WO2024066077A1

WO2024066077A1 - Calibration method and apparatus for target shooting device, and target shooting device

Info

Publication number: WO2024066077A1
Application number: PCT/CN2022/139719
Authority: WO
Inventors: 王付州; 侯涛; 江世盛
Original assignee: 汉王科技股份有限公司
Priority date: 2022-09-26
Filing date: 2022-12-16
Publication date: 2024-04-04
Also published as: CN116625256A

Abstract

A calibration method for a target shooting device (200), comprising: step 110, configuring a light beam emitting apparatus (205) for calibrating a target shooting device (200), such that the irradiation direction of a light beam emitted by the light beam emitting apparatus (205) points to an image acquisition field of view of an image acquisition apparatus (204), and acquiring a plurality of target images (400) which are acquired by the image acquisition apparatus (204) and which correspond to a target being located at different target shooting distances; step 120, according to a light spot image (402) formed by the irradiation of the light beam emitting apparatus (205) in each target image (400), and the target image (400), acquiring a preset direction aiming pixel deviation corresponding to each target image (400); step 130, on the basis of the preset direction aiming pixel deviation corresponding to each target image (400) and the radius of a target surface image (401) in the target image (400), performing fitting to obtain a mapping relationship between the preset direction aiming pixel deviations and the radiuses of the target surface images (401) in the target images (400); and step 140, according to the mapping relationship, calibrating image center points (403) of the target images (400) acquired during target shooting. Further provided are a calibration apparatus for a target shooting device (200), a target shooting device, an electronic device, and a computer-readable storage medium.

Description

Target shooting equipment calibration method, device and target shooting equipment

This application claims priority to a Chinese patent application filed with the Chinese Patent Office on September 26, 2022, with application number 202211173421.5 and invention name “Calibration method, device, and targeting equipment for targeting equipment”, the entire contents of which are incorporated by reference into this application.

Technical Field

The present application relates to the technical field of target shooting equipment, and in particular to a calibration method and device for target shooting equipment, a target shooting equipment, an electronic device and a computer-readable storage medium.

Background technique

In the existing shooting equipment, the basic principle of obtaining the shooting score based on the image processing of the target is to use the center point of the target surface image collected by the shooting equipment as the shooting hit point, compare the deviation between the shooting hit point and the center point of the target surface image, and determine the shooting score (such as the number of hits). This method of using the image center point of the target image as the shooting center point in the prior art cannot accurately reflect the shooting accuracy of the shooter.

Summary of the invention

1. Technical issues to be resolved

The technical problem to be solved by the present application is to solve the problem that the method in the related art using the image center point of the target image as the shooting center point cannot accurately reflect the shooting accuracy of the shooter.

(II) Technical solution

The embodiment of the present application provides a calibration method for a target shooting device, which helps to improve the accuracy of determining the shooting center point of the target shooting device.

In a first aspect, an embodiment of the present application provides a method for calibrating a target shooting device, comprising:

Applicable to a target shooting 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 target shooting device points to the image acquisition field of view of the image acquisition device, and the calibration method comprises:

Acquire a plurality of target images corresponding to when the target is located at different shooting distances, which are acquired by the image acquisition device, wherein the target image includes: a target surface image and a light spot image formed by the light beam directly irradiating the target surface;

According to the light spot image and the target image in each of the target images, obtaining the aiming pixel deviation in the preset direction corresponding to each of the target images;

Based on the preset direction aiming pixel deviation corresponding to each of the target images and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation in each of the target images and the radius of the corresponding target surface image is obtained by fitting;

According to the mapping relationship, a target aiming pixel deviation is obtained for calibrating the image center point of the target image acquired by the target shooting device at different target shooting distances.

In a second aspect, an embodiment of the present application provides a calibration device for a target shooting device, comprising:

Applicable to a target shooting device provided with an image acquisition device, wherein the irradiation direction of the light beam emitted by the light beam emitting device configured for calibrating the target shooting device points to the image acquisition field of view of the image acquisition device, and the calibration device comprises:

A target image acquisition module, used to acquire a plurality of target images corresponding to when the target is located at different target shooting distances, acquired by the image acquisition device, wherein the target image includes: a target surface image and a light spot image formed by the light beam directly incident on the target surface;

An aiming pixel deviation acquisition module, used for acquiring an aiming pixel deviation in a preset direction corresponding to each target image according to the light spot image and the target image in each target image;

A mapping relationship acquisition module, used for fitting the mapping relationship between the preset direction aiming pixel deviation in each target image and the corresponding radius of the target surface image based on the preset direction aiming pixel deviation corresponding to each target image and the corresponding radius of the target surface image;

The calibration deviation acquisition module is used to obtain the target aiming pixel deviation for calibrating the image center point of the target image collected by the shooting device at different shooting distances according to the mapping relationship.

