CN112361882B - Firearm aiming device - Google Patents
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- CN112361882B CN112361882B CN202011263712.4A CN202011263712A CN112361882B CN 112361882 B CN112361882 B CN 112361882B CN 202011263712 A CN202011263712 A CN 202011263712A CN 112361882 B CN112361882 B CN 112361882B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/06—Rearsights
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Abstract
The invention relates to a firearm aiming device, belongs to the technical field of photoelectric aiming, and solves the problems that in the prior art, a target needs to be monitored in the same posture for a long time and the alignment precision is poor. The firearm aiming apparatus includes: the photoelectric gun sighting telescope is used for acquiring a target image right ahead in real time, automatically identifying a sighting coordinate in the target image according to a preset condition, and pushing the sighting coordinate to an operator for the operator to adjust a sighting position; after the aiming is determined, the aiming position and the target image are sent to the optical waveguide display glasses; the receiving optical waveguide displays the mobile pre-judging position and the pre-judging time sent by the glasses so as to prompt an operator to aim at the mobile pre-judging position for shooting within the pre-judging time; and the optical waveguide display glasses are used for displaying the received aiming position and the target image, acquiring a new target image of the aiming position in real time, identifying whether the target moves, acquiring a movement pre-judging position and pre-judging time according to an identification result, and feeding back the movement pre-judging position and the pre-judging time to the sighting telescope of the photoelectric gun.
Description
Technical Field
The invention relates to the technical field of photoelectric aiming, in particular to a firearm aiming device.
Background
Guns for entertainment and training generally adopt sighting telescope to aim at distant targets. The gun sighting telescope is a sighting device which is arranged on a gun stock and can telescope, and is divided into a holographic sighting telescope, an inner red green dot sighting telescope and a laser sighting telescope. With the development of science and technology, various sighting telescopes are also continuously advanced, for example, new solid low-light sighting telescopes and the like are appeared. However, the above sighting telescope has a disadvantage that the operator needs to keep a certain posture for observation for a long time during sighting. Also, the accuracy of shooting is completely dependent on the operator skill, resulting in a poor user experience.
According to the imaging principle, the image height of the target on the reticle, the actual height of the target and the distance between the target and the reticle have one-to-one correspondence, so that the actual position of the target is often estimated according to the image height and the position of the target on the reticle and the actual height of the target in the prior art to realize aiming, but the estimation process has errors, so that the aiming precision is not ideal.
Disclosure of Invention
In view of the above analysis, the present invention provides a firearm aiming device, which is used to solve the problem of poor alignment accuracy caused by the long-time maintenance of the same posture of the monitoring target in the prior art.
In one aspect, an embodiment of the present invention provides a firearm aiming apparatus, including:
the photoelectric gun sighting telescope is arranged in parallel with the axis of the gun barrel and used for acquiring a target image right ahead in real time, automatically identifying a sighting coordinate in the target image according to a preset condition and pushing the sighting coordinate to an operator for the operator to adjust the sighting position; after the aiming is determined, the aiming position and the target image are sent to the optical waveguide display glasses; the receiving optical waveguide displays the mobile pre-judging position and the pre-judging time sent by the glasses so as to prompt an operator to aim at the mobile pre-judging position within the pre-judging time for shooting;
the optical waveguide display glasses are worn by an operator and used for displaying the received aiming position and the target image, acquiring a new target image of the aiming position in real time, identifying whether the target moves or not, obtaining a movement pre-judging position and pre-judging time according to an identification result and feeding back the movement pre-judging position and the pre-judging time to the sighting telescope of the photoelectric gun.
The beneficial effects of the above technical scheme are as follows: a new device for barrel axis aiming is provided which eliminates the need for the operator to crouch or lie in a long time to maintain posture. The firearm aiming device mainly comprises a photoelectric gun sighting telescope and optical waveguide display glasses, has mobility, can effectively relieve fatigue of an operator, and increases the success rate of tasks. The sighting telescope can realize the sighting of an operator during movement and can also realize the sighting of common sighting equipment (the sighting telescope of the photoelectric gun can be used independently). When the optical waveguide display glasses are used for observing and aiming, an operator can freely move such as standing, squatting and leg stretching on the premise of not influencing the position of the sighting lens of the photoelectric gun, the target can be observed through the optical waveguide display glasses, an external object can be observed through the waveguide sheet, and the perception of the operator to the surrounding environment is not influenced.
