CN110392201B - Thermal imager focus motor position determination method and device - Google Patents

Thermal imager focus motor position determination method and device Download PDF

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CN110392201B
CN110392201B CN201810361595.1A CN201810361595A CN110392201B CN 110392201 B CN110392201 B CN 110392201B CN 201810361595 A CN201810361595 A CN 201810361595A CN 110392201 B CN110392201 B CN 110392201B
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thermal imager
focusing motor
temperature
preset point
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CN110392201A (en
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蒋贤满
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Hangzhou Hikmicro Sensing Technology Co Ltd
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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals

Abstract

The embodiment of the invention provides a method and a device for determining the position of a focusing motor of a thermal imager, which are applied to a first thermal imager, wherein the method comprises the following steps: obtaining a normalized position under a target preset point, wherein the normalized position is as follows: the second thermal imager carries out normalization calculation on a third position according to the first position and the second position in advance to obtain the position of the focusing motor, wherein the first position and the second position are respectively as follows: the second thermal imager is at the focusing motor position under the first object distance and the second object distance, and the third position is as follows: the position of a focusing motor of the second thermal imager under the target preset point; determining the position of a focusing motor of the first thermal imager under a target preset point according to the normalized position, a fourth position and a fifth position, wherein the fourth position and the fifth position are respectively as follows: and the position of a focusing motor of the first thermal imager under the first object distance and the second object distance. By applying the scheme provided by the embodiment of the invention, the position of the focusing motor under the preset point can be shared by a plurality of thermal imagers of the same model.

Description

Thermal imager focus motor position determination method and device
Technical Field
The invention relates to the technical field of infrared thermal imaging, in particular to a method and a device for determining the position of a focusing motor of a thermal imager.
Background
Obtaining a clear image is the most basic requirement of various digital imaging devices, and the focusing process of the thermal imager is actually the process of finding the focal distance of the best-definition image. A group of focusing lenses are arranged in lenses of a camera lens of the thermal imager, the focusing purpose can be achieved by changing the positions of the focusing lenses, in an automatic focusing mode, the focusing lenses are connected to a focusing motor, and the positions of the focusing lenses are moved by moving the focusing motor.
With the development of the infrared thermal imaging technology, the thermal imager has a preset point cruise function, namely cruise monitoring is carried out on a plurality of preset monitoring target positions, and the method specifically comprises the following steps: and aiming at each preset point, the position of the focusing motor when the image at the preset point is clear is predetermined, and if the preset point needs to be monitored during navigation, the position of the focusing motor corresponding to the preset point can be directly called to realize rapid focusing.
Therefore, before the thermal imager uses the preset point cruise function, the data acquisition of the preset points is needed, and the position of the focusing motor when the image is clear at each preset point is determined. However, if the current thermal imager is faulty or needs to be replaced by another thermal imager due to other reasons, the preset point data acquisition needs to be performed again for the replaced thermal imager to obtain the position of the focusing motor when the image of the replaced thermal imager is clear at each preset point.
Disclosure of Invention
The embodiment of the invention aims to provide a thermal imager, a focusing motor position determining method and device of the thermal imager, the thermal imager and a computer readable storage medium, so as to realize the multiplexing of the focusing motor positions of a plurality of thermal imagers of the same model under a preset point. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a method for determining a position of a focus motor of a thermal imager, where the method is applied to a first thermal imager, and the method includes:
obtaining a normalized position under a target preset point, wherein the normalized position is as follows: the second thermal imager carries out normalization calculation on a third position according to the first position and the second position in advance to obtain the position of the focusing motor, wherein the first position is as follows: the second thermal imager is at the position of a focusing motor under a first object distance, and the second position is as follows: the second thermal imager is at the position of the focusing motor under the second object distance, and the third position is as follows: the second thermal imager is arranged at the position of a focusing motor under the target preset point;
determining the position of a focusing motor of the first thermal imager under the target preset point according to the normalized position, a fourth position and a fifth position, wherein the fourth position is as follows: the first thermal imager is located at the position of the focusing motor under the first object distance, and the fifth position is as follows: and the first thermal imager is at the position of the focusing motor under the second object distance.
Optionally, the normalization position is: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000021
wherein, ADNormalizationFor the normalized position, AD2In order to be said third position, the first position,
Figure GDA0002853520010000022
in order to be in the first position,
Figure GDA0002853520010000023
for the second position, a is the preset mapping value of the first position, b is the preset mapping value of the second position, and the sum of the magnitude relation of a and b
Figure GDA0002853520010000024
And
Figure GDA0002853520010000025
have the same magnitude relationship.
Optionally, the determining the position of the focus motor of the first thermal imager under the target preset point according to the normalized position, the fourth position and the fifth position includes:
calculating the position of a focusing motor of the first thermal imager under the target preset point according to the following formula:
Figure GDA0002853520010000026
wherein, AD1The position of a focusing motor of the first thermal imager under the target preset point,
Figure GDA0002853520010000027
in order to be said fourth position, the first position,
Figure GDA0002853520010000028
is the fifth position.
Optionally, the normalization position is: the second thermal imager carries out normalization calculation on a third position according to the first position, the second position, the first environment temperature and the second environment temperature in advance to obtain the position of the focusing motor, wherein the first environment temperature is as follows: determining the ambient temperature at the first position and the second position, wherein the second ambient temperature is the ambient temperature at the third position;
the determining the position of the focusing motor of the first thermal imager under the target preset point according to the normalized position, the fourth position and the fifth position comprises the following steps:
according to the normalized position, the fourth position, the fifth position and the third ambient temperature, determining the position of the focusing motor of the first thermal imager at the target preset point and at the current ambient temperature, wherein the third ambient temperature is as follows: and determining the ambient temperature at the fourth position and the fifth position.
Optionally, the normalization position is: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000031
wherein, ADNormalizationFor the said normalized position, the position of the said position,
Figure GDA0002853520010000032
is the temperature of the second environment, and,
Figure GDA0002853520010000033
in order to be said third position, the first position,
Figure GDA0002853520010000034
the first position and the second position respectively,
Figure GDA0002853520010000035
k represents the variation of the focus motor position in unit number of temperature variation, a is a preset mapping value of the first position, and b is the first environmental temperatureA preset mapping value of the second position.
Optionally, determining the position of the focusing motor of the first thermal imager at the target preset point and at the current ambient temperature according to the normalized position, the fourth position, the fifth position, and the third ambient temperature includes:
determining the position of a focusing motor of the first thermal imager under the target preset point and at the current ambient temperature according to the following formula:
Figure GDA0002853520010000036
wherein the content of the first and second substances,
Figure GDA0002853520010000037
the first thermal imager is under the target preset point and at the current ambient temperature
Figure GDA0002853520010000038
The position of the focus motor at the time of operation,
Figure GDA0002853520010000041
the fourth position and the fifth position, respectively,
Figure GDA0002853520010000042
is the third ambient temperature.
Optionally, the normalization position is: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000043
wherein, ADNormalizationFor the said normalized position, the position of the said position,
Figure GDA0002853520010000044
is the temperature of the second environment, and,
Figure GDA0002853520010000045
in order to be said third position, the first position,
Figure GDA0002853520010000046
the first position and the second position respectively,
Figure GDA0002853520010000047
k is the first ambient temperature, k represents the amount of movement required for the focus motor when the temperature changes, t0、t1、t2The first temperature, the second temperature and the third temperature are preset respectively, a is a preset mapping value of the first position, and b is a preset mapping value of the second position.
