CN105180721B - Automatic target-indicating and speed measuring device and its positioning-speed-measuring method - Google Patents
Automatic target-indicating and speed measuring device and its positioning-speed-measuring method Download PDFInfo
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- CN105180721B CN105180721B CN201510487949.3A CN201510487949A CN105180721B CN 105180721 B CN105180721 B CN 105180721B CN 201510487949 A CN201510487949 A CN 201510487949A CN 105180721 B CN105180721 B CN 105180721B
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Abstract
The present invention provides a kind of automatic target-indicating and speed measuring device and positioning and bullet speed-measuring method, point of impact position is detected using minimum 2 first kind optical sensors, all kinds and the bullet of speed in addition to flame tracer can be accurately positioned, and use the continuous infrared background light source of wire, make the light distribution on target surface on each position uniform, in pop-off coordinate setting is carried out, by using the method for looking into optical calibrating table and ratio calculating, avoid the trigonometric function operation of triangulation location, it is easy to accomplish that hardware is resolved, simplifies software and hardware structure.Meanwhile, using 2 automatic scoring round target device tandems formation automatic speed measuring device with Equations of The Second Kind optical sensor, in the case of without target and target sheet, the velocity of shot of common small arms and cannon can be tested.Automatic target-indicating and speed measuring device of the present invention and its positioning and the measurement accuracy of bullet speed-measuring method are high, and installation accuracy requires low and easy to maintain, suitable for extensive use.
Description
Technical field
The present invention relates to a kind of automatic scoring round target device, and in particular to a kind of automatic target-indicating and speed measuring device and its positioning-speed-measuring
Method.
Background technology
Indication of shots is divided into two kinds of report chest silhouette target and coordinate target.The former, which only requires, quotes bomb-release point number of rings, 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.Tradition
Artificial indication of shots take manpower, security is bad, inefficiency, it is impossible to detects running fire, thus occurs in that in recent years all kinds of automatic
Hit telling system, but often exist purchase and use cost it is high, in-convenience in use, bomb-release point it is many and overlapping when error-prone, system
The problems such as complicated poor reliability, so as to limit the popularization of automatic scoring round target device.Existing automatic scoring round target system is usual by principle
It is divided into four classes：Ultrasonic wave shock wave method, two-layer electrode short circuit sampling method, laser is to pipe or light curtain method, image treating.It is wherein ultrasonic
Ultrasonic wave produced by the shock wave or bullet produced when ripple shock wave method is using bullet supersonic flight punctures target is detected, preceding
Person such as Patent No. CN200610102134.X shock wave target-reading system, it is desirable to which bullet is necessary for supersonic projectile, it is impossible to detect
The relatively low part pistol of velocity of shot；The latter such as Patent No. CN201010231582.6 ultrasonic electronic target ball firing is led to more
Road automatic scoring round target system, there are certain requirements to target, and corresponding signal processing algorithm is more complicated, and not easy-to-use embedded hardware is real
It is existing.Two-layer electrode short circuit sampling method presss from both sides a layer insulatings using 2 layers of conductive interlayer and makes targets, and respective point is led when having the bullet to pass through
It is logical to be detected, the device and its work of a kind of such as Patent No. CN201310077701.0 small arms ball firing automatic target-indicating
Make method, shortcoming is that target is more expensive, and use cost is high.Laser utilizes to pipe or light curtain method and constitutes light to the laser tube or optical fiber penetrated
Grid, has bullet to block light grid when passing through and be detected, and such as Patent No. CN200710019000.6 light curtain array is automatic
Scoring round target device and method, shortcoming be light curtain make and install required precision it is higher thus costly, also useful camera or
Line array CCD substitution reception pipe, but sensitivity is limited, and the time for exposure is long, causes the detection performance to High-velocity Projectiles not good.Image
A kind of shooting automatic scoring round target system based on image recognition of facture, such as Patent No. CN201310249220.3, to image
Head shoots target surface and carries out image procossing, draws point of impact position, and system complex installs trouble, and having to the finish of target surface must
Ask and hydraulic performance decline is detected to the situation that bomb-release point is overlapped.
The content of the invention
In view of this, it is necessary to which pop-off position can accurately be detected to carry out accurate indication of shots and peace by providing one kind
Fill technique simple, easy to maintain automatic target-indicating and speed measuring device and its positioning, speed-measuring method.
The present invention provides a kind of automatic scoring round target device, and it includes,
Tiling has target sheet on target surface, the target of the composition target surface；
The continuous infrared background light source of wire, is fitted around at least three edges of the target surface, with master control borad (40) phase
Even and electric current and brilliance control are done by master control borad；
At least two first kind optical sensors being connected with master control borad, at least two first kind optical sensor point
It is not installed on the drift angle of target surface, the visual range of the first kind optical sensor is covered whole target surface；
Master control borad, is electrically connected with the first kind optical sensor, the data for receiving the collection of the first optical sensor,
And calculate the geometric coordinate for obtaining point of impact by analyzing.
A kind of localization method of automatic target-indicating, it comprises the following steps, and wherein S2~S5 is that circulation is carried out：
S1, master control borad receive the luminance signal in 10 cycles from first kind optical sensor and are compared, if
Luminance signal is varied less in 10 cycles, then is write down the pixel brightness data in a cycle, referred to as background array；
S2, normal work and the luminance signal for receiving first kind optical sensor in 1 cycle, referred to as real-time array；
S3, background array subtracted into real-time array, obtain blackening array, and rim detection and barycenter are carried out to blackening array
Method processing, obtains blackening edge and center that first kind optical sensor is detected；
S4, the non-bullet target such as winged insect is determined whether according to features such as blackening size and duration；
S5, optical calibrating table looked into blackening edge and center dichotomy, obtain blackening and be centrally located at target surface outer rim light
Correspondence position on source, and the coordinate for obtaining bomb-release point is calculated with ratio.
