CN105957089B - The method that indication of shots precision is improved in bow and arrow image scanning indication of shots - Google Patents
The method that indication of shots precision is improved in bow and arrow image scanning indication of shots Download PDFInfo
- Publication number
- CN105957089B CN105957089B CN201610318116.9A CN201610318116A CN105957089B CN 105957089 B CN105957089 B CN 105957089B CN 201610318116 A CN201610318116 A CN 201610318116A CN 105957089 B CN105957089 B CN 105957089B
- Authority
- CN
- China
- Prior art keywords
- camera
- arrow
- auxiliary positioning
- positioning part
- shots
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20068—Projection on vertical or horizontal image axis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of method that indication of shots precision is improved in bow and arrow image scanning indication of shots, first, carry out the installation and debugging of hit telling system, by adjusting the first camera, the second camera in hit telling system, the targets for arrow straight line of image formation shown by video image processing apparatus is made to be mutually parallel with camera view horizontal center line；Then, the first rectangular coordinate system, the second rectangular coordinate system are built, first straight line equation is built in the first rectangular coordinate system, second straight line equation is built in the second rectangular coordinate system；Pass through coordinate transform, will first straight line equation, second straight line equation it is unified to practical arrow point coordinates in same rectangular coordinate system, is obtained, finally, practical the air line distance between arrow point and the first auxiliary positioning part is calculated, itself and the spacing of targets for arrow per ring are determined into the arrow indication of shots achievement more afterwards.Due to determining the physical location of arrow point using arc-shaped projection principle, and then indication of shots achievement is calculated, improves indication of shots precision, and implementation cost is low.
Description
Technical field
The present invention relates to bow and arrow indication of shots technical fields, smart more particularly, to indication of shots is improved in a kind of bow and arrow image scanning indication of shots
The method of degree.
Background technology
Currently, bow and arrow is as domestic new popular sports events, just increasingly by public concern and like.But bend
The reading of arrow targets for arrow is entered the difference of target depth degree, arrow due to arrow and is stood always in the first-class special circumstances of targets for arrow, its reading report is caused
There are prodigious difficulty for target, and therefore, the accuracy rate of bow and arrow indication of shots is always a problem.
Traditional bow and arrow target scoring method has a variety of methods such as image scanning indication of shots, infrared ray indication of shots, ultrasonic wave indication of shots, is scheming
As in scanning target scoring method, typically using arrow root two-dimensional scan method.In arrow root two-dimensional scan method, traditional method is
Projection of the arrow point on targets for arrow is understood as to be to cross target center and on the straight line of target center and camera line in uniform
Pixel distribution, this reading target scoring method, be easy to cause the imbalance of pixel ratio, cannot truly reflect the opposite seat of arrow point
Cursor position causes the accuracy rate of indication of shots poor.And the higher hit telling system of accuracy rate, other principles are often used, and make
Valence is fairly expensive.
Invention content
The technical problem to be solved by the present invention is to：In view of the problems of the existing technology, a kind of bow and arrow image scanning is provided
The method that indication of shots precision is improved in indication of shots, improves the accuracy rate of indication of shots.
The technical problem to be solved in the present invention is realized using following technical scheme：It is carried in a kind of bow and arrow image scanning indication of shots
The method of high indication of shots precision, includes the following steps：
First, the installation and debugging of hit telling system；The first camera, the second camera shooting are fixed in targets for arrow target plane the same side
Head is fixed with the first auxiliary positioning part, the second auxiliary positioning part and the third auxiliary perpendicular to target plane on targets for arrow target plane
Locating piece, and the first auxiliary positioning part is located at the target center of targets for arrow, first auxiliary positioning part and the second auxiliary positioning part position
In on the same circumference using the first camera anchor point as the center of circle, the third auxiliary positioning part and the first auxiliary positioning part are located at
Using second camera anchor point as on the same circumference in the center of circle, the video figure acquired in first camera, second camera
As exporting into video image processing apparatus, the first camera of adjustment, second camera make video image processing apparatus show
The targets for arrow straight line of image formation shown is mutually parallel with camera view horizontal center line；
Secondly, the first camera air line distance between the first auxiliary positioning part, the second auxiliary positioning part respectively is measured
And the first air line distance between auxiliary positioning part and the second auxiliary positioning part, it measures second camera and is assisted respectively with third
It is straight between air line distance and third auxiliary positioning part and the first auxiliary positioning part between locating piece, the first auxiliary positioning part
Linear distance；
Then, the first rectangular coordinate system, the second rectangular coordinate system are built, coordinate is constructed by the first rectangular coordinate system
The first straight line equation of origin, is constructed by the second straight line equation of coordinate origin in the second rectangular coordinate system, and described first
