Telescope calibration method, device and system, electronic device and storage medium

Abstract

The invention relates to a telescope calibration method, device and system, an electronic device and a storage medium, the telescope is carried on an emission platform, and the telescope calibration method comprises the following steps: under the condition that a target mark point of the telescope coincides with a reference point on a target entity surface, determining the target mark point of the telescope; instructing the launching platform to launch a solid launcher to the target entity surface, and generating an actual drop point; detecting an image freezing instruction; and in response to a detected image freezing instruction, intercepting a frozen image which is acquired by the telescope and contains the reference point and the actual drop point, and calibrating the telescope based on the frozen image. According to the telescope calibration method, the problem that the telescope calibration error is large is solved, and the telescope calibration method which is accurate and easy and convenient to operate is achieved.

Description

Technical Field

[0001] This application relates to the field of image processing technologies, and particularly to a telescope calibration method, apparatus, system, electronic device, and storage medium. Background Art

[0002] Telescopes generally come with a target marking point initially located at the center of the picture. If other deviations are not considered, the actual picture position corresponding to the target marking point is the final landing point. However, due to reasons such as assembly in reality, there may be a situation where the target marking point does not coincide 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. In related technologies, during the calibration process of a telescope, it is usually difficult to keep the azimuth of the telescope fixed, resulting in a large calibration error of the telescope.

[0003] Currently, no effective solution has been proposed for the problem of large calibration errors of telescopes in related technologies. Summary of the Invention

[0004] Embodiments of this application provide an image freezing method, apparatus, system, electronic device, and storage medium to at least solve the problem of large calibration errors of telescopes in related technologies.

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

[0006] When the target marking point on the telescope coincides with a reference point on the target entity surface, instruct the launch platform to launch a solid projectile towards the target entity surface and generate an actual landing point;

[0007] Detect an image freezing instruction;

[0008] In response to the detected image freezing instruction, capture a frozen image collected by the telescope that includes the reference point and the actual landing point, and calibrate the telescope based on the frozen image.

[0009] In some embodiments, the step of when the target marking point on the telescope coincides with a reference point on the target entity surface, instructing the launch platform to launch a solid projectile towards the target entity surface and generate an actual landing point includes:

[0010] Instruct the launch platform to launch the solid projectile to any position on the target entity surface and generate the reference point on the target entity surface;

[0011] Control the telescope to move towards the reference point; when the telescope moves to the position where the target marking point coincides with the reference point, instruct the launch platform to launch the solid projectile based on the target marking point, and generate the actual landing point.

[0012] In some embodiments, the telescope includes an azimuth sensing device, and the detected image freezing instruction includes:

[0013] Obtain the vibration signal detected by the azimuth sensing device in real time for the launch platform;

[0014] When it is detected that the vibration signal is less than a preset signal threshold, generate the image freezing instruction.

[0015] In some embodiments, in response to the detected image freezing instruction, intercept the frozen image collected by the telescope, which includes the reference point and the actual landing point, including:

[0016] Obtain the calibration menu information for the telescope;

[0017] In response to the image freezing instruction, intercept the frozen image, and control the display interface to display the calibration menu information on the first layer and the frozen image on the second layer.

[0018] In some embodiments, the telescope is a thermal imaging telescope, and the frozen image is a thermal imaging image; calibrating the telescope based on the frozen image includes:

[0019] Based on the thermal imaging image, obtain the first temperature information of the reference point and the second temperature information of the actual landing point;

[0020] According to the comparison result of the first temperature information and the second temperature information, determine the low-temperature landing point and the high-temperature landing point among the reference point and the actual landing point;

[0021] Determine the calibration amount according to the low-temperature landing point and the high-temperature landing point, and calibrate the target marking point of the telescope based on the calibration amount.

[0022] In some embodiments, the target entity surface is a wall or a mound.

[0023] In a second aspect, an embodiment of the present application provides a telescope calibration device, where the telescope is carried on a launch platform; the device includes: a launch module, a detection module, and a freezing module;

[0024] The emission module is used to instruct the launch platform to launch a solid projectile towards the target entity surface and generate an actual landing point when the target marking point of the telescope coincides with the reference point on the target entity surface;

[0025] The detection module is used to detect an image freezing instruction;

[0026] The freezing module is used to, in response to the detected image freezing instruction, intercept a frozen image collected by the telescope and containing the reference point and the actual landing point, and calibrate the telescope based on the frozen image.

