CN105222649A - A kind of laser automatic fire device and point of impact recognition methods, point of impact auto-correction method - Google Patents
A kind of laser automatic fire device and point of impact recognition methods, point of impact auto-correction method Download PDFInfo
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Abstract
The invention discloses a kind of laser automatic fire device and point of impact recognition methods, point of impact auto-correction method, described laser automatic fire device comprises Automatic Fire Control System and point of impact automatic recognition system, described Automatic Fire Control System comprises: wireless module one, matrix keyboard, be connected and the Serve Motor Control platform being subject to its single-chip microcomputer controlled, being connected with single-chip microcomputer and controlled by it with matrix keyboard, and is positioned at the laser gun etc. on Serve Motor Control platform.Described point of impact recognition methods, based on the gray value of pixel, takes non-conterminous recognition methods between group group.Described point of impact auto-correction method, Serve Motor Control platform adjusts according to the difference of point of impact coordinate and coordinates of targets, with adjust deviation.Described laser automatic fire device cost is little, dangerous low, and objectivity is strong, and precision is high, adopts non-conterminous recognition methods between the group group based on grey scale pixel value to determine point of impact, and the method is more precisely efficient, and its precision reaches 0.88%.
Description
Technical field
The present invention relates to laser shooting field, specifically a kind of laser automatic fire device and point of impact recognition methods, point of impact auto-correction method.
Background technology
Point of impact identification, existing technology, adopt photodiode array to identify point of impact, this is backward in technique, and point of impact accuracy of identification is not high, identify inadequate stability.Also employing PSD (PositionSensitiveDetector) is had as sensor, identify point of impact, PSD is the analog facula position detection means of a kind of continuous print, and its principle utilizes the change of photodiode surface impedance under illumination to detect facula position.This method is subject to ambient light impact, and it identifies that the precision of point of impact is only 1%.Laser shooting apparatus in the market, can't realize full-automation, and what have only can realize automatic fire; What have can realize automatic identification, automatic target-indicating, but can not communicate between Laser emission end and point of impact identification end communicate; What have can communicate with point of impact identification end at Laser emission end, and the object of communication is only used to the display screen display point of impact position at Laser emission end, the point of impact information identified, can't pass to transmitting terminal, adjust fire accuracy.
Common data transfer mode is wired mode, as being communicated by wired between Laser emission end with point of impact identification end.
Automatic aiming, automatic fire, point of impact identify automatically, automatic target-indicating, automatically display, automated communications and the adjustment fire accuracy laser shooting recognition device that can both realize automatically, also do not have.
Summary of the invention
The present invention is directed to Problems existing in background technology, propose a kind of laser automatic fire device, point of impact recognition methods and point of impact auto-correction method.
A kind of laser automatic fire device, comprise Automatic Fire Control System and point of impact automatic recognition system, described Automatic Fire Control System comprises: wireless module one, matrix keyboard, be connected and the Serve Motor Control platform being subject to its single-chip microcomputer controlled, being connected with single-chip microcomputer and controlled by it with matrix keyboard, and is positioned at the laser gun on Serve Motor Control platform;
Described Serve Motor Control platform comprises pedestal, the first angle servomotor, the second angle servomotor, horizontal servo electric machine support, vertical servo electric machine support, U-shaped frame, the first servo rotating disk, the second servo rotating disk and the cup type bearing of flange, described first angle servomotor is fixed on horizontal servo electric machine support, the output shaft of the first angle servomotor is connected with the first servo rotating disk interference fit, first servo rotating disk is fixed on pedestal, when the first angle servomotor rotates, realize laser gun angle adjustment on the horizontal axis; Vertical servo electric machine support is fixed on horizontal servo electric machine support, described second angle servomotor is fixed on vertical servo electric machine support, the output shaft of the second angle servomotor is connected with the second servo rotating disk interference fit, the output shaft of the second angle servomotor keeps vertical with the output shaft of the first angle servomotor in installation site, when the second angle servomotor rotates, realize laser gun angle adjustment on the vertical axis; One end of described U-shaped frame is fixed on the second servo rotating disk, and the other end is fixed on vertical servo electric machine support, and the cup type bearing of flange is arranged on the through hole of U-shaped frame and vertical servo electric machine support stiff end.
