CN115388706B - Laser target drone with automatic calibration function - Google Patents
Laser target drone with automatic calibration function Download PDFInfo
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- CN115388706B CN115388706B CN202211175490.XA CN202211175490A CN115388706B CN 115388706 B CN115388706 B CN 115388706B CN 202211175490 A CN202211175490 A CN 202211175490A CN 115388706 B CN115388706 B CN 115388706B
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- 238000000034 method Methods 0.000 claims abstract description 26
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 14
- 238000004364 calculation method Methods 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 6
- 238000003708 edge detection Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims 1
- 230000006870 function Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
- F41A33/02—Light- or radiation-emitting guns ; Light- or radiation-sensitive guns; Cartridges carrying light emitting sources, e.g. laser
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
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Abstract
The invention relates to a laser target drone with an automatic calibration function, and belongs to the technical field of equipment for simulated shooting. The method comprises the steps of performing algorithm calculation to determine the hit position through identifying the positioning point on the target plate and the image of the hit position; judging whether an acquisition instruction sent by the laser gun is received after the machine is started, if the acquisition instruction is received, carrying out laser detection, and judging whether a laser drop point is detected within a set time; if yes, calculating the center of the light spot, and then sending the center coordinate of the light spot; if not, sending a target-off instruction to the control terminal, and then continuing to return to judge whether an acquisition instruction sent by the laser gun is received or not; after sending the central coordinates of the light spots, judging whether to shut down; if yes, ending the shutdown; if not, continuing to return to judge whether the acquisition instruction sent by the laser gun is received. The invention can well and accurately determine the hit position through the calculation of a program algorithm by identifying the 4 locating points on the target plate and the image of the hit position.
Description
Technical Field
The invention relates to a laser target drone with an automatic calibration function, and belongs to the technical field of equipment for simulated shooting.
Background
In simulated shooting training and shooting entertainment games, a laser transmitter and a laser target are generally used, the laser transmitter transmits as a simulated gun, and laser is transmitted to the laser target, and a target board is arranged on the laser target, so that the target board can determine the shooting position by receiving laser.
The hit position accuracy of the current laser target drone is not high, and the deviation of the target scoring position is large.
Disclosure of Invention
The invention aims to provide a laser target drone with an automatic calibration function.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the laser target machine with the automatic calibration function determines the hit position by carrying out algorithm calculation through identifying the positioning point on the target plate and the image of the hit position;
the operation process is as follows,
after the machine is started, judging whether an acquisition instruction sent by the laser gun is received, if the acquisition instruction is received, carrying out laser detection, and judging whether a laser drop point is detected within a set time; if yes, calculating a light spot center, and then sending a light spot center coordinate; if not, sending a target-off instruction to the control terminal, and then continuing to return to judge whether an acquisition instruction sent by the laser gun is received or not; and continuing to judge according to the steps in turn.
After sending the central coordinates of the light spots, judging whether to shut down; if yes, shutting down and ending; if not, continuing to return to judge whether the acquisition instruction sent by the laser gun is received or not;
the algorithm further comprises a calibration process, wherein during calibration, an external calibration signal is sent firstly, then a camera collects a positioning light spot, then a light spot center coordinate is calculated, then a laser light spot center coordinate is sent, then judgment on whether a collection instruction sent by a laser gun is received or not is carried out, and then the process of determining the hit position according to the calculation is carried out.
A further refinement is that the calibration algorithm is, in particular,
1) Collecting images;
2) Carrying out noise reduction pretreatment on the image to eliminate the influence of noise;
3) Setting a reasonable threshold value to carry out binarization processing on the image;
4) Dividing the image into corresponding areas according to the number of positioning points, and respectively calculating the center coordinates of each positioning point by using a gravity center method; the formula is as follows,
wherein,the number of wide and high pixels for each partition of the image, is->The value of the binarized image pixel point is 0 or 1.
The further improvement is that the steps of detecting the laser spot and calculating the center of the spot are as follows,
1) Collecting images;
2) Carrying out noise reduction pretreatment on the image to eliminate the influence of noise;
3) The image difference extraction light spots are obtained by subtracting the light spot images acquired during shooting and the dark spot images acquired during calibration, so that the laser light spots in the images acquired during shooting are extracted;
4) Extracting the edge of the light spot by using an edge detection algorithm after obtaining the image with the light spot only;
5) And approximating the light spot contour by using a least square circle fitting method, and calculating the light spot center coordinate.
A further improvement is that, the calculation of the drop point accuracy,
according to the implementation principle, the camera can resolve the smallest dimension b as,
。
wherein d is the pixel size, and the unit is mm; f is the focal length of the matched lens, and the unit is mm; a is the size distance from the camera lens to the target surface, and the unit is mm.
The further improvement is that 4 positioning points are taken.
