CN105180721A - Automatic target scoring and speed measuring device and positioning and speed measuring method thereof - Google Patents
Automatic target scoring and speed measuring device and positioning and speed measuring method thereof Download PDFInfo
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- CN105180721A CN105180721A CN201510487949.3A CN201510487949A CN105180721A CN 105180721 A CN105180721 A CN 105180721A CN 201510487949 A CN201510487949 A CN 201510487949A CN 105180721 A CN105180721 A CN 105180721A
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Abstract
The invention provides an automatic target scoring and speed measuring device and a positioning and bullet speed measuring method. At least two first-class optical sensors are used for detecting the position of a point of impact, and bullets of various types and speeds except light tracers can be accurately positioned; moreover, linear and continuous infrared background light sources are adopted, so that light intensity of all portions of a target surface is evenly distributed, in the bullet point coordinate positioning process, a method including optical calibration table checking and ratio calculation is adopted, trigonometric function operation of a triangulation localization method is avoided, hardware calculation is easy to achieve, and the software and hardware structure is simplified. Meanwhile, two automatic target scoring devices with second-class optical sensors are used and connected in series to form an automatic speed measuring device, and under the condition of no target and target paper, the speed of a bullet of common light arms and a cannon can be measured. The automatic target scoring and speed measuring device and the positioning and bullet speed measuring method thereof are high in measuring precision, low in installation precision requirement, easy to maintain and suitable for wide application.
Description
Technical field
The present invention relates to a kind of automatic scoring round target device, be specifically related to a kind of automatic target-indicating and speed measuring device and positioning-speed-measuring method thereof.
Background technology
Indication of shots is divided into report chest silhouette target and coordinate target two kinds.The former only requires and quotes bomb-release point number of rings, is applied to all kinds of training, match and recreational facilities; The latter also requires to quote the accurate geometric coordinate of bomb-release point, is generally used for small arms adjusting accuracy.Traditional artificial indication of shots takies manpower, security is bad, inefficiency, running fire can not be detected, thus there is all kinds of automatic scoring round target system in recent years, but often also exist purchase and use cost is high, it is inconvenient to use, bomb-release point is many and overlapping time easily make mistakes, the problem such as system complex poor reliability, thus limit the popularization of automatic scoring round target device.Existing automatic scoring round target system is divided into four classes usually by principle: ultrasonic wave shock wave method, two-layer electrode short circuit sampling method, laser to pipe or light curtain method, image treating.Wherein ultrasonic wave shock wave method utilize the shock wave that produces during bullet supersonic flight or bullet to puncture ultrasonic wave that target produces detects, the former as the patent No. be the shock wave target-reading system of CN200610102134.X, require that bullet is necessary for supersonic projectile, the part pistol that velocity of shot is lower can not be detected; The latter is the ball-firing multi-channel automatic shots indication system with ultrasonic electronic target of CN201010231582.6 as the patent No., there are certain requirements target, and corresponding signal processing algorithm is more complicated, and not easy-to-use embedded hardware realizes.Two-layer electrode short circuit sampling method adopts between 2 layers of conductive layer and presss from both sides a layer insulating making target, when having bullet to pass, respective point conducting detects, as device and method of work thereof that the patent No. is a kind of small arms ball firing automatic target-indicating of CN201310077701.0, shortcoming is that target is more expensive, and use cost is high.Laser utilizes laser tube or the optical fiber composition light grid of correlation to pipe or light curtain method, shading light grid when having bullet to pass and being detected, as light curtain array automatic scoring round target device and method that the patent No. is CN200710019000.6, shortcoming is that the required precision of light screen making and installation is higher, thus cost intensive, also useful camera or line array CCD to replace receiving tube, but sensitivity is limited, time for exposure is long, causes the detection perform of High-velocity Projectiles not good.Image treating, as a kind of shooting automatic scoring round target system based on image recognition that the patent No. is CN201310249220.3, image procossing is carried out with camera shooting target surface, draw point of impact position, system complex installs trouble, there are certain requirements and decline to the situation detection perform that bomb-release point overlaps to the fineness of target surface.
Summary of the invention
In view of this, be necessary to provide a kind of can accurately detect pop-off position thus carry out accurate indication of shots and mounting process simple, be easy to the automatic target-indicating safeguarded and speed measuring device and location thereof, speed-measuring method.
The invention provides a kind of automatic scoring round target device, it comprises,
Target surface, on the target of described formation target surface, tiling has target sheet;
The continuous infrared background light source of wire, around at least three edges being installed on described target surface, is connected with master control borad (40) and does electric current and brilliance control by master control borad;
At least two first kind optical pickocffs be connected with master control borad, described at least two first kind optical pickocffs are installed on the drift angle of target surface respectively, make the visual range of described first kind optical pickocff cover whole target surface;
Master control borad, is electrically connected with described first kind optical pickocff, for receiving the data that the first optical pickocff gathers, and is obtained the geometric coordinate of point of impact by analytical calculation.
A localization method for automatic target-indicating, it comprises the following steps, and wherein S2 ~ S5 circulation is carried out:
S1, master control borad receive the luminance signal from 10 cycles of first kind optical pickocff and compare, if luminance signal change is very little in 10 cycles, then the pixel brightness data in one-period is write down, are called background array;
S2, normally work and receive the luminance signal of first kind optical pickocff in 1 cycle, be called real-time array;
S3, background array is deducted real-time array, obtain blackening array, and rim detection and centroid method process are carried out to blackening array, obtain blackening edge that first kind optical pickocff detects and center;
S4, determine whether the non-bullet targets such as winged insect according to features such as blackening size and duration;
S5, look into optical calibrating table with blackening edge and center dichotomy, obtain blackening and be centrally located at correspondence position on target surface outer rim light source, and calculate the coordinate obtaining bomb-release point with ratio.