Based on the further improvement of the above device, the sighting telescope of the photoelectric gun further comprises:
the objective lens is used for acquiring a target image right ahead in real time and sending the target image to the CCD machine core processing module;
the CCD movement processing module is used for receiving preset conditions input by a user, automatically identifying aiming coordinates in the target image according to the preset conditions, and pushing the aiming coordinates to an operator for the operator to adjust the aiming position; after the aiming position reaches the aiming coordinate, after the aiming is determined, the aiming position and the target image are sent to the optical waveguide display glasses together; and the receiving optical waveguide displays the movement pre-judging position and the pre-judging time fed back by the glasses, and prompts an operator to aim at the movement pre-judging position within the pre-judging time to shoot.
The beneficial effects of the above further improved scheme are: the CCD movement processing module is divided by a grid, can assist in aiming at a target, can superimpose a target image and a new target image in real time, and can improve the aiming comfort and the aiming precision.
Further, the photoelectric gun sighting telescope still includes:
the transmission interface module is used for sending the aiming position and the target image to the optical waveguide display glasses, receiving the movement pre-judging position and the pre-judging time sent by the optical waveguide display glasses and transmitting the movement pre-judging position and the pre-judging time to the CCD machine core processing module; the data end of the CCD machine core processing module is connected with the data end of the CCD machine core processing module;
a micro display for displaying the target image, the aiming coordinates and the current aiming position; the input end of the CCD camera is connected with the output end of the CCD movement processing module;
the eyepiece is used for amplifying display information on the micro display and allowing an operator to observe the aiming position so as to manually adjust the aiming position; which is arranged at the video output end of the micro display.
The beneficial effects of the above further improved scheme are: the transmission interface module transmits the images obtained by the CCD machine core processing module in real time and can send the images to different peripheral displays for display. The image on the microdisplay may be magnified and viewed through the microdisplay and the eyepiece.
Further, the CCD movement processing module executes the following program:
receiving preset conditions input by a user, wherein the preset conditions comprise a shooting position and a shooting force gear;
acquiring a target image, and integrating a set cross sight of a middle shaft of the gun barrel to the target image;
identifying the shooting part in the target image, determining the geometric center of the shooting part as a sighting coordinate, pushing the sighting coordinate to an operator for adjusting the sighting position, and moving the center of a cross sighting line of a middle shaft of the gun barrel to the sighting coordinate;
identifying whether the current aiming position reaches the aiming coordinate or not in the process of adjusting the aiming position by an operator, and determining aiming when the current aiming position is consistent with the aiming coordinate;
the aiming position after the aiming is determined and the target image are sent to the optical waveguide display glasses together;
and the receiving optical waveguide displays the movement pre-judging position and the pre-judging time fed back by the glasses, and prompts an operator to aim at the movement pre-judging position within the pre-judging time so as to shoot with the force matched with the shooting force gear.
The beneficial effects of the above further improved scheme are: the shooting position can be accurately aimed, and the shooting position can be displayed in the optical waveguide display glasses in real time.
Further, the optical waveguide display glasses include:
the frame is used for supporting a camera and an optical module of the optical waveguide display glasses;
the data processing module is used for sending the received aiming position and the target image to the optical module for displaying, controlling the camera to turn from the current position to the aiming position to acquire a target new image, comparing the target image with the target new image to identify whether the target moves or not, obtaining a movement pre-judging position and pre-judging time according to an identification result, and feeding back the movement pre-judging position and the pre-judging time to the sighting telescope of the photoelectric gun;
the camera is used for steering to the aiming position from the current position under the control of the data processing module, acquiring a new target image and sending the new target image to the data processing module;
and the optical module is used for converting the electric signal which is sent by the data processing module and contains the target image into an optical signal and displaying the aiming position and the target image.
The beneficial effects of the above further improved scheme are: after an operator wears the optical waveguide display glasses, the electric signal is converted into an optical signal, the operator can still see the aiming target clearly, and the aiming target can move freely near the sighting telescope of the photoelectric gun regardless of the long-time squatting or lying posture, so that the fatigue of the operator is relieved, and the fighting capacity is improved.