In a third aspect, an embodiment of the present application provides a target shooting device, including:

A front sight, arranged at the front end of the target shooting device;

A rear sight is arranged at the rear end of the target shooting device; the rear sight and the front sight form a sighting baseline of the target shooting device along the shooting outlet direction of the target shooting device;

A shooting trigger device, arranged on the target shooting device;

An image acquisition device is provided on the target shooting device and is used to acquire a target image of a target provided at a set distance in front of the target shooting device when the shooting trigger device is triggered;

A controller is used to calibrate the image center point of the target image according to the radius of the target surface image in the target image and a preset target aiming pixel deviation corresponding to the radius for calibrating the image center point of the target image, and use the calibrated point as the shooting center point of the targeting device so that the shooting line of the targeting device coincides with the aiming baseline of the targeting device.

In a fourth aspect, an embodiment of the present application further discloses an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the calibration method for the target shooting device described in the embodiment of the present application when executing the computer program.

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the calibration method for a target shooting device disclosed in an embodiment of the present application.

(III) Beneficial effects

The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

The calibration method of a target shooting device disclosed in an embodiment of the present application is applied to a target shooting device based on image acquisition, wherein a light beam emitting device configured for calibrating the target shooting device is used so that the irradiation direction of the light beam emitted by the light beam emitting device points to the image acquisition field of view of the image acquisition device, and then a plurality of target images corresponding to a target at different target shooting distances acquired by the image acquisition device are acquired, wherein the target image includes: a target surface image and a light spot image formed by the light beam directly irradiating on the target surface of the target; according to the light spot image and the target image in each of the target images, a preset direction aiming pixel deviation corresponding to each of the target images is acquired; based on the preset direction aiming pixel deviation corresponding to each of the target images and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation in each of the target images and the radius of the corresponding target surface image is fitted, so that according to the mapping relationship, a target aiming pixel deviation for calibrating the image center point of the target image acquired by the target shooting device at different target shooting distances can be acquired, thereby calibrating the image center point of the target image, which helps to improve the accuracy of determining the shooting center point of the target shooting device.

It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

FIG1 is a flow chart of a calibration method for a target shooting device according to an embodiment of the present application;

FIG2 is a schematic diagram of the structure of a target shooting device in one embodiment of the present application;

FIG3 is a schematic diagram of the structure of another target shooting device in one embodiment of the present application;

FIG4 is a schematic diagram of a target image collected by a shooting device in one embodiment of the present application;

FIG5 is a schematic diagram of a calibration principle in one embodiment of the present application;

FIG6 is another flow chart of a calibration method for a target shooting device according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a calibration device for a target shooting device according to an embodiment of the present application;

FIG8 is a second structural schematic diagram of a calibration device for a target shooting device according to an embodiment of the present application;

FIG9 is a schematic diagram of the structure of another target shooting device in one embodiment of the present application;

FIG10 schematically shows a block diagram of an electronic device for executing the method according to the present application;

FIG. 11 schematically shows a storage unit for holding or carrying a program code for implementing the method according to the present application.

Detailed ways

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

Embodiment 1

A calibration method for a target shooting device disclosed in an embodiment of the present application is shown in FIG1 . The method includes steps 110 to 140 .

Step 110, obtaining a plurality of target images corresponding to when the target is located at different shooting distances, which are acquired by the image acquisition device, wherein the target image includes: a target surface image and a light spot image formed when the light beam is directly incident on the target surface of the target.

The calibration method for a target shooting device described in an embodiment of the present application is applied to a target shooting 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 target shooting device points to the image acquisition field of view of the image acquisition device.

The target shooting device described in the embodiment of the present application may be a target shooting gun, a target shooting game machine, a target shooting crossbow, etc. Referring to FIG2 , taking a target shooting gun as an example, the target shooting device 200 includes: a front sight 201, a rear sight 202, a shooting trigger device 203, and an image acquisition device 204. The front sight 201, the rear sight 202, the shooting trigger device 203, and the image acquisition device 204 shown in FIG2 are for illustration only.

The following are examples of the equipment position, function and structure of each component of the target shooting equipment.

The front sight 201 is arranged at the front end of the target shooting device 200 ; the rear sight 202 is arranged at the rear end of the target shooting device 200 ; the rear sight 202 and the front sight 201 form the aiming baseline of the target shooting device 200 along the shooting outlet direction of the target shooting device 200 .

The shooting trigger device 203 is arranged on the target shooting device 200. Taking the target shooting device as a target shooting gun as an example, the shooting trigger device 203 is a trigger structure, and the shooting trigger device 203 is arranged below the gun body of the target shooting device 200.