[0027] In a third aspect, an embodiment of the present application provides a telescope calibration system, and the system includes: a telescope, a launch platform, and a main control device; wherein, the telescope is carried on the launch platform;

[0028] The main control device is respectively connected to the telescope and the launch platform, and is used to execute the telescope calibration method as described in the first aspect above.

[0029] 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. When the processor executes the computer program, the telescope calibration method as described in the first aspect above is implemented.

[0030] In a fifth aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored. When the program is executed by a processor, the telescope calibration method as described in the first aspect above is implemented.

[0031] Compared with the related art, the telescope calibration method, device, system, electronic device, and storage medium provided by the embodiments of the present application have the telescope carried on the launch platform. By instructing the launch platform to launch a solid projectile towards the target entity surface and generate an actual landing point when the target marking point of the telescope coincides with the reference point on the target entity surface; detecting an image freezing instruction; in response to the detected image freezing instruction, intercepting a frozen image collected by the telescope and containing the reference point and the actual landing point, and calibrating the telescope based on the frozen image, the problem of large calibration error of the telescope is solved, and an accurate and easy-to-operate telescope calibration method is realized.

[0032] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more concise and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0034] Figure 1 is a hardware structure block diagram of a terminal for a telescope calibration method according to an embodiment of the present application;

[0035] Figure 2 is a flowchart of a telescope calibration method according to an embodiment of the present application;

[0036] Figure 3 is a schematic diagram of a display interface according to an embodiment of the present application;

[0037] Figure 4 is a schematic diagram of a low-temperature landing point and a high-temperature landing point according to an embodiment of the present application;

[0038] Figure 5 is a flowchart of another telescope calibration method according to an embodiment of the present application;

[0039] Figure 6 is a structure block diagram of a telescope calibration device according to an embodiment of the present application;

[0040] Figure 7 is a structure diagram inside a computer device according to an embodiment of the present application. Detailed implementation manners

[0041] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be described and explained 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. Based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without making 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 time-consuming, 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 that the content disclosed in the present application is insufficient.

[0042] References to "embodiments" in this application mean that specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase may not necessarily refer to the same embodiment each time it appears in the specification, 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 this application can be combined with other embodiments without conflict.

[0043] Unless otherwise defined, 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", "the", and the like involved in this application do not indicate a limitation in quantity and can 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 that includes 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 terms "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 term "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 three situations: A exists alone, A and B exist simultaneously, and B exists alone. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0044] 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 for a telescope calibration method 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 structure different from that shown in Figure 1The different configurations shown.

[0045] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to a telescope calibration method 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 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 memory, 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, enterprise intranet, local area network, mobile communication network, and combinations thereof.

[0046] 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 (abbreviated as NIC), which can be connected to other network devices through a base station and thus can 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.

[0047] This embodiment provides a telescope calibration method, and the telescope is carried on a launch platform; Figure 2 is a flowchart of a telescope calibration method according to an embodiment of the present application, as Figure 2 shown, the process includes the following steps:

[0048] Step S210, when the target marking point on the telescope coincides with the reference point on the target entity surface, instruct the launch platform to launch a solid projectile towards the target entity surface and generate an actual landing point.

[0049] It should be noted that the above launch platform carrying the telescope can launch a solid projectile towards the target aiming object. For example, the solid projectile can be a bullet, and the launch platform can be a bullet launching device. When using a thermal imaging telescope 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 target entity surface refers to any uniform 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 target entity surface can be a wall or a mound, etc.

[0050] Specifically, in this embodiment, the above reference point can be a specific feature point preset on the target entity surface; alternatively, it can also be that the launch platform first launches a solid projectile at the target entity, and the landing point generated by this launch is used as the above reference point. During the calibration process, when the telescope moves to a position where the target marking point of the telescope coincides with the position of the reference point on the target entity surface, the launch platform launches a solid projectile at the target entity surface.

[0051] Step S220: Detect an image freezing instruction.

