CN109029132B - Accurate positioning method of target scoring system - Google Patents
Accurate positioning method of target scoring system Download PDFInfo
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- CN109029132B CN109029132B CN201811008496.1A CN201811008496A CN109029132B CN 109029132 B CN109029132 B CN 109029132B CN 201811008496 A CN201811008496 A CN 201811008496A CN 109029132 B CN109029132 B CN 109029132B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
- F41J5/00—Target indicating systems; Target-hit or score detecting systems
- F41J5/06—Acoustic hit-indicating systems, i.e. detecting of shock waves
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Abstract
The invention discloses a precise positioning method of a target scoring system and the target scoring system, comprising: acquiring an ultrasonic signal of a bullet penetrating through the target paper, and acquiring spatial position information P and time information T of the bullet penetrating through the target paper according to the ultrasonic signal; acquiring a group of image information I which takes P as the center and is a plurality of frames before T and after T; and analyzing the I to obtain target information of the bullet passing through the target paper. Compared with a single image identification target-reporting method, the method can effectively eliminate false reports generated when other non-bullets penetrate target paper based on ultrasonic information; according to the time information and the position information of the ultrasonic system, the difficulty and the required time of image analysis can be reduced, missing report caused by too small or even no change of the image information of the target paper is avoided, and the target report precision is improved; compared with a single ultrasonic target-scoring system, the method can obtain extremely accurate target information in an image recognition mode on the basis of reducing the ultrasonic positioning accuracy.
Description
Technical Field
The invention belongs to the technical field of target systems, and relates to an accurate positioning method of a target scoring system.
Background
The present automatic target scoring system using light weapon ball firing has the following defects in the core method for detecting the impact point position of the system using single ultrasonic technology: 1. the transmission speed of the ultrasonic waves is influenced by various external factors such as air temperature and air pressure, and the target scoring precision error cannot be controlled below 5 mm. 2. When target paper is changed, the position of the target paper is required to be accurately pasted at the fixed position of the target plate, or an additional correction mode is required, otherwise, target reporting errors can be generated. The target scoring precision using the single image recognition technology is high, but the defects are that: 1. the 'bullet hole' generated by a non-bullet or a jump bullet is difficult to distinguish from the bullet hole formed by a real bullet, so that false alarm is easy to generate. 2. The situation that the bullet holes are slightly overlapped or even completely overlapped often occurs in live firing, and a single image recognition system cannot detect the difference and is easy to generate false alarm. 3. If the image recognition target scoring system needs to conduct real-time target scoring, the algorithm needs to monitor image changes in the whole target range in real time in the whole process, and the requirement on the computing capability of image recognition system hardware is high.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides an accurate positioning method of a target scoring system, which combines ultrasonic waves and an image recognition technology.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a method for accurately positioning by combining ultrasonic waves and an image recognition technology applied to a light weapon ball firing automatic target scoring system comprises the following processes:
presetting mapping relations Fs and Fi of an ultrasonic system coordinate system, an optical system coordinate system and a plane coordinate system of a target plate;
acquiring an ultrasonic signal of a bullet penetrating through target paper; obtaining position information P and time information T of the impact point based on the ultrasonic signal;
acquiring a group of image information I which takes P as the center and is a plurality of frames before T and after T;
analyzing the I, and determining the position information of the impact point in the image;
and analyzing the I, and obtaining target reporting information of the impact point according to the characteristic information of the target paper image.
Determining the coordinate system of the ultrasonic system, the coordinate system of the optical system and the plane coordinate system mapping Fs, Fi of the target plate,
according to the placing positions of the ultrasonic sensors of different target systems, the relative spatial positions of the ultrasonic sensors and the target plate are determined, and the coordinates of the ultrasonic system and the coordinates of the plane where the target plate is located form a mapping relation Fs through an ultrasonic positioning algorithm.
And determining the relative spatial positions of the optical system and the target plate according to the placement positions of the optical sensors of different target systems, and performing algorithm correction through distortion parameters of the optical system to enable the coordinates of the optical system and the coordinates of the plane where the target plate is located to form a mapping relationship Fi.
Preferably: after the ultrasonic system and the optical system are fixed relative to the position parameters of the target plate, Fs and Fi are used as initial values and stored in a system storage unit, and the initialization for determining Fs and Fi is not needed to be carried out again every time the target scoring system works.
