CN116962985A - Method for observing multiple moving targets by remote wireless guidance of infrared detection equipment - Google Patents

Abstract

The invention relates to a method for observing a plurality of moving targets by remote wireless guiding infrared detection equipment, which belongs to the field of remote guiding and comprises the steps of acquiring real-time position information of the plurality of moving targets by utilizing a signal transmitting terminal and wirelessly transmitting the position information of the plurality of moving targets to a single infrared observation equipment; the infrared detection device calculates the direction angle and the distance between each moving target and the infrared detection device based on the position information of each moving target and the position information of the infrared detection device, and transmits video stream images comprising vernier caliper images and a plurality of moving target infrared images and the position information back to the remote control terminal; the remote control terminal adjusts the moving direction, the position and the focal length of the infrared detection device in real time based on video stream image remote control, so that each moving target is in the field of view of the infrared detection device, and a plurality of moving target dynamic motion tracks are drawn on a map of the remote control terminal based on the direction angle, the distance and a plurality of moving target position information. The infrared detection device is used for realizing remote real-time guiding of the infrared detection device to observe a plurality of moving targets.

Description

Method for observing multiple moving targets by remote wireless guidance of infrared detection equipment

Technical Field

The invention belongs to the technical field of remote guidance, and particularly relates to a method for remotely and wirelessly guiding infrared detection equipment to observe a plurality of moving targets.

Background

In the current technical field, infrared observation and target guidance techniques have been widely used. Conventional infrared detection methods typically involve the use of specialized equipment and sensors, such as infrared cameras or infrared telescopes, to observe and direct target observations through manual manipulation, while some military equipment such as infrared night vision devices are increasingly used in civilian settings. However, civil equipment is required to be simple and convenient to operate, so that the operation of the military-to-civil equipment gradually starts to develop towards the operation habit of civil products. The visual sense of the binocular infrared night vision device is stronger than that of the monocular infrared night vision device, but the infrared night vision device can not always lock and capture the target picture when observing the moving target with faster movement. Multiple moving targets appear at the same time, and an observer can switch the moving targets back and forth, so that accurate and quick response cannot be achieved. For example, the observed moving target or the infrared night vision device is in the process of moving at high speed, the target is difficult to be locked all the time by naked eyes, and the observer is guided to observe the change of the target in real time by using a target guiding mode.

If a plurality of signal transmitting terminals are used for carrying out a remote wireless guiding function, an observer can directly watch prompt information on a screen of the infrared observation equipment, and then the target directions of the plurality of signal transmitting terminals can be known.

Not only is the infrared detection device required to guide a target when static, but also the target guide function of an observer is updated in real time in the moving process of the infrared detection device.

While prior art accurate observation of objects can provide many advantages for infrared vision devices, there are drawbacks and limitations, such as multi-object observations, particularly of multiple moving objects, which may require additional systems and algorithms in terms of data transmission and processing for observing the multiple moving objects, to achieve both observation and data processing of the multiple moving objects.

Disclosure of Invention

In view of the above analysis, the present invention aims to provide a method for remotely and wirelessly guiding an infrared detection device to observe a plurality of moving targets, so as to improve convenience, flexibility and accuracy of remotely guiding and observing the moving targets.

In order to solve the technical problems, the main technical scheme adopted by the invention comprises the following steps:

the present specification provides a method of remotely wirelessly directing an infrared vision measurement device to observe a plurality of moving objects, comprising the steps of:

the present specification provides a method of remotely wirelessly directing an infrared vision measurement device to observe a plurality of moving objects, comprising the steps of:

acquiring real-time position information of a plurality of moving targets by using a signal transmitting terminal, and wirelessly transmitting the position information of the plurality of moving targets to a single infrared observation device;

the infrared detection equipment calculates the direction angle and the distance between each moving target and the infrared detection equipment based on the position information of each moving target and the position information of the infrared detection equipment, and transmits a video stream image comprising a vernier caliper image and a plurality of moving target infrared images and the position information back to the remote control terminal;

and the remote control terminal adjusts the moving direction, position and focal length of the infrared detection device in real time based on the video stream image remote control so that each moving target is in the field of view of the infrared observation device, and draws the dynamic moving tracks of the moving targets on a map of the remote control terminal based on the direction angle, the distance and the position information of the moving targets.

Optionally, acquiring real-time location information of the plurality of moving objects using the signal transmitting terminal includes:

binding a plurality of signal transmitting terminals with a plurality of moving targets one by one, positioning the plurality of moving targets, and acquiring real-time position information of each moving target;

the real-time position information of each moving target comprises longitude, latitude and altitude value information of each moving target.

Optionally, the wireless transmitting of the plurality of moving target location information to a single infrared observation device is:

generating a plurality of JSON data packets according to longitude, latitude and altitude value information of the plurality of moving target position information, wherein each moving target corresponds to one JSON data packet at the same moment;

the plurality of JSON packets are distinguished using the device IDs of the signal transmitting terminals;

and the infrared detection equipment receives and analyzes the plurality of JSON data packets according to time sequence, analyzes longitude and latitude and altitude values of each moving target, and stores the longitude and latitude and altitude values in a memory of the infrared observation equipment.

Optionally, the infrared detection device calculates the direction angle and the distance between each moving target and the infrared detection device based on the position information of each moving target and the position information of the infrared detection device.

