CN116625256A - Calibration method and device of targeting equipment and targeting equipment - Google Patents

Calibration method and device of targeting equipment and targeting equipment Download PDF

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Publication number
CN116625256A
CN116625256A CN202211173421.5A CN202211173421A CN116625256A CN 116625256 A CN116625256 A CN 116625256A CN 202211173421 A CN202211173421 A CN 202211173421A CN 116625256 A CN116625256 A CN 116625256A
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China
Prior art keywords
target
image
targeting
target image
aiming
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CN202211173421.5A
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Chinese (zh)
Inventor
王付州
侯涛
江世盛
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Hanwang Technology Co Ltd
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Hanwang Technology Co Ltd
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Application filed by Hanwang Technology Co Ltd filed Critical Hanwang Technology Co Ltd
Priority to CN202211173421.5A priority Critical patent/CN116625256A/en
Priority to PCT/CN2022/139719 priority patent/WO2024066077A1/en
Publication of CN116625256A publication Critical patent/CN116625256A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G1/00—Sighting devices
    • F41G1/02—Foresights
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G1/00—Sighting devices
    • F41G1/06—Rearsights
    • F41G1/08—Rearsights with aperture ; tubular or of ring form; Peep sights
    • 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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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The application discloses a targeting device and a calibration method of the targeting device, belongs to the technical field of the targeting device, and is beneficial to improving the accuracy of determining the shooting center point of the targeting device. The method comprises the following steps: configuring a light beam emitting device for calibrating a target shooting device, so that the irradiation direction of a light beam emitted by the light beam emitting device points to an image acquisition view field of an image acquisition device, then acquiring a plurality of target images corresponding to targets acquired by the image acquisition device when the targets are positioned at different target shooting distances, and acquiring preset direction aiming pixel deviations corresponding to the target images according to a light spot image formed by irradiation of the light beam emitting device in each target image and the target image; based on the preset direction aiming pixel deviation corresponding to each target image and the radius of the target image in the target image, fitting to obtain the mapping relation between the preset direction aiming pixel deviation in the target image and the radius of the target image, and calibrating the image center point of the target image acquired during target shooting according to the mapping relation.

Description

Calibration method and device of targeting equipment and targeting equipment
Technical Field
The present application relates to the field of targeting devices, and in particular, to a method and an apparatus for calibrating a targeting device, and a targeting device, an electronic device, and a computer readable storage medium.
Background
In the existing targeting device, the basic principle of acquiring a targeting score based on image processing of a target is to take the center point of a target surface image acquired by the targeting device as a shooting hit point, compare the deviation between the shooting hit point and the center point of the target surface image, and determine the targeting score (such as the hit number). The method using the image center point of the target image as the shooting center point in the prior art can not accurately reflect the targeting accuracy of a target operator.
Disclosure of Invention
The embodiment of the application provides a calibration method of a targeting device, which is beneficial to improving the accuracy of determining the shooting center point of the targeting device.
In a first aspect, an embodiment of the present application provides a calibration method for a target device, including:
the method is applied to the targeting equipment provided with the image acquisition device, wherein the irradiation direction of the light beam emitted by the light beam emitting device configured for calibrating the targeting equipment points to the image acquisition view field of the image acquisition device, and comprises the following steps:
Acquiring a plurality of target images which are acquired by the image acquisition device and correspond to targets when the targets are located at different targeting distances, wherein the target images comprise: a target surface image and a light spot image formed on the target surface of the target by the direct light beam;
acquiring preset direction aiming pixel deviation corresponding to each target image according to the light spot image and the target image in each target image;
fitting to obtain a mapping relationship between the preset direction aiming pixel deviation and the corresponding radius of the target surface image in each target image based on the preset direction aiming pixel deviation and the corresponding radius of the target surface image corresponding to each target image;
and acquiring target aiming pixel deviation for calibrating the image center point of the target image acquired by the targeting equipment based on different targeting distances according to the mapping relation.
In a second aspect, an embodiment of the present application provides a calibration apparatus for a targeting device, including:
be applied to target equipment that is provided with image acquisition device, wherein, for calibrating the irradiation direction of the light beam that the light beam emission device that target equipment disposes launched is directed image acquisition visual field of image acquisition device, calibration device includes:
The target image acquisition module is used for acquiring a plurality of target images corresponding to targets which are located at different targeting distances and acquired by the image acquisition device, wherein the target images comprise: a target surface image and a light spot image formed on the target surface of the target by the direct light beam;
the aiming pixel deviation acquisition module is used for acquiring the aiming pixel deviation of the preset direction corresponding to each target image according to the light spot image and the target image in each target image;
the mapping relation acquisition module is used for fitting to obtain a mapping relation between the preset direction aiming pixel deviation in each target image and the corresponding radius of the target image based on the preset direction aiming pixel deviation corresponding to each target image and the corresponding radius of the target image;
the calibration deviation acquisition module is used for acquiring target aiming pixel deviation for calibrating the image center point of the target image acquired by the targeting equipment based on different targeting distances according to the mapping relation.
In a third aspect, an embodiment of the present application provides a targeting device, including:
the sight is arranged at the front end of the targeting equipment;
The gate is arranged at the rear end of the targeting equipment; the sight and the sight form a sighting base line of the targeting device along the shooting outlet direction of the targeting device;
the shooting trigger device is arranged on the targeting equipment;
the image acquisition device is arranged on the targeting equipment and is used for acquiring target images of targets arranged at a set distance in front of the targeting equipment when the shooting trigger device is triggered;
and the controller is used for calibrating the image center point of the target image according to the radius of the target surface image in the target image and the preset target aiming pixel deviation corresponding to the radius and used for calibrating the image center point of the target image, and taking the calibrated point as the shooting center point of the target equipment, so that the shooting line of the target equipment coincides with the aiming baseline of the target equipment.