The present invention also provides a kind of automatic speed measuring device, and it comprises
The target surface that two tandems are arranged, without target and the target sheet at middle part;
Each target surface is respectively equipped with the continuous infrared background light source of a wire, and described wire continuous infrared background light source, respectively around at least three edges being installed on each target surface, is connected with master control borad and does electric current and brilliance control by master control borad;
At least two first kind optical pickocffs be connected with master control borad, described at least two first kind optical pickocffs are installed on the drift angle of target surface respectively, make the visual range of described first kind optical pickocff cover whole target surface;
Be arranged on the Equations of The Second Kind optical pickocff directly over each target surface, the time for exposure of described Equations of The Second Kind optical pickocff is less than the time for exposure of first kind optical pickocff.
Master control borad, is electrically connected with the first kind optical pickocff that two target surfaces are arranged, Equations of The Second Kind optical pickocff respectively, for the data receiving the first optical pickocff, Equations of The Second Kind optical pickocff gathers, and is obtained the target practice speed of bullet by analytical calculation.
A kind of automatic speed-measuring method, it comprises the following steps:
S1, forward and backward hollow target surface is set in tandem with same linear vertical and in two planes pulling open certain distance, respectively Equations of The Second Kind optical pickocff is set directly over forward and backward hollow target surface;
S2, detect bullet through time of forward and backward hollow target surface by Equations of The Second Kind optical pickocff, and subtract each other the flight time obtaining bullet;
S3, by carrying out summed square and extraction of square root computing to the geometric coordinate difference of bullet on forward and backward hollow target surface, target spacing, the distance of projectile flight can be obtained, more namely obtain velocity of shot divided by the flight time.
A scaling method for automatic target-indicating and speed measuring device, it comprises the following steps:
S1, the mode of to be printed or to paste opaque glued membrane by UV form the demarcation rod at a certain distance with a printing opacity narrow slit;
S2, choose 3 length demarcation rod equal with target surface three limit outer rim length respectively, by excellent for described demarcations be arranged on the continuous infrared background light source of wire of corresponding outer rim before;
Printing opacity narrow slit described in S3, infrared light forms bright spot spike at the line of induction of line array sensor, asks for the location of pixels of spike, and does quadravalence Mathematical Fitting by the location of pixels of spike with the geometric coordinate of corresponding printing opacity narrow slit,
S4, recycling five fourth order fits parameters ask for the mapping table between the pixel of the Points And lines array sensor in target surface outer rim, are optical calibrating table.
Automatic target-indicating of the present invention and speed measuring device and location thereof and bullet speed-measuring method, use minimum 2 first kind optical pickocffs to detect point of impact position, accurately can locate the bullet of all kinds except flame tracer and speed, and adopt the continuous infrared background light source of wire, make the light distribution on target surface on each position even, carrying out in pop-off coordinate setting, by adopting the method looking into optical calibrating table and ratio calculating, avoid the trigonometric function operation of triangulation location, be easy to accomplish that hardware resolves, simplify software and hardware structure.Meanwhile, use 2 automatic scoring round target device tandems with Equations of The Second Kind optical pickocff to form automatic speed measuring device, when without target and target sheet, common small arms and the velocity of shot of cannon can be tested.The certainty of measurement of automatic target-indicating of the present invention and speed measuring device and location and bullet speed-measuring method is high, and installation accuracy requires low, and is easy to safeguard, is suitable for extensive use.
Accompanying drawing explanation
Fig. 1 is the structural representation of automatic scoring round target device described in the embodiment of the present invention 1;
Fig. 2 is the structural representation of the tubulose infrared light supply described in the embodiment of the present invention 1;
Fig. 3 is the structural representation of the light-guiding pillar described in the embodiment of the present invention 1;
Fig. 4 is the structural representation of the first kind optical pickocff described in the embodiment of the present invention 1;
Fig. 5 is that in the embodiment of the present invention 1, bullet passes induction planes process schematic;
Fig. 6 is the structural representation of the matt structure described in the embodiment of the present invention 1;
Fig. 7 is the sectional view of the matt structure described in the embodiment of the present invention 1;
Fig. 8 is relative position figure when matt structure described in the embodiment of the present invention 1 and first kind optical pickocff are installed;
Fig. 9 is for the line array sensor described in the embodiment of the present invention 1 focusing on the schematic diagram obtaining narrow and long rectangular;
Figure 10 is the relative position schematic diagram of timing signal demarcation rod and light source described in the embodiment of the present invention 1;
Figure 11 demarcates the surperficial part calibration structure schematic diagram of rod for UV described in the embodiment of the present invention 1 is printed on;
Figure 12 is the coordinate calculating schematic diagram described in the embodiment of the present invention 1 during indication of shots;
Figure 13 is the algorithm flow chart described in the embodiment of the present invention 1 during indication of shots;
Figure 14 is the structural representation of automatic speed measuring device described in the embodiment of the present invention 2.