Optionally, determining the position of the focusing motor of the first thermal imager at the target preset point and at the current ambient temperature according to the normalized position, the fourth position, the fifth position, and the third ambient temperature includes:
according to the normalized position, the fourth position, the fifth position and the third ambient temperature, determining the position of a focusing motor of the first thermal imager at the first temperature and under the target preset point;
and determining the position of the focusing motor of the first thermal imager under the target preset point and at the current ambient temperature according to the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature.
Optionally, the determining, according to the normalized position, the fourth position, the fifth position, and the third ambient temperature, the position of the focus motor of the first thermal imager at the first temperature and under the target preset point includes:
determining the position of a focusing motor of the first thermal imager at the first temperature and under the target preset point according to the following formula:
Figure GDA0002853520010000051
wherein the content of the first and second substances,
Figure GDA0002853520010000052
the first thermal imager is under the target preset point and at the first temperature t0The position of the focus motor at the time of operation,
Figure GDA0002853520010000053
the fourth position and the fifth position, respectively,
Figure GDA0002853520010000054
is the third ambient temperature.
Optionally, the determining, according to the position of the focus motor of the first thermal imager at the target preset point and at the first temperature, the position of the focus motor of the first thermal imager at the target preset point and at the current ambient temperature includes:
judging whether the difference value between the current environment temperature and the first temperature is greater than a preset threshold value or not;
if not, directly determining the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature as the position of the focusing motor of the first thermal imager under the target preset point and at the current ambient temperature;
if so, determining the position of the focusing motor of the first thermal imager under the target preset point and the current environmental temperature according to the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature.
Optionally, the determining, according to the position of the focus motor of the first thermal imager at the target preset point and at the first temperature, the position of the focus motor of the first thermal imager at the target preset point and at the current ambient temperature includes:
determining the position of a focusing motor of the first thermal imager under the target preset point and the current ambient temperature according to the following formula:
Figure GDA0002853520010000055
wherein the content of the first and second substances,
Figure GDA0002853520010000056
the first thermal imager is under the target preset point and at the current ambient temperature
Figure GDA0002853520010000057
The focus motor position of time.
In a second aspect, an embodiment of the present invention provides a focusing motor position determining apparatus for a thermal imager, which is applied to a first thermal imager, and the apparatus includes:
an obtaining module, configured to obtain a normalized position at a target preset point, where the normalized position is: the second thermal imager carries out normalization calculation on a third position according to the first position and the second position in advance to obtain the position of the focusing motor, wherein the first position is as follows: the second thermal imager is at the position of a focusing motor under a first object distance, and the second position is as follows: the second thermal imager is at the position of the focusing motor under the second object distance, and the third position is as follows: the second thermal imager is arranged at the position of a focusing motor under the target preset point;
the determining module is used for determining the position of the focusing motor of the first thermal imager under the target preset point according to the normalized position, a fourth position and a fifth position, wherein the fourth position is as follows: the first thermal imager is located at the position of the focusing motor under the first object distance, and the fifth position is as follows: and the first thermal imager is at the position of the focusing motor under the second object distance.
Optionally, the normalization position is: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000061
wherein, ADNormalizationFor the normalized position, AD2In order to be said third position, the first position,
Figure GDA0002853520010000062
in order to be in the first position,
Figure GDA0002853520010000063
for the second position, a is the preset mapping value of the first position, b is the preset mapping value of the second position, and the sum of the magnitude relation of a and b
Figure GDA0002853520010000064
And
Figure GDA0002853520010000065
have the same magnitude relationship.
Optionally, the determining module is specifically configured to:
calculating the position of a focusing motor of the first thermal imager under the target preset point according to the following formula:
Figure GDA0002853520010000066
wherein, AD1The position of a focusing motor of the first thermal imager under the target preset point,
Figure GDA0002853520010000067
in order to be said fourth position, the first position,
Figure GDA0002853520010000068
is the fifth position.
Optionally, the normalization position is: the second thermal imager carries out normalization calculation on a third position according to the first position, the second position, the first environment temperature and the second environment temperature in advance to obtain the position of the focusing motor, wherein the first environment temperature is as follows: determining the ambient temperature at the first position and the second position, wherein the second ambient temperature is the ambient temperature at the third position;
correspondingly, the determining module is specifically configured to:
according to the normalized position, the fourth position, the fifth position and the third ambient temperature, determining the position of the focusing motor of the first thermal imager at the target preset point and at the current ambient temperature, wherein the third ambient temperature is as follows: determining the ambient temperature at the fourth position and the fifth position.
Optionally, the normalization position is: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000071
wherein, ADNormalizationFor the said normalized position, the position of the said position,
Figure GDA0002853520010000072
is the temperature of the second environment, and,
Figure GDA0002853520010000073
in order to be in the third position,
Figure GDA0002853520010000074
in the first position and in the second position respectively,
Figure GDA0002853520010000075
and k represents the variation of the position of the focusing motor in unit number of temperature variation, a is a preset mapping value of the first position, and b is a preset mapping value of the second position.
Optionally, the determining module determines, according to the normalized position, the fourth position, the fifth position, and the third ambient temperature, a position of the focusing motor of the first thermal imager at the current ambient temperature and under the target preset point, specifically:
determining the position of a focusing motor of the first thermal imager under the target preset point and at the current ambient temperature according to the following formula:
Figure GDA0002853520010000076
wherein the content of the first and second substances,
Figure GDA0002853520010000081
the first thermal imager is under the target preset point and at the current ambient temperature
Figure GDA0002853520010000082
The position of the focus motor at the time of operation,
Figure GDA0002853520010000083
the fourth position and the fifth position, respectively,
Figure GDA0002853520010000084
is the third ambient temperature.
Optionally, the normalization position is: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000085
wherein, ADNormalizationFor the said normalized position, the position of the said position,
Figure GDA0002853520010000086
is the temperature of the second environment, and,
Figure GDA0002853520010000087
in order to be said third position, the first position,
Figure GDA0002853520010000088
the first position and the second position respectively,
Figure GDA0002853520010000089
k is the first ambient temperature, k represents the amount of movement required for the focus motor when the temperature changes, t0、t1、t2The first temperature, the second temperature and the third temperature are preset respectively, a is a preset mapping value of the first position, and b is a preset mapping value of the second position.
Optionally, the determining module includes:
the first determining submodule is used for determining the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature according to the normalized position, the fourth position, the fifth position and the third ambient temperature;
and the second determining sub-module is used for determining the position of the focusing motor of the first thermal imager under the target preset point and at the current ambient temperature according to the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature.
Optionally, the determining, by the first determining sub-module, the position of the focusing motor of the first thermal imager at the first temperature and under the target preset point according to the normalized position, the fourth position, the fifth position, and the third ambient temperature specifically includes:
determining the position of a focusing motor of the first thermal imager at the first temperature and under the target preset point according to the following formula:
Figure GDA0002853520010000091
wherein the content of the first and second substances,
Figure GDA0002853520010000092
the first thermal imager is under the target preset point and at the first temperature t0The position of the focus motor at the time of operation,
Figure GDA0002853520010000093
respectively said fourth position, instituteIn the fifth position, the first and second positions,
Figure GDA0002853520010000094
is the third ambient temperature.
