CN113284188A - Thermal infrared target scoring system and calibration method thereof - Google Patents
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Abstract
The invention discloses a thermal infrared target reporting system and a calibration method thereof, wherein the thermal infrared target reporting system comprises a target plate, target paper is arranged on the target plate, a target is arranged at the central position of the target paper, a plurality of positioning points are arranged on the target paper and on the periphery of the target, an infrared camera is arranged in front of the target paper, and a light supplementing lamp is arranged in front of the target paper; the target scoring system solves the problems that the prior target scoring system wastes time and labor and has large errors, realizes automatic calibration by setting the positioning points and detecting the pixel coordinates of the positioning points in real time, can automatically calibrate the positions of the positioning points in real time according to the condition of target paper during target practice, selects a calibration mode, and is accurate in calibration, time-saving and labor-saving.
Description
Technical Field
The invention belongs to the technical field of thermal infrared target scoring, and particularly relates to a thermal infrared target scoring system and a calibration method of the target scoring system.
Background
At present, the target scoring system can achieve the target scoring function through ultrasonic waves, infrared rays, visible light and the like. A kind of one word four-point arrangement ultrasonic automatic target-reporting system patent (publication No. CN110132064A), disclose an ultrasonic target-reporting system, it installs four ultrasonic sensors in the foam cavity target plate behind the target paper, used for detecting the target signal, but it has the foam cavity target plate high in cost, easy to damage the sensor, and require the high question of installation precision; the existing target range also has the function of target scoring by using visible light and infrared fusion, the technology needs to debug a visible light camera and an infrared camera before target scoring, so that two cameras can calibrate the positioning points of target paper, namely after a target drone is put, a high-temperature thin object is manually clicked at a plurality of fixed positions of the target paper, and then a mouse is used for clicking the fixed positions on a visible light image in a background.
Disclosure of Invention
The invention aims to provide a thermal infrared target scoring system, which solves the problems that the prior target scoring system wastes time and labor and has large error.
The invention also aims to provide a calibration method of the thermal infrared target scoring system.
The invention adopts the technical scheme that the thermal infrared target reporting system comprises a target plate, target paper is arranged on the target plate, a target is arranged at the central position of the target paper, a plurality of positioning points are arranged on the target paper and on the periphery of the target, and an infrared camera is arranged in front of the target paper.
The present invention is also characterized in that,
a light supplement lamp is arranged in front of the target paper.
The number of the positioning points is at least 4, and the shape of the positioning points is a symmetrical figure.
The other technical scheme adopted by the invention is that the calibration method of the thermal infrared target scoring system is implemented according to the following steps:
step 4, obtaining the position of the positioning point in the infrared image through an edge detection algorithm according to the relative position of the actual positioning point and the target;
obtaining the relative actual distance between the actual 10-ring area center point position and the actual positioning point position through measurement;
if the ratio of the relative pixel distance to the relative actual distance is consistent with the set ratio, executing step 8;
if the ratio of the relative pixel distance to the relative actual distance is not consistent with the set ratio, adjusting the position and the angle of the infrared camera, and repeating the steps 2-7;
step 8, when the infrared camera detects the target point of the bullet hitting the target paper, whether the pixel coordinates of the positioning point in the infrared image in the step 2-5 are changed or not is executed;
if the pixel coordinate of the positioning point in the infrared image is not changed, static calibration is adopted, the pixel coordinate of the target point in the infrared image is subjected to perspective matrix obtained in the step 5 to obtain the pixel coordinate of the target point after perspective, the relative position of the pixel coordinate of the central point in the 10-ring area after perspective change obtained in the step 6, namely the pixel distance between the target point and the central point in the 10-ring area is calculated through a two-point distance formula, and the actual distance between the target point and the central point in the 10-ring area is obtained according to the set ratio of the actual distance to the pixel distance, so that the target hit score is obtained;
if the pixel coordinates of the positioning points in the infrared image are changed, dynamic calibration is adopted;
and 9, executing the step 4 and the step 5 according to the pixel coordinate of the positioning point changed in the step 8 to obtain a new perspective matrix, obtaining a corrected target point pixel coordinate through the new perspective matrix by the target point pixel coordinate, calculating the relative position of the corrected target point pixel coordinate and the pixel coordinate of the central point in the 10-ring area after the perspective change obtained in the step 6, namely the pixel distance between the target point and the central point in the 10-ring area through a two-point distance formula, and obtaining the actual distance between the target point and the central point in the 10-ring area according to the set ratio of the actual distance and the pixel distance to further obtain the target achievement.
The present invention is also characterized in that,
in step 7, the locating points are set with pixel coordinates which are the size of an image formed by connecting the locating points in the infrared image in sequence, the transformation is carried out according to the set proportion of the actual distance and the pixel distance, the locating point pixel coordinates at the upper left corner are set as (0,0), and the pixel coordinates of other locating points are obtained in sequence.