Further, the optical module comprises, connected in sequence:
the projection component is used for collimating the received aiming position and the target image;
and the display module is used for displaying the collimated aiming position and the target image of the projection assembly.
The beneficial effects of the above further improved scheme are: the light module structure is limited, and the use experience of an operator is improved.
Further, the data processing module executes the following program:
receiving the aiming position and the target image sent by the sighting telescope of the photoelectric gun, and sending the aiming position and the target image to the optical module for displaying;
identifying the current position of the camera;
controlling a camera to turn from the current position to the aiming position to acquire a new target image;
comparing the target image with the target new image at regular time, extracting the key point coordinates of each part of the target in the target image and the target new image, judging whether the two are consistent, and identifying whether the target moves;
if the recognition result is that the movement does not occur, determining that the movement pre-judging position is the original aiming position, and feeding back the movement pre-judging time to the photoelectric gun sighting telescope, wherein the pre-judging time is preset time;
if the recognition result is that the movement occurs, recognizing the current movement direction, movement speed and movement acceleration; and prompting an operator to select a specified position for shooting or a specified time for shooting, if the operator selects the specified time for shooting, taking the set shooting time as a pre-judging time, obtaining a mobile pre-judging position according to the set shooting time, if the operator selects the specified position for shooting, taking the set shooting position as a mobile pre-judging position, obtaining the pre-judging time according to the set shooting position, and feeding back the obtained mobile pre-judging position and the pre-judging time to the photoelectric gun sighting telescope.
The beneficial effects of the above further improved scheme are: the moving position and time of the target in a short time are directly and accurately predicted through the motion trail of the target.
Further, the data processing module obtains a movement prejudging position P through the following formula t
Where t is the set shooting time, P 0 The target position in the target image, V is the moving speed, and a is the moving acceleration.
The beneficial effects of the above further improved scheme are: the three-dimensional coordinates of the mobile prejudged position can be obtained, and the alignment precision is improved.
Further, the data processing module obtains the prejudgment time t through the following formula
In the formula, P 0 Is a target position, P, in the target image t For the set shot position, V is the movement velocity and a is the movement acceleration.
The beneficial effects of the above further improved scheme are: accurate pre-judging time can be obtained, and the alignment accuracy is improved.
Furthermore, the camera is also used for collecting a preset environment picture and sending the preset environment picture to the data processing module;
the data processing module is also used for storing the received preset environment picture; the method comprises the steps of comparing information of a preset environment picture at the current moment with information of a preset environment picture at the previous moment, identifying whether a suspicious target appears, transmitting the identified suspicious target to a light module in a video image mode for displaying so that an operator can confirm whether to shoot, and sending a suspicious target coordinate to a photoelectric gun sighting telescope after receiving a shooting instruction of the operator;
and the photoelectric gun sighting telescope is also used for displaying the suspicious target coordinates so that an operator can move the sighting position to the suspicious target coordinates to shoot.
The beneficial effects of the above further improved scheme are: the method can search the suspicious target for a long time, and remind the operator to confirm when the suspicious target is detected, thereby greatly reducing the working intensity of the operator, saving the time and greatly improving the user experience.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. 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 will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings, in which like reference numerals refer to like parts throughout, are for the purpose of illustrating particular embodiments only and are not to be considered limiting of the invention.
FIG. 1 is a schematic view showing the composition of a firearm aiming apparatus according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of a collimator assembly of a photo-electric gun according to an embodiment 2 of the present invention;
FIG. 3 is a schematic view of the composition of optical waveguide display glasses according to embodiment 2 of the present invention;
FIG. 4 is a schematic view of a projection module according to embodiment 2 of the present invention;
fig. 5 is a schematic diagram of the principle of an optical module in embodiment 2 of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
In one embodiment of the present invention, a firearm sighting device is disclosed, as shown in fig. 1, comprising a photoelectric gun sighting telescope and optical waveguide display glasses. Optionally, data transmission is performed between the photoelectric gun sighting telescope and the optical waveguide display glasses through wireless or wired connection.