Described point of impact automatic recognition system is control core with single-chip microcomputer and comprises:
Camera; Wireless module two, and carry out radio communication between wireless module one;
The orientation automatic identification circuit of point of impact, can identify the azimuth information of the point of impact of laser projection on chest silhouette target automatically;
The number of rings automatic identification circuit of point of impact, can identify the number of rings information of the point of impact of laser projection on chest silhouette target automatically.
Preferably, Automatic Fire Control System also comprises LCD MODULE, is used for indication of shots, comprises display chest silhouette target, the number of rings of point of impact, the orientation of point of impact.
Preferably, described laser gun comprises the Laser Modulation pipe, Laser emission tube drive circuit, LASER Discharge Tube and the electromagnetic relay that connect in turn; Automatic Fire Control System send a control signal to electromagnetic relay, and electromagnetic relay normally opened contact is closed, and be communicated with Laser emission tube drive circuit, Emission Lasers bundle is on chest silhouette target.
A kind of laser automatic fire point of impact recognition methods, it is based on the gray value of pixel, take non-conterminous recognition methods between group group: Chest bitmap picture is divided into different regions, each region is that 6 pixels arranged by 2 adjacent row 3 are formed, each interregional non-conterminous; These regions are compared mutually, when the gray value sum of 6 pixels of zone line is greater than the gray value sum of 6 pixels in its left and right, upper and lower four regions, then judges that this point is point of impact.
Preferably, each interregionally have 3 pixel intervals.
Preferably, the distance at foundation point of impact and chest silhouette target center, judges the number of rings of point of impact:
If centre coordinate is (m, n), point of impact coordinate is (a, b), then the distance S at point of impact and chest silhouette target center:
S＝sqrt((a-m)*(a-m)+(b-n)*(b-n))
If S<=3:, be 10 rings;
If 3<S<=6:, be 9 rings;
If 6<S<=9:, be 8 rings;
If 9<S<=12:, be 7 rings;
If 12<S<=15:, be 6 rings;
If 15<S<=19:, be 5 rings.
The number of rings automatic identification procedure of point of impact is write by conventional programming method according to above rule.
Preferably, according to point of impact coordinate, the orientation of point of impact is judged:
If centre coordinate is (m, n), point of impact coordinate is (a, b), then the orientation residing for point of impact:
If ((a> (m-3) & & a< (m+3)) & & b> (n+3)), point of impact is positioned at the positive north;
If (a< (m-3) & & b> (n+3)), point of impact is positioned at northwest;
If (a< (m-3) & & (b> (n-3) & & b< (n+3))), point of impact is positioned at positive west;
If (a< (m-3) & & b< (n-3)), point of impact is positioned at southwest;
If ((a> (m-3) & & a< (m+3)) & & b< (n-3)), point of impact is positioned at Due South;
If (a> (m+3) & & b> (n+3)), point of impact is positioned at north-east;
If (a> (m+3) & & (b> (n-3) & & b< (n+3))), point of impact is positioned at positive east;
If (a> (m+3) & & b< (n-3)), point of impact is positioned at the southeast.
The orientation automatic identification procedure of point of impact is write by conventional programming method according to above rule.
A kind of point of impact auto-correction method: first, Automatic Fire Control System controls Serve Motor Control platform and does two dimensional motion, and realize automatic aiming target center, target center coordinate is (m, n), and then controls the automatic Emission Lasers bundle of laser on chest silhouette target; Point of impact automatic recognition system identifies the point of impact on chest silhouette target automatically, identify that point of impact coordinate is (e, f), and by wireless module, impact information is returned to Automatic Fire Control System, Automatic Fire Control System does two dimensional motion by controlling Serve Motor Control platform, revise the emission angle of laser gun, make
chest silhouette target target center is hit in realization;
Then, requiring (if do not require, just toward direct north shooting) according to firing azimuth, doing two dimensional motion by controlling Serve Motor Control platform, control laser gun moving direction (upper and lower, left and right), and then control point of impact moving direction;
Finally, according to current point of impact coordinate (a, b) (being obtained by point of impact automatic recognition system), obtain the distance of the target shooting position (p, q) at number of rings place and the coordinate (a, b) at current point of impact place
doing two dimensional motion by controlling Serve Motor Control platform, reducing this distance, until both coincide.
Beneficial effect of the present invention:
Method for distinguishing is known in laser automatic fire of the present invention and point of impact, achieves whole shooting and identifying is full-automatic: laser gun automatic aiming, laser gun automatic fire, point of impact identifies automatically, automated wireless communicates, automatic target-indicating, automatically display and automatically adjust fire accuracy.