[0052] In the related art, during the calibration process, it is necessary to keep the telescope and its carrying platform stationary at the current azimuth after the operation generates a landing point; however, in actual scenarios, the operation to generate a landing point will inevitably cause the telescope equipment to move, and it is extremely difficult to return to the position before launching the solid projectile, which will introduce a reset error. Therefore, in order to ensure the calibration accuracy of the telescope, it is possible to detect in real time whether an image freezing instruction is generated, so that the image collected by the telescope can be frozen in response to this image freezing instruction in subsequent steps. Specifically, this image freezing instruction can be generated in response to an interaction operation between the calibration personnel and the telescope, such as pressing a button or clicking the freeze button on the display interface of the telescope, that is, the calibration personnel manually control the start of image freezing. Or, it can also automatically generate an image freezing instruction programmatically after the sensor on the telescope detects the end of the launch of the solid projectile by the launch platform.

[0053] Step S230: In response to the detected image freezing instruction, intercept the frozen image collected by the telescope that contains the reference point and the actual landing point, and calibrate the telescope based on this frozen image.

[0054] Among them, after detecting the above image freezing instruction, based on this image freezing instruction, the image of the current frame is intercepted from multiple frames of images collected by the telescope for the reference point and the actual landing point. Next, based on the reference point and the actual landing point in this current frame of frozen image, the target marking point of the telescope is accurately calibrated.

[0055] Through the above steps S210 to S230, when the launch platform launches at the target entity surface and generates an actual landing point, in response to the currently detected image freezing instruction, the frozen image collected by the telescope is intercepted and automatically calibrated. Therefore, it is not necessary to keep the direction of the telescope unchanged after the landing point is generated on the launch platform carried by the telescope, avoiding problems such as being extremely difficult to achieve and easily introducing deviations in actual operations caused by the need to continuously keep the telescope direction unchanged. At the same time, it also avoids the problem that the telescope and its carrying launch platform will have a large actual offset after moving a certain distance, resulting in a large calibration data error, thereby effectively improving the simplicity and accuracy of telescope calibration.

[0056] In some of these embodiments, in response to the detected image freezing instruction, capturing a frozen image collected by the telescope and containing the reference point and the actual landing point includes the following steps: obtaining calibration menu information for the telescope; in response to the image freezing instruction, capturing the frozen image, and controlling the display interface to display the calibration menu information on a first layer and the frozen image on a second layer. Wherein, the first layer is the upper layer of the second layer.

[0057] The above-mentioned calibration menu information refers to information such as a menu bar used for display on the display interface and interaction with the calibration personnel. The calibration menu information can be preset and stored locally. The above-mentioned display interface can be deployed on a display terminal; the display terminal can be communicatively connected to the above-mentioned telescope, or the display terminal can also be integrated in the telescope. Specifically, the information output to the display interface can be processed by the audio-video module in the telescope. Among them, the audio-video module extracts the current frame in the telescope acquisition screen set on the second layer as the above-mentioned frozen image and fixedly outputs it to the display interface, while the calibration menu information on the first layer is not affected. Exemplarily, Figure 3 is a schematic diagram of a display interface according to an embodiment of the present application, as Figure 3 shown, in this display interface, the information displayed in the left column is the above-mentioned calibration menu information. The calibration menu information set on the first layer can interact with the calibration personnel in real time and change the display in response to the interaction operations of the calibration personnel. The central area of the display interface displays the frozen image set on the second layer, thus realizing the method of freezing and fixedly displaying the image of the current frame collected by the telescope.

[0058] Through the above embodiments, by displaying the calibration menu information and the frozen image in separate layers, the problem that the interaction with the calibration personnel will be affected when freezing the image collected by the telescope is avoided, which is beneficial to improving the accuracy of telescope calibration.

[0059] In some of these embodiments, the above-mentioned telescope includes an azimuth sensing device, and the above-mentioned detecting the image freezing instruction includes the following steps:

[0060] Step S221, obtaining the vibration signal detected by the azimuth sensing device in real time for the launch platform.

[0061] The above-mentioned 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, after the launch platform launches a solid projectile and generates the above-mentioned actual landing point, the vibration generated by the launch of the launch platform can be detected in real time by the above-mentioned azimuth sensing device, that is, the above-mentioned vibration signal is obtained.

[0062] Step S222, when it is detected that the vibration signal is less than a preset signal threshold, generate the image freezing instruction.