Rectangular coordinate system, the second rectangular coordinate system respectively using the first camera anchor point, second camera anchor point as coordinate origin,
Y-axis by the first auxiliary positioning part top end point, calculate the first camera respectively with the first auxiliary positioning part, the second auxiliary positioning
Angle between part line, is denoted as α, calculate second camera respectively with third auxiliary positioning part, the first auxiliary positioning part line
Between angle, be denoted as β；The slope of the first straight line equation is tan α 1, and the slope of the second straight line equation is tan β 1,
Wherein, α 1=C1* α, β 1=C2* β, the calculating process of described C1, C2 are：
The first camera is opened to targets for arrow target plane scan round, video image processing apparatus is to first time for receiving
Picture, the second time picture carry out image comparison analysis, capture the second time picture relative to first time picture in camera
The point of pixel color variation on the horizontal centre line position of the visual field, it is auxiliary that the point changed according to the pixel color is respectively relative to first
Help locating piece, the ratio of pixel Diff E of the second auxiliary positioning part is C1；
Second camera is opened to targets for arrow target plane scan round, video image processing apparatus is to first time for receiving
Picture, the second time picture carry out image comparison analysis, capture the second time picture relative to first time picture in camera
The point of pixel color variation on the horizontal centre line position of the visual field, it is auxiliary that the point changed according to the pixel color is respectively relative to first
Help locating piece, the ratio of pixel Diff E of third auxiliary positioning part is C2；
Next, by coordinate transform, first straight line equation is converted to the third straight line side under the second rectangular coordinate system
Journey, connection solve the third linear equation and second straight line equation, obtain practical arrow point coordinates；Or second straight line equation is converted
For the third linear equation under the first rectangular coordinate system, connection solves the third linear equation and first straight line equation, obtains practical
Arrow point coordinates；
Finally, calculate practical the air line distance between arrow point and the first auxiliary positioning part, by it targets for arrow per ring between
Away from being compared, the indication of shots achievement of the arrow is determined.
Preferably, when adjusting the first camera, second camera, make targets for arrow shown by video image processing apparatus at
As the vertical pixel coordinate difference between straight line and camera view horizontal center line is 5-20 pixel.
Preferably, the camera view horizontal center line is by the first contour auxiliary positioning part, the second auxiliary
Locating piece, third auxiliary positioning part in video image processing apparatus it is shown go out the top end point of imaging line segment determine；Or
It is that pixel in the plane of the camera imaging visual field being evenly distributed in vertical direction is calculated by video image processing apparatus
And it determines.
Preferably, the α values, β value are calculated according to the cosine law.
Preferably, the α values, β value run dedicated computing program during indication of shots by video image processing apparatus
It is automatic to calculate.
Preferably, the video image processing apparatus is using PC either smart mobile phone either tablet or microcontrollers.
Preferably, first camera, second camera carry out scan round when taking pictures, the second time exported
The time interval of picture and first time picture is preset as 0.5-3 seconds.
Preferably, first camera, second camera are using the consistent camera of resolution ratio, focal length.
Preferably, first auxiliary positioning part, the second auxiliary positioning part, third auxiliary positioning part are using cylindrical
Part.
Preferably, line is formed between the first auxiliary positioning part respectively for first camera, second camera
Angle be designed as 90 ± 10 degree.
Compared with prior art, the beneficial effects of the invention are as follows：By using arc-shaped projection principle, practical arrow point is being sat
Mark orthographic projection in plane using camera as the center of circle, with straight between forward projection point of the camera to target center on coordinate plane
Linear distance be being projected on the circular arc line on the circular arc line of radius be in angularly uniform pixel distribution, practical the arrow point pair
In the degree and the camera video image that captures of target center offset forward projection point abscissa picture of the arrow point on coordinate plane
The degrees of offset of forward projection point abscissa pixel of the element to target center on coordinate plane is proportional.Therefore, according to " practical
The pixel on circular arc line that is projected in of arrow point is uniformly distributed " principle, it may be determined that went out the linear equation of camera and subpoint, led to
Cross connection two linear equations of solution and calculate the physical location of arrow point, finally by arrow point the physical location off-target heart straight line away from
From to calculate the indication of shots achievement of this shooting, to improve indication of shots precision, and the hit telling system structure letter of the present invention
Single, implementation cost is low, has good economic serviceability.
Description of the drawings
Fig. 1 is the structural map (front view) of bow and arrow image scanning hit telling system.
Fig. 2 is the structural map (side view) of bow and arrow image scanning hit telling system.
Fig. 3 is the schematic diagram for the method that indication of shots precision is improved in bow and arrow image scanning indication of shots of the present invention.
Fig. 4 is the process chart for the method that indication of shots precision is improved in bow and arrow image scanning indication of shots of the present invention.
Fig. 5 is that (third auxiliary positioning part is not for projection theory figure of the bow and arrow image scanning hit telling system in camera view
It shows).