Detailed description of the invention
Clearly understand to make object of the present invention, technical scheme and advantage, below in conjunction with drawings and Examples, the present invention is further elaborated, is to be understood that, specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
Embodiment 1
As shown in Figure 1, the embodiment of the present invention 1 provides a kind of automatic scoring round target device, and it comprises,
Target surface 10, on described target surface 10, tiling has target and target sheet successively;
The continuous infrared background light source 20 of wire, around at least three edges being installed on described target surface 10;
At least two first kind optical pickocffs 30 be connected with master control borad 40, described at least two first kind optical pickocffs 30 are installed on the drift angle of target surface 10 respectively, make the visual range of described first kind optical pickocff 30 cover whole target surface 10;
Master control borad 40, is electrically connected with described first kind optical pickocff 30, for receiving the data that first kind optical pickocff 30 gathers, and is obtained the geometric coordinate of point of impact by analytical calculation.Specifically be constructed as follows:
As shown in Figure 2, wire continuous infrared background light source 20 is made up of the light-guiding pillar 22 of the tubulose infrared light supply 21 be symmetricly set on two drift angles of described target surface 10 and side bright dipping, wherein, described tubulose infrared light supply 21 comprises one for reducing the optically focused housing 211 of LED light dispersion angle, one is arranged on the aluminium base 212, be electrically connected bottom described optically focused housing 211 and with master control borad 40 is arranged on Infrared High-Power LED213 on described aluminium base 212; One is arranged on described Infrared High-Power LED213 exit end side and the collector lens 214 coaxially arranged with described Infrared High-Power LED213; One relatively described collector lens 214 is arranged on the fin 215 of described aluminium base 212 opposite side; Described master control borad 40 is lighted the Infrared High-Power LED213 on aluminium base 212 and makes Current Control.Described optically focused housing 211 offers an installing hole 211a in light-guiding pillar 22 one end relatively, and described light-guiding pillar 22 two polishing is also inserted in installing hole 211a, is oppositely arranged with described collector lens 214.Preferably, the diameter of described light-guiding pillar 22 is 6mm.
As shown in Figure 1, the outer rim of described target surface 10 is provided with target frame 11, and light-guiding pillar 22 is installed in target frame 11, and has done hot bending process around the corner.Described target frame 11 offers light-emitting window in target surface 10 side relatively, the emergent ray of light-guiding pillar 22 is made to be parallel to target surface 10 surface, further, as shown in Figure 3, light-guiding pillar 22 has reflecting surface 221 and exiting surface 222, described exiting surface 222 is relative with the light-emitting window of described target frame 11, the light of Infrared High-Power LED213 is incident from the light inlet end at two ends, wherein major part is totally reflected at reflecting surface 221 place, and be reflected to exiting surface 222, described exiting surface 222 is rectangle, it there is printing points, etching point, the micro optical structures such as V-type fluting or lenticule, thus the total reflection condition of exiting surface 222 is destroyed, part infrared light is refracted as each to more uniform infrared light supply by micro optical structure, part is reflected back reflecting surface 221 and proceeds the circulation of total reflection and exiting surface 222 refraction.Because be left and right two light inlet end faces light inlets simultaneously, therefore the light intensity superposition of both sides can cause the light intensity of whole exiting surface 222 all more even.
Because the infrared light of not all light inlet end all meets total reflection condition on reflecting surface 221, therefore reflectance coating can also be plated to improve output intensity on reflecting surface 221.Also can replace light-guiding pillar 22 with side light-conductive optic fibre, but optical fiber will bend therefore structure is slightly simpler, guide-lighting efficiency is not as light-guiding pillar 22.When SFH4715S type Infrared High-Power LED213 works, the centre wavelength of infrared light is 850nm, and thus the wave-length coverage of this light source is mainly between 780nm ~ 900nm, and centre wavelength is 850nm.
The structure of first kind optical pickocff 30 as shown in Figure 4, described first kind optical pickocff 30 is installed on two jiaos, the left and right place of target surface 10 top, its lower trapezoidal face is parallel with target surface 10, specifically comprises a trapezoidal metal imaging arrangement 31 reduced gradually from the first end face 301 to the second end face 302 width; One piano convex cylindrical lens 32, being arranged on described second end face 302 is pasted onto ITO shield glass 33 in the base plane of described piano convex cylindrical lens 32 and infrared fileter 34 successively, and the face resistance of described ITO shield glass 33 is preferably 20 ohm; One is arranged on the sensors A D sampling plate 36 on the first end face 301, and described sensors A D sampling plate 36 powers on and is connected with line array sensor 35.Described sensors A D sampling plate 36 is connected by shielded cable with master control borad 40.Electrical connection between each circuit board specifically uses shielded cable to connect, and all circuit are all placed in shielding case, and also uses ITO shield glass 33 and good earth, to avoid the electromagnetic interference produced during pellet injection on the impact of circuit.Wherein, the preferred model of line array sensor 35 is TSL208R.
Piano convex cylindrical lens 32 is adopted in first kind optical pickocff 30 of the present invention, it is better than using spherical lens, because piano convex cylindrical lens 32 is out-of-focus feature on the direction of parallel cylinder bus, even if ensure that the lower trapezoidal face of metal imaging arrangement 31 and the exactly parallel and light-guiding pillar 22 aimed in Fig. 1 of target surface 10 of getting along well, light-guiding pillar 22 still can have the light of considerable part can be mapped on the line of induction of line array sensor 35, so require low to installation accuracy and be easy to safeguard.
Concrete, sensors A D sampling plate 36 also has operational amplifier and 8 parallel-by-bit a/d converter.The long 64mm of induction planes of line array sensor 35, cooperation focal length is the piano convex cylindrical lens 32 of 25mm, its visible angle is more than 104 degree, 90 degree are exceeded, thus first kind optical pickocff 30 and horizontal direction are 45 degree and are installed on target surface 10 upper left corner and upper right corner place, its visual range can cover whole target surface 10.
