CN115823970A - Visual shot trajectory generation system - Google Patents
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- CN115823970A CN115823970A CN202211674192.5A CN202211674192A CN115823970A CN 115823970 A CN115823970 A CN 115823970A CN 202211674192 A CN202211674192 A CN 202211674192A CN 115823970 A CN115823970 A CN 115823970A
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- 239000012634 fragment Substances 0.000 claims description 6
- 238000009616 inductively coupled plasma Methods 0.000 claims description 6
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Abstract
The invention discloses a visual projectile trajectory generation system which comprises a plurality of binocular vision collectors (101) which are distributed side by side, wherein the arrangement direction of the binocular vision collectors (101) is consistent with the flying direction of projectiles; the binocular vision collector (101) is connected with a mobile display control terminal (102). The mobile display control terminal carries out filtering, registering and subdivision on the target three-dimensional point clouds collected by the binocular vision collectors to obtain local triangular grids generated by point cloud data of all the sub-pieces, then the local triangular grids corresponding to all the sub-pieces are spliced into a whole triangular grid, and then boundary points which are closest to the current group edge in the target three-dimensional point clouds generated by the binocular vision collectors are selected to be connected, so that the flying track and speed of the projectile are obtained. The invention has the characteristic of being capable of measuring and generating the trajectory of the high-speed projectile.
Description
Technical Field
The invention relates to the field of projectile trajectory measurement, in particular to a visual projectile trajectory generation system.
Background
In the testing of pellet landing, the traditional contact measurement method has been gradually replaced by the non-contact measurement method, and the sky screen target has been increasingly paid attention in the field because of its characteristics of simple operation, easy calibration and capability of testing various materials and various calibers of the pellet. However, the existing systems such as sky screen target and light screen target can only perform the shot landing test, and cannot measure the trajectory of the high-speed shot. Therefore, the prior art has the problem that the trajectory of the shot at high speed cannot be measured.
Disclosure of Invention
The invention aims to provide a visual projectile trajectory generation system. The invention has the characteristic of being capable of measuring and generating the trajectory of the high-speed projectile.
The technical scheme of the invention is as follows: a visual projectile trajectory generation system comprises a plurality of binocular vision collectors distributed side by side, wherein the arrangement direction of the binocular vision collectors is consistent with the flying direction of projectiles; the binocular vision collector is connected with a mobile display control terminal.
In the foregoing visual projectile trajectory generating system, the binocular vision collector includes two single vision collecting subunits.
In the foregoing system for generating a trajectory of a visual projectile, a distance L between adjacent visual collectors is related to a height h of an exit point of a measured projectile, a field angle α of the visual collector, and an inclination angle Φ of the visual collector, and a calculation formula of the distance L between adjacent visual collectors is as follows:
in the system for generating a visual projectile trajectory, the mobile display control terminal filters, registers and divides the target three-dimensional point cloud acquired by each binocular vision acquisition device to obtain local triangular grids generated by point cloud data of each segment, then splices the local triangular grids corresponding to all segments into a whole triangular grid, and then selects the boundary point closest to the current group edge in the target three-dimensional point cloud generated by each binocular vision acquisition device to connect, so as to obtain the trajectory and speed of projectile flight.
In the above system for generating a trajectory of a visual projectile, the specific processing process of the mobile display control terminal on the target three-dimensional point cloud acquired by each binocular vision acquisition device is as follows:
(1) Filtering of point cloud data
Filtering the target three-dimensional point cloud data, and adjusting the target three-dimensional point cloud to move along the normal vector direction in sequence by adopting an anisotropic fairing filtering algorithm to obtain filtered point cloud data;
(2) Registration of point cloud data
Firstly, carrying out initial registration on filtered point cloud data to enable two pieces of point clouds to be approximately overlapped, and then adopting an ICP (inductively coupled plasma) algorithm to realize fine registration of the point clouds to obtain registered point cloud data;
(3) Mesh generation of registered point cloud data
Adopting a Delaunay triangulation algorithm based on a mapping method to realize mesh generation, and generating local triangular meshes from the point cloud data of each fragment;
(4) Grid splicing
And splicing the local triangular meshes corresponding to all the fragments into a whole triangular mesh to enable the whole triangular mesh to be close to the optimal Delaunay mesh, namely traversing the boundaries of the fragmented local triangular meshes, and then selecting the boundary points which are closest to the current group edge in other groups for connection.
