CN105605982A - Automatic target reporting device and automatic target reporting method - Google Patents
Automatic target reporting device and automatic target reporting method Download PDFInfo
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- CN105605982A CN105605982A CN201510633578.5A CN201510633578A CN105605982A CN 105605982 A CN105605982 A CN 105605982A CN 201510633578 A CN201510633578 A CN 201510633578A CN 105605982 A CN105605982 A CN 105605982A
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Abstract
The invention provides an automatic target reporting device and an automatic target reporting method. The automatic target reporting device comprises an illumination module, two photoelectric position detection modules, a data processing module, a target surface and a supporting frame, wherein the supporting frame is used for mounting other modules; the laser illumination module is used for emitting detecting laser; the detecting laser and detecting zones of the photoelectric position detection modules completely cover the target surface; when a bullet passes through the detecting zones, reflected light of the bullet is received by each photoelectric position detection module, and pixels of the reflected light which is mapped on the photoelectric position detection modules can be generated; the data processing module is used for obtaining target reporting data according to pixels of the two photoelectric position detection modules, the generated pixels of the reflected light, position information of the two photoelectric position detection modules and position information of the detecting zones. The automatic target reporting device provided by the invention has the advantages that few devices are needed, and the needed devices are all conventional devices, so that the cost of the automatic target reporting is reduced, and the measuring precision is increased.
Description
Technical field
The present invention relates to shoot indication of shots technology, relate in particular to a kind of automatic scoring round target device and method.
Background technology
Automatic target-indicating product can be divided into following several types according to the implementation of its function at present: twoLayer electric pole short circuit sampling system, localization by ultrasonic automatic scoring round target system, photoelectricity electric target system and based on figureThe automatic scoring round target system of picture treatment technology.
Two-layer electrode short circuit sampling system need to be used special target sheet, and limited by circuit stability, mistakeReport rate is high and cost is high, seldom uses at present.
The ultrasonic pulse that localization by ultrasonic automatic scoring round target system has utilized projectile impact target surface to produce, by extremelyThe time difference of the ultrasonic pulse that few three sonacs that are positioned over diverse location receive, calculateTo the position of shell hole, but the method cost is high, and (temperature, air density change) affected by environment,Precision is difficult to meet the demands.
Photoelectricity electric target system arranges that at four frames of system diode laser matrix and photoelectricity receivePipe correlation array, to build one deck laser network system at target sheet front surface, for example, on top frame is establishedPut multiple laser diodes, the photoelectric receiving tube of equal number is also set at lower frame accordingly, sameOn the left side frame arranges multiple laser diodes, and the photoelectric receiving tube of equal number is set in right side correspondence,The unique corresponding photoelectric receiving tube of each laser diode, the laser sending from this laser diodeCan only be received by this photoelectric receiving tube. In bullet incident process, laser beam can be blocked, and passes throughThe laser beam position that detection is blocked, can determine bullet according to the laser beam position being blockedPoint. But photoelectricity electric target system needs a large amount of laser diode and photoelectric receiving tube, causes its knotStructure complexity, cost is high, and is subject to the impact at extraneous veiling glare, the broken end of target surface, and certainty of measurement is also difficultTo meet the demands.
The automatic scoring round target system of image processing techniques, uses picture pick-up device to gather target surface image, by penetratingBefore and after hitting, image comparison judges bomb-release point, and calculates the position of bomb-release point, and the method equipment cost is high(needing video camera and external computing equipment), energy consumption is large, and for overlap or close proximity bulletPoint cannot be differentiated, and causes failing to report or reporting by mistake.
Known by foregoing description, current hit telling system cost is high, and certainty of measurement is not high.
Summary of the invention
The invention provides a kind of automatic scoring round target device and method, high to overcome existing hit telling system cost, andThe problem that certainty of measurement is not high.
First aspect present invention provides a kind of automatic scoring round target device, comprising:
Lighting module, two optoelectronic position detection modules, data processing module, target surface and bracing frames, instituteState laser lighting module, optoelectronic position detection module, data processing module and target surface and be all arranged on describedOn support;
Described laser lighting module, for emission detection laser, described exploring laser light covers described target completelyFace;
The surveyed area of described each optoelectronic position detection module covers described target surface completely, described each lightThe surveyed area of electric position detection module is parallel with described target surface, described each optoelectronic position detection modulePixel is P, and the surveyed area of corresponding described each optoelectronic position detection module is divided into P subareaTerritory, described P sub regions is corresponding one by one with P pixel of described each optoelectronic position detection module respectively,The light of every sub regions reflection is mapped in corresponding pixel, when bullet is through described each optoelectronic position inspectionWhile surveying the surveyed area of module, described each optoelectronic position detection module is used for receiving described bullet and is reflected backThe reverberation coming, and generate described reverberation and be mapped in the pixel on described optoelectronic position detection module;
Described data processing module, described anti-for what generate according to described two optoelectronic position detection modulesPenetrate light and be mapped in the pixel on described optoelectronic position detection module, described pixel P, described two photopotentialsPut the positional information of detection module self and the positional information of surveyed area, obtain indication of shots data, described reportTarget data comprise number of rings and the orientation of described bullet.
