CN101694363A - Target scoring method based on camera and system thereof - Google Patents

Abstract

The invention discloses a target scoring method based on a camera and a system thereof. The target scoring method includes steps of utilizing at least two camera heads, shooting images on the side of a bullet entering a target along a direction parallel to the target surface respectively, acquiring imaging pixel positions of the images in the corresponding camera head respectively according to shot images of at least two sides of the bullet entering the target, operating and generating a position of the bullet shooting on the target surface according to the acquired pixel positions, and finally outputting information of the bullet shooting the target surface. By aid of the target scoring method, the position of the bullet entering the target surface is acquired, thereby achieving an automatic target scoring system with high precision, high resolution ratio and high velocity.

Description

A kind of target scoring method and system based on video camera

Technical field

The present invention relates to a kind of scoring round target device that small arms firing is used that relates to, especially shoot a kind of target scoring method and system based on video camera.

Background technology

At present, in gunnery training and match, the automatic target-indicating technology of use is mainly acoustics automatic target-indicating, video automatic target-indicating and the indication of shots of light curtain.

The acoustics indication of shots utilizes and to obtain signal that the aloft shock wave of bullet or bullet produce the disturbance of air and carry out the measuring and calculating of point of impact and location.Acoustical signal mode when the sound target obtains bullet and passes target surface has two kinds: a kind of is that the operatic tunes is open; Another kind is an operatic tunes closed.But because the inspection target principle of sound target is influenced by the physical environment of the air velocity of sound, as humidity, temperature etc., therefore no matter the sound target that detects in any mode, its indication of shots error be big (an about caliber) all, and has problems such as poor reliability, accuracy of detection are low, operating cost height.

The video target is positioned at the long focal length lens camera on ejaculator next door, and target surface is placed viewing field of camera, and the shell hole centre coordinate that utilizes image processing method to obtain on the target surface detects.But this scheme is to the stability requirement height of camera location, because focal length is long, in case camera has slight moving, target surface just can't be seen in the visual field.Two, the target surface shell hole is in a single day more and more, and perhaps shell hole overlaps, and then only relies on image to handle and can't obtain the bullet accurate coordinate.

Also having class inspection target technology is " light curtain target ".Wherein divide and to be divided into two kinds of directional light curtain (net) and sector optical curtains by detection mode.For parallel light veil type, the cost of making the directional light curtain is high, can't popularize, and be not suitable for using in the adverse circumstances of shooting range; Secondly, for directional light net formula, a large amount of light sources need be aimed at irradiation one by one with corresponding photosensitive tube receiver, debugging work load is very big, and is difficult in maintenance, and because the bulk factor of light source and receiver, can't put it abundant, the precision that causes detecting the bullet position be not high enough.

The principle of sector optical curtain is: place several fan-shaped LASER Light Sources in the diagonal positions of target surface, place abundant photosensitive tube receiver around the target surface, when bullet passes sector optical curtain, sector optical curtain produces natural projection to it, and produce corresponding optical signal, calculate coordinate figure by the mathematical relationship of view field and true bullet position.But this scheme remains to be investigated.The first, the life-span of laser instrument is very limited, is not adapted at adverse circumstances and works long hours.The second, the threshold value of photosensitive tube is at a time fixed, and we know, the performance of laser instrument is along with the growth of service time descends, and long-time use then makes light intensity descend, and adds the influence of surrounding environment light, so many photosensitive tube threshold value needs often to adjust, and workload is very big.The 3rd, can only adopt binaryzation standard (non-0 1) when judging the bullet projection scope, though this simplifies much the signal treating capacity, but reduced precision, can't make accurate judgement to the dark position of Fei Mingfei.The 4th, the coplanar degree of sector optical curtain and photosensitive tube requires too high, and in a single day sector optical curtain has reclining, and photosensitive tube can't receive photosignal.The 5th, can only rely on the increase covering of the fan number of plies to improve precision, increased the loaded down with trivial details of cost and practical operation unintentionally.