Optionally, the second determining sub-module includes:
the judging unit is used for judging whether the difference value between the current environment temperature and the first temperature is greater than a preset threshold value or not;
the first determining unit is used for directly determining the position of the focusing motor of the first thermal imager at the first temperature and under the target preset point as the position of the focusing motor of the first thermal imager at the current environment temperature and under the target preset point when the difference value between the current environment temperature and the first temperature is not greater than a preset threshold value;
and the second determining unit is used for determining the position of the focusing motor of the first thermal imager under the target preset point and the current environment temperature according to the position of the focusing motor of the first thermal imager under the target preset point and the first temperature when the difference value between the current environment temperature and the first temperature is greater than a preset threshold value.
Optionally, the second determining unit determines, according to the position of the focus motor of the first thermal imager at the target preset point and at the first temperature, the position of the focus motor of the first thermal imager at the target preset point and at the current ambient temperature, specifically:
determining the position of a focusing motor of the first thermal imager under the target preset point and the current ambient temperature according to the following formula:
Figure GDA0002853520010000095
wherein the content of the first and second substances,
Figure GDA0002853520010000096
the first thermal imager is under the target preset point and at the current ambient temperature
Figure GDA0002853520010000097
The focus motor position of time.
In a third aspect, an embodiment of the present invention provides a thermal imager, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the communication bus;
a memory for storing a computer program;
and the processor is used for realizing the method steps of the method for determining the position of the focusing motor of any thermal imager when executing the program stored in the memory.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program, when executed by a processor, implements the method steps of any of the above-mentioned thermal imagers' focus motor position determination methods.
According to the scheme provided by the embodiment of the invention, the second thermal imager performs normalization calculation on the third position according to the first position and the second position to obtain the normalized focusing motor position of the thermal imager under the target preset point, the normalized focusing motor position is used as the normalized position, after the first thermal imager is replaced by the first thermal imager, the first thermal imager can directly obtain the normalized position corresponding to the target preset point, and the focusing motor position of the first thermal imager under the target preset point can be calculated according to the normalized position, the fourth position and the fifth position corresponding to the first thermal imager. Therefore, the position of the focusing motor under the preset point can be determined without acquiring the target preset point data again by the replaced thermal imagers, and the position of the focusing motor under the preset point can be more conveniently determined for the replaced thermal imagers.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for determining a position of a focus motor of a thermal imager according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a focusing motor position determining device of a thermal imager according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a thermal imager according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the problems in the prior art, embodiments of the present invention provide a method and an apparatus for determining a position of a focus motor of a thermal imager, and a computer-readable storage medium.
Specifically, the method for determining the position of the focusing motor of the thermal imager provided by the embodiment of the invention is applied to a first thermal imager, and the first thermal imager firstly obtains a normalized position under a target preset point, wherein the normalized position is as follows: the second thermal imager carries out normalization calculation on a third position according to the first position and the second position in advance to obtain the position of the focusing motor, wherein the first position is as follows: the second thermal imager is at the focusing motor position under the first object distance, and the second position is as follows: the position of a focusing motor of the second thermal imager at the second object distance is as follows: the position of a focusing motor of the second thermal imager under the target preset point; then, determining the position of a focusing motor of the first thermal imager under a target preset point according to the normalized position, a fourth position and a fifth position, wherein the fourth position is as follows: the focusing motor position of the first thermal imager under the first object distance is as follows: and the position of the focusing motor of the first thermal imager at the second distance.
The focusing motor is connected to the shaft, the position of the focusing motor at a certain object distance is the position corresponding to the focusing motor on the shaft when the thermal imager can focus clearly on a scene at the object distance, and the positions corresponding to the focusing motor on the shaft when the thermal imager can focus clearly at the object distance A, B are respectively a and B, so that under the condition that the ambient temperature is not changed, when the scene focused by the thermal imager is changed from the scene at the object distance A to the scene at the object distance B, the focusing motor moves from the position a to the position B to realize focusing on the scene at the object distance B.
In one implementation, the thermal imager is mounted on a moving device (e.g., a robot), and the moving device controls the thermal imager to perform a preset point cruise function. And when the second thermal imager is installed on the motion equipment, acquiring preset point data, acquiring the position of a focusing motor when an image is clear at each preset point, normalizing the determined position of the focusing motor to obtain a normalized position at the preset point, and uploading the normalized position at each preset point to the motion equipment. In this way, after the second thermal imager is replaced by the first thermal imager, when the first thermal imager needs to monitor a certain preset point, the moving equipment issues the normalized position under the preset point to the first thermal imager, and the first thermal imager calculates the position of the focusing motor under the preset point according to the normalized position, so that the preset point is focused.
The following describes a method for determining the position of a focus motor of a thermal imager according to an embodiment of the present invention.
Referring to fig. 1, a method for determining a position of a focus motor of a thermal imager according to an embodiment of the present invention may be applied to a first thermal imager, and includes the following steps:
and S101, obtaining the normalized position under the target preset point.
Wherein, the normalization position is: the second thermal imager carries out normalization calculation on a third position according to the first position and the second position in advance to obtain the position of the focusing motor, wherein the first position is as follows: the second thermal imager is at the focusing motor position under the first object distance, and the second position is as follows: the position of a focusing motor of the second thermal imager at the second object distance is as follows: and the second thermal imager is arranged at the position of the focusing motor under the target preset point.
It can be understood that the second thermal imager can upload the calculated normalized position to the moving device so that the replaced first thermal imager can obtain the normalized position under the target preset point from the moving device, and the second thermal imager can also upload the calculated normalized position to the corresponding server so that the replaced first thermal imager can obtain the normalized position under the target preset point from the server, which is reasonable.
In one implementation, the normalized position may be: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000121
wherein, ADNormalizationTo normalize position, AD2In the third position, the first position is,
Figure GDA0002853520010000122
in the first position, the first position is,
Figure GDA0002853520010000123
is the second position, a is the preset mapping value of the first position, b is the preset mapping value of the second position, the magnitude relation of a and b is
Figure GDA0002853520010000124
And
Figure GDA0002853520010000125
have the same magnitude relationship.
When normalization calculation is performed, the first position and the second position may be mapped to a linear coordinate system, and then a mapping value of the first position in the linear coordinate system is b, and a mapping value of the second position in the linear coordinate system is a.
For example, the normalization process is described by taking the positions of the focusing motors at two different object distances recorded by factory calibration of the thermal imager when the ambient temperature is calibrated as an example, and assuming that the positions of the two different focusing motors recorded by the factory calibration are minAD and maxAD, wherein minAD is the position of the focusing motor when the thermal imager can focus clearly at the closest imaging distance, and maxAD is the position of the focusing motor when the thermal imager focuses at infinity for cleaning. And mapping minAD and maxAD into a linear coordinate system, wherein the mapping relation can be as follows: the mapping value b of minAD is 0, the mapping value a of maxAD is 4000, and the bin values are scaled.
The thermal imager 1(minAD 100, maxAD 1000), when the focus motor position AD at the target preset point is 300, the AD is mapped to the corresponding coordinate (i.e. normalized position) AD in the linear coordinate systemNormalizationComprises the following steps:
Figure GDA0002853520010000131
it should be noted that, in addition to using the focus motor position of the second thermal imager at the target preset point, the normalized position may also be used in two focus motor positions at different object distances, and the focus motor positions at the two different object distances may have various definitions, such as minAD and maxAD used in the above example, or the focus motor positions at other object distances. However, when the first thermal imager calculates the position of the focus motor at the target preset point by using the normalized position, the positions of the focus motor at the same two object distances as those of the second thermal imager must be used.