Optionally, described lighting module comprises two laser instruments;
Described two optoelectronic position detection modules are separately positioned on the upper left corner and the upper right corner of support frame as described above;
Described two laser instruments are separately positioned on described two optoelectronic position detection modules around, each sharpLight device is launched a branch of covering of the fan exploring laser light, and the covering of the fan exploring laser light of described each laser instrument transmitting respectively completelyCover the surveyed area of an optoelectronic position detection module on correspondence position, described two laser instruments transmittingCovering of the fan exploring laser light overlap.
Optionally, the positional information of described two optoelectronic position detection modules self comprises: described two lightThe center distance of the camera lens of electric position detection module, the height of described each optoelectronic position detection module, withDescribed middle ware is apart from being baseline, and the central point of described baseline is vertical with the central point of described target surface, described everyThe height of individual optoelectronic position detection module is the vertical of the centerline of described baseline and the central point of described target surfaceDistance;
The positional information of the surveyed area of described two optoelectronic position detection modules is identical, comprising: detection zoneThe height of the near-end of surveyed area described in the height in territory, width, described parallax range.
Optionally, described data processing module specifically for:
Calculate the position of described bullet in the first coordinate system according to following formula, described the first coordinate system withThe central point of described baseline is the origin of coordinates, taking described baseline as X-axis, with the central point of described target surface withThe line of the centerline of described baseline is Y-axis:
m＝(h+H/P×a)/((W+L)/2-a/P)
n＝(h+H/P×b)/(-(W+L)/2+b/P)
x＝int((L/2)×(m+n)/(n-m))
y＝int((L+W)/2×m×n/(n-m))
Wherein, the length that L is described baseline, h is the height of the near-end of surveyed area described in described parallax rangeDegree, the height that H is described surveyed area, the width that W is described surveyed area, each photopotential described in PPut the pixel of detection module, a and b are the catoptrical picture that described two optoelectronic position detection modules generateThe positional information of element, m and n are intermediate variable, x is the X of described bullet with respect to described the first coordinate systemThe distance of axle, y is the distance of described bullet with respect to the Y-axis of described the first coordinate system;
, be transformed into x and y process Coordinate Conversion according to the height of described each optoelectronic position detection moduleIn the second coordinate system, obtain the position of described bullet in described the second coordinate system, described the second coordinate systemTaking the central point of described target surface as initial point, taking the centerline of described target surface and the line of described baseline as Y-axis,To cross the centerline of described target surface and the straight line that is parallel to described baseline as X-axis;
Position according to described bullet in described the second coordinate system, determines number of rings and the orientation of described bullet.
Optionally, described automatic scoring round target device, also comprises:
Memory module, for storing described indication of shots data.
Optionally, described optoelectronic position detection module comprises any one or its combination in following device:The photosensitive spy of Linear Array CCD Image Sensor, linear CMOS image sensor, photodiode arrangement and PSDSurvey device.
Optionally, described data processing module comprises any one or its combination in following single-chip microcomputer:
C51 single-chip microcomputer, ARM series monolithic and PIC series monolithic.
Optionally, described automatic scoring round target device also comprises:
Data transmission module, sends for the described indication of shots data that described data processing module is calculatedGive external equipment.
Optionally, described automatic scoring round target device also comprises:
Power module, is used to described automatic scoring round target device that power supply is provided.
Second aspect present invention provides a kind of automatic target-indicating method, comprising:
In the time that bullet passes the surveyed area of two optoelectronic position detection modules, examine by each optoelectronic positionSurvey module and receive the reverberation that described bullet reflects, described each optoelectronic position detection module is by throwing light onModule provides exploring laser light, and described exploring laser light covers described target surface completely, described each optoelectronic position inspectionThe surveyed area of surveying module covers described target surface, the detection zone of described each optoelectronic position detection module completelyTerritory is parallel with described target surface, and the pixel of described each optoelectronic position detection module is P, corresponding described everyThe surveyed area of individual optoelectronic position detection module is divided into P sub regions, and described P sub regions respectivelyCorresponding one by one with P pixel of described each optoelectronic position detection module, the light of every sub regions reflection reflectsBe mapped in corresponding pixel;
The described reverberation receiving according to described each optoelectronic position detection module, generates described reverberationBe mapped in the pixel on described optoelectronic position detection module;
The described reverberation generating according to described two optoelectronic position detection modules is mapped in described optoelectronic positionThe position letter of the pixel on detection module, described pixel P, described two optoelectronic position detection modules selfThe positional information of breath and surveyed area, obtains indication of shots data, and described indication of shots data comprise the ring of described bulletNumber and orientation.