It is marked in figure：The first cameras of 1-, 2- second cameras, the second circular arc lines of 3-, 4- targets for arrows, the first auxiliary positionings of 5-
Part, the second auxiliary positioning parts of 6-, the first circular arc lines of 7-, 8- third auxiliary positioning parts, 9- camera view horizontal center lines, 10-
Straight line of image formation of the target plane of targets for arrow in camera view.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with the accompanying drawings and specific implementation
The present invention is described in detail for example.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention.
The method that indication of shots precision is improved in the bow and arrow image scanning indication of shots of the present invention, image scanning therein use arrow root
Two dimensional image Scan orientation.As shown in figure 4, its specific steps includes as follows：
1st step, the installation and debugging of hit telling system.The hit telling system includes the first camera 1, second camera 2, arrow
Target 4, the first auxiliary positioning part 5, the second auxiliary positioning part 6, third auxiliary positioning part 8 and video image processing apparatus.Specific peace
When dress, the installation position location of the first camera 1, second camera 2, targets for arrow 4 is fixed respectively, and makes the first camera 1, second
Camera 2 is respectively positioned on the same side of the target plane of targets for arrow 4, the two line except 4 outer of targets for arrow, first camera 1,
Video image acquired in second camera 2 is exported into video image processing apparatus, the institute on video image processing apparatus
Horizontal center line is set in the camera imaging visual field plane of display as camera view horizontal center line 9, the camera
The pixel that visual field horizontal center line 9 can also be calculated by video image processing apparatus in the plane of the camera imaging visual field is hanging down
Histogram is upward to be evenly distributed and determines, as shown in Fig. 1, Fig. 3, Fig. 5.
Then, the first camera 1 is adjusted, targets for arrow 4 is made to be shown as one in the visual field of the first camera 1
Horizontal linear, which is straight line of image formation 10 of the target plane of targets for arrow 4 in 1 visual field of the first camera, also, makes institute
The straight line of image formation 10 stated is located at 9 lower section of camera view horizontal center line and is mutually parallel with camera view horizontal center line 9；
Similarly, second camera 2 is adjusted, targets for arrow 4 is made to be also displayed as a level in the visual field of second camera 2
Straight line, and the horizontal linear is made to be overlapped with above-mentioned straight line of image formation 10, i.e., the target plane of targets for arrow 4 is in 2 visual field of second camera
Imaging be also above-mentioned straight line of image formation 10, as shown in Figure 5.At this point, the camera lens of the first camera 1, second camera 2 is in same
In one plane, also, the plane and the target plane of targets for arrow 4 are mutually parallel.
On video image processing apparatus in shown camera imaging visual field plane, due in camera view level
Heart line 9 is mutually parallel with the straight line of image formation 10 and is horizontal, and therefore, distance between the two can use vertical direction
On the difference of pixel coordinate indicate.By the above-mentioned adjustment to the first camera 1, second camera 2, make the camera shooting
Vertical pixel coordinate difference between head visual field horizontal center line 9 and the straight line of image formation 10 is 5-20 pixel.In the first camera shooting
First 1, second camera 2 capture image in, allow come arrow direction be camera view direction from top to bottom, i.e., in camera figure
As in, the target of targets for arrow 4 in kind is face-up.
As shown in Figure 1, Figure 2, Figure 3 shows, the first auxiliary positioning part 5 is fixed at the target center O points of targets for arrow 4, first auxiliary is fixed
Position part 5 and the target plane of targets for arrow 4 are mutually perpendicular to, at this point, it is illustrated as a line segment O ' O1 ' in each camera view,
The O ' are forward projection point of the bottom end point O points of the first auxiliary positioning part 5 in camera view plane, and the O1 ' are
Forward projection point of the top end point O1 points of first auxiliary positioning part 5 in camera view plane.First camera 1, second are taken the photograph
As first 2 are adaptively adjusted, make the O1 ' on camera view horizontal center line 9, as shown in Figure 5.
After fixing the first camera 1, second camera 2, targets for arrow 4, by the camera lens elements of a fix point of the first camera 1
P1 points are denoted as, the camera lens elements of a fix point of second camera 2 is denoted as P2 points.It is half with line segment OP1 length using P1 points as the center of circle
Diameter draws circular arc, and the intersection point between 4 outer shroud outer of the circular arc line and targets for arrow is B11 points, and the second auxiliary positioning part is fixed at B11 points
6；Similarly, using P2 points as the center of circle, circular arc, the intersection point between 4 outer shroud outer of the circular arc line and targets for arrow are drawn by radius of line segment OP2
For B21 points, third auxiliary positioning part 8 is fixed at B21 points.Second auxiliary positioning part 6, third auxiliary positioning part 8 with
First auxiliary positioning part 5 is contour, and the target plane with targets for arrow 4 is mutually perpendicular to respectively, as shown in Figure 1, Figure 2, Figure 3 shows.It is auxiliary with first
Help locating piece 5 similar, second auxiliary positioning part 6 is shown as a line segment B1 ' B11 ', the third in camera view
Auxiliary positioning part 8 is also displayed as line segment B2 ' B21 ' in camera view, B1 ' points therein, B2 ' be in camera shooting
On head visual field horizontal center line 9, as shown in Figure 5.One triangle, such as Fig. 1 are together formed by P1 points, P2 points, this 3 points of O points
It is shown.So far, the installation and debugging of hit telling system are completed.