The present invention also provides a kind of automatic speed measuring device, and it includes
The target surface that two tandems are set, the target and target sheet at no middle part；
Each target surface is respectively equipped with the continuous infrared background light source of a wire, the continuous infrared background light source difference ring of wire
Around at least three edges for being installed on each target surface, it is connected with master control borad and electric current and brilliance control is done by master control borad；
At least two first kind optical sensors being connected with master control borad, at least two first kind optical sensor point
It is not installed on the drift angle of target surface, the visual range of the first kind optical sensor is covered whole target surface；
Equations of The Second Kind optical sensor directly over each target surface, the time for exposure of the Equations of The Second Kind optical sensor
Less than the time for exposure of first kind optical sensor.
Master control borad, is electrically connected with first kind optical sensor, the Equations of The Second Kind optical sensor set on two target surfaces respectively, is used
The target practice for obtaining bullet is calculated in the first optical sensor of reception, the data of Equations of The Second Kind optical sensor collection, and by analyzing
Speed.
A kind of automatic speed-measuring method, it comprises the following steps：
S1, the forward and backward hollow target surface of tandem setting in two planes vertical with same straight line and pulling open certain distance, point
Not be arranged above Equations of The Second Kind optical sensor in forward and backward hollow target surface；
S2, by Equations of The Second Kind optical sensor detect that bullet passes through the time of forward and backward hollow target surface, and subtract each other and obtain bullet
Flight time；
S3, by carrying out summed square to geometric coordinate difference of the bullet on forward and backward hollow target surface, target spacing and opening flat
Square computing, you can obtain the distance of projectile flight, then divided by the flight time be to obtain velocity of shot.
A kind of scaling method of automatic target-indicating and speed measuring device, it comprises the following steps：
S1, print or formed by way of pasting impermeable gelatin film UV there is printing opacity narrow slit at a certain distance
Demarcate rod；
S2,3 length demarcation rod respectively with the side outer rim equal length of target surface three is chosen, the demarcation rod is arranged on pair
Before the continuous infrared background light source of wire for answering outer rim；
Printing opacity narrow slit described in S3, infrared light asks for spike in the line of induction formation bright spot spike of line array sensor
Location of pixels, and quadravalence Mathematical Fitting is done by the location of pixels of spike and with the geometric coordinate of corresponding printing opacity narrow slit,
S4, five fourth order fits parameters of recycling ask for the correspondence between the pixel of the Points And lines array sensor in target surface outer rim
Relation table, as optical calibrating table.
Automatic target-indicating and speed measuring device of the present invention and its positioning and bullet speed-measuring method, use minimum 2 first
Class optical sensor detects point of impact position, the bullet of all kinds in addition to flame tracer and speed can be carried out accurate
Positioning, and the continuous infrared background light source of wire is used, make the light distribution on target surface at each position uniform, carry out pop-off coordinate
In positioning, by using looking into the method that optical calibrating table and ratio are calculated, it is to avoid the trigonometric function operation of triangulation location, easily
In accomplishing hardware resolving, software and hardware structure is simplified.Meanwhile, filled using 2 automatic target-indicatings with Equations of The Second Kind optical sensor
Tandem formation automatic speed measuring device is put, in the case of without target and target sheet, the bullet of common small arms and cannon can be tested
Ball speed.Automatic target-indicating and speed measuring device of the present invention and its positioning and the measurement accuracy of bullet speed-measuring method are high, and pacify
Required precision is filled low and easy to maintain, suitable for extensive use.
Brief description of the drawings
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 sensor described in the embodiment of the present invention 1；
Fig. 5 passes through induction planes process schematic for bullet in the embodiment of the present invention 1；
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 is installed with first kind optical sensor；
Fig. 9 is to focus on the schematic diagram for obtaining narrow and long rectangular on the line array sensor described in the embodiment of the present invention 1；
Figure 10 is the relative position schematic diagram of demarcation rod and light source when being demarcated described in the embodiment of the present invention 1；
Figure 11 is the part calibration structure schematic diagram that UV described in the embodiment of the present invention 1 is printed on demarcation rod surface；
Figure 12 calculates schematic diagram for the coordinate 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.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated, it will be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction 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, it includes,
Tiling has target and target sheet successively on target surface 10, the target surface 10；
The continuous infrared background light source 20 of wire, is fitted around at least three edges of the target surface 10；
At least two first kind optical sensors 30 being connected with master control borad 40, at least two first kind optical sensing
Device 30 is respectively arranged on the drift angle of target surface 10, the visual range of the first kind optical sensor 30 is covered whole target surface
10；
Master control borad 40, is electrically connected with the first kind optical sensor 30, is adopted for receiving first kind optical sensor 30
The data of collection, and calculate the geometric coordinate for obtaining point of impact by analyzing.Specific composition is as follows：
As shown in Fig. 2 the continuous infrared background light source 20 of wire is by the pipe that is symmetricly set on two drift angles of the target surface 10
Shape infrared light supply 21 and the light-guiding pillar of side light extraction 22 are constituted, wherein, the tubulose infrared light supply 21, which includes one, to be used to reduce
The optically focused housing 211 of LED light dispersion angle, one is arranged on the bottom of optically focused housing 211 and the aluminium electrically connected with master control borad 40
Substrate 212, one is arranged on the Infrared High-Power LED213 on the aluminium base 212；One is arranged on the Infrared High-Power
LED213 exit ends side and the collector lens 214 being coaxially disposed with the Infrared High-Power LED213；One relatively described optically focused
Lens 214 are arranged on the fin 215 of the opposite side of aluminium base 212；The master control borad 40 lights the big work(on aluminium base 212
Rate infrared LED 213 simultaneously makees current control.The optically focused housing 211 offers a mounting hole 211a, institute with respect to the one end of light-guiding pillar 22
State the two of light-guiding pillar 22 to polish and be inserted into mounting hole 211a, be oppositely arranged with the collector lens 214.It is preferred that, it is described
A diameter of 6mm of light-guiding pillar 22.