Optionally, the positional information of described two optoelectronic position detection modules self comprises: described two lightThe center distance of the camera lens of electric position detection module, the height of described each optoelectronic position detection module, withDescribed middle ware is apart from being baseline, and the central point of described baseline is vertical with the central point of described target surface, described everyThe height of individual optoelectronic position detection module is the vertical of the centerline of described baseline and the central point of described target surfaceDistance;
The positional information of the surveyed area of described two optoelectronic position detection modules is identical, comprising: detection zoneThe height of the near-end of surveyed area described in the height in territory, width, described parallax range.
Optionally, the described described reverberation generating according to described two optoelectronic position detection modules is mapped inPixel on described optoelectronic position detection module, described pixel P, described two optoelectronic position detection modulesThe positional information of the positional information of self and surveyed area, obtains indication of shots data, comprising:
Calculate the position of described bullet in the first coordinate system according to following formula, described the first coordinate system withThe central point of described baseline is the origin of coordinates, taking described baseline as X-axis, with the central point of described target surface withThe line of the centerline of described baseline is Y-axis:
m＝(h+H/P×a)/((W+L)/2-a/P)
n＝(h+H/P×b)/(-(W+L)/2+b/P)
x＝int((L/2)×(m+n)/(n-m))
y＝int((L+W)/2×m×n/(n-m))
Wherein, the length that L is described baseline, h is the height of the near-end of surveyed area described in described parallax rangeDegree, the height that H is described surveyed area, the width that W is described surveyed area, each photopotential described in PPut the pixel of detection module, a and b are the catoptrical picture that described two optoelectronic position detection modules generateElement, m and n are intermediate variable, x is the distance of described bullet with respect to the X-axis of described the first coordinate system,Y is the distance of described bullet with respect to the Y-axis of described the first coordinate system;
, be transformed into x and y process Coordinate Conversion according to the height of described each optoelectronic position detection moduleIn the second coordinate system, obtain the position of described bullet in described the second coordinate system, described the second coordinate systemTaking the central point of described target surface as initial point, taking the centerline of described target surface and the line of described baseline as Y-axis,To cross the centerline of described target surface and the straight line that is parallel to described baseline as X-axis;
Position according to described bullet in described the second coordinate system, determines number of rings and the orientation of described bullet.
The invention provides a kind of automatic scoring round target device and method, described automatic scoring round target device comprises: illumination mouldPiece, two optoelectronic position detection modules, data processing module, target surface and bracing frames, bracing frame is for peaceFill other modules, laser lighting module is for emission detection laser, and exploring laser light and optoelectronic position detect mouldThe surveyed area of piece covers target surface completely, and in the time that bullet passes surveyed area, each optoelectronic position detects mouldPiece receives the reverberation that reflects of bullet, and generates reverberation and be mapped on optoelectronic position detection modulePixel, data processing module, anti-for according to the pixel of two optoelectronic position detection modules and generationPenetrate the pixel of light, the positional information of two optoelectronic position detection modules self and the positional information of surveyed area,Obtain indication of shots data, indication of shots data comprise number of rings and the orientation of bullet. Described automatic scoring round target device is requiredNumber of devices is few, is conventional device, thereby has reduced the cost of automatic scoring round target device, and has improvedCertainty of measurement.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will be to realityThe accompanying drawing of executing required use in example or description of the Prior Art is briefly described, apparently, underAccompanying drawing in face description is some embodiments of the present invention, for those of ordinary skill in the art,Do not pay under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The structural representation of the automatic scoring round target device that Fig. 1 provides for the embodiment of the present invention one;
Fig. 2 is the schematic diagram of the illumination zone of laser instrument and the surveyed area of optoelectronic position detection module;
Fig. 3 is the schematic diagram of target surface;
Fig. 4 is the schematic diagram of the measuring principle of optoelectronic position detection module;
The flow chart of the automatic target-indicating method that Fig. 5 provides for the embodiment of the present invention two.
Figure of description:
Lighting module: 11;
Laser instrument: 111;
Optoelectronic position detection module: 12;
Data processing module: 13;
Target surface: 14;
Bracing frame: 15;
Memory module: 16;
Data transmission module: 17;
Supply module: 18.
