CN105605982B - Automatic target reporting device and automatic target reporting method - Google Patents
Automatic target reporting device and automatic target reporting method Download PDFInfo
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- CN105605982B CN105605982B CN201510633578.5A CN201510633578A CN105605982B CN 105605982 B CN105605982 B CN 105605982B CN 201510633578 A CN201510633578 A CN 201510633578A CN 105605982 B CN105605982 B CN 105605982B
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Abstract
The invention provides an automatic target reporting device and an automatic target reporting method. The automatic target reporting device comprises an illumination module, two photoelectric position detection modules, a data processing module, a target surface and a supporting frame, wherein the supporting frame is used for mounting other modules; the laser illumination module is used for emitting detecting laser; the detecting laser and detecting zones of the photoelectric position detection modules completely cover the target surface; when a bullet passes through the detecting zones, reflected light of the bullet is received by each photoelectric position detection module, and pixels of the reflected light which is mapped on the photoelectric position detection modules can be generated; the data processing module is used for obtaining target reporting data according to pixels of the two photoelectric position detection modules, the generated pixels of the reflected light, position information of the two photoelectric position detection modules and position information of the detecting zones. The automatic target reporting device provided by the invention has the advantages that few devices are needed, and the needed devices are all conventional devices, so that the cost of the automatic target reporting is reduced, and the measuring precision is increased.
Description
Technical field
The present invention relates to indication of shots technology is shot, more particularly to a kind of automatic scoring round target device and method.
Background technology
At present automatic target-indicating product can be divided into following several types according to the implementation of its function：Two-layer electrode short circuit
Sampling system, localization by ultrasonic automatic scoring round target system, Photon-Electron electrons target system and the automatic scoring round target system based on image processing techniquess.
Two-layer electrode short circuit sampling system needs to use special target sheet, and is limited by circuit stability, rate of false alarm it is high and into
This height, has been rarely employed at present.
Localization by ultrasonic automatic scoring round target system make use of the ultrasonic pulse that projectile impact target surface is produced, and place by least three
The time difference of the ultrasonic pulse received in the sonac of diverse location, is calculated the position of shell hole, but the method
High cost, (temperature, air density change) affected by environment, precision is difficult to meet and requires.
Photon-Electron electrons target system arranges diode laser matrix and photoelectric receiving tube to penetrating array in four frames of system,
To build one layer of laser network system in target sheet front surface, for example, on top frame arranges multiple laser diodes, accordingly under
Frame is also provided with the photoelectric receiving tube of equal number, equally arranges multiple laser diodes in left frame, is correspondingly arranged on right side
The photoelectric receiving tube of equal number, each laser diode one photoelectric receiving tube of unique correspondence, i.e., send out from the laser diode
The laser for going out can only be received by the photoelectric receiving tube.During bullet incidence, laser beam can be blocked, and be hindered by detection
The laser beam position of gear, according to the laser beam position being blocked bomb-release point is can determine.But Photon-Electron electrons target system is needed
Substantial amounts of laser diode and photoelectric receiving tube are wanted, causes its complex structure, high cost, and easily receive external stray light, target surface
Unqualified impact, certainty of measurement is also difficult to meet and requires.
The automatic scoring round target system of image processing techniquess, using picture pick-up device target surface image, the image after preshot are gathered
Contrast and judge bomb-release point, and calculate the position of bomb-release point, the method equipment cost height (needs video camera and external calculating to set
It is standby), energy consumption is big, and for the bomb-release point of coincidence or close proximity cannot differentiate, causes to fail to report or report by mistake.
By foregoing description, current hit telling system high cost, and certainty of measurement is not high.
The content of the invention
The present invention provides a kind of automatic scoring round target device and method, to overcome existing hit telling system high cost, and certainty of measurement
Not high problem.
First aspect present invention provides a kind of automatic scoring round target device, including：
Laser lighting module, two optoelectronic position detection modules, data processing module, target surface and bracing frames, the laser
Lighting module, optoelectronic position detection module, data processing module and target surface are arranged on support frame as described above；
The laser lighting module, for emission detection laser, the exploring laser light is completely covered the target surface；
The detection zone of each optoelectronic position detection module is completely covered the target surface, described each optoelectronic position inspection
The detection zone for surveying module is parallel with the target surface, and the pixel of each optoelectronic position detection module is P, corresponding described every
The detection zone of individual optoelectronic position detection module is divided into P sub-regions, the P sub-regions respectively with described each photoelectricity
P pixel of position detecting module is corresponded, and per sub-regions, the light of reflection is mapped in corresponding pixel, when bullet is passed through
During the detection zone of each optoelectronic position detection module, described each optoelectronic position detection module is used to receive the bullet
The reflected light for reflecting, and generate the pixel that the reflected light is mapped on the optoelectronic position detection module；
The data processing module, for the reflected light mapping generated according to described two optoelectronic position detection modules
Pixel, pixel P, the positional information of described two optoelectronic position detection modules itself on the optoelectronic position detection module and
The positional information of detection zone, obtains indication of shots data, and the indication of shots data include the number of rings and orientation of the bullet.