In a fourth aspect, the embodiment of the application further discloses an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the calibration method of the targeting device is realized when the processor executes the computer program.
In a fifth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method for calibrating a targeting device as disclosed in the embodiments of the present application.
The calibration method of the targeting device disclosed by the embodiment of the application is applied to a targeting device based on image acquisition, and the irradiation direction of a light beam emitted by the light beam emitting device is directed to the image acquisition view field of the image acquisition device through the light beam emitting device configured for calibrating the targeting device, and then a plurality of target images which are acquired by the image acquisition device and correspond to targets at different targeting distances are acquired, wherein the target images comprise: a target surface image and a light spot image formed on the target surface of the target by the direct light beam; acquiring preset direction aiming pixel deviation corresponding to each target image according to the light spot image and the target image in each target image; based on the preset direction aiming pixel deviation corresponding to each target image and the corresponding radius of the target surface image, a mapping relation between the preset direction aiming pixel deviation in each target image and the corresponding radius of the target surface image is obtained through fitting, so that according to the mapping relation, the target aiming pixel deviation for calibrating the image center point of the target image acquired by the target equipment based on different target shooting distances can be acquired, the image center point of the target image is calibrated, and accuracy for determining the shooting center point of the target equipment is improved.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.
Drawings
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
FIG. 1 is a flow chart of a method of calibrating a targeting device in accordance with one embodiment of the present application;
FIG. 2 is a schematic diagram of a targeting device according to an embodiment of the present application;
FIG. 3 is a schematic diagram of another embodiment of a targeting device;
FIG. 4 is a schematic view of a target image acquired by a targeting device in accordance with one embodiment of the present application;
FIG. 5 is a schematic diagram of calibration principles in one embodiment of the application;
FIG. 6 is another flow chart of a method of calibrating a targeting device in accordance with one embodiment of the present application;
FIG. 7 is a schematic diagram of a calibration device of a targeting device according to an embodiment of the present application;
FIG. 8 is a second schematic diagram of a calibration device of the targeting device according to an embodiment of the present application;
FIG. 9 is a schematic diagram of another embodiment of a targeting device;
fig. 10 schematically shows a block diagram of an electronic device for performing the method according to the application; and
fig. 11 schematically shows a memory unit for holding or carrying program code for implementing the method according to the application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
The embodiment of the application discloses a calibration method of a targeting device, as shown in fig. 1, comprising the following steps: steps 110 to 140.
Step 110, a plurality of target images corresponding to targets located at different targeting distances and acquired by the image acquisition device are acquired, wherein the target images comprise: and the target surface image and the light spot image formed on the target surface of the target by the direct light beam are formed.
The calibration method of the targeting device is applied to the targeting device provided with the image acquisition device, wherein the irradiation direction of the light beam emitted by the light beam emitting device configured for calibrating the targeting device points to the image acquisition view field of the image acquisition device.
The targeting device in the embodiment of the application can be a targeting gun, a targeting game machine, a targeting crossbow and other devices. Referring to fig. 2, taking a target gun as an example, the target device 200 includes: a sight 201, a sight 202, a shooting trigger device 203, and an image acquisition device 204. The sight 201, the gate 202, the shooting trigger means 203, and the image acquisition means 204 identified in fig. 2 are only illustrative.
The device positions, functions, and structures of the respective components of the targeting device are illustrated below.
The sight 201 is arranged at the front end of the targeting device 200; the camera 202 is arranged at the rear end of the targeting device 200; the gate 202 and the sight 201 form a targeting baseline for the targeting device 200 along the direction of the firing exit of the targeting device 200.
The shooting trigger means 203 is provided on the targeting device 200. Taking a targeting device as a targeting gun as an example, the shooting trigger device 203 is of a trigger structure, and the shooting trigger device 203 is arranged below a gun body of the targeting device 200.
The image acquisition device 204 is disposed on the targeting device, and is configured to acquire a target image of a target disposed at a set distance in front of the targeting device 200 when the shooting trigger device 203 is triggered. The image capturing device 204 may be disposed inside the body of the targeting device 200, such as fixedly disposed on the barrel body of the targeting gun, or may be detachably disposed below the barrel of the targeting gun.
In some embodiments of the present application, the image capturing device 204 is integrally disposed with the targeting device 200, and is configured to capture an image of a field of view of the targeting device 200 in a targeting direction. For example, a target image set in front of the targeting device 200 is acquired. Taking the target device 200 as a target gun for example, the image capturing device 204 may be a camera disposed in a barrel of the target gun. In other embodiments of the present application, the image capturing device 204 may also be disposed on one side of the targeting device 200, such as under the firing body of the targeting device in a fixed or detachable configuration, or in other locations that do not affect targeting and are not obstructed in the targeting direction. The shooting body of the targeting device 200 is a device body including a shooting outlet. The image capture device 204 may be disposed within the firing body or may be detachably secured to the exterior of the firing body.
In an embodiment of the present application, in order to calibrate the targeting device, a beam emitting device configured to calibrate the targeting device 200 is also required. The light beam emitting device may be a laser emitter, or other independent device capable of emitting a concentrated light beam.
In some embodiments of the present application, the light beam emitting device is a device for performing calibration configuration for the target device. For example, as shown in fig. 3, the targeting device 200 further includes: the light beam emitting device 205 configured for calibrating the targeting device 200 may be detachably connected to the targeting device, or may be fixedly disposed on the targeting device. In some embodiments of the present application, as shown in fig. 3, the light beam emitting device 205 is disposed at the rear end of the targeting device 200; the gate 202, the sight 201, and the beam emitting device 205 form a straight line, i.e., aim at a base line, in a direction of a shooting exit of the targeting apparatus 200.
