azimuth sensing device; the method comprises: Acquiring initial azimuth information of the telescope collected by the azimuth sensing device; When it is detected that the launching platform has completed the launching action, acquiring the azimuth information to be reset of the telescope collected by the azimuth sensing device; The telescope is reset according to the initial azimuth information and the azimuth information to be reset.

2. The reset method according to claim 1, characterized in that: The resetting of the telescope according to the initial azimuth information and the azimuth information to be reset includes: Obtaining a preset first azimuth difference threshold; Based on the azimuth information to be reset, the telescope is adjusted toward the direction of the initial azimuth information for reset, and the current azimuth information of the telescope collected in real time by the azimuth sensing device during the adjustment of the telescope is acquired; Calculate first error information between the initial azimuth information and the current azimuth information; and stop resetting the telescope when detecting that the first error information is less than the first azimuth difference threshold.

3. The resetting method according to claim 2, characterized in that: The step of adjusting the telescope toward the direction of the initial azimuth information based on the azimuth information to be reset includes: Based on the initial position information and the position information to be reset, generating position display information; Detecting reset adjustment instructions based on the azimuth display information; In response to the detected reset adjustment instruction, the telescope is controlled to move in the direction of the initial azimuth information according to the azimuth information to be reset.

4. The resetting method according to any one of claims 1 to 3, characterized in that: The resetting of the telescope according to the initial azimuth information and the azimuth information to be reset includes: Based on the initial position information and the position information to be reset, generating path planning information for the launch platform; Based on the path planning information, the launching platform is instructed to drive the telescope to move in the direction of the azimuth information to be reset toward the initial azimuth information, and the telescope is reset.

5. A telescope calibration method, characterized in that: The telescope is mounted on a launching platform and is equipped with an azimuth sensing device; the method comprises: Acquiring initial azimuth information of the telescope collected by the azimuth sensing device; Instructing the launch platform to launch a solid projectile toward the target solid surface based on the target marking point of the telescope and generate an actual landing point; When it is detected that the launch platform has completed the launch action, the azimuth information to be reset of the telescope collected by the azimuth sensing device is acquired, and the telescope is reset according to the initial azimuth information and the azimuth information to be reset; When it is detected that the resetting of the telescope is completed, image information collected by the telescope and containing the target marking point and the actual landing point is obtained, and the telescope is calibrated based on the image information.

6. The calibration method according to claim 5, characterized in that: The acquiring the image information collected by the telescope and containing the target marking point and the actual landing point includes: Acquiring real-time azimuth information of the telescope collected by the azimuth sensing device; Calculate second error information between the initial orientation information and the real-time orientation information; and acquire the image information when it is detected that the second error information is less than a preset second orientation difference threshold.

7. The calibration method according to claim 5 or 6, characterized in that: The telescope is a thermal imaging telescope, and the image information is a thermal imaging image; and calibrating the telescope based on the image information comprises: Determine first position information of the target marking point; Acquire pixel temperature information based on the thermal imaging image, and determine the actual landing point and second position information of the actual landing point according to the pixel temperature information; A calibration amount is determined according to the first position information and the second position information, and the target marking point of the thermal imaging telescope is calibrated based on the calibration amount.

8. The calibration method according to claim 7, characterized in that: After resetting the telescope according to the initial azimuth information and the azimuth information to be reset, the method further includes: Obtaining an average cooling time of the actual landing point, and obtaining a current reset time of the telescope; When it is detected that the current reset time exceeds the average cooling time, reacquire new initial position information of the telescope, and reacquire new to-be-reset information of the telescope after the launch platform launches again to generate a new actual landing point; Based on the new initial azimuth information and the new azimuth information to be reset, the telescope is reset and calibrated.

9. A resetting device for a telescope, characterized in that: The telescope is mounted on a launching platform and is equipped with an azimuth sensing device; the device comprises: an acquisition module, a collection module and a reset module; The acquisition module is used to acquire the initial azimuth information of the telescope collected by the azimuth sensing device; The acquisition module is used to acquire the azimuth information of the telescope to be reset acquired by the azimuth sensing device when detecting that the launch platform has completed the launch action; The resetting module is used to reset the telescope according to the initial azimuth information and the azimuth information to be reset.

10. A telescope, characterized in that: The telescope comprises a telescope body and a main control device; wherein the telescope body is mounted on a launching platform, and the telescope is equipped with an azimuth sensing device; The main control device is connected to the telescope body and the launching platform, and is used to execute the telescope resetting method as described in any one of claims 1 to 4, or the telescope calibration method as described in any one of claims 5 to 8.

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