Summary of the invention

The invention provides a kind of target scoring method and system, be used to obtain the position that the target surface neutron bomb enters target surface, realize automatic target-indicating based on video camera.

One of purpose of the present invention is, a kind of target scoring method based on video camera is provided, and this method comprises: adopt at least two cameras, and along the direction parallel with target surface, the image of bullet one side when absorbing bullet respectively and going into target; At least two side images of the bullet when going into target according to the bullet of picked-up obtain the location of pixels of this image imaging in corresponding camera respectively; Calculate the position that generates the described target surface of bullet hits according at least two location of pixels that obtain; Positional information output with the described target surface of described bullet hits.

One of the object of the invention is, a kind of hit telling system based on video camera is provided, and this system comprises: at least two cameras, described camera towards parallel with described target surface, be used for along the direction parallel the image of bullet one side when absorbing bullet respectively and going into target with target surface; The pixel deriving means is used at least two side images according to the bullet of bullet when going into target of picked-up, obtains the location of pixels of this image imaging in corresponding camera respectively; Middle target position generating apparatus is used for calculating the position that generates these target surfaces of bullet hits according at least two location of pixels that obtain; The indication of shots information output apparatus is used to export the positional information of described this target surface of bullet hits.

Beneficial effect of the present invention is, obtains the position that the target surface neutron bomb enters target surface, realizes high accuracy, high-resolution, high-speed automatic scoring round target system.

Description of drawings

Fig. 1 is principle of the invention figure;

Fig. 2 is the inventive method workflow diagram;

Fig. 3 is the embodiment of the invention one schematic diagram;

Fig. 4 divides schematic diagram for target surface of the present invention zone;

Fig. 5 is camera location of pixels of the present invention and a plurality of target surface zone corresponding relation figure;

Fig. 6 is a system architecture diagram of the present invention;

Fig. 7 is the embodiment of the invention two schematic diagrams.

The specific embodiment

For making the purpose, technical solutions and advantages of the present invention clearer, the embodiment of the invention is further elaborated below in conjunction with Figure of description.At this, illustrative examples of the present invention and explanation thereof are used to explain the present invention, but not as a limitation of the invention.

As shown in Figure 1, during the P point of the scoring ring 101 of target 100, can calculate the position of P point on target 100 by the following method in the group attack:

Determine the size of target 100, can be the square target that length of side L is 700mm as target 100.

With A is the summit, obtains the value of the ∠ PAE in the APE zone in the target 110, i.e. the value of α.

With B is the summit, obtains the value of the ∠ PBF in the BPF zone in the target 110, i.e. the value of β.

With C is the summit, obtains the value of the ∠ PCG in the CPG zone in the target 110, i.e. the value of δ.With D is the summit, obtains the value of the ∠ PDH in the PDH zone in the target 110, i.e. the value of η.The above-mentioned method of obtaining angle α, β, δ, η value comprises: the method for actual measurement.The computational methods one of P point position:

$\left\{\begin{array}{c}\tan \mathrm{\α}=\frac{\mathrm{PE}}{\mathrm{AE}};\\ \tan \mathrm{\β}=\frac{\mathrm{PE}}{\mathrm{BE}};\\ \mathrm{AE}+\mathrm{BE}=\mathrm{AB};\end{array}\right.---\left(1\right)$

Because α, β are known, AB=L is known, so through type (1) can draw the value of PE, AE and BE, i.e. y ₁, y ₂And y ₄Value, thereby obtain the position that P is ordered.

