CN1512131A - System with micro TV camera to otain aiming point track of sportsman - Google Patents
System with micro TV camera to otain aiming point track of sportsman Download PDFInfo
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- CN1512131A CN1512131A CNA021595925A CN02159592A CN1512131A CN 1512131 A CN1512131 A CN 1512131A CN A021595925 A CNA021595925 A CN A021595925A CN 02159592 A CN02159592 A CN 02159592A CN 1512131 A CN1512131 A CN 1512131A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A33/00—Adaptations for training; Gun simulators
- F41A33/02—Light- or radiation-emitting guns ; Light- or radiation-sensitive guns; Cartridges carrying light emitting sources, e.g. laser
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- Optics & Photonics (AREA)
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The micro TV camera system for obtaining aiming point track of sportsman includes mainly optical telescope, micro video camera, radio emitter, radio receiver, computer and power supply. One micro video camera with optical telescope barrel is mounted onto the gun barrel, so that the condition of aiming the target is photographed. Then, via radio emission and radio receiving, image signal is transmitted to some special computer with image processing program for processing, calculation, drawing the aiming point track and marking final impact point. The present invention can record and trace the whole aiming and shooting procedure, and has few influence on the training of sportsman.
Description
Technical field
The present invention relates to a kind of miniature TV camera that utilizes and take, write down the system that the sportsman aims at process, obtains sportsman's aiming point track.
Background technology
In shooting, archery project, for improving athletic training achievement as early as possible, the coach wishes to grasp the technical movements of sportsman from be targeted to the whole process of percussion urgently comprehensively, so that pinpoint the problems, deal with problems, improve results.
In order to monitor sportsman's aiming point situation of movement on target surface from be targeted to the percussion overall process, the training forces that condition is good can only buy import equipment.Widely used method is in the import equipment at present: a directional ir is installed on gun barrel is received lens barrel; Around target sheet invisible infraluminescence cursor of a plurality of sportsman's naked eyes or infrared reflecting cursor are installed, each cursor has different luminescence laws; When the sportsman aims at, along with the minute movement of gun barrel, be installed in the signal that infrared cursor that infrared reception lens barrel on the gun barrel will receive diverse location sends, by cable signal is delivered in the special purpose computer and analyzed.Because each infrared light target luminescence law difference, so special purpose computer can be according to the difference of each cursor signal proportion of receiving, calculate the target surface position of the gun barrel sensing that has infrared reception lens barrel, depict the motion track of sportsman's aiming point on target surface thus indirectly.
The advantage of this recording method is: can accurately, intactly write down sportsman's aiming point motion track on target surface from be targeted to the whole process of percussion, how assess the armed stability of sportsman.But the shortcoming of this method maximum is: its requires each when changing target sheet, the center of target sheet must with the center strict conformance of infrared cursor appointment around the target surface, otherwise the sportsman is the school rifle again.For example, " 10 " of 50 meter rifle target ring circular diameter has only 10 millimeters, if indication of shots required precision 0.1 ring, departing from when target sheet is installed can not be above 0.5 millimeter.So, proposed very high requirement with regard to the replacing of giving target sheet, the sportsman feels trouble very, has wasted their a lot of valuable time.Concerning running target shooting, be difficult to install infrared cursor.In addition, because infrared reception lens barrel is by cable the cursor signal that receives to be sent in the special purpose computer to analyze, so, a very long cable will be installed on athletic gun barrel, it is very inconvenient that the sportsman feels, and the rifle of using during with real racetrack all falls far short aspect volume and weight.
Summary of the invention
In view of the foregoing, the purpose of this invention is to provide a kind of system that utilizes miniature TV camera to obtain sportsman's aiming point track.
For achieving the above object, the present invention takes following design: a kind of system that utilizes miniature TV camera to obtain sportsman's aiming point track is characterized in that: it mainly is made of optical telescope tube, microcam, wireless launcher, radio receiver, special purpose computer and power supply;
Described optical telescope tube is installed in the front of described microcam camera lens;
Described microcam is fastened on the gun barrel by installing rack, and this microcam has a wireless launcher;
Described radio receiver receives the image of described wireless launcher emission by antenna, and the serial port of data by standard transferred to described special purpose computer;
Store image processing program in the described special purpose computer, the view data that receives can be handled, and on display, draw out sportsman's aiming point motion track on target surface from the whole process that is targeted to percussion, after photographing the shell hole photo, mark out last point of impact.