This system adopts advanced embedded system as control core, and system is divided into Automatic Fire Control System and point of impact automatic recognition system two parts.Wherein with single-chip microcomputer (being preferably STM32F103VE), for control core, this system mainly comprises power module, control single-chip microcomputer, laser gun, Serve Motor Control platform, matrix keyboard, wireless module one and LCD MODULE to Automatic Fire Control System; With single-chip microcomputer (being preferably MC9S12XS128), for control core, this system mainly comprises power unit, wireless module two, camera, the orientation automatic identification circuit of point of impact and the number of rings automatic identification circuit of point of impact to point of impact automatic recognition system.Laser gun is made up of LASER Discharge Tube, Laser emission tube drive circuit, Laser Modulation pipe and electromagnetic relay four part.Automatic Fire Control System controls Serve Motor Control platform and does two dimensional motion, realizes automatic aiming, and then controls the automatic Emission Lasers bundle of laser gun on chest silhouette target; Point of impact automatic recognition system identifies the position of laser projection point of impact on chest silhouette target automatically by camera, by wireless module, positional information is wirelessly transmitted to Automatic Fire Control System, Automatic Fire Control System eliminates shooting deviation, to ensure that laser gun accurately shoots target location by the movement controlling Serve Motor Control platform.This system has many advantages, such as, spends little, dangerous low, and objectivity is strong, and precision is high, identifies and stablizes.
Utilize the figure of the number of rings of graphic dot matrix display (such as liquid crystal display 12864) automatic display point of impact, azimuth information and chest silhouette target.The image recognition of point of impact, first get the strange field of image or even field, then through binary conversion treatment, difference and filtering, finally adopt non-conterminous recognition methods between the group group based on grey scale pixel value to determine point of impact, the method is more precisely efficient, and its precision reaches 0.88%.
This device and point of impact recognition methods, bearing calibration have important civilian, military, regional meaning.
Civilian aspect: by the improvement to this laser gun automatic fire device, can be applicable in the public places of entertainment such as amusement arcade shooting target practice, children's shooting toy, true man CS gunbattle game, compared with the like product had, there is higher fire accuracy, the enjoyment of participant, eureka experience can be improved.Benefit the common people by science and technology, also can promote the development of national economy simultaneously.
Military aspect: simulate ball firing with laser shooting system, can improve again the security of training and obtain the same effect of ball firing while saving ammunition, greatly improve the fighting capability of soldiers.Utilize Laser Target Practice for Simulation Training can solve shooting place and ensure difficulty, be overcast and rainyly difficult to the problem such as real-time display launching ball firing and shooting situation.To national defense construction modernization, military training intellectuality, improves army's total quality and saving defense spending is all significant.
Aspect, area: " 12 " period, according to national strategy layout, " Chinese laser and opto-electronics cluster " settles Wenzhou, " China's (Wenzhou) laser and opto-electronics cluster " is one of national Innovative Industry Cluster demonstration project of 20 hundred billion ranks that country makes, this project is arisen at the historic moment just in this context, laser technology is devoted to combine with the conventional industries in Wenzhou, promote Wenzhou traditional industries transition and upgrade, improve the competitiveness of product, for Regional Economic Development makes the contribution of oneself.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of laser automatic fire of the present invention device;
Fig. 2 is the structured flowchart of Serve Motor Control platform of the present invention;
Fig. 3 is non-conterminous recognition mode figure between of the present invention group of group;
Fig. 4 is adjacent recognition mode figure between group group in contrast experiment;
Fig. 5 is the recognition mode figure that interlocks between group group in contrast experiment.
Fig. 6 is point of impact orientation recognition schematic diagram.