[0063] The above-mentioned signal threshold can be preset 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 points twice, resulting in a large error in the calibration of the thermal imaging telescope. In this embodiment, after the telescope continuously captures multiple frames of images, when it is detected that the vibration signal at the current moment gradually weakens to be less than the signal threshold, it indicates that the stability of the launch platform at this time is better than that of the launch platform when the above-mentioned image acquisition is triggered. Therefore, the thermal imaging image of the current frame captured by the telescope at this time can be frozen, that is, the above-mentioned freezing instruction is automatically generated.

[0064] Through the above steps S221 to S222, the vibration signal detected in real time by the azimuth sensing device adaptively triggers image freezing, thus eliminating the need for manual intervention by the calibration personnel, improving the intelligence level of the calibration process, effectively reducing the picture offset error caused by manual operation, further reducing the calibration error of the telescope, and further improving the calibration efficiency and accuracy of the telescope.

[0065] In some embodiments, when the target marking point on the telescope coincides with the reference point on the target entity surface, instruct the launch platform to launch a solid projectile towards the target entity surface and generate an actual impact point, including the following steps:

[0066] Step S211, instruct the launch platform to launch the solid projectile towards any position on the target entity surface and generate the reference point on the target entity surface.

[0067] To avoid the problem that the universality of the calibration scheme is not high due to artificially setting specific features on the target entity surface as reference points in advance. In this embodiment, first, the launch platform aims at any point on the target entity surface based on the telescope and launches a solid projectile; the solid projectile finally lands at a certain impact point on the target entity surface. It can be understood that during the process of the solid projectile moving towards the target entity surface at high speed after being launched, due to the influence of factors such as gravity and wind direction, there will be a certain offset from the established movement trajectory, so that there is a certain distance between the impact point where the solid projectile finally lands on the target entity surface and the aiming point pre-aimed. The impact point generated at this time can be used as the above-mentioned reference point.

[0068] Step S212, control the telescope to move towards the reference point; when the telescope moves to the position where the target marking point coincides with the reference point, instruct the launch platform to launch the solid projectile based on the target marking point and generate the actual impact point.

[0069] Specifically, after the solid projectile is launched from the launch platform to any point on the target entity surface through the above-mentioned step S212 and a landing point that can serve as a reference point is generated, the target marking point of the above telescope can be controlled to aim at the position where the reference point is located, so that the launch platform launches a solid projectile to the position where the reference point is located on the target entity surface again. Similarly, due to the influence of factors such as gravity and wind direction, the landing point of the solid projectile on the target entity surface will not coincide exactly with the reference point. At this time, an actual landing point at a certain distance from the reference point can be detected.

[0070] Through the above steps S211 to S212, a thermal imaging image containing the landing points formed by the launch platform launching solid projectiles to the target entity surface twice is collected through a 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 generating a landing point on the entity surface once to create a reference point for the entity surface, the universality of the calibration scheme is increased. Without additionally setting obvious feature points on the target entity surface, a method for automatically and accurately calibrating the thermal imaging telescope by generating actual landing points twice and collecting thermal imaging images can be realized, effectively improving the calibration efficiency and accuracy of the thermal imaging telescope.

[0071] In some of these embodiments, the above telescope is a thermal imaging telescope, and the above frozen image is a thermal imaging image; calibrating the telescope based on the frozen image includes the following steps:

[0072] Step S231, based on the thermal imaging image, obtain the first temperature information of the reference point and the second temperature information of the actual landing point.

[0073] It can be understood that the above thermal imaging telescope performs image acquisition after launching solid objects twice. At the same time, when the solid projectiles launched twice fall on the target entity 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 target entity 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.

[0074] The above first temperature information includes the pixel gray value of the reference point in the thermal imaging image; the above second temperature information includes the pixel gray value of the actual 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 solid projectile launched by the launch platform on the target entity surface, and respectively determine two relatively high-temperature points in each frame of the thermal imaging image based on the pixel gray values of each frame of the 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 the image to determine the two landing points in the image. In another embodiment, it is also possible to determine one frame of the image from the consecutive frames of the thermal imaging image, or the thermal imaging telescope collects a single-frame image for the two landing points on the target entity surface, and determines two relatively high-temperature points through the gray values of each pixel point in this frame of the image, and then determines the above two landing points.