A kind of method of utilizing miniature TV camera to obtain sportsman's aiming point track:
The first step: utilize miniature TV camera to take the image of target surface; And the image that photographs is sent in the special purpose computer;
Second step: special purpose computer is carried out its inner image processing program, with the image filtering that photographs, obtains a solid black target circle;
The 3rd step: the brightness of each pixel in the filtered target circle diagram sheet is reversed to blackness, and carries out binary conversion treatment;
The 4th step: calculate X, the Y-axis blackness distribution curve of target circle diagram sheet, and the target center coordinate;
The blackness of each pixel in the filtered target circle diagram sheet is listed as addition respectively by going and pressing, obtains the blackness distribution curve that the row, column both direction has simple feature; The maximum of curve X, Y-axis is the target circular diameter, and the coordinate of target circular diameter central point is the coordinate of the relative aiming point of target center);
The 5th step: according to the counter aiming point coordinate of releasing this width of cloth image correspondence of the coordinate of target center;
The 6th step: repeated for first to the 6th step, calculate the coordinate of piece image aiming point down;
The 7th step: the aiming point of each width of cloth image that will calculate is indicated in the target surface pattern continuously, obtains complete aiming point trajectory diagram.
The present invention can write down the movement locus of sportsman's aiming point in whole aiming process and last point of impact exactly, help the coach to analyze athletic technical movements, use simple, convenient, this auxiliary training system is very little to athletic training influence, and the replacing of target sheet is not had any requirement.
Description of drawings
Fig. 1 describes the system construction drawing of sportsman's aiming point track for the present invention utilizes miniature TV camera
Fig. 2 describes the main program block diagram of sportsman's aiming point track for the present invention
Fig. 3 is a curvilinear characteristic analyzing and processing subprogram block diagram of the present invention
Fig. 4 is target surface pattern for example (50 meter rifle target)
Fig. 5 is for the present invention's shooting in real time and through the target circle diagram of LPF and its densograph
Sportsman's aiming point trajectory diagram that Fig. 6 describes for the present invention
The specific embodiment
Design principle of the present invention is: on shooter's the gun barrel or on bow's the arrow bow miniature TV camera is being installed, the situation of gun barrel being pointed to target surface is filmed, then, by wireless launcher the picture signal of taking is launched, receive this signal by radio receiver again, and it is transferred in the special purpose computer handle, depict the motion track of aiming point on target surface, and the actual point of impact of photographing can be marked out and contrasted.The coach can monitor the aiming process in real time, and the movement locus of the sportsman's aiming point that can draw by special purpose computer is analyzed athletic technical movements again.
As shown in Figure 1, auxiliary training system of the present invention mainly is made of optical telescope tube 1, microcam 2, wireless launcher 3, radio receiver 4, computer 5 and power supply 6.
At any time observe athletic shooting situation for ease of the coach, the present invention also shows target surface image 52 and the aiming point 53 that microcam is taken on the special purpose computer display, picture centre indicates athletic aiming point 53 with " ten " word line, and the coach can monitor the relativeness of target surface 52 and sportsman's aiming point 53 thus.
Power supply 6 mainly is to provide working power for microcam 2 and wireless launcher 3, and it can be the lithium battery of high power capacity, also can provide power supply by cable 62 for microcam 2 and wireless launcher 3 by the battery case 61 that is installed in the rifle bottom.Because power consumption electric current of the present invention has only about 50 milliamperes, so, be that the whole system power supply gets final product with battery.
The method that the present invention utilizes miniature TV camera to obtain sportsman's aiming point track is:
The first step: utilize miniature TV camera to take the image of target surface; And the image that photographs is sent in the special purpose computer;
Second step: special purpose computer is carried out its inner image processing program, with the image filtering that photographs, obtains a solid black target circle;
The 3rd step: the brightness of each pixel in the filtered target circle diagram sheet is reversed to blackness, and carries out binary conversion treatment;
The 4th step: calculate X, the Y-axis blackness distribution curve of target circle diagram sheet, and the target center coordinate;
The blackness of each pixel in the filtered target circle diagram sheet is listed as addition respectively by going and pressing, obtains the blackness distribution curve that the row, column both direction has simple feature.Distribution curve is the target circular diameter in the maximum of both direction (X-axis, Y-axis), and the coordinate of target circular diameter central point is the coordinate of the relative aiming point of target center.
The 5th step: according to the counter coordinate of releasing this width of cloth image aiming point of the coordinate of target center;
The 6th step: repeated for first to the 6th step, calculate the coordinate of piece image aiming point down;
The 7th step: the aiming point of each width of cloth image that will calculate is indicated in the target surface pattern continuously, obtains complete aiming point trajectory diagram (as shown in Figure 6).