In some embodiments of the present application, when the targeting device is used, the light beam emitting device may be used to calibrate the targeting device first, so that a more accurate shooting center point is obtained in the targeting process. During calibration of the targeting device, the beam emitting means 205 emits a focused beam of light towards the field of view of the image acquisition means 204. Taking the beam emitting device 205 as a laser emitter for example, when the targeting device 200 targets the target surface of the target, the laser emitted by the beam emitting device 205 irradiates the target surface of the target and projects a light spot, i.e., a light spot, on the target surface. Thereafter, when the shooting trigger device 203 of the targeting apparatus 200 is triggered, the image acquisition device 204 acquires a target image of the target, and at this time, as shown in fig. 4, the target image 400 acquired by the image acquisition device 204 includes: a target image 401 and a spot image 402.
In some embodiments of the present application, in order to calibrate the target device 200, as shown in fig. 5, first, several target images corresponding to targets located at different targeting distances need to be acquired. Taking the target image acquisition scene shown in fig. 5 as an example, when a target is set at a position of a first targeting distance in front of the targeting device 200, shooting the target by using the targeting device 200, and acquiring a plurality of target images corresponding to the first targeting distance; when the target is arranged at the position of a second targeting distance in front of the targeting device 200, shooting the target by using the targeting device 200, and collecting a plurality of target images corresponding to the second targeting distance; when the target is arranged at a position of a third targeting distance in front of the targeting device 200, the targeting device 200 is used for shooting the target, and a plurality of target images corresponding to the third targeting distance are acquired. That is, the targets are disposed at positions of different targeting distances in front of the targeting device 200, and the image pickup device 204 picks up target images of different targeting distances. According to the actual calibration requirement, a plurality of different targeting distances, such as 3 or more than 3 targeting distances, can be selected.
And 120, acquiring preset direction aiming pixel deviations corresponding to each target image according to the light spot image and the target image in each target image.
The method comprises the following steps of: for example, the first direction and the second direction, and the preset direction aiming pixel deviation corresponding to each target image includes: and the pixel deviation between the image center point of the light spot image in the corresponding target image and the image center point of the target image along the first direction, and the pixel deviation between the image center point of the light spot image in the corresponding target image and the image center point of the target image along the second direction. The pixel deviation includes: both the magnitude and direction factor. The first direction is perpendicular to the second direction.
As described above, each of the acquired target images includes: target surface image and spot image. In each collected target image, the positions of the target images in the target image are not identical, and deviation exists; in each target image, the positions of the spot images in the target image are not identical, and deviation exists. In this way, a richer sample image can be acquired, so that the preset direction aiming pixel deviation corresponding to each target image acquired by the target device can be learned based on the acquired sample image.
In some embodiments of the present application, the obtaining, according to the spot image and the target image in each target image, a preset directional targeting pixel deviation corresponding to each target image includes: and for each target image, determining the corresponding preset direction aiming pixel deviation of each target image when different target shooting distances are met according to the pixel deviation of the image center point of the target image along the preset direction relative to the image center point of the light spot image. Wherein, the preset direction includes: a first direction, and a second direction perpendicular to the first direction.
Taking one target image of the plurality of target images acquired in the foregoing step as an example, the target image 400 shown in fig. 4, an image center point of the target image is denoted by 403, an image center point of the spot image 402 is denoted by 4021, and it can be seen that the image center point 403 of the target image has pixel deviations in a horizontal direction and a vertical direction relative to the image center point 4021 of the spot image 402. To describe this deviation, a pixel deviation of the image center point of each target image in the horizontal direction (i.e., the first direction) with respect to the image center point of the spot image in the target image may be recorded with the horizontal direction as the first direction, with the horizontal rightward as the positive direction, and with the horizontal leftward as the negative direction. Similarly, the vertical direction may be taken as the second direction, the vertical upward direction may be taken as the positive deviation, the vertical downward direction may be taken as the negative deviation, and the pixel deviation of the image center point of each target image along the vertical direction (i.e., the second direction) with respect to the image center point of the light spot image in the target image may be recorded.
In the embodiment of the application, taking W pixels in width and H pixels in height of a target image acquired by a target equipment as an example, the center point of the target image is: and the W/2 th image pixel in the width direction and the H/2 th image pixel in the height direction in the target image. If the upper left corner of the target image is taken as the origin of coordinates, the image center point of the target image may be denoted as (W/2, H/2).
For example, when the image center point c1 of the target image is at an image position of x1 pixels to the right in the horizontal direction of the spot image, the pixel deviation is x1, and at this time, x1 is greater than 0; when the image center point c1 of the target image is at an image position of x2 pixels to the left in the horizontal direction of the spot image, the pixel deviation is x2, and at this time, x2 is smaller than 0. When the image center point c1 of the target image is at an image position which is upwards distant by y1 pixels in the vertical direction of the light spot image, the pixel deviation is y1, and at the moment, y1 is larger than 0; when the image center point c1 of the target image is at an image position of y2 pixels downward in the vertical direction of the spot image, the pixel deviation is y2, and at this time, y2 is smaller than 0.
If the pixel deviation in the first direction is denoted as dx, the pixel deviation in the second direction is denoted as dy, taking the target image 400 shown in fig. 4 as an example, the pixel deviation in the first direction (i.e., the horizontal direction) corresponding to the target image is dx, dx >0, and the pixel deviation in the second direction (i.e., the vertical direction) is dy, dy <0.