The beneficial effect of the invention is that,
(1) the thermal infrared target scoring system only adopts one infrared camera, is convenient to install, and does not need to take time to correct before target shooting;
(2) the thermal infrared target scoring system is provided with the light supplementing lamp, so that normal shooting can be still performed under the condition of poor light;
(3) the calibration method of the thermal infrared target scoring system realizes automatic calibration by setting the positioning points and detecting the pixel coordinates of the positioning points in real time, and can automatically calibrate the positions of the positioning points in real time according to the condition of target paper during target practice, so that the calibration mode is selected, the calibration is accurate, and time and labor are saved.
Drawings
FIG. 1 is a schematic diagram of a thermal infrared target scoring system according to the present invention;
FIG. 2 is an infrared image taken during a calibration method of a thermal infrared target scoring system according to the present invention;
FIG. 3 is an infrared image captured by using positioning points with different shapes in the calibration method of the thermal infrared target scoring system according to the present invention.
In the figure, 1, target paper, 2, a target, 3, a positioning point, 4, an infrared camera and 5, a light supplement lamp.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a thermal infrared target reporting system, as shown in figure 1, which comprises a target plate, wherein target paper 1 is arranged on the target plate, a target 2 is arranged at the center of the target paper 1, the colors of the target paper 1 and the target 2 are obviously different, so that the areas of the target paper 1 and the target 2 can be distinguished in a shot infrared image, for example, the target paper 1 is white, the target 2 is dark green, a plurality of positioning points 3 are arranged on the target paper 1 and on the periphery of the target, the positioning points 3 are arranged on the target paper 1 in a printing, inserting or pasting mode, and the color of the positioning points 3 is different from the color of the target paper, for example, black, an infrared camera 4 is arranged in front of the target paper 1, the infrared camera 4 is connected with a processor, a light supplement lamp 5 is arranged in front of the target paper 1, the light supplement lamp 5 is a heat lamp or an infrared lamp, when the light condition is bad, the light supplement lamp 5 is turned on, the contrast between the target paper 1 and the target 2 and the target paper 1 and the target 3 is increased to obtain a better shot picture, the number of the positioning points is at least 4, the optimal shape is a symmetrical figure, such as a circle, a square, a copper wire shape and the like, and the positioning points 3 are positioned around the target and do not interfere with the extraction positions of the positioning points.
The infrared camera 4 is arranged in front of the target paper and is positioned above, below or on the side of the target paper, so that target shooting can be realized without interference, the distance from the target position needs to be selected according to the focal length of the infrared camera, and the maximum pixel ratio and the clearest of the shot infrared image of the target in the total infrared image are the best.
The light supplement lamp 5 is arranged above, below or on the side of the front of the target paper, so that target shooting can be achieved without interference, the target can be placed together with the infrared camera, and the distance from the target can be selected according to the infrared image which enables the infrared camera to obtain the target paper as soon as possible.
The invention is suitable for, but not limited to, head targets, chest ring targets, half-body targets and round targets.
The invention relates to a calibration method of a thermal infrared target scoring system, which is implemented according to the following steps as shown in fig. 2 and 3:
the area of the pixel in the 10-ring area is equal to the sum of the number of the pixel points in the 10-ring area;
the pixel coordinate x of the central point of the 10-ring area is equal to the upper left coordinate x of the 10-ring area adjacency matrix + the width/2 of the 10-ring area adjacency matrix;
and the pixel coordinate y of the central point of the 10-ring area is equal to the upper left coordinate y of the 10-ring area adjacency matrix + 10-ring area adjacency matrix height/2.
And 3, obtaining the area and the position of the target in the infrared image according to the pixel area of the 10-ring region obtained in the step 2 and the area ratio of the actual 10-ring region to the area of the target, namely:
the actual area of the 10-ring area/the actual area of the target is equal to the area of the 10-ring area pixel in the infrared image/the area of the target in the infrared image;
step 4, obtaining the position of the positioning point in the infrared image through an edge detection algorithm according to the relative position of the actual positioning point and the target;
the perspective matrix calculation formula:
setting the central coordinates (x) of four positioning points in the infrared image obtained in the step 21,y1)，(x2,y2)，(x3,y3)，(x4,y4) The coordinate after perspective transformation is (x)1',y1')，(x2',y2')，(x3',y3')，(x4',y4') set the coordinate relationship before and after the perspective transformation as shown in the equation:
or written in matrix form: HA ═ B;
solving this system of equations yields a unique set of coefficients, where a, b, c, d, e, and f all represent coefficients.