For above centre wavelength at the continuous infrared background light source 20 of the wire of 850nm, the sensitivity of line array sensor 35 is 1200V/ (lxs), far exceed the sensitivity of common line array CCD, all light integration is carried out within the whole cycle, its maximum operation frequency is 5MHz, thus can realize the saturated time for exposure of the shortest 102.6us.Coordinate the continuous infrared background light source 20 of above wire in the present embodiment, its saturated time for exposure is at about 125us.Carrying out preferably arranging 0.2 ~ 0.8 times that real exposure time is the saturated time for exposure when bias light blackening detects, to reduce the saturated impact detected blackening of device, thus line array sensor 36 being set and working in 5MHz, to realize the time for exposure of 102.6us.
For the present embodiment, the continuous infrared background light source 20 of wire employs the light-guiding pillar 22 of the side bright dipping of 6mm diameter, as long as experiment proves that the detection width of its 6mm has about 1/3 to be blocked and can ensure that blackening is reliably detected by blackening detection algorithm below.Following table lists bullet length and the speed of common weight weapon.
The bullet length of the common weight weapon of table 1 and speed
| Weapon kind | Bullet length | Muzzle velocity | Can the sensitive time |
| 9mm92 formula pistol | 10mm | 350m/s | 34.2us |
| 5.8mm95 formula automatic rifle | 25mm | 950m/s | 28.4us |
| 12.7mm89 formula heavy machine gun | 55mm | 825m/s | 69.1us |
| 130mm59 formula gun | 450mm | 930m/s | 486.0us |
As shown in Figure 5, what bullet can detect blackening width by this light source can the sensitive time be
T＝(L+2mm)/V
Wherein L is bullet length, and V is velocity of shot, then can list in last hurdle the sensitive time according to upper table data.What visible main small arms all can have a more than 25us in this device can the sensitive time, and this time account for the considerable part of 102.6us time for exposure, thus can form obvious blackening when exposing.Lower as other speed, lower than the bullet of velocity of sound, be then easier to detect in this device.As for heavy weapons, because its bullet is longer, the sensitive time generally can be longer than the time for exposure in this device, thus all can be detected within continuous several cycle of line array sensor 35.
Described automatic scoring round target device also comprises a matt structure 50, described matt structure 50 i.e. delustring spiral 53, shown in Fig. 6 and Fig. 7, it comprises the fan-shaped top 51 and fan-shaped bottom 52 that are oppositely arranged, a side relative to fan-shaped bottom 52 is arranged with multi-turn delustring spiral 53 respectively on described fan-shaped top 51, and reduces gradually from the radius of front opening 501 to open rearward end 502.Relative position when matt structure 50 and first kind optical pickocff 30 are installed as shown in Figure 8, both axis overlap to make both optical transmission windows overlap, the opening angle of matt structure 50 should be not less than 90 degree, to ensure that the visible angle of metal imaging arrangement 31 is not less than 90 degree.By the multi-turn delustring spiral 53 cancellation sunshine in matt structure 50, delustring spiral 53 has made blackening process to reduce reflecting rate.
From the profile in Fig. 7, the infrared light that matt structure 50 is injected in left side can be weakened by upper and lower delustring spiral 53 multiple reflections.Under experiment proves outdoor conditions, the solar infrared light intensity being entered first kind optical pickocff 30 by matt structure 50 is only about 2% of wire continuous infrared background light source 20 light intensity, influence on RT is only slightly larger than the impact that circuit noise and device unevenness cause, negligible.Thus described matt structure 50 can the impact in the effective ambient infrared light source such as cancellation sunshine, therefore this device can be used for outdoor target range.If use general diaphragm method abatement environment solar infrared light, the solar infrared light intensity then entering first kind optical pickocff 30 exceedes more than 50% of wire continuous infrared background light source 20 light intensity, and the blackening having a strong impact on bullet when the ambient infrared light such as sunshine change by force within detection time detects.
As shown in Figure 1, when matt structure 50 and metal imaging arrangement 31 are installed, axis overlaps to make both optical transmission windows overlap.As shown in Figure 9, during imaging, the front opening 501 of the incident matt structure 50 of the infrared light from the continuous infrared background light source 20 of wire, open rearward end 502 through matt structure 50 injects the second end face 302 of metal imaging arrangement 31, and through piano convex cylindrical lens 32 focusing and on the line of induction of line array sensor 36, be focused to a long and narrow rectangle, rectangle as shown by the broken line in fig. 9, the long limit of this rectangle is parallel with the line of induction, narrow limit have one fixed width and and the line of induction orthogonal.
The line of induction of described line array sensor 36, the front opening 501 of matt structure 50 and light-guiding pillar 22 are at grade.
With field programmable gate array on master control borad 40, single-chip microcomputer and Wireless USB chip, step-up/step-down circuit, toggle switch, relevant peripheral circuit, power switch and outlet, and have the 5V15AH rechargeable battery set of optional installation.Toggle switch works in indication of shots pattern for selecting described master control borad 40 or works in the pattern of testing the speed, and again opens electricity under please toggle switch being placed in indication of shots pattern during normal indication of shots.Field programmable gate array works in indication of shots pattern in the present embodiment, produce 1 group of drive singal of totally 2 first kind optical pickocffs 30 and AD sampled signal, receive the data of these 2 first kind optical pickocffs 30, carry out indication of shots calculating coordinate, and the data of 2 first kind optical pickocffs 30 and indication of shots calculating coordinate result are all transmitted to single-chip microcomputer, and indication of shots calculating coordinate result is issued Wireless USB chip.Single-chip microcomputer works in indication of shots pattern in the present embodiment 1, and upload the initial data of 1 group of totally 2 first kind optical pickocff 30 in large end points in the mode of SlaveFIFO, and upload indication of shots calculating coordinate result in little end points, data transmission bauds is 9.8MB/s.Wireless USB chip works in indication of shots pattern in the present embodiment 1, for indication of shots calculating coordinate result being sent to the host computer of far-end, reliably working about distance 100m.The rechargeable battery set of 5V15AH provides the working time of about 8 hours under the manner, thus small arms automatic scoring round target device described in the present embodiment is enough to for field exercise.