By adopting the technical scheme, the invention has the following technical effects:
the invention can well and accurately determine the hit position through the image recognition of the locating point and the hit position on the target plate and the calculation of a program algorithm. The invention has the calibration function and can improve the accuracy of target reporting.
In the calibration process, binarization processing is utilized after the image is noise reduced, and then the center coordinates of the positioning points can be accurately calculated by utilizing a gravity center method.
Drawings
FIG. 1 is a flow chart of the operation process of the present invention;
FIG. 2 is a flow chart of the calibration process of the present invention;
FIG. 3 is a flow chart of the process of detecting a laser spot and calculating the center of the spot according to the present invention.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
The invention relates to a laser target machine with an automatic calibration function, which is used for shooting training or a shooting game with entertainment property.
The laser target machine determines the hit position by identifying the locating point on the target plate and the image of the hit position and then performing algorithm calculation. Typically 4 anchor points are selected.
The specific procedure for determining the hit location is as follows,
after the machine is started, judging whether an acquisition instruction sent by the laser gun is received, if the acquisition instruction is received, carrying out laser detection, and judging whether a laser drop point is detected within a set time; if yes, calculating a light spot center, and then sending a light spot center coordinate; if not, sending a target-off instruction to the control terminal, and then continuing to return to judge whether an acquisition instruction sent by the laser gun is received or not;
after sending the central coordinates of the light spots, judging whether to shut down; if yes, shutting down and ending; if not, continuing to return to judge whether the acquisition instruction sent by the laser gun is received or not;
further: the algorithm further comprises a calibration process, wherein during calibration, an external calibration signal is firstly sent, then a camera collects a positioning light spot, then a light spot center coordinate is calculated, then a laser light spot center coordinate is sent, then judgment on whether a collection instruction sent by a laser gun is received or not is carried out, and then the process of determining the hit position according to the calculation is carried out.
In a specific implementation, the laser target drone selects a high-speed acquisition industrial camera, the parameters of the camera are preferably as follows, pixels 1280 and 1024, pixels 4.8um and an industrial lens with a focal length of 8 mm.
The universal Zigbee wireless module of the laser target drone is used for communication between the shooting trainer and the receiving target plate. An I3 processor, 4g of memory and an industrial personal computer with a WIFI module are selected as a system core processing terminal. In addition, a PAD may be set as the control terminal device.
The invention relates to a laser target machine with an automatic calibration function, which is characterized in that a target plate target is calibrated before shooting, an industrial personal computer receives a calibration signal sent by a control terminal such as a Pad, a camera is called to collect images of the target plate, coordinates of 4 circular positioning points on the target plate are calculated, the coordinates of the positioning points are sent to a Pad terminal program, and a target ring displayed by the Pad terminal is associated with a target ring actually designed in a simulation mode to finish calibration.
As shown in fig. 2, the calibration algorithm is specifically as follows,
1) And acquiring an image.
2) And carrying out noise reduction pretreatment on the image, and eliminating the influence of noise.
3) And setting a reasonable threshold value to carry out binarization processing on the image.
4) Dividing the image into corresponding areas according to the number of positioning points, and calculating the center coordinates of each positioning point by using a gravity center method. Typically 4 anchor points are provided, thus dividing 4 areas. The specific formula is as follows,
wherein,the number of wide and high pixels for each partition of the image, is->The value of the binarized image pixel point is 0 or 1.
The binarization of the image is a process of setting the gray value of the pixel point on the image to 0 or 255, that is, displaying the whole image with obvious black-and-white effect. In digital image processing, binary images are very important, and binarization of images greatly reduces the amount of data in images, so that the contours of objects can be highlighted.
The laser target machine can perform simulated shooting training after calibration is completed. When shooting, the laser gun emits laser and sends an image acquisition instruction to the industrial personal computer, the industrial personal computer receives the image acquisition instruction and then invokes the camera to acquire a target plate image, a laser spot is detected in a set time, if the laser spot is detected, the center of the laser spot is calculated, the center coordinates of the spot are sent to the Pad terminal, and the Pad terminal can calculate and display the hit number by utilizing the coordinates of 4 positioning points and the center coordinates of the spot; and if the light spot is not detected, sending an off-target instruction to the Pad terminal.
As shown in fig. 3, the specific steps of detecting the laser spot and calculating the center of the spot are as follows,
1) Collecting images;
2) Carrying out noise reduction pretreatment on the image to eliminate the influence of noise;
3) The flare is extracted through image difference, and the flare image collected during shooting and the flare-free image collected during calibration are subtracted, so that the laser flare in the image collected during shooting is extracted;
4) Extracting the edge of the light spot by using an edge detection algorithm after obtaining the image with the light spot only;
5) And approximating the light spot contour by using a least square circle fitting method, and calculating the light spot center coordinate.
