CN111692916B - Aiming device and aiming method - Google Patents
Aiming device and aiming method Download PDFInfo
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- CN111692916B CN111692916B CN202010486783.4A CN202010486783A CN111692916B CN 111692916 B CN111692916 B CN 111692916B CN 202010486783 A CN202010486783 A CN 202010486783A CN 111692916 B CN111692916 B CN 111692916B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012545 processing Methods 0.000 claims abstract description 60
- 230000008569 process Effects 0.000 claims abstract description 16
- 230000004927 fusion Effects 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 63
- 238000010304 firing Methods 0.000 claims description 20
- 230000007613 environmental effect Effects 0.000 claims description 16
- 238000012937 correction Methods 0.000 claims description 14
- 230000002093 peripheral effect Effects 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 3
- 230000008685 targeting Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 description 13
- 238000005259 measurement Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004297 night vision Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000007499 fusion processing Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000000265 homogenisation Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/32—Night sights, e.g. luminescent
- F41G1/34—Night sights, e.g. luminescent combined with light source, e.g. spot light
- F41G1/36—Night sights, e.g. luminescent combined with light source, e.g. spot light with infrared light source
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
- F41G1/473—Sighting devices for particular applications for lead-indicating or range-finding, e.g. for use with rifles or shotguns
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
- F41G1/52—Sighting devices for particular applications for rifles or shotguns having two or more barrels, or adapted to fire different kinds of ammunition, e.g. ball or shot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Telescopes (AREA)
Abstract
The invention relates to a sighting device and a sighting method, wherein the sighting device comprises a sighting device body and an infrared mirror assembly, the sighting device body is detachably connected with the infrared mirror assembly, and the infrared mirror assembly is used for detecting infrared rays emitted by a target object and generating an enhanced infrared image. The aiming method comprises the following steps: starting the sighting device body and the infrared mirror assembly, observing and collecting infrared rays emitted by a target object by the infrared mirror assembly, and processing to generate an enhanced infrared image; the aiming tool body receives and processes the reinforced infrared image and calculates aiming coordinates. According to the sighting device, the sighting device body and the infrared mirror assembly are combined, so that the sighting device can be used all the day, the image fusion enhancement function can be realized, and the identification probability of a target object is improved.
Description
Technical Field
The invention belongs to the field of aiming devices, and particularly relates to an aiming device and an aiming method.
Background
The firearm belongs to individual equipment, is the main firepower of the individual combat mission in a short distance, and occupies a main position in an equipment system. Through the development of nearly hundred years, the performance of the firearm is close to the limit, and particularly the effective range and the shooting precision are difficult to effectively improve, so that the ever-increasing requirements are not met. Providing a firearm with a sight is an effective way to improve the accuracy of the firearm firing.
At present, the existing sighting telescope has the functions of ranging and trajectory calculation, so that the shooting precision of firearms can be improved to a certain extent, but the existing sighting telescope equipment does not have the functions of accurately compensating moving targets, controlling automatic shooting and the like, and errors caused by links such as target movement, shooting time judgment and the like are difficult to accurately eliminate, so that the final shooting precision is difficult to further improve. In addition, the existing intelligent sighting telescope does not have the capability of increasing functions such as night vision, quick sighting and the like through additional peripheral equipment, so that the application of the intelligent sighting telescope in all days and multiple functions is limited.
Disclosure of Invention
The present invention provides an aiming device and an aiming method for solving the above problems.
An aiming device comprises an aiming tool body and an infrared mirror assembly, wherein the aiming tool body is detachably connected with the infrared mirror assembly,
wherein,,
the infrared mirror assembly is used for detecting infrared rays emitted by a target object and generating an enhanced infrared image;
the aiming tool body is used for receiving the reinforced infrared image and calculating aiming point coordinates according to the reinforced infrared image.
Further, the infrared mirror assembly comprises a lens group, a detector, a processor and an infrared mirror electric interface, the infrared mirror electric interface is connected with the detector and the processor,
wherein,,
the lens group is used for observing the target object and collecting and converging infrared rays emitted by the target object;
the detector is connected with the lens group and is used for receiving the collected and converged infrared rays collected by the lens group to form an infrared image of the target object;
the processor is connected with the detector and is used for receiving and processing the infrared image to generate an enhanced infrared image;
the infrared mirror electric interface is connected with the external equipment interface of the sighting telescope body and is used for transmitting the current of the sighting telescope body, the control command of the sighting telescope body and the reinforced infrared image.
Further, the sighting telescope body comprises an image processing computer, a ballistic calculation-shooting control computer and a peripheral equipment interface,
wherein,,
the external equipment interface is connected with the infrared mirror assembly and is used for transmitting current and control commands and strengthening infrared images generated by the infrared mirror assembly;
the image processing computer is used for processing the reinforced infrared image according to different using conditions, acquiring target object data and generating a display image with the highlighted target object;
the trajectory calculation-shooting control computer is connected with the image processing computer and is used for calculating the aiming point coordinates.