Optionally, the laser lighting module includes two laser instrument；
Described two optoelectronic position detection modules are separately positioned on the upper left corner and the upper right corner of support frame as described above；
Described two laser instrument are separately positioned on around described two optoelectronic position detection modules, each laser instrument transmitting
A branch of covering of the fan exploring laser light, the covering of the fan exploring laser light of each laser instrument transmitting is completely covered respectively one on correspondence position
The detection zone of optoelectronic position detection module, the covering of the fan exploring laser light of described two laser instrument transmittings overlaps.
Optionally, the positional information of described two optoelectronic position detection modules itself includes：Described two optoelectronic position inspections
The center distance of the camera lens of survey module, the height of each optoelectronic position detection module, with the center distance as baseline, institute
The central point for stating baseline is vertical with the central point of the target surface, and the height of each optoelectronic position detection module is the baseline
Central point and the target surface central point vertical dimension；
The positional information of the detection zone of described two optoelectronic position detection modules is identical, including：The height of detection zone,
The height of width, the near-end of detection zone described in the parallax range.
Optionally, the data processing module specifically for：
Position of the bullet in the first coordinate system is calculated according to below equation, first coordinate system is with the baseline
Central point be zero, with the baseline as X-axis, with the line of the central point of the target surface and the central point of the baseline
For Y-axis：
M=(h+H/P × a)/((W+L)/2-a/P)
N=(h+H/P × b)/(- (W+L)/2+b/P)
X=int ((L/2) × (m+n)/(n-m))
Y=int ((L+W)/2 × m × n/ (n-m))
Wherein, L is the length of the baseline, and h is the height of the near-end of detection zone described in the parallax range, and H is institute
The height of detection zone is stated, W is the width of the detection zone, the pixel of each optoelectronic position detection module described in P, a and b is
The positional information of the pixel of the reflected light that described two optoelectronic position detection modules are generated, m and n is intermediate variable, and x is the son
Relative to the distance of the X-axis of first coordinate system, y is distance of the bullet relative to the Y-axis of first coordinate system to bullet；
X and y are transformed into by the second coordinate system through Coordinate Conversion according to the height of each optoelectronic position detection module
In, position of the bullet in second coordinate system is obtained, second coordinate system is with the central point of the target surface as original
Point, the line with the central point of the target surface and the baseline as Y-axis, with the central point of excessively described target surface and parallel to the base
The straight line of line is X-axis；
According to position of the bullet in second coordinate system, the number of rings and orientation of the bullet are determined.
Optionally, the automatic scoring round target device, also includes：
Memory module, for storing the indication of shots data.
Optionally, the optoelectronic position detection module includes any one in following device or its combination：Line array CCD figure
As sensor, linear CMOS image sensor, photodiode arrangement and PSD light-sensitive detectors.
Optionally, the data processing module includes any one in following single-chip microcomputer or its combination：
C51 single-chip microcomputers, ARM series monolithics and PIC series monolithics.
Optionally, described automatic scoring round target device also includes：
Data transmission module, for the calculated indication of shots data is activation of the data processing module to be set to outside
It is standby.
Optionally, described automatic scoring round target device also includes：
Power module, for providing power supply for the automatic scoring round target device.
Second aspect present invention provides a kind of automatic target-indicating method, including：
In detection zone of the bullet through two optoelectronic position detection modules, connect by each optoelectronic position detection module
The reflected light that the bullet is reflected is received, described each optoelectronic position detection module provides detection and swashs by laser lighting module
Light, the exploring laser light is completely covered target surface, and the detection zone of each optoelectronic position detection module is completely covered the target
Face, the detection zone of each optoelectronic position detection module is parallel with the target surface, described each optoelectronic position detection module
Pixel be P, the detection zone of each optoelectronic position detection module is divided into P sub-regions, and described P is sub
Region corresponds respectively with P pixel of each optoelectronic position detection module, and per sub-regions, the light of reflection is mapped to
In corresponding pixel；
According to the reflected light that described each optoelectronic position detection module is received, generate the reflected light and be mapped in institute
State the pixel on optoelectronic position detection module；
The reflected light generated according to described two optoelectronic position detection modules is mapped in the optoelectronic position detection mould
The positional information of pixel, pixel P, the positional information of described two optoelectronic position detection modules itself and detection zone on block,
Indication of shots data are obtained, the indication of shots data include the number of rings and orientation of the bullet.