2nd step, the determination of relevant position parameter.Hit telling system installation and debugging complete after, respectively measure O points with
Straight line actual range between P1 points, between O points and P2 points, between P1 points and P2 points, i.e. line segment OP1, line segment OP2, line segment
The length of P1P2, while the target center of targets for arrow 4 is measured to the straight line actual range of outer shroud, the i.e. length of line segment OB11, line segment OB21.
Since line segment OP1 length is equal to line segment B11P1 length, line segment OP2 length is equal to line segment B21P2 length, therefore, fixed according to cosine
Reason can find out the angle ∠ B11P1O between line segment B11P1 and line segment OP1, be denoted as α；Similarly, also may be used according to the cosine law
In the hope of going out the angle ∠ B21P2O between line segment B21P2 and line segment OP2, it is denoted as β, as shown in Figure 1.In addition, the α values, β value
During indication of shots, can also dedicated computing program be run by video image processing apparatus and calculated automatically.
3rd step establishes two rectangular coordinate systems using P1 points, P2 points as coordinate origin respectively.Specifically, using P1 points as coordinate
Origin establishes the first rectangular coordinate system X1P1Y1 in the plane determined by P1 points, O1 points, this 3 points of B1 points, and Y1 axis passes through
O1 points；Similarly, using P2 points as coordinate origin, it is straight that second is established in the plane determined by P2 points, O1 points, this 3 points of B2 points
Angular coordinate system X2P2Y2, and Y2 axis is also by O1 points, as shown in Figure 3.Here, where the first rectangular coordinate system X1P1Y1
Plane overlaps with plane where the second rectangular coordinate system X2P2Y2, the camera shown by video image processing apparatus
The camera view horizontal center line 9 is formd in visual field plane.It will be where the first rectangular coordinate system X1P1Y1
Plane definition where plane, the second rectangular coordinate system X2P2Y2 is coordinate plane, similarly hereinafter.
In the first rectangular coordinate system X1P1Y1, using P1 points as the center of circle, circular arc is drawn by radius of line segment O1P1 length, is obtained
First circular arc line 7, first circular arc line 7 and positive throwing of the 4 outer shroud outer of targets for arrow in the first rectangular coordinate system X1P1Y1 planes
Intersection point between shadow is B1 points, similarly, in the second rectangular coordinate system X2P2Y2, using P2 as the center of circle, is with line segment O1P2
Radius draws circular arc, obtains the second circular arc line 3, second circular arc line 3 is with 4 outer shroud outer of targets for arrow in the second rectangular coordinate system
The intersection point between orthographic projection in X2P2Y2 planes is B2 points.According to orthographic projection principle, line segment O1P1 length is equal to line segment OP1
Length, line segment O1P2 length are equal to line segment OP2 length, and line segment O1B1 length is equal to line segment OB11 length, line segment O1B2 length etc.
In line segment OB21 length.Therefore, the first rectangular coordinate system X1P1Y1, the second rectangular coordinate system X2P2Y2 institute in the plane, line
Angle ∠ B1P1O1 between section B1P1 and line segment O1P1 are also α；Similarly, the angle ∠ between line segment B2P2 and line segment O1P2
B2P2O1 is also β, as shown in Figure 3.O1 points, B1 points, B2 are measured on camera video image by video image processing apparatus
Point in camera image corresponding O1 ' points, B1 ' points, B2 ' pixel abscissas, and it is spare as preset parameter.
4th step recycles the target plane of targets for arrow 4 with fixed frequency by the first camera 1, second camera 2
It takes pictures, first time picture, the second time picture that first camera 1, second camera 2 obtain are exported to video figure
As in processing equipment.The video image processing apparatus analyzes the first time picture, the second time picture that capture,
Judging the second time picture, whether there is or not pixel color changes on 9 position of camera view horizontal center line relative to first time picture
The point of change, if so, explanation has arrow to fall on the target plane of targets for arrow 4, and the point of pixel color variation is practical arrow point
Subpoint on coordinate plane；If not provided, the first camera 1, second camera 2 again carry out the target plane of targets for arrow 4
Cycle is taken pictures.When the first camera 1, second camera 2 are taken pictures, the time of the second time picture and first time picture
Interval is generally preset as 0.5-3 seconds.