Further, the infrared mirror electric interface comprises an infrared power supply interface, an infrared video interface and an infrared control interface,
wherein,,
the infrared power supply interface is correspondingly connected with the sighting telescope power supply interface of the sighting telescope body and is used for supplying current to the infrared mirror assembly from the battery pack in the sighting telescope body;
the infrared video interface is correspondingly connected with the sight video interface of the sight body and is used for transmitting the reinforced infrared image to the image processing computer;
the infrared control interface is correspondingly connected with the sighting telescope control interface of the sighting telescope body and is used for transmitting the control command of the image processing computer.
Further, a mounting guide rail is arranged on the sighting telescope body, and a mounting interface which is clamped with the mounting guide rail is arranged on the infrared mirror assembly.
Further, the sight body further includes: rangefinder, environmental sensor and motion sensor, wherein,
the distance measuring machine is used for measuring the distance between the targets and transmitting the distance to the ballistic calculation-shooting control computer;
the environment sensor is used for detecting environment parameters including temperature, air pressure and humidity and transmitting the environment parameters to the ballistic calculation-shooting control computer;
the motion sensor is used for detecting firearm parameters including firearm inclination angle, firearm angular motion speed and firearm shooting direction, and transmitting the parameters to the trajectory calculation-shooting control computer.
Further, the ballistic calculation-firing control computer calculates the aiming point coordinates from the target distance, environmental parameters, firearm parameters, and target data.
A targeting method, the targeting method comprising the steps of:
A. opening the sighting device body and the infrared mirror component,
B. the infrared mirror assembly observes and collects infrared rays emitted by the target object, and processes the infrared rays to generate an enhanced infrared image;
C. and the aiming tool body receives and processes the reinforced infrared image and calculates aiming point coordinates.
Further, the step B includes:
the lens group in the infrared mirror assembly is used for observing a target object and converging infrared rays emitted by the target object to the detector in the infrared mirror assembly;
the detector forms an infrared image according to the collected infrared rays;
and a processor in the infrared mirror assembly receives and processes the infrared image to generate an enhanced infrared image, and the processor transmits the enhanced infrared image to the sighting telescope body according to a transmission command of the sighting telescope body.
Further, the step C includes:
D. the image processing computer of the sighting telescope body processes the reinforced infrared image according to different using conditions to acquire target data and generate a display image with a highlighted target;
E. the trajectory calculation-shooting control computer of the sighting telescope body calculates sighting point coordinates according to the target object distance, the environment parameter, the motion parameter, the wind speed, the target object motion rate and the wind direction.
Further, the step D includes:
when the use condition is night, the image processing computer receives the reinforced infrared image and processes the reinforced infrared image;
when the use condition is visible light illumination, the image processing computer receives the reinforced infrared image and the visible light digital image generated by the image sensor in the sighting telescope body, fuses the reinforced infrared image and the visible light digital image to generate a fused image, and processes the fused image.
Further, the step D further includes:
image enhancement is carried out on the enhanced infrared image or the fused image to obtain a target object,
target object locking and tracking are carried out on the aiming target object,
measuring the target data comprising a target movement rate and a target movement angular rate according to the target locking tracking;
and the reinforced infrared image or the fused image is differentiated and overlapped and then transmitted to a display of the sighting telescope body for displaying.
Further, the step E includes:
according to firearm elevation angle theta T And said target distance X, knowing the basic aiming angle (θ 1y0 ,θ 1z0 )；
According to the input wind speed W and the wind direction theta w Temperature τ 0 And air pressure P 0 Inquiring the bullet type correction table corresponding to the firearm to obtain the height and transverse correction (Q) τ 、Q p 、Q wx 、Q wz )，；
According to the basic aiming angle (theta 1y0 ，θ 1z0 ) Calculating the aiming angle theta 2y0 According to the height and the transverse correction (Q τ 、Q p 、Q wx 、Q wz ) Calculating the direction aiming angle theta 2z0 ：
θ 2y0 ＝θ 1y0 +Q τ +Q p +Q wx
θ 2z0 ＝θ 1z0 +Q wz ；
Inquiring a bullet type basic table corresponding to the used firearm according to the target object distance X to acquire the flight time T;
according to the angular rate omega of the gun body movement g And objectsObject angular velocity omega p Fusion calculation of the movement angular rate omega of the target object t And then according to the movement angular velocity omega of the target object t And the flight time T to calculate the height and the direction advance angle (theta) fy ，θ fz )：
θ fy ＝T*ω ty
θ fz ＝T*ω tz ；
Aiming the height and direction at an angle (theta 2y0 ，θ 2z0 ) And the height and direction advance angle (theta) fy ，θ fz ) In combination, the height and direction aiming angle (θ) after motion compensation is calculated y0 ，θ z0 )：
θ y0 ＝θ 2y0 +θ fy
θ z0 ＝θ 2z0 +θ fz ；
Based on the motion compensated height and direction aiming angle (theta y0 ，θ z0 ) Calculating the aiming point coordinates (Z 0 ，Y 0 )：
Z 0 ＝θ y0 /θ pix +Z q
Y 0 ＝θ y0 /θ pix +Y q
In the above formula: θ pix Is the pixel opening angle Z q For correcting the direction after the aiming line is zeroed, Y q And (5) correcting the height of the target line after the target line is zeroed.