Detailed description of the invention
The structural representation of the automatic scoring round target device that Fig. 1 provides for the embodiment of the present invention one, as shown in Figure 1,This automatic scoring round target device comprises: lighting module 11, two optoelectronic position detection modules 12, data processing mouldPiece 13, target surface 14 and bracing frame 15, lighting module 11, two optoelectronic position detection modules 12, dataProcessing module 13 and target surface 14 are all arranged on bracing frame 15. Wherein, bracing frame 15 can with target surface 14To be rigidly connected, lighting module 11, two optoelectronic position detection modules 12, data processing module 13 are equalFor dismountable, bracing frame 15 around surrounding can also arrange frame.
Lighting module 11 is for emission detection laser, and this exploring laser light covers each optoelectronic position completely and detectsThe surveyed area of module 12, in the automatic scoring round target device shown in Fig. 1, lighting module 11 comprises that two are swashedLight device 111, the present embodiment is not as limit, and lighting module 11 can also comprise one or moreLaser instrument 111, as long as the exploring laser light that laser instrument 111 is launched can cover target surface, each photoelectricity completelyThe surveyed area of position detecting module 12 also covers target surface 14 completely, each optoelectronic position detection module 12Surveyed area parallel with target surface 14. Laser instrument 111 can adopt aspheric surface imaging lens, for example cylinderMirror.
Optoelectronic position detection module 12 comprises camera lens, drive circuit and pel array, and drive circuit is used for drivingMoving optoelectronic position detection module work, pel array is made up of multiple pixels, and each pixel is used for receiving lightSignal, carries out the conversion of photosignal, in the present embodiment, and the pixel of each optoelectronic position detection module 12For P. The surveyed area of corresponding each optoelectronic position detection module 12 is divided into P sub regions, PSub regions is corresponding one by one with P pixel of each optoelectronic position detection module 12 respectively, i.e. surveyed areaA pixel on the interior unique corresponding optoelectronic position detection module 12 of a sub regions, every sub regions is anti-Unique being mapped in corresponding pixel of light of penetrating, when bullet is through the inspection of each optoelectronic position detection module 12While surveying region, each optoelectronic position detection module 12 receives the reverberation that bullet reflects, and generates anti-Penetrate light and be mapped in the pixel on optoelectronic position detection module 12.
Data processing module 13, reflects for the reverberation generating according to two optoelectronic position detection modules 12Penetrate pixel on optoelectronic position detection module 12, pixel P, two optoelectronic position detection modules 12 fromThe positional information of body and the positional information of surveyed area, obtain indication of shots data, and indication of shots data comprise bulletNumber of rings and orientation.
The pel array of optoelectronic position detection module 12 is matrix array, corresponding, and optoelectronic position detects mouldThe surveyed area of piece 12 is also rectangle, specifically the circumscribed rectangle of target surface can be detected to mould as optoelectronic positionThe surveyed area of piece 12. The positional information of two optoelectronic position detection modules 12 self comprises: two lightThe center distance of the camera lens of electric position detection module 12, the height of each optoelectronic position detection module 12,Taking middle ware distance as baseline, the central point of baseline is vertical with the central point of target surface 14, each optoelectronic position inspectionThe vertical range of the centerline that the height of surveying module 12 is baseline and the central point of target surface 14, target surface 14Central point is bull's eye central point, and the positional information of optoelectronic position detection module 12 self can also comprise photoelectricityThe angle of position detecting module 12, the angle of each optoelectronic position detection module 12 is that optoelectronic position detectsThe angle that the camera lens of module 12 and the centerline of baseline form. The positional information of surveyed area can comprise inspectionSurvey the height of the near-end of height, width, the parallax range surveyed area in region.
In the present embodiment, the concrete installation site of lighting module 11 and two optoelectronic position detection modules 12Do not limit, as long as installation site meets exploring laser light and the each photopotential that lighting module 11 is launchedThe surveyed area of putting detection module 12 all can cover target surface 14.
Shown in Fig. 1, in automatic scoring round target device, two optoelectronic position detection modules 14 are separately positioned on bracing frame15 the upper left corner and the upper right corner, two laser instruments 111 are separately positioned on two optoelectronic position detection modules 12Around, each laser instrument 111 is launched a branch of covering of the fan exploring laser light, the fan that each laser instrument 111 is launchedFace exploring laser light covers respectively the detection zone of an optoelectronic position detection module 12 on correspondence position completelyTerritory, two covering of the fan exploring laser light coincidences that laser instrument 111 is launched. In the light-emitting window of two laser instruments 111The heart is parallel with baseline, and while and target surface 14 equidistant (1～2 centimetre). Fig. 2 is the illumination model of laser instrumentEnclose and the schematic diagram of the surveyed area of optoelectronic position detection module, the illumination zone of laser instrument 111 is laserThe coverage of the exploring laser light that device 111 is launched, as shown in Figure 2, the illumination zone of laser instrument 111 andThe surveyed area of optoelectronic position detection module 12 overlaps substantially.