The image acquisition device 204 is provided on the target shooting device, and is used to acquire a target image of a target set at a set distance in front of the target shooting device 200 when the shooting trigger device 203 is triggered. The image acquisition device 204 can be provided inside the body of the target shooting device 200, such as fixedly provided on the barrel of the target shooting gun, or detachably provided under the barrel of the target shooting gun.

In some embodiments of the present application, the image acquisition device 204 is integrally arranged with the target shooting device 200, and is used to acquire the field of view image of the aiming direction of the target shooting device 200. For example, the image of the target set in front of the target shooting device 200 is acquired. Taking the target shooting device 200 as an example, the image acquisition device 204 can be a camera set in the barrel of the target shooting gun. In some other embodiments of the present application, the image acquisition device 204 can also be set on one side of the target shooting device 200, such as being set below the shooting body of the target shooting device in a fixed or detachable structure, or being set at other positions that do not affect the aiming and are not blocked along the aiming direction. The shooting body of the target shooting device 200 is a device body including a shooting outlet. The image acquisition device 204 can be set in the shooting body, or fixed to the outside of the shooting body in a detachable and detachable manner.

In the embodiment of the present application, in order to calibrate the target shooting device, a light beam emitting device configured for calibrating the target shooting device 200 is also required. The light beam emitting device may be a laser emitter, or other independent device that can emit a concentrated light beam.

In some embodiments of the present application, the light beam emitting device is a device for calibrating the target shooting device. For example, as shown in FIG3 , the target shooting device 200 further includes: a light beam emitting device 205 configured for calibrating the target shooting device 200, and the light beam emitting device can be detachably connected to the target shooting device or fixedly arranged on the target shooting device.

In some embodiments of the present application, as shown in Figure 3, the light beam emitting device 205 is arranged at the rear end of the targeting device 200; the rear sight 202, the front sight 201, and the light beam emitting device 205 form a straight line along the shooting outlet direction of the targeting device 200, that is, the aiming baseline.

In some embodiments of the present application, when using the target shooting equipment, the target shooting equipment can be first calibrated using the light beam emitting device, so that a more accurate shooting center point can be obtained during the target shooting process. In the process of calibrating the target shooting equipment, the light beam emitting device 205 emits a focused light beam to the shooting field of view of the image acquisition device 204. Taking the light beam emitting device 205 as a laser emitter as an example, when the target shooting equipment 200 aims at the target surface of the target, the laser emitted by the light beam emitting device 205 will irradiate the target surface of the target and project a light spot, i.e., a light spot, on the target surface. Afterwards, when the shooting trigger device 203 of the target shooting equipment 200 is triggered, the image acquisition device 204 acquires the target image of the target. At this time, as shown in FIG. 4 , the target image 400 acquired by the image acquisition device 204 will include: a target surface image 401 and a light spot image 402.

In some embodiments of the present application, in order to calibrate the target shooting device 200, as shown in FIG5, it is first necessary to collect several target images corresponding to the target at different target shooting distances. Taking the target image collection scene shown in FIG5 as an example, when the target is set at the first target shooting distance in front of the target shooting device 200, the target shooting device 200 is used to shoot at the target, and several target images corresponding to the first target shooting distance are collected; when the target is set at the second target shooting distance in front of the target shooting device 200, the target shooting device 200 is used to shoot at the target, and several target images corresponding to the second target shooting distance are collected; when the target is set at the third target shooting distance in front of the target shooting device 200, the target shooting device 200 is used to shoot at the target, and several target images corresponding to the third target shooting distance are collected. That is, the target is set at different target shooting distances in front of the target shooting device 200, and the image acquisition device 204 collects target images at different target shooting distances. According to the actual calibration needs, several different target shooting distances can be selected, such as 3 or more target shooting distances.

Step 120 , obtaining the preset direction aiming pixel deviation corresponding to each target image according to the light spot image and the target image in each target image.

Taking the preset direction including: the first direction and the second direction as an example, the preset direction aiming pixel deviation corresponding to each target image includes: 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: two factors: size and direction. The first direction is perpendicular to the second direction.

As mentioned above, each of the above-mentioned target images collected includes: a target surface image and a light spot image. In each target image collected, the position of the target surface image in the target image is not completely the same, and there will be deviations; in each target image, the position of the light spot image in the target image is not completely the same, and there will be deviations. In this way, more abundant sample images can be collected to learn the preset direction aiming pixel deviation corresponding to each of the target images collected by the shooting device based on the collected sample images.

In some embodiments of the present application, the step of obtaining the preset direction aiming pixel deviation corresponding to each target image according to the light spot image and the target image in each target image includes: for each target image, according to the pixel deviation of the image center point of the target image relative to the image center point of the light spot image along the preset direction, determining the preset direction aiming pixel deviation corresponding to each target image at different target shooting distances. The preset direction includes: a first direction, and a second direction perpendicular to the first direction.