Fig. 2 is stored in the image processing program block diagram that is used for describing sportsman's aiming point track in the special purpose computer 5.
The 50 meter rifle target (see figure 4) of using with shooting sports is described the method for aiming point track as the example explanation.
The first step: utilize miniature TV camera to take the image of target surface; And the image that photographs is sent in the special purpose computer.
Second step: special purpose computer is carried out its inner image processing program, with the image filtering that photographs, obtains a solid black target circle.
The 50 meter rifle target of representing with Fig. 4 is an example.Target surface pattern 3.6 ring is a black with interior zone, above the adularescent ring, we claim that this piece dark circular region is the target circle, its central point is a target center.Target circle outside also has the ring of three black lines.After the target surface pattern enters camera coverage, but our usage space low-pass filtering technique, and elimination ring and the numeral that marks above obtain a solid black target circle, the target circle diagram sheet that obtains when being illustrated in figure 5 as an aiming point deflection target center lower left.
The 3rd step: the brightness of each pixel in the filtered target circle diagram sheet is reversed to blackness, and carries out binary conversion treatment.
We are reversed to blackness with the brightness of each pixel in the filtered target circle diagram sheet, and carry out binary conversion treatment.Being brightness is changed to " 1 " (deceiving) less than the pixel blackness of a certain threshold value, and brightness is changed to " 0 " (in vain) greater than the pixel blackness of this threshold value.
The 4th step: the X, Y-axis blackness distribution curve and the target center coordinate that calculate target circle diagram sheet.
As shown in Figure 5, for the video camera of 640 * 480 decomposing force, we get 639 row (x direction) X479 capable (y direction) pixels.The x span is-319～319 integer, and the y span is-239～239 integer.Be exactly the aiming point of gun barrel the zero point of x, y.For selected event and selected telescope tube, target circular diameter 2R take the photograph picture on the value of expected early-fixed is arranged, its measurement unit is the number of pixels of horizontal direction or vertical direction.
With the addition of 639 pixel blackness of every row, can obtain the distribution curve fy (y) of a blackness, as the curve on accompanying drawing 5 right sides along the y direction.It has very simple feature: it has a maximum 2R to appear at the y=y0 point, and this point is the coordinate of target center at the y axle, and curve is symmetry axis with y=y0, is the distribution border with y0 ± R:
Similarly, if with the blackness addition of 479 pixels of every row, can obtain as the blackness of accompanying drawing 5 tops distribution curve fx (x) along the x direction:
Here xo is the coordinate of target center in the x direction.
When the target circle has only part to enter camera coverage, still can find out the target center position according to above-mentioned feature.In the actual process, because quantized interval and The noise should allow to exist some errors, the minor variations of sighting range also will cause the deviation of R value, can be revised according to fx (x) and fy (y) at any time.Easy in order to narrate, suppose here to take the photograph in the picture, the target circle all comes into view, and only curvilinear characteristic is simply discerned.
The 5th step: according to the coordinate and the anti-coordinate of aiming point in the target surface pattern of releasing in this width of cloth image of target circular diameter 2R of target center;
The 6th step: repeated for first to the 6th step, calculate the coordinate of piece image aiming point down;
The 7th step: the aiming point of each width of cloth image that will calculate is indicated in the target surface pattern continuously, obtains complete aiming point trajectory diagram.
In Fig. 2, behind the main program inlet, frame 1 is gathered brightness data 639 row (x direction) X479 capable (y direction) of a two field picture.Frame 2 carries out plane filtering and obtains the target circle.Frame 3 becomes each pixel and has only black (1) white (0) two kind of value.Frame 4 obtains the distribution curve fy (y) of blackness along the y direction with the addition of 639 pixel blackness of every row.Frame 5 is transferred the densograph signature analysises to handle subprograms the symmetry of fy (y), maximum, distribution border etc. is checked, if feature meets, and will be the function maximum as the diameter (2Rx) of x direction and with the y coordinate of its coordinate figure y0 as target center; Be not inconsistent as feature, think that the target circle does not come into view as yet, is return by frame 6 and gathers image again.
Frame 7, frame 8 will obtain the blackness distribution curve of x direction and carry out inspection by attributes.Obtain target center at the coordinate x0 of x axle and the target circular diameter 2Ry of y direction.Be not inconsistent as feature, will withdraw from through differentiating frame 9.
Frame 10 is got (Rx+Ry) as target circle average diameter, and by x0, the anti-aiming point of releasing of y0 value---the position of the xy origin of coordinates in target is justified, and it is indicated in one continuously is on the aiming point trajectory diagram of background with the target surface pattern.In Fig. 6, label 1 is a target trajectory, and label 2 is current aiming point.