Optionally, the positional information of described two optoelectronic position detection modules itself includes：Described two optoelectronic position inspections
The center distance of the camera lens of survey module, the height of each optoelectronic position detection module, with the center distance as baseline, institute
The central point for stating baseline is vertical with the central point of the target surface, and the height of each optoelectronic position detection module is the baseline
Central point and the target surface central point vertical dimension；
The positional information of the detection zone of described two optoelectronic position detection modules is identical, including：The height of detection zone,
The height of width, the near-end of detection zone described in the parallax range.
Optionally, the reflected light generated according to described two optoelectronic position detection modules is mapped in the photoelectricity
Pixel, pixel P, the positional information of described two optoelectronic position detection modules itself and detection zone in position detecting module
The positional information in domain, obtains indication of shots data, including：
Position of the bullet in the first coordinate system is calculated according to below equation, first coordinate system is with the baseline
Central point be zero, with the baseline as X-axis, with the line of the central point of the target surface and the central point of the baseline
For Y-axis：
M=(h+H/P × a)/((W+L)/2-a/P)
N=(h+H/P × b)/(- (W+L)/2+b/P)
X=int ((L/2) × (m+n)/(n-m))
Y=int ((L+W)/2 × m × n/ (n-m))
Wherein, L is the length of the baseline, and h is the height of the near-end of detection zone described in the parallax range, and H is institute
The height of detection zone is stated, W is the width of the detection zone, the pixel of each optoelectronic position detection module described in P, a and b is
The pixel of the reflected light that described two optoelectronic position detection modules are generated, m and n is intermediate variable, and x is the bullet relative to institute
The distance of the X-axis of the first coordinate system is stated, y is distance of the bullet relative to the Y-axis of first coordinate system；
X and y are transformed into by the second coordinate system through Coordinate Conversion according to the height of each optoelectronic position detection module
In, position of the bullet in second coordinate system is obtained, second coordinate system is with the central point of the target surface as original
Point, the line with the central point of the target surface and the baseline as Y-axis, with the central point of excessively described target surface and parallel to the base
The straight line of line is X-axis；
According to position of the bullet in second coordinate system, the number of rings and orientation of the bullet are determined.
The present invention provides a kind of automatic scoring round target device and method, and the automatic scoring round target device includes：Laser lighting module, two
Individual optoelectronic position detection module, data processing module, target surface and bracing frame, bracing frame is used to install other modules, laser lighting
Module is used for the detection zone of emission detection laser, exploring laser light and optoelectronic position detection module and target surface is completely covered, and works as bullet
During through detection zone, each optoelectronic position detection module receives the reflected light that bullet is reflected, and generates reflected light mapping
Pixel on optoelectronic position detection module, data processing module, for according to the pixel of two optoelectronic position detection modules with
And the positional information of the pixel of the reflected light for generating, the positional information of two optoelectronic position detection modules itself and detection zone,
Obtain indication of shots data, the number of rings and orientation of indication of shots packet enclosed tool bullet.Number of devices needed for the automatic scoring round target device is few,
For conventional device, so as to reduce the cost of automatic scoring round target device, and certainty of measurement is improve.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are these
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of the automatic scoring round target device that the embodiment of the present invention one is provided；
Fig. 2 is the schematic diagram of the detection zone of the illumination zone and optoelectronic position detection module of laser instrument；
Fig. 3 is the schematic diagram of target surface；
Fig. 4 is the schematic diagram of the measuring principle of optoelectronic position detection module；
Fig. 5 is the flow chart of the automatic target-indicating method that the embodiment of the present invention two is provided.
Figure of description：
Laser lighting module：11；
Laser instrument：111；
Optoelectronic position detection module：12；
Data processing module：13；
Target surface：14；
Bracing frame：15；
Memory module：16；
Data transmission module：17；
Supply module：18.
Specific embodiment
Fig. 1 is the structural representation of the automatic scoring round target device that the embodiment of the present invention one is provided, as shown in figure 1, the automatic report
Target assembly includes：11, two optoelectronic position detection modules 12 of laser lighting module, data processing module 13, target surface 14 and support
Frame 15, laser lighting module 11, two optoelectronic position detection modules 12, data processing module 13 and target surfaces 14 are arranged at supporting
On frame 15.Wherein, bracing frame 15 can be rigidly connected with target surface 14,11, two optoelectronic position detection modules of laser lighting module
12nd, data processing module 13 is removably, and the surrounding surrounding of bracing frame 15 can also arrange frame.