As shown in Figure 1, the outer rim of the target surface 10 is provided with target frame 11, and light-guiding pillar 22 is installed in target frame 11, and at turning
Hot bending processing is done in place.The target frame 11 offers light-emitting window with respect to the side of target surface 10, makes the emergent ray of light-guiding pillar 22 parallel
In the surface of target surface 10, further, as shown in figure 3, light-guiding pillar 22 has reflecting surface 221 and exiting surface 222, the exiting surface
222 is relative with the light-emitting window of the target frame 11, and Infrared High-Power LED213 light is incident from the light inputting end face at two ends, wherein
It is most of to be totally reflected at reflecting surface 221, and exiting surface 222 is reflected to, the exiting surface 222 is rectangle, thereon
There are the micro optical structures such as printing points, etching point, V-type fluting or lenticule, thus the total reflection condition of exiting surface 222 is destroyed,
Part infrared light be refracted as by micro optical structure it is each to more uniform infrared light supply, be partly reflected back reflecting surface 221 and continue into
The circulation that row total reflection and exiting surface 222 are reflected.Because it is left and right two light inputting end faces while entering light, therefore the light intensity of both sides
Superposition can cause the light intensity of whole exiting surface 222 all than more uniform.
Because the infrared light at not all light inputting end face all meets total reflection condition on reflecting surface 221, therefore may be used also
Output intensity is improved to plate reflectance coating on reflecting surface 221.Also light-guiding pillar 22 can be replaced with side light-conductive optic fibre, but optical fiber is curved
Folding event structure is slightly simpler, and guide-lighting efficiency is not so good as light-guiding pillar 22.Infrared light when SFH4715S type Infrared High-Powers LED213 works
Centre wavelength be 850nm, thus the wave-length coverage of this light source is main between 780nm~900nm, and centre wavelength is 850nm.
The structure of first kind optical sensor 30 is as shown in figure 4, the first kind optical sensor 30 is installed on target surface 10
At two jiaos of the left and right of top, its lower trapezoidal face is parallel with target surface 10, specifically includes one from first end face 301 to second end face
The trapezoidal metal imaging arrangement 31 that 302 width are gradually reduced；One is arranged on the piano convex cylindrical lens 32 of the second end face 302,
One is pasted onto ITO shield glass 33 and infrared fileter 34 in the base plane of the piano convex cylindrical lens 32 successively, described
The face resistance of ITO shield glass 33 is preferably 20 ohm；One is arranged on the sensors A D sampling plates 36 in first end face 301, described
Electrical connection is provided with line array sensor 35 on sensors A D sampling plates 36.The sensors A D sampling plates 36 and master control borad 40 pass through
Shielded cable is connected.Electrical connection between each circuit board is specifically to be connected using shielded cable, and all circuits are placed in shielding case,
And ITO shield glass 33 and good earth are also used, to avoid influence of the electromagnetic interference produced during pellet injection to circuit.
Wherein, the preferred model TSL208R of line array sensor 35.
Piano convex cylindrical lens 32 are used in first kind optical sensor 30 of the present invention, it is better than using spherical lens,
Because piano convex cylindrical lens 32 are on the direction of parallel cylinder bus the characteristics of out-focus, it is ensured that even if metal imaging arrangement 31
Lower trapezoidal face and target surface 10 of getting along well is exactly parallel and be directed at the light-guiding pillar 22 in Fig. 1, light-guiding pillar 22 still can have suitable portion
The light divided can be mapped on the line of induction of line array sensor 35, so requiring low and easy to maintain to installation accuracy.
Specifically, also having operational amplifier and 8 parallel-by-bit AD converters on sensors A D sampling plates 36.Line array sensor 35
The long 64mm of induction planes, with complex focus be 25mm piano convex cylindrical lens 32, its visible angle be more than 104 degree, exceed
90 degree, thus first kind optical sensor 30 and horizontal direction are installed at the upper left corner of target surface 10 and the upper right corner in 45 degree, its
Visual range can cover whole target surface 10.
For above centre wavelength in the 850nm continuous infrared background light source 20 of wire, the sensitivity of line array sensor 35
For 1200V/ (lxs), the sensitivity of common line array CCD is exceeded well over, light integration is all carried out in whole cycle, its maximum functional
Frequency is 5MHz, thus can realize the most short 102.6us saturation time for exposure.Coordinate the wire of the above continuously red in the present embodiment
Outer background light source 20, its saturation time for exposure is in 125us or so.Actual exposure is preferably provided when carrying out the detection of bias light blackening
Time is 0.2~0.8 times of saturation time for exposure, to reduce the influence that device saturation is detected to blackening, thus sets linear array to pass
Sensor 36 works in 5MHz, to realize 102.6us time for exposure.