The computational methods two of P point position:

$\left\{\begin{array}{c}\tan \mathrm{\α}=\frac{\mathrm{PE}}{\mathrm{AE}};\\ \tan \mathrm{\β}=\frac{\mathrm{PE}}{\mathrm{BE}};\\ \tan \mathrm{\δ}=\frac{\mathrm{GP}}{\mathrm{GC}};\\ \tan \mathrm{\η}=\frac{\mathrm{GP}}{\mathrm{DG}};\\ \mathrm{AE}+\mathrm{BE}=\mathrm{AB};\\ \mathrm{GP}+\mathrm{PE}=\mathrm{BC}\end{array}\right.---\left(2\right)$

Wherein, α, β, δ, η are known, and AB=BC=L is known, so through type (2) formula can obtain the value of PE, AE, BE, GP, DG and GC, i.e. y ₁, y ₂, y ₃, y ₄Value, thereby obtain the position that P is ordered.

Embodiment one

As shown in Figure 2, a kind of target scoring method based on video camera of present embodiment may further comprise the steps: step S201, adopt at least two cameras, and along the direction parallel with target surface, the image of bullet one side when absorbing bullet respectively and going into target; Step S202, the image of at least two bullet sides when going into target according to the bullet of picked-up obtains the location of pixels of described image imaging in corresponding camera respectively; Step S203 calculates the position that generates the described target surface of bullet hits according at least two location of pixels that obtain; Step S204 is with the positional information output of the described target surface of described bullet hits.

With two embodiment the specific embodiment of the present invention is described below with high speed linear array CMOS and fish-eye video camera shooting bullet image.

As shown in Figure 3, have high speed linear array CMOS and fish-eye video camera (603,602) is arranged at two summits of target 300 with two, and make the shooting direction of video camera (301,302) all parallel with the target surface of target 300.

As shown in Figure 4, divide eight radioactive areas on the surface of target 300, these zones are BAC zone, CAD zone, DAF zone, FAE zone, EAG zone, GAH zone, HAI zone and IAJ zone.Obtain the angle value of each regional drift angle, promptly obtain the angle value of ∠ BAC, ∠ CAD, ∠ DAE, ∠ FAF, ∠ FAG, ∠ GAH, ∠ HAI and ∠ IAJ.Pixel in the COMS pixel linear array of video camera 301 is divided into eight pixel groups, sets up the one-to-one relationship in these eight pixel groups and eight radioactive areas according to the relative position in pixel groups and radioactive area.Shown in enlarged drawing among Fig. 4 304, pixel groups P1 is corresponding with corresponding shooting area BAC, and pixel groups P2 and corresponding shooting area CAD are corresponding etc.The corresponding relation of the complete pixel groups that comprises angle value and corresponding shooting area and is stored corresponding relation as shown in Figure 5 as shown in Figure 5.

As shown in Figure 3, the P point of bullet hits target 300, P point position is in the area E AD among Fig. 4, and the pixel groups P3 in the COMS pixel linear array of video camera 301 absorbs a side image of this bullet, can get access to the angle value α of P3 correspondence according to the corresponding relation of Fig. 5 ₃, according to the corresponding region EAD and the angle value α that determine ₃Determine the angle [alpha] among Fig. 3.

In like manner, according to above-mentioned, dividing target with the end points at video camera 302 places is eight radioactive areas, and it is corresponding with the pixel groups in the cmos pixel linear array of video camera 302, this corresponding relation of storage prestores, when bullet was gone into target, the pixel groups Px in the COMS pixel linear array of video camera 302 absorbed another side image of this bullet, and can get access to the angle value β of Px correspondence according to the corresponding corresponding relation of pre-stored _x, according to the pixel corresponding region and the angle value β that determine _xDetermine the angle beta among Fig. 3.

Angle value and trigonometric function relation (as shown in Figure 3) according to α that determines and β:

$\left\{\begin{array}{c}\tan \mathrm{\α}=\frac{y_1}{y_4};\\ \tan \mathrm{\β}=\frac{y_1}{y_2};\\ y_4+y_2=L;\end{array}\right.---\left(3\right)$

Wherein,

L is the length of side of target;

Be the distance of bullet incoming position to each target limit.

Can solve y among Fig. 3 according to formula (3) ₁, y ₂, y ₃, y ₄Value, promptly determine the accurate position that P is ordered.