Preferably: the ultrasonic wave sensor is used for acquiring ultrasonic wave waveform signals and time information and transmitting the ultrasonic wave waveform signals and the time information to the information processing unit, the processing unit compares signal waveforms with the ultrasonic wave shape characteristics of the bullet, and if the signal waveforms and the ultrasonic wave shape characteristics of the bullet match, the ultrasonic wave signals of the bullet penetrating through the target paper are judged. The beneficial effects are as follows: the ultrasonic wave generated by the bullet normally hitting the target plate almost does not exist in nature, and the missing report and the false report can be eliminated by judging the signal.
Preferably: the method comprises the steps of calculating the coordinates of an impact point in an ultrasonic system through a plurality of ultrasonic signals received by a plurality of ultrasonic sensors and the position information of the ultrasonic signal sensors according to signal time difference and the mapping relation Fs of the coordinates of the ultrasonic system and the plane where a target plate is located, calculating the coordinate position P of the plane where the target plate where the impact point is located, and recording the receiving time T of the ultrasonic information of one sensor. The beneficial effects are as follows: the method has the advantages that only the approximate position of the bullet needs to be indicated, so that the requirement on the precision of an ultrasonic system is greatly reduced, compared with the traditional ultrasonic positioning system, the technology of improving the positioning precision such as a temperature sensor or a target plate ultrasonic cavity is not needed, the cost is reduced, the applicability is improved, and the method can be used on a common target system.
Before the signal processing unit acquires T, the image sensor acquires an image of at least one target paper and transmits the image to the storage unit. And when the signal processing unit acquires T, acquiring at least one image after T, and acquiring a group of local target paper images I before T and after T with the center P and the radius not less than 10mm according to a mapping relation Fi formed by the optical system and the plane coordinates of the target plate. The beneficial effects are as follows: the data of image processing becomes less, thereby improving the precision and speed.
Comparing the image edge change of I before T and I after T, and determining the impact point through the processing of an image edge monitoring algorithm. The beneficial effects are as follows: when the new bullet hole is almost overlapped with the old bullet hole, the position of the bullet hole can be detected even if the image changes slightly.
And (3) finding the characteristic image of the target paper in the I through a characteristic extraction algorithm, and calculating the change condition of the target scoring information according to the bullet hole according to the position relation between the impact point and the characteristic image. The beneficial effects are as follows: the target reporting precision is irrelevant to the position of the target paper on the target plate, and the precision requirement for placing the target paper is reduced.
Preferably: the number of the ultrasonic sensors is not less than 3.
Preferably: the ultrasonic sensor is positioned on the plane of the target plate and is close to the position of the target drone. The beneficial effects are as follows: can be arranged on or in the target drone, and improves the integration degree of the system.
Preferably: using a camera system with more than 10 frames, a plurality of images before T and after T are acquired. The beneficial effects are as follows: the target scoring speed can be improved by using a high frame rate camera system; image changes caused by non-bullet factors such as ambient light changes and target plate shaking in the process of I before T and after T are reduced, so that the bullet hole analysis is more accurate; and the target scoring precision can be improved by using a plurality of pictures for image comparison.
Preferably: the optical system employs a short-focal-length lens. The beneficial effects are as follows: the lens can be placed in the target drone, and the integration degree of the system is improved.
Has the advantages that: the accurate positioning method of the target-scoring system provided by the invention has the advantages of high bullet accuracy and high target-scoring accuracy of the image recognition method by utilizing an ultrasonic method, combines the advantages of the two methods, realizes the target-scoring method which has no missing report, false report, high accuracy, high target-scoring speed and easy target paper replacement, has high integration degree, has no special requirements on a target plate and a target machine, and can be additionally arranged in the existing target system to realize automatic target scoring, so the system is reliable, easy to use and wide in adaptability. In the invention, because the ultrasonic wave generated by the bullet penetrating the target paper almost does not exist in nature, compared with the traditional single image identification target reporting method, the method can effectively eliminate the false alarm generated by other non-bullets penetrating the target paper based on the ultrasonic information; the system reduces the number of pictures and the size of the images required by image recognition according to the time information and the position information of the ultrasonic system, can greatly reduce the difficulty and the required time of image analysis, improves the target reporting precision, and avoids the missing report caused by too small or even no change of the image information of the target paper; in addition, because the image recognition of the system is used as the accurate output of the final target information, and the ultrasonic system is only used as an indicating signal of the image analysis system, compared with a single ultrasonic target scoring system, the system can obtain extremely accurate target information on the premise of reducing the requirement of ultrasonic positioning accuracy.
Drawings
FIG. 1 is a flow chart of a method according to an embodiment of the present disclosure;
FIG. 2 is a system diagram of one embodiment of the present disclosure;
FIG. 3 is a schematic view of a target plate according to an embodiment.