In the process of detecting the laser light spot and calculating the center of the light spot, tools, namely an image difference method, an edge detection algorithm and a least square circle fitting method are utilized.
The calculation of the drop point accuracy is mainly based on the item size, the focal length and the distance from the camera lens to the target surface size.
According to the implementation principle, the camera can resolve the smallest dimension b as,
。
wherein d is the pixel size, and the unit is mm; f is the focal length of the matched lens, and the unit is mm; a is the size distance from the camera lens to the target surface, and the unit is mm.
For example, the size of a camera pixel used by a common laser target drone is 4.8um, the focal length is 8mm, the distance from the camera to the target surface is set to be 20m, and the minimum resolution size on the target surface is calculated to be 0.012mm through a formula, so that the requirement of the use on precision can be completely met.
The laser target machine with the automatic calibration function can improve the accuracy of the target reporting through automatic calibration before use. The invention can well and accurately determine the hit position through the image identification of the locating point and the hit position on the target plate and the calculation of a specific program algorithm.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A laser target drone with automatic calibration function, characterized in that: the method comprises the steps of performing algorithm calculation to determine the hit position through identifying the positioning point on the target plate and the image of the hit position;
the operation process is as follows,
after the machine is started, judging whether an acquisition instruction sent by the laser gun is received, if the acquisition instruction is received, carrying out laser detection, and judging whether a laser drop point is detected within a set time; if yes, calculating a light spot center, and then sending a light spot center coordinate; if not, sending a target-off instruction to the control terminal, and then continuing to return to judge whether an acquisition instruction sent by the laser gun is received or not;
after sending the central coordinates of the light spots, judging whether to shut down; if yes, shutting down and ending; if not, continuing to judge whether the acquisition instruction sent by the laser gun is received or not, and continuing to judge according to the steps in sequence;
the algorithm further comprises a calibration process, wherein during calibration, an external calibration signal is firstly sent, then a camera collects a positioning light spot, then a light spot center coordinate is calculated, then a laser light spot center coordinate is sent, then judgment on whether a collection instruction sent by a laser gun is received or not is carried out, and then the process of determining the hit position according to the calculation is carried out;
the calibration algorithm is specifically described as follows,
1) Collecting images;
2) Carrying out noise reduction pretreatment on the image to eliminate the influence of noise;
3) Setting a reasonable threshold value to carry out binarization processing on the image;
4) Dividing the image into corresponding areas according to the number of positioning points, and respectively calculating the center coordinates of each positioning point by using a gravity center method; the formula is as follows,
wherein M, N is the number of wide and high pixels in each partition of the image, G (i, j) is the value of the pixel point of the binarized image, and the value is 0 or 1.
2. A laser target with auto-calibration function according to claim 1, wherein: the steps of detecting the laser spot and calculating the center of the spot are as follows,
1) Collecting images;
2) Carrying out noise reduction pretreatment on the image to eliminate the influence of noise;
3) The image difference extracts the light spots, and the laser light spots in the image acquired during shooting are extracted by subtracting the light spot image acquired during shooting from the dark spot image acquired during calibration;
4) Extracting the edge of the light spot by using an edge detection algorithm after obtaining the image with the light spot only;
5) And approximating the light spot contour by using a least square circle fitting method, and calculating the light spot center coordinate.
3. A laser target with auto-calibration function according to claim 1, wherein: the calculation of the precision of the drop point,
according to the implementation principle, the camera can resolve the smallest dimension b as,
wherein d is the pixel size, and the unit is mm; f is the focal length of the matched lens, and the unit is mm; a is the size distance from the camera lens to the target surface, and the unit is mm.
4. A laser target with automatic calibration function according to any one of claims 1-3, characterized in that: the number of positioning points is 4.
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| CN115656188B (en) * | 2022-12-12 | 2023-04-11 | 北京国光领航科技有限公司 | Self-calibration laser therapeutic instrument |
| CN115615243B (en) * | 2022-12-20 | 2023-03-17 | 江苏金鹏航天智能装备有限公司 | Comprehensive boresight management system and method applying image processing technology |
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| US20100233660A1 (en) * | 2008-06-26 | 2010-09-16 | The United States Of America As Represented By | Pulsed Laser-Based Firearm Training System, and Method for Facilitating Firearm Training Using Detection of Laser Pulse Impingement of Projected Target Images |
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| US20140134574A1 (en) * | 2011-11-14 | 2014-05-15 | Randy Yach | Laser target practice system, method and apparatus |
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| KR100751503B1 (en) * | 2006-02-21 | 2007-08-22 | 강혜경 | Target practice device |
| WO2017113146A1 (en) * | 2015-12-28 | 2017-07-06 | 苏州中启维盛机器人科技有限公司 | Speckle imaging device |
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