The photoelectric gun sighting telescope is arranged on the gun stock, the axis of the photoelectric gun sighting telescope is parallel to the axis of the gun barrel, and the photoelectric gun sighting telescope is used for acquiring a target image right ahead in real time, automatically identifying a sighting coordinate in the target image according to a preset condition, pushing the sighting coordinate to an operator and adjusting a sighting position; after the aiming is determined, the aiming position and the target image are sent to the optical waveguide display glasses; the receiving optical waveguide displays the mobile pre-judging position and the pre-judging time sent by the glasses so as to prompt an operator to aim at the mobile pre-judging position within the pre-judging time for shooting;
the optical waveguide display glasses are worn by an operator and used for displaying the received aiming position and the target image, acquiring a new target image of the aiming position in real time, identifying whether the target moves or not, obtaining a movement pre-judging position and pre-judging time according to an identification result and feeding back the movement pre-judging position and the pre-judging time to the sighting telescope of the photoelectric gun.
It should be noted that the targeting position and the targeting coordinate are three-dimensional coordinates.
When the system is implemented, through the matching of the photoelectric gun sighting telescope and the optical waveguide display glasses, an operator can observe the surrounding environment in time, aim at a target, reduce the fatigue of a shooter and assist the shooter to accurately strike; the outside world is directly observed. Alternatively, the electro-optical gun sight may be used alone.
Compared with the prior art, the firearm aiming device provided by the embodiment provides better aiming comfort and more accurate aiming precision. The device no longer needs an operator to hold the posture for a long time in a squatting or lying state, mainly comprises a photoelectric gun sighting telescope and optical waveguide display glasses, has mobility, can effectively relieve fatigue of the operator, and increases the success rate of shooting. The sighting device can realize the sighting of an operator during movement and can also realize the sighting of common sighting equipment (a sighting telescope of a photoelectric gun can be used independently). When the optical waveguide display glasses are used for observing and aiming, an operator can freely act such as standing, squatting and leg stretching on the premise of not influencing the position of the sighting lens of the photoelectric gun, the target can be observed through the optical waveguide display glasses, an external object can be observed through the waveguide sheet, and the perception of the operator on the surrounding environment is not influenced.
Example 2
The optimization is carried out on the basis of the embodiment 1, and the sighting telescope of the photoelectric gun further comprises an objective lens, a CCD movement processing module, a transmission interface module, a micro-display and an ocular lens, as shown in figure 2.
The output end of the objective lens is connected with the input end of the CCD machine core processing module, and the output end of the transmission interface module is connected with the data end of the transmission interface module; the output end of the CCD core processing module is connected with the micro display; the eyepiece is arranged at the video output end of the micro display. The focal length values of the ocular lens and the micro display screen can be automatically adjusted.
And the objective lens is used for acquiring a target image right in front in real time and sending the target image to the CCD machine core processing module.
The CCD movement processing module is used for receiving preset conditions input by a user, automatically identifying aiming coordinates in the target image according to the preset conditions, and pushing the aiming coordinates to an operator for the operator to adjust the aiming position; when the aiming position reaches the aiming coordinate (the aiming coordinate and the aiming coordinate are overlapped), after the aiming is determined, the aiming position and the target image are sent to the optical waveguide display glasses together; and the receiving optical waveguide displays the movement pre-judging position and the pre-judging time fed back by the glasses, and prompts an operator to aim at the movement pre-judging position within the pre-judging time to shoot.
The preset conditions comprise shooting positions (such as apples, pears and the like) and shooting force gears (which can be divided into first, second, third and fourth gears according to the force).
Optionally, the CCD core processing module may also adopt a thermal image core, a low-light-level CMOS core, a low-light-level camera, and the like. The CCD machine core is provided with an electronic partition, an image with the partition can be output, and the electronic partition is kept consistent with the axis of the objective lens by adjusting the position of the CCD machine core.
And the transmission interface module is used for sending the aiming position and the target image to the optical waveguide display glasses, receiving the movement pre-judging position and the pre-judging time sent by the optical waveguide display glasses and transmitting the movement pre-judging position and the pre-judging time to the CCD machine core processing module.
And the micro display is used for displaying the target image, the aiming coordinate and the current aiming position.
And the eyepiece is used for amplifying the display information on the micro display and allowing an operator to observe the aiming position so as to manually adjust the aiming position.