Smooth target and target sheet are without particular/special requirement, and common foam target and papery target sheet, be close to the continuous infrared background light source 20 of wire with overlapped way and install, and form target surface 10.
The embodiment of the present invention 1 also discloses a kind of scaling method of optical lens, and before it adopts demarcation rod 70 to dispatch from the factory, optical distortion is demarcated.Idiographic flow is as follows:
S1, the mode of to be printed or to paste opaque glued membrane by UV form the demarcation rod 70 at a certain distance with a transmissive slit 71;
S2, choose 3 length demarcation rod 70 equal with target surface 10 3 limit outer rim length respectively, before described demarcation rod 70 is arranged on the continuous infrared background light source 20 of wire of corresponding outer rim;
Transmissive slit 71 described in S3, infrared light forms bright spot spike at the line of induction of line array sensor 35, asks for the location of pixels of spike, and does quadravalence Mathematical Fitting by the location of pixels of spike with the geometric coordinate of corresponding transmissive slit 71,
S4, recycling five fourth order fits parameters ask for the mapping table between the pixel of the Points And lines array sensor 35 in target surface 10 outer rim, are optical calibrating table.
As shown in Figure 10, for the mode of printing with UV be printed on poly (methyl methacrylate) plate demarcation pattern citing, after finishing printing by be printed on this demarcate pattern lucite bar from poly (methyl methacrylate) plate cut become demarcate rod 70.Target surface 10 3 limit respectively needs the demarcation rod 70 of 1 corresponding length.This demarcates before rod 70 is placed in the continuous infrared background light source 20 of wire of corresponding edge by timing signal, demarcates excellent 70 length directions parallel with light source length direction, and is close to target frame 11 and places.Demarcate the demarcation pattern of transmissive slit 71 on rod 70 as shown in figure 11.Light source is successively through slit 71, the delustring spiral 53 demarcated on rod 70, and be a series of high and narrow spikes through the data and curves that piano convex cylindrical lens 32 images on line array sensor 35, each transmissive slit 71 place corresponds to a high and narrow spike, and the location of pixels on the line array sensor 35 that these peak location are corresponding can utilize spike recognizer to obtain.
As shown in figure 11, for the 1st of target surface 10 upper left corner the first kind optical pickocff 30, its optical model meets following corresponding relation:
P＝B4·X
4+B3·X
3+B2·X
2+B1·X+B0
Wherein, X is the geometric position of the transmissive slit 71 every 20mm, is respectively 20,40 ... after the data of P then for 2 first kind optical pickocffs 30 of host computer reception single-chip microcomputer, location of pixels corresponding on the line array sensor 35 drawn with speck spike recognizer.At least get 11 groups of X and corresponding P, utilize Mathematical Fitting software to carry out matching, obtain the parameter value of these 4 optical calibrating parameters of B4 ~ B0.For the Equations of The Second Kind optical pickocff 60 in the 2nd first kind optical pickocff 30 of right edge or embodiment 2, and the background light source of target surface about 10 2 sides, the identical just parameter of process is different.Utilize 3 to demarcate rod 70 and demarcate the calibrating parameters of these 2 first kind optical pickocffs 30 for limit on the left of target surface 10, right edge and lower side respectively, namely obtain 6 groups of totally 30 calibrating parameters.
Utilize these 6 groups totally 30 calibrating parameters substitution P=B4X
4+ B3X
3+ B2X
2+ B1X+B0 calculates, as being target surface 10 lower side of 1000mm for length, that gets X is spaced apart 1mm, and on the left of target surface 10, limit X=0 to target surface 10 right edge X=1000 asks for corresponding P, limit, left side and right edge are also processed equally, namely obtains optical calibrating table.
The geometric coordinate how utilizing sensing data to obtain point of impact is described below in conjunction with Figure 12
The photocentre arranging upper left corner first kind optical pickocff 30 in Figure 12 is geometric coordinate system initial point, and the X axis right side is just, is just under Y-axis.Left and right two first kind optical pickocff 30 photocentre lateral separation W, to following light source fore-and-aft distance H.If the geometric coordinate of point of impact is (X, Y), target center geometric coordinate is that (X0, Y0) then meets following geometrical relationship:
Coordinate can be obtained thus
Ask the square distance D of bomb-release point and target center
2=(X-X0)
2+ (Y-Y0)
2the number of rings that can obtain chest silhouette target is contrasted with parameter list.
Wherein, X1 and X2, by trying to achieve in following process, owing to wherein only tabling look-up and addition subtraction multiplication and division computing, thus can carry out hardware in programmable gate array at the scene and calculate.
