CN109253663B - Image triggering device and triggering method of CCD precision target - Google Patents
Image triggering device and triggering method of CCD precision target Download PDFInfo
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- CN109253663B CN109253663B CN201811000091.3A CN201811000091A CN109253663B CN 109253663 B CN109253663 B CN 109253663B CN 201811000091 A CN201811000091 A CN 201811000091A CN 109253663 B CN109253663 B CN 109253663B
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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
- F41J5/10—Cinematographic hit-indicating systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
- H04N5/765—Interface circuits between an apparatus for recording and another apparatus
Abstract
The invention relates to an image triggering device and a triggering method of a CCD precision target, the device comprises a CCD camera, an optical lens, an integrated target frame, an image acquisition device and an image triggering device, wherein a pair of CCD camera and the optical lens are respectively arranged on two bottom corners of the integrated target frame, the detection surfaces of the CCD camera and the optical lens are mutually parallel, the CCD camera is connected with the image acquisition device and the image triggering device, the image acquisition device comprises a computer and an image acquisition card, and the image triggering device is connected with the image acquisition card. Compared with the prior art, the image triggering device and the image triggering method are adopted to replace the original light curtain triggering target in the CCD precision target, so that the structure is simpler, and the cost is lower; the FPGA is adopted to process and analyze the image, the trigger signal is sent in real time, the original delay trigger mode of light curtain trigger is replaced, the trigger precision is higher, and the real-time performance is stronger.
Description
Technical Field
The invention relates to the technical field of gun and bullet density testing, live-fire practice training and target landing position testing in sports shooting competitions, in particular to an image triggering device and a triggering method of a CCD precision target.
Background
The target range test is an important link in the weapon production and development process, and is mainly used for detecting various performance parameters of the weapon and determining whether various performance indexes and products of the weapon are qualified or not. In the inspection of guns, cannons, bullets and propellant powder, the performance of a weapon aiming system, the performance of the propellant powder, the production quality of bullets and arrows and the like are detected by measuring the standing target intensity parameter of the gun (cannon) shooting. At present, the development and production of new weapon systems put new requirements on projectile standing density testing.
With the increasing attention degree of each country to the shot target-hitting coordinate density, the technology is continuously updated, developed and developed, and various non-contact measuring devices such as a four-light-screen vertical target, a six-light-screen vertical target, an acoustic target and the like are formed by utilizing various photoelectric devices. Among these measuring devices, the disadvantages of the conventional contact measuring devices are obvious, and the non-contact measuring devices developed later have respective disadvantages. Along with the continuous improvement and the cost reduction of the performance of the CCD device, the precision target density measurement based on the linear array CCD camera has higher measurement precision, and a shot through-screen image can be obtained in the measurement process, so that the post analysis is facilitated, and the CCD precision target is widely used.
The double-linear array CCD intersected vertical target is a new technology generated along with the development of technologies such as image processing and the like, two linear array CCDs are arranged at two bottom corners of a rectangle in the same plane, the rectangular plane is a target surface, when a projectile passes through the target surface, the two CCDs can capture the position information of the projectile from the two bottom corners, and then the position coordinate information of the projectile can be obtained through the triangular relation of arrangement. When the method is used for measuring the coordinates of indoor pellet landing targets, whether the double-linear array CCD precision targets or the single-linear array CCD precision targets are provided with a trigger system to start an image acquisition system to start image acquisition. The existing trigger system generally adopts a light curtain mode for triggering. The trigger light curtain is arranged in front of a detection light curtain surface formed by the linear array CCD camera in space, when a shot passes through the trigger light curtain, a signal processing circuit of the light curtain detector outputs a pulse signal and transmits the pulse signal to the delay trigger control system, the control system calculates time needing delay according to the preset shot flight speed and the distance of 2 light curtains input into the system before and the trigger safety distance reserved by the system, the pulse signal output by the light curtain detector is prolonged for a certain time by using the delay circuit and then output to a subsequent image acquisition system, and the image acquisition system is started to start to acquire data. Obviously, the light curtain triggering mode has the advantages of complex structure, high cost and low triggering precision.