Detailed Description
The invention is further described below with reference to the figures and examples.
Example one
As shown in fig. 1, the present embodiment provides a method for accurately positioning a target scoring system, including:
presetting a mapping relation Fs between an ultrasonic system coordinate system and a plane coordinate system where the target plate is located, and a mapping relation Fi between an optical system coordinate system and the plane coordinate system where the target plate is located;
acquiring an ultrasonic signal of a bullet penetrating through target paper; obtaining position information P and time information T of the impact point based on the ultrasonic signal;
acquiring a group of image information I which takes P as the center and is a plurality of frames before T and after T;
analyzing the I, and determining the position information of the impact point in the image;
and analyzing the I, and obtaining target reporting information of the impact point according to the characteristic information of the target paper image.
In this example: the mapping relation Fs between the ultrasonic system coordinate system and the plane coordinate system of the target plate specifically means that:
and determining the relative spatial positions of the ultrasonic sensor and the target plate according to the placement positions of the ultrasonic sensors of different target systems, and finishing the mapping relation Fs of the preset ultrasonic system coordinate system and the plane coordinate system of the target plate through an ultrasonic positioning algorithm.
The mapping relationship Fi between the optical system coordinate system and the plane coordinate system of the target plate specifically means:
and determining the relative spatial positions of the optical system and the target plate according to the placement positions of the optical sensors of different target systems, and performing algorithm correction through distortion parameters of the optical system to complete the mapping relation Fi between the preset optical system coordinate system and the plane coordinate system of the target plate.
The acquisition of the ultrasonic signal of the bullet penetrating through the target paper specifically comprises the following steps:
ultrasonic wave waveform signals and time information are obtained through the ultrasonic sensor and transmitted to the processing unit, the processing unit compares the signal waveform with the ultrasonic wave shape characteristics of the bullet, and if the signal waveform and the ultrasonic wave shape characteristics of the bullet are consistent, the ultrasonic signal that the bullet penetrates through the target paper is judged.
Further, the obtaining of the position information P and the time information T of the impact point specifically includes:
the method comprises the steps of calculating coordinates of an impact point in an ultrasonic system through a plurality of ultrasonic signals acquired by a plurality of ultrasonic sensors and signal time differences and position information of the ultrasonic signal sensors, calculating a plane coordinate position P of a target plate of the impact point according to a preset mapping relation Fs between the ultrasonic system coordinate system and the plane coordinate system of the target plate, and recording the receiving time of the ultrasonic information of one ultrasonic sensor as time information T.
Further, the acquiring a group of image information I of a plurality of frames before T and after T and centered on P specifically includes:
before the signal processing unit acquires T, acquiring an image of at least one target paper through the image sensor, and transmitting the image to the storage unit; and when the signal processing unit acquires T, acquiring at least one image after T, and acquiring a group of local target paper images I before T and after T, wherein the range of the radius of the center of the position information P of the impact point is not less than 10mm, according to the preset mapping relation Fi between the optical system coordinate system and the plane coordinate system of the target plate.
Further, analyzing the image information I to determine the impact point, specifically: comparing the image edge change of I before T and I after T, and determining the impact point through the processing of an image edge monitoring algorithm.
Further, target information is obtained according to the impact point and the target paper characteristic information of the image I, specifically: and (4) finding the characteristic image of the target paper in the I through a characteristic extraction algorithm, and calculating target scoring information according to the position relation between the impact point and the characteristic image.
As shown in fig. 2, the ultrasonic sensor is placed below the plane of the target plate, and near the position of the target drone, the coordinates of the ultrasonic system and the coordinates of the plane of the target plate form a mapping relationship Fs through an ultrasonic positioning algorithm.
As shown in fig. 2: the optical system adopts a short-focus lens, is placed on the target drone, and carries out algorithm correction through distortion parameters of the optical system, so that the coordinates of the optical system and the coordinates of a plane where the target board is located form a mapping relationship Fi.
After the positions of the ultrasonic system and the optical system of the system are fixed, Fs and Fi are used as initial values and stored in a system storage unit, and the Fs and the Fi do not need to be determined again when the target scoring system works each time.
The ultrasonic wave sensor is used for acquiring ultrasonic wave waveform signals and time information and transmitting the ultrasonic wave waveform signals and the time information to the information processing unit, the information processing unit compares signal waveforms with the ultrasonic wave shape characteristics of the bullet, and if the signal waveforms and the ultrasonic wave shape characteristics of the bullet match, the bullet is judged to penetrate through the target paper.