Detailed description of the invention
Below in conjunction with embodiment, the invention will be further described, but protection scope of the present invention is not limited thereto:
Embodiment 1, composition graphs 1 and Fig. 2, a kind of laser automatic fire device, comprise Automatic Fire Control System and point of impact automatic recognition system, described Automatic Fire Control System comprises:
Wireless module one, matrix keyboard, to be connected and the Serve Motor Control platform being subject to its single-chip microcomputer controlled, being connected with single-chip microcomputer and controlled by it with matrix keyboard, and to be positioned at the laser gun on Serve Motor Control platform;
Described Serve Motor Control platform comprises pedestal, the first angle servomotor, the second angle servomotor, horizontal servo electric machine support, vertical servo electric machine support, U-shaped frame, the first servo rotating disk, the second servo rotating disk and the cup type bearing of flange, described first angle servomotor is fixed on horizontal servo electric machine support, the output shaft of the first angle servomotor is connected with the first servo rotating disk interference fit, first servo rotating disk is fixed on pedestal, when the first angle servomotor rotates, realize laser gun angle adjustment on the horizontal axis; Vertical servo electric machine support is fixed on horizontal servo electric machine support, described second angle servomotor is fixed on vertical servo electric machine support, the output shaft of the second angle servomotor is connected with the second servo rotating disk interference fit, the output shaft of the second angle servomotor keeps vertical with the output shaft of the first angle servomotor in installation site, when the second angle servomotor rotates, realize laser gun angle adjustment on the vertical axis; One end of described U-shaped frame is fixed on the second servo rotating disk, and the other end is fixed on vertical servo electric machine support, and the cup type bearing of flange is arranged on the through hole of U-shaped frame and vertical servo electric machine support stiff end;
Described point of impact automatic recognition system is control core with single-chip microcomputer and comprises:
Camera;
Wireless module two, and carry out radio communication between wireless module one;
The orientation automatic identification circuit of point of impact, can identify the azimuth information of the point of impact of laser projection on chest silhouette target automatically;
The number of rings automatic identification circuit of point of impact, can identify the number of rings information of the point of impact of laser projection on chest silhouette target automatically.
Embodiment 2: a kind of laser automatic fire device as described in Example 1, Automatic Fire Control System also comprises LCD MODULE, is used for indication of shots, comprises display chest silhouette target, the number of rings of point of impact, the orientation of point of impact.
Embodiment 3: a kind of laser automatic fire device as described in Example 1, described laser gun comprises the Laser Modulation pipe, Laser emission tube drive circuit, LASER Discharge Tube and the electromagnetic relay that connect in turn; Automatic Fire Control System send a control signal to electromagnetic relay, and electromagnetic relay normally opened contact is closed, and be communicated with Laser emission tube drive circuit, Emission Lasers bundle is on chest silhouette target.
Embodiment 4: a kind of laser automatic fire point of impact recognition methods, it is based on the gray value of pixel, take non-conterminous recognition methods between group group: Chest bitmap picture is divided into different regions, each region is that 6 pixels arranged by 2 adjacent row 3 are formed, each interregional non-conterminous; These regions are compared mutually, when the gray value sum of 6 pixels of zone line is greater than the gray value sum of 6 pixels in its left and right, upper and lower four regions, then judges that this point is point of impact.
Embodiment 5: a kind of laser automatic fire point of impact recognition methods as described in Example 4, each interregionally have 3 pixel intervals.
Embodiment 6: a kind of laser automatic fire point of impact recognition methods as described in Example 5, the distance at foundation point of impact and chest silhouette target center, judges the number of rings of point of impact:
If centre coordinate is (m, n), point of impact coordinate is (a, b), then the distance S at point of impact and chest silhouette target center:
S＝sqrt((a-m)*(a-m)+(b-n)*(b-n))
If S<=3:, be 10 rings;
If 3<S<=6:, be 9 rings;
If 6<S<=9:, be 8 rings;
If 9<S<=12:, be 7 rings;
If 12<S<=15:, be 6 rings;
If 15<S<=19:, be 5 rings.
Embodiment 7: a kind of laser automatic fire point of impact recognition methods as described in Example 5, according to point of impact coordinate, judges the orientation of point of impact:
If centre coordinate is (m, n), point of impact coordinate is (a, b), then the orientation residing for point of impact:
If ((a> (m-3) & & a< (m+3)) & & b> (n+3)), the point of collection is positioned at the positive north;
If (a< (m-3) & & b> (n+3)), the point of collection is positioned at northwest;
If (a< (m-3) & & (b> (n-3) & & b< (n+3))), the point of collection is positioned at positive west;
If (a< (m-3) & & b< (n-3)), the point of collection is positioned at southwest;
If ((a> (m-3) & & a< (m+3)) & & b< (n-3)), the point of collection is positioned at Due South;
If (a> (m+3) & & b> (n+3)), the point of collection is positioned at north-east;
If (a> (m+3) & & (b> (n-3) & & b< (n+3))), the point of collection is positioned at positive east;
If (a> (m+3) & & b< (n-3)), the point of collection is positioned at the southeast.