Fig. 3 is the densograph signature analysis and handles subprogram.It just carries out some simple differentiations to improve arithmetic speed to curvilinear characteristic.
Behind the subroutine entry, frame 1 is at first finished the parameter transmission, and the densograph pointer is delivered to variable f (z).Frame 2 is sought maximum MAX and the corresponding coordinate z0 of f (z), and z0 is as a coordinate of target center.
At distance target center R/2 place, according to aforementioned equation, blackness should be
Frame 5 differentiate f (whether z0 ± R/2) meets:
Differentiate and still be as the criterion less than ER with error.
Frame 6 differentiates that (z0 ± R) is the boundary point of curve whether at f.
Should have
F[z outside the border
0± (R+E
R)]≤E
R
F[z in the border
0± (R-E
R)]＞＞E
R
So far curvilinear characteristic is differentiated and to be finished, and frame 7 is provided with feature and meets sign and take back target center coordinate z0 and new target circular diameter 2R returns main program.
From above-mentioned image processing process as can be known, special purpose computer can calculate the position of aiming point automatically, and used object of reference is exactly the target surface pattern that the sportsman shoots time aiming.So, the present invention compared with prior art, biggest advantage is: the replacing of target sheet is not had any requirement, can be used for running target even clay-pigeon shooting, very little to athletic training influence.
In addition, the present invention also can be when ball firing be pulled the trigger, the signal that utilizes the gun barrel vibrations to produce, after time-delay a period of time (shooting distance ÷ bullet velocity), start a program and take the shell hole photo behind the target on the bullet, compare with original shell hole photo, find out new shell hole, be labeled on the aiming point trajectory diagram.The shell hole photo can be used as the training athlete data equally for coach's analysis, reference.If because the influence of body of a gun kick, on the bullet behind the target target circle deflected away from image pickup scope, then can when sportsman's aiming next time, take, carry out image again and handle.Among Fig. 6, what label 3 was represented is a shell hole.
Advantage of the present invention is: the camera head volume that 1, is installed on the gun barrel is little, in light weight, and is very little to the gun volume and weight influence that the sportsman uses.The present invention selects up-to-date COMS picture pick-up device at present for use, and this COMS camera chip of a slice promptly can be made into a miniature colour or B.This camera chip resolving power is the highest can 1300 * 1100 pixels, and the camera chip size with 640 * 480 resolving powers only is 12 millimeters * 12 millimeters * 3 millimeters, and volume is very little, adds that the low-power wireless emitter is also square less than 20 millimeters.2, the present invention is as using the picture pick-up device of 640 * 480 resolving power, and concerning 10 rings of target surface, every ring can reach the resolving power of 480/20=24 line.Because gunnery training and match all are to carry out under the condition of visibility good, the target surface image is codes and standards very, therefore, if target surface 10 rings just in time all enter the visual angle, can reach the indication of shots precision of differentiating 1/48 ring, calculate if carry out relevant matches, be expected to realize 1/100 ring indication of shots precision with modern image processing techniques.3, this microcam can be exported 30 hardwood pictures by per second, can all be filmed sportsman's aiming point moving process on target surface from be targeted to the percussion overall process fully.4, whole system compact conformation of the present invention, volume are little.Because the present invention adopts wireless transmission, wireless receiving mode that the visual image signal of video camera output is transferred in the special purpose computer, so, saved long cable in the existing equipment, structure is simpler, compact.5, the present invention stores the image that the special purpose computer 5 of image processing program can be taken according to video camera 2, can not only calculate the movement locus of aiming point in the whole process, and can mark last point of impact according to the shell hole that photographs.
The above is preferred embodiment of the present invention only, and protection scope of the present invention is not limited thereto.As, the present invention is installed on the gun barrel after also can using commercially available microcam to be changed a social system, and takes the situation of the sensing target surface of gun barrel.So, anyly all belong within the protection domain of the present invention based on the equivalent transformation on the technical solution of the present invention.
Claims (2)
1, a kind of system that utilizes miniature TV camera to obtain sportsman's aiming point track, it is characterized in that: it mainly is made of optical telescope tube, microcam, wireless launcher, radio receiver, special purpose computer and power supply;
Described optical telescope tube is installed in the front of described microcam camera lens;
Described microcam is fastened on the gun barrel by installing rack, and this microcam has a wireless launcher;
Described radio receiver receives the image of described wireless launcher emission by antenna, and the serial port of data by standard transferred to described special purpose computer;
Store image processing program in the described special purpose computer, the view data that receives can be handled, and on display, draw out sportsman's aiming point motion track on target surface from the whole process that is targeted to percussion, after photographing the shell hole photo, mark out last point of impact.