In this example: the identification of ultrasonic characteristic waveforms is prior art and can refer to:
[1] waveform identification algorithm for rapid template matching in the 2006-04 of the sensor world, Ningzhou Tianjie
[2] Beijing biomedical engineering 2015 03 entitled ECG waveform recognition algorithm based on geometric features
The coordinate of the impact point in the ultrasonic system is calculated through the time information of 3 ultrasonic signals received by the 3 ultrasonic sensors, the position information of the ultrasonic signal sensors and the transmission speed of ultrasonic waves in the air, the coordinate position P of the plane where the target plate of the impact point is located is calculated corresponding to the mapping relation Fs between the coordinates of the ultrasonic system and the plane where the target plate is located, and the receiving time of the ultrasonic information of the first sensor is recorded as T. In the embodiment, the target plate ultrasonic cavity and the temperature sensor are not arranged, and the precision error of the coordinate information of the impact point in the ultrasonic system is not more than 30 mm.
In this example: the algorithm of the impact point coordinates can refer to the algorithm of page 7, page 8 in the patent with application number 200410014100.
In this embodiment: the system uses a 60 frame camera system. When the signal processing unit acquires T before, 6 images before T are acquired, and the images are transmitted to the storage unit. After the signal processing unit acquires T, 6 images after T are acquired. And acquiring a group of local target paper images I before and after T with the center P and the radius of 80mm according to a mapping relation Fi formed by the optical system and the plane coordinates of the target plate.
The information processing system respectively obtains 2 images of the front 6 images and the rear 6 images of the I image before and after the bullet hits the target paper, performs subtraction processing on the 2 images, and determines the impact point through image edge algorithm processing.
In this example: the sharpening algorithm of the picture can refer to:
[3] computer and application in 2006-6.E.6 image edge enhancement algorithm based on wavelet transform
In this example: the image edge algorithm can refer to:
[4] intelligent target scoring system and method based on multi-bullet-hole pattern recognition algorithm, and application number 201611208474.0
[5] Method for extracting image rough edge based on anisotropic Gaussian directional derivative filter (patented application No. 201410686745.8)
[6] Computer and application, contrastive analysis of image edge detection Algorithm in 6 months 2008, second college of military project institute of information science and engineering, Li Zhou Fu Hui, Li Zhou
[7] Software guide, 2013, edge detection algorithm for color image, li xuelin pennsjun
And (3) finding a characteristic image of the target paper in the step I through a characteristic extraction algorithm, wherein as shown in fig. 3, the circular arc of the circular line of the target paper is the characteristic image, and calculating target scoring information according to the position relation between the impact point and the characteristic image.
In this example: the circular arc of the concentric circle target line of the target paper in I is a characteristic value, and the characteristic extraction algorithm is the prior art and can refer to the following steps:
[8] study of corner-based image feature extraction and matching algorithms in Xue jin Long, 2014.
[9] Image matching and recognition based on local features 2014.
[10] "study of image feature extraction algorithm based on visual information" Dai jin Bo 2014.
[11] Characteristics and description of local invariance of image is compiled by Wang Yongming and Wang Gui jin.
Example two
As shown in fig. 2 and 3, a target scoring system is provided, which comprises a target plate 1, an ultrasonic system, an optical system and a target drone 2;
the target drone 2 is integrated with a processing unit and a storage unit, wherein the storage unit is used for storing instructions, and the instructions are used for controlling the processing unit to operate so as to execute the accurate positioning method of the target scoring system;
the ultrasound system comprises at least three ultrasound sensors 3, the optical system comprises at least one image sensor 4;
in this embodiment, the image sensor is a camera with no less than 10 frames. More preferably, the camera uses a short focal length lens. As shown in fig. 2, the ultrasonic sensor 3 is placed below the plane of the target plate 1, and is close to the position of the target drone 2, and the coordinates of the ultrasonic system and the coordinates of the plane where the target plate is located form a mapping relation Fs through an ultrasonic positioning algorithm; the optical system adopts a short-focus lens, is placed on the target drone, and carries out algorithm correction through distortion parameters of the optical system, so that the coordinates of the optical system and the coordinates of a plane where the target board is located form a mapping relationship Fi.
Further, the target scoring system further comprises a target scoring display system for displaying target scoring information (ring number, position and time). In this example: the system can obtain the target-scoring information containing the number of rings, the position, the time and the like within 0.2 second and transmit the information to the target-scoring display system, so that the shooter can know the current shooting condition in time.