The sighting device disclosed by the invention combines the sighting device body with the infrared mirror assembly, realizes the use of the sighting device all the day, can realize the image fusion enhancement function and improve the recognition probability of a target object, has the functions of trajectory calculation based on distance and environmental parameter compensation, accurate measurement and compensation of a moving target object, automatic shooting control and the like, accurately eliminates errors caused by links such as target object movement, shooting opportunity judgment and the like, and has high shooting precision.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a schematic view of an aiming device according to an embodiment of the present invention;
FIG. 2 illustrates an installation view of a sighting device and firearm according to an embodiment of the present invention;
FIG. 3 shows a schematic view of a sight body according to an embodiment of the invention;
FIG. 4 shows a second schematic view of the structure of the sight body according to an embodiment of the invention;
FIG. 5 shows a diagram of the logic relationship of the electronic control portion inside the sight body, according to an embodiment of the invention;
FIG. 6 shows a display showing a message content profile according to an embodiment of the invention;
FIG. 7 illustrates an external block diagram of an infrared mirror assembly in accordance with an embodiment of the present invention;
FIG. 8 illustrates a schematic diagram of an infrared mirror assembly in accordance with an embodiment of the present invention;
fig. 9 shows a flow chart of an aiming method according to an embodiment of the invention.
Description of the drawings:
1. a firearm; 2. an aiming tool body; 201. a range finder; 202. an objective lens group; 203. a physical key assembly; 204. installing a guide rail; 205. a peripheral interface; 206. a video output interface; 207. an eyepiece assembly; 208. a firearm mounting interface; 209. a trigger assembly control interface; 210. a battery pack; 211. an image sensor; 212. an image processing computer; 213. a display; 214. a memory; 215. a data export or import interface; 216. ballistic calculation-shooting control computer; 217. a motion sensor; 217a, two axis tilt; 217b, a triaxial gyroscope; 217c, triaxial geomagnetism; 218. an environmental sensor; 218a, a temperature sensor; 218b, an air pressure sensor; 218c, a humidity sensor; 219. first display information; 220. second display information; 221. third display information; 222. fourth display information; 223. fifth display information; 224. sixth display information; 225. seventh display information; 226. eighth display information; 227. ninth display information; 228. tenth display information; 229. eleventh display information; 3. an infrared mirror assembly; 301. an infrared mirror electrical interface; 302. a processor; 303. a detector; 304. a lens group; 305. an infrared mirror mounting interface; 4. a trigger control assembly.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the aiming device comprises an aiming device body 2 and an infrared mirror assembly 3.
The aiming device is used for shooting a firearm 1, as shown in fig. 2, the lower end of the firearm 1 is provided with a trigger control assembly 4. The sighting device is arranged at the upper end of the firearm 1 and used for observing and sighting a gunshot target object by a user of the firearm 1; the infrared mirror assembly 3 is arranged on the sighting telescope body 2 and is used for observing an image of a target object at night; the trigger control assembly 4 is arranged at the lower end of the firearm 1 and is used for being matched with the sighting telescope body 2 and used for ballistic calculation, moving object measurement, compensation and automatic shooting control.
As shown in fig. 3 and 4, the sight body 2 includes a housing, a range finder 201, a data processing assembly, an objective lens assembly 202, a physical key assembly 203, an eyepiece assembly 207, an interface assembly, a battery pack 210, a mounting rail 204, and a firearm 1 mounting interface.
The shell is cuboid, and the bottom end face of the shell is arranged above the firearm 1 through the firearm 1 mounting interface, so that detachable connection with the firearm 1 is realized.
The range finder 201 is used for measuring the distance of a target object, the range finder 201 is located inside the shell, and a target object observation window of the range finder 201 is arranged on the shell. Illustratively, after the target object is confirmed, the target object distance is measured by emitting laser light to the target object, by the moving distance of the laser light.
The objective lens 202 is disposed at one end of the housing near the bullet outlet of the firearm 1, for viewing the object and the environment in which the object is located;
an eyepiece assembly 207 is disposed at an end of the housing remote from the objective lens 202 for viewing the object being transported by the objective lens 202 and the environment in which the object is located by a user of the firearm 1;
the battery pack 210 is disposed on a side of the housing and is detachably connected to the housing, so that the battery pack 210 can be replaced to ensure that each component in the sighting telescope can continuously operate.
The physical key assembly 203 is mounted on the other side of the housing and is disposed near one end of the eyepiece assembly 207, so that a user can set functions and parameters of all components and the infrared mirror assembly in the aiming body, and adjust the field of view.
The physical key assembly 203 may include an up-down adjusting key, a left-right adjusting key, and a determining key, where the up-down adjusting key and the left-right adjusting key have functions of menu selection, adjusting a view angle, adjusting numbers, adjusting light intensity, zooming in and out of a displayed image, and the determining key is used for fixing a current function or page.
The data acquisition processing subassembly sets up inside the casing, as shown in fig. 5, and the data processing subassembly includes: ballistic calculation-firing control computer 216, image processing computer 212, display 213, environmental sensor 218, motion sensor 217, image sensor 211, and memory 214.