Passing ratio computing utilizes the width between blackening left and right edges can try to achieve the blackening width of bullet in 2 first kind optical pickocffs 30, estimates bullet diameter with this.Specific algorithm flow process as shown in figure 13, comprises following steps:
(1) device power-on self-test detection background light source
Master control borad 40 receives the luminance signal from 10 cycles of first kind optical pickocff 30 and compares, if luminance signal change very little (as in each cycle, the pixel of amplitude of variation more than 3 is no more than 5) in 10 cycles, then the pixel brightness data in one-period is write down, be called the background array of each first kind optical pickocff 30; If luminance signal has significant change, then repeat this process once, until signal intensity is very little, till writing down background array;
(2) real-time array is obtained
Normal work also receives the luminance signal of first kind optical pickocff 30 in one-period, is called real-time array;
(3) blackening array and blackening center is obtained
The background array of each first kind optical pickocff 30 is deducted real-time array, obtains blackening array, and rim detection and centroid method process are carried out to blackening array, obtain each first kind optical pickocff 30 blackening edge and center;
(4) foreign matter judges
Due to the objects such as winged insect also may be had in the wild to enter detection faces, also need to do foreign matter and judge.Decision method is: if the blackening in first kind optical pickocff 30 moves slowly and is continued above 20 cycles, namely detect thing and pass through detection faces not yet at lasting more than 2ms, be then judged as the foreign matter beyond bullet, do not enter step 5.
(5) ask for X1, X2 also calculates point of impact geometric coordinate
Left with 2 first kind optical pickocffs 30, right blackening edge and center dichotomy look into optical calibrating table, obtain blackening and be centrally located at correspondence position on target surface 10 3 marginal ray source, if all on lower side, be X1 and X2, if on a left side, in right edge, intersecting point coordinate X1 and X2 of itself and following extended line is asked for triangle ratio method, and the coordinate obtaining bomb-release point relative geometric coordinate system initial point is calculated with ratio, and utilize left, a left side for right first kind optical pickocff 30, width between right blackening edge and bomb-release point and a left side, distance between right first kind optical pickocff 30, left, focal length between right first kind optical pickocff 30 does scale operation to estimate bullet diameter,
(6) score a target and report
If coordinate target, uploads coordinate; If chest silhouette target, then calculate the distance of point of impact position and target center position to determine number of rings and to report.
Above step (1) is only carried out once when powering on, step (2) ~ (6) are then carried out once within each scan period of first kind optical pickocff 30, each scan period time span equals the time for exposure, is 102.6us.For ensureing to calculate real-time and reliability, calculating can adopt field programmable gate array to carry out hardware calculating, the impact calculated indication of shots with factors such as avoidance breakouts.
Embodiment 2
The embodiment of the present invention 2 as shown in figure 14, a kind of automatic speed measuring device, it comprises,
Two target surfaces be set up in parallel 10;
Each target surface 10 is respectively equipped with the continuous infrared background light source 20 of a wire, and described wire continuous infrared background light source 20 is respectively around at least three edges being installed on each target surface 10;
Each described wire continuous infrared background light source 20 two ends respectively light path are connected with at least two first kind optical pickocffs 30, described at least two first kind optical pickocffs 30 are installed on the drift angle of target surface 10 respectively, make the visual range of described first kind optical pickocff 30 cover whole target surface 10;
Be arranged on the Equations of The Second Kind optical pickocff 60 directly over each target surface 10, its visual range also covers whole target surface 10, and the time for exposure of described Equations of The Second Kind optical pickocff 60 is less than the time for exposure of first kind optical pickocff 30.
Master control borad 40, be electrically connected with the first kind optical pickocff 30 that two target surfaces 10 are arranged, Equations of The Second Kind optical pickocff 60 respectively, for the data receiving the first optical pickocff, Equations of The Second Kind optical pickocff 60 gathers, and obtained the target practice speed of bullet by analytical calculation.
In fact, described automatic speed measuring device adopts the structure tandem of 2 embodiments 1 to connect, and tests the speed to objects such as bullets.But there is a little structural difference, the relative automatic scoring round target device of described speed measuring device, except the target do not installed on target surface 10 and target sheet, master control borad 40 needs to connect 2 groups of totally 4 first kind optical pickocffs 30 and 2 groups totally 2 Equations of The Second Kind optical pickocffs 60 simultaneously, compares embodiment more than 12 the second optical pickocffs.
First kind optical pickocff 30 compared by described Equations of The Second Kind optical pickocff 60, its structure is identical with the structure of first kind optical pickocff 30, just the volume less time for exposure is shorter, concrete, it is less that Equations of The Second Kind optical pickocff 60 have employed volume, the line array sensor 36 that pixel is less, and focal length is shorter, the piano convex cylindrical lens 32 that volume is less, the focal length of described piano convex cylindrical lens 32 is only 2.5mm, therefore visible angle is more than 120 degree, thus be arranged on its viewing area directly over target surface 10 and can cover whole target surface 10, and the pixel count of Equations of The Second Kind optical pickocff 60 can much smaller than the pixel count of first kind optical pickocff 30, but it is shorter that the time for exposure of Equations of The Second Kind optical pickocff 60 compares first kind optical pickocff 30, and close to the time of bullet through induction planes, therefore described Equations of The Second Kind optical pickocff 60 can be used for determining that bullet passes the moment of sensitive surface.Wherein, the preferred model of line array sensor 35 is TSL201R.
Because the time for exposure of the line array sensor 35 in the second optical pickocff is only 12.8us, therefore the bullet of most weight weapon is all greater than 1 exposure cycle by the time of its induction planes, thus can subtract each other with the moment that bullet leaves 2 hollow target surfaces 10 flight time obtaining bullet.Utilize the geometric coordinate difference of bullet on 2 targets, target spacing does summed square and extraction of square root computing, the distance of projectile flight can be obtained, namely obtain velocity of shot divided by the flight time.