According to the method, the pixel deviation along the first direction, corresponding to each of the plurality of target images, can be obtained, and the pixel deviation along the second direction, corresponding to each of the plurality of target images, can be obtained.
As can be seen from the target image acquisition scenario shown in fig. 5, for a targeting device based on image acquisition, there is one aiming baseline and one firing line during the targeting process. Such as aiming baseline 501 and firing line 502 in fig. 5. Wherein the aiming baseline 501 is a straight line formed by two points of the sight and the sight, and the human eye aims along the aiming baseline formed by the sight and the sight; shooting line 502 is the ray of the centerline of the image capture device in the direction of the exit of the image capture device. When the targets are located at different targeting distances, due to the difference of the eye targeting, the targeting baseline 501 and the firing line 502 are often neither parallel nor coincident, and there is a deviation in different directions between the two, i.e. the targeting pixel deviation in the embodiment of the present application. In the embodiment of the application, the pixel deviations along the first direction and the second direction corresponding to the target image are respectively the target pixel deviations along the first direction and the second direction corresponding to the target image.
Further, according to the acquired target pixel deviation along the first direction corresponding to each of the plurality of target images and the acquired target pixel deviation along the second direction corresponding to each of the plurality of target images, the target pixel deviation along the first direction corresponding to the radius of the target surface image in each of the plurality of target images and the target pixel deviation along the second direction can be obtained.
In some embodiments of the present application, the radius of the target surface image in each target image, such as the radius of the circular target surface image in fig. 4, may be obtained by image measurement. For example, in the case where the pixel size of the first target image is known, the target image area is identified based on an image processing technique such as edge detection, and the target radius is determined based on a planar image measurement technique. The embodiment of the application does not limit the specific implementation of the radius for acquiring the target surface image.
Based on the imaging principle, the imaging distance of the specific targeting device is different, and the radius of the target surface image in the target image of the same target acquired by the targeting device is different. When the same target is targeted by the same targeting equipment, the smaller the targeting distance is, the larger the radius of the target surface image in the target image acquired by the targeting equipment is; conversely, the larger the targeting distance, the smaller the radius of the target surface image in the target image acquired by the targeting device. That is, the radius of the target surface image in the target image acquired by the targeting device corresponds to the targeting distance. Thus, the respective radii of the target surface images in each target image correspond to the respective first direction of the target pixel deviation and the respective second direction of the target pixel deviation essentially reflect the respective first direction of the target pixel deviation and the respective second direction of the target pixel deviation of the respective target distance of each target image.
Step 130, fitting to obtain a mapping relationship between the preset direction targeting pixel deviation and the corresponding radius of the target surface image in each target image based on the preset direction targeting pixel deviation and the corresponding radius of the target surface image.
Then, based on the aiming pixel deviation along the first direction corresponding to the radius of the target surface image of each target image obtained in the previous step, the mapping relation between the first direction aiming pixel deviation and the radius of the target surface image in the target image collected by the target device is fitted, and based on the aiming pixel deviation along the second direction corresponding to the radius of the target surface image of each target image obtained in the previous step, the mapping relation between the second direction aiming pixel deviation and the radius of the target surface image in the target image collected by the target device is fitted.
In some embodiments of the present application, based on the preset direction-targeting pixel deviation corresponding to each target image and the radius of the corresponding target image, fitting to obtain a mapping relationship between the preset direction-targeting pixel deviation and the radius of the corresponding target image in each target image includes: and for each target image, taking the radius of the target surface image corresponding to each target image as an independent variable, taking the preset direction aiming pixel deviation corresponding to the corresponding target image as a dependent variable, and fitting a mapping relation between the preset direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the target equipment by adopting a linear function. For example, a linear function of y=kx+b may be used to represent a mapping relationship between the target pixel deviation in the preset direction and the radius of the target image, where x is the radius of the target image in each target image and y is the target pixel deviation in the preset direction corresponding to the corresponding target image.
As described above, the preset direction includes: and the mapping relation between the aiming pixel deviation in the corresponding direction and the radius of the target surface image can be obtained respectively according to the aiming pixel deviation in different directions corresponding to the radius of the target surface image in the first direction and the second direction perpendicular to the first direction.
In some embodiments of the present application, the fitting, by using a radius of the target surface image corresponding to each target image as an independent variable and using the preset direction targeting pixel deviation corresponding to the corresponding target image as a dependent variable, a mapping relationship between the preset direction targeting pixel deviation and the radius of the target surface image in the target image acquired by the targeting device by using a linear function includes: taking the radius of the target surface image corresponding to each target image as an independent variable, taking the deviation of the first direction aiming pixels corresponding to the corresponding target image as an independent variable, and fitting a mapping relation between the deviation of the first direction aiming pixels in the target image acquired by the target equipment and the radius of the target surface image by adopting a linear function; and fitting a mapping relation between the second-direction aiming pixel deviation in the target image acquired by the target equipment and the radius of the target image by using a linear function, wherein the radius of the target image corresponding to each target image is taken as an independent variable, the second-direction aiming pixel deviation corresponding to the corresponding target image is taken as an independent variable.
Taking the first direction as the horizontal direction as an example, when the mapping relation between the horizontal direction aiming pixel deviation and the radius of the target surface image is fitted, the independent variable of the linear function is R, and the dependent variable is y H . That is, for each target image, the radius R of the target surface image in the target image is used as an independent variable, and the target pixel deviation in the horizontal direction corresponding to the target image is used as an independent variable y H Constructing a plurality of linear functions, then, solving the optimal k value and b value, fitting the linear distribution relation of the horizontal direction aiming pixel deviation relative to the radius R of the target surface image, thereby determining the linear mapping relation y between the aiming pixel difference along the horizontal direction corresponding to each target image and the radius of the target surface image H ＝k H R+b H And determining the linear mapping relation between the aiming pixel difference of the targeting device in the horizontal direction and the radius of the target surface image.