Disclosure of Invention
The invention provides an image triggering device and method of a CCD precision target, and aims to overcome the defects of complex structure, high cost and low triggering precision of the CCD precision target in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the image trigger device of the CCD precision target comprises a CCD camera, an optical lens, an integrated target frame, an image acquisition device and an image trigger device, wherein a pair of CCD camera and the optical lens are respectively arranged on two bottom corners of the integrated target frame, the detection surfaces of the CCD camera and the optical lens are mutually parallel, the CCD camera is connected with the image acquisition device and the image trigger device, the image acquisition device comprises a computer and an image acquisition card, and the image trigger device is connected with the image acquisition card.
The image trigger device of CCD precision target of claim 1, characterized in that the integrated target stand is a rectangular frame structure, and an active light source is arranged on the top of the frame of the integrated target stand.
The triggering method based on the triggering device comprises the following steps:
when the projectile passes through a detection light curtain formed by two groups of CCD cameras and an optical lens, the CCD cameras acquire images and simultaneously send image signals to an image acquisition device and an image trigger device; after receiving the image signal, the image acquisition device stores the data in an image acquisition card for caching; the image trigger device receives the signal, processes and analyzes the signal and sends a trigger signal to the image acquisition card; the image acquisition card receives the trigger signal, then takes out the image signal in the cache and sends the image signal to the computer for processing;
the image processing method specifically comprises the following steps:
obtaining a background image according to the first two frames of images, wherein the initial background image is a first frame of image, and after the current frame of image is input, subtracting the current frame of image from the background image and taking an absolute value to obtain a difference image gray value;
setting threshold values TH1 and TH0, wherein TH0 is a background change threshold value, TH1 is a shot signal trigger threshold value, and C is a trigger signal;
and (3) judging the relation between the difference image and the threshold value. When the pixel gray value of the difference image is greater than TH1, determining that a projectile passes through, and sending a trigger signal C = 1; when TH0< the gray value of the pixel of the difference image < TH1, no projectile passes through the pixel but the background image has large variation, so that Bi (x, y) = Bi-1(x, y), that is, the gray value of the motion area of the current frame image is replaced by the gray value at the same position in the background image, and no trigger signal is sent; when the pixel gray value of the difference image is less than TH0, no shot is considered to pass through and the background image is not changed greatly, the background image is updated according to the proportionality coefficient S, and no trigger signal is sent, namely C = 0;
and (4) when the next frame image comes, taking the current frame image as a new background image.
The invention has the beneficial effects that:
compared with the prior art, the invention adopts an image triggering method to replace the original light curtain triggering target in the CCD precision target, and has simpler structure and lower cost; the FPGA is adopted to process and analyze the image, the trigger signal is sent in real time, the original delay trigger mode of light curtain trigger is replaced, the trigger precision is higher, and the real-time performance is stronger.
Drawings
FIG. 1 is a schematic diagram of an image trigger device according to the present invention in a precision target;
FIG. 2 is a flow chart of an image triggering method of a CCD precision target according to the present invention;
FIG. 3 is a peripheral circuit diagram of an image triggering device of a CCD precision target according to the present invention;
FIG. 4 is a flowchart of an algorithm of an image triggering method of a CCD precision target according to the present invention;
FIG. 5 is a schematic diagram of the FPGA logic circuit of the image triggering device of the CCD precision target according to the present invention;
in the figure, 1-CCD camera; 2-an optical lens; 3-an active light source; 4-an integrated target stand; 5-an image acquisition device; 6-image acquisition card; 7-a computer; 8-image triggering means; 9-pill.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Referring to fig. 1, the image triggering device of the CCD precision target includes a CCD camera 1, an optical lens 2, an integrated target frame 4, an image collecting device 5 and an image triggering device 8, wherein a pair of the CCD camera 1 and the optical lens 2 are respectively arranged at two base angles of the integrated target frame 4, detection surfaces of the pair of the CCD camera 1 and the optical lens 2 are parallel to each other, the CCD camera 1 is connected with the image collecting device 5 and the image triggering device 8, the image collecting device 5 includes a computer and an image collecting card 6, and the image triggering device 8 is connected with the image collecting card 6.
The integrated target stand 4 is of a rectangular frame structure, and the active light source 3 is arranged at the top of the frame of the integrated target stand 4.