[0075] Step S232, according to the comparison result of the first temperature information and the second temperature information, determine the low-temperature landing point among the reference point and the actual landing point, and the high-temperature landing point among the reference point and the actual landing point.

[0076] Among them, the above thermal imaging telescope collects the thermal imaging image uniformly for the two landing points after the launch platform launches twice, and there are no additional feature points or reference points on the target entity 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 target entity surface twice and generates two landing points, that is, there is a certain time difference between the two generated landing points, so that the temperature of the actual landing point generated by the second launch is higher than the reference 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 the second temperature information, and the landing point with a relatively lower temperature among the two landing points in the above thermal imaging image and its position in the image can be determined, that is, the above low-temperature landing point is determined, and the low-temperature landing point is the reference point generated by the launch platform when it launches the solid projectile for the first time; at the same time, the landing point with a relatively higher temperature among the two landing points in the above thermal imaging image and its position in the image can be determined, that is, the above high-temperature landing point is determined, and the high-temperature landing point is the actual landing point generated by the launch platform when it launches the solid projectile for the second time. Thus, the reference point and the actual landing point can be adaptively determined based on the temperature information detected by the thermal imaging image in the program.

[0077] Step S233, determine the calibration amount according to the low-temperature landing point and the high-temperature landing point, and calibrate the target marking point of the telescope based on the calibration amount.

[0078] Please refer to Figure 3, after determining the low-temperature landing point and the high-temperature landing point as described above, calculate the position offset based on the two landing points in the collected thermal imaging image. Since during the second launch, the target marking point of the thermal imaging telescope is moved to the position of the landing point generated during the first launch, and aiming and launching are performed based on the position of the moved target marking point, the position offset between these two landing points is the calibration amount for the above telescope. Specifically, during the calibration process, based on the above position offset, adjust the initial position of the target marking point of the telescope in the direction from the low-temperature landing point to the high-temperature landing point to obtain the position of the target marking point of the calibrated thermal imaging telescope.

[0079] More specifically, based on this thermal imaging image, obtain the first horizontal position information and the first vertical position information of this low-temperature landing point, and the second horizontal position information and the second vertical position information of this 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 this low-temperature landing point can be expressed as (x1, y1), and the second horizontal position and the second vertical position of this high-temperature landing point can be expressed as (x2, y2).

[0080] Next, calculate the horizontal offset based on this first horizontal position information and this second horizontal position information, and determine the vertical offset based on this first vertical position information and this second vertical position information; among them, this position offset includes this horizontal offset and this vertical offset. Taking Figure 4 as an example, this horizontal offset is △x = x2 - x1, and this vertical offset is △y = y2 - y1.

[0081] Then, based on this horizontal offset, control the target marking point to move horizontally from this low-temperature landing point to this high-temperature landing point, and based on this vertical offset, control the target marking point to move from this low-temperature landing point to this high-temperature landing point to obtain the position of this calibrated marking point. 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 position adjustment of the target marking point, the position of the obtained calibrated marking point is (xt, yt). Among them, xt = x0 + △x, yt = y0 + △y.

[0082] Through the above steps S231 to S233, the gray values of the pixel points of the thermal imaging image are used to distinguish the two impact points and their positions generated before and after the two launches of the launch platform, and then the precise calibration amount is determined through the position offset between the two impact points. There is no need for obvious feature points on the target entity surface where the target marking point of the thermal imaging telescope is aligned, or to realign the thermal imaging telescope to the feature points after the impact point is generated, thereby effectively improving the calibration accuracy and efficiency of the thermal imaging telescope.

[0083] The following will describe the present application in detail in combination with an actual application scenario. The above telescope is a thermal imaging telescope. Figure 5 It is a flowchart of another telescope calibration method according to an embodiment of the present application. As Figure 5 shown, this process includes the following steps:

[0084] Step S501, start the process; the launch platform launches a solid projectile towards the target entity surface, generating a first impact point on the target entity surface and using it as a reference point.

[0085] Step S502, align the target marking point of the thermal imaging telescope with the impact point, and trigger the launch platform to launch again to generate an impact point.

[0086] Step S503, determine whether the vibration of the launch platform has ended. If not, continue to make a judgment.