Fig. 1 only shows a kind of installation site of laser instrument 111 and two optoelectronic position detection modules 12Schematic diagram, certainly, can also be to the position of the position of laser instrument 111 and optoelectronic position detection module 12Adjust. Optoelectronic position detection module 12 comprises any one or its combination in following device: linear arrayCharge-coupled image sensor (ChargedCoupledDevice, be called for short CCD) imageing sensor, linear array are mutualMend metal-oxide semiconductor (MOS) (ComplementaryMetalOxideSemiconductor, letterClaim CMOS) imageing sensor, photodiode arrangement and position sensing (PositionSensitiveDetector, is called for short PSD) light-sensitive detector.
Data processing module 13 comprises any one or its combination: C51 series monolithic in following single-chip microcomputerMachine, risc microcontroller (AdvancedRISCMachines is called for short ARM) series monolithic, openSend out and control integrated circuit (PeripheralInterfaceController, the abbreviation of ancillary equipmentPIC) series monolithic.
Optionally, automatic scoring round target device can also comprise memory module 16, and memory module 16 is for storageIndication of shots data. Memory module 16 can be used dismountable mode and data processing module to be electrically connected.
Optionally, automatic scoring round target device can also comprise data transmission module 17, for by data processing mouldThe indication of shots data that piece 13 calculates send to external equipment, and data transmission module 17 can be by wiredIndication of shots data are sent to external equipment by the mode of connection or wireless connections.
Optionally, automatic scoring round target device can also comprise dismountable supply module 18, is used to automatic reportTarget assembly provides power supply, is above-mentioned lighting module 11, optoelectronic position detection module 12, data processingModule 13, memory module 16 and data transmission module 17 provide power for operation.
In the present embodiment, data processing module 13 specifically for:
Calculate the position of bullet in the first coordinate system according to following formula, the first coordinate system is with in baselineHeart point is the origin of coordinates, taking baseline as X-axis, taking the line of the central point of target surface and the centerline of baseline asY-axis. Fig. 3 is the schematic diagram of target surface, as shown in Figure 3, and the length that L is baseline, the inspection of h parallax rangeSurvey the height of the near-end in region, the height that H is surveyed area, the width that W is surveyed area, the each light of PThe pixel of electric position detection module, a and b are the catoptrical picture that two optoelectronic position detection modules generateElement, the value of a is 1-P, and the value of b is 1-P, and m and n are intermediate variable, and x is that bullet is with respect toThe distance of the X-axis of one coordinate system, y is the distance of bullet with respect to the Y-axis of the first coordinate system.
m＝(h+H/P×a)/((W+L)/2-a/P)
n＝(h+H/P×b)/(-(W+L)/2+b/P)
x＝int((L/2)×(m+n)/(n-m))
y＝int((L+W)/2×m×n/(n-m))
Calculating behind the position of bullet in the first coordinate system, further, according to each optoelectronic position inspectionSurvey the height of module 12 by x and y process Coordinate Conversion, be transformed in the second coordinate system, obtain bullet and existPosition in the second coordinate system, the second coordinate system is taking the central point of target surface 14 as initial point, with target surface 14The line of centerline and baseline is Y-axis, to cross the centerline of target surface 14 and the straight line that is parallel to baseline as XAxle, last, the position according to bullet in the second coordinate system, determines number of rings and the orientation of bullet.
Shown in Fig. 3 in example, the point of impact that the A point in surveyed area and B point are bullet, Fig. 4 is lightThe schematic diagram of the measuring principle of electric position detection module, in Fig. 4, two electric light position detecting module are respectivelyCCD1 and CCD2, in conjunction with Fig. 3 and Fig. 4, A point can be mapped to the upper A ' of CCD1 and the upper A of CCD2 " point,B point can be mapped to the A on CCD1 " and CCD2 on B " point, data processing module can be from CCD1 andOn CCD2, read A point and pixel corresponding to B point. And calculate A point and B point exists by above-mentioned formulaPosition on the first coordinate system,
Shown in Fig. 3 in example, L=600mm, h=150mm, H=500mm, W=500mm, P=3000,The width of every sub regions and be highly all 500/3000=0.5mm in surveyed area, common two between encirclingDistance be 50mm, the width of every sub regions and highly much smaller than the distance between two rings, therefore, canScore a target accurately, and can meet the required precision of number of rings decimal rank.