Laser lighting module 11 is used for emission detection laser, and the exploring laser light is completely covered each optoelectronic position detection module
12 detection zone, in the automatic scoring round target device shown in Fig. 1, laser lighting module 11 includes two laser instrument 111, the present embodiment
It is not limited thereto, laser lighting module 11 can also include one or more laser instrument 111, as long as 111, laser instrument
The exploring laser light penetrated can be completely covered target surface, and the detection zone of each optoelectronic position detection module 12 is also completely covered target surface
14, the detection zone of each optoelectronic position detection module 12 is parallel with target surface 14.Laser instrument 111 can adopt aspheric surface imaging lens
Head, such as cylindrical mirror.
Optoelectronic position detection module 12 includes camera lens, drive circuit and pel array, and drive circuit is used to drive photopotential
Detection module work is put, pel array is made up of multiple pixels, each pixel is used to receive optical signal, carry out turning for photosignal
Change, in the present embodiment, the pixel of each optoelectronic position detection module 12 is P.Corresponding each optoelectronic position detection module 12
Detection zone is divided into P sub-regions, and P sub-regions are respectively with P pixel of each optoelectronic position detection module 12 one by one
Correspondence, i.e., the sub-regions in detection zone uniquely correspond to a pixel on optoelectronic position detection module 12, each sub-district
The light of domain reflection is uniquely mapped in corresponding pixel, when bullet is through the detection zone of each optoelectronic position detection module 12
When, each optoelectronic position detection module 12 receives the reflected light that bullet is reflected, and generates reflected light and be mapped in optoelectronic position
Pixel on detection module 12.
Data processing module 13, the reflected light for being generated according to two optoelectronic position detection modules 12 is mapped in photopotential
Put the position of pixel on detection module 12, pixel P, the positional information of two optoelectronic position detection modules 12 itself and detection zone
Confidence ceases, and obtains indication of shots data, the number of rings and orientation of indication of shots packet enclosed tool bullet.
The pel array of optoelectronic position detection module 12 is matrix array, accordingly, the inspection of optoelectronic position detection module 12
Survey region also be rectangle, specifically can using the circumscribed rectangle of target surface as optoelectronic position detection module 12 detection zone.Two
Optoelectronic position detection module 12 positional information of itself includes：The center distance of the camera lens of two optoelectronic position detection modules 12,
The height of each optoelectronic position detection module 12, with center distance as baseline, the central point of baseline hangs down with the central point of target surface 14
Directly, the height of each optoelectronic position detection module 12 for baseline central point and target surface 14 central point vertical dimension, target surface
14 central point is bull's eye central point, and optoelectronic position detection module 12 positional information of itself can also be detected including optoelectronic position
The angle of module 12, the angle of each optoelectronic position detection module 12 is in the camera lens and baseline of optoelectronic position detection module 12
The angle that heart point is formed.The positional information of detection zone can include height, width, the parallax range detection zone of detection zone
Near-end height.
In the present embodiment, the concrete installation site of laser lighting module 11 and two optoelectronic position detection modules 12 is not entered
Row is limited, as long as installation site meets the exploring laser light and each optoelectronic position detection module 12 of the transmitting of laser lighting module 11
Detection zone can cover target surface 14.
In automatic scoring round target device shown in Fig. 1, two optoelectronic position detection modules 14 are separately positioned on the upper left of bracing frame 15
Angle and the upper right corner, two laser instrument 111 are separately positioned on around two optoelectronic position detection modules 12, each laser instrument 111
Launch a branch of covering of the fan exploring laser light, the covering of the fan exploring laser light of each transmitting of laser instrument 111 is completely covered respectively on correspondence position
The detection zone of one optoelectronic position detection module 12, the covering of the fan exploring laser light of two transmittings of laser instrument 111 overlaps.Two laser
The light-emitting window center of device 111 is parallel with baseline, and while equidistant (1～2 centimetre) with target surface 14.Fig. 2 is the illumination model of laser instrument
The schematic diagram with the detection zone of optoelectronic position detection module is enclosed, the illumination zone of laser instrument 111 is the spy of the transmitting of laser instrument 111
The coverage of laser is surveyed, as shown in Fig. 2 the detection zone of the illumination zone of laser instrument 111 and optoelectronic position detection module 12
Essentially coincide.