[0087] Step S504, if the judgment result of the above step S503 is yes, freeze the thermal imaging image of the current frame.

[0088] Step S505, based on the thermal imaging image, calculate the calibration amount of the target marking point of the thermal imaging telescope, and adjust the position of the target marking point; end the process.

[0089] 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.

[0090] This embodiment also provides a telescope calibration device, which is mounted on a launch platform. This device is used to implement the above embodiment and the preferred implementation manner, 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.

[0091] Figure 6 It is a structural block diagram of a frame of the telescope calibration device according to an embodiment of the present application. AsFigure 6 As shown in Figure 6 , the device includes: a transmitting module 62, a detecting module 64, and a freezing module 66; the transmitting module 62 is configured to, when the target marking point of the telescope coincides with the reference point on the target entity surface, instruct the launching platform to launch a solid projectile towards the target entity surface and generate an actual landing point; the detecting module 64 is configured to detect an image freezing instruction; the freezing module 66 is configured to, in response to the detected image freezing instruction, intercept a frozen image collected by the telescope that includes the reference point and the actual landing point, and calibrate the telescope based on the frozen image.

[0092] Through the above embodiments, after the launching platform launches towards the target entity surface and generates an actual landing point, the freezing module 66 intercepts the frozen image collected by the telescope and performs automatic calibration in response to the currently detected image freezing instruction. Therefore, it is not necessary to keep the direction of the telescope unchanged after the landing point is generated by the launching platform carried by the telescope, avoiding problems such as being extremely difficult to achieve and easily introducing deviations in actual operations caused by continuously maintaining the direction of the thermal imaging telescope. At the same time, it also avoids the problem that a large actual deviation will occur after the telescope and its carried launching platform move a certain distance, resulting in a large calibration data error, thereby effectively improving the simplicity and accuracy of telescope calibration and realizing an accurate and convenient telescope calibration device.

[0093] In some of the embodiments, the above freezing module 66 is further configured to obtain calibration menu information for the telescope; the freezing module 66, in response to the image freezing instruction, intercepts the frozen image, and controls the display interface to display the calibration menu information on a first layer and display the frozen image on a second layer.

[0094] In some of the embodiments, the above telescope includes an azimuth sensing device; the above detecting module 64 is further configured to obtain a vibration signal detected by the azimuth sensing device for the launching platform in real time; the detecting module 64 generates the image freezing instruction when it detects that the vibration signal is less than a preset signal threshold.

[0095] In some of the embodiments, the above transmitting module 62 is further configured to instruct the launching platform to launch the solid projectile towards any position on the target entity surface and generate the reference point on the target entity surface; the transmitting module 62 controls the target marking point to move towards the reference point; when the target marking point moves to coincide with the reference point, the transmitting module 62 instructs the launching platform to launch the solid projectile based on the target marking point and generate the actual landing point.

[0096] In some of these embodiments, the above telescope is a thermal imaging telescope, and the above frozen image is a thermal imaging image; the above freezing module 66 is further configured to obtain first temperature information of the reference point and second temperature information of the actual landing point based on the thermal imaging image; the freezing module 66 determines the low-temperature landing point among the reference point and the actual landing point, and the high-temperature landing point among the reference point and the actual landing point according to the comparison result of the first temperature information and the second temperature information; the freezing module 66 determines a calibration amount according to the low-temperature landing point and the high-temperature landing point, and calibrates the target marking point of the telescope based on the calibration amount.

[0097] 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.

[0098] This embodiment also provides a telescope calibration system, which includes: a telescope, a launch platform, and a main control device; wherein, the telescope is carried on the launch platform; the main control device is respectively connected to the telescope and the launch platform, and is configured to execute the telescope calibration method 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 above telescope calibration process. The main control device can be installed on the telescope or the launch platform, or the main control device can also be independently installed and set, and communicate with the telescope and the launch platform.

[0099] In some of these embodiments, the above telescope calibration system further includes a display terminal. The above main control device is further configured to obtain calibration menu information for the telescope; in response to the image freezing instruction, the main control device intercepts the frozen image and controls the display interface on the display terminal to display the calibration menu information in a first layer and display the frozen image in a second layer.