Preferably, the CCD core processing module executes the following program:
s1, receiving preset conditions input by a user, wherein the preset conditions comprise a shooting position and a shooting force gear;
s2, acquiring a target image, and integrating the set cross sight of the barrel middle shaft to the target image; wherein, the center of the target image and the center of the cross sight line (built-in setting) of the middle shaft of the gun barrel should coincide;
s3, identifying a shooting part of a target in the target image, determining a geometric center of the shooting part as an aiming coordinate, pushing the aiming coordinate to an operator for the operator to adjust the aiming position, and moving the center of a cross aiming line of a middle shaft of the gun barrel to the aiming coordinate;
s4, in the process of adjusting the aiming position by an operator, identifying whether the current aiming position reaches the aiming coordinate or not, and determining aiming when the current aiming position is consistent with the aiming coordinate;
s5, sending the aiming position after the aiming and the target image to optical waveguide display glasses together;
and S6, receiving the optical waveguide to display the movement pre-judging position and the pre-judging time fed back by the glasses, and prompting an operator to aim at the movement pre-judging position within the pre-judging time to shoot with the force matched with the shooting force gear.
Preferably, the optical waveguide display glasses further comprise a frame, a transmission interface module, a data processing module, a camera, and an optical module, as shown in fig. 3.
The output end of the camera is connected with the input end of the data processing module, and the data end of the data interface module is connected with the data end of the data processing module; the output end of the data processing module is connected with the input end of the optical module.
And the lens frame is used for providing support for the camera and the optical module of the optical waveguide display glasses. The setting of picture frame for improve the travelling comfort that the operator wore.
And the data processing module is used for sending the received aiming position and the target image to the light module for displaying, controlling the camera to turn from the current position to the aiming position to acquire a target new image, comparing the target image with the target new image to identify whether the target moves or not, acquiring a movement pre-judgment position and pre-judgment time according to an identification result, and feeding back the movement pre-judgment position and the pre-judgment time to the sighting telescope of the photoelectric gun.
And the data interface module is used for receiving the aiming position and the target image sent by the sighting telescope of the photoelectric gun, sending the aiming position and the target image to the data processing module, receiving the movement pre-judging position and the pre-judging time sent by the data processing module and transmitting the movement pre-judging position and the pre-judging time to the CCD machine core processing module.
And the camera is used for steering to the aiming position from the current position under the control of the data processing module, acquiring a new target image and sending the new target image to the data processing module. In particular, the camera head is a depth camera or other cameras capable of measuring three-dimensional coordinates.
And the optical module is used for converting the electric signal which is sent by the data processing module and contains the target image into an optical signal and displaying the aiming position and the target image.
Preferably, the optical module further includes a projection module and a display module connected in sequence.
A projection assembly (also called a micro-projection system) for collimating the received aiming location and the target image. As shown in fig. 4, the projection module is composed of a silicon-based liquid crystal display (LCOS), a coupling prism, a polarization splitting prism (PBS prism), a reflective objective lens, and a 1/4 wave plate. The S polarized light emitted by the silicon-based liquid crystal display is reflected to the reflecting objective lens after passing through the PBS prism, the reflected S light is changed into P light after passing through the 1/4 wave plate for 2 times, and the P light enters the display module through the coupling prism after passing through the PBS prism. Other projection designs are also possible to design by those skilled in the art.
And the display module is used for displaying the collimated aiming position and the target image of the projection assembly. The display module employs an optical waveguide lens, as shown in fig. 5.
Preferably, the data processing module executes the following program:
SS1, receiving the aiming position and the target image sent by the sighting telescope of the photoelectric gun, and sending the aiming position and the target image to the optical module for displaying;
SS2, identifying the current position of the camera; specifically, positioning can be performed by a built-in GPS;
SS3, controlling the camera to turn from the current position to the aiming position to acquire a new target image;
SS4, regularly comparing the target image with the new target image, extracting the key point coordinates (such as outlines) of each part of the target in the new target image and the new target image, judging whether the key point coordinates are consistent with the outlines of each part of the target, and identifying whether the target moves;
SS5, if the recognition result is that the movement does not occur, determining that the movement pre-judging position is the original aiming position, and the pre-judging time is the preset time and feeding back the pre-judging time to the sighting telescope of the photoelectric gun;
and SS6, if the recognition result is that the movement occurs, recognizing the current movement direction, the movement speed and the movement acceleration, prompting an operator to select a specified position to shoot or a specified time to shoot, if the operator selects the specified time to shoot, obtaining a movement pre-judging position according to the set shooting time, if the operator selects the specified position to shoot, obtaining the pre-judging time according to the set shooting position, and feeding back the obtained shooting time and the shooting position to the sighting telescope of the photoelectric gun.