In the visual projectile trajectory generation system, in the step (3), a specific process of implementing mesh generation based on a Delaunay triangulation algorithm of a mapping method is as follows: the method comprises the steps of firstly mapping three-dimensional scattered point cloud data to a fitting plane area, then performing Delaunay triangulation on the mapped two-dimensional data, and then returning the point cloud data subjected to triangulation to a three-dimensional space in a connection mode.
Compared with the prior art, the high-frame-frequency binocular vision array system is formed by the plurality of binocular vision collectors which are distributed side by side, so that the trajectory and the instantaneous speed of the projectile can be perfectly captured; and the collected three-dimensional space coordinates of each point are spliced through the mobile display control terminal, so that the space trajectory of the projectile in the flight process and the projectile speed of any collection point can be generated.
In conclusion, the invention has the characteristic of being capable of measuring and generating the trajectory of the high-speed projectile.
In addition, the grid division of the point cloud data after registration adopts a Delaunay triangulation algorithm based on a mapping method, so that the calculation time of three-dimensional Delaunay triangulation can be greatly reduced, and the overall efficiency is improved.
Drawings
FIG. 1 is a drawing of the present invention schematic structural diagram of (1).
The labels in the figures are: 101-binocular vision collector, 102-mobile display control terminal.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Examples are given. A visual projectile trajectory generation system is formed as shown in figure 1 and comprises a plurality of binocular vision collectors 101 which are distributed side by side, wherein the arrangement direction of the binocular vision collectors 101 is consistent with the flying direction of projectiles; the binocular vision collector 101 is connected with a mobile display and control terminal 102.
The binocular vision collector 101 comprises two single vision collection subunits.
The system comprises a binocular vision collector 101, a binocular vision collector and a binocular vision acquisition unit, wherein the binocular vision collector comprises two single vision acquisition sub-units, and each sub-unit can independently collect image data; the binocular vision collector can measure the three-dimensional contour and the spatial relative position of a target; the binocular vision collector is an ultra-high speed vision collection system, and can ensure that the target contour of the bullet is accurately collected by the binocular vision collector without smear when the bullet flies at a high speed in the visual field of the binocular vision collector. The binocular vision collector is a high frame frequency vision collection system to ensure that a bullet target is captured when the bullet flies at a high speed in the field of view of the binocular vision collector.
The mobile display control terminal can collect target three-dimensional information acquisition data of an array formed by the binocular vision acquisition devices.
The distance L between the adjacent visual collectors is related to the height h of an emergent point of the measured projectile, the field angle alpha of the visual collector and the inclination angle phi of the visual collector, and the calculation formula of the distance L between the adjacent visual collectors is as follows:
the mobile display control terminal carries out filtering, registering and subdivision on the target three-dimensional point clouds collected by the binocular vision collectors to obtain local triangular grids generated by point cloud data of all the sub-pieces, then the local triangular grids corresponding to all the sub-pieces are spliced into a whole triangular grid, and then boundary points which are closest to the current group edge in the target three-dimensional point clouds generated by the binocular vision collectors are selected to be connected, so that the flying track and speed of the projectile are obtained.
The specific processing process of the mobile display control terminal on the target three-dimensional point cloud collected by each binocular vision collector is as follows:
(1) Filtering of point cloud data
Filtering the target three-dimensional point cloud data, and sequentially moving the target three-dimensional point cloud along the normal vector direction by adopting an anisotropic fairing filtering algorithm to adjust so as to obtain filtered point cloud data;
(2) Registration of point cloud data
Firstly, carrying out initial registration on filtered point cloud data to enable two pieces of point clouds to be approximately overlapped, and then adopting an ICP (inductively coupled plasma) algorithm to realize fine registration of the point clouds to obtain registered point cloud data;
(3) Mesh generation of point cloud data after registration
Adopting a Delaunay triangulation algorithm based on a mapping method to realize mesh generation, and generating local triangular meshes from the point cloud data of each fragment;
(4) Grid splicing
And splicing the local triangular meshes corresponding to all the fragments into a whole triangular mesh to enable the whole triangular mesh to be close to the optimal Delaunay mesh, namely traversing the boundaries of the local triangular meshes after the fragments are fragmented, and then selecting the boundary points which are closest to the current group edge in other groups for connection.