By two summits at target surface 300 two video cameras are set in the present embodiment, have realized calculating the generation bullet in the position of target surface by the location of pixels of video camera, the positional information that output obtains realizes automatic target-indicating.In the present embodiment target 300 is divided eight zones, specifically implement as required target area to be divided when of the present invention,, realize with indication of shots accurately by dividing more zone.

Embodiment two

As shown in Figure 6, a kind of hit telling system based on video camera of present embodiment comprises: at least two cameras (601,602) are used for along the direction parallel with target surface the image of bullet one side when absorbing bullet respectively and going into target; Pixel deriving means 603 is used for the image according at least two the bullet sides of bullet when going into target of picked-up, obtains the location of pixels of image imaging in corresponding camera respectively; Middle target position generating apparatus 604 is used for calculating the position that generates the described target surfaces of bullet hits according at least two location of pixels that obtain; Indication of shots information output apparatus 606 is used to export the positional information of the described target surface of bullet hits.Described system also comprises: corresponding relation storage device 605 is used to store the one-to-one relationship in camera location of pixels and a plurality of target surfaces zone; Middle target position generating apparatus 604, from the corresponding relation storage device, obtain the target surface area data of bullet hits according to the location of pixels of described image imaging in corresponding camera, and obtain the positional information of bullet hits target surface according to the target surface area data of bullet hits.

Adopt four high speed linear array sensor CMOS and fish-eye camera in the present embodiment, be arranged on the position at four angles of square target, as shown in Figure 7, four cameras are connected with a PC or server.If under the situation of insufficient light, four LED light filling sources can be set at the periphery of square target.Above-mentioned PC or server include pixel deriving means 603 as shown in Figure 6, middle target position generating apparatus 604, corresponding relation storage device 605 and indication of shots information output apparatus 606.

The division principle of target 700 is identical with embodiment one, with each zone and corresponding with the pixel groups of camera (701,702,703,704) of the target 700 divided, and stores the corresponding relation that obtains into corresponding relation storage device 605.

As shown in Figure 7, the P of bullet hits target 700 point.Pixel deriving means 603 obtains camera (701 respectively, 702,703, the location of pixels of the imaging in camera separately of the image when 704) bullet of Pai Sheing is gone into target, according to corresponding relation storage device 605, determine the angle value of angle α, β, δ and the η shown in the figure, the angle value method of angle α, β, δ and η is identical with the method for determining α, β among the embodiment one, is not repeated in this description at this.

Concern (as shown in Figure 7) according to angle value and trigonometric function with angle α, the β, δ and the η that obtain:

$\left\{\begin{array}{c}\tan \mathrm{\α}=\frac{y_1}{y_4};\\ \tan \mathrm{\β}=\frac{y_2}{y_1};\\ \tan \mathrm{\δ}=\frac{y_3}{y_2};\\ \tan \mathrm{\η}=\frac{y_4}{y_3};\\ y_4+y_2=L_1;\\ y_1+y_3=L_2;\end{array}\right.---\left(4\right)$

Wherein, L ₁, L ₂The length of side for target;

Solve y by formula (4) ₁, y ₂, y ₃, y ₄, middle target position generating apparatus 604 generates bullet and goes into target position.

The bullet of determining that generates is gone into target position, can be by display or the wireless transmitter output that is connected with PC or server.

Employing has the embodiment of the invention of four video cameras, can obtain more angle value, thereby can determine the coordinate that P is ordered more accurately, and certainty of measurement is higher, more accurate in practice.

Can determine by the above embodiments, as long as photograph the image of bullet incident by video camera, can obtain the drift angle of bullet incident area by the location of pixels of the video camera that prestores and the corresponding relation in target surface zone, thereby determine the accurate position of bullet incident.

Though the present invention discloses as above with preferred embodiment; right its is not in order to limiting the present invention, anyly has the knack of this skill person, without departing from the spirit and scope of the present invention; when can doing a little change and retouching, so protection scope of the present invention is as the criterion when looking the claim person of defining.