It should be noted that, above-mentioned formula is a kind of account form wherein, can also be by other meansCalculate.
The automatic scoring round target device of the present embodiment, comprises lighting module, two optoelectronic position detection modules, numberAccording to processing module, target surface and bracing frame, required number of devices is few, is conventional device, thereby reducesThe cost of automatic scoring round target device, and improved certainty of measurement.
The flow chart of the automatic target-indicating method that Fig. 5 provides for the embodiment of the present invention two, the method for the present embodimentBe applied in shown in Fig. 1 in automatic scoring round target device, as shown in Figure 5, the method for the present embodiment can comprise withLower step:
Step 101, at bullet during through the surveyed area of two optoelectronic position detection modules, by eachOptoelectronic position detection module receives the reverberation that bullet reflects.
Wherein, each optoelectronic position detection module provides exploring laser light by lighting module, and lighting module providesExploring laser light cover target surface completely, and the surveyed area of each optoelectronic position detection module covers completelyTarget surface, the surveyed area of each optoelectronic position detection module is parallel with target surface, and each optoelectronic position detects mouldThe pixel of piece is P, and the surveyed area of corresponding each optoelectronic position detection module is divided into P subareaTerritory, P sub regions is corresponding one by one with P pixel of each optoelectronic position detection module respectively, every heightThe light of regional reflex is mapped in corresponding pixel.
Step 102, the reverberation receiving according to each optoelectronic position detection module, generate reverberation and reflectPenetrate the pixel on optoelectronic position detection module.
Step 103, the reverberation generating according to two optoelectronic position detection modules are mapped in optoelectronic position inspectionSurvey positional information and the detection zone of pixel in module, pixel P, two optoelectronic position detection modules selfThe positional information in territory, obtains indication of shots data, and indication of shots data comprise number of rings and the orientation of bullet.
Optionally, the positional information of two optoelectronic position detection modules self comprises: two optoelectronic position inspectionsSurvey the center distance of the camera lens of module, the height of each optoelectronic position detection module, taking middle ware distance as baseLine, the central point of baseline is vertical with the central point of described target surface, the height of each optoelectronic position detection moduleFor the vertical range of the centerline of described baseline and the central point of target surface. Two optoelectronic position detection modulesThe positional information of surveyed area is identical, comprising: the height of surveyed area, width, parallax range detection zoneThe height of the near-end in territory.
Specifically can calculate in the following way indication of shots data:
First, calculate the position of bullet in the first coordinate system according to following formula, the first coordinate system is with baselineCentral point be the origin of coordinates, taking baseline as X-axis, with the company of the central point of target surface and the centerline of baselineLine is Y-axis:
m＝(h+H/P×a)/((W+L)/2-a/P)
n＝(h+H/P×b)/(-(W+L)/2+b/P)
x＝int((L/2)×(m+n)/(n-m))
y＝int((L+W)/2×m×n/(n-m))
Wherein, the length that L is baseline, h is the height of the near-end of parallax range surveyed area, H is for detectingThe height in region, the width that W is surveyed area, the pixel of the each optoelectronic position detection module of P, a and bBe the catoptrical pixel that two optoelectronic position detection modules generate, m and n are intermediate variable, and x is bulletWith respect to the distance of the X-axis of the first coordinate system, y is the distance of bullet with respect to the Y-axis of the first coordinate system;
Then,, change x and y process Coordinate Conversion according to the height of each optoelectronic position detection moduleIn the second coordinate system, obtain the position of bullet in described the second coordinate system, the second coordinate system is with target surfaceCentral point be initial point, taking the centerline of target surface and the line of baseline as Y-axis, to cross the centerline of target surfaceAnd the straight line that is parallel to baseline is X-axis;
Finally, the position according to bullet in the second coordinate system, determines number of rings and the orientation of bullet.
Specifically can bring following beneficial effect:
1, by adopting two laser instruments to realize fan-shaped laser lighting, and optoelectronic position detection moduleLinear Array Realtime photoelectricity receive mode, is not subject to surrounding environment as the interference of temperature, air-flow, neighboring trace shooting sound.
2, adopt modular construction, volume is little, lightweight, be firmly connected with target surface rigidity by bracing frame,Both be suitable for also suitable for movable target of fixed target.
3, adopt the mode of putting to install, the optical lens of its lighting module and optoelectronic position detection module is downward,Both reduce the impact of environment veiling glare and also avoided the pollution at the broken end of target surface, and made full use of laser monochromeProperty good feature, further, can in optoelectronic position detection module, install narrow band pass filter additional, furtherReduce interference of stray light, improved signal to noise ratio, applicable to the various environment of indoor and outdoor (comprise light rain,Slight snow).