Correspondingly, when the mapping relation between the vertical aiming pixel deviation and the radius of the target surface image is fitted, the independent variable of the linear function is R, and the dependent variable is y V . That is, for each target image, the radius R of the target surface image in the target image is used as an independent variable, and the target pixel deviation in the vertical direction corresponding to the target image is used as an independent variable y V Constructing a plurality of linear functions, then, determining the corresponding vertical direction along each target image by solving the optimal k value and b value and fitting the linear distribution relation of the deviation of the aiming pixels in the horizontal direction relative to the radius R of the target surface imageLinear mapping relationship y between directional aiming pixel difference and radius of target surface image V ＝k V R+b V And determining the linear mapping relation between the aiming pixel difference of the targeting device in the vertical direction and the radius of the target surface image.
And 140, acquiring target aiming pixel deviation for calibrating the image center point of the target image acquired by the targeting device based on different targeting distances according to the mapping relation.
As described above, for a target device, when targets are located at different target distances, there is a correspondence between the radius of the target surface image in the collected target image and the target distance. Therefore, the mapping relationship between the preset direction aiming pixel deviation and the corresponding radius of the target surface image in the target image can be used as the mapping relationship between the preset direction aiming pixel deviation and different targeting distances. That is, for a known targeting distance, the radius of the target surface image in the acquired target image is known, and according to the mapping relationship determined in the foregoing step, the targeting pixel deviation corresponding to the first direction and the targeting pixel deviation corresponding to the second direction can be determined respectively. The target aiming pixel deviation corresponding to the determined first direction is the target aiming pixel deviation of the first direction for calibrating the image center point of the target image acquired by the targeting equipment based on the targeting distance; and determining target pixel deviation corresponding to the second direction, namely calibrating the target pixel deviation of the second direction of the target image center point acquired by the targeting equipment based on the targeting distance.
In other embodiments of the present application, as shown in fig. 6, the method further comprises: steps 150 to 170.
Step 150, acquiring the radius of the target surface image in the target image acquired by the image acquisition device when the shooting trigger device of the targeting equipment is triggered.
After determining the mapping relation between the preset direction aiming pixel deviation and the corresponding radius of the target surface image in each target image, further, according to the mapping relation, the target aiming pixel deviation of the target image, which is calibrated based on the image center point of the target image acquired by the target equipment at different target shooting distances, can be acquired. For example, when the targeting device targets based on setting the targeting distance, the targeting device will collect a target image corresponding to the targeting distance, and according to the method described above, the radius R of the target surface image in the collected target image may be further determined.
And step 160, acquiring target aiming pixel deviation for calibrating the image center point of the target image according to the radius.
Then, the corresponding target aiming pixel deviation is obtained according to the mapping relation based on the obtained radius R of the target surface image of the target under the set target shooting distance. Specifically, the radius R is brought into the mapping relation y of the first direction obtained by fitting in the previous step H ＝k H R+b H Obtaining the corresponding y H The target aiming pixel deviation along the first direction is calibrated to the image center point of the target image. Similarly, the radius R is brought into the mapping relation y of the second direction obtained by fitting in the previous step V ＝k V R+b V Obtaining the corresponding y V The target aiming pixel deviation along the second direction is calibrated to the image center point of the target image.
And 170, respectively superposing the corresponding target aiming pixel deviation on the pixel coordinates in each preset direction corresponding to the image center point of the target image to serve as the shooting center point of the targeting equipment, so that the shooting line of the targeting equipment is overlapped with the aiming baseline of the targeting equipment.
Finally, the pixel coordinates of the image center point of the target image corresponding to the first direction are overlapped with the target aiming pixel deviation y along the first direction H Superposing target aiming pixel deviation y along the second direction on pixel coordinates of the image center point of the target image corresponding to the second direction V And the pixel points in the target image corresponding to the obtained pixel coordinates can be used as shooting center points of the targeting equipment.
Through the calibration, the shooting line 502 of the current target of the target equipment is adjusted to be overlapped with the aiming baseline 501 of the target equipment, so that the calculated shooting center point can more accurately reflect the aiming accuracy of a target operator.
The calibration method of the targeting device disclosed by the embodiment of the application is applied to a targeting device based on image acquisition, and the irradiation direction of a light beam emitted by the light beam emitting device is directed to the image acquisition view field of the image acquisition device through the light beam emitting device configured for calibrating the targeting device, and then a plurality of target images which are acquired by the image acquisition device and correspond to targets at different targeting distances are acquired, wherein the target images comprise: a target surface image and a light spot image formed on the target surface of the target by the direct light beam; acquiring preset direction aiming pixel deviation corresponding to each target image according to the light spot image and the target image in each target image; based on the preset direction aiming pixel deviation corresponding to each target image and the corresponding radius of the target surface image, a mapping relation between the preset direction aiming pixel deviation in each target image and the corresponding radius of the target surface image is obtained through fitting, so that according to the mapping relation, the target aiming pixel deviation for calibrating the image center point of the target image acquired by the target equipment based on different target shooting distances can be acquired, the image center point of the target image is calibrated, and accuracy for determining the shooting center point of the target equipment is improved.