Idiographic flow is as follows:
S1, forward and backward hollow target surface 10 is set in tandem with same linear vertical and in two planes pulling open certain distance, respectively Equations of The Second Kind optical pickocff 60 is set directly over forward and backward hollow target surface 10;
S2, to be detected the time of bullet through forward and backward hollow target surface 10 by Equations of The Second Kind optical pickocff 60, and subtract each other the flight time obtaining bullet;
S3, by carrying out summed square and extraction of square root computing to the geometric coordinate difference of bullet on forward and backward hollow target surface 10, target spacing, the distance of projectile flight can be obtained, more namely obtain velocity of shot divided by the flight time.
Preferably TSL208R line array sensor 35 is adopted in first kind optical pickocff 30 in the embodiment of the present invention, but also can be changed to the line array sensor 35 of other models, as TSL201R, TSL202R, TSL210, TSL2014, TSL1301, TSL1401R, TSL1402R, TSL1406R, TSL1410R, TSL1412S and TSL3301 etc., as long as these line array sensors 35 can respond to the near infrared light in 780 ~ 1000nm, continuous exposure within the whole cycle also can ensure the very short time for exposure (general below 200us), but positioning precision may by the impact of sensor pixel number.Preferably line array sensor 35 is adopted to be TSL201R in Equations of The Second Kind optical pickocff 60 in the present embodiment 2, also the hypersensitivity line array sensor 35 of other models can be changed to, as TSL202R, TSL1301, TSL1401R or TSL1402R, as long as these sensors can respond to the near infrared light in 780 ~ 1000nm, continuous exposure within the whole cycle also can ensure that time that extremely short time for exposure (general below 50us) and bullet pass sensitive face quite or shorter, but some minimum exposure time exceedes the sensor of bullet through the time more (as 50us ~ 200us) of sensitive face, as above-mentioned TSL208R, TSL210, TSL2014, TSL1406R, TSL1410R, TSL1412S and TSL3301 is not suitable for being used in Equations of The Second Kind optical pickocff 60, be only suitable for being used in first kind optical pickocff 30, because the bullet of these sensor record is accurate not by the moment of sensitive surface, thus cause the obvious decline of rate accuracy.
Automatic target-indicating of the present invention and speed measuring device and location thereof and bullet speed-measuring method, use minimum 2 first kind optical pickocffs 30 to detect point of impact position, accurately can locate the bullet of all kinds except flame tracer and speed, and adopt the continuous infrared background light source 20 of wire, make the light distribution on target surface 10 on each position even, carrying out in pop-off coordinate setting, by adopting the method looking into optical calibrating table and ratio calculating, avoid the trigonometric function operation of triangulation location, be easy to accomplish that hardware resolves, simplify software and hardware structure.Meanwhile, use 2 automatic scoring round target device tandems with Equations of The Second Kind optical pickocff to form automatic speed measuring device, when without target and target sheet, common small arms and the velocity of shot of cannon can be tested.The certainty of measurement of automatic target-indicating of the present invention and speed measuring device and location and bullet speed-measuring method is high, and installation accuracy requires low, and is easy to safeguard, is suitable for extensive use.
Above device embodiment and embodiment of the method are one to one, and the simple part of device embodiment, see embodiment of the method.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, in the above description according to the functional composition and the step that generally describe each example.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not exceed scope of the present invention.
The software module that the method described in conjunction with embodiment disclosed herein or the step of algorithm can directly use hardware, processor to perform, or the combination of the two is implemented.Software module can be placed in random access memory, internal memory, read-only storage, electrically programmable ROM, electricity can sassafras except any other forms of storage medium known in programming ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
By reference to the accompanying drawings embodiments of the invention are described above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; instead of it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, also can make a lot of form, these all belong within protection of the present invention.
Claims (10)
1. an automatic scoring round target device, is characterized in that, comprises,
Target surface (10), on the target of described formation target surface (10), tiling has target sheet;
The continuous infrared background light source (20) of wire, around at least three edges being installed on described target surface (10), is connected with master control borad (40) and does electric current and brilliance control by master control borad;
At least two first kind optical pickocffs (30) be connected with master control borad (40), described at least two first kind optical pickocffs (30) are installed on the drift angle of target surface (10) respectively, make the visual range of described first kind optical pickocff (30) cover whole target surface (10), the front end of first kind sensor is with the matt structure (50) of the surround lightings such as cancellation sunshine;
Master control borad (40), is electrically connected with described first kind optical pickocff (30), for receiving the data that first kind optical pickocff (30) gathers, and is obtained the geometric coordinate of point of impact by analytical calculation.
2. automatic scoring round target device according to claim 1, it is characterized in that, described wire continuous infrared background light source (20) comprise be symmetricly set on described target surface (10) two drift angles on and with the tubulose infrared light supply (21) of concentration structure, and two ends incidence surface inserts symmetrical tubulose infrared light supply (21) and the light-guiding pillar (22) that arranges around the outer rim of described target surface (10) of body respectively.
3. the continuous infrared background light source of wire according to claim 2, it is characterized in that, described tubulose infrared light supply (21) comprises one for reducing the optically focused housing (211) of LED light dispersion angle, one is arranged on described optically focused housing (211) bottom and the aluminium base (212) be electrically connected with master control borad (40), an Infrared High-Power LED (213) being arranged on described aluminium base (212) side; One is arranged on described LED exit end side, and the collector lens (214) coaxially arranged with described LED; One relatively described collector lens (214) is arranged on the fin (215) of described aluminium base opposite side;
Described target surface (10) outer rim is provided with the target frame (11) that there is opening both sides, described light-guiding pillar (22) is arranged in target frame (11), described light-guiding pillar (22) is provided with exiting surface (222) towards the side at target surface center, and the another side oppositely relative with described exiting surface (222) is provided with the reflecting surface (221) making most of directs light total reflection.