setting pixel coordinates as the size of an image formed by sequentially connecting positioning points in the infrared image, and converting according to the set proportion of the actual distance to the pixel distance, such as the actual distance: pixel distance is 1 mm: 1 pixel proportion, setting the pixel coordinates of the positioning point at the upper left corner as (0,0), and sequentially obtaining the pixel coordinates of other positioning points;
obtaining the relative actual distance between the actual 10-ring area center point position and the actual positioning point position through measurement;
if the ratio of the relative pixel distance to the relative actual distance is consistent with the set ratio, executing step 8;
if the ratio of the relative pixel distance to the actual relative distance is not consistent with the set ratio, adjusting the position and the angle of the infrared camera 4, and repeating the steps 2-7;
step 8, when the infrared camera 4 detects that the bullet hits the target point on the target paper 1, whether the pixel coordinates of the positioning point 3 in the infrared image in the step 2-5 are changed or not is executed;
if the pixel coordinate of the positioning point 3 in the infrared image is not changed, static calibration is adopted, the pixel coordinate of the target point in the infrared image is subjected to perspective matrix obtained in the step 5 to obtain the pixel coordinate of the target point after perspective, the relative position of the pixel coordinate of the target point after perspective and the pixel coordinate of the central point in the 10-ring area after perspective change obtained in the step 6, namely the pixel distance between the target point and the central point in the 10-ring area is calculated through a two-point distance formula, the actual distance between the target point and the central point in the 10-ring area is obtained according to the set ratio of the actual distance and the pixel distance, and then the target achievement is obtained;
if the pixel coordinates of the positioning points in the infrared image are changed, dynamic calibration is adopted;
and 9, executing the step 4 and the step 5 according to the pixel coordinate of the positioning point changed in the step 8 to obtain a new perspective matrix, obtaining a corrected target point pixel coordinate through the new perspective matrix by the target point pixel coordinate, calculating the relative position of the corrected target point pixel coordinate and the pixel coordinate of the central point in the 10-ring area after the perspective change obtained in the step 6, namely the pixel distance between the target point and the central point in the 10-ring area through a two-point distance formula, and obtaining the actual distance between the target point and the central point in the 10-ring area according to the set ratio of the actual distance and the pixel distance to further obtain the target achievement.
Example 1
step 4, obtaining the position of the positioning point in the infrared image through an edge detection algorithm according to the relative position of the actual positioning point and the target;
and 5, obtaining the pixel coordinates of the positioning points in the infrared image according to the positions of the positioning points in the infrared image obtained in the step 4, wherein the specific coordinates are as follows: coordinates (96, 41) of an upper left positioning point, coordinates (665, 42) of an upper right positioning point, coordinates (74, 614) of a lower left positioning point and coordinates (690, 615) of a lower right positioning point, and obtaining a perspective matrix by performing perspective transformation on pixel coordinates of the positioning points in the infrared image and actual coordinates of the positioning points;
the pixel coordinates are set in the positioning points, the pixel coordinates are the image size (530 mm-530 mm square) formed after the positioning points are sequentially connected according to the infrared image, and according to the actual distance: pixel distance is 1 mm: the proportion of 1 pixel, the size of the transformed image is 530 pixels, the coordinates of the pixel of the positioning point at the upper left corner are set to be (0,0), the coordinates of the upper right positioning point (530, 0), the coordinates of the lower left positioning point (0, 530) and the coordinates of the lower right positioning point (530 );
obtaining the relative actual distance between the actual 10-ring area center point position and the actual positioning point position through measurement, wherein the relative actual distance between the 10-ring area center point coordinate and the upper left positioning point coordinate, the upper right positioning point coordinate, the lower left positioning point coordinate and the lower right positioning point coordinate is 412.5mm, 411.5mm, 340.5mm and 341 mm;
if the ratio of the relative pixel distance to the relative actual distance is consistent with the set ratio (1 mm: 1 pixel), executing step 8;
step 8, when the infrared camera 4 detects that the bullet hits the target point on the target paper 1, whether the pixel coordinates of the positioning point 3 in the infrared image in the step 2-5 are changed or not is executed;
if the pixel coordinate of the positioning point 3 in the infrared image is not changed, static calibration is adopted, the pixel coordinate (596, 428) of the target point in the infrared image is subjected to the perspective matrix obtained in the step 5 to obtain the pixel coordinate (454, 366) of the target point after perspective, the relative position of the pixel coordinate of the target point after perspective and the pixel coordinate of the central point in the 10-ring area after perspective change obtained in the step 6 is calculated to be 195 pixels through a two-point distance formula, and the target hitting score is 7 rings (the 10-ring area is determined, and the rest of the ring numbers are sequentially arranged at equal intervals from the 10 rings outwards);
if the pixel coordinates of the positioning points in the infrared image are changed, dynamic calibration is adopted, and step 9 is executed;
and 9, according to the pixel coordinates of the positioning point changed in the step 8, the coordinates of the upper left positioning point, the coordinates of the upper right positioning point, the coordinates of the lower left positioning point and the coordinates of the lower right positioning point are respectively (96, 41), (665, 42), (74, 614) and (690, 615), executing the step 4 and the step 5 to obtain a new perspective matrix, obtaining the pixel coordinates of the corrected target point through the new perspective matrix by the pixel coordinates of the target point (454, 366), and calculating the pixel of the relative position 195 between the pixel coordinates of the corrected target point and the pixel coordinates of the central point in the 10-ring area after the perspective change obtained in the step 6 by a two-point distance formula to obtain the target score of 7 rings.