According to the calibration method of the target equipment disclosed by the embodiment of the application, the deviation between the center point (such as the laser aiming point) of the light spot image and the image center point (such as the camera center point) of the target image under different target shooting distances is obtained, so that the image center point of the target image shot under different target shooting distances is corrected, and the superposition of a shooting line and an aiming baseline is realized. The calibration method of the targeting equipment disclosed by the embodiment of the application can ensure that aiming points forming three points and one line according to eyes, a gate and a sight are shooting center points under different targeting distances, and can improve the accuracy of determining the shooting center points under different targeting distances.
Example two
The embodiment of the application discloses a calibration device of a targeting device, which is applied to the targeting device provided with an image acquisition device, wherein the irradiation direction of a light beam emitted by a light beam emitting device configured for calibrating the targeting device points to the image acquisition view field of the image acquisition device, and as shown in fig. 7, the device comprises:
the target image obtaining module 710 is configured to obtain a plurality of target images corresponding to targets collected by the image collecting device when the targets are located at different targeting distances, where the target images include: a target surface image and a light spot image formed on the target surface of the target by the direct light beam;
A targeting pixel deviation obtaining module 720, configured to obtain a preset direction targeting pixel deviation corresponding to each target image according to the spot image and the target image in each target image;
the mapping relationship obtaining module 730 is configured to obtain, by fitting, a mapping relationship between the preset direction targeting pixel deviation in each target image and the corresponding radius of the target image based on the preset direction targeting pixel deviation corresponding to each target image and the corresponding radius of the target image;
and the calibration deviation obtaining module 740 is configured to obtain, according to the mapping relationship, a target aiming pixel deviation for calibrating an image center point of a target image acquired by the targeting device based on different targeting distances.
In some embodiments of the present application, the subpixel deviation acquisition module 720 is further configured to:
and for each target image, determining the corresponding preset direction aiming pixel deviation of each target image when different target shooting distances are met according to the pixel deviation of the image center point of the target image along the preset direction relative to the image center point of the light spot image.
In some embodiments of the present application, the fitting, based on the preset direction-targeting pixel deviation corresponding to each target image and the radius of the corresponding target image, to obtain a mapping relationship between the preset direction-targeting pixel deviation and the radius of the corresponding target image in each target image includes:
And for each target image, taking the radius of the target surface image corresponding to each target image as an independent variable, taking the preset direction aiming pixel deviation corresponding to the corresponding target image as a dependent variable, and fitting a mapping relation between the preset direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the target equipment by adopting a linear function.
In some embodiments of the present application, the preset direction includes: the method for fitting the mapping relationship between the preset direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the target equipment by adopting a linear function comprises the following steps of:
taking the radius of the target surface image corresponding to each target image as an independent variable, taking the deviation of the first direction aiming pixels corresponding to the corresponding target image as an independent variable, and fitting a mapping relation between the deviation of the first direction aiming pixels in the target image acquired by the target equipment and the radius of the target surface image by adopting a linear function; the method comprises the steps of,
And taking the radius of the target surface image corresponding to each target image as an independent variable, taking the second direction aiming pixel deviation corresponding to the corresponding target image as an independent variable, and fitting a mapping relation between the second direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the target equipment by adopting a linear function.
In some embodiments of the present application, as shown in fig. 8, the apparatus further comprises:
a shooting image acquisition module 750, configured to acquire a radius of a target surface image in a target image acquired by the image acquisition device when a shooting trigger device of the shooting device is triggered;
a calibration module 760, configured to obtain, according to the radius, a target aiming pixel deviation for calibrating an image center point of the target image; and superposing the corresponding target aiming pixel deviation on pixel coordinates in each preset direction corresponding to the image center point of the target image to serve as a shooting center point of the target equipment, so that a shooting line of the target equipment coincides with an aiming baseline of the target equipment.
The calibration device of the targeting device disclosed by the embodiment of the application is used for realizing the calibration method of the targeting device described in the first embodiment of the application, and specific implementation manners of each module of the device are not repeated, and can be referred to specific implementation manners of corresponding steps of the method embodiment.
The calibration device of the targeting equipment disclosed by the embodiment of the application is applied to a targeting device based on image acquisition, the irradiation direction of a light beam emitted by the light beam emitting device is directed to the image acquisition view field of the image acquisition device through the light beam emitting device configured for calibrating the targeting equipment, and then a plurality of target images which are acquired by the image acquisition device and correspond to targets at different targeting distances are acquired, wherein the target images comprise: a target surface image and a light spot image formed on the target surface of the target by the direct light beam; acquiring preset direction aiming pixel deviation corresponding to each target image according to the light spot image and the target image in each target image; based on the preset direction aiming pixel deviation corresponding to each target image and the corresponding radius of the target surface image, a mapping relation between the preset direction aiming pixel deviation in each target image and the corresponding radius of the target surface image is obtained through fitting, so that according to the mapping relation, the target aiming pixel deviation for calibrating the image center point of the target image acquired by the target equipment based on different target shooting distances can be acquired, the image center point of the target image is calibrated, and accuracy for determining the shooting center point of the target equipment is improved.
According to the calibrating device of the target shooting equipment disclosed by the embodiment of the application, the deviation between the center point (such as the laser aiming point) of the light spot image and the image center point (such as the camera center point) of the target image under different target shooting distances is obtained, so that the image center point of the target image shot under different target shooting distances is corrected, and the overlapping of a shooting line and an aiming baseline is realized. The calibration method of the targeting equipment disclosed by the embodiment of the application can ensure that aiming points forming three points and one line according to eyes, a gate and a sight are shooting center points under different targeting distances, and can improve the accuracy of determining the shooting center points under different targeting distances.