An image sensor 211 is coupled to the eyepiece lens assembly 207 for converging the recorded image viewed by the objective lens assembly 202 and transmitting the observed image into a visible light digital image to an image processing computer 212.
The image processing computer 212 has functions of image enhancement, object lock-up tracking, object movement rate measurement based on image tracking, and the like, tracks lock-up object in real time, measures the movement angular rate of object, supplies the position data and movement data of object to the trajectory calculation-shooting control computer 216, and simultaneously transmits the superimposed division of object image to the display 213.
The display 213 is positioned in alignment with the eyepiece assembly 207 such that an image on the display 213 can be viewed directly through the eyepiece assembly 207. When displaying the superimposed divided object image, the shooter can view through the eyepiece assembly 207.
The environmental sensor 218 is used for measuring environmental parameters required for ballistic calculation, and the environmental sensor 218 is connected with the ballistic calculation-shooting control computer 216 to transmit the environmental parameters;
by way of example, the environmental sensors 218 include a temperature sensor 218a, an air pressure sensor 218b, and a humidity sensor 218c, and the temperature sensor 218 target, the air pressure sensor 218b, and the humidity sensor 218c are each connected to the ballistic calculation-firing control computer 216, which transmits the current environmental temperature, the current air pressure, and the current environmental humidity to the ballistic calculation-firing control computer 216.
The motion sensor 217 is used to measure the firearm parameters required for the measurement ballistic calculation and is connected to the ballistic calculation-firing control computer 216 for transmitting the firearm parameters. The firearm parameters may be parameters such as a firearm inclination angle, a firearm angular movement speed, a firearm direction, and the like, and the motion sensor 217 includes a two-axis inclination angle 217a, a three-axis gyro 217b, and a three-axis geomagnetic sensor 217c.
Ballistic calculation-firing control computer 216 receives the rangefinder 201, environmental sensor 218, motion sensor 217, and image processing computer 212 data, performs ballistic calculation, motion target compensation calculation, and firing opportunity decision making, and generates firing instructions for the trigger control assembly 4.
The memory 214 is connected to the image processing computer 212 and the ballistic calculation-firing control computer 218, and the memory 214 includes a table storage unit and a video storage unit. The video storage unit is used for storing video data received and processed by the image processing computer.
The interface component comprises a plurality of interfaces, the interfaces are distributed at all positions of the shell and are arranged close to the data acquisition and processing component corresponding to the interfaces. Specifically, the interface components include a video output interface 206, a data conduction in or out interface 215, a trigger control interface 209, and a peripheral interface 205.
The video output interface 206 is connected to the image processing computer 212, and is used for outputting the processed object observation video to other devices by the image processing computer 212;
the data transmission input or output interface 215 is connected to the memory 214, and is used for inputting or outputting data of the memory 214;
trigger control interface 209 is connected to trigger control assembly 4 and ballistic calculation-firing control computer 216, respectively, for transmitting firing commands from ballistic calculation-firing control computer 216 to trigger control assembly 4;
the peripheral interface 205 is connected to the ballistic calculation-firing control computer 216 and the image processing computer 212, and the peripheral interface 205 is composed of a scope power supply interface, a scope video interface, and a scope control interface.
Wherein the sighting telescope power supply interface is connected with the ballistic calculation-shooting control computer 216 and is used for supplying power to the infrared mirror assembly 3;
the sighting telescope video interface is connected with the image processing computer 212 and is used for receiving or transmitting video data by the infrared mirror assembly 3;
the sighting telescope control interface is connected with a ballistic calculation-firing control computer 216, and is used for the ballistic calculation-firing control computer 216 to send control instructions to the infrared mirror assembly 3.
In this embodiment, the display 213 is used to display not only the superimposed and divided target image, but also the current environment information, the firearm information, the status information of the data processing component, the image related information, the optical axis position, the aiming point after ballistic calculation and the target compensation, and the target lock frame.
The environmental information is data such as wind speed and direction, air pressure and air temperature, target distance and the like;
the firearm information is current firearm information, bullet information, firearm rolling angle, firearm elevation angle and current firearm shooting direction;
the status information of the data processing component comprises the remaining power, the current daylight or night mode, the video recording status and the like.
The image related information is information such as image source, magnification, date and time.
In order to ensure that the target object image occupies a larger area on the display 213, various display information is distributed at different positions of the display 213, and various information is displayed at the edge position of the display 213 in a scattered manner.
Exemplary, a typical display image in the display 213 of the sight body 2 is shown in fig. 6, and in fig. 6, the first display information 219 is a firearm roll angle; the second display information 220 is data such as wind speed and direction, air pressure and air temperature, and distance between objects; the third display information 221 is current firearm and bullet information; fourth display information 222 is firearm elevation; the fifth display information 223 is the remaining power, the current mode, the video recording status, and the like; sixth display 224 is the current firearm firing; seventh display information 225 is information such as image source, magnification, date and time; eighth display information 226 is a reticle center, which is the position where the optical axis is located; the ninth display information 227 is a cross line, and the center of the cross line is an aiming point after ballistic calculation and moving object compensation; tenth display information 228 is a lock target; the eleventh display information 229 is a lock frame for locking the target object in the designated position, and the lock frame tracks the lock target object in real time.