Specifically, in the first rectangular coordinate system X1P1Y1, the video image processing apparatus to it is receiving and by
First time picture, the second time picture of first camera 1 output carry out image comparison analysis, judge the second time picture phase
For first time picture, whether there is or not the points of pixel color variation on 9 position of camera view horizontal center line.If so, explanation
There is arrow to fall target on targets for arrow 4, i.e. corresponding practical subpoint of the arrow o'clock on the first circular arc line 7 of the point of pixel color variation, i.e.,
A1 points as shown in Figure 3.
In the second rectangular coordinate system X2P2Y2, the video image processing apparatus to it is receiving and by second camera shooting
First time picture, the second time picture of first 2 output carry out image comparison analysis, judge the second time picture relative to first
Whether there is or not the points of pixel color variation on 9 position of camera view horizontal center line for time picture.If so, illustrating on targets for arrow 4
There is arrow to fall target, i.e. corresponding practical subpoint of the arrow o'clock on the second circular arc line 3 of the point of pixel color variation, i.e., such as Fig. 3 institutes
The A2 points shown.
According to the vision of " using camera as on the circle in the center of circle, the object representation pixel abscissa occupancy of same widths is equal "
Basic principle, as shown in figure 5, in the first camera 1 output image, O1 ' points, the pixel Diff E of A1 points and 01 ', B1 ' points
Pixel Diff E ratio be circular arc line segment O1A1 and circular arc line segment O1B1 as shown in Figure 3 ratio, the ratio note
For C1；Similarly, second camera 2 exports in image, O1 ' points, the pixel Diff E of A2 points and the horizontal seat of 01 ', B2 ' pixels
The ratio of mark difference is the ratio of circular arc line segment O1A2 and circular arc line segment O1B2 as shown in Figure 3, which is denoted as C2.Then,
Just have：
α 1=C1* α；(" * " therein indicates to be multiplied, similarly hereinafter)
β 1=C2* β.
In the first rectangular coordinate system X1P1Y1, the first straight line equation by P1 points, A1 points, the first straight line side are established
The slope of journey is tan α 1.Similarly, in the second rectangular coordinate system X2P2Y2, the second straight line by P2 points, A2 points is established
The slope of equation, the second straight line equation is tan β 1.
Above-mentioned second straight line equation is expressed as under the first rectangular coordinate system X1P1Y1 by the 5th step by coordinate transform
Linear equation is denoted as third linear equation.
6th step, connection solve above-mentioned first straight line equation, third linear equation, obtain the intersecting point coordinate of two straight line, the friendship
Point coordinates is practical the coordinate of subpoint A point of the arrow o'clock in the first rectangular coordinate system X1P1Y1 planes on targets for arrow 4.Such as
Shown in Fig. 3, in the first rectangular coordinate system X1P1Y1, since P1 points are coordinate origins, i.e. P1 (x10, y10)=P1 (0,0), because
This has O1 (x0, y0)=O1 after measuring the straight line actual range between O1 points and P1 points, and the distance is denoted as a
(0, a), also just say that O1 point coordinates is known.
Since A points, O1 point coordinates are it is known that the air line distance of A points and O1 points can be calculated, due to the seat
The distance between plane and the target plane of targets for arrow 4 very little are marked, therefore can ignore and be brought since arrow is not inserted perpendicularly into targets for arrow 4
Position offset, it is therefore considered that at this time the air line distance of A points and O1 points be exactly practical arrow point with the target center O points of targets for arrow 4 it
Between air line distance, its spacing with targets for arrow 4 per ring is compared, may thereby determine that out the indication of shots achievement of the arrow.
It has to be noted that the target plane of camera view horizontal center line 9 as shown in Figure 5 and targets for arrow 4 is in camera
The difference between straight line of image formation 10 in the visual field is smaller, and indication of shots precision is higher；It is described meanwhile in order to read pixel variation
Camera view horizontal center line 9 must in the top of straight line of image formation 10 of the target plane in camera view of targets for arrow 4, and
And vertical range between the two cannot be zero.
The present invention is for indication of shots achievement resolution principle：Two are established respectively in approximately the same plane by two cameras
Rectangular coordinate system established camera and true forward projection point subpoint on camber line of the arrow point in coordinate plane respectively
Linear equation second straight line equation is expressed as under first rectangular coordinate system then by the coordinate transform in plane
Linear equation, i.e. third linear equation, finally connection solution first, third the two linear equations, non trivial solution is practical
The position of subpoint of the arrow point on coordinate plane.Then, it calculates the reality and projection point of the arrow point on coordinate plane
The air line distance between subpoint of the target center on coordinate plane is set, further according to orthographic projection principle, you can determine the reality
Arrow point to the air line distance of targets for arrow target center, by the way that the air line distance to be compared with the spacing per ring on targets for arrow, Bian Keji
Calculate the achievement of this indication of shots.