Claims (5)
1. The utility model provides a hot infrared target-scoring system, its characterized in that, includes the target board, be provided with target paper (1) on the target board, the central point of target paper (1) puts and is provided with target (2), on target paper (1) and be provided with a plurality of setpoint (3) in the periphery of target, the place ahead of target paper (1) is provided with infrared camera (4).
2. The thermal infrared target scoring system according to claim 1, wherein a supplementary lighting lamp (5) is arranged in front of the target paper (1).
3. The thermal infrared target scoring system according to claim 1, wherein the number of the positioning points is at least 4 and the shape is a symmetrical figure.
4. A calibration method of a thermal infrared target scoring system is characterized in that the thermal infrared target scoring system according to any one of claims 1 to 4 is adopted, and the calibration method is implemented according to the following steps:
step 1, positioning points are arranged on target paper and at the periphery of a target;
step 2, shooting a full image of the target paper by using an infrared camera to obtain an infrared image, detecting a 10-ring area on the target in the infrared image, and calculating the pixel area of the 10-ring area and the pixel coordinate of a central point of the 10-ring area;
step 3, obtaining the position of the target in the infrared image according to the pixel area of the 10-ring area obtained in the step 2 and the area ratio of the actual 10-ring area to the target area;
step 4, obtaining the position of the positioning point in the infrared image through an edge detection algorithm according to the relative position of the actual positioning point and the target;
step 5, obtaining the center pixel coordinate of the positioning point in the infrared image according to the position of the positioning point in the infrared image obtained in the step 4, and obtaining a perspective matrix by performing perspective transformation on the center pixel coordinate of the positioning point in the infrared image and the actual center coordinate of the positioning point;
step 6, obtaining the pixel coordinates of the central point of the 10-ring area obtained in the step 2 through the perspective matrix obtained in the step 5 after perspective change;
step 7, converting the pixel coordinates of the central point of the 10-ring area obtained in the step 6 after perspective change and the set pixel coordinates of the positioning point in the infrared image, and obtaining the relative pixel distance between the two points according to a two-point distance formula;
obtaining the relative actual distance between the actual 10-ring area center point position and the actual positioning point position through measurement;
if the ratio of the relative pixel distance to the relative actual distance is consistent with the set ratio, executing step 8;
if the ratio of the relative pixel distance to the actual relative distance is not consistent with the set ratio, adjusting the position and the angle of the infrared camera (4), and repeating the steps 2-7;
step 8, when the infrared camera detects the target point of the bullet hitting the target paper, whether the pixel coordinates of the positioning point in the infrared image in the step 2-5 are changed or not is executed;
if the pixel coordinate of the positioning point in the infrared image is not changed, static calibration is adopted, the pixel coordinate of the target point in the infrared image is subjected to perspective matrix obtained in the step 5 to obtain the pixel coordinate of the target point after perspective, the relative position of the pixel coordinate of the target point after perspective and the pixel coordinate of the central point in the 10-ring area after perspective change obtained in the step 6 is calculated through a two-point distance formula, the actual distance between the target point and the central point in the 10-ring area is obtained according to the set ratio of the actual distance and the pixel distance, and then the target achievement is obtained;
if the pixel coordinates of the positioning points in the infrared image are changed, dynamic calibration is adopted;
and 9, executing the step 4 and the step 5 according to the pixel coordinate of the positioning point changed in the step 8 to obtain a new perspective matrix, obtaining a corrected target point pixel coordinate through the new perspective matrix according to the target point pixel coordinate, calculating the relative position of the corrected target point pixel coordinate and the pixel coordinate of the central point in the 10-ring area after perspective change obtained in the step 6 through a two-point distance formula, obtaining the actual distance between the target point and the central point in the 10-ring area according to the set ratio of the actual distance and the pixel distance, and further obtaining a target achievement.
5. The method for calibrating a thermal infrared target scoring system according to claim 4, wherein in the step 7, the positioning points are set to have pixel coordinates which are converted according to the ratio of the set actual distance to the pixel distance according to the size of the image formed by connecting the positioning points in the infrared image in sequence, the pixel coordinates of the positioning points at the upper left corner are set to be (0,0), and the pixel coordinates of other positioning points are obtained in sequence.
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