Preferably, in step SS6, the operator selects a specific moment to fire, and the data processing module obtains the movement predicted position P by the following formula t
Wherein t is a set shooting time P 0 The target position in the target image, V is the moving speed, and a is the moving acceleration.
Preferably, in step SS7, the operator selects a specific location to shoot, and the data processing module obtains the predicted time t by the following formula
In the formula, P 0 Is a target position, P, in a target image t For the set shot position, V is the moving velocity and a is the moving acceleration.
Optionally, information is transmitted between the photoelectric sighting telescope and the optical waveguide display glasses, and the information can be wirelessly transmitted through a Bluetooth module and the like or connected in a cable mode.
Preferably, the camera is further configured to collect a preset environment picture and send the preset environment picture to the data processing module.
The data processing module is also used for storing the received preset environment picture; and comparing the information of the preset environment picture at the current moment with the information of the preset environment picture at the last moment, identifying whether a suspicious target appears, if new content appears in the picture, extracting the new content to serve as the identified suspicious target, transmitting the identified suspicious target to the light module in a video image mode to be displayed for an operator to confirm whether to shoot, and after receiving a shooting instruction of the operator, transmitting the coordinate of the suspicious target to the gun sight of the photoelectric gun.
And the photoelectric gun sighting telescope is also used for displaying the suspicious target coordinates so that an operator can accurately move the sighting position to the suspicious target coordinates to shoot.
Preferably, the gun sight of the photoelectric gun is further configured to compare pressure data acquired by an external pressure sensor with stored shooting model data, determine whether a shooting behavior occurs, record shooting time, position and number of times, obtain the number of remaining bullets, and prompt an operator to load the bullets into a firearm magazine when the number of remaining bullets after shooting is less than a preset value.
Those skilled in the art will appreciate that all or part of the processes for implementing the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, for instructing the relevant hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (5)
1. A firearm aiming device, comprising:
the photoelectric gun sighting telescope is arranged parallel to the axis of the gun barrel and used for acquiring a target image right ahead in real time, automatically identifying a sighting coordinate in the target image according to a preset condition and pushing the sighting coordinate to an operator for the operator to adjust the sighting position; after the aiming is determined, the aiming position and the target image are sent to the optical waveguide display glasses; the receiving optical waveguide displays the mobile pre-judging position and the pre-judging time sent by the glasses so as to prompt an operator to aim at the mobile pre-judging position for shooting within the pre-judging time;
the optical waveguide display glasses are worn by an operator and used for displaying the received aiming position and the target image, acquiring a new target image of the aiming position in real time, identifying whether the target moves or not, acquiring a movement pre-judgment position and pre-judgment time according to an identification result and feeding back the movement pre-judgment position and the pre-judgment time to the photoelectric gun sighting glasses;
the optical waveguide display glasses include:
the frame is used for supporting a camera and an optical module of the optical waveguide display glasses;
the data processing module is used for sending the received aiming position and the target image to the optical module for displaying, controlling the camera to turn from the current position to the aiming position to acquire a target new image, comparing the target image with the target new image to identify whether the target moves or not, obtaining a movement pre-judging position and pre-judging time according to an identification result, and feeding back the movement pre-judging position and the pre-judging time to the sighting telescope of the photoelectric gun;
the camera is used for steering to the aiming position from the current position under the control of the data processing module, acquiring a new target image and sending the new target image to the data processing module;
the optical module is used for converting the electric signal which is sent by the data processing module and contains the target image into an optical signal and displaying the aiming position and the target image;
the optical module comprises the following components which are connected in sequence:
the projection component is used for collimating the received aiming position and the target image;
the display module is used for displaying the aiming position and the target image after the projection assembly is collimated;
the data processing module executes the following program:
receiving the aiming position and the target image sent by the sighting telescope of the photoelectric gun, and sending the aiming position and the target image to the optical module for displaying;
identifying the current position of the camera;
controlling a camera to turn from the current position to the aiming position to acquire a new target image;
comparing the target image with the target new image at regular time, extracting the key point coordinates of each part of the target in the target image and the target new image, judging whether the two are consistent, and identifying whether the target moves;
if the recognition result is that the movement does not occur, determining that the movement pre-judging position is the original aiming position, and feeding back the movement pre-judging position to the photoelectric gun sighting telescope when the pre-judging time is preset time;
if the recognition result is that the movement occurs, recognizing the current movement direction, movement speed and movement acceleration; prompting an operator to select a specified position for shooting or a specified time for shooting, if the operator selects the specified time for shooting, taking the set shooting time as a pre-judgment time, obtaining a mobile pre-judgment position according to the set shooting time, if the operator selects the specified position for shooting, taking the set shooting position as a mobile pre-judgment position, obtaining the pre-judgment time according to the set shooting position, and feeding back the obtained mobile pre-judgment position and the pre-judgment time to the photoelectric gun sighting telescope;
the data processing module obtains a mobile prejudged position P through the following formula t
Where t is the set shooting time, P 0 The target position in the target image is shown, V is the moving speed, and a is the moving acceleration;
the data processing module obtains the prejudgment time t through the following formula
In the formula, P 0 Is a target position, P, in the target image t For the set shot position, V is the moving velocity and a is the moving acceleration.