Present invention employs arc-shaped projection principle, i.e., practical orthographic projection of the arrow point on coordinate plane is being with camera
The center of circle, using the air line distance between forward projection point of the camera to target center on coordinate plane as the projection on the circular arc line of radius
It is in angularly uniform pixel distribution on the circular arc line to be, which the degree that arrow point deviates target center and the camera shooting captured
Head video image on forward projection point abscissa pixel orthographic projection to target center on coordinate plane of the arrow point on coordinate plane
The degrees of offset of point abscissa pixel is proportional.Therefore, according to " practical arrow point to be projected in pixel on circular arc line uniform
Distribution " principle, acquires actual shifts angle, and to obtain the linear equation of camera and subpoint, two straight line sides are solved by connection
Journey calculates the physical location of arrow point, finally by the air line distance of the physical location off-target heart of arrow point, calculates this
The indication of shots achievement of shooting.
It is proved through repeatedly practising, the present invention is not only economic and practical, but also indication of shots precision is high.
It should be noted that in above-mentioned 5th step, by coordinate transform, first straight line equation can also be expressed as to
Linear equation under two rectangular coordinate system X2P2Y2, i.e. third linear equation.However, in the 6th step, it is necessary to which connection solution is above-mentioned
Second straight line equation, third linear equation, to obtain the intersecting point coordinate of two straight line, the intersecting point coordinate be the second right angle sit
Under mark system X2P2Y2 arrow point A points.As shown in figure 3, in the second rectangular coordinate system X2P2Y2, since P2 points are coordinate originals
Point, i.e. P2 (x20, y20)=P2 (0,0) are therefore measuring the air line distance between O1 points and P2 points, and the distance is remembered
After b, that is, there is O1 (x0, y0)=O1 (0, b).Since A points, O1 point coordinates are it is known that can also calculate arrow point A
Point is compared to the actual range between target center O points, by it with the spacing per ring on targets for arrow 4, so that it is determined that going out the report of the arrow
Target achievement.
In order to better ensure that the accuracy of indication of shots achievement, in Fig. 1, the angle between line segment OP1 and line segment OP2 is best
It is designed as 90 ± 10 degree.
In addition, above-mentioned calculating process can also be calculated by video image processing apparatus by running dedicated computing program
Come, PC, smart mobile phone, tablet, microcontroller, etc. may be used in the video image processing apparatus, to improve archery indication of shots
Intelligent level and indication of shots accuracy rate.
It is simpler in order to program, it is easy to accomplish, the first camera 1 therein, second camera 2 are using resolution ratio, coke
Away from etc. the consistent camera of parameters.
In addition, first auxiliary positioning part 5, the second auxiliary positioning part 6, third auxiliary positioning part 8 preferably use
The cylindrical members such as iron nail, copper wire, diameter is the smaller the better, can make imaging of the auxiliary positioning part in camera view in this way
Width is small as possible, in order to the location determination of imaging point, is conducive to the accuracy for improving indication of shots achievement.It is important to point out that
Since the first auxiliary positioning part 5, the second auxiliary positioning part 6, third auxiliary positioning part 8 are contour, in video image processing apparatus
In it is shown go out corresponding 3 line segments be also contour, described take the photograph can also be determined by the top end point of this 3 contour line segments
As head visual field horizontal center line 9, as shown in Figure 5.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, it is noted that all
All any modification, equivalent and improvement made by within the spirit and principles in the present invention etc. should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of method for improving indication of shots precision in bow and arrow image scanning indication of shots, it is characterised in that：Include the following steps：
First, the installation and debugging of hit telling system；The first camera, second camera are fixed in targets for arrow target plane the same side,
The first auxiliary positioning part, the second auxiliary positioning part and third auxiliary positioning perpendicular to target plane are fixed on targets for arrow target plane
Part, and the first auxiliary positioning part is located at the target center of targets for arrow, first auxiliary positioning part and the second auxiliary positioning part be located at
First camera anchor point is on the same circumference in the center of circle, and the third auxiliary positioning part and the first auxiliary positioning part are located at the
Two camera anchor points are on the same circumference in the center of circle, and the video image acquired in first camera, second camera is equal
In output to video image processing apparatus, the first camera of adjustment, second camera make shown by video image processing apparatus
Targets for arrow straight line of image formation is mutually parallel with camera view horizontal center line；
Secondly, measure the first camera respectively the air line distance between the first auxiliary positioning part, the second auxiliary positioning part and