Referring to fig. 2, the triggering method of the image triggering device based on the CCD precision target includes the following specific steps:
(1) when the projectile passes through a detection surface formed by the two CCD cameras, the two CCD cameras send acquired image signals to the image acquisition device and the image trigger device;
(2) the image acquisition device temporarily stores the received image signals in the cache of the image acquisition card of the image acquisition device;
(3) the image trigger device starts to process and analyze after receiving the image signal;
(4) when the image trigger device judges that the shot passes through, the image trigger device sends an image trigger signal to the image acquisition device;
(5) and after receiving the trigger signal, the image acquisition device takes out the image data stored in the cache and sends the image data to the computer for subsequent precision analysis.
Specifically, the CCD Camera is a Camera Link interface, the image signal is an LVDS differential signal, and the LVDS signal can realize multi-branch output, and this interface ensures that the CCD Camera can send the image signal to the triggering device and the collecting device in the same direction.
Specifically, the image triggering device is based on an FPGA programmable logic device and comprises an FPGA core circuit, a CameraLink interface configuration peripheral circuit and a triggering signal sending circuit. Referring to fig. 3, for the connection diagram of the peripheral circuit of the image trigger device, the Camera Link interface dedicated conversion chips DS90CR288A, DS90LV047A, and DS90LV019 CCDs are used to convert the image data signal, the control signal, and the serial data signal sent by the Camera into parallel digital signals, and then send the parallel digital signals to the FPGA for image processing. In order to ensure the integrity of image signals, high-speed LVDS differential signals adopted by the Camera Link interface require that each pair of differential signals have equal length and equal line width during PCB wiring.
Referring to fig. 4, a flowchart of an image processing algorithm is shown, and the specific processing steps include:
(1) and after the current frame image is input, the current frame image and the background image are subjected to subtraction and an absolute value is taken to obtain a difference image gray value.
(2) Setting thresholds TH1 and TH0, wherein TH0 is a background change threshold, TH1 is a shot signal trigger threshold, and C is a trigger signal.
(3) And judging the relation between the difference image and the threshold value. When the pixel gray value of the difference image is greater than TH1, determining that a projectile passes through, and sending a trigger signal C = 1; when TH0< the gray value of the pixel of the difference image < TH1, no projectile passes through the pixel but the background image has large variation, so that Bi (x, y) = Bi-1(x, y), that is, the gray value of the motion area of the current frame image is replaced by the gray value at the same position in the background image, and no trigger signal is sent; when the difference image pixel gray value is < TH0, it is considered that no shot has passed and the background image has not largely changed at this time, the background image is updated according to the scaling factor S, and the trigger signal, i.e., C =0, is not transmitted.
(4) When the next frame image comes, the current frame image is taken as a new background image.
Referring to fig. 5, the logic circuit connection diagram inside the FPGA is divided into a counting module, a splicing module, a signal dividing module, and an image processing module. The external signals are clock signals and image data signals, the output signals are trigger signals, and the method specifically comprises the following steps:
(1) the counting module counts after receiving the clock signal until reaching the pixel number of a frame of image, and then sends out an overflow signal;
(2) the splicing module receives the image data signals and the overflow signals sent by the counting module, splices the image data signals received in each clock period into a complete image frame, and outputs single-frame image data signals;
(3) the signal segmentation module receives an overflow signal sent by the counting module and a single-frame image data signal sent by the splicing module, and divides the signals into a current frame image signal and a previous frame image signal to be output;
(4) the image processing module receives the current frame image signal and the previous frame image signal sent by the signal segmentation module, and according to the step (3) of the image processing algorithm flowchart in fig. 4, the previous frame image is used for updating the background, a difference image is obtained after the current frame image and the new background image are subjected to difference, and the difference image judges and identifies the projectile according to the threshold TH1 and sends out a trigger signal.
The embodiments of the present invention are described only for the preferred embodiments of the present invention, and not for the purpose of limiting the concept and periphery of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention, and the technical contents of the present invention which are claimed are all described in the claims.