In the embodiment of the invention, the three-axis gyroscope 217b is adopted as one of the motion sensors 217, and a target object motion rate measuring method combined with target object image tracking is adopted, so that gyroscope data and target object image tracking rate data are fused in a short distance, and the high measuring speed is realized on the premise of meeting motion compensation; and when the distance is long, tracking the motion rate data of the target object image relative to the background image by adopting the target object image so as to meet the motion compensation precision.
As shown in fig. 7 and 8, the infrared mirror assembly 3 includes an infrared mirror housing, a lens assembly 304, a detector 303, a processor 302, an infrared mirror electrical interface 301, and an infrared mirror mounting interface 305.
The infrared mirror installation interface 305 and the infrared mirror housing are integrally formed, and a control circuit of the infrared mirror installation interface 305 is arranged in a clamping manner with the installation track, so that the infrared mirror housing is firmly connected with the sighting telescope body 2.
The lens group 304, the detector 303 and the processor 302 are all connected with the peripheral device interface 205 of the sighting telescope body 2 through the infrared mirror electric interface 301, so that the sighting telescope body 2 can control the infrared mirror assembly 3.
The lens group 304 is embedded on the side of the infrared mirror housing and is positioned on the same side as the eyepiece assembly 207, and is used for observing the target object at night and collecting and converging infrared rays emitted by the target object.
The detector 303 is located inside the infrared mirror housing and is arranged corresponding to the lens group 304, and the receiving lens group 304 collects the converged infrared rays, forms an infrared image of the target object and records the moving video of the target object observed by the lens group 304 in real time.
The processor 302 is located inside the infrared mirror housing and connected with the detector 303 and the infrared mirror electrical interface 301, and the processor 302 receives the infrared image of the target object transmitted by the detector 303, performs enhancement, homogenization and other processes on the infrared image of the target object, generates an infrared image of the enhanced target object, and transmits the infrared image of the enhanced target object to the infrared mirror electrical interface 301.
The infrared mirror electrical interface 301 is connected with the peripheral device interface 205 of the sighting telescope body 2, and transmits the processed infrared image of the target object to the sighting telescope body 2 and transmits a control command sent by the sighting telescope body 2.
The infrared mirror electrical interface 301 includes an infrared power supply interface, an infrared video interface, and an infrared control interface.
The infrared power supply interface is correspondingly connected with the sighting telescope power supply interface, and power is supplied to the infrared mirror assembly 3 through the battery pack 210 in the sighting telescope body 2;
the infrared video interface is correspondingly connected with the sighting telescope video interface, so that the processor 302 can transmit the processed infrared image of the target object and the moving video of the target object observed by the lens group 304 to the sighting telescope body 2 through the infrared video interface;
the infrared control interface is correspondingly connected with the sighting telescope control interface, so that the sighting telescope body 2 controls the processor 302.
The working principle of the infrared mirror assembly 3 is as follows: the lens group 304 observes the target object, the infrared rays emitted by the target object are converged to the detector 303, the detector 303 forms an infrared image according to the collected infrared rays, the infrared image is sent to the processor 302, the image processing computer 212 in the sighting telescope body 2 sends an image processing command to the processor 302 through the sighting telescope control interface and the infrared control interface, the processor 302 sends an image transmission command to the sighting telescope body 2 through the sighting telescope control interface and the infrared control interface after processing the infrared image, the processor 302 transmits the processed infrared image to the image processing computer 212 or the central computer through the infrared video interface and the infrared video interface after confirming the image processing computer 212, and then the image processing computer 212 continues to process the processed infrared image to identify the target object and the environment where the target object is located.
After the infrared mirror assembly 3 is combined with the sighting telescope body 2, the sighting telescope body 2 has infrared night vision and image fusion enhancement functions. When the infrared night vision function is used, the image processing computer 212 in the sighting telescope body 2 switches a video image input source from the image sensor 211 to the infrared mirror assembly 3, processes the infrared image, superimposes information such as a division and the like, and then displays the processed infrared image on the display 213 for a shooter to watch through the eyepiece assembly 207; when the image fusion enhancement function is realized, the image processing computer 212 receives the visible light digital image of the image sensor 211 and the infrared image of the infrared mirror assembly 3, and after fusion processing, heating targets such as personnel, vehicles and the like are highlighted, so that the recognition and locking reliability of the targets in complex background is improved.
The trigger assembly 4 receives control instructions sent by the sighting telescope body 2 through a trigger control interface 209, wherein the control instructions comprise locking instructions and shooting commands; before the aim of the target object is not completed, a locking instruction is given; when aiming at a target object, the shooting instruction is given.
The invention also relates to an aiming method, wherein the aiming method is based on the setting of the aiming device, as shown in fig. 9, and comprises the following steps:
step 1, starting a sighting telescope body and an external infrared mirror assembly, and inputting wind speed and wind direction data to the sighting telescope body.
The inner parts of the sighting telescope body which need to be opened are a range finder, an image sensor, an image processing computer, a ballistic calculation-shooting control computer, an environment sensor, a motion sensor, a memory, a display and a peripheral equipment interface connected with a peripheral infrared mirror assembly.