Air line distance between first auxiliary positioning part and the second auxiliary positioning part, measure second camera respectively with third auxiliary positioning
The straight line between air line distance and third auxiliary positioning part and the first auxiliary positioning part between part, the first auxiliary positioning part away from
From；
Then, the first rectangular coordinate system, the second rectangular coordinate system are built, coordinate origin is constructed by the first rectangular coordinate system
First straight line equation, the second straight line equation of coordinate origin, first right angle are constructed by the second rectangular coordinate system
Coordinate system, the second rectangular coordinate system are respectively using the first camera anchor point, second camera anchor point as coordinate origin, Y-axis
By the first auxiliary positioning part top end point, calculate the first camera respectively with the first auxiliary positioning part, the second auxiliary positioning part
Angle between line, is denoted as α, calculate second camera respectively with third auxiliary positioning part, the first auxiliary positioning part line it
Between angle, be denoted as β；The slope of the first straight line equation is tan α 1, and the slope of the second straight line equation is tan β 1,
In, α 1=C1* α, β 1=C2* β, the calculating process of described C1, C2 is：
The first camera is opened to targets for arrow target plane scan round, video image processing apparatus schemes the first time received
Piece, the second time picture carry out image comparison analysis, capture the second time picture and are regarded in camera relative to first time picture
The point of pixel color variation on wild horizontal centre line position, the point changed according to the pixel color are respectively relative to the first auxiliary
Locating piece, the second auxiliary positioning part the ratio of pixel Diff E be C1；
Second camera is opened to targets for arrow target plane scan round, video image processing apparatus schemes the first time received
Piece, the second time picture carry out image comparison analysis, capture the second time picture and are regarded in camera relative to first time picture
The point of pixel color variation on wild horizontal centre line position, the point changed according to the pixel color are respectively relative to the first auxiliary
Locating piece, third auxiliary positioning part the ratio of pixel Diff E be C2；
Next, by coordinate transform, first straight line equation is converted into the third linear equation under the second rectangular coordinate system, is joined
The third linear equation and second straight line equation are solved, practical arrow point coordinates is obtained；Or second straight line equation is converted to
Third linear equation under one rectangular coordinate system, connection solve the third linear equation and first straight line equation, obtain practical arrow point
Coordinate；
Finally, calculate practical the air line distance between arrow point and the first auxiliary positioning part, the spacing by it with targets for arrow per ring into
Row compares, and determines the indication of shots achievement of the arrow.
2. the method for improving indication of shots precision in bow and arrow image scanning indication of shots according to claim 1, it is characterised in that：It is adjusting
When whole first camera, second camera, make targets for arrow straight line of image formation and the camera view shown by video image processing apparatus
Vertical pixel coordinate difference between horizontal center line is 5-20 pixel.
3. the method for improving indication of shots precision in bow and arrow image scanning indication of shots according to claim 1 or 2, feature exist
In：The camera view horizontal center line is auxiliary by the first contour auxiliary positioning part, the second auxiliary positioning part, third
Help locating piece in video image processing apparatus it is shown go out the top end point of imaging line segment determine；Either pass through video image
Processing equipment calculates being evenly distributed and determining in vertical direction of the pixel in the plane of the camera imaging visual field.
4. the method for improving indication of shots precision in bow and arrow image scanning indication of shots according to claim 1 or 2, feature exist
In：The α values, β value are calculated according to the cosine law.
5. the method for improving indication of shots precision in bow and arrow image scanning indication of shots according to claim 4, it is characterised in that：It is described
α values, β value during indication of shots, by video image processing apparatus run dedicated computing program calculate automatically.
6. the method for improving indication of shots precision in bow and arrow image scanning indication of shots according to claim 5, it is characterised in that：It is described
Video image processing apparatus using PC either smart mobile phone or microcontroller.
7. the method for improving indication of shots precision in bow and arrow image scanning indication of shots according to claim 1 or 2, feature exist
In：First camera, second camera carry out scan round when taking pictures, the second time picture exported and when first
Between the time interval of picture be preset as 0.5-3 seconds.
8. the method for improving indication of shots precision in bow and arrow image scanning indication of shots according to claim 7, it is characterised in that：It is described
The first camera, second camera is using the consistent camera of resolution ratio, focal length.
9. the method for improving indication of shots precision in bow and arrow image scanning indication of shots according to claim 1 or 2, feature exist
In：First auxiliary positioning part, the second auxiliary positioning part, third auxiliary positioning part use cylindrical member.