4. automatic scoring round target device according to claim 1, is characterized in that, first kind optical pickocff (30) comprises,
The one trapezoidal metal imaging arrangement (31) reduced gradually from the first end face (301) to the second end face (302) width;
One is arranged on the piano convex cylindrical lens (32) inside described second end face (302);
One is pasted onto shield glass (33) in the base plane of described piano convex cylindrical lens (32) and infrared fileter (34) successively;
One is arranged on the sensors A D sampling plate (36) on the first end face (301), and described sensors A D sampling plate (36) powers on and is connected with line array sensor (35);
Described sensors A D sampling plate (36) is connected by shielded cable with master control borad (40).
5. automatic scoring round target device according to claim 1, it is characterized in that, described master control borad (40) comprises dial-up module, field programmable gate array module, one-chip computer module, wireless communication module, voltage transformation module and battery module, wherein
Described dial-up module is for selecting the mode of operation of described master control borad (40), and described master control borad (40) exists indication of shots pattern and the pattern that tests the speed;
Described field programmable gate array module is for driving described first kind optical pickocff (30), carrying out sampling and AD conversion, and receive the sampled data of first kind optical pickocff (30), carry out indication of shots calculating coordinate, and the sampled data of first kind optical pickocff (30) and indication of shots calculating coordinate result are all transmitted to one-chip computer module, also indication of shots calculating coordinate result is sent to host computer by wireless communication module simultaneously;
Described one-chip computer module is used for the sampled data of first kind optical pickocff (30) to be uploaded by the large end points of USB, and indication of shots calculating coordinate result is uploaded by the little end points of USB.
6. automatic scoring round target device according to claim 1, it is characterized in that, described automatic scoring round target device also comprises matt structure (50), described matt structure (50) comprises the fan-shaped top (51) and fan-shaped bottom (52) that are oppositely arranged, and a side relative to fan-shaped bottom (52) is arranged with multi-turn delustring spiral (53) to described fan-shaped top (51) respectively.
7. a localization method for automatic target-indicating, is characterized in that, comprises the following steps, and wherein S2 ~ S5 circulation is carried out:
S1, initialization, master control borad (40) receives the luminance signal from 10 cycles of first kind optical pickocff (30) and compares, if luminance signal change is very little in 10 cycles, then the pixel brightness data in one-period is write down, be called background array;
S2, normally work and receive the luminance signal of first kind optical pickocff (30) in 1 cycle, be called real-time array;
S3, background array is deducted real-time array, obtain blackening array, and rim detection and centroid method process are carried out to blackening array, obtain blackening edge that first kind optical pickocff (30) detects and center;
S4, determine whether the non-bullet targets such as winged insect according to features such as blackening size and duration;
S5, look into optical calibrating table with blackening edge and center dichotomy, obtain blackening and be centrally located at correspondence position on target surface (10) outer rim light source, and calculate the coordinate obtaining bomb-release point with ratio.
8. an automatic speed measuring device, is characterized in that, comprises
The target surface (10) that two tandems are arranged;
Each target surface (10) is respectively equipped with the continuous infrared background light source (20) of a wire, described wire continuous infrared background light source (20), respectively around at least three edges being installed on each target surface (10), is connected with master control borad (40) and does electric current and brilliance control by master control borad;
At least two first kind optical pickocffs (30) be connected with master control borad (40), described at least two first kind optical pickocffs (30) are installed on the drift angle of target surface (10) respectively, make the visual range of described first kind optical pickocff (30) cover whole target surface (10);
Be arranged on the Equations of The Second Kind optical pickocff (60) directly over each target surface (10), the time for exposure of described Equations of The Second Kind optical pickocff (60) is less than the time for exposure of first kind optical pickocff (30), and the visual range of described Equations of The Second Kind optical pickocff (60) covers whole target surface (10).
Master control borad (40), the first kind optical pickocff (30) above arranged with two target surfaces (10) respectively, Equations of The Second Kind optical pickocff (60) are electrically connected, for the data receiving the first optical pickocff (30), Equations of The Second Kind optical pickocff (60) gathers, and obtained the target practice speed of bullet by analytical calculation.
9. an automatic speed-measuring method, is characterized in that, comprises the following steps:
S1, forward and backward hollow target surface (10) is set in tandem with same linear vertical and in two planes pulling open certain distance, respectively Equations of The Second Kind optical pickocff (60) is set directly over forward and backward hollow target surface (10);
S2, detect bullet through time of forward and backward hollow target surface (10) by Equations of The Second Kind optical pickocff (60), and subtract each other the flight time obtaining bullet;
S3, by carrying out summed square and extraction of square root computing to the geometric coordinate difference of bullet on forward and backward hollow target surface (10), target spacing, the distance of projectile flight can be obtained, more namely obtain velocity of shot divided by the flight time.
10. automatic target-indicating and speed measuring device are for demarcating a scaling method for optical lens, it is characterized in that, comprise the following steps:
S1, the mode of to be printed or to paste opaque glued membrane by UV form the demarcation rod (70) at a certain distance with a transmissive slit (71);
S2, choose 3 length demarcation rod (70) relative with target surface (10) three limit outer rim length respectively, before described demarcation rod (70) is arranged on the continuous infrared background light source (20) of wire of corresponding outer rim;
Transmissive slit (71) described in S3, infrared light forms bright spot spike at the line of induction of line array sensor (35), ask for the location of pixels of spike, and do quadravalence Mathematical Fitting by the location of pixels of spike with the geometric coordinate of corresponding transmissive slit (71)
S4, recycling five fourth order fits parameters ask for the mapping table between the pixel of the Points And lines array sensor (36) in target surface (10) outer rim, are optical calibrating table.
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