Correspondingly, the embodiment of the application also discloses a targeting device, taking the targeting gun shown in fig. 9 as an example, the targeting device comprises:
a sight 901, which is arranged at the front end of the targeting device;
a camera 902 disposed at the rear end of the targeting device; the sight 902 and the sight 901 form a sight baseline of the targeting device along the shooting outlet direction of the targeting device;
a shooting trigger 903 provided on the targeting device;
an image acquisition device 904, which is arranged on the targeting equipment and is used for acquiring target images of targets arranged at a set distance in front of the targeting equipment when the shooting trigger device 904 is triggered;
And the controller 905 is configured to calibrate an image center point of the target image according to a radius of a target surface image in the target image and a preset target aiming pixel deviation corresponding to the radius, where the target aiming pixel deviation is used to calibrate the image center point of the target image, and take the calibrated point as a shooting center point of the target device, so that a shooting line of the target device coincides with an aiming baseline of the target device.
In some embodiments of the application, the controller 905 may be provided on the targeting device body (e.g., in the arrangement of fig. 9). In some embodiments of the application, the controller 905 may be disposed outside the targeting device body. For example, the controller 905 may be a plug-in general purpose computing processing device (e.g., a smart terminal), or a targeting data processing terminal of a dedicated targeting device. The specific embodiment and set position of the controller 905 are not limited by the present application.
In some embodiments of the application, the targeting device further comprises: a beam emitting device (not shown) configured for calibrating the targeting device. When the light beam emitting device is connected to the target equipment, the irradiation direction of the light beam emitted by the light beam emitting device points to the image acquisition view field of the image acquisition device.
In some embodiments of the application, the light beam emitting device is detachably connected to the targeting device.
In some embodiments of the present application, the controller 905 further comprises:
a preset module (not shown in the figure) for executing the calibration method of the targeting device in the partial steps 110 to 140 in the first embodiment to obtain the target targeting pixel deviation for calibrating the center point of the target image acquired by the targeting device based on different targeting distances;
a calibration module (not shown in the figure) for acquiring the radius of the target surface image in the target image acquired by the image acquisition device when the shooting trigger device is triggered; according to the radius, obtaining target aiming pixel deviation for calibrating a shooting center point corresponding to the target image;
the calibration module is further configured to superimpose the corresponding target aiming pixel deviation on pixel coordinates in each preset direction corresponding to an image center point of the target image, where the target aiming pixel deviation is used as a shooting center point of the target shooting device.
The specific implementation manners of the preset module and the calibration module are referred to the related descriptions in the first embodiment, and are not repeated here.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
The above description of the calibration method and device of the targeting device and the targeting device provided by the application applies specific examples to illustrate the principle and implementation of the application, and the above examples are only used for helping to understand the method and core idea of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present application without undue burden.
Various component embodiments of the application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that some or all of the functions of some or all of the components in an electronic device according to embodiments of the present application may be implemented in practice using a microprocessor or Digital Signal Processor (DSP). The present application can also be implemented as an apparatus or device program (e.g., a computer program and a computer program product) for performing a portion or all of the methods described herein. Such a program embodying the present application may be stored on a computer readable medium, or may have the form of one or more signals. Such signals may be downloaded from an internet website, provided on a carrier signal, or provided in any other form.
For example, fig. 10 shows an electronic device in which the method according to the application may be implemented. The electronic device may be a PC, a mobile terminal, a personal digital assistant, a tablet computer, etc. The electronic device conventionally comprises a processor 1010 and a memory 1020 and program code 1030 stored on said memory 1020 and executable on the processor 1010, said processor 1010 implementing the method described in the above embodiments when said program code 1030 is executed. The memory 1020 may be a computer program product or a computer readable medium. The memory 1020 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 1020 has a storage space 10201 for program code 1030 of a computer program for performing any of the method steps in the method described above. For example, the storage space 10201 for the program code 1030 may include individual computer programs for implementing the various steps in the above methods, respectively. The program code 1030 is computer readable code. These computer programs may be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. The computer program comprises computer readable code which, when run on an electronic device, causes the electronic device to perform a method according to the above-described embodiments.
The embodiment of the application also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the program is executed by a processor to realize the steps of the calibration method of the targeting device.
Such a computer program product may be a computer readable storage medium, which may have memory segments, memory spaces, etc. arranged similarly to the memory 1020 in the electronic device shown in fig. 10. The program code may be stored in the computer readable storage medium, for example, in a suitable form. The computer readable storage medium is typically a portable or fixed storage unit as described with reference to fig. 11. In general, the memory unit includes computer readable code 1030', which computer readable code 1030' is code that is read by a processor, which when executed by the processor, implements the steps of the methods described above.
Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Furthermore, it is noted that the word examples "in one embodiment" herein do not necessarily all refer to the same embodiment.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application 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 application.

Claims (12)

1. A calibration method of a targeting device, which is applied to a targeting device provided with an image acquisition device, wherein an irradiation direction of a light beam emitted by a light beam emitting device configured for calibrating the targeting device is directed to an image acquisition field of view of the image acquisition device, the calibration method comprising:
acquiring a plurality of target images which are acquired by the image acquisition device and correspond to targets when the targets are located at different targeting distances, wherein the target images comprise: a target surface image and a light spot image formed on the target surface of the target by the direct light beam;
acquiring preset direction aiming pixel deviation corresponding to each target image according to the light spot image and the target image in each target image;
fitting to obtain a mapping relationship between the preset direction aiming pixel deviation and the corresponding radius of the target surface image in each target image based on the preset direction aiming pixel deviation and the corresponding radius of the target surface image corresponding to each target image;
and acquiring target aiming pixel deviation for calibrating the image center point of the target image acquired by the targeting equipment based on different targeting distances according to the mapping relation.