For the present embodiment, the continuous infrared background light source 20 of wire has used the light-guiding pillar 22 of the side light extraction of 6mm diameters,
As long as experiment proves that its 6mm detection width has 1/3 or so to be blocked and can ensure that blackening can by following blackening detection algorithm
By detection.Following table lists the bullet length and speed of common weight weapon.
The bullet length and speed of the common weight weapon of table 1
| Weapon species | Bullet length | Muzzle velocity | Can the sensitive time |
| 9mm92 formula pistols | 10mm | 350m/s | 34.2us |
| 5.8mm95 formula automatic rifles | 25mm | 950m/s | 28.4us |
| 12.7mm89 formula heavy machine gun | 55mm | 825m/s | 69.1us |
| 130mm59 formula guns | 450mm | 930m/s | 486.0us |
As shown in Figure 5, bullet can the sensitive time be by what this light source can detect blackening width
T=(L+2mm)/V
Wherein L is bullet length, and V is velocity of shot, then can be listed in last column the sensitive time according to upper table data.Can
See main small arms can all have in the present apparatus more than 25us can the sensitive time, the time account for the 102.6us time for exposure
Considerable part, thus obvious blackening can be formed in exposure.It is lower as other speed, less than the bullet of velocity of sound, then at this
It is more easily detected in device.As for heavy weapons, because its bullet is longer, exposure can be generally longer than the sensitive time in the present apparatus
Time, thus can be all detected within continuous several cycles of line array sensor 35.
The automatic scoring round target device also includes a matt structure 50, and the matt structure 50 is delustring spiral 53, by Fig. 6 and
Shown in Fig. 7, it includes the fan-shaped top 51 being oppositely arranged and fan-shaped bottom 52, and the fan-shaped top 51 and fan-shaped bottom 52 are relative
Multi-turn delustring spiral 53 is respectively symmetrically provided with one side, and is gradually subtracted from front opening 501 to the radius of open rearward end 502
It is small.Relative position when matt structure 50 is installed with first kind optical sensor 30 as shown in figure 8, both axis overlap so that
Both optical transmission window is overlapped, and the opening angle of matt structure 50 should be not less than 90 degree, can with ensure metal imaging arrangement 31
Angle is not less than 90 degree.Multi-turn delustring spiral 53 in matt structure 50 eliminates sunshine, and delustring spiral 53 blacks
Handle to reduce reflecting rate.
From the profile in Fig. 7, the infrared light that matt structure 50 is injected in left side can be by delustring spiral more than 53 times up and down
Reflect and weaken.Experiment is proved under outdoor conditions, and the solar infrared of first kind optical sensor 30 is entered by matt structure 50
Light intensity is only 2% or so of the continuous light intensity of infrared background light source 20 of wire, and influence on RT is just slightly larger than circuit noise
And the influence that device unevenness is caused, it can be ignored.Thus the matt structure 50 can effectively eliminate the rings such as sunshine
The influence of border infrared light supply, therefore the present apparatus can be used for outdoor target range.If cutting down environment solar infrared light using general diaphragm method,
Then enter first kind optical sensor 30 solar infrared light intensity exceed the 50% of the continuous light intensity of infrared background light source 20 of wire with
On, the ambient infrared light such as sunshine has a strong impact on the blackening detection of bullet when being changed in detection time by force.
As shown in figure 1, axis overlaps the light inlet window so that both when matt structure 50 and the installation of metal imaging arrangement 31
It is salty to close.As shown in figure 9, during imaging, before the incident matt structure 50 of the infrared light from the continuous infrared background light source 20 of wire
End opening 501, the open rearward end 502 through matt structure 50 injects the second end face 302 of metal imaging arrangement 31, and through plano-convex post
The focusing of face lens 32 and a long and narrow rectangle is focused on the line of induction of line array sensor 36, such as the dotted line institute in Fig. 9
The rectangle shown, the long side of the rectangle is parallel with the line of induction, and narrow side has one fixed width simultaneously and the line of induction is orthogonal.
The line of induction of the line array sensor 36, the front opening 501 of matt structure 50 and light-guiding pillar 22 are same flat
On face.
Field programmable gate array is carried on master control borad 40, single-chip microcomputer and Wireless USB chip, step-up/step-down circuit, dial-up are opened
Pass, related peripheral circuit, power switch and outlet, and have the 5V15AH rechargeable battery sets of optional installation.Toggle switch
The pattern of testing the speed also is operate on for selecting the master control borad 40 to be operate on indication of shots pattern, please by toggle switch during normal indication of shots
It is placed under indication of shots pattern and opens electricity again.Field programmable gate array works in indication of shots pattern in the present embodiment, produces 1 group totally 2
The drive signal and AD sampled signals of first kind optical sensor 30, receive the data of this 2 first kind optical sensors 30, enter
Row indication of shots calculating coordinate, and the data and indication of shots calculating coordinate result of 2 first kind optical sensors 30 are forwarded to list
Piece machine, and indication of shots calculating coordinate result is issued into Wireless USB chip.Single-chip microcomputer works in indication of shots pattern in the present embodiment 1, with
Slave FIFO mode uploads the initial data of 1 group of totally 2 first kind optical sensor 30 in big end points, and uploads indication of shots
Calculating coordinate result is in small end points, and data transmission bauds is 9.8MB/s.Wireless USB chip works in indication of shots in the present embodiment 1
Pattern, the host computer for indication of shots calculating coordinate result to be sent to distal end, reliably working is apart from 100m or so.5V15AH's fills
Electric battery pack provides the working time of about 8 hours under the manner, so that small arms automatic scoring round target device described in the present embodiment
It is enough to use for field exercise.