And S102, determining the position of the focusing motor of the first thermal imager under the target preset point according to the normalized position, the fourth position and the fifth position.
Wherein, the fourth position is: the focusing motor position of the first thermal imager under the first object distance is as follows: and the position of the focusing motor of the first thermal imager at the second distance.
As can be understood by those skilled in the art, the second thermal imager calculates the position of the focusing motor under the target preset point according to the normalized position, and the first thermal imager calculates the normalized position according to the position of the focusing motor under the target preset point, which are inverse processes. Therefore, the method of determining the position of the focus motor of the first thermal imager at the target preset point is similar to the calculation method of calculating the normalized position.
Specifically, the position AD of the focusing motor of the first thermal imager under the target preset point1Can be calculated according to the following formula:
Figure GDA0002853520010000141
wherein the content of the first and second substances,
Figure GDA0002853520010000142
in the fourth position, the first position is,
Figure GDA0002853520010000143
is the fifth position.
Further, taking the above example as an example, the thermal imager 1 is replaced by the thermal imager 2(minAD 200, maxAD 1200), the coordinate mapped in the linear coordinate system of the normalized position under the target preset point is 888 (denoted as POS), and then the focusing motor position AD of the thermal imager 2 under the target preset point is determined1Comprises the following steps:
Figure GDA0002853520010000144
it can be understood that the calculation of the normalized position according to the position of the focus motor under the target preset point and the calculation of the position of the focus motor under the target preset point according to the normalized position are both performed by using the positions of the focus motors of the thermal imagers under the same two object distances, so that the normalized position acquired by the second thermal imager by acquiring the information of the target preset point and calculating can be reused in other thermal imagers of the same model.
In summary, in the solution provided by the embodiment of the present invention, the second thermal imager performs normalization calculation on the third position according to the first position and the second position to obtain a normalized focusing motor position of the thermal imager under the target preset point, which is used as a normalized position, when the first thermal imager is replaced by the second thermal imager, the first thermal imager can directly obtain the normalized position corresponding to the target preset point, and the focusing motor position under the target preset point can be calculated according to the normalized position and the fourth position and the fifth position corresponding to the first thermal imager. Therefore, the position of the focusing motor under the preset point can be determined without acquiring the target preset point data again by the replaced thermal imagers, and the position of the focusing motor under the preset point can be more conveniently determined for the replaced thermal imagers.
As will be understood by those skilled in the art, the lens of the thermal imager is sensitive to ambient temperature changes, and when the temperature changes, the focal plane shifts, thereby causing virtual focus of the image (generally, the change of the image definition can be seen when the temperature changes by more than 5 ℃). At this time, temperature compensation is needed, so that an image obtained after focusing of the thermal imager is clear.
The principle of temperature compensation is briefly described below. It can be understood that, as the ambient temperature changes, the refractive index of the infrared optical material, the curvature and thickness of the optical element, the spacing between the parts, etc. all change, so that the infrared optical system generates thermal defocusing, which results in poor imaging quality of the system.
The temperature coefficient of refractive index of the infrared material, the thermal expansion coefficient of the structural member, etc. are all linear, so when the temperature changes by 1 ℃, the virtual focus amount generated by the imaging surface is a certain value, namely the moving amount of the focusing motor is a certain value (namely the moving amount of the lens is a certain value). The coefficient k represents the amount of movement required for the focus motor when the temperature changes.
Thus, when the thermal imager is focused at a certain object distance, the focusing is clearAmbient temperature T of0Focusing motor position ADT0Then at the same object distance, when the ambient temperature becomes T1In time, the focus motor position AD required for image clarityT1Comprises the following steps: ADT1＝ADT0+k(T1-T0). As can be seen from the temperature compensation, when the object distance is constant and the ambient temperature variation is Δ T, the required focus motor position compensation amount can be calculated by k × Δ T.
In view of this, in order to eliminate the influence of the temperature change on the position of the focus motor, the embodiment of the invention further provides a method for determining the position of the focus motor of the thermal imager. On the basis of the embodiment shown in fig. 1, the normalized position may specifically be: the second thermal imager carries out normalization calculation on a third position according to the first position, the second position, the first environment temperature and the second environment temperature in advance to obtain the position of the focusing motor, wherein the first environment temperature is as follows: determining the environmental temperature at the first position and the second position, wherein the second environmental temperature is the environmental temperature at the third position;
correspondingly, the step S102 of determining the position of the focus motor of the first thermal imager at the target preset point according to the normalized position, the fourth position, the fifth position, and the third ambient temperature may include:
according to the normalized position, the fourth position, the fifth position and the third ambient temperature, determining the position of the focusing motor of the first thermal imager under the target preset point and at the current ambient temperature, wherein the third ambient temperature is as follows: and determining the ambient temperature at the fourth position and the fifth position.
The third ambient temperature may be the same as or different from the first ambient temperature, which is not limited in the embodiment of the present invention.
In the description related to the embodiment shown in fig. 1, it is mentioned that the normalization calculation needs to use the focus motor positions of the second thermal imager at the target preset point and also needs to use the focus motor positions at two different object distances, and in this embodiment, the two different focus motor positions may be the focus motor positions at different object distances at the same temperature or the focus motor positions at different object distances at different temperatures.
In one implementation, if the two different focus motor positions are focus motor positions at different object distances at the same temperature, the normalized position may be: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000161
wherein, ADNormalizationIn order to normalize the position of the device,
Figure GDA0002853520010000162
is the temperature of the second environment, and,
Figure GDA0002853520010000163
in the third position, the first position is,
Figure GDA0002853520010000164
Figure GDA0002853520010000165
respectively a first position and a second position,
Figure GDA0002853520010000166
and k represents the amount of change in the position of the focus motor in units of temperature change, a being a preset map value of the first position, and b being a preset map value of the second position.
It can be seen that, in the above normalized calculation formula, both the first position and the second position are converted to the second ambient temperature, that is, the normalized position determined in this way is: and carrying out normalization calculation on the position of the focusing motor at the second ambient temperature and under the target preset point according to the position of the focusing motor at the second ambient temperature and under the first object distance and the position of the focusing motor at the second ambient temperature and under the second object distance.
In this case, the step of determining the position of the focus motor of the first thermal imager at the current ambient temperature and at the target preset point according to the normalized position and the fourth, fifth, and third ambient temperatures may include:
determining the position of a focusing motor of the first thermal imager under a target preset point and at the current ambient temperature according to the following formula:
Figure GDA0002853520010000167
wherein the content of the first and second substances,
Figure GDA0002853520010000168
for the first thermal imager at the target preset point and at the current ambient temperature
Figure GDA0002853520010000169
The position of the focus motor at the time of operation,
Figure GDA00028535200100001610
respectively a fourth position and a fifth position,
Figure GDA00028535200100001611
is a third ambient temperature.
Two different focus motor positions minAD and maxAD recorded during factory calibration of the thermal imager and the environmental temperature T during calibration0The description is given for the sake of example.
1) When the second thermal imager collects target preset point data, the position information AD of the focusing motor when the focusing is clear is obtainedT1And the current ambient temperature T1；
2) Second thermal imager according to T1And T0Temperature variation of (a) is calculated by temperature compensation to obtain T1MinAD ofT1、maxADT1：minADT1＝minAD+k(T1-T0)，maxADT1＝maxAD+k(T1-T0)；
3) Second thermal imager according to minADT1、maxADT1For ADT1Carrying out normalization calculation to obtain ADNormalization：ADNormalization＝(ADT1-minADT1)×(4000-0)/(maxADT1-minADT1)+0；
To this end, namely ADNormalization＝{ADT1-[minAD+k(T1-T0)]}×(a-b)/{[maxAD+k(T1-T0)]–[minAD+k(T1-T0)]}+b；
4) After the first thermal imager is replaced, when the target preset point is called, namely the position of the focusing motor under the target preset point is obtained, the first thermal imager obtains the current ambient temperature T2；
Wherein, the calibration temperature T corresponding to the first thermal imager0May correspond to a nominal temperature T of the second thermal imager0The values of (a) are the same, or may be different, which is not limited in the embodiments of the present invention;
5) first thermal imager according to T2A calibration temperature T corresponding to itself0Temperature variation of (a) is calculated by temperature compensation to obtain T2Temperature minADT2、maxADT2：minADT2＝minAD+k(T2-T0)，maxADT2＝maxAD+k(T2-T0)；
6) The first thermal imager is used for acquiring the normalized position AD according to the target preset pointNormalizationCombined with minADT2、maxADT2The position AD of the focusing motor under the target preset point is obtained through conversionT2：
ADT2＝minADT2+(ADNormalization-0)×(maxADT2-minADT2)/(4000-0)；
To this end, namely ADT2＝[minAD+k(T2-T0)]+(ADNormalization-b)×{[maxAD+k(T2-T0)]–[minAD+k(T2-T0)]}/(a-b)。
It can be seen that, when the normalization calculation is performed in the above 1) to 6), the minAD and maxAD of the two thermal imagers are converted from the calibration temperature to the environmental temperature when the preset point is collected and called through temperature compensation, so that multiplexing of the preset point information and automatic temperature compensation can be realized.
In another implementation, the two different focus motor positions are focus motor positions at different object distances at different temperatures, and the normalized position may be: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000181
wherein, ADNormalizationIn order to normalize the position of the device,
Figure GDA0002853520010000182
is the temperature of the second environment, and,
Figure GDA0002853520010000183
in the third position, the first position is,
Figure GDA0002853520010000184
Figure GDA0002853520010000185
respectively a first position and a second position,
Figure GDA0002853520010000186
k is a first ambient temperature, k represents a movement amount required for the focus motor when the temperature changes, t0、t1、t2The first temperature, the second temperature and the third temperature are preset respectively, a is a preset mapping value of the first position, and b is a preset mapping value of the second position.
As can be seen, in the above normalized calculation formula, the position of the focus motor of the second thermal imager at the target preset point is converted to the preset first temperature, and the positions of the focus motor of the first object distance and the second object distance are converted to the second temperature and the third temperature, respectively, that is, the normalized position determined in this way is: according to the position of the focusing motor at the first object distance and the second temperature, at the second object distanceAnd at the position of the focusing motor at the third temperature, the position of the focusing motor at the first temperature under the target preset point is subjected to normalization calculation to obtain the position of the focusing motor at the third temperature. Wherein, t0、t1、t2The values of the three temperatures may be the same or different from each other, which is not limited in the embodiment of the present invention.
Correspondingly, the step of determining the position of the focusing motor of the first thermal imager at the target preset point and at the current ambient temperature according to the normalized position, the fourth position, the fifth position and the third ambient temperature may include:
determining the position of a focusing motor of the first thermal imager at a first temperature under a target preset point according to the normalized position, the fourth position, the fifth position and the third ambient temperature;
and determining the position of the focusing motor of the first thermal imager under the target preset point and at the current ambient temperature according to the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature.
In one implementation, the focus motor position of the first thermal imager at the target preset point and at the first temperature may be determined according to the following formula:
Figure GDA0002853520010000191
wherein the content of the first and second substances,
Figure GDA0002853520010000192
is that the first thermal imager is under the target preset point and at the first temperature t0The position of the focus motor at the time of operation,
Figure GDA0002853520010000193
respectively a fourth position and a fifth position,
Figure GDA0002853520010000194
is a third ambient temperature.
After determining the position of the focusing motor of the first thermal imager at the first temperature and the target preset point, the step of determining the position of the focusing motor of the first thermal imager at the current ambient temperature and the target preset point according to the position of the focusing motor of the first thermal imager at the first temperature and the target preset point may include:
judging whether the difference value between the current environment temperature and the first temperature is greater than a preset threshold value or not;
if not, directly determining the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature as the position of the focusing motor of the first thermal imager under the target preset point and at the current ambient temperature;
if so, determining the position of the focusing motor of the first thermal imager under the target preset point and the current ambient temperature according to the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature.
In one implementation, when a difference between the current ambient temperature and the first temperature is greater than a preset threshold, the position of the focus motor of the first thermal imager at the target preset point may be converted from the first temperature to the current ambient temperature, and specifically, the position of the focus motor of the first thermal imager at the target preset point and at the current ambient temperature may be determined according to the following formula:
Figure GDA0002853520010000195
wherein the content of the first and second substances,
Figure GDA0002853520010000196
for the first thermal imager at the target preset point and at the current ambient temperature
Figure GDA0002853520010000197
The focus motor position of time.
Two different focus motor positions minAD and maxAD recorded during factory calibration of the thermal imager and the environmental temperature T during calibration0The description is given for the sake of example. The minAD and maxAD calibrated by the thermal imager are expanded, for example, the calibration temperature T can be adjusted0Obtained byThe minAD and maxAD are respectively expanded to-40 ℃ and +70 ℃ to obtain the minADAfter expansion、maxADAfter expansionI.e. t1At 70 ℃ and t2Is-40 ℃.
1) The second thermal imager carries out temperature expansion on two parameters minAD and maxAD of the second thermal imager according to temperature compensation to obtain minADAfter expansionAnd maxADAfter expansion：minADAfter expansion＝minAD+k(70-T0)，
max ADAfter expansion＝maxAD+k(-40-T0)；
2) When the second thermal imager collects target preset point data, the position information AD of the focusing motor when the focusing is clear is obtainedT1And the current ambient temperature T1；
3) Second thermal imager according to T1And a predetermined temperature t0Is calculated at t by temperature compensation0The position information of the focusing motor when the focusing on the target preset point is clear is recorded as ADt0，ADt0＝ADT1+k(t0-T1)；
4) The second thermal imager is combined with the minADAfter expansion、maxADAfter expansionPair ADt0Carrying out normalization calculation to obtain ADNormalization：ADNormalization＝(ADt0-min ADAfter expansion)×(4000-0)/(maxADAfter expansion-min ADAfter expansion)+0；
To this end, namely ADNormalization＝{[ADT1+k(t0-T1)]-[maxAD+k(-40-T0)]}×(a-b)/{[maxAD+k(-40-T0)]–[minAD+k(70-T0)]}+b；
5) After the thermal imager is replaced by the first thermal imager, when a target preset point is called, namely the position of a focusing motor under the target preset point is obtained, the first thermal imager carries out temperature expansion on two parameters minAD and maxAD of the first thermal imager according to temperature compensation, and the minAD is obtainedAfter expansionAnd maxADAfter expansion：minADAfter expansion＝minAD+k(70-T0)，max ADAfter expansion＝maxAD+k(-40-T0)；
Wherein, the calibration temperature T corresponding to the first thermal imager0May correspond to a nominal temperature T of the second thermal imager0The values of (a) are the same, or may be different, which is not limited in the embodiments of the present invention;
6) the first thermal imager carries out AD on the normalized position of the target preset pointNormalizationCombined with their own minADAfter expansion、max ADAfter expansionAnd converting to obtain the first thermal imager at the target preset point and t0Focus motor position at temperature ADt0：
ADt0＝min ADAfter expansion+(ADNormalization-0)×(maxADAfter expansion-min ADAfter expansion)/(4000-0)；
To this end, namely ADt0＝[minAD+k(70-T0)]+(ADNormalization-b)×{[maxAD+k(-40-T0)]–[minAD+k(70-T0)]}/(a-b)；
7) The first thermal imager obtains the current ambient temperature T2According to T2And t0Temperature variation of (A), calculating AD by temperature compensationT20At T2Actual focus value AD at temperatureT2：ADT2＝ADt0+k(T2-t0)。
In addition, due to T2And t0 ofWhen the temperature variation does not exceed a certain threshold, the change of the image definition is not obvious, so that under the condition of not influencing the focusing accuracy, in order to reduce the calculation amount, the judgment in the step 7) can be added: when T is2And t0When the temperature change amount DeltaT of (2) is less than the threshold value, ADt obtained in step 6) is used without temperature compensation0And the position of the focusing motor of the second thermal imager at the target preset point at the current ambient temperature can be used. Further, it is understood that at setting t0When the value is taken, the average ambient temperature of the current position of the first thermal imager may be set by reference, for example, if the average ambient temperature of the current environment of the first thermal imager is 25 ℃, t is determined0The value is 25 ℃, so that the temperature variation does not exceed the threshold value, and the step 7) can be carried out without increasingAnd judging and carrying out temperature compensation.
It can be seen that, during the normalization calculation of the above 1) to 7), the minAD and maxAD of the two thermal imagers at the calibration temperature are expanded to the same preset temperature t1、t2The calculated normalized positions are all at the preset temperature t0Therefore, when the first thermal imager calculates the position of the focusing motor under the target preset point according to the normalized position, the first thermal imager calculates the position of the focusing motor under the target preset point according to the preset temperature t0、t1、t2The multiplexing of the preset point information and the automatic temperature compensation can be realized.
Therefore, by applying the scheme provided by the embodiment of the invention, the position of the focusing motor under the preset point can be reused among a plurality of thermal imagers of the same type, and the temperature compensation can be automatically carried out when the ambient temperature changes, so that the position of the focusing motor of the thermal imager under the current ambient temperature at the preset point is obtained, and the focusing accuracy is improved.
The following presents a simplified summary of an embodiment of the invention.
When the thermal imager leaves a factory, focusing targets with different object distances to obtain the positions of a focusing motor at the current environment temperature and when images are clear under different object distances, and storing the current environment temperature and the obtained positions of the focusing motor in the thermal imager;
the number of the different object distances can be 1, 2 or more; two common object distances are provided, namely infinite distance and the closest imaging distance which can be gathered by a thermal imager; because the scheme provided by the embodiment of the invention needs to use the focusing motor positions when the images are clear under two different object distances, if the object distance is 1, the focusing motor position of the thermal imager when the image is clear under another object distance needs to be obtained through theoretical calculation; if the object distances are multiple, any two object distances can be selected from the object distances;
a temperature sensor can be added in the thermal imager to obtain the ambient temperature of the sensor;
when the thermal imager collects the information of the preset point for the first time, the acquired position of the focusing motor is subjected to normalization processing and then uploaded to a moving device (a robot);
when the thermal imager performs the preset point cruise function, the moving equipment (robot) issues the normalized focusing motor position to the thermal imager. And the thermal imager performs corresponding conversion by combining the current ambient temperature and the obtained normalized focusing motor position to obtain the actual focusing motor position, so that the image is clear.
By adopting the method for determining the position of the focusing motor of the thermal imager, provided by the embodiment of the invention, the position of the focusing motor uploaded to the motion equipment is subjected to normalization processing when the preset point information is acquired, and the normalized position of the focusing motor can be reused when other batches of equipment with the same model are replaced; when the normalized focusing motor position is calculated or the actual focusing motor position is converted according to the issued normalized focusing motor, the influence of temperature is considered, and the temperature compensation can be automatically carried out, so that the image virtual focus influence caused by temperature change is eliminated.
Corresponding to the method for determining the position of the focusing motor of the thermal imager, the embodiment of the invention provides a device for determining the position of the focusing motor of the thermal imager. Corresponding to the embodiment of the method shown in fig. 1, fig. 2 is a schematic structural diagram of a focusing motor position determining apparatus for a thermal imager according to an embodiment of the present invention, where the apparatus is applied to a first thermal imager and may include:
an obtaining module 201, configured to obtain a normalized position under a target preset point, where the normalized position is: the second thermal imager carries out normalization calculation on a third position according to the first position and the second position in advance to obtain the position of the focusing motor, wherein the first position is as follows: the second thermal imager is at the position of a focusing motor under a first object distance, and the second position is as follows: the second thermal imager is at the position of the focusing motor under the second object distance, and the third position is as follows: the second thermal imager is arranged at the position of a focusing motor under the target preset point;
a determining module 202, configured to determine, according to the normalized position, a fourth position and a fifth position, a position of the focus motor of the first thermal imager at the target preset point, where the fourth position is: the first thermal imager is located at the position of the focusing motor under the first object distance, and the fifth position is as follows: and the first thermal imager is at the position of the focusing motor under the second object distance.
Therefore, by applying the scheme provided by the embodiment of the invention, the positions of the focusing motors under the preset points can be reused among a plurality of thermal imagers of the same model, so that the positions of the focusing motors under the target preset points can be determined without acquiring the data of the target preset points again by the replaced thermal imagers, and the positions of the focusing motors under the preset points can be more conveniently determined for the replaced thermal imagers.
As a specific embodiment of the present invention, the normalized position may be: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000231
wherein, ADNormalizationFor the normalized position, AD2In order to be said third position, the first position,
Figure GDA0002853520010000232
in order to be in the first position,
Figure GDA0002853520010000233
for the second position, a is the preset mapping value of the first position, b is the preset mapping value of the second position, and the sum of the magnitude relation of a and b
Figure GDA0002853520010000234
And
Figure GDA0002853520010000235
have the same magnitude relationship.
As a specific embodiment of the present invention, the determining module 202 may specifically be configured to:
calculating the position of a focusing motor of the first thermal imager under the target preset point according to the following formula:
Figure GDA0002853520010000236
wherein, AD1The position of a focusing motor of the first thermal imager under the target preset point,
Figure GDA0002853520010000237
in order to be said fourth position, the first position,
Figure GDA0002853520010000238
is the fifth position.
As a specific embodiment of the present invention, the normalized position may be: the second thermal imager carries out normalization calculation on a third position according to the first position, the second position, the first environment temperature and the second environment temperature in advance to obtain the position of the focusing motor, wherein the first environment temperature is as follows: determining the ambient temperature at the first position and the second position, wherein the second ambient temperature is the ambient temperature at the third position;
correspondingly, the determining module 202 may be specifically configured to:
according to the normalized position, the fourth position, the fifth position and the third ambient temperature, determining the position of the focusing motor of the first thermal imager at the target preset point and at the current ambient temperature, wherein the third ambient temperature is as follows: determining the ambient temperature at the fourth position and the fifth position.
As a specific embodiment of the present invention, the normalized position may be: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA0002853520010000241
wherein, ADNormalizationFor the said normalized position, the position of the said position,
Figure GDA0002853520010000242
is the temperature of the second environment, and,
Figure GDA0002853520010000243
in order to be in the third position,
Figure GDA0002853520010000244
in the first position and in the second position respectively,
Figure GDA0002853520010000245
and k represents the variation of the position of the focusing motor in unit number of temperature variation, a is a preset mapping value of the first position, and b is a preset mapping value of the second position.
As a specific embodiment of the present invention, the determining module 201 determines, according to the normalized position, the fourth position, the fifth position, and the third ambient temperature, a position of the focusing motor of the first thermal imager at the target preset point and at the current ambient temperature, and specifically may be:
determining the position of a focusing motor of the first thermal imager under the target preset point and at the current ambient temperature according to the following formula:
Figure GDA0002853520010000246
wherein the content of the first and second substances,
Figure GDA0002853520010000247
the first thermal imager is under the target preset point and at the current ambient temperature
Figure GDA0002853520010000248
The position of the focus motor at the time of operation,
Figure GDA0002853520010000249
the fourth position and the fifth position, respectively,
Figure GDA00028535200100002410
is the third ambient temperature.
As a specific embodiment of the present invention, the normalized position may be: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure GDA00028535200100002411
wherein, ADNormalizationFor the said normalized position, the position of the said position,
Figure GDA0002853520010000251
is the temperature of the second environment, and,
Figure GDA0002853520010000252
in order to be said third position, the first position,
Figure GDA0002853520010000253
the first position and the second position respectively,
Figure GDA0002853520010000254
k is the first ambient temperature, k represents the amount of movement required for the focus motor when the temperature changes, t0、t1、t2The first temperature, the second temperature and the third temperature are preset respectively, a is a preset mapping value of the first position, and b is a preset mapping value of the second position.
As a specific embodiment of the present invention, the determining module 201 may include:
the first determining submodule is used for determining the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature according to the normalized position, the fourth position, the fifth position and the third ambient temperature;
and the second determining sub-module is used for determining the position of the focusing motor of the first thermal imager under the target preset point and at the current ambient temperature according to the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature.
As a specific embodiment of the present invention, the determining, by the first determining sub-module, the position of the focus motor of the first thermal imager at the target preset point and at the first temperature according to the normalized position, the fourth position, the fifth position, and the third ambient temperature may specifically be:
determining the position of a focusing motor of the first thermal imager at the first temperature and under the target preset point according to the following formula:
Figure GDA0002853520010000255
wherein the content of the first and second substances,
Figure GDA0002853520010000256
the first thermal imager is under the target preset point and at the first temperature t0The position of the focus motor at the time of operation,
Figure GDA0002853520010000257
the fourth position and the fifth position, respectively,
Figure GDA0002853520010000258
is the third ambient temperature.
As a specific embodiment of the present invention, the second determining sub-module may include:
the judging unit is used for judging whether the difference value between the current environment temperature and the first temperature is greater than a preset threshold value or not;
the first determining unit is used for directly determining the position of the focusing motor of the first thermal imager at the first temperature and under the target preset point as the position of the focusing motor of the first thermal imager at the current environment temperature and under the target preset point when the difference value between the current environment temperature and the first temperature is not greater than a preset threshold value;
and the second determining unit is used for determining the position of the focusing motor of the first thermal imager under the target preset point and the current environment temperature according to the position of the focusing motor of the first thermal imager under the target preset point and the first temperature when the difference value between the current environment temperature and the first temperature is greater than a preset threshold value.
As a specific embodiment of the present invention, the determining, by the second determining unit, the position of the focus motor of the first thermal imager at the target preset point and the current ambient temperature according to the position of the focus motor of the first thermal imager at the target preset point and at the first temperature may specifically be:
determining the position of a focusing motor of the first thermal imager under the target preset point and the current ambient temperature according to the following formula:
Figure GDA0002853520010000261
wherein the content of the first and second substances,
Figure GDA0002853520010000262
the first thermal imager is under the target preset point and at the current ambient temperature
Figure GDA0002853520010000263
The focus motor position of time.
The embodiment of the present invention further provides a thermal imager, as shown in fig. 3, including a processor 301, a communication interface 302, a memory 303 and a communication bus 304, where the processor 301, the communication interface 302 and the memory 303 complete mutual communication through the communication bus 304,
a memory 303 for storing a computer program;
the processor 301, when executing the program stored in the memory 303, implements the following steps:
obtaining a normalized position under a target preset point, wherein the normalized position is as follows: the second thermal imager carries out normalization calculation on a third position according to the first position and the second position in advance to obtain the position of the focusing motor, wherein the first position is as follows: the second thermal imager is at the position of a focusing motor under a first object distance, and the second position is as follows: the second thermal imager is at the position of the focusing motor under the second object distance, and the third position is as follows: the second thermal imager is arranged at the position of a focusing motor under the target preset point;
determining the position of a focusing motor of the first thermal imager under the target preset point according to the normalized position, a fourth position and a fifth position, wherein the fourth position is as follows: the first thermal imager is located at the position of the focusing motor under the first object distance, and the fifth position is as follows: and the first thermal imager is at the position of the focusing motor under the second object distance.
For specific implementation and related explanation of each step of the method, reference may be made to the method embodiment in fig. 1, which is not described herein again.
In addition, other implementation manners of the thermal imager focus motor position determining method implemented by the processor 301 executing the program stored in the memory 303 are the same as the implementation manners mentioned in the foregoing method embodiment section, and are not described herein again.
The thermal imager provided by the embodiment of the invention can multiplex the focusing motor positions of the thermal imagers of the same model at the preset points, and can determine the focusing motor position of the thermal imager at the target preset point without acquiring the target preset point data again, so that the focusing motor position at the preset point can be more conveniently determined.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
The embodiment of the present invention further provides a computer-readable storage medium, in which instructions are stored, and when the instructions are executed on a computer, the computer is enabled to execute the method for determining the position of the focus motor of the thermal imager described in any one of the above embodiments.
By operating the computer program product provided by the embodiment of the invention, the positions of the focusing motors under the preset points can be reused among a plurality of thermal imagers of the same model, so that the positions of the focusing motors under the target preset points can be determined without acquiring data of the target preset points again by the replaced thermal imagers, and the positions of the focusing motors under the preset points can be more conveniently determined for the replaced thermal imagers.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device, thermal imager, and computer-readable storage medium embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference may be made to some descriptions of the method embodiments for their relevance.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (14)

1. A method for determining the position of a focus motor of a thermal imager, applied to a first thermal imager, comprises:
obtaining a normalized position under a target preset point, wherein the normalized position is as follows: the second thermal imager carries out normalization calculation on a third position according to the first position and the second position in advance to obtain the position of the focusing motor, wherein the first position is as follows: the second thermal imager is at the position of a focusing motor under a first object distance, and the second position is as follows: the second thermal imager is at the position of the focusing motor under the second object distance, and the third position is as follows: the second thermal imager is arranged at the position of a focusing motor under the target preset point;
determining the position of a focusing motor of the first thermal imager under the target preset point according to the normalized position, a fourth position and a fifth position, wherein the fourth position is as follows: the first thermal imager is located at the position of the focusing motor under the first object distance, and the fifth position is as follows: and the first thermal imager is at the position of the focusing motor under the second object distance.
2. The method of claim 1,
the normalization positions are as follows: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure FDA0002853517000000011
wherein, ADNormalizationFor the normalized position, AD2In order to be said third position, the first position,
Figure FDA0002853517000000012
in order to be in the first position,
Figure FDA0002853517000000013
for the second position, a is the preset mapping value of the first position, b is the preset mapping value of the second position, and the sum of the magnitude relation of a and b
Figure FDA0002853517000000014
And
Figure FDA0002853517000000015
have the same magnitude relationship.
3. The method of claim 2, wherein determining the focus motor position of the first thermal imager at the target preset point based on the normalized position and the fourth and fifth positions comprises:
calculating the position of a focusing motor of the first thermal imager under the target preset point according to the following formula:
Figure FDA0002853517000000021
wherein, AD1The position of a focusing motor of the first thermal imager under the target preset point,
Figure FDA0002853517000000022
in order to be said fourth position, the first position,
Figure FDA0002853517000000023
is the fifth position.
4. The method of claim 1, wherein the normalized positions are: the second thermal imager carries out normalization calculation on a third position according to the first position, the second position, the first environment temperature and the second environment temperature in advance to obtain the position of the focusing motor, wherein the first environment temperature is as follows: determining the ambient temperature at the first position and the second position, wherein the second ambient temperature is the ambient temperature at the third position;
the determining the position of the focusing motor of the first thermal imager under the target preset point according to the normalized position, the fourth position and the fifth position comprises the following steps:
according to the normalized position, the fourth position, the fifth position and the third ambient temperature, determining the position of the focusing motor of the first thermal imager at the target preset point and at the current ambient temperature, wherein the third ambient temperature is as follows: and determining the ambient temperature at the fourth position and the fifth position.
5. The method of claim 4,
the normalization positions are as follows: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure FDA0002853517000000024
wherein，ADNormalizationFor the said normalized position, the position of the said position,
Figure FDA0002853517000000025
is the temperature of the second environment, and,
Figure FDA0002853517000000026
in order to be said third position, the first position,
Figure FDA0002853517000000027
the first position and the second position respectively,
Figure FDA0002853517000000028
and k represents the variation of the position of the focusing motor in unit number of temperature variation, a is a preset mapping value of the first position, and b is a preset mapping value of the second position.
6. The method of claim 5, wherein determining the focus motor position of the first thermal imager at the target preset point and at the current ambient temperature based on the normalized position and the fourth, fifth, and third ambient temperatures comprises:
determining the position of a focusing motor of the first thermal imager under the target preset point and at the current ambient temperature according to the following formula:
Figure FDA0002853517000000031
wherein the content of the first and second substances,
Figure FDA0002853517000000032
the first thermal imager is under the target preset point and at the current ambient temperature
Figure FDA0002853517000000033
Time of flight polymerizationThe position of the coke motor is controlled by the control system,
Figure FDA0002853517000000034
the fourth position and the fifth position, respectively,
Figure FDA0002853517000000035
is the third ambient temperature.
7. The method of claim 4,
the normalization positions are as follows: and (3) carrying out normalization calculation on the third position according to the following formula to obtain the position of the focusing motor:
Figure FDA0002853517000000036
wherein, ADNormalizationFor the said normalized position, the position of the said position,
Figure FDA0002853517000000037
is the temperature of the second environment, and,
Figure FDA0002853517000000038
in order to be said third position, the first position,
Figure FDA0002853517000000039
the first position and the second position respectively,
Figure FDA00028535170000000310
k is the first ambient temperature, k represents the amount of movement required for the focus motor when the temperature changes, t0、t1、t2The first temperature, the second temperature and the third temperature are preset respectively, a is a preset mapping value of the first position, and b is a preset mapping value of the second position.
8. The method of claim 7, wherein determining the focus motor position of the first thermal imager at the target preset point and at the current ambient temperature based on the normalized position and the fourth, fifth, and third ambient temperatures comprises:
according to the normalized position, the fourth position, the fifth position and the third ambient temperature, determining the position of a focusing motor of the first thermal imager at the first temperature and under the target preset point;
and determining the position of the focusing motor of the first thermal imager under the target preset point and at the current ambient temperature according to the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature.
9. The method of claim 8, wherein determining the focus motor position of the first thermal imager at the first temperature and at the target preset point based on the normalized position and a fourth, fifth, and third ambient temperatures comprises:
determining the position of a focusing motor of the first thermal imager at the first temperature and under the target preset point according to the following formula:
Figure FDA0002853517000000041
wherein the content of the first and second substances,
Figure FDA0002853517000000042
the first thermal imager is under the target preset point and at the first temperature t0The position of the focus motor at the time of operation,
Figure FDA0002853517000000043
the fourth position and the fifth position, respectively,
Figure FDA0002853517000000044
is the third ambient temperature.
10. The method of any one of claims 8 or 9, wherein determining the focus motor position of the first thermal imager at the target preset point and at the current ambient temperature from the focus motor position of the first thermal imager at the target preset point and at the first temperature comprises:
judging whether the difference value between the current environment temperature and the first temperature is greater than a preset threshold value or not;
if not, directly determining the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature as the position of the focusing motor of the first thermal imager under the target preset point and at the current ambient temperature;
if so, determining the position of the focusing motor of the first thermal imager under the target preset point and the current environmental temperature according to the position of the focusing motor of the first thermal imager under the target preset point and at the first temperature.
11. The method of claim 10, wherein determining the focus motor position of the first thermal imager at the target preset point and the current ambient temperature from the focus motor position of the first thermal imager at the target preset point and at the first temperature comprises:
determining the position of a focusing motor of the first thermal imager under the target preset point and the current ambient temperature according to the following formula:
Figure FDA0002853517000000051
wherein the content of the first and second substances,
Figure FDA0002853517000000052
for the first thermal imager at the targetAt set point and at current ambient temperature
Figure FDA0002853517000000053
The focus motor position of time.
12. A focus motor position determination apparatus for a thermal imager, for application to a first thermal imager, the apparatus comprising:
an obtaining module, configured to obtain a normalized position at a target preset point, where the normalized position is: the second thermal imager carries out normalization calculation on a third position according to the first position and the second position in advance to obtain the position of the focusing motor, wherein the first position is as follows: the second thermal imager is at the position of a focusing motor under a first object distance, and the second position is as follows: the second thermal imager is at the position of the focusing motor under the second object distance, and the third position is as follows: the second thermal imager is arranged at the position of a focusing motor under the target preset point;
the determining module is used for determining the position of the focusing motor of the first thermal imager under the target preset point according to the normalized position, a fourth position and a fifth position, wherein the fourth position is as follows: the first thermal imager is located at the position of the focusing motor under the first object distance, and the fifth position is as follows: and the first thermal imager is at the position of the focusing motor under the second object distance.
13. A thermal imager is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for completing mutual communication through the communication bus by the memory;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 11 when executing a program stored in the memory.
14. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of the claims 1-11.
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