Embodiment 8: a kind of laser automatic fire point of impact auto-correction method, detailed correction shooting deviation scheme:
1st step, Automatic Fire Control System controls Serve Motor Control platform and does two dimensional motion, realizes automatic aiming target center, and then controls the automatic Emission Lasers bundle of laser gun on chest silhouette target.Point of impact automatic recognition system identifies the point of impact on chest silhouette target automatically, identify that point of impact coordinate is (e, f), and by wireless module, impact information is returned to Automatic Fire Control System, Automatic Fire Control System does two dimensional motion by controlling Serve Motor Control platform, revise the emission angle of laser gun, make
Chest silhouette target target center is hit in realization.
2nd step, requiring (if do not require, just toward direct north shooting) according to firing azimuth, doing two dimensional motion by controlling Serve Motor Control platform, control laser gun moving direction (upper and lower, left and right), and then control point of impact moving direction.
3rd step, according to current point of impact coordinate (a, b) (being obtained by point of impact automatic recognition system), obtains the distance of the target shooting position (p, q) at number of rings place and the coordinate (a, b) at current point of impact place
doing two dimensional motion by controlling Serve Motor Control platform, reducing this distance.Until both coincide.
Composition graphs 6, require the position of 6 rings directly over shooting chest silhouette target, if centre coordinate is (50,50), point of impact coordinate is (a, b).Then:
1st step,
Automatic Fire Control System controls Serve Motor Control platform and does two dimensional motion, realizes automatic aiming target center, and then controls the automatic Emission Lasers bundle of laser gun on chest silhouette target.Point of impact automatic recognition system identifies the point of impact on chest silhouette target automatically, identify that point of impact coordinate is (e, f), and by wireless module, impact information is returned to Automatic Fire Control System, Automatic Fire Control System does two dimensional motion by controlling Serve Motor Control platform, revise the emission angle of laser gun, make
Chest silhouette target target center is hit in realization.
2nd step, controls laser gun and moves up.
3rd step, according to current point of impact coordinate (a, b) (being obtained by point of impact automatic recognition system), obtains the distance of the coordinate (a, b) at target firing point (0,10) and current point of impact place
doing two dimensional motion by controlling Serve Motor Control platform, reducing this distance.Until both coincide.
The present invention is based on the gray value of pixel, propose a kind of laser automatic fire point of impact recognition methods (taking non-conterminous identification between group group), composition graphs 3, Chest bitmap picture is divided into different regions, each region is made up of adjacent 6 pixels, these regions are compared mutually, when the gray value sum of 6 pixels of zone line is greater than the gray value sum of 6 pixels in its left and right, upper and lower four regions, then judges that this point is point of impact.
Get a, b, c, d, e five regions respectively, calculate the gray value in these five regions and.
asum＝Buffer[i-1][j]+Buffer[i][j]+Buffer[i-1][j-1]+Buffer[i][j-1]+Buffer[i-1][j-2]+Buffer[i][j-2]；
bsum＝Buffer[i-6][j]+Buffer[i-5][j]+Buffer[i-6][j-1]+Buffer[i-5][j-1]+Buffer[i-6][j-2]+Buffer[i-5][j-2]；
csum＝Buffer[i+4][j]+Buffer[i+5][j]+Buffer[i+4][j-1]+Buffer[i+5][j-1]+Buffer[i+4][j-2]+Buffer[i+5][j-2]；
dsum＝Buffer[i-1][j-6]+Buffer[i][j-6]+Buffer[i-1][j-7]+Buffer[i][j-7]+Buffer[i-1][j-8]+Buffer[i][j-8]；
esum＝Buffer[i-1][j+6]+Buffer[i][j+6]+Buffer[i-1][j+5]+Buffer[i][j+5]+Buffer[i-1][j+4]+Buffer[i][j+4]；
Wherein, Buffer [i] [j] preserves the gray value of [i] [j] pixel.
If asum>bsum & & asum>csum & & asum>dsum & & asum>esum, then judge coordinate as the point of [i] [j] be point of impact.
If centre coordinate is (50,50), point of impact coordinate is (a, b), then the distance at point of impact and chest silhouette target center:
S＝sqrt((a-50)*(a-50)+(b-50)*(b-50))
If S<=3:, be 10 rings;
If 3<S<=6:, be 9 rings;
If 6<S<=9:, be 8 rings;
If 9<S<=12:, be 7 rings;
If 12<S<=15:, be 6 rings;
If 15<S<=19:, be 5 rings.