Fig. 1 illustrate only a kind of schematic diagram of installation site of laser instrument 111 and two optoelectronic position detection modules 12,
It is, of course, also possible to the position of the position and optoelectronic position detection module 12 to laser instrument 111 is adjusted.Optoelectronic position detects mould
Block 12 includes any one in following device or its combination：Linear charge-coupled array (Charged Coupled Device,
Abbreviation CCD) imageing sensor, linear array complementary metal oxide semiconductors (CMOS) (Complementary Metal Oxide
Semiconductor, abbreviation CMOS) imageing sensor, photodiode arrangement and position sensing (Position Sensitive
Detector, abbreviation PSD) light-sensitive detector.
Data processing module 13 includes any one in following single-chip microcomputer or its combination：C51 series monolithics, RISC are micro-
The integrated circuit of processor (Advanced RISC Machines, abbreviation ARM) series monolithic, exploitation and control ancillary equipment
(Peripheral Interface Controller, abbreviation PIC) series monolithic.
Optionally, automatic scoring round target device can also include memory module 16, and memory module 16 is used to store indication of shots data.Deposit
Store up module 16 can be to be electrically connected with the data processing module using dismountable mode.
Optionally, automatic scoring round target device can also include data transmission module 17, for data processing module 13 to be calculated
, to external equipment, data transmission module 17 can be by way of wired connection or wireless connection for the indication of shots data is activation for obtaining
By indication of shots data is activation to external equipment.
Optionally, automatic scoring round target device can also include dismountable supply module 18, for carrying for automatic scoring round target device
Power supply source, as above-mentioned laser lighting module 11, optoelectronic position detection module 12, data processing module 13, memory module 16
Power for operation is provided with data transmission module 17.
In the present embodiment, data processing module 13 specifically for：
Position of the bullet in the first coordinate system is calculated according to below equation, the first coordinate system is with the central point of baseline to sit
Mark origin, with baseline as X-axis, the line with the central point of target surface and the central point of baseline is as Y-axis.Fig. 3 is the schematic diagram of target surface,
As shown in figure 3, length of the L for baseline, the height of the near-end of h parallax range detection zones, H is the height of detection zone, and W is inspection
The width in region, the pixel of P each optoelectronic position detection module are surveyed, a and b is the reflection that two optoelectronic position detection modules are generated
The pixel of light, the value of a is 1-P, and the value of b is that 1-P, m and n are intermediate variable, and x is X of the bullet relative to the first coordinate system
The distance of axle, y is distance of the bullet relative to the Y-axis of the first coordinate system.
M=(h+H/P × a)/((W+L)/2-a/P)
N=(h+H/P × b)/(- (W+L)/2+b/P)
X=int ((L/2) × (m+n)/(n-m))
Y=int ((L+W)/2 × m × n/ (n-m))
After position of the bullet in the first coordinate system is calculated, further, according to each optoelectronic position detection module 12
Height by x and y through Coordinate Conversion, in being transformed into the second coordinate system, obtain position of the bullet in the second coordinate system, second
Coordinate system with the central point of target surface 14 as origin, the line with the central point of target surface 14 and baseline as Y-axis, to cross target surface 14 in
Heart point and parallel to baseline straight line be X-axis, finally, according to position of the bullet in the second coordinate system, determine the number of rings of bullet
And orientation.
In example shown in Fig. 3, the A points and B points in detection zone is the point of impact of bullet, and Fig. 4 is that optoelectronic position detects mould
The schematic diagram of the measuring principle of block, two electric light position detecting module are respectively CCD1 and CCD2 in Fig. 4, with reference to Fig. 3 and Fig. 4, A
Point can be mapped on CCD1 A on A ' and CCD2 " point, B points can be mapped to the A on CCD1 " and CCD2 on B " point, data processing mould
Block can read A points and the corresponding pixel of B points from CCD1 and CCD2.And A points and B points are calculated first by above-mentioned formula
Position in coordinate system,
In example shown in Fig. 3, L=600mm, h=150mm, H=500mm, W=500mm, P=3000, then detection zone
Interior width and height per sub-regions is all 500/3000=0.5mm, and the distance between usual two ring is 50mm, each sub-district
The width and height in domain therefore, it is possible to accurately score a target, and disclosure satisfy that number of rings is little much smaller than the distance between two rings
The other required precision of several levels.
It should be noted that, above-mentioned formula is a kind of calculation therein, can also be calculated by other means.