2, a kind of method of utilizing miniature TV camera to obtain sportsman's aiming point track:
The first step: utilize miniature TV camera to take the image of target surface; And the image that photographs is sent in the special purpose computer;
Second step: special purpose computer is carried out its inner image processing program, with the image filtering that photographs, obtains a solid black target circle;
The 3rd step: the brightness of each pixel in the filtered target circle diagram sheet is reversed to blackness, and carries out binary conversion treatment;
The 4th step: calculate X, the Y-axis blackness distribution curve of target circle diagram sheet, and the target center coordinate;
The blackness of each pixel in the filtered target circle diagram sheet is listed as addition respectively by going and pressing, obtains the blackness distribution curve that the row, column both direction has simple feature; The maximum of curve X, Y-axis is the target circular diameter, and the coordinate of target circular diameter central point is the coordinate of the relative aiming point of target center);
The 5th step: according to the counter aiming point coordinate of releasing this width of cloth image correspondence of the coordinate of target center;
The 6th step: repeated for first to the 6th step, calculate the coordinate of piece image aiming point down;
The 7th step: the aiming point of each width of cloth image that will calculate is indicated in the target surface pattern continuously, obtains complete aiming point trajectory diagram.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA021595925A CN1512131A (en) | 2002-12-31 | 2002-12-31 | System with micro TV camera to otain aiming point track of sportsman |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA021595925A CN1512131A (en) | 2002-12-31 | 2002-12-31 | System with micro TV camera to otain aiming point track of sportsman |
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| CN1512131A true CN1512131A (en) | 2004-07-14 |
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| CNA021595925A Pending CN1512131A (en) | 2002-12-31 | 2002-12-31 | System with micro TV camera to otain aiming point track of sportsman |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102003918A (en) * | 2010-09-21 | 2011-04-06 | 中山市火炬开发区神剑警用器材厂 | Wireless video gun calibration training instrument |
| CN102082923A (en) * | 2009-11-30 | 2011-06-01 | 新奥特（北京）视频技术有限公司 | Subtitle replacing method and device adopting subtitle templates |
| CN103808204A (en) * | 2014-02-24 | 2014-05-21 | 浙江工业大学之江学院 | Shooting aiming track detection method based on live ammunition bullet holes in target and gun gesture detection |
| CN106885491A (en) * | 2017-04-10 | 2017-06-23 | 石鸿鹏 | Shooting track reproducing system and method |
| CN112484565A (en) * | 2020-10-20 | 2021-03-12 | 中国人民解放军总参谋部第六十研究所 | Shooting aiming training analysis system with trajectory simulation function |
| CN114234714A (en) * | 2021-11-12 | 2022-03-25 | 珠海强源体育用品有限公司 | Simulated shooting method and device for flying saucer shooting image gun and storage medium |
-
2002
- 2002-12-31 CN CNA021595925A patent/CN1512131A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102082923A (en) * | 2009-11-30 | 2011-06-01 | 新奥特（北京）视频技术有限公司 | Subtitle replacing method and device adopting subtitle templates |
| CN102003918A (en) * | 2010-09-21 | 2011-04-06 | 中山市火炬开发区神剑警用器材厂 | Wireless video gun calibration training instrument |
| CN102003918B (en) * | 2010-09-21 | 2013-03-20 | 中山市火炬开发区神剑警用器材厂 | Wireless video gun calibration training instrument |
| CN103808204A (en) * | 2014-02-24 | 2014-05-21 | 浙江工业大学之江学院 | Shooting aiming track detection method based on live ammunition bullet holes in target and gun gesture detection |
| CN103808204B (en) * | 2014-02-24 | 2015-07-08 | 浙江工业大学之江学院 | Shooting aiming track detection method based on live ammunition bullet holes in target and gun gesture detection |
| CN106885491A (en) * | 2017-04-10 | 2017-06-23 | 石鸿鹏 | Shooting track reproducing system and method |
| CN112484565A (en) * | 2020-10-20 | 2021-03-12 | 中国人民解放军总参谋部第六十研究所 | Shooting aiming training analysis system with trajectory simulation function |
| CN114234714A (en) * | 2021-11-12 | 2022-03-25 | 珠海强源体育用品有限公司 | Simulated shooting method and device for flying saucer shooting image gun and storage medium |
| CN114234714B (en) * | 2021-11-12 | 2024-03-22 | 珠海强源体育用品有限公司 | Method, device and storage medium for simulating shooting of flying saucer shooting image gun |
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