Optionally, calculating the real-time direction angle of each moving object and the infrared observation device in real time is as follows:

Acquiring the self-position information of the infrared detection equipment in real time;

the infrared detection equipment self-position information comprises longitude, latitude and altitude value information;

acquiring a longitude value difference and a latitude value difference between each moving target and the infrared detecting device based on the real-time longitude value and the latitude value of each moving target and the longitude value and the latitude value of the infrared detecting device;

converting the longitude value difference and the latitude value difference into an radian system;

calculating a real-time horizontal distance HD of each moving target relative to the infrared observation equipment, wherein the formula is as follows:

HD＝R×arccos(sin(lat_i)×sin(lat_t)+cos(lat_i)×cos(lat_t)×cos(Δlon_rad))

wherein R is the earth radius, lat_i is the latitude of the infrared observation equipment, lat_t is the longitude and latitude of each moving target to be observed, and Deltalon_rad is the longitude value difference converted into radian;

calculating the vertical distance h of the position of the moving target relative to the infrared observation equipment, wherein the formula is as follows:

h＝alt_t-alt_i

wherein alt_t is the altitude value of each moving target, alt_i is the altitude value of the infrared detection device;

based on the real-time horizontal distance and the real-time vertical distance, calculating to obtain a real-time direction angle, wherein the formula is as follows:

α＝atan2(h，HD)

wherein alpha is a real-time direction angle, h is a real-time vertical distance, and HD is a real-time horizontal distance.

Optionally, calculating the real-time distance between each moving target and the infrared detection device in real time is as follows:

Converting longitude and latitude in the position information of the infrared detection equipment and longitude and latitude in the position information of each moving target into Gaussian plane rectangular coordinates by utilizing Gaussian projection coordinates;

the real-time distance between the infrared observation equipment and each moving target is calculated by using the Pythagorean theorem, and the formula is as follows:

wherein D is the distance of each moving object from the infrared sensing device, (x) _{Apparatus and method for controlling the operation of a device} ,y _{Apparatus and method for controlling the operation of a device} ) And (x) _{Target object} ,y _{Target object} ) Is the rectangular coordinates of the Gaussian plane of the infrared observation equipment and each moving object.

Optionally, the remote control terminal adjusts the moving direction, position and focal length of the infrared detecting device in real time based on the remote control of the video stream image comprises:

according to the video stream images received by the remote control terminal, analyzing the direction angles and the distances corresponding to the plurality of moving targets, and observing and analyzing infrared images of the moving targets;

and judging the visibility, accuracy and definition of the plurality of moving targets, judging whether each moving target is in the field of view of the infrared observation equipment, and adjusting the direction, the position and the focal length of the infrared observation equipment in real time.

Optionally, drawing the plurality of moving object dynamic motion trajectories on the map of the remote control terminal based on the direction angle, the distance and the plurality of moving object position information includes:

The remote control terminal displays the position information of a plurality of moving targets in real time through the map function of a mobile phone or a computer;

and drawing dynamic motion tracks of the plurality of moving targets on a map of the remote control terminal based on the position information by combining the direction angle and the distance, and carrying out real-time monitoring and tracking on the plurality of moving targets.

Optionally, drawing an arrow indication mark at each position point of a dynamic moving track of the moving object based on the direction angle of each moving object, wherein the arrow indication mark represents the direction of the moving object, the arrow direction is consistent with the direction angle, and the direction angle orientations of different time points are distinguished by using different colors or patterns;

labeling the distance between the moving target and the infrared detecting device on the position point of the moving track of each moving target;

adding a scale on the map of the remote control terminal, and visually checking the corresponding relation between the actual distance and the distance on the map;

and (3) moving position information of each moving object at a plurality of times, wherein the drawn moving track is a dynamic moving track.

Optionally, the wireless connection between the plurality of signal transmitting terminals and the single infrared detecting device is established, and the wireless connection between the single remote control terminal and the single infrared detecting device includes:

The single remote control terminal opens WLAN, is connected with a single infrared observation device, and the infrared observation device uses Wi-Fi AP mode as an information calculation hub;

the plurality of signal transmitting terminals have a remote Wi-Fi connection function, the WLAN is opened to be in wireless connection with the infrared observation equipment, a Wi-Fi hot spot is preset in the infrared observation equipment, and the plurality of signal transmitting terminals are connected with the hot spot through scanning, so that communication connection is established.

Compared with the prior art, the invention has the beneficial effects that:

1. wireless remote control capability. The wireless connection of the remote control terminal mobile phone or the computer and the WLAN (Wireless LocalAreaNetworks wireless local area network) mode of Wi-Fi for the infrared equipment is realized, and the wireless connection router is integrated with the local area network of the rear command part. The director sends out the observation order by the command department, and the unified observer of guiding operates infrared appearance and surveys the equipment observation target. The restriction that a director needs to go to a target site in person in the traditional method is eliminated, and the convenience and the flexibility of observation are improved; the infrared detection device can separate observation and command, and an observer can carry the infrared detection device more conveniently and is easy to hide or track a target. The instructor can conduct safe and efficient data analysis behind the large area, send a command and accurately command;

2. Accurate target positioning is achieved by calculating an accurate direction angle and an accurate distance by utilizing longitude, latitude and altitude value information of a target position and combining position information of infrared detection equipment, so that accurate positioning of the target is achieved, a director and an observer can better grasp the position and the direction of the target, and accuracy of observation and guiding is improved;

3. the operation is convenient. The mobile phone app and the computer are both provided with a map SDK (Software Development Kit ) and can directly return geographic position information. The speed of manual input at the infrared observation equipment end is 20 times faster than that of voice input recognition at the infrared observation equipment end, and the speed of voice input recognition is 10 times faster than that of voice input recognition at the infrared observation equipment end;

4. and (5) observing and adjusting in real time. The instructor can observe the infrared video stream image in real time through the application program on the mobile phone or the computer, conduct real-time guidance according to the observation result, and guide the observer to adjust, so that the observer can quickly respond to the change of the observation target, and the observation accuracy and efficiency are improved; for example, the guide needs to look at a lake or a low-lying point, does not know that the observer is blocked by a mountain, can conduct multi-step guidance through remote real-time images, and directs the observer to bypass the mountain and arrive at the side face of the mountain for observation. Or the target can be directly observed through mountain by using the small woodland channel found by the observer, and the real-time interaction is carried out with the observer;

5. And (5) visualizing the operation. Synchronously displaying information on a User Interface (UI) Interface of a remote control terminal, binding the information with the view angle of infrared observation equipment, informationizing the position of an observation target in the infrared observation equipment, and generating dynamic motion tracks of a plurality of moving targets at the remote control terminal by combining the direction angle and the distance, thereby being beneficial to the behavior research of the moving targets;

6. the plurality of signal transmitting terminals guide the observation target. A single infrared appearance device is connected with a plurality of signal transmitting terminals in a Wi-Fi hot spot mode, and receives the position information of a plurality of moving targets of the plurality of signal transmitting terminals. The infrared display device displays information of a plurality of moving object guides on an interface.