The automatic scoring round target device of the present embodiment, including laser lighting module, two optoelectronic position detection modules, data processings
Module, target surface and bracing frame, required number of devices is few, is conventional device, so as to reduce the cost of automatic scoring round target device,
And improve certainty of measurement.
Fig. 5 is the flow chart of the automatic target-indicating method that the embodiment of the present invention two is provided, and the method for the present embodiment is applied in Fig. 1
In shown automatic scoring round target device, as shown in figure 5, the method for the present embodiment may comprise steps of：
Step 101, in detection zone of the bullet through two optoelectronic position detection modules, examined by each optoelectronic position
Survey module and receive the reflected light that bullet is reflected.
Wherein, each optoelectronic position detection module provides exploring laser light by laser lighting module, and laser lighting module is provided
Exploring laser light target surface is completely covered, and the detection zone of each optoelectronic position detection module is completely covered target surface, each light
The detection zone of electric position detection module is parallel with target surface, and the pixel of each optoelectronic position detection module is P, corresponding each light
The detection zone of electric position detection module is divided into P sub-regions, P sub-regions respectively with each optoelectronic position detection module
P pixel correspond, per sub-regions reflection light be mapped in corresponding pixel.
Step 102, the reflected light received according to each optoelectronic position detection module, generate reflected light and are mapped in photopotential
Put the pixel on detection module.
Step 103, the reflected light generated according to two optoelectronic position detection modules are mapped on optoelectronic position detection module
Pixel, pixel P, the positional information of the positional information of two optoelectronic position detection modules itself and detection zone, obtain indication of shots
Data, the number of rings and orientation of indication of shots packet enclosed tool bullet.
Optionally, two optoelectronic position detection module positional informationes of itself include：Two optoelectronic position detection modules
The center distance of camera lens, the height of each optoelectronic position detection module, with center distance as baseline, the central point of baseline with it is described
The central point of target surface is vertical, and the height of each optoelectronic position detection module is the central point of the baseline and the central point of target surface
Vertical dimension.The positional information of the detection zone of two optoelectronic position detection modules is identical, including：The height of detection zone, width
Degree, the height of the near-end of parallax range detection zone.
Specifically can in the following way be calculated indication of shots data：
First, position of the bullet in the first coordinate system is calculated according to below equation, the first coordinate system is with the center of baseline
Point is zero, and with baseline as X-axis, the line with the central point of target surface and the central point of baseline is as Y-axis：
M=(h+H/P × a)/((W+L)/2-a/P)
N=(h+H/P × b)/(- (W+L)/2+b/P)
X=int ((L/2) × (m+n)/(n-m))
Y=int ((L+W)/2 × m × n/ (n-m))
Wherein, L is the length of baseline, and h is the height of the near-end of parallax range detection zone, and H is the height of detection zone,
W for detection zone width, the pixel of P each optoelectronic position detection module, a and b is that two optoelectronic position detection modules are generated
Reflected light pixel, m and n be intermediate variable, x be bullet relative to the X-axis of the first coordinate system distance, y be bullet it is relative
In the distance of the Y-axis of the first coordinate system；
Then, according to the height of each optoelectronic position detection module by x and y through Coordinate Conversion, be transformed into the second coordinate
In system, obtain position of the bullet in second coordinate system, the second coordinate system with the central point of target surface as origin, with target surface
The line of central point and baseline is Y-axis, with cross target surface central point and parallel to baseline straight line as X-axis；
Finally, the position according to bullet in the second coordinate system, determines the number of rings and orientation of bullet.
Following beneficial effect can specifically be brought：
1st, by realizing fan-shaped laser lighting, and the Linear Array Realtime light of optoelectronic position detection module using two laser instrument
Electric reception mode, is not disturbed by surrounding such as temperature, air-flow, neighboring trace shooting sound.
2nd, modular construction is adopted, small volume is lightweight, is connected by the way that bracing frame and target surface are rigidly firm, be both suitable for solid
Targeting is also suitable running target.
3rd, the mode of putting is installed in employing, and the optical lens of its laser lighting module and optoelectronic position detection module are downward, both
The impact for reducing environment veiling glare it also avoid the unqualified pollution of target surface, and the characteristics of make full use of laser monochromaticity good, enter
One step, can install narrow band pass filter additional in optoelectronic position detection module, the interference of stray light for further reducing, and improve noise
Than being applicable to the various environment of indoor and outdoor (including light rain, slight snow).
4th, using sensor devices such as high-density lines array CCD image sensor or cmos image sensors, coordinate aspheric surface into
As camera lens, bullet location positioning resolution is set to reach 1mm.