Smooth target and target sheet are without particular/special requirement, and common foam target and papery target sheet are close to overlapped way
Installed in the continuous infrared background light source 20 of wire, constitute target surface 10.
A kind of scaling method of optical lens is also disclosed in the embodiment of the present invention 1, and it, which is used, demarcates light before rod 70 is dispatched from the factory
Learn distortion demarcation.Idiographic flow is as follows：
S1, print or formed by way of pasting impermeable gelatin film UV there is a transmissive slit 71 at a certain distance
Demarcation rod 70；
S2, the demarcation rod 70 of 3 length of selection respectively with the side outer rim equal length of target surface 10 3, the demarcation rod 70 is set
Put before the continuous infrared background light source 20 of wire of correspondence outer rim；
Transmissive slit 71 described in S3, infrared light asks for point in the line of induction formation bright spot spike of line array sensor 35
The location of pixels at peak, and quadravalence Mathematical Fitting is done by the location of pixels of spike and with the geometric coordinate of corresponding transmissive slit 71,
S4, five fourth order fits parameters of recycling are asked between the pixel of the Points And lines array sensor 35 in the outer rim of target surface 10
Mapping table, as optical calibrating table.
As shown in Figure 10, it is that the demarcation pattern being printed in the way of UV prints on poly (methyl methacrylate) plate is illustrated, finishes printing
The lucite bar for being printed on this demarcation pattern is cut from poly (methyl methacrylate) plate as demarcation rod 70 afterwards.The side of target surface 10 3 respectively needs 1
The demarcation rod 70 of root corresponding length.During demarcation by this demarcation rod 70 be placed in corresponding edge the continuous infrared background light source 20 of wire it
Before, the demarcation length direction of rod 70 is parallel with light source length direction, and is close to target frame 11 and places.Demarcate transmissive slit 71 on rod 70
Demarcate pattern as shown in figure 11.Light source is successively through the slit 71 on demarcation rod 70, delustring spiral 53, and through piano convex cylindrical lens
32 data and curves imaged on line array sensor 35 are to correspond to one at a series of high and narrow spikes, each transmissive slit 71
It is high and the location of pixels on narrow spike, the corresponding line array sensor 35 of these peak locations can be obtained using spike identification algorithm
Arrive.
As shown in figure 11, by taking the 1st first kind optical sensor 30 in the upper left corner of target surface 10 as an example, its optical model is met
Following corresponding relation：
P=B4X4+B3·X3+B2·X2+B1·X+B0
Wherein, X is every the geometric position of 20mm transmissive slit 71 respectively 20,40 ..., and P then receives for host computer
After the data of 2 first kind optical sensors 30 of single-chip microcomputer, on the line array sensor 35 drawn with speck spike identification algorithm
Corresponding location of pixels.11 groups of X and corresponding P are at least taken, are fitted using Mathematical Fitting software, B4~B0 this 4 is obtained
The parameter value of optical calibrating parameter.For the Equations of The Second Kind light in the 2nd first kind optical sensor 30 or embodiment 2 of right edge
Learn sensor 60, and 10 or so 2 sides of target surface background light source, the identical simply parameter of process is different.Utilize 3 demarcation rods
70 demarcate calibrating parameters of this 2 first kind optical sensors 30 for the left side of target surface 10, right edge and lower side respectively, i.e.,
6 groups of totally 30 calibrating parameters are obtained.
Using this 6 groups totally 30 calibrating parameters substitute into P=B4X4+B3·X3+B2·X2+ B1X+B0 is calculated, such as
For the lower side of target surface 10 that length is 1000mm, take X at intervals of 1mm, from the left side X=0 of target surface 10 to the right side of target surface 10
Side X=1000 asks for corresponding P, is also equally handled for left side and right edge, that is, has obtained optical calibrating table.
Illustrate how to obtain the geometric coordinate of point of impact using sensing data with reference to Figure 12
The photocentre that upper left corner first kind optical sensor 30 is set in Figure 12 is geometric coordinate system origin, the X axis right side for just,
It is just under Y-axis.The photocentre lateral separation W of two first kind optical sensor of left and right 30, to following light source fore-and-aft distance H.If impact
The geometric coordinate of point is (X, Y), and target center geometric coordinate is that (X0, Y0) then meets following geometrical relationship：
It can thus be concluded that coordinate
Seek the square distance D of bomb-release point and target center2=(X-X0)2+(Y-Y0)2Contrasted with parameter list and can obtain chest ring
The number of rings of target.
Wherein, X1 and X2 is by trying to achieve during following, due to wherein only tabling look-up and addition subtraction multiplication and division computing, thus can
Completion is calculated to carry out hardware in programmable gate array at the scene.
Passing ratio computing can try to achieve bullet in 2 first kind optical sensings using the width between blackening left and right edges
Blackening width in device 30, bullet diameter is estimated with this.Specific algorithm flow as shown in figure 13, is comprised the steps of：
(1) device power-on self-test detection background light source
Master control borad 40 receives the luminance signal in 10 cycles from first kind optical sensor 30 and is compared, if
Luminance signal varies less (pixel of the amplitude of variation more than 3 is no more than 5 in such as each cycle) in 10 cycles, then by first
Pixel brightness data in the individual cycle is write down, the background array of referred to as each first kind optical sensor 30；If luminance signal has bright
Aobvious change, then repeat the process once, until signal intensity very little, untill writing down background array；
(2) real-time array is obtained
Normal work and the luminance signal for receiving first kind optical sensor 30 in a cycle, referred to as real-time array；
(3) blackening array and blackening center are obtained
The background array of each first kind optical sensor 30 is subtracted into real-time array, blackening array is obtained, and to blackening number
Group carries out rim detection and centroid method processing, obtains each blackening edge of first kind optical sensor 30 and center；
(4) foreign matter judges
Enter detection faces due to there may also be the objects such as winged insect in the wild, also need to do foreign matter judgement.Decision method is：If the
Blackening movement in one class optical sensor 30 is slow and is continued above 20 cycles, i.e. detectable substance in lasting more than 2ms not yet
By detection faces, then it is judged as the foreign matter beyond bullet, does not enter step 5.