In summary, a plurality of signal transmitting terminals are used to transmit positional information of a plurality of moving objects to be observed for a single infrared image measuring apparatus. After receiving geographic coordinate information of a plurality of moving targets to be observed, the infrared detecting equipment calculates the positions of the moving targets relative to the infrared detecting equipment, provides corresponding direction angle (accurate to 0.1 DEG) and distance data, and then displays the corresponding direction angle and distance data on a UI interface. And if the infrared detection device performs direction movement or position movement, recalculating the direction angle and the distance in real time, and updating on the UI interface in real time. And finally, transmitting the received geographic coordinate information and the video stream image of the infrared real-time picture to a remote terminal device in a wireless mode for on-site image browsing and target dynamic track route analysis.

In the application, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the application, like reference numerals being used to refer to like parts throughout the several views.

FIG. 1 is a flow chart of a method for a remote wireless guided infrared detection device to observe a plurality of moving objects;

FIG. 2 is a schematic diagram of wireless connection modes of a signal transmitting terminal, a remote control terminal and infrared detection equipment;

fig. 3 is a schematic diagram of a vernier caliper showing the angle and distance of direction.

Detailed Description

The following detailed description of preferred embodiments of the application is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the application, are used to explain the principles of the application and are not intended to limit the scope of the application.

The invention aims to solve the problems that a fast moving target is observed, a picture of the moving target can be always captured, and a motion track is recorded. The observer can cause the problem of inaccurate tracking when no obvious guiding information is provided, and the observation target disappears in the picture.

The embodiment of the invention provides a method for remotely and wirelessly guiding infrared detection equipment to observe a plurality of moving targets. The hardware equipment needed by the invention is as follows:

(1) An infrared detection device such as an infrared camera or an infrared telescope. The device is used for capturing infrared radiation of a moving object and converting the infrared radiation into a visual image or data;

(2) Cell phone or computer: the remote control terminal has Wi-Fi connection function and online map function;

(3) A signal transmitter: the signal transmitting terminal is bound with a moving target to be observed and has a remote Wi-Fi connection function.

Example 1

As shown in fig. 1, a flow chart of a method for remotely and wirelessly directing an infrared vision measurement device to observe a plurality of moving objects includes steps S1-S3, as shown in fig. 1.

Step S1, acquiring real-time position information of a plurality of moving targets by using a signal transmitting terminal, and wirelessly transmitting the position information of the plurality of moving targets to a single infrared observation device;

Step S2, the infrared detection equipment calculates the direction angles and the distances between the plurality of moving targets and the infrared detection equipment based on the position information of the plurality of moving targets and the position information of the infrared detection equipment, and transmits video stream images comprising vernier caliper images and infrared images of the plurality of moving targets and the position information back to the remote control terminal;

and step S3, the remote control terminal adjusts the moving direction, position and focal length of the infrared detection device in real time based on the remote control of the video streaming image, and draws a plurality of moving target motion tracks on a map of the remote control terminal based on the direction angle, the distance and the plurality of moving target position information.

Step S1 specifically:

comprising steps S11-S12.

Step S11, binding a plurality of signal transmitting terminals with a plurality of moving targets, positioning the moving targets, and acquiring real-time position information of each moving target;

the signal transmitting terminals are bound with the moving targets, the relation between the signal transmitting terminals and the moving targets is 1 to 1, and the signal transmitting terminals and the moving targets can be fixed by rivets, binding and fixing, magnetic attraction and fixing or adhesive fixing, and no matter which fixing mode is adopted, the signal transmitting terminals are ensured to be firmly fixed on the moving targets, so that the situation that looseness or falling off is avoided in the observation process is avoided. Meanwhile, attention is paid to the physical interaction between the signal transmitting terminal and the moving target, so that the fixing mode is ensured not to have adverse effect on the movement and performance of the moving target.

The signal transmitting terminal opens the positioning system in real time, and a plurality of moving targets are positioned in the moving process to acquire the position information of the signal transmitting terminal, namely the position information of the moving targets. The signal transmitting terminal equipment obtains the position information of the signal transmitting terminal itself, including longitude, latitude and altitude value information, through a GPS (Global Positioning System) carried by the signal transmitting terminal equipment or a Beidou navigation system satellite positioning technology.

And step S12, connecting a plurality of signal transmitting terminals with a single infrared detection device, and connecting a remote control terminal with the infrared detection device in a wireless way.

Including steps S121-S122.

Step S121, a plurality of signal transmitting terminals are connected with a single infrared detection device.

As shown in fig. 2, the connection mode of the wireless Wi-Fi in the present invention:

as shown in fig. 2, a plurality of signal transmitting terminals guide the infrared image sensing device to observe a target. The signal transmitting terminal has a remote Wi-Fi connection function, opens the WLAN, and is in wireless connection with the infrared detection equipment. A Wi-Fi hot spot is preset in the infrared observation equipment, and a plurality of signal transmitting terminals are connected with the hot spot through scanning, so that communication connection is established.