10. the method for improving indication of shots precision in bow and arrow image scanning indication of shots according to claim 1 or 2, feature exist
In：The line between the first auxiliary positioning part is formed by angle and is designed as respectively for first camera, second camera
90 ± 10 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610318116.9A CN105957089B (en) | 2016-05-13 | 2016-05-13 | The method that indication of shots precision is improved in bow and arrow image scanning indication of shots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610318116.9A CN105957089B (en) | 2016-05-13 | 2016-05-13 | The method that indication of shots precision is improved in bow and arrow image scanning indication of shots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105957089A CN105957089A (en) | 2016-09-21 |
| CN105957089B true CN105957089B (en) | 2018-08-14 |
Family
ID=56911620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610318116.9A Active CN105957089B (en) | 2016-05-13 | 2016-05-13 | The method that indication of shots precision is improved in bow and arrow image scanning indication of shots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105957089B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112734860B (en) * | 2021-01-15 | 2021-09-21 | 中国传媒大学 | Arc-screen prior information-based pixel-by-pixel mapping projection geometric correction method |
| CN113284188B (en) * | 2021-05-10 | 2024-02-02 | 西安理工大学 | Thermal infrared target reporting system and calibration method thereof |
| CN114211173A (en) * | 2022-01-27 | 2022-03-22 | 上海电气集团股份有限公司 | Method, device and system for determining welding position |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6304669B1 (en) * | 1997-11-10 | 2001-10-16 | Asahi Kogaku Kogyo Kabushiki Kaisha | Photogrammetric analytical measurement system |
| CN101266653A (en) * | 2008-02-19 | 2008-09-17 | 深圳大学 | Ball firing system and hit point calculation method based on topology grid learning |
| CN201149467Y (en) * | 2007-04-28 | 2008-11-12 | 王建平 | Projection orientation target surface of multilayer sector light curtain bullet |
| CN101694363A (en) * | 2009-09-30 | 2010-04-14 | 魏力中 | Target scoring method based on camera and system thereof |
| CN105180721A (en) * | 2015-08-11 | 2015-12-23 | 中国船舶重工集团公司第七0九研究所 | Automatic target scoring and speed measuring device and positioning and speed measuring method thereof |
-
2016
- 2016-05-13 CN CN201610318116.9A patent/CN105957089B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6304669B1 (en) * | 1997-11-10 | 2001-10-16 | Asahi Kogaku Kogyo Kabushiki Kaisha | Photogrammetric analytical measurement system |
| CN201149467Y (en) * | 2007-04-28 | 2008-11-12 | 王建平 | Projection orientation target surface of multilayer sector light curtain bullet |
| CN101266653A (en) * | 2008-02-19 | 2008-09-17 | 深圳大学 | Ball firing system and hit point calculation method based on topology grid learning |
| CN101694363A (en) * | 2009-09-30 | 2010-04-14 | 魏力中 | Target scoring method based on camera and system thereof |
| CN105180721A (en) * | 2015-08-11 | 2015-12-23 | 中国船舶重工集团公司第七0九研究所 | Automatic target scoring and speed measuring device and positioning and speed measuring method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105957089A (en) | 2016-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105957089B (en) | The method that indication of shots precision is improved in bow and arrow image scanning indication of shots | |
| US20180348249A1 (en) | Flight parameter measuring apparatus and flight parameter measuring method | |
| CN106441804B (en) | Resolving power test method | |
| CN105261022B (en) | A kind of pcb board card matching process and device based on outer profile | |
| CN111220130B (en) | Focusing measurement method and terminal capable of measuring object at any position in space | |
| CN107645657B (en) | SFR test equipment and its test method | |
| CN109931869A (en) | Volume of material high-precision detecting method based on laser scanning imaging | |
| CN108257137A (en) | A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot | |
| CN106780297B (en) | Image high registration accuracy method under scene and Varying Illumination | |
| CN107356202A (en) | A kind of laser scanning measurement system target sights method automatically | |
| CN108833912A (en) | A kind of measurement method and system of video camera machine core optical axis center and field angle | |
| CN109163657A (en) | A kind of circular target position and posture detection method rebuild based on binocular vision 3 D | |
| CN103795935B (en) | A kind of camera shooting type multi-target orientation method and device based on image rectification | |
| CN109163775A (en) | A kind of mass measuring method and device based on ribbon conveyer | |
| CN106643555A (en) | Connection piece identification method based on structured light three-dimensional measurement system | |
| CN106643567A (en) | Lane deviation system production line calibration board verification method and system | |
| CN111383194A (en) | Camera distortion image correction method based on polar coordinates | |
| CN105913414A (en) | Calibration device for infrared camera visual system and calibration method | |
| TWI251661B (en) | Measuring system and methodology for profile of steel bloom | |
| Ringaby et al. | Scan rectification for structured light range sensors with rolling shutters | |
| CN109451298A (en) | Angle of deviation detection method, device and the equipment of dual camera | |
| CN106296797A (en) | A kind of spatial digitizer characteristic point modeling data processing method | |
| CN107680035A (en) | A kind of parameter calibration method and device, server and readable storage medium storing program for executing | |
| CN110084861A (en) | A kind of scaling method of polyphaser visual detection equipment | |
| CN106969707B (en) | A kind of detection device and its control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Luo Changrong Inventor before: Zhou Hongyang |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20171211 Address after: The 10 group of 618218 Mianzhu city of Sichuan province Guangji Town Village Qi Xiang Applicant after: Luo Changrong Address before: Mount Lu road 618000 Sichuan city in Deyang Province Economic and Technological Development Zone Three No. 7 mil. Huating sunshine No. 9 3-11-2 Applicant before: Sichuan wonder Technology Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |