KR101284181B1 - Apparatus and method for measuring point of impact - Google Patents

Abstract

The present invention relates to an impact position measuring apparatus and an impact position measuring method, wherein the impact position measuring apparatus according to one aspect of the present invention is spaced apart from a target to be shot by a predetermined distance, the plane of light in front of the target. A light generating unit for generating a light source, an image input unit for receiving reflected light reflected when a predetermined object passes through the plane of light, an image coordinate generation unit for generating image coordinates corresponding to the plane of light, and And a modeling unit generating a polynomial model for converting the image coordinates into global coordinates corresponding to the position on the target, and an impact position calculating unit calculating the impact position of the object in the global coordinates according to the polynomial model. .

Description

Apparatus for measuring impact position and how to measure impact position {APPARATUS AND METHOD FOR MEASURING POINT OF IMPACT}

The present invention relates to an apparatus for measuring an impact position and an impact position measuring method for measuring an impact point position such as an arrow. More specifically, an object such as an arrow, which is passed at a distance from the target, is received as an image, By calculating the impact position of the target, it is possible to improve the accuracy of the impact position measurement because it is not affected by the physical deformation of the target and the positional change of the impacted object. The present invention relates to an impact position measuring apparatus and an impact position measuring method capable of minimizing an error occurring.

Excellent arrows have a high density of impact point and impact group distribution, and the movement trajectory converges to a certain range. Therefore, in order to determine the quality of the arrow, a technique for precisely measuring the impact point and the impact group of the arrow fired on the target under certain physical conditions is required.

In spite of the necessity of the measurement technique, an arrow shot at a predetermined position and aiming at a target site has a problem that it is difficult to measure simply because the arrow passes at a high speed to the target site. In most cases).

In the case of manual inspection, there is a problem that a certain level of precision cannot be expected when measuring by including human behavior, and the impact of the physical deformation of the target and the change of the position of the impacted object when an impact on the target such as an arrow is affected. There was.

In order to make up for the disadvantages of manual inspection, automatic measurement techniques using laser technology have been proposed. However, conventional automatic measurement techniques have a luminescence and light receiving sensor installed with the target so that the measured value exactly matches the position on the target. There must be a limitation that it should be installed at a position very close to the target, and the design distortion of the light emitting and light receiving sensors, and the distortion due to the refraction of light cannot be corrected, so that the accurate impact position measurement cannot be guaranteed. .

In order to solve the above problems, an object of the present invention is to generate a plane of light in front of the target to be shot target to receive the reflected light as an image when a predetermined object passes through the plane of light, An object of the present invention is to provide an impact position measuring device and an impact position measuring method capable of accurately measuring an impact position of an arrow reaching a target by using a polynomial model that converts image coordinates into global coordinates corresponding to positions on a target. The present invention provides an impact position measuring apparatus and an impact position measuring method capable of accurately measuring the impact position of an arrow reaching.

In addition, another object of the present invention is not affected by the physical deformation of the target and the positional change of the impacted object when the impact on the target such as the arrow, the distortion of the input image can be corrected, the impact point of the arrow fired on the target, The present invention provides an impact position measuring apparatus and an impact position measuring method capable of accurately measuring impact groups.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood from the following description.

An impact position measuring device according to one aspect of the present invention for achieving the above object is a light generating unit for generating a plane of light on the front of the target, a predetermined distance is separated from the target to be shot target, An image input unit for receiving the reflected light reflected as an object passing through the plane of light as an image, an image coordinate generation unit for generating image coordinates corresponding to the plane of light, and global coordinates corresponding to the position on the target. And a modeling unit configured to generate a polynomial model for converting to and an impact position calculating unit calculating an impact position of the object in global coordinates according to the polynomial model.

According to another aspect of the present invention, a method of measuring impact position includes generating a plane of light on a plane in front of a target to be shot, and inputting reflected light reflected when an object passes through the plane of light. Receiving, generating image coordinates corresponding to the plane of light using the irradiation intensity of the reflected light and pixel values of the reflected light, and generating a polynomial model for converting the image coordinates into global coordinates corresponding to the position on the target. And optimizing the polynomial model using the coordinate values in the image coordinates and the coordinate values in the global coordinates as learning data, and the global coordinates corresponding to the coordinate values in the image coordinates using the polynomial model according to the optimization. Calculating a coordinate value at and calculating an impact position of the object according to the result.

According to the present invention, an impact position such as an arrow can be accurately measured using a line laser and a camera, and a polynomial model can not only correct distortion of an image input by a camera, but also perform a polynomial model performance index. It is possible to provide an impact position measuring apparatus and an impact position measuring method capable of improving the accuracy by optimizing using such.

In addition, according to the present invention, since the impact position can be measured by using the reflected light according to the passage of the object at the position away from the target, the physical deformation of the target when the impact on the target such as an arrow and the position variation of the impacted object It is not influenced by, so the impact point and impact group of the arrow can be measured precisely.

In addition, according to the present invention, the impact characteristic can be analyzed by calculating the center point and the size of the impact group based on the impact positions such as arrows reaching the target.

In addition, according to the present invention, it is possible to provide an impact position measuring device and an impact position measuring method which can easily grasp the impact position of an arrow or the like from a remote location.

1 is a block diagram for explaining an impact position measuring apparatus according to an embodiment of the present invention.
Figure 2 is a flow chart for explaining the impact position measuring method according to another embodiment of the present invention.
3 is an exemplary view showing a structure in which a light generating unit and an image input unit are installed according to an embodiment of the present invention.
4 is a diagram showing image coordinates (Cx, Cy) according to irradiation intensity of reflected light and pixel values of the reflected light.
5 is a diagram illustrating a distortion phenomenon in video coordinates.
6 is a conceptual diagram illustrating the structure of a hierarchical polynomial model.
7 is a view showing the result of comparing the true value on the actual target and the impact position of the object measured according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the embodiments are to make the disclosure of the present invention complete, and those skilled in the art to which the present invention pertains. As the invention is provided to fully inform the scope of the invention, the invention is defined only by the description of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, an impact position measuring apparatus according to an embodiment of the present invention will be described with reference to FIGS. 1 and 3. 1 is a block diagram illustrating an impact position measuring apparatus according to an embodiment of the present invention, Figure 3 is an impact position measuring apparatus according to an embodiment of the present invention, the light generating unit and the image input unit is installed It is an exemplary figure which shows a structure.

Referring to FIG. 1, an impact location measuring apparatus 10 according to an embodiment of the present invention may include a light generation unit 100, an image input unit 200, an image coordinate generation unit 300, a modeling unit 400, and an impact location. The position calculator 500, the characteristic analyzer 600, and an output unit 700 are included.

As shown in FIG. 3, the light generator 100 is spaced apart from the target 900 as the target of shooting by a predetermined distance to generate the plane of light 101 on the plane in front of the target 900. Here, the light generator 100 may be a line laser for generating planar light of a specific frequency. In addition, the light generating unit 100 may be a plurality of light emitting elements arranged to generate a plane of light on the plane. In addition to the above-described configuration, the light generating unit 100 may be embodied in various forms that may generate a plane of light on the front of the target 900, and is not limited to the drawings and the example of FIG. 3.

When the predetermined object such as an arrow or a bullet passes through the surface 101 of the light, the image input unit 200 receives the reflected light in which light is reflected by the object at the passing point 103 as an image, and the object by the reflected light. Recognize the line profile. The image input unit 200 may be implemented by using a vision camera capable of recognizing reflected light of a specific frequency. In addition, the image input unit 200 may be implemented by using a camera and an image processing module capable of high speed processing.

As illustrated in FIG. 4, the image coordinate generator 300 generates image coordinates corresponding to the reflected light in terms of light according to the irradiation intensity of the reflected light and the pixel value of the reflected light.

4 is a diagram illustrating image coordinates Cx and Cy according to irradiation intensity of reflected light and pixel values of the reflected light, wherein the horizontal axis corresponds to the irradiation intensity of the reflected light, and the vertical axis may correspond to the pixel value of the reflected light.

Here, the image coordinates mean virtual coordinates in the plane of light on the plane that may correspond to the position on the target 900.

In general, as the camera moves away from the lens center, distortions such as barrel distortion and pincushion distortion become more pronounced.

The image coordinates generated based on the reflected light recognized by the image input unit 200 in the image coordinate generator 300 may be distorted due to the performance of the camera, the refractive index of the camera lens, and other hardware factors.

5 is a diagram illustrating a distortion phenomenon in video coordinates.

FIG. 5 shows each image coordinate corresponding to a square grid point at a position on a target. As shown in FIG. 5, the image coordinates may be in the form of curved coordinates, not planar coordinates, and may not correspond one-to-one with a position on a target. In addition, such distortion may cause frequent errors in image processing such as pattern recognition and feature extraction.

Therefore, the modeling unit 400 corrects the aforementioned distortion and generates a polynomial model for converting the image coordinates into global coordinates corresponding to the position on the target.

The modeling unit 400 corrects the distortion by matching the input and output data of the global coordinates corresponding to the actual position on the target 900 and the image coordinates. The input data are image coordinates corresponding to the reflected light in terms of light according to the irradiation intensity of the reflected light and the pixel value of the reflected light, and the output data are global coordinates corresponding to the position on the target.

The modeling unit 400 corrects the distorted image using a performance index-based hierarchical polynomial model, which is an intrinsic correction method.

More specifically, the modeling unit 400 generates one output from two input variables by using a hierarchical polynomial correction model according to Equation 1 below, and corrects the distorted image.

,

는 왜곡이 없는 영상의 좌표점이고,

,

는 왜곡된 영상의 좌표점이며,

,

,

는 각각의 영상 좌표에 대응되는 파라미터이다. here,

,

Is the coordinate point of the image without distortion,

,

Is the coordinate point of the distorted image,

,

,

Is a parameter corresponding to each image coordinate.

,

)로 하며, 반사광의 조사 강도와 반사광에 대한 화소값의 가중합에 따라 전역 좌표에 대응되는 출력값(

,

)을 가지도록 계층형 다항식 모델을 생성하는 것일 수 있다.The modeling unit 400 may determine the input intensity of the reflected light intensity and the pixel value of the reflected light.

,

) And an output value corresponding to global coordinates according to the weighted sum of the irradiation intensity of the reflected light and the pixel value for the reflected light (

,

It may be to create a hierarchical polynomial model to have a).

This hierarchical polynomial model is optimized only for training data, and solves the overfitting problem in which the estimated position error of the model for the new measurement data becomes too large, while simultaneously identifying the order and parameters of the polynomial by itself. Technique.

 That is, the modeling unit 400 may use the coordinate values in the image coordinates and the global coordinates corresponding to the image coordinates as the training data and the experimental data, and identify the model structure by using the performance index.

The process of model identification can be divided into a structure identification process for determining the structure and order of the polynomial and a parameter identification process for selecting parameters according to the determined polynomial structure.

,

는 왜곡이 없는 영상의 좌표점이고,

,

는 왜곡된 영상의 좌표점이며,

는 학습데이터를 사용한 다항식 모델의 파라미터,

은 다항식 모델의 차수이다.Hereinafter, the structure of the hierarchical polynomial model will be described with reference to FIG. 6. FIG. 6 is a conceptual diagram illustrating a structure of a hierarchical polynomial model. In FIG.

,

Is the coordinate point of the image without distortion,

,

Is the coordinate point of the distorted image,

Is a parameter of a polynomial model using training data,

Is the order of the polynomial model.

As shown in FIG. 6, the hierarchical polynomial model is determined to have at least a second order (layer) according to a structure identification process, and each layer has a weighted sum of coordinate points of a distorted image, and according to a parameter identification process. Parameters for each input variable are selected. In addition, the sum of each layer whose structure, order, and parameters are determined becomes a result of the polynomial model.

In the hierarchical polynomial model, the order of the polynomial model may vary according to the specific values of the training data and the experimental data, and the values of the training data and the experimental data are determined according to the irradiation intensity of the reflected light and the pixel value of the reflected light. The image coordinates and output data corresponding to the reflected light in the plane may be values of global coordinates corresponding to positions on the target.

That is, the hierarchical polynomial model can change the structure and the order by using the training data and the experimental data, and can match the image coordinates and the global coordinates by determining the optimal structure and order through the process of structure identification and parameter identification. .

Accordingly, the modeling unit 400 may include a structure equalizer 410 that determines the structure and degree of the polynomial model, and a parameter equalizer 420 that selects parameters according to the structure of the polynomial model determined by the structure equalizer 410. Include.

Here, the structure equalizer 410 may determine the order of the polynomial model according to the performance index function that defines the error between the true value and the output value according to the polynomial model.

Equation 2 is an equation relating to the performance index function (Performance Criteria, PC).

는 훈련데이터

로 학습한 모델로 시험데이터

를 입력했을 때 출력값,

는 훈련데이터

로 학습한 모델로 시험데이터

를 입력했을 때 출력값,

,

는 목표값,

,

는 훈련데이터와 시험데이터로 사용된 개수,

,

는 가중치를 나타낸다.here,

Training data

Test data with a model

Input value,

Training data

Test data with a model

Input value,

,

Is the target value,

,

Is the number used as training data and test data,

,

Denotes a weight.

Meanwhile, coordinate values in global coordinates corresponding to the image coordinates and the image coordinates may be used as the training data and the test data.

Meanwhile, since the figure of merit function may be defined as an error weighted sum when the test data is input, the structure equalizing unit 410 may optimize the polynomial model by determining the order of the polynomial model so that the value of the figure of merit function is minimized. Can be.

Equation 3 is an equation for determining the order of the polynomial model.

The parameter equalizer 420 may select a parameter according to a nonlinear least-squares method. Equation 4 is a formula for selecting a parameter according to the determined polynomial structure.

은 다항식 모델의 차수,

,

는 학습데이터를 사용해 최종 정의된 다항식 모델의 파라미터, PC는 참값과 모델의 출력값 사이의 오차를 정의한 성능 지수 함수이다.here,

Is the order of the polynomial model,

,

Is the parameter of the polynomial model finally defined using the training data, and PC is the figure of merit function that defines the error between the true value and the output of the model.

The impact position calculation unit 500 calculates the impact position of the object in the global coordinates according to the polynomial model.

That is, the impact position calculation unit 500 inputs image coordinates corresponding to the reflected light by the object passing through the plane of light to the polynomial model, and calculates the impact position of the object in the global coordinates.

The characteristic analyzer 600 calculates at least one of the center point and the size of the impact group based on each impact position when a predetermined object passes through the plane of light in front of the target 900 multiple times. Analyze the impact characteristics of the object.

On the other hand, the characteristic analyzer 600 may determine the accuracy and precision of the impact on the basis of the predetermined threshold value for the center point and the size of the impact group.

The output unit 700 outputs at least one of an image coordinate, a global coordinate, a position on the image coordinate through which the object has passed, and an impact position in the form of screen, voice, and data that can communicate with the outside.

In addition, the output unit 700 includes communication means for performing communication according to a predetermined protocol so as to easily grasp an impact position such as an arrow from a remote location, including image coordinates, global coordinates, and positions on image coordinates through which an object has passed. And transmitting and receiving data on at least one of the impact positions to an external terminal so that at least one of the image coordinates, the global coordinates, the position on the image coordinates through which the object passed, and the impact position may be used by the external terminal.

Hereinafter, an impact position measuring method according to another embodiment of the present invention will be described with reference to FIG. 2. Figure 2 is a flow chart for explaining the impact position measurement method according to another embodiment of the present invention.

First, a plane of light is generated in front of the target 900 that is the target of shooting (S101).

Subsequently, when a predetermined object such as an arrow or a bullet passes through the surface of the light, the reflected light is received as an image (S103), and the image corresponding to the surface of the light using the intensity of the reflected light and the pixel value of the reflected light. The coordinates are generated (S105).

Here, the image coordinate is converted into global coordinates using the polynomial model, and thus the impact position measurement of the object may be performed.

Therefore, prior to the transformation of the coordinates, a polynomial model for converting the image coordinates into global coordinates corresponding to the position on the target is generated (S107).

In this case, in generating the polynomial model, a polynomial model may be generated in which the irradiation intensity of the reflected light and the pixel value of the reflected light are set as input variables, and the coordinate values in global coordinates are output according to the weighted sum of the input variables. There is (S107).

Thereafter, the polynomial model is optimized using the coordinate values in the image coordinates and the coordinate values in the global coordinates as learning data (S109).

In this case, the polynomial model may be optimized by determining at least one of orders and parameters of the polynomial model so as to minimize an error between the true value according to the impact position of the object and the output value according to the polynomial model (S109).

In addition, in optimizing the polynomial model, the coordinate values of the plurality of image coordinates are input to the polynomial model, and between the output values of the polynomial model according to the input and the coordinate values in the global coordinates corresponding to the coordinate values in the image coordinates. After calculating the errors, the polynomial model may be optimized by determining at least one of the orders and parameters of the polynomial model to minimize the weighted sum of the errors (S109).

Thereafter, the coordinate value in the global coordinates corresponding to the coordinate value in the image coordinates is calculated using the polynomial model according to the optimization, and the impact position of the object is calculated according to the result (S111).

FIG. 7 illustrates a comparison between an impact position of an object measured according to an embodiment of the present invention and a true value on an actual target. In FIG. 7, the true value on an actual target is o, and the impact position calculated according to the polynomial model is shown. Coordinate values are shown by x.

As shown in FIG. 7, it can be seen that the true value on the actual target coincides with the coordinate value of the impact position calculated according to the polynomial model.

It is understood that the impact position measuring device and the impact position measuring method according to the embodiment of the present invention can accurately measure impact positions such as arrows, and can correct distortion of an image input by a camera using a polynomial model. Can be.

In addition, the impact position measuring device and impact position measuring method according to an embodiment of the present invention can improve the accuracy of the impact position measurement by optimizing the polynomial model using the performance index, etc., passing the object at a position away from the target Since the impact position can be measured using the reflected light, the impact point and the impact group of the arrow can be accurately measured without being affected by the physical deformation of the target and the positional change of the impacted object when the impact on the target such as the arrow is performed. have.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the claims and their equivalents should be construed as being included in the scope of the present invention.

Claims (12)

A light generator for generating a plane of light in front of the target at a predetermined distance from the target to be shot;
An image input unit configured to receive reflected light as an image when a predetermined object passes through the surface of the light;
An image coordinate generation unit generating image coordinates of the reflected light in the plane of the light and generating the image coordinates according to the irradiation intensity of the reflected light and the pixel value of the reflected light;
A modeling unit generating a polynomial model for converting the image coordinates into global coordinates corresponding to a position on the target; And
An impact position calculation unit for calculating an impact position of the object in the global coordinates according to the polynomial model
Impact location measuring device comprising a. delete The method of claim 1, wherein the modeling unit,
The polynomial model is generated to have an output value corresponding to the global coordinates according to the irradiation intensity of the reflected light and the pixel value of the reflected light as an input variable, and according to a weighted sum of the irradiation intensity of the reflected light and the pixel value of the reflected light. To do
Impact position measuring device. The method of claim 1, wherein the modeling unit,
A structural equalizer which determines a structure and an order of the polynomial model; And
And a parameter equalizer for selecting a parameter according to the structure of the polynomial model determined by the structural equalizer.
Impact position measuring device. The method of claim 4, wherein
The structure equalizing unit,
Determining the order of the polynomial model according to a figure of merit function that defines the error between the true value and the output value according to the polynomial model
Impact position measuring device. The method of claim 4, wherein
The parameter equalizer,
Selecting said parameters according to a nonlinear least-squares method
Impact position measuring device. The method of claim 1,
Characteristic analysis unit for analyzing the impact characteristics of the object by calculating at least one of the center point and the size of the impact group based on the impact position
Impact location measuring apparatus further comprising. The method of claim 1,
An output unit configured to output at least one of the image coordinates, the global coordinates, a position on the image coordinates through which the object has passed, and the impact position
Impact location measuring apparatus further comprising. Generating a plane of light on a plane in front of a target targeted for shooting;
Receiving reflected light as an image when a predetermined object passes through the plane of light;
Generating image coordinates corresponding to the plane of the light by using the irradiation intensity of the reflected light and the pixel value of the reflected light;
Generating a polynomial model for converting the image coordinates into global coordinates corresponding to the position on the target;
Optimizing the polynomial model using coordinate values in the image coordinates and coordinate values in the global coordinates as learning data; And
Calculating a coordinate value in the global coordinates corresponding to the coordinate value in the image coordinates using the polynomial model according to the optimization, and calculating the impact position of the object according to the result
Impact location measurement method comprising a. The method of claim 9, wherein generating the polynomial model comprises:
Setting an irradiation intensity of the reflected light and a pixel value of the reflected light as an input variable; And
Generating a polynomial model for outputting coordinate values in the global coordinates according to the weighted sum of the input variables;
Impact location measurement method comprising a. The method of claim 9, wherein optimizing the polynomial model comprises:
Optimizing the polynomial model by determining at least one of orders and parameters of the polynomial model to minimize the error between the true value according to the impact position of the object and the output value according to the polynomial model
How to measure the impact position. The method of claim 9, wherein optimizing the polynomial model comprises:
Inputting coordinate values of the plurality of image coordinates into the polynomial model;
Calculating an error between an output value in the polynomial model according to the input and a coordinate value in the global coordinates corresponding to the coordinate value in the image coordinates; And
Determining at least one of the order and parameters of the polynomial model to minimize the weighted sum of the errors
How to measure the impact position.

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