[0100] In some of these embodiments, a computer device is provided, and the computer device can be a server device, Figure 7 is a structural diagram inside a computer device according to an embodiment of the present application, as Figure 7As shown in the figure. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store frozen images. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it implements a telescope calibration method.

[0101] Those skilled in the art can understand that Figure 7 the structure shown in the figure is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0102] 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 one of the above method embodiments.

[0103] 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.

[0104] Optionally, in this embodiment, the above processor may be configured to execute the following steps through a computer program:

[0105] S1, when the target marking point of the telescope coincides with the reference point on the target entity surface, instruct the launch platform to launch a solid projectile towards the target entity surface and generate an actual landing point.

[0106] S2, detect an image freezing instruction.

[0107] S3, in response to the detected image freezing instruction, intercept the frozen image collected by the telescope that includes the reference point and the actual landing point, and calibrate the telescope based on the frozen image.

[0108] It should be noted that the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and will not be repeated here.

[0109] In addition, in combination with the telescope calibration method in the above embodiments, an embodiment of the present application can provide a storage medium to implement the same. A computer program is stored on the storage medium; when the computer program is executed by a processor, any one of the telescope calibration methods in the above embodiments is implemented.

[0110] 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 memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many 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), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0111] 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 there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0112] 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 telescope calibration method, characterized in that: The telescope is mounted on a launching platform; the method comprises: In the case where the target marking point of the telescope coincides with the reference point on the target entity surface, instructing the launch platform to launch a solid projectile toward the target entity surface based on the target marking point and generate an actual landing point; Detect image freeze command; In response to the detected image freezing instruction, a frozen image collected by the telescope and containing the reference point and the actual landing point is intercepted, and the telescope is calibrated based on the frozen image.

2. The telescope calibration method according to claim 1, characterized in that: In response to the detected image freezing instruction, intercepting the frozen image collected by the telescope and including the reference point and the actual landing point comprises: Obtaining calibration menu information for the telescope; In response to the image freezing instruction, the frozen image is captured, and the display interface is controlled to display the calibration menu information on a first layer and the frozen image on a second layer.

3. The telescope calibration method according to claim 1, characterized in that: The telescope includes an azimuth sensing device, and the detection image freezing instruction includes: Acquire a vibration signal detected in real time by the orientation sensing device on the launch platform; When it is detected that the vibration signal is smaller than a preset signal threshold, the image freezing instruction is generated.

4. The telescope calibration method according to claim 1, characterized in that: Instructing the launch platform to launch a solid projectile toward the target entity surface and generating an actual landing point when the target mark point of the telescope coincides with a reference point on the target entity surface includes: Instructing the launch platform to launch the solid projectile to any position of the target entity surface and generate the reference point on the target entity surface; Control the telescope to move toward the reference point; when the telescope moves to the point where the target mark coincides with the reference point, instruct the launch platform to launch the solid projectile based on the target mark and generate the actual landing point.

5. The telescope calibration method according to claim 4, characterized in that: The telescope is a thermal imaging telescope, and the frozen image is a thermal imaging image; and calibrating the telescope based on the frozen image comprises: Based on the thermal imaging image, obtaining first temperature information of the reference point and second temperature information of the actual 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 reference point and the actual landing point, and a high temperature landing point between the reference point and the actual landing point; A calibration amount is determined according to the low temperature landing point and the high temperature landing point, and a target marking point of the telescope is calibrated based on the calibration amount.

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

7. A telescope calibration device, characterized in that: The telescope is mounted on a launching platform; the device comprises: a launching module, a detecting module and a freezing module; The launch module is used to instruct the launch platform to launch a solid projectile toward the target entity surface and generate an actual landing point when the target mark point of the telescope coincides with a reference point on the target entity surface; The detection module is used to detect the image freezing instruction; The freezing module is used to intercept a frozen image collected by the telescope and containing the reference point and the actual landing point in response to a detected image freezing instruction, and calibrate the telescope based on the frozen image.

8. A telescope calibration system, characterized in that: The system comprises: a telescope, a launch platform and a main control device; wherein the telescope is mounted on the launch platform; The main control device is connected to the telescope and the launching platform respectively, and is used to execute the telescope calibration method according to 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 perform the telescope calibration method 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 telescope calibration method according to any one of claims 1 to 6 when executed.

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