In this example: the accurate positioning method of the target-scoring system provided by the invention has the advantages of high bullet accuracy and high target-scoring accuracy of the image recognition method by utilizing an ultrasonic method, combines the advantages of the two methods, realizes the target-scoring method which has no missing report, false report, high accuracy, high target-scoring speed and easy target paper replacement, has high integration degree, has no special requirements on a target plate and a target machine, and can be additionally arranged in the existing target system to realize automatic target scoring, so the system is reliable, easy to use and wide in adaptability. In the invention, because the ultrasonic wave generated by the bullet penetrating the target paper almost does not exist in nature, compared with the traditional single image identification target reporting method, the method can effectively eliminate the false alarm generated by other non-bullets penetrating the target paper based on the ultrasonic information; the system reduces the number of pictures and the size of the images required by image recognition according to the time information and the position information of the ultrasonic system, can greatly reduce the difficulty and the required time of image analysis, improves the target reporting precision, and avoids the missing report caused by too small or even no change of the image information of the target paper; in addition, because the image recognition of the system is used as the accurate output of the final target information, and the ultrasonic system is only used as an indicating signal of the image analysis system, compared with a single ultrasonic target scoring system, the system can obtain extremely accurate target information on the premise of reducing the requirement of ultrasonic positioning accuracy.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. A precise positioning method of a target scoring system is characterized in that:
acquiring an ultrasonic signal of a bullet penetrating through target paper;
obtaining position information P and time information T of the impact point based on the ultrasonic signal;
acquiring a group of image information I which takes P as the center and is a plurality of frames before T and after T;
analyzing the image information I to determine an impact point;
obtaining target scoring information according to the impact point and the target paper characteristic information of the image information I;
the obtaining of the position information P and the time information T of the impact point specifically includes: calculating the coordinates of the impact point in an ultrasonic system through a plurality of ultrasonic signals obtained by a plurality of ultrasonic sensors and the position information of the ultrasonic signal sensors, calculating the plane coordinate position P of the target plate of the impact point according to a preset mapping relation Fs between the ultrasonic system coordinate system and the plane coordinate system of the target plate, and recording the receiving time of the ultrasonic information of one ultrasonic sensor as time information T;
the acquiring a group of image information I of a plurality of frames before T and after T and centered on P specifically includes: before the processing unit acquires T, acquiring an image of at least one target paper through the image sensor, and transmitting the image to the storage unit; when the processing unit obtains T, obtaining at least one image after T, and obtaining a group of local target paper images I before T and after T, wherein the range of the radius of the center of the position information P of the impact point is not less than 10mm according to the preset mapping relation Fi between the optical system coordinate system and the plane coordinate system of the target plate;
the analyzing of the image information I to determine the impact point specifically includes: comparing the image edge change of I before T and I after T, and determining the impact point through the processing of an image edge monitoring algorithm.
2. The method of claim 1, wherein the method comprises: the mapping relation Fs between the ultrasonic system coordinate system and the plane coordinate system of the target plate specifically means that:
determining the relative spatial positions of the ultrasonic sensor and the target plate according to the placement positions of the ultrasonic sensors of different target systems, and finishing the mapping relation Fs of the preset ultrasonic system coordinate system and the plane coordinate system of the target plate through an ultrasonic positioning algorithm;
and/or the mapping relation Fi between the optical system coordinate system and the plane coordinate system of the target plate specifically means:
and determining the relative spatial positions of the optical system and the target plate according to the placement positions of the optical sensors of different target systems, and performing algorithm correction through distortion parameters of the optical system to complete the mapping relation Fi between the preset optical system coordinate system and the plane coordinate system of the target plate.
3. The method of claim 1, wherein the method comprises: the acquisition of the ultrasonic signal of the bullet penetrating through the target paper specifically comprises the following steps:
ultrasonic wave waveform signals and time information are obtained through the ultrasonic sensor and transmitted to the processing unit, the processing unit compares the signal waveform with the ultrasonic wave shape characteristics of the bullet, and if the signal waveform and the ultrasonic wave shape characteristics of the bullet are consistent, the ultrasonic signal that the bullet penetrates through the target paper is judged.
4. The method of claim 1, wherein the method comprises: obtaining target scoring information according to the impact point and the target paper characteristic information of the image I, specifically: and (4) extracting the feature image of the target paper in the image I through a feature extraction algorithm, and calculating target scoring information according to the position relation between the impact point and the feature image.
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| CN109839035B (en) * | 2019-02-27 | 2021-12-07 | 南京强钧防务科技研究院有限公司 | Accurate positioning method of target scoring system and target scoring system |
| CN113537217B (en) * | 2021-07-22 | 2023-11-14 | 中国科学院半导体研究所 | Target reporting method and device based on ultrasonic wave and image fusion |
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