The infrared detection device can accurately observe the target and adjust the observation angle and distance in real time to meet the observation requirement by simultaneously receiving the position information of a plurality of moving targets through a multi-sensor fusion technology under the scene of the moving targets and integrating the information. The multi-sensor fusion technology integrates information acquired by different sensors, so that the accuracy of a plurality of moving targets is improved.

It should be noted that: the performance and processing power of infrared viewing devices may have an impact on the ability to simultaneously view multiple targets, and more complex multi-moving target tracking and viewing scenarios require higher performance infrared sensing devices. When the infrared observation equipment is selected, the proper model and configuration are determined according to the actual requirements and the expected application scene.

Step 122, a single remote control terminal is connected with a single infrared detection device.

As shown in fig. 2, the remote control terminal (mobile phone or computer) establishes a wireless connection with the infrared detection device, specifically:

A single remote control terminal (namely a single mobile phone or a computer) opens a WLAN, is connected with a single infrared observation device, and uses an AP mode of Wi-Fi as an information calculation hub;

the specific connection steps may be different due to the type and brand of the infrared observation equipment, and in actual operation, reference may be made to a user manual of the infrared detection equipment or a connection guide provided by a manufacturer, so that it is the basis of the present invention to ensure successful connection between the signal transmitting terminal and the mobile phone or the computer and the infrared detection equipment.

In the invention, the remote terminal is a mobile phone or a computer, and the wireless Wi-Fi WLAN function of the mobile phone or the computer is utilized to connect with the hot spot of the infrared observation equipment. After the connection is successful, the mobile phone displays Wi-Fi names of the infrared detection equipment.

The remote control terminal opens a special mobile phone app or a computer application program, receives image data of RTSP (Real Time Streaming Protocol, real-time streaming) transmitted to the mobile phone or the computer by the infrared detection device, and receives position information in the moving process of a moving target sent by the plurality of signal transmitting terminals detected by the infrared detection device. And the remote control terminal (mobile phone or computer) performs video stream image observation and analysis of the infrared image and performs plane display of the motion trail of the moving target.

Step S13, the plurality of signal transmitting terminals wirelessly transmit the position information of each moving target to the infrared observation equipment;

each signal transmitting terminal obtains longitude, latitude and altitude value information of the bound mobile target position and sends the information to the infrared observation equipment in the form of a JSON (JavaScript Object Notation, JS object) data packet. And transmitting the JSON data packet to the infrared observation equipment through a Wi-Fi network. The infrared detection device receives and analyzes the data packet, and stores the target position information into the internal memory of the infrared observation device.

Specifically:

the first step: the signal transmitting terminals are connected with the infrared detecting equipment Wi-Fi, so that normal communication is kept.

And a second step of: each signaling terminal generates the longitude, latitude and altitude value information of the bound mobile target position information into a JSON data packet form, such as { "mode": "pctest", "command": "convertoPara", "tar_longitude": "120", "tar_latitude": "30", "tar_latitude": "10 }, wherein the colon is preceded by an attribute name, the colon is followed by an attribute value, and tar_ longitude, tar _latitude and tar_latitude respectively represent longitude, latitude and altitude values. mode is the device ID (IDentity) of the signal transmitting terminal, each device ID being unique for identifying data of a plurality of moving objects transmitted back by a plurality of signal transmitting terminals.

And a third step of: the infrared detection device receives and analyzes the JSON data packets, receives a plurality of JSON data packets which are sent by the signal transmitting terminal and contain the position information of the moving targets, analyzes longitude, latitude and altitude value information data in the position information of each moving target, and stores the longitude, latitude and altitude value information data in a memory of the infrared observation device.

Step S2 specifically:

the infrared detection device is internally integrated with a processor or a chip, and can complete data processing and calculation tasks to a certain extent. The design enables the infrared detection device to be more intelligent, achieves some real-time calculation and analysis functions, such as calculation of direction angles and distances, fusion of video streams, storage and transmission of data and the like, and improves data processing efficiency and reduces dependence on other external devices due to the calculation capability of the infrared observation device.

This step includes steps S21-S22.

And S21, the infrared detection equipment acquires own position information in real time.

The infrared detection device obtains the position information of the infrared detection device, including longitude, latitude and altitude value information, through a GPS (Global Positioning System) or Beidou navigation system satellite positioning technology carried by the infrared detection device, and the position information is stored in a memory of the infrared observation device.

The first step: the infrared detection device is ensured to have a positioning function, whether the GPS or the Beidou navigation system satellite positioning is carried or not is determined, and the infrared detection device is carried with the GPS or the Beidou navigation system satellite positioning and is the basis of the step;

and a second step of: opening the positioning function of the infrared observation equipment;

and a third step of: the GPS or Beidou navigation system can directly acquire longitude, latitude and altitude value information of the infrared detection equipment, and the information is displayed on a screen of the infrared detection equipment in a digital form or is found in a setting menu.

Fourth step: and recording the position information of the self. And recording longitude, latitude and altitude value information of the infrared observation equipment, and storing the information into a memory of the infrared observation equipment.

The infrared detection device moves and observes the target according to the guidance of the remote control terminal, and the position information of the infrared detection device is acquired in real time.

And S22, the infrared detection equipment calculates the direction angle and the distance between each moving target and the infrared detection equipment in real time based on the real-time position information and the position information of the moving target.

The direction angle represents a directional relationship between the infrared observation device and the moving target position to be observed.

The infrared observation device calculates the direction angle and distance between the infrared observation device and the moving target by using the self position information (longitude, latitude and altitude values) and the received position information of the moving target.

Step 221: the direction angle α between the infrared observation device and each moving object to be observed is calculated.

Step 222: the distance D between the infrared observation device and each moving object to be observed is calculated using gaussian projection coordinates.

The specific calculation method in step S221 is as follows, and the calculation method is adopted for each direction angle of the moving object and the infrared detection device:

1) The longitude, latitude and altitude values of the infrared observation device are expressed as (lon_i, lat_i, alt_i), and the longitude, latitude and altitude values of the moving target to be observed are expressed as (lon_t, lat_t, alt_t);

2) The longitude difference value is calculated using the longitude value, and the latitude difference value is calculated using the latitude value, as shown in formulas (1) - (2).

Δlon＝lon_t-lon_i (1)

Δlat＝lat_t-lat_i (2)

Wherein Δlon is a longitude difference value, Δlat is a latitude difference value, lon_t is a moving target longitude, lon_i is an infrared detecting device longitude, lat_t is a moving target latitude, and lat_i is an infrared detecting device latitude.

3) The latitude and longitude differences are converted into radians as shown in formulas (3) - (4):

Δlon_rad＝Δlon_t×π/180 (3)

Δlat_rad＝Δlat_t×π/180 (4)

wherein Δlon_rad is a longitude difference value expressed in radian, Δlat_rad is a latitude difference value expressed in radian, Δlon_t is a longitude difference value, and Δlat_t is a latitude difference value.

4) The horizontal distance HD of the moving target position with respect to the infrared observation device is calculated as shown in equation (5).

HD＝R×arccos(sin(lat_i)×sin(lat_t)+cos(lat_i)×cos(lat_t)×cos(Δlon_rad)) (5)

Where R is the earth radius, suitable values may be selected, for example, using an average radius of 6371KM.

5) The vertical distance h of the moving target position with respect to the infrared observation device is calculated as shown in formula (6).

h＝alt_t-alt_i (6)

6) The direction angle α is calculated as shown in formula (7).

α＝atan2(h，HD) (7)

The direction angle α represents the direction in which the infrared sensing device points to the moving target position, and is expressed as an angle with respect to the north direction. The direction angle is expressed in degrees and is marked relative to the north direction, and when the angle is 0 DEG, the direction angle points to the north direction, so that an observer can quickly judge the direction.

The specific calculation of the distance between each mobile device and the infrared observation device in step S222 is as follows, and the method is adopted for calculating the distance between each mobile object and the infrared observation device:

and calculating the distance between the infrared observation equipment and the position of the moving target by using Gaussian projection coordinates.

The longitude and latitude in the position information of the infrared detection equipment and the longitude and latitude in the position information of the moving target are converted into Gaussian plane rectangular coordinates respectively as (x) _{Apparatus and method for controlling the operation of a device} ,y _{Apparatus and method for controlling the operation of a device} ) And (x) _{Target object} ,y _{Target object} )。

Using the Pythagorean theorem, the distance between the infrared observation device and the moving target position is as shown in formula (8):

distance is expressed in meters.

Another calculation method may be adopted, that is, the distance between the infrared observation device and the target position is obtained by using the horizontal distance HD of the moving target position in step S221 with respect to the infrared observation device and the vertical distance h between the two, and using the pythagorean theorem, as shown in formula (9):

and S23, displaying the direction angle and the distance on the infrared observation equipment in real time, and transmitting back video stream images comprising vernier caliper images and moving target infrared images and position information of the moving target to the remote control terminal.

As shown in fig. 3 (a), in the vernier caliper of the infrared observation device, the vernier caliper is in a horizontal line shape, and is marked with scales and marks for visually displaying the direction angle and the target position on the infrared observation device in real time. Fig. 3 is a view showing the direction angle and distance exhibited by a single moving object on a vernier caliper of an infrared observation device.

The direction angle and distance values of each moving target and the moving infrared observation equipment are calculated in real time and displayed on a display screen of the infrared observation equipment in real time, so that an observer can intuitively know the direction relationship and distance relationship between the infrared observation equipment and each moving target position. Fig. 3 is a schematic representation of the vernier caliper displaying the direction angle and distance in real time, but not the actual representation on the infrared observation device.

Specifically:

the first step: setting a starting point and a scale mark. And a starting point is arranged at the central position of the vernier caliper and used for indicating the direction angle of the infrared observation equipment, wherein the degree is 0 degrees, namely the vernier caliper points to the north direction. And scale marks are arranged on the left side and the right side of the vernier caliper according to the field angle range of the infrared observation equipment, and represent the direction angle range which can be observed by the infrared observation equipment, wherein the direction angle unit is degree.

And a second step of: the O and Q points are shown.

An O point is marked on the vernier caliper to indicate the forward direction of the infrared detection device. And the electronic compass of the infrared monitoring equipment calculates and displays the electronic compass according to the orientation of the lens of the infrared monitoring equipment.

A Q point is marked on the vernier caliper, and the direction angle corresponding to the position of the moving target with respect to the infrared detection device is indicated, and as shown in fig. 3 (a), the direction angle corresponding to 20 degrees below the Q point is indicated.

And a third step of: and updating the Q point position in real time.

And updating the position of the Q point in real time according to the position information of the moving target received by the infrared detection equipment and the calculated direction angle.

When the Q point position and the O point position are coincident, the direction angle between the infrared observation equipment and the moving target position is 0 degrees, and the infrared detection equipment is aligned to the moving target, namely the directions of the two are completely coincident;

If the O point is within the angle of view of the infrared observation device, displaying the O point on a vernier caliper; otherwise if not within the field angle, stay at the boundary as shown in fig. 3 (b). The direction angle information is updated in real time.

Fourth step: and displaying distance information, and adding a distance display on the Q point of the vernier caliper to display accurate record between the infrared observation equipment and the moving target position. The distance data is updated and displayed in real time. As shown in fig. 3 (a), 500m marked beside the Q point is a distance value.

Fifth step: and the infrared detection equipment returns the video stream images in real time to the remote control terminal.

The infrared detection device stores the video stream image in real time, and returns the video stream image to the mobile phone or the computer through the RTSP technology, so that a director can receive and see the video stream image through the mobile phone or the computer.

The video stream image includes: and returning the vernier caliper image and the infrared image of the target position in real time, wherein the infrared image of the target position is a moving target image observed by using infrared measuring equipment. The direction relation and the distance condition between the infrared observation equipment and the moving target position can be known by the instructor through observing the video stream image returned in real time.

The position information of the moving targets is longitude, latitude and altitude values of each moving target transmitted back at certain intervals. At intervals, defined according to the specific application requirements and the characteristics of the moving object.

1) If real-time tracking is required: if the moving track of the moving target needs to be tracked in real time and the real-time requirement on the track is high, a shorter time interval can be selected, such as position information is returned every second;

2) If resource conservation is considered: if resource conservation is desired, the amount of data transmission is reduced, a longer time interval may be selected, such as transmitting back location information once per minute;

3) Comprehensive balance consideration: generally, a time interval of 5 seconds to 30 seconds is a relatively common time interval, and a balance between real-time performance and resource consumption can be achieved.

Step S3 specifically:

comprising steps S31-S32.

And step S31, the remote control terminal adjusts the moving direction, position and focal length of the infrared detection equipment in real time based on the remote control of the video stream image so that each moving target is in the field of view of the infrared observation equipment.

The remote control terminal data analyzer receives the video stream image returned by the infrared detecting device in real time through the remote control terminal mobile phone app or the computer application program, and comprises the following steps: and storing the vernier caliper image and the infrared image of the target position on a mobile phone memory or a computer hard disk, observing in real time, and guiding and adjusting in real time according to the observation result.

The infrared image is continuously observed by a director of the remote control terminal, and the infrared image can be remotely guided by the technology in the static observation or the moving observation process of the infrared detection device so as to accurately observe the target position.

The first step: and displaying the vernier caliper in real time. And a director of the remote control terminal observes the vernier caliper image and the infrared image of the target position, which are transmitted back in real time by the infrared appearance testing device, on a mobile phone or a computer through an application program, analyzes the direction angle and the distance of the vernier caliper, and observes the details of the infrared image of the target and the target position.

And a second step of: the video stream image is analyzed. The instructor of the remote control terminal determines the accuracy, visibility and definition of the target position according to the video stream image. According to the representation of the target position in the video stream image, the instructor judges whether the direction, the position and the focal length of the infrared observation equipment need to be adjusted so as to ensure that each moving target is in the visible range of the infrared observation equipment.

(1) Judgment of visibility: in the vernier caliper image, if the Q point is at the boundary, the Q point is invisible, otherwise, the Q point is visible, and the direction of the infrared observation equipment needs to be adjusted;

(2) Judging accuracy: the remote video stream data display can transmit the real-time image of the infrared observation equipment back to the mobile phone or the computer to judge whether the guiding target is the same target. For example, the map can only indicate a general direction, and a specific coordinate can be found through a real-time image.

(3) Determination of definition:

and a third step of: guiding and adjusting in real time. If the target position is inaccurate, invisible or unclear in the video stream image, the instructor communicates with the infrared detection device in real time through the application program of the mobile phone or the computer to provide guiding and adjusting instructions. The instructor sends instructions to the observer through the application program, adjusts the relevant parameters of the direction, the position or the focal length of the infrared observation equipment, and optimizes the observation of the target position. For example, the guiding object points to a building in a building group, and a second accurate judgment is required by a guiding person.

Fourth step: feedback and confirmation in real time.

And the observer adjusts in real time according to the real-time guiding instruction of the instructor, and returns the vernier caliper image and the position image of the infrared target.

And adjusting the infrared observation equipment to ensure that each moving target can be clearly seen by changing the observation angle, focusing and the field angle in the visible range of the infrared equipment. And then all moving targets (including targets not in the observation range) are sent to a remote control terminal (mobile phone or computer) to carry out data statistics and dynamic moving track display on all moving target tracks.

As shown in fig. 3 (a) and (b), the target position remains unchanged, the infrared observation device observes the P target position at the coordinate 1, then moves to the coordinate 2 to observe the P target position, and the vernier caliper changes in real time to display the target direction and distance from the infrared observation device. In the moving process of the infrared detection device, the target is clearer, the remote continuous guidance of the instructor is realized, and the observer adjusts the direction, the position and the focal length of the infrared detection device according to the image result observed in real time so as to accurately and clearly observe the target.

And step 32, drawing the motion trail of the moving target on a map of the remote control terminal based on the direction angle, the distance and the plurality of moving target position information.

Including steps S321-S322.

And S321, the remote control terminal displays the position information of a plurality of moving targets in real time through the map function of a mobile phone or a computer, and draws dynamic track diagrams of the plurality of moving targets.

The first step: the remote terminal mobile phone or the computer is connected with the infrared measuring instrument to keep normal communication.

And a second step of: in the process of moving a plurality of moving targets, the longitude and latitude and altitude values of the target position of the signal transmitting terminal and the longitude and latitude/altitude value information of an infrared measuring instrument are used for generating JSON data packets, such as { "mode": "pctest", "command": "convertPara", "tar_longitude":120 "," tar_latitude ": 30", "tar_latitude": 10 "," self_longitude ": 120", "self_latitude":30 "," self_latitude ":10}, wherein the front of a colon represents an attribute name and the back of the colon represents an attribute value. tar_ longitude, tar _latitudes and tar_altitudes represent the longitude, latitude and altitude values of the signal transmitting end, respectively. self longitude, self _latitudes and self_alitues represent the infrared instrumentation longitude, latitude and altitude values, respectively. mode is the instrument number of the signal transmitting terminal and is used for identifying the data of a plurality of signal transmitting terminals.

And a third step of: the mobile app or computer application receives and parses JSON packets. The mobile phone app or the computer application program performs information interaction through a network, receives a JSON data packet which is sent by the infrared detection device and contains the position information of the moving target, and analyzes the longitude, latitude and altitude value information data of the moving target position and the infrared observation device.

Fourth step: and generating a dynamic motion track of the moving target on a map of the mobile phone app or a computer map application program according to the moving target position and longitude, latitude and altitude value information data of the infrared observation equipment.

And step S322, drawing the motion trail of the plurality of moving targets on a map of the remote control terminal based on the position information by combining the direction angle and the distance.

And combining the motion trail of the moving target with the direction angle and the distance to more comprehensively display the motion process and the position information of the moving target. And marking the direction and the relative position of the moving target on the moving track by combining the direction angle and the distance, recording the moving range, and carrying out real-time monitoring and tracking, movement data analysis and trend prediction.

The method comprises the following steps:

1) Direction angle: and drawing an arrow or an indication mark at each position point of the moving track according to the information of the direction angle, and representing the direction of the moving target. The direction of the arrow is consistent with the direction angle, and different colors or patterns can be used for distinguishing the directions of different time points;

2) And (3) distance marking: and marking the distance between the moving target and the infrared detection device on a proper position point on the moving track of the moving target. The distance value can be displayed in a text form on the map, or a line segment is drawn to connect the moving target position and the starting position to represent the distance;

3) Distance scale: and a scale is added on the map of the remote control terminal, so that the corresponding relation between the actual distance and the distance on the map can be more intuitively known. The scale can be adjusted according to the zoom level of the map, so that accurate representation of the distance is ensured;

4) Dynamic display of motion trail: if the motion position information of the moving target at a plurality of time points exists, the track can be displayed as a dynamic effect, and the motion process of the moving target is presented in an animation form. The moving direction and the path of the moving object can be more clearly represented by combining the direction angle and the distance information in the animation.

Comprehensive application of the direction angle, the distance and the movement track can provide comprehensive movement information, and help better understand the movement track and the position relation of the moving target.

Drawing moving tracks of a plurality of targets on a map of a remote control terminal, recording the moving ranges of the plurality of moving targets based on the moving tracks, performing real-time monitoring and tracking of the plurality of moving targets, and performing moving data analysis and trend prediction of the plurality of moving targets.

By the method, an observer can observe the fast moving targets, capture moving pictures in real time, transmit the moving pictures to a director of a remote terminal in real time, record the tracks of the fast movement of a plurality of moving targets, and realize the convenience, flexibility and accuracy of remote guidance and control. The method provides a new method for infrared observation and multiple moving target observation guidance, can be applied to multiple service fields (such as fields of army and civil fusion, rescue and relief, forest fire prevention, animal tracking and the like), and has wide application prospect and practical application value.

Example two

By way of example, the moving object may be a group of pandas in a natural protection area. For the remote observation of a group of pandas, the following steps and configuration of the infrared observation device may be employed:

1) Determining an observation area, namely determining an area of panda activity, which can be a forest, a natural protection area or a wild animal habitat;

2) The binding signal transmitting terminal is a panda binding signal transmitting terminal which is observed whenever;

3) According to the topography of the observation area and the activity habit of the pandas, an observer holds the infrared observation equipment to move and observe, and the signal transmitting terminal transmits the pandas position information to the infrared observation equipment in real time;

4) And setting parameters of infrared observation equipment, wherein the parameters comprise a field angle, an observation range, resolution, trigger sensitivity and the like of the infrared observation equipment according to observation requirements. The setting of parameters will affect the observation effect and sensitivity of the device;

5) The wireless connection communication ensures that a plurality of signal transmitting terminals are in wireless connection with a single infrared detection device, a remote control terminal (a mobile phone or a computer) is in wireless connection with the infrared detection device, and observation data and receiving device states are transmitted through a wireless network;

6) Observing the movement of the pandas in real time, shooting or recording the movement of the pandas, and adjusting the direction, the position and the focal length of the infrared observation device according to the movement of the pandas, so that each moving pandas is ensured to be in the visible range of the infrared observation device.

7) Recording and analyzing data, wherein the data collected by the infrared detection equipment are recorded and stored in an equipment memory, and transmitting back a plurality of panda moving video stream images and position information to a remote control terminal, wherein the remote control terminal draws the dynamic moving track of each moving panda, and the remote control terminal checks and analyzes the dynamic moving track;

8) And the remote guidance is realized, and through the remote control terminal, a director can observe and observe the returned data in real time, and remotely adjust and guide the infrared detecting device according to the actual service requirement so as to obtain more accurate observation results.

Through the steps, the infrared observation equipment can realize remote observation of a group of pandas (the number of the pandas is preferably not more than 10 in order to ensure the observation effect), and valuable data and information are provided for researching and protecting the pandas.

Those skilled in the art will appreciate that all or part of the flow of the methods of the embodiments described above may be accomplished by way of a computer program to instruct associated hardware, where the program may be stored on a computer readable storage medium. Wherein the computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.

The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. A method of remotely wirelessly directing an infrared vision measurement device to view a plurality of moving objects, comprising the steps of:

acquiring real-time position information of a plurality of moving targets by using a signal transmitting terminal, and wirelessly transmitting the position information of the plurality of moving targets to a single infrared observation device;

the infrared detection equipment calculates the direction angle and the distance between each moving target and the infrared detection equipment based on the position information of each moving target and the position information of the infrared detection equipment, and transmits a video stream image comprising a vernier caliper image and a plurality of moving target infrared images and the position information back to the remote control terminal;

and the remote control terminal adjusts the moving direction, position and focal length of the infrared detection device in real time based on the video stream image remote control so that each moving target is in the field of view of the infrared observation device, and draws the dynamic moving tracks of the moving targets on a map of the remote control terminal based on the direction angle, the distance and the position information of the moving targets.

2. The method of observing a plurality of moving objects according to claim 1, wherein acquiring real-time location information of the plurality of moving objects using the signal transmitting terminal comprises:

Binding a plurality of signal transmitting terminals with a plurality of moving targets one by one, positioning a plurality of the moving targets, and acquiring real-time position information of each moving target;

the real-time position information of each moving target comprises longitude, latitude and altitude value information of each moving target.

3. The method of observing a plurality of moving objects according to claim 2, wherein wirelessly transmitting the plurality of moving object location information to a single infrared observation device is:

generating a plurality of JSON data packets according to the longitude, latitude and altitude value information of the position information of the plurality of moving targets, wherein each moving target corresponds to one JSON data packet at the same moment; the JSON data packet is distinguished by using the device ID of the signal transmitting terminal;

and the infrared detection equipment receives and analyzes the plurality of JSON data packets according to time sequence, analyzes longitude and latitude and altitude values of each moving target, and stores the longitude and latitude and altitude values in a memory of the infrared observation equipment.

4. A method of observing a plurality of moving objects according to any one of claims 1 to 3, wherein the infrared sensing device calculates the direction angle and distance of each moving object to itself based on each moving object position information and own position information.

5. The method of observing a plurality of moving objects according to claim 4, wherein calculating in real time the real time direction angle of each moving object to the infrared observation device is:

acquiring the self-position information of the infrared detection equipment in real time; the infrared detection equipment self-position information comprises longitude, latitude and altitude value information;

acquiring a longitude value difference and a latitude value difference between each moving target and the infrared detecting device based on the real-time longitude value and the latitude value of each moving target and the longitude value and the latitude value of the infrared detecting device;

converting the longitude value difference and the latitude value difference into an radian system;

calculating a real-time horizontal distance HD of each moving target relative to the infrared observation equipment, wherein the formula is as follows:

HD＝R×arccos(sin(lat_i)×sin(lat_t)+cos(lat_i)×cos(lat_t)×cos(Δlon_rad))

wherein R is the earth radius, lat_i is the latitude of the infrared observation equipment, lat_t is the longitude and latitude of each moving target to be observed, and Deltalon_rad is the longitude value difference converted into radian;

calculating the vertical distance h of the position of the moving target relative to the infrared observation equipment, wherein the formula is as follows:

h＝alt_t-alt_i

wherein alt_t is the altitude value of each moving target, alt_i is the altitude value of the infrared detection device;

based on the real-time horizontal distance and the real-time vertical distance, calculating to obtain a real-time direction angle, wherein the formula is as follows:

α＝atan2(h，HD)

Wherein alpha is a real-time direction angle, h is a real-time vertical distance, and HD is a real-time horizontal distance.

6. The method of observing a plurality of moving objects according to claim 5, wherein calculating in real time the real time distance of each moving object from the infrared sensing device is:

converting longitude and latitude in the position information of the infrared detection equipment and longitude and latitude in the position information of each moving target into Gaussian plane rectangular coordinates by utilizing Gaussian projection coordinates;

the real-time distance between the infrared observation equipment and each moving target is calculated by using the Pythagorean theorem, and the formula is as follows:

wherein D is the distance of each moving object from the infrared sensing device, (x) _{Apparatus and method for controlling the operation of a device} ,y _{Apparatus and method for controlling the operation of a device} ) And (x) _{Target object} ,y _{Target object} ) Is the rectangular coordinates of the Gaussian plane of the infrared observation equipment and each moving object.

7. The method of observing a plurality of moving objects of claim 6 wherein the remote terminal adjusting in real time the direction, position, and focal length of movement of the infrared sensing device based on the video streaming image remote control comprises:

according to the video stream images received by the remote control terminal, analyzing the direction angles and the distances corresponding to the plurality of moving targets, and observing and analyzing infrared images of the moving targets;

And judging the visibility, accuracy and definition of the plurality of moving targets, judging whether each moving target is in the field of view of the infrared observation equipment, and adjusting the direction, the position and the focal length of the infrared observation equipment in real time.

8. The method of observing a plurality of moving objects of claim 1 wherein drawing the plurality of moving object dynamic motion trajectories on a map of the remote control terminal based on the direction angle, the distance, and a plurality of moving object position information comprises:

the remote control terminal displays the position information of a plurality of moving targets in real time through the map function of a mobile phone or a computer;

and drawing dynamic motion tracks of the plurality of moving targets on a map of the remote control terminal based on the position information by combining the direction angle and the distance, and carrying out real-time monitoring and tracking on the plurality of moving targets.

9. The method of observing a plurality of moving objects of claim 8, comprising:

drawing arrow indication marks at each position point of a dynamic moving track of the moving object based on the direction angle of each moving object, representing the direction of the moving object, wherein the arrow direction is consistent with the direction angle, and distinguishing the direction angle directions of different time points by using different colors or patterns;

Labeling the distance between the moving target and the infrared detecting device on the position point of the moving track of each moving target;

adding a scale on the map of the remote control terminal, and visually checking the corresponding relation between the actual distance and the distance on the map;

and (3) moving position information of each moving object at a plurality of times, wherein the drawn moving track is a dynamic moving track.

10. The method of observing multiple moving objects according to claims 1-9, wherein the plurality of signal transmitting terminals establish wireless connections with the single infrared sensing device, and wherein the single remote control terminal wirelessly connects with the single infrared sensing device comprises:

the single remote control terminal opens WLAN, is connected with a single infrared observation device, and the infrared observation device uses Wi-Fi AP mode as an information calculation hub;

the plurality of signal transmitting terminals have a remote Wi-Fi connection function, the WLAN is opened to be in wireless connection with the infrared observation equipment, a Wi-Fi hot spot is preset in the infrared observation equipment, and the plurality of signal transmitting terminals are connected with the hot spot through scanning, so that communication connection is established.