Claims (1)
- The triggering method of the image triggering device of the CCD precision target is characterized in that the triggering device comprises a CCD camera (1), an optical lens (2), an integrated target frame (4), an image acquisition device (5) and an image triggering device (8), the CCD camera (1) and the optical lens (2) are respectively arranged on two base angles of the integrated target frame (4), detection surfaces of the CCD camera (1) and the optical lens (2) are parallel to each other, the CCD camera (1) is connected with the image acquisition device (5) and the image triggering device (8), the image acquisition device (5) comprises a computer (7) and an image acquisition card (6), and the image triggering device (8) is connected with the image acquisition card (6);the integrated target stand (4) is of a rectangular frame structure, and an active light source (3) is arranged at the top of the frame of the integrated target stand (4);the triggering method based on the triggering device comprises the following steps:when the projectile passes through a detection light curtain formed by two groups of CCD cameras and an optical lens, the CCD cameras acquire images and simultaneously send image signals to an image acquisition device and an image trigger device; after receiving the image signal, the image acquisition device stores the data in an image acquisition card for caching; the image trigger device receives the signal, processes and analyzes the signal and sends a trigger signal to the image acquisition card; the image acquisition card receives the trigger signal, then takes out the image signal in the cache and sends the image signal to the computer for processing;the image processing method specifically comprises the following steps:obtaining a background image according to the first two frames of images, wherein the initial background image is a first frame of image, and after the current frame of image is input, subtracting the current frame of image from the background image and taking an absolute value to obtain a difference image gray value;setting threshold values TH1 and TH0, wherein TH0 is a background change threshold value, TH1 is a shot signal trigger threshold value, and C is a trigger signal;step (3) judging the relation between the difference image and the threshold value;when the pixel gray value of the difference image is greater than TH1, determining that a projectile passes through, and sending a trigger signal C = 1; when TH0< the gray value of the pixel of the difference image < TH1, no projectile passes through the pixel but the background image has large variation, so that Bi (x, y) = Bi-1(x, y), that is, the gray value of the motion area of the current frame image is replaced by the gray value at the same position in the background image, and no trigger signal is sent; when the pixel gray value of the difference image is less than TH0, no shot is considered to pass through and the background image is not changed greatly, the background image is updated according to the proportionality coefficient S, and no trigger signal is sent, namely C = 0;and (4) when the next frame image comes, taking the current frame image as a new background image.
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| CN112857224B (en) * | 2021-01-20 | 2022-08-30 | 中北大学 | CCD linear array camera intersection continuous shot coordinate rapid processing method |
| CN113074585A (en) * | 2021-03-26 | 2021-07-06 | 速得尔科技（北京）有限公司 | High-speed camera electronic target and accurate measuring method for impact point thereof |
Citations (5)
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| CN1776389A (en) * | 2005-06-01 | 2006-05-24 | 中国科学院光电技术研究所 | Transient three-dimesisional flow field optical chromatography measuring system |
| CN101922895A (en) * | 2010-08-10 | 2010-12-22 | 西安工业大学 | Small-target surface vertical target dispersion photoelectric measurement device |
| CN104655016A (en) * | 2015-02-15 | 2015-05-27 | 中北大学 | Projectile target hitting coordinate testing method based on retro-reflection type laser curtain |
| CN106802113A (en) * | 2016-12-23 | 2017-06-06 | 西安交通大学 | Intelligent hit telling system and method based on many shell hole algorithm for pattern recognitions |
| US9829286B2 (en) * | 2012-10-16 | 2017-11-28 | Nicholas Chris Skrepetos | System, method, and device for electronically displaying one shot at a time from multiple target shots using one physical target |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1776389A (en) * | 2005-06-01 | 2006-05-24 | 中国科学院光电技术研究所 | Transient three-dimesisional flow field optical chromatography measuring system |
| CN101922895A (en) * | 2010-08-10 | 2010-12-22 | 西安工业大学 | Small-target surface vertical target dispersion photoelectric measurement device |
| US9829286B2 (en) * | 2012-10-16 | 2017-11-28 | Nicholas Chris Skrepetos | System, method, and device for electronically displaying one shot at a time from multiple target shots using one physical target |
| CN104655016A (en) * | 2015-02-15 | 2015-05-27 | 中北大学 | Projectile target hitting coordinate testing method based on retro-reflection type laser curtain |
| CN106802113A (en) * | 2016-12-23 | 2017-06-06 | 西安交通大学 | Intelligent hit telling system and method based on many shell hole algorithm for pattern recognitions |
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