(5) X1 is asked for, X2 simultaneously calculates point of impact geometric coordinate
Optical calibrating table is looked into the left and right blackening edge of 2 first kind optical sensors 30 and center dichotomy, obtained
Blackening is centrally located at the correspondence position on the marginal ray source of target surface 10 3, if all on lower side, as X1 and X2, if in left and right side
Bian Shang, the intersecting point coordinate X1 and X2 of itself and following extended line is asked for triangle ratio method, and obtain bullet with ratio calculating
The coordinate of the relative geometric coordinate system origin of point, and utilize the width between the left and right blackening edge of left and right first kind optical sensor 30
Degree and the focal length between the distance between bomb-release point and left and right first kind optical sensor 30, left and right first kind optical sensor 30
Scale operation is done to estimate bullet diameter；
(6) score a target and report
If coordinate target, coordinate is uploaded；If chest silhouette target, then calculate the distance of point of impact position and target center position with
Determine number of rings and report.
Above step (1) is only carried out once when upper electric, and step (2)~(6) are then in the every of first kind optical sensor 30
All carried out once in the individual scan period, each time scan period length is equal to the time for exposure, is 102.6us.To ensure to calculate
Real-time and reliability, calculating can carry out hardware calculating using field programmable gate array, with factors such as avoidance breakouts to report
The influence that target is calculated.
Embodiment 2
The embodiment of the present invention 2 is as shown in figure 14, a kind of automatic speed measuring device, and it includes,
Two target surfaces 10 for being set up in parallel；
Each target surface 10 is respectively equipped with the continuous infrared background light source 20 of a wire, the continuous infrared background light source 20 of wire
It is fitted around respectively at least three edges of each target surface 10；
Light path is connected with least two first kind optics biography respectively at each continuous two ends of infrared background light source 20 of wire
Sensor 30, at least two first kind optical sensor 30 is respectively arranged on the drift angle of target surface 10, makes the first kind light
The visual range for learning sensor 30 covers whole target surface 10；
Equations of The Second Kind optical sensor 60 directly over each target surface 10, its visual range also covers whole target surface
10, the time for exposure of the Equations of The Second Kind optical sensor 60 is less than the time for exposure of first kind optical sensor 30.
Master control borad 40, respectively first kind optical sensor 30, the Equations of The Second Kind optical sensor 60 with being set on two target surfaces 10
Electrical connection, for receiving the data that the first optical sensor, Equations of The Second Kind optical sensor 60 are gathered, and is obtained by analyzing calculating
The target practice speed of bullet.
In fact, the automatic speed measuring device is surveyed using the structure tandem connection of 2 embodiments 1 to objects such as bullets
Speed.But there is a little structural difference, the speed measuring device with respect to automatic scoring round target device, except the target do not installed on target surface 10 with
Target sheet, master control borad 40 needs the totally 2 Equations of The Second Kind optical sensings of totally 4 first kind optical sensors 30 and 2 groups of 2 groups of connection simultaneously
Device 60, compares 2 second of the optical sensors of embodiment more than 1.
The Equations of The Second Kind optical sensor 60 compares first kind optical sensor 30, its structure and first kind optical sensor
30 structure is identical, and simply the volume smaller time for exposure is shorter, specifically, Equations of The Second Kind optical sensor 60 employs volume more
The less line array sensor 36 of small, pixel, and the piano convex cylindrical lens 32 that focal length is shorter, volume is smaller, the piano convex cylindrical are saturating
The focal length of mirror 32 is only 2.5mm, therefore visible angle is more than 120 degree, so as to be installed in the surface of target surface 10, its is visual
Region can cover whole target surface 10, and the pixel count of Equations of The Second Kind optical sensor 60 can be much smaller than first kind optical sensor 30
Pixel count, but the time for exposure of Equations of The Second Kind optical sensor 60, to compare first kind optical sensor 30 shorter, and close to bullet
Through the time of induction planes, thus the Equations of The Second Kind optical sensor 60 may be used to determine bullet through sensitive surface when
Carve.Wherein, the preferred model TSL201R of line array sensor 35.
Because the time for exposure of the line array sensor 35 in second of optical sensor is only 12.8us, therefore most weights
The bullet of weapon is both greater than 1 exposure cycle by the time of its induction planes, thus 2 hollow target surfaces can be left with bullet
Subtract each other the flight time for obtaining bullet at the time of 10.Summed square is done using geometric coordinate difference, target spacing of the bullet on 2 targets
And extraction of square root computing, you can the distance of projectile flight is obtained, divided by the flight time is to obtain velocity of shot.