In the step (3), the specific process of realizing mesh generation by the Delaunay triangulation algorithm based on the mapping method is as follows: the method comprises the steps of firstly mapping three-dimensional scattered point cloud data to a fitting plane area, then performing Delaunay triangulation on the mapped two-dimensional data, and then returning the point cloud data subjected to triangulation to a three-dimensional space in a connection mode.
The test principle of this application does: the relative space coordinates of the projectile are collected by adopting an ultra-high-speed high-frame-frequency binocular vision device, and the instantaneous speed of the projectile can be obtained according to the collected space coordinates of adjacent points and the refresh time period of a collection system. And uploading the acquired space coordinate and speed of each point and the space coordinate of the binocular vision subunit to the mobile display and control terminal.
Each binocular vision subunit is obliquely arranged along the direction of the trajectory so as to improve the testable trajectory path of the single subsystem, and then a plurality of binocular vision subunits are distributed on the path of the trajectory to ensure that the binocular vision subsystems measure the bullet all the time in the flying process. The collected three-dimensional space coordinates of each point are spliced through the mobile display control terminal, so that the space trajectory of the projectile in the flight process and the projectile speed of any collection point can be obtained.
Claims (6)
1. A visual projectile trajectory generation system, characterized by: the shot-shooting device comprises a plurality of binocular vision collectors (101) which are distributed side by side, wherein the arrangement direction of the binocular vision collectors (101) is consistent with the flying direction of the shot; the binocular vision collector (101) is connected with a mobile display control terminal (102).
2. The visual projectile trajectory generation system of claim 1, wherein: the binocular vision collector (101) comprises two single vision collecting subunits.
3. A visual projectile trajectory generation system as claimed in claim 1 wherein: the distance L between the adjacent visual collectors is related to the height h of an emergent point of the measured projectile, the field angle alpha of the visual collector and the inclination angle phi of the visual collector, and the calculation formula of the distance L between the adjacent visual collectors is as follows:
4. the visual projectile trajectory generation system of claim 1, wherein: the mobile display control terminal carries out filtering, registering and subdivision on the target three-dimensional point clouds collected by the binocular vision collectors to obtain local triangular grids generated by point cloud data of all the sub-pieces, then the local triangular grids corresponding to all the sub-pieces are spliced into a whole triangular grid, and then boundary points which are closest to the current group edge in the target three-dimensional point clouds generated by the binocular vision collectors are selected to be connected, so that the flying track and speed of the projectile are obtained.
5. The visual projectile trajectory generation system of claim 4, wherein: the specific processing process of the mobile display control terminal on the target three-dimensional point cloud collected by each binocular vision collector is as follows:
(1) Filtering of point cloud data
Filtering the target three-dimensional point cloud data, and adjusting the target three-dimensional point cloud to move along the normal vector direction in sequence by adopting an anisotropic fairing filtering algorithm to obtain filtered point cloud data;
(2) Registration of point cloud data
Firstly, carrying out initial registration on filtered point cloud data to enable two pieces of point clouds to be approximately overlapped, and then adopting an ICP (inductively coupled plasma) algorithm to realize fine registration of the point clouds to obtain registered point cloud data;
(3) Mesh generation of registered point cloud data
Realizing mesh generation by adopting a Delaunay triangulation algorithm based on a mapping method, and generating local triangular meshes by using each piece of point cloud data;
(4) Grid splicing
And splicing the local triangular meshes corresponding to all the fragments into a whole triangular mesh to enable the whole triangular mesh to be close to the optimal Delaunay mesh, namely traversing the boundaries of the fragmented local triangular meshes, and then selecting the boundary points which are closest to the current group edge in other groups for connection.
6. The visual projectile trajectory generation system of claim 5 wherein: in the step (3), the specific process of realizing mesh generation by the Delaunay triangulation algorithm based on the mapping method is as follows: the method comprises the steps of firstly mapping three-dimensional scattered point cloud data to a fitting plane area, then performing Delaunay triangulation on the mapped two-dimensional data, and then returning the point cloud data subjected to triangulation to a three-dimensional space in a connection mode.
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