4, adopt the sensor devices such as high-density lines array CCD image sensor or cmos image sensor, joinClose aspheric surface imaging lens, make bullet position positioning resolution reach 1mm.
5, search coverage is parallel with target surface before target surface and the fan-like pattern of 1～2 centimetre apart, with target surface shoot markIrrelevant, even if battering down, target surface do not affect measurement yet.
6, adopt modular organization, cost is low, and energy consumption is little, can continuous operation more than 8 hours, use the longevityLife is long.
Finally it should be noted that: above each embodiment is only in order to technical scheme of the present invention to be described, but not rightIts restriction; Although the present invention is had been described in detail with reference to aforementioned each embodiment, this area commonTechnical staff is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified,Or some or all of technical characterictic is wherein equal to replacement; And these amendments or replacement, andDo not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. an automatic scoring round target device, is characterized in that, comprising:
Lighting module, two optoelectronic position detection modules, data processing module, target surface and bracing frames, instituteState laser lighting module, optoelectronic position detection module, data processing module and target surface and be all arranged on describedOn support;
Described laser lighting module, for emission detection laser, described exploring laser light covers described target completelyFace;
The surveyed area of described each optoelectronic position detection module covers described target surface completely, described each lightThe surveyed area of electric position detection module is parallel with described target surface, described each optoelectronic position detection modulePixel is P, and the surveyed area of corresponding described each optoelectronic position detection module is divided into P subareaTerritory, described P sub regions is corresponding one by one with P pixel of described each optoelectronic position detection module respectively,The light of every sub regions reflection is mapped in corresponding pixel, when bullet is through described each optoelectronic position inspectionWhile surveying the surveyed area of module, described each optoelectronic position detection module is used for receiving described bullet and is reflected backThe reverberation coming, and generate described reverberation and be mapped in the pixel on described optoelectronic position detection module;
Described data processing module, described anti-for what generate according to described two optoelectronic position detection modulesPenetrate light and be mapped in the pixel on described optoelectronic position detection module, described pixel P, described two photopotentialsPut the positional information of detection module self and the positional information of surveyed area, obtain indication of shots data, described reportTarget data comprise number of rings and the orientation of described bullet.
2. automatic scoring round target device according to claim 1, is characterized in that, described lighting module bagDraw together two laser instruments;
Described two optoelectronic position detection modules are separately positioned on the upper left corner and the upper right corner of support frame as described above;
Described two laser instruments are separately positioned on described two optoelectronic position detection modules around, each sharpLight device is launched a branch of covering of the fan exploring laser light, and the covering of the fan exploring laser light of described each laser instrument transmitting respectively completelyCover the surveyed area of an optoelectronic position detection module on correspondence position, described two laser instruments transmittingCovering of the fan exploring laser light overlap.
3. automatic scoring round target device according to claim 2, is characterized in that, described two photopotentialsThe positional information of putting detection module self comprises: the center of the camera lens of described two optoelectronic position detection modulesSpacing, the height of described each optoelectronic position detection module, taking described middle ware distance as baseline, described baseThe central point of line is vertical with the central point of described target surface, and the height of described each optoelectronic position detection module isThe vertical range of the centerline of described baseline and the central point of described target surface;
The positional information of the surveyed area of described two optoelectronic position detection modules is identical, comprising: detection zoneThe height of the near-end of surveyed area described in the height in territory, width, described parallax range.
4. automatic scoring round target device according to claim 3, is characterized in that, described data processing mouldPiece specifically for:
Calculate the position of described bullet in the first coordinate system according to following formula, described the first coordinate system withThe central point of described baseline is the origin of coordinates, taking described baseline as X-axis, with the central point of described target surface withThe line of the centerline of described baseline is Y-axis:
m＝(h+H/P×a)/((W+L)/2-a/P)
n＝(h+H/P×b)/(-(W+L)/2+b/P)
x＝int((L/2)×(m+n)/(n-m))
y＝int((L+W)/2×m×n/(n-m))
Wherein, the length that L is described baseline, h is the height of the near-end of surveyed area described in described parallax rangeDegree, the height that H is described surveyed area, the width that W is described surveyed area, each photopotential described in PPut the pixel of detection module, a and b are the catoptrical picture that described two optoelectronic position detection modules generateElement, m and n are intermediate variable, x is the distance of described bullet with respect to the X-axis of described the first coordinate system,Y is the distance of described bullet with respect to the Y-axis of described the first coordinate system;
, be transformed into x and y process Coordinate Conversion according to the height of described each optoelectronic position detection moduleIn the second coordinate system, obtain the position of described bullet in described the second coordinate system, described the second coordinate systemTaking the central point of described target surface as initial point, taking the centerline of described target surface and the line of described baseline as Y-axis,To cross the centerline of described target surface and the straight line that is parallel to described baseline as X-axis;
Position according to described bullet in described the second coordinate system, determines number of rings and the orientation of described bullet.