2. The method of claim 1, wherein the obtaining a preset directional targeting pixel deviation for each target image based on the spot image and the target image in each target image comprises:
and for each target image, determining the corresponding preset direction aiming pixel deviation of each target image when different target shooting distances are met according to the pixel deviation of the image center point of the target image along the preset direction relative to the image center point of the light spot image.
3. The method of claim 1, wherein the fitting the mapping relationship between the preset directional-target pixel deviation and the corresponding radius of the target image in each target image based on the preset directional-target pixel deviation and the corresponding radius of the target image comprises:
and for each target image, taking the radius of the target surface image corresponding to each target image as an independent variable, taking the preset direction aiming pixel deviation corresponding to the corresponding target image as a dependent variable, and fitting a mapping relation between the preset direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the target equipment by adopting a linear function.
4. A method according to claim 3, wherein the predetermined direction comprises: the method for fitting the mapping relationship between the preset direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the target equipment by adopting a linear function comprises the following steps of:
taking the radius of the target surface image corresponding to each target image as an independent variable, taking the deviation of the first direction aiming pixels corresponding to the corresponding target image as an independent variable, and fitting a mapping relation between the deviation of the first direction aiming pixels in the target image acquired by the target equipment and the radius of the target surface image by adopting a linear function; the method comprises the steps of,
and taking the radius of the target surface image corresponding to each target image as an independent variable, taking the second direction aiming pixel deviation corresponding to the corresponding target image as an independent variable, and fitting a mapping relation between the second direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the target equipment by adopting a linear function.
5. The method of any one of claims 1-4, wherein the calibration method further comprises:
acquiring the radius of a target surface image in a target image acquired by the image acquisition device when the shooting trigger device of the targeting equipment is triggered;
acquiring target aiming pixel deviation for calibrating an image center point of the target image according to the radius;
and respectively superposing the corresponding target aiming pixel deviation on pixel coordinates in each preset direction corresponding to the image center point of the target image to serve as a shooting center point of the targeting equipment, so that a shooting line of the targeting equipment is overlapped with an aiming baseline of the targeting equipment.
6. A calibration device for a targeting apparatus, characterized by being applied to a targeting apparatus provided with an image pickup device, wherein an irradiation direction of a light beam emitted by a light beam emitting means configured for calibrating the targeting apparatus is directed to an image pickup field of view of the image pickup device, the calibration device comprising:
the target image acquisition module is used for acquiring a plurality of target images corresponding to targets which are located at different targeting distances and acquired by the image acquisition device, wherein the target images comprise: a target surface image and a light spot image formed on the target surface of the target by the direct light beam;
The aiming pixel deviation acquisition module is used for acquiring the aiming pixel deviation of the preset direction corresponding to each target image according to the light spot image and the target image in each target image;
the mapping relation acquisition module is used for fitting to obtain a mapping relation between the preset direction aiming pixel deviation in each target image and the corresponding radius of the target image based on the preset direction aiming pixel deviation corresponding to each target image and the corresponding radius of the target image;
the calibration deviation acquisition module is used for acquiring target aiming pixel deviation for calibrating the image center point of the target image acquired by the targeting equipment based on different targeting distances according to the mapping relation.
7. A targeting device, comprising:
the sight is arranged at the front end of the targeting equipment;
the gate is arranged at the rear end of the targeting equipment; the sight and the sight form a sighting base line of the targeting device along the shooting outlet direction of the targeting device;
the shooting trigger device is arranged on the targeting equipment;
the image acquisition device is arranged on the targeting equipment and is used for acquiring target images of targets arranged at a set distance in front of the targeting equipment when the shooting trigger device is triggered;
And the controller is used for calibrating the image center point of the target image according to the radius of the target surface image in the target image and the preset target aiming pixel deviation corresponding to the radius and used for calibrating the image center point of the target image, and taking the calibrated point as the shooting center point of the target equipment, so that the shooting line of the target equipment coincides with the aiming baseline of the target equipment.
8. The targeting device of claim 7, further comprising: and the light beam emitting device is configured for calibrating the target equipment, and when the light beam emitting device is connected to the target equipment, the irradiation direction of the light beam emitted by the light beam emitting device points to the image acquisition view field of the image acquisition device.
9. A targeting device according to claim 8, wherein the light beam emitting means is detachably connected to the targeting device.
10. A targeting device according to any one of the claims 7-9, wherein said controller further comprises:
a preset module, configured to perform the calibration method of the targeting device according to any one of claims 1 to 4, so as to obtain a target targeting pixel deviation for calibrating an image center point of a target image acquired by the targeting device based on different targeting distances;
The calibration module is used for acquiring the radius of the target surface image in the target image acquired by the image acquisition device when the shooting trigger device is triggered; according to the radius, obtaining target aiming pixel deviation for calibrating a shooting center point corresponding to the target image;
the calibration module is further configured to superimpose the corresponding target aiming pixel deviation on pixel coordinates in each preset direction corresponding to an image center point of the target image, where the target aiming pixel deviation is used as a shooting center point of the target shooting device.
11. An electronic device comprising a memory, a processor and program code stored on the memory and executable on the processor, wherein the processor, when executing the program code, implements a method of calibrating a targeting device according to any of claims 1 to 5.
12. A computer readable storage medium having stored thereon program code, which when executed by a processor, performs the steps of the method of calibrating a targeting device according to any of the claims 1 to 5.
CN202211173421.5A 2022-09-26 2022-09-26 Calibration method and device of targeting equipment and targeting equipment Pending CN116625256A (en)

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JP2006119070A (en) * 2004-10-25 2006-05-11 Mitsubishi Electric Corp Ballistic position measuring device and aiming implement for small firearm
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