The opening of the inner part of the sighting telescope body is manually started by a shooter.
The external infrared mirror assembly comprises a detector, a processor and an infrared mirror electric interface, and the external infrared mirror assembly starts power supply and operation commands through the sighting telescope body.
And 2, acquiring a visible light digital image by an image sensor of the sighting telescope body, observing and acquiring infrared rays emitted by a target object by an infrared mirror assembly, and processing to generate an enhanced infrared image.
Specifically, the visible light digital image is collected and converged into an image sensor through an objective lens group to generate a visible light digital image; the lens group in the infrared mirror assembly converges the infrared rays emitted by the target object to the detector to form an infrared image, and the infrared image is enhanced and homogenized by the processor to generate an enhanced infrared image.
Step 3, the infrared mirror assembly transmits the infrared image to an image processing computer of the sighting telescope body according to a transmission command sent by the sighting telescope body;
specifically, the transmission command is sent by the ballistic calculation-shooting control computer of the sighting telescope body through the sighting telescope control interface, received by the processor of the infrared mirror assembly, and transmitted to the infrared image through the infrared video interface.
And 4, receiving and processing the reinforced infrared image by the image processing computer, continuing to reinforce the fusion image, determining a target object, tracking the target object according to the locking command, and obtaining target object data.
At night, the image processing computer only receives the reinforced infrared image, carries out image enhancement processing on the reinforced infrared image, and transmits the reinforced infrared image subjected to enhancement processing to the display for display after superposition and division;
under the illumination of visible light, the image processing computer receives the intensified infrared image and the visible light digital image generated by the image sensor in the sighting telescope body, fuses the intensified infrared image and the visible light digital image to generate a fused image, and transmits the fused image to the display for display after superposition and division;
the shooter determines a target object through an optical axis according to the display image, and inputs a ranging instruction and a locking instruction through a physical key;
the distance measuring machine measures the distance of the target object according to the distance measuring instruction, the image processing computer locks the target object according to the locking instruction, and the image processing computer shifts to a target object tracking state to acquire target object data comprising the target object movement speed and the target object movement angular speed.
Step 5: the ballistic calculation-shooting control computer calculates aiming point coordinates (Z) according to the object distance, the environment parameter, the motion parameter, the wind speed, the object motion speed and the wind direction provided by the aiming body 0 ，Y 0 )。
The ballistic calculation-shooting control computer successively performs basic ballistic calculation, ballistic correction calculation, height and direction aiming angle (theta) according to the parameters 2y0 ，θ 2z0 ) Calculate, height and direction advance angle (θ) fy ，θ fz ) Calculated and motion compensated elevation and azimuth aiming angle (θ y0 ，θ z0 ) Calculating to finally obtain the aiming point coordinate (Z 0 ，Y 0 )。
The ballistic basic calculation is specifically as follows: ballistic calculation-firing control computer based on firearm elevation angle θ measured by tilt sensor in motion sensor T The distance X between the target object and the range finder is measured, and then the basic aiming angle (theta) is obtained according to the basic bullet type table corresponding to the gun used for inquiry 1y0 ,θ 1Z0 ) Basic aiming angle (θ 1y0 ,θ 1z0 ) Namely the basic ballistic quantity.
The ballistic correction is calculated specifically as: the ballistic calculation-shooting control computer inputs the wind speed W and the wind direction theta w Data is decomposed into longitudinal wind W x And cross wind W z Then according to the temperature tau actually measured by the temperature sensor in the environment sensor 0 Pressure P 0 Wind W of longitudinal direction x Wind W of cross z Inquiring the bullet type correction table corresponding to the firearm to obtain the height and transverse correction (Q) τ 、Q p 、Q wx 、Q wz )；
Height and lateral correction (Q) τ 、Q p 、Q wx 、Q wz ) Is a ballistic correction.
High-low and directional aiming angle (θ) 2z0， θ 2y0 ) Based on the ballistic basic quantity (theta 1y0 ，θ 1z0 ) And ballistic correction (Q) τ 、Q p 、Q wx 、Q wz ) The calculation results are that:
θ 2y0 ＝θ 1y0 +Q τ +Q p +Q wx
θ 2z0 ＝θ 1z0 +Q wz
namely, the high-low and directional aiming angle (theta) 2y0 ，θ 2z0 )。
Height and direction advance angle (θ) fy ，θ fz ) The calculation of (1) comprises: ballistic calculation-shooting control computer based on angular velocity ω of body motion measured by gyroscopes in motion sensors g And an image processing computer tracking the target object angular rate omega p Fusion calculation of the movement angular rate omega of the target object t ；
Calculating the flight time T according to the distance X of the target object;
and then according to the target angular velocity omega t And the flight time T to calculate the height and the direction advance angle (theta) fy ，θ fz ):
θ fy ＝T*ω ty
θ fz ＝T*ω tz
Wherein: omega ty Is omega t High and low components，ω tz Is omega t A directional component, wherein ω ty And omega tz At the target angular velocity omega t When determining, the image processing computer determines the movement angle of the object according to the movement trace and the movement trend of the object, and then determines the movement angle rate omega according to the movement angle t The sine value and the cosine value of the motion angle of the target object are respectively calculated to obtain a high-low component omega ty Direction component omega tz 。
Angular rate of movement omega of object t The measurement of (2) comprises:
judging whether the distance X of the target object is greater than the set value X 1 ；
(1) If X>X 1 ，
ω t ＝(V tpix -V bpix )*θ pix ；
Wherein: omega t For the angular rate of movement of the object (in degrees or radians/pixel), V tpix For the pixel speed (in pixels/second) of the target image in the field of view, V bpix For background image pixel speed (in pixels/second) in field of view, θ pix Is the pixel opening angle (i.e., the opening angle of each pixel in the field of view of the scope, in degrees or radians/pixel).