5. automatic scoring round target device according to claim 1, is characterized in that, also comprises:
Memory module, for storing described indication of shots data.
6. automatic scoring round target device according to claim 1, is characterized in that, described optoelectronic position inspectionSurvey module and comprise any one or its combination in following device: Linear Array CCD Image Sensor, linear array CMOSImageing sensor, photodiode arrangement and PSD light-sensitive detector.
7. automatic scoring round target device according to claim 1, is characterized in that, described data processing mouldPiece comprises any one or its combination in following single-chip microcomputer:
C51 single-chip microcomputer, ARM series monolithic and PIC series monolithic.
8. automatic scoring round target device according to claim 1, is characterized in that, also comprises:
Data transmission module, sends for the described indication of shots data that described data processing module is calculatedGive external equipment.
9. an automatic target-indicating method, is characterized in that, comprising:
In the time that bullet passes the surveyed area of two optoelectronic position detection modules, examine by each optoelectronic positionSurvey module and receive the reverberation that described bullet reflects, described each optoelectronic position detection module is by throwing light onModule provides exploring laser light, and described exploring laser light covers described target surface completely, described each optoelectronic position inspectionThe surveyed area of surveying module covers described target surface, the detection zone of described each optoelectronic position detection module completelyTerritory is parallel with described target surface, and the pixel of described each optoelectronic position detection module is P, corresponding described everyThe surveyed area of individual optoelectronic position detection module is divided into P sub regions, and described P sub regions respectivelyCorresponding one by one with P pixel of described each optoelectronic position detection module, the light of every sub regions reflection reflectsBe mapped in corresponding pixel;
The described reverberation receiving according to described each optoelectronic position detection module, generates described reverberationBe mapped in the pixel on described optoelectronic position detection module;
The described reverberation generating according to described two optoelectronic position detection modules is mapped in described optoelectronic positionThe position letter of the pixel on detection module, described pixel P, described two optoelectronic position detection modules selfThe positional information of breath and surveyed area, obtains indication of shots data, and described indication of shots data comprise the ring of described bulletNumber and orientation.
10. method according to claim 9, is characterized in that, described two optoelectronic positions detectThe positional information of module self comprises: the center distance of the camera lens of described two optoelectronic position detection modules,The height of described each optoelectronic position detection module, taking described middle ware distance as baseline, in described baselineHeart point is vertical with the central point of described target surface, and the height of described each optoelectronic position detection module is described baseThe vertical range of the centerline of line and the central point of described target surface;
The positional information of the surveyed area of described two optoelectronic position detection modules is identical, comprising: detection zoneThe height of the near-end of surveyed area described in the height in territory, width, described parallax range;
The described described reverberation generating according to described two optoelectronic position detection modules is mapped in described photoelectricityThe position of the pixel in position detecting module, described pixel P, described two optoelectronic position detection modules selfPut the positional information of information and surveyed area, obtain indication of shots data, comprising:
Calculate the position of described bullet in the first coordinate system according to following formula, described the first coordinate system withThe central point of described baseline is the origin of coordinates, taking described baseline as X-axis, with the central point of described target surface withThe line of the centerline of described baseline is Y-axis:
m＝(h+H/P×a)/((W+L)/2-a/P)
n＝(h+H/P×b)/(-(W+L)/2+b/P)
x＝int((L/2)×(m+n)/(n-m))
y＝int((L+W)/2×m×n/(n-m))
Wherein, the length that L is described baseline, h is the height of the near-end of surveyed area described in described parallax rangeDegree, the height that H is described surveyed area, the width that W is described surveyed area, each photopotential described in PPut the pixel of detection module, a and b are the catoptrical picture that described two optoelectronic position detection modules generateElement, m and n are intermediate variable, x is the distance of described bullet with respect to the X-axis of described the first coordinate system,Y is the distance of described bullet with respect to the Y-axis of described the first coordinate system;
, be transformed into x and y process Coordinate Conversion according to the height of described each optoelectronic position detection moduleIn the second coordinate system, obtain the position of described bullet in described the second coordinate system, described the second coordinate systemTaking the central point of described target surface as initial point, taking the centerline of described target surface and the line of described baseline as Y-axis,To cross the centerline of described target surface and the straight line that is parallel to described baseline as X-axis;
Position according to described bullet in described the second coordinate system, determines number of rings and the orientation of described bullet.
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