Idiographic flow is as follows：
S1, the forward and backward hollow target surface 10 of tandem setting in two planes vertical with same straight line and pulling open certain distance,
Respectively Equations of The Second Kind optical sensor 60 is arranged above in forward and backward hollow target surface 10；
S2, by Equations of The Second Kind optical sensor 60 detect that bullet passes through the time of forward and backward hollow target surface 10, and subtract each other and obtain
The flight time of bullet；
S3, by carrying out summed square to geometric coordinate difference of the bullet on forward and backward hollow target surface 10, target spacing and opening
Square operation, you can obtain the distance of projectile flight, then divided by the flight time be to obtain velocity of shot.
It is preferred to use TSL208R line array sensors 35 in first kind optical sensor 30 in the embodiment of the present invention, but
Also the line array sensor 35 of other models can be changed to, such as TSL201R, TSL 202R, TSL210, TSL2014, TSL1301,
TSL1401R, TSL1402R, TSL1406R, TSL1410R, TSL1412S and TSL3301 etc., as long as these line array sensors 35
The near infrared light in 780~1000nm can be sensed, continuous exposure and can guarantee that very short time for exposure is (general in whole cycle
Below 200us), but positioning precision may be influenceed by sensor pixel number.Equations of The Second Kind optics in the present embodiment 2 is passed
It is preferred to use line array sensor 35 in sensor 60 for TSL201R, can be also changed to the hypersensitivity line array sensor of other models
35, such as TSL202R, TSL1301, TSL1401R or TSL1402R, as long as these sensors can sense it is near in 780~1000nm
Infrared light, continuous exposure and can guarantee that extremely short time for exposure (general below 50us) and bullet through sensing in whole cycle
The time in face is suitable or shorter, but some minimum exposure times exceed time more (such as 50us that bullet passes through sensitive face
~200us) sensor, such as above-mentioned TSL208R, TSL210, TSL2014, TSL1406R, TSL1410R, TSL1412S and
TSL3301 is unsuitable to apply to Equations of The Second Kind optical sensor 60, is only suitable for being used in first kind optical sensor 30, because these are sensed
The bullet of device record is by not accurate enough at the time of sensitive surface, so as to cause being decreased obviously for rate accuracy.
Automatic target-indicating and speed measuring device of the present invention and its positioning and bullet speed-measuring method, use minimum 2 first
Class optical sensor 30 detects point of impact position, can carry out essence to the bullet of all kinds in addition to flame tracer and speed
It is determined that position, and the continuous infrared background light source 20 of wire is used, make the light distribution on target surface 10 on each position uniform, carry out bullet
In point coordinates positioning, by using looking into the method that optical calibrating table and ratio are calculated, it is to avoid the trigonometric function of triangulation location
Computing, it is easy to accomplish that hardware is resolved, simplify software and hardware structure.Meanwhile, it is automatic using 2 with Equations of The Second Kind optical sensor
Scoring round target device tandem formation automatic speed measuring device, in the case of without target and target sheet, can test common small arms and fire
The velocity of shot of big gun.Automatic target-indicating and speed measuring device of the present invention and its positioning and the measurement accuracy of bullet speed-measuring method
Height, and installation accuracy requires low and easy to maintain, suitable for extensive use.
Apparatus above embodiment is one-to-one, the simple part of device embodiment with embodiment of the method, real referring to method
Apply example.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to feature in the above description.This
A little functions are performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specially
Industry technical staff can realize described function to each specific application using distinct methods, but this realization is not
The scope of the present invention should be exceeded.
Directly it can be held with reference to the step of the method or algorithm that the embodiments described herein is described with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory, internal memory, read-only storage,
Electrically programmable ROM, electricity can sassafras except in programming ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field institute it is public
In the storage medium for any other forms known.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (8)
1. a kind of automatic scoring round target device, it is characterised in that including,
Target surface (10), constituting tiling on the target of target surface (10) has target sheet；
The continuous infrared background light source (20) of wire, is fitted around at least three edges of the target surface (10), with master control borad
(40) it is connected and electric current and brilliance control is done by master control borad；
At least two first kind optical sensors (30) being connected with master control borad (40), at least two first kind optical sensing
Device (30) is respectively arranged on the drift angle of target surface (10), the visual range of the first kind optical sensor (30) is covered whole
Target surface (10), the front end of first kind optical sensor is with the matt structure (50) for eliminating ambient light；
Master control borad (40), is electrically connected with the first kind optical sensor (30), for receiving first kind optical sensor (30)
The data of collection, and calculate the geometric coordinate for obtaining point of impact by analyzing.
2. automatic scoring round target device according to claim 1, it is characterised in that the continuous infrared background light source (20) of wire
Tubulose infrared light supply (21) including being symmetricly set on two drift angles of the target surface (10) and carrying concentration structure, and two
The leaded light that end incidence surface inserts symmetrical tubulose infrared light supply (21) respectively and body is set around the outer rim of the target surface (10)
Post (22).
3. automatic scoring round target device according to claim 2, it is characterised in that the tubulose infrared light supply (21) includes one and used
In the optically focused housing (211) for reducing LED light dispersion angle, one is arranged on optically focused housing (211) bottom and and master control borad
(40) aluminium base (212) of electrical connection, one is arranged on the Infrared High-Power LED (213) of the aluminium base (212) side；One sets
Put in the LED exit ends side, and the collector lens (214) being coaxially disposed with the LED；One relatively described collector lens
(214) it is arranged on the fin (215) of the aluminium base opposite side；
Target surface (10) outer rim has the target frame (11) of opening provided with a both sides, and the light-guiding pillar (22) is arranged on target frame (11)
Interior, the light-guiding pillar (22) is provided with exiting surface (222) towards the side at target surface center, reversely relative with the exiting surface (222)
Another side provided with making the reflecting surface (221) of most of directs light total reflection.