(2) If X is less than or equal to X 1 ，
ω t ＝V tpix *θ pix -ω g ；
Wherein: omega g The angular rate of firearm motion (in degrees or radians/pixel) is measured for a gyroscope.
Aiming the height and direction at angle (theta) 2y0 ，θ 2z0 ) With height and direction advance angle (θ) fy ，θ fz ) In combination, the height and direction aiming angle (θ) after motion compensation is calculated y0 ，θ z0 ):
θ y0 ＝θ 2y0 +θ fy
θ z0 ＝θ 2z0 +θ fz 。
Based on the height and direction aiming angle (theta) after motion compensation y0 ，θ z0 ) Calculating relative to a sighting reference lineAiming point height and direction coordinates (Z 0 ，Y 0 )：
Z 0 ＝θ y0 /θ pix +Z q
Y 0 ＝θ y0 /θ pix +Y q
Wherein: θ pix Is the pixel opening angle Z q For correcting the direction after the aiming line is zeroed, Y q And (5) correcting the height of the target line after the target line is zeroed.
Step 6: the image processing computer is based on the coordinates (Z 0 ，Y 0 ) An aiming point is generated, and the shooter aims at the target object by using the aiming point.
The aiming method of the invention is used for generating shooting instructions, and further comprises the following steps: the trajectory calculation-shooting control computer calculates the distance R between the aiming point and the center of the target object locking frame in real time, if the distance is smaller than the set shooting range radius R 0 Generating a shooting instruction;
the trigger control assembly completes shooting according to the shooting command.
According to the aiming method, the visible light digital image and the infrared image are used for fusion processing, the heating target object is highlighted, accurate target object data are obtained, and aiming points can be accurately obtained through accurate calculation of the target object data, the environment parameters and the motion parameters, so that the aiming efficiency is effectively improved.
Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A method of targeting, the method comprising the steps of:
A. opening the sighting device body and the infrared mirror component,
B. the infrared mirror assembly observes and collects infrared rays emitted by the target object, and processes the infrared rays to generate an enhanced infrared image;
C. the aiming tool body receives and processes the reinforced infrared image and calculates aiming point coordinates;
the step C comprises the following steps:
D. the image processing computer of the sighting telescope body processes the reinforced infrared image according to different using conditions to acquire target data and generate a display image with a highlighted target;
E. the trajectory calculation-shooting control computer of the sighting telescope body calculates sighting point coordinates according to the target object distance, the environment parameter, the motion parameter, the wind speed, the target object motion rate and the wind direction; the step E comprises the following steps:
from the firearm elevation angle θT and the target distance X, a base aiming angle (θ 1y0 ,θ 1z0 )；
According to the input wind speed W and the wind direction theta w Temperature τ 0 And air pressure P 0 Inquiring the bullet type correction table corresponding to the firearm to obtain the height and transverse correction (Q) τ 、Q p 、Q wx 、Q wz )；
According to the basic aiming angle (theta 1y0 ，θ 1z0 ) Calculating the aiming angle theta 2y0 According to the height and the transverse correction (Q τ 、Q p 、Q wx 、Q wz ) Calculating the direction aiming angle theta 2z0 ：
θ 2y0 ＝θ 1y0 +Q τ +Q p +Q wx
θ 2z0 ＝θ 1z0 +Q wz ；
Inquiring a bullet type basic table corresponding to the used firearm according to the target object distance X to acquire the flight time T;
according to the angular rate omega of the gun body movement g And target angular rate omega p Fusion calculation of the movement angular rate omega of the target object t And then according to the movement angular velocity omega of the target object t And the flight time T to calculate the height and the direction advance angle (theta) fy ，θ fz )：
θ fy ＝T*ω ty
θ fz ＝T*ω tz ；
Aiming the height and direction at an angle (theta 2y0 ，θ 2z0 ) And the height and direction advance angle (theta) fy ，θ fz ) In combination, the height and direction aiming angle (θ) after motion compensation is calculated y0 ，θ z0 )：
θ y0 ＝θ 2y0 +θ fy
θ z0 ＝θ 2z0 +θ fz ；
Based on the motion compensated height and direction aiming angle (theta y0 ，θ z0 ) Calculating the aiming point coordinates (Z 0 ，Y 0 )：
Z 0 ＝θ y0 /θ pix +Z q
Y 0 ＝θ y0 /θ pix +Y q
In the above formula: θ pix Is the pixel opening angle Z q For correcting the direction after the aiming line is zeroed, Y q To the height correction quantity omega after the aiming line is zeroed ty Is omega t High and low components omega tz Is omega t A directional component.