Composition graphs 3-Fig. 5, existing comparative analysis the method and other recognition methods (interlock between adjacent identification between group group, group group and identify) being carried out to recognition effect, recognition mode table is as table 1:
Table 1 recognition mode table
By experiment, the tables of data of non-conterminous identification between acquisition group group, as table 2:
Non-conterminous mode data table between table 2 group group
Experimental result: it can identify point of impact accurately, good stability.
By experiment, the tables of data of adjacent identification between acquisition group group, as table 3:
Neighboring modes tables of data between table 3 group group
Experimental result: it can identify point of impact more exactly, but stability is inadequate.
By experiment, the staggered tables of data identified between acquisition group group, as table 4:
Table 4: interleaving mode tables of data between group group
Experimental result: it can not identify point of impact.
By relatively above 3 experiments, can find out, non-conterminous identifying schemes between group group, accurately, stably can identify point of impact, and its precision reaches 0.88%, and this is preferred plan.
This device and point of impact recognition methods, bearing calibration have important civilian, military, regional meaning.
Civilian aspect: by the improvement to this laser gun automatic fire device, can be applicable in the public places of entertainment such as amusement arcade shooting target practice, children's shooting toy, true man CS gunbattle game, compared with the like product had, there is higher fire accuracy, the enjoyment of participant, eureka experience can be improved.Benefit the common people by science and technology, also can promote the development of national economy simultaneously.
Military aspect: simulate ball firing with laser shooting system, can improve again the security of training and obtain the same effect of ball firing while saving ammunition, greatly improve the fighting capability of soldiers.Utilize Laser Target Practice for Simulation Training can solve shooting place and ensure difficulty, be overcast and rainyly difficult to the problem such as real-time display launching ball firing and shooting situation.To national defense construction modernization, military training intellectuality, improves army's total quality and saving defense spending is all significant.
Aspect, area: " 12 " period, according to national strategy layout, " Chinese laser and opto-electronics cluster " settles Wenzhou, " China's (Wenzhou) laser and opto-electronics cluster " is one of national Innovative Industry Cluster demonstration project of 20 hundred billion ranks that country makes, this project is arisen at the historic moment just in this context, laser technology is devoted to combine with the conventional industries in Wenzhou, promote Wenzhou traditional industries transition and upgrade, improve the competitiveness of product, for Regional Economic Development makes the contribution of oneself.
Specific embodiment described herein is only illustrate spirit of the present invention.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
The part that the present invention does not relate to prior art that maybe can adopt all same as the prior art is realized.
Claims (8)
1. a laser automatic fire device, comprises Automatic Fire Control System and point of impact automatic recognition system, it is characterized in that
Described Automatic Fire Control System comprises:
Wireless module one, matrix keyboard, to be connected and the Serve Motor Control platform being subject to its single-chip microcomputer controlled, being connected with single-chip microcomputer and controlled by it with matrix keyboard, and to be positioned at the laser gun on Serve Motor Control platform;
Described Serve Motor Control platform comprises pedestal, the first angle servomotor, the second angle servomotor, horizontal servo electric machine support, vertical servo electric machine support, U-shaped frame, the first servo rotating disk, the second servo rotating disk and the cup type bearing of flange, described first angle servomotor is fixed on horizontal servo electric machine support, the output shaft of the first angle servomotor is connected with the first servo rotating disk interference fit, first servo rotating disk is fixed on pedestal, when the first angle servomotor rotates, realize laser gun angle adjustment on the horizontal axis; Vertical servo electric machine support is fixed on horizontal servo electric machine support, described second angle servomotor is fixed on vertical servo electric machine support, the output shaft of the second angle servomotor is connected with the second servo rotating disk interference fit, the output shaft of the second angle servomotor keeps vertical with the output shaft of the first angle servomotor in installation site, when the second angle servomotor rotates, realize laser gun angle adjustment on the vertical axis; One end of described U-shaped frame is fixed on the second servo rotating disk, and the other end is fixed on vertical servo electric machine support, and the cup type bearing of flange is arranged on the through hole of U-shaped frame and vertical servo electric machine support stiff end.