4. automatic scoring round target device according to claim 1, it is characterised in that first kind optical sensor (30) includes,
The one trapezoidal metal imaging arrangement (31) being gradually reduced from first end face (301) to second end face (302) width；
One is arranged on the piano convex cylindrical lens (32) on the inside of the second end face (302)；One is pasted onto the piano convex cylindrical successively
Shield glass (33) and infrared fileter (34) in the base plane of lens (32)；
One is arranged on the sensors A D sampling plates (36) in first end face (301), the sensors A D sampling plates (36) and is electrically connected
Connect and be provided with line array sensor (35)；
The sensors A D sampling plates (36) and master control borad (40) are connected by shielded cable.
5. automatic scoring round target device according to claim 1, it is characterised in that the master control borad (40) include dial-up module,
Field programmable gate array module, one-chip computer module, wireless communication module, voltage transformation module and battery module, wherein,
The dial-up module is used to selecting the mode of operations of the master control borad (40), the master control borad (40) exist indication of shots pattern and
Test the speed pattern；
The field programmable gate array module is used to drive the first kind optical sensor (30), sampled and AD turns
Change, and receive the sampled data of first kind optical sensor (30), carry out indication of shots calculating coordinate, and by first kind optical sensor
(30) sampled data and indication of shots calculating coordinate result is forwarded to one-chip computer module, while also by indication of shots calculating coordinate result
Host computer is sent to by wireless communication module；
The one-chip computer module is used to upload the sampled data of first kind optical sensor (30) by the big end points of USB, and will
Indication of shots calculating coordinate result is uploaded by the small end points of USB.
6. automatic scoring round target device according to claim 1, it is characterised in that the automatic scoring round target device also includes delustring knot
Structure (50), the matt structure (50) includes the fan-shaped top (51) being oppositely arranged and fan-shaped bottom (52), the fan-shaped top
(51) and on fan-shaped bottom (52) opposite side face respectively symmetrically it is provided with multi-turn delustring spiral (53).
7. a kind of automatic speed measuring device, it is characterised in that
The target surface (10) set including two tandems；
Each target surface (10) is respectively equipped with the continuous infrared background light source (20) of a wire, the continuous infrared background light source of wire
(20) it is fitted around respectively at least three edges of each target surface (10), is connected with master control borad (40) and electric current is done by master control borad
With brilliance control；At least two first kind optical sensors (30) being connected with master control borad (40), at least two first kind
Optical sensor (30) is respectively arranged on the drift angle of target surface (10), makes the visual range of the first kind optical sensor (30)
Cover whole target surface (10)；
Equations of The Second Kind optical sensor (60) directly over each target surface (10), the Equations of The Second Kind optical sensor (60)
Time for exposure is less than the time for exposure of first kind optical sensor (30), and the visual model of the Equations of The Second Kind optical sensor (60)
Enclose the whole target surface (10) of covering；
Master control borad (40), respectively first kind optical sensor (30), the Equations of The Second Kind optical sensor with being set on two target surfaces (10)
(60) electrically connect, for receiving the data that the first optical sensor (30), Equations of The Second Kind optical sensor (60) are gathered, and by dividing
Analysis calculates the target practice speed for obtaining bullet.
8. scaling method of a kind of automatic target-indicating with speed measuring device for demarcating optical lens, it is characterised in that including following step
Suddenly：
S1, print or formed by way of pasting impermeable gelatin film UV there is transmissive slit (71) at a certain distance
Demarcate rod (70)；
S2,3 length demarcation rod (70) relative with the side outer rim length of target surface (10) three respectively is chosen, by the demarcation rod (70)
Before the continuous infrared background light source (20) of wire for being arranged on correspondence outer rim；
Transmissive slit (71) described in S3, infrared light asks for point in the line of induction formation bright spot spike of line array sensor (35)
The location of pixels at peak, and do quadravalence mathematics plan by the location of pixels of spike and with the geometric coordinate of corresponding transmissive slit (71)
Close；
S4, five fourth order fits parameters of recycling are asked between the pixel of the Points And lines array sensor (35) in target surface (10) outer rim
Mapping table, as optical calibrating table.
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| CN105953659A (en) * | 2016-05-05 | 2016-09-21 | 长春长光众和科技有限公司 | Real-time shooting target scoring device and method |
| CN105957089B (en) * | 2016-05-13 | 2018-08-14 | 罗昌荣 | The method that indication of shots precision is improved in bow and arrow image scanning indication of shots |
| DK3504506T3 (en) * | 2016-09-27 | 2019-12-16 | Tacticaltrim E K | GOAL |
| CN107193428B (en) * | 2017-05-16 | 2020-05-19 | 中国船舶重工集团公司第七0九研究所 | Optical touch screen, touch positioning method thereof and optical distortion calibration method |
| JP6966677B2 (en) * | 2017-07-31 | 2021-11-17 | 株式会社セガ | Darts game device |
| CN109297362A (en) * | 2018-11-27 | 2019-02-01 | 福建泉城特种装备科技有限公司 | A kind of gunnery training electronic scoring system |
| CN110207547A (en) * | 2019-07-09 | 2019-09-06 | 合肥学院 | A kind of shooting automatic scoring round target system and its application method based on image recognition |
| CN110645848A (en) * | 2019-09-03 | 2020-01-03 | 西安工业大学 | Pellet landing coordinate and speed measuring device |
| CN111895861B (en) * | 2020-07-27 | 2022-08-16 | 张劲 | Automatic target-reporting and trajectory measuring system of related double-sampling linear array sensor |
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