2. The firearm sighting device of claim 1, wherein the photoeye gun sight further comprises:
the objective lens is used for acquiring a target image right ahead in real time and sending the target image to the CCD machine core processing module;
the CCD movement processing module is used for receiving preset conditions input by a user, automatically identifying aiming coordinates in a target image according to the preset conditions, and pushing the aiming coordinates to an operator for the operator to adjust the aiming position; after the aiming position reaches the aiming coordinate, after the aiming is determined, the aiming position and the target image are sent to the optical waveguide display glasses together; and the receiving optical waveguide displays the movement pre-judging position and the pre-judging time fed back by the glasses, and prompts an operator to aim at the movement pre-judging position within the pre-judging time to shoot.
3. The firearm sighting device of claim 2, wherein the photoeye gun sight further comprises:
the transmission interface module is used for sending the aiming position and the target image to the optical waveguide display glasses, receiving the movement pre-judging position and the pre-judging time sent by the optical waveguide display glasses and transmitting the movement pre-judging position and the pre-judging time to the CCD machine core processing module; the data end of the CCD machine core processing module is connected with the data end of the CCD machine core processing module;
the micro display is used for displaying the target image, the aiming coordinate and the current aiming position; the input end of the CCD camera is connected with the output end of the CCD movement processing module;
the eyepiece is used for amplifying display information on the micro display and allowing an operator to observe the aiming position so as to manually adjust the aiming position; which is arranged at the video output end of the micro display.
4. The firearm aiming device according to claim 3, characterized in that the CCD cartridge processing module executes the following program:
receiving preset conditions input by a user, wherein the preset conditions comprise a shooting position and a shooting force gear;
acquiring a target image, and integrating a set cross sight of a barrel middle shaft to the target image;
identifying the shooting part in the target image, determining the geometric center of the shooting part as a sighting coordinate, pushing the sighting coordinate to an operator for adjusting the sighting position, and moving the center of a cross sighting line of a middle shaft of the gun barrel to the sighting coordinate;
identifying whether the current aiming position reaches the aiming coordinate or not in the process of adjusting the aiming position by an operator, and determining aiming when the current aiming position is consistent with the aiming coordinate;
the aiming position after the aiming is determined and the target image are sent to the optical waveguide display glasses together;
and the receiving optical waveguide displays the movement pre-judging position and the pre-judging time fed back by the glasses, and prompts an operator to aim at the movement pre-judging position within the pre-judging time so as to shoot with the force matched with the shooting force gear.
5. The firearm aiming device according to claim 1, wherein the camera is further configured to capture a preset environment picture and send the preset environment picture to the data processing module;
the data processing module is also used for storing the received preset environment picture; the method comprises the steps of comparing information of a preset environment picture at the current moment with information of a preset environment picture at the previous moment, identifying whether a suspicious target appears, transmitting the identified suspicious target to a light module in a video image mode for displaying so that an operator can confirm whether to shoot, and sending a suspicious target coordinate to a photoelectric gun sighting telescope after receiving a shooting instruction of the operator;
and the photoelectric gun sighting telescope is also used for displaying the suspicious target coordinates so that an operator can move the sighting position to the suspicious target coordinates to shoot.
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