5th, search coverage is fan-like pattern parallel with target surface before target surface and at a distance of 1～2 centimetre, unrelated with target surface shoot mark, i.e.,
Batter down target surface and nor affect on measurement.
6th, modular organization is adopted, low cost, energy consumption is little, can be continuously worked more than 8 hours, long service life.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, either which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence disengaging various embodiments of the present invention technology of appropriate technical solution
The scope of scheme.
Claims (6)
1. a kind of automatic scoring round target device, it is characterised in that include：
Laser lighting module, two optoelectronic position detection modules, data processing module, target surface and bracing frames, the laser lighting
Module, optoelectronic position detection module, data processing module and target surface are arranged on support frame as described above；
The laser lighting module, for emission detection laser, the exploring laser light is completely covered the target surface；
The detection zone of each optoelectronic position detection module is completely covered the target surface, each optoelectronic position detection module
Detection zone is parallel with the target surface, and the pixel of each optoelectronic position detection module is P, corresponding described each photopotential
The detection zone for putting detection module is divided into P sub-regions, and the P sub-regions are detected respectively with described each optoelectronic position
P pixel of module is corresponded, and per sub-regions, the light of reflection is mapped in corresponding pixel, when bullet through it is described each
During the detection zone of optoelectronic position detection module, described each optoelectronic position detection module is reflected for receiving the bullet
Reflected light, and generate the pixel that the reflected light is mapped on the optoelectronic position detection module；
The data processing module, the reflected light for being generated according to described two optoelectronic position detection modules is mapped in institute
State pixel on optoelectronic position detection module, pixel P, the positional information of described two optoelectronic position detection modules itself and detection
The positional information in region, obtains indication of shots data, and the indication of shots data include the number of rings and orientation of the bullet；
The laser lighting module includes two laser instrument；
Described two optoelectronic position detection modules are separately positioned on the upper left corner and the upper right corner of support frame as described above；
Described two laser instrument are separately positioned on around described two optoelectronic position detection modules, and each laser instrument transmitting is a branch of
Covering of the fan exploring laser light, the covering of the fan exploring laser light of each laser instrument transmitting is completely covered respectively a photoelectricity on correspondence position
The detection zone of position detecting module, the covering of the fan exploring laser light of described two laser instrument transmittings overlaps；
The positional information of described two optoelectronic position detection modules itself includes：The camera lens of described two optoelectronic position detection modules
Center distance, the height of each optoelectronic position detection module, with the center distance as baseline, the center of the baseline
Point is vertical with the central point of the target surface, and the height of each optoelectronic position detection module is central point and the institute of the baseline
State the vertical dimension of the central point of target surface；
The positional information of the detection zone of described two optoelectronic position detection modules is identical, including：The height of detection zone, width
Degree, the height of the near-end of detection zone described in the parallax range；
The data processing module specifically for：
Position of the bullet in the first coordinate system is calculated according to below equation, first coordinate system is with the baseline
Heart point is zero, and with the baseline as X-axis, the line with the central point of the target surface and the central point of the baseline is as Y
Axle：
M=(h+H/P × a)/((W+L)/2-a/P)
N=(h+H/P × b)/(- (W+L)/2+b/P)
X=int ((L/2) × (m+n)/(n-m))
Y=int ((L+W)/2 × m × n/ (n-m))
Wherein, L is the length of the baseline, and h is the height of the near-end of detection zone described in the parallax range, and H is the inspection
The height in region is surveyed, W is the width of the detection zone, the pixel of each optoelectronic position detection module described in P, a and b is described
The pixel of the reflected light that two optoelectronic position detection modules are generated, m and n is intermediate variable, and x is the bullet relative to described the
The distance of the X-axis of one coordinate system, y is distance of the bullet relative to the Y-axis of first coordinate system；
According to the height of each optoelectronic position detection module by x and y through Coordinate Conversion, in being transformed into the second coordinate system,
Obtain position of the bullet in second coordinate system, second coordinate system with the central point of the target surface as origin,
Line with the central point of the target surface and the baseline as Y-axis, with the central point of excessively described target surface and parallel to the baseline
Straight line be X-axis；
According to position of the bullet in second coordinate system, the number of rings and orientation of the bullet are determined.
2. automatic scoring round target device according to claim 1, it is characterised in that also include：
Memory module, for storing the indication of shots data.
3. automatic scoring round target device according to claim 1, it is characterised in that the optoelectronic position detection module includes following
Any one in device or its combination：Linear Array CCD Image Sensor, linear CMOS image sensor, photodiode arrangement
With PSD light-sensitive detectors.