2. a kind of laser automatic fire device according to claim 1, is characterized in that described point of impact automatic recognition system comprises:
Camera;
Wireless module two, and carry out radio communication between wireless module one;
The orientation automatic identification circuit of point of impact, can identify the azimuth information of the point of impact of laser projection on chest silhouette target automatically;
The number of rings automatic identification circuit of point of impact, can identify the number of rings information of the point of impact of laser projection on chest silhouette target automatically.
3. a kind of laser automatic fire device according to claim 1, it is characterized in that described laser gun comprises Laser Modulation pipe, Laser emission tube drive circuit, LASER Discharge Tube and the electromagnetic relay connected in turn, Automatic Fire Control System send a control signal to electromagnetic relay, electromagnetic relay normally opened contact is closed and is communicated with Laser emission tube drive circuit, Emission Lasers bundle is on chest silhouette target.
4. a laser automatic fire point of impact recognition methods, it is characterized in that its gray value based on pixel, take non-conterminous recognition methods between group group: Chest bitmap picture is divided into different regions, each region is that 6 pixels arranged by 2 adjacent row 3 are formed, each interregional non-conterminous; These regions are compared mutually, when the gray value sum of 6 pixels of zone line is greater than the gray value sum of 6 pixels in its left and right, upper and lower four regions, then judges that this point is point of impact.
5. a kind of laser automatic fire point of impact recognition methods according to claim 4, is characterized in that eachly interregionally having 3 pixel intervals.
6. a kind of laser automatic fire point of impact recognition methods according to claim 5, is characterized in that the distance according to point of impact and chest silhouette target center, judges the number of rings of point of impact:
If centre coordinate is (m, n), point of impact coordinate is (a, b), then the distance S at point of impact and chest silhouette target center:
S＝sqrt((a-m)*(a-m)+(b-n)*(b-n))
If S<=3:, be 10 rings;
If 3<S<=6:, be 9 rings;
If 6<S<=9:, be 8 rings;
If 9<S<=12:, be 7 rings;
If 12<S<=15:, be 6 rings;
If 15<S<=19:, be 5 rings.
7. a kind of laser automatic fire point of impact recognition methods according to claim 5, is characterized in that, according to point of impact coordinate, judging the orientation of point of impact:
If centre coordinate is (m, n), point of impact coordinate is (a, b), then the orientation residing for point of impact:
If ((a> (m-3) & & a< (m+3)) & & b> (n+3)), point of impact is positioned at the positive north;
If (a< (m-3) & & b> (n+3)), point of impact is positioned at northwest;
If (a< (m-3) & & (b> (n-3) & & b< (n+3))), point of impact is positioned at positive west;
If (a< (m-3) & & b< (n-3)), point of impact is positioned at southwest;
If ((a> (m-3) & & a< (m+3)) & & b< (n-3)), point of impact is positioned at Due South;
If (a> (m+3) & & b> (n+3)), point of impact is positioned at north-east;
If (a> (m+3) & & (b> (n-3) & & b< (n+3))), point of impact is positioned at positive east;
If (a> (m+3) & & b< (n-3)), point of impact is positioned at the southeast.
8. a laser automatic fire point of impact auto-correction method, is characterized in that:
First, Automatic Fire Control System controls Serve Motor Control platform and does two dimensional motion, and realize automatic aiming target center, target center coordinate is (m, n), and then controls the automatic Emission Lasers bundle of laser gun on chest silhouette target; Point of impact automatic recognition system identifies the point of impact on chest silhouette target automatically, identify that point of impact coordinate is (e, f), and by wireless module, impact information is returned to Automatic Fire Control System, Automatic Fire Control System does two dimensional motion by controlling Serve Motor Control platform, revise the emission angle of laser gun, make
chest silhouette target target center is hit in realization;
Then, according to firing azimuth requirement, doing two dimensional motion by controlling Serve Motor Control platform, controlling laser gun moving direction, and then controlling point of impact moving direction;
Finally, according to current point of impact coordinate (a, b), obtain the distance of the target shooting position (p, q) at number of rings place and the coordinate (a, b) at current point of impact place
doing two dimensional motion by controlling Serve Motor Control platform, reducing this distance, until both coincide.
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Application publication date: 20160106 Assignee: Yueqing Institute of industry, Wenzhou University Assignor: Wenzhou University Contract record no.: X2020330000105 Denomination of invention: A laser automatic shooting device and its impact point identification method and automatic correction method Granted publication date: 20170517 License type: Common License Record date: 20201125 |