2. The aiming method according to claim 1, wherein the step B comprises:
the lens group in the infrared mirror assembly is used for observing a target object and converging infrared rays emitted by the target object to the detector in the infrared mirror assembly;
the detector forms an infrared image according to the collected infrared rays;
and a processor in the infrared mirror assembly receives and processes the infrared image to generate an enhanced infrared image, and the processor transmits the enhanced infrared image to the sighting telescope body according to a transmission command of the sighting telescope body.
3. The aiming method according to claim 1, wherein the step D comprises:
when the use condition is night, the image processing computer receives the reinforced infrared image and processes the reinforced infrared image;
when the use condition is visible light illumination, the image processing computer receives the reinforced infrared image and the visible light digital image generated by the image sensor in the sighting telescope body, fuses the reinforced infrared image and the visible light digital image to generate a fused image, and processes the fused image.
4. The aiming method according to claim 3, wherein the step D further comprises:
image enhancement is carried out on the enhanced infrared image or the fused image to obtain a target object,
target object locking and tracking are carried out on the aiming target object,
measuring the target data comprising a target movement rate and a target movement angular rate according to the target locking tracking;
and the reinforced infrared image or the fused image is differentiated and overlapped and then transmitted to a display of the sighting telescope body for displaying.
5. An aiming device for performing the aiming method as claimed in any one of claims 1-4, characterized in that the aiming device comprises an aiming body and an infrared mirror assembly, the aiming body and the infrared mirror assembly being detachably connected,
wherein,,
the infrared mirror assembly is used for detecting infrared rays emitted by a target object and generating an enhanced infrared image;
the aiming tool body is used for receiving the reinforced infrared image and calculating aiming point coordinates according to the reinforced infrared image.
6. The aiming device of claim 5, wherein the infrared mirror assembly comprises a lens group, a detector, a processor, and an infrared mirror electrical interface, the infrared mirror electrical interface being coupled to the detector, the processor,
wherein,,
the lens group is used for observing the target object and collecting and converging infrared rays emitted by the target object;
the detector is connected with the lens group and is used for receiving the collected and converged infrared rays collected by the lens group to form an infrared image of the target object;
the processor is connected with the detector and is used for receiving and processing the infrared image to generate an enhanced infrared image;
the infrared mirror electric interface is connected with the external equipment interface of the sighting telescope body and is used for transmitting the current of the sighting telescope body, the control command of the sighting telescope body and the reinforced infrared image.
7. The aiming device of claim 5 or 6, wherein the aiming tee body comprises an image processing computer, a ballistic calculation-firing control computer and a peripheral interface,
wherein,,
the external equipment interface is connected with the infrared mirror assembly and is used for transmitting current and control commands and transmitting the reinforced infrared image generated by the infrared mirror assembly;
the image processing computer is used for processing the reinforced infrared image according to different using conditions, acquiring target object data and generating a display image with the highlighted target object;
the trajectory calculation-shooting control computer is connected with the image processing computer and is used for calculating the aiming point coordinates.
8. The aiming device of claim 6, wherein the infrared mirror electrical interface comprises an infrared power interface, an infrared video interface, and an infrared control interface,
wherein,,
the infrared power supply interface is correspondingly connected with the sighting telescope power supply interface of the sighting telescope body and is used for supplying current to the infrared mirror assembly from the battery pack in the sighting telescope body;
the infrared video interface is correspondingly connected with the sight video interface of the sight body and is used for transmitting the reinforced infrared image to the image processing computer;
the infrared control interface is correspondingly connected with the sighting telescope control interface of the sighting telescope body and is used for transmitting the control command of the image processing computer.
9. The aiming device of claim 5, wherein the aiming tool body is provided with a mounting rail, and the infrared mirror assembly is provided with a mounting interface that engages the mounting rail.
10. The aiming device of claim 7, wherein the aiming block body further comprises: rangefinder, environmental sensor and motion sensor,
wherein,,
the distance measuring machine is used for measuring the distance between the target objects and transmitting the distance to the ballistic calculation-shooting control computer;
the environment sensor is used for detecting environment parameters including temperature, air pressure and humidity and transmitting the environment parameters to the ballistic calculation-shooting control computer;
the motion sensor is used for detecting firearm parameters including firearm inclination angle, firearm angular motion speed and firearm shooting direction, and transmitting the parameters to the trajectory calculation-shooting control computer.
11. The aiming device of claim 7, wherein the ballistic calculation-firing control computer calculates the aiming point coordinates from the target distance, environmental parameters, firearm parameters, and target data.
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| CN113203320A (en) * | 2021-05-29 | 2021-08-03 | 北京波谱华光科技有限公司 | Simple fire control sighting device based on three lights |
| CN114322659B (en) * | 2021-12-31 | 2024-03-26 | 吉林市江机民科实业有限公司 | Division projection display method for white light sighting telescope |
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