Claims (10)

1. the target scoring method based on video camera is characterized in that, described method comprises:

Adopt at least two cameras, along the direction parallel with target surface, the image of bullet one side when absorbing bullet respectively and going into target;

At least two side images of the bullet when going into target according to the bullet of picked-up obtain the location of pixels of described image imaging in corresponding camera respectively;

Calculate the position that generates the described target surface of bullet hits according at least two location of pixels that obtain;

Positional information output with the described target surface of described bullet hits.

2. target scoring method as claimed in claim 1 is characterized in that, the described position that generates the described target surface of bullet hits according at least two location of pixels calculating that obtain comprises:

The one-to-one relationship in camera location of pixels and a plurality of target surfaces zone prestores;

From described corresponding relation, obtain the target surface area data of bullet hits according to the location of pixels of described image imaging in corresponding camera;

Obtain the positional information of the described target surface of bullet hits according to the target surface area data of bullet hits.

3. target scoring method as claimed in claim 2 is characterized in that, described a plurality of target surfaces zone for the camera position be the summit towards a plurality of radioactive areas of target surface, described target surface area data comprises the angle value of each radioactive area drift angle.

4. target scoring method as claimed in claim 2 is characterized in that, described camera is the camera with line array sensor;

The location of pixels of described image imaging in corresponding camera is the location of pixels or the pixel region position of described image imaging in described line array sensor.

5. target scoring method as claimed in claim 1 is characterized in that, described method comprises:

Employing is arranged on four cameras on four summits of rectangular target, along the direction parallel with the rectangle target surface, and the image of bullet one side when absorbing bullet respectively and going into target;

Four side images of the bullet when going into target according to the bullet of picked-up obtain the location of pixels of described image imaging in corresponding camera respectively;

Calculate the position that generates the described target surface of bullet hits according to four location of pixels that obtain;

Positional information output with the described target surface of described bullet hits.

6. the hit telling system based on video camera is characterized in that, described system comprises:

At least two cameras, described camera towards parallel with described target surface, be used for the image of bullet one side when the direction parallel with target surface absorbed bullet respectively and gone into target;

The pixel deriving means is used at least two side images according to the bullet of bullet when going into target of picked-up, obtains the location of pixels of described image imaging in corresponding camera respectively;

Middle target position generating apparatus is used for calculating the position that generates the described target surfaces of bullet hits according at least two location of pixels that obtain;

The indication of shots information output apparatus is used to export the positional information of the described target surface of described bullet hits.

7. hit telling system as claimed in claim 6 is characterized in that, described system also comprises:

The corresponding relation storage device is used to store the one-to-one relationship in camera location of pixels and a plurality of target surfaces zone;

The target position generating apparatus obtains the target surface area data of bullet hits according to the location of pixels of described image imaging in corresponding camera in described from described corresponding relation storage device, and obtains the positional information of the described target surface of bullet hits according to the target surface area data of bullet hits.

8. hit telling system as claimed in claim 7 is characterized in that, described a plurality of target surfaces zone for the camera position be the summit towards a plurality of radioactive areas of target surface, described target surface area data comprises the angle value of each radioactive area drift angle.

9. hit telling system as claimed in claim 7 is characterized in that, described camera is the camera with line array sensor;

The location of pixels of described image imaging in corresponding camera is the location of pixels or the pixel region position of described image imaging in described line array sensor.

10. hit telling system as claimed in claim 6 is characterized in that, described system comprises:

Be arranged on four cameras on four summits of rectangular target, along the direction parallel with the rectangle target surface, the image of bullet one side when absorbing bullet respectively and going into target;

The pixel deriving means is used for four side images according to the bullet of bullet when going into target of picked-up, obtains the location of pixels of described image imaging in corresponding camera respectively;

Middle target position generating apparatus is used for calculating the position that generates the described target surfaces of bullet hits according to four location of pixels that obtain;

The indication of shots information output apparatus is used to export the positional information of the described target surface of described bullet hits.

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