4. automatic scoring round target device according to claim 1, it is characterised in that the data processing module includes following monolithic
Any one in machine or its combination：
C51 single-chip microcomputers, ARM series monolithics and PIC series monolithics.
5. automatic scoring round target device according to claim 1, it is characterised in that also include：
Data transmission module, for by the calculated indication of shots data is activation of the data processing module to external equipment.
6. a kind of automatic target-indicating method, it is characterised in that include：
In detection zone of the bullet through two optoelectronic position detection modules, institute is received by each optoelectronic position detection module
The reflected light that bullet is reflected is stated, described each optoelectronic position detection module provides exploring laser light, institute by laser lighting module
State exploring laser light and target surface is completely covered, the detection zone of each optoelectronic position detection module is completely covered the target surface, institute
The detection zone for stating each optoelectronic position detection module is parallel with the target surface, the pixel of each optoelectronic position detection module
For P, the detection zone of corresponding each optoelectronic position detection module is divided into P sub-regions, the P sub-regions point
Do not correspond with P pixel of each optoelectronic position detection module, per sub-regions, the light of reflection is mapped to corresponding
In pixel；
According to the reflected light that described each optoelectronic position detection module is received, generate the reflected light and be mapped in the light
Pixel on electric position detection module；
It is mapped on the optoelectronic position detection module according to the reflected light that described two optoelectronic position detection modules are generated
Pixel, pixel P, the positional information of the positional information of described two optoelectronic position detection modules itself and detection zone, obtain
Indication of shots data, the indication of shots data include the number of rings and orientation of the bullet；
The positional information of described two optoelectronic position detection modules itself includes：The camera lens of described two optoelectronic position detection modules
Center distance, the height of each optoelectronic position detection module, with the center distance as baseline, the center of the baseline
Point is vertical with the central point of the target surface, and the height of each optoelectronic position detection module is central point and the institute of the baseline
State the vertical dimension of the central point of target surface；
The positional information of the detection zone of described two optoelectronic position detection modules is identical, including：The height of detection zone, width
Degree, the height of the near-end of detection zone described in the parallax range；
The reflected light generated according to described two optoelectronic position detection modules is mapped in the optoelectronic position detection mould
The position letter of pixel, pixel P, the positional information of described two optoelectronic position detection modules itself and detection zone on block
Breath, obtains indication of shots data, including：
Position of the bullet in the first coordinate system is calculated according to below equation, first coordinate system is with the baseline
Heart point is zero, and with the baseline as X-axis, the line with the central point of the target surface and the central point of the baseline is as Y
Axle：
M=(h+H/P × a)/((W+L)/2-a/P)
N=(h+H/P × b)/(- (W+L)/2+b/P)
X=int ((L/2) × (m+n)/(n-m))
Y=int ((L+W)/2 × m × n/ (n-m))
Wherein, L is the length of the baseline, and h is the height of the near-end of detection zone described in the parallax range, and H is the inspection
The height in region is surveyed, W is the width of the detection zone, the pixel of each optoelectronic position detection module described in P, a and b is described
The pixel of the reflected light that two optoelectronic position detection modules are generated, m and n is intermediate variable, and x is the bullet relative to described the
The distance of the X-axis of one coordinate system, y is distance of the bullet relative to the Y-axis of first coordinate system；
According to the height of each optoelectronic position detection module by x and y through Coordinate Conversion, in being transformed into the second coordinate system,
Obtain position of the bullet in second coordinate system, second coordinate system with the central point of the target surface as origin,
Line with the central point of the target surface and the baseline as Y-axis, with the central point of excessively described target surface and parallel to the baseline
Straight line be X-axis；
According to position of the bullet in second coordinate system, the number of rings and orientation of the bullet are determined.
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| CN108020122A (en) * | 2017-12-22 | 2018-05-11 | 北京国峰鸿威靶业科技发展有限公司 | A kind of laser hit telling system |
| CN108844416A (en) * | 2018-06-12 | 2018-11-20 | 赵润侠 | A kind of laser scoring round target device and method |
| CN109579624B (en) * | 2018-12-05 | 2023-09-15 | 南京润景丰创信息技术有限公司 | Suspension type side-turning and reverse-turning ultrasonic intelligent target reporting system |
| CN109931819A (en) * | 2019-02-26 | 2019-06-25 | 南京润景丰创信息技术有限公司 | A kind of side turns, reversion acoustic-electric positioning intelligent hit telling system |
| CN110207546B (en) * | 2019-05-30 | 2021-05-28 | 巢湖学院 | Target device with intelligent data transmission function |
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