Take one of the target images collected in the above steps as the target image 400 shown in FIG4 as an example, the image center point of the target image is marked as 403, and the image center point of the light spot image 402 is marked as 4021. It can be seen that the image center point 403 of the target image has pixel deviations in both the horizontal and vertical directions relative to the image center point 4021 of the light spot image 402. In order to describe this deviation, the horizontal direction can be taken as the first direction, the horizontal right direction is the positive deviation, and the horizontal left direction is the negative deviation, and the pixel deviation of the image center point of each target image relative to the image center point of the light spot image in the target image along the horizontal direction (i.e., the first direction) can be recorded. Similarly, the vertical direction can be taken as the second direction, the vertical upward direction is the positive deviation, and the vertical downward direction is the negative deviation, and the pixel deviation of the image center point of each target image relative to the image center point of the light spot image in the target image along the vertical direction (i.e., the second direction) can be recorded.

In the embodiment of the present application, taking the target image captured by the shooting device as an example, the image center point of the target image is: the image pixel point determined by the W/2th image pixel in the width direction and the H/2th image pixel in the height direction in the target image. If the upper left corner of the target image is taken as the coordinate origin, the image center point of the target image can be expressed as (W/2, H/2).

For example, when the image center point c1 of the target image is at an image position x1 pixels to the right of the light spot image in the horizontal direction, 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 x2 pixels to the left of the light spot image in the horizontal direction, the pixel deviation is x2, and at this time, x2 is less than 0. When the image center point c1 of the target image is at an image position y1 pixels upward in the vertical direction of the light spot image, the pixel deviation is y1, and at this time, y1 is greater than 0; when the image center point c1 of the target image is at an image position y2 pixels downward in the vertical direction of the light spot image, the pixel deviation is y2, and at this time, y2 is less than 0.

If the pixel deviation along the first direction is represented as dx, and the pixel deviation along the second direction is represented as dy, taking the target image 400 shown in Figure 4 as an example, the pixel deviation along the first direction (i.e., horizontal direction) corresponding to the target image is dx, dx>0, and the pixel deviation along the second direction (i.e., vertical direction) is dy, dy<0.

According to the above method, the pixel deviations along the first direction corresponding to each of the plurality of target images can be obtained, and the pixel deviations along the second direction corresponding to each of the plurality of target images can be obtained.

It can be seen from the target image acquisition scene shown in FIG5 that for the target shooting equipment based on image acquisition, there is an aiming baseline and a shooting line during the target shooting process. Such as the aiming baseline 501 and the shooting line 502 in FIG5. Among them, the aiming baseline 501 is a straight line formed by the rear sight and the front sight, and the human eye aims along the aiming baseline formed by the rear sight and the front sight; the shooting line 502 is the ray of the center line of the image acquisition device along the exit direction of the image acquisition device. When the target is located at different target shooting distances, due to the differences in the aiming of the human eye, the aiming baseline 501 and the shooting line 502 are often neither parallel nor overlapped, and there are deviations in different directions between the two, that is, the aiming pixel deviation described in the embodiment of the present application. In the embodiment of the present application, the pixel deviations along the first direction and the second direction corresponding to the aforementioned target image are, respectively, the aiming pixel deviations along the first direction and the second direction corresponding to the target image.

Furthermore, based on obtaining the aiming pixel deviations along the first direction corresponding to each of the several target images and obtaining the aiming pixel deviations along the second direction corresponding to each of the several target images, the aiming pixel deviations along the first direction corresponding to the radius of the target surface image in each target image and the aiming pixel deviations along the second direction can be obtained.

In some embodiments of the present application, the radius of the target surface image in each of the above target images can be obtained by image measurement, such as the radius of the circular target surface image in Figure 4. For example, when the pixel size of the first target image is known, the target surface image area is identified based on image processing techniques such as edge detection, and then the target surface radius is determined based on plane image measurement technology. The specific implementation method for obtaining the radius of the target surface image is not limited in the embodiments of the present application.

Based on the imaging principle, it can be known that the radius of the target surface image in the target image of the same target collected by the targeting device is different due to the different targeting distances of the specific targeting device. For the same target, when the same targeting device is used for targeting, the smaller the targeting distance, the larger the radius of the target surface image in the target image collected by the targeting device; conversely, the larger the targeting distance, the smaller the radius of the target surface image in the target image collected by the targeting device. That is, the radius of the target surface image in the target image collected by the targeting device corresponds to the targeting distance. Therefore, the radius of the target surface image in each target image, the corresponding aiming pixel deviation along the first direction, and the aiming pixel deviation along the second direction, essentially reflect the aiming pixel deviation along the first direction, and the aiming pixel deviation along the second direction, corresponding to the targeting distance corresponding to each target image.

Step 130, based on the preset direction aiming pixel deviation corresponding to each of the target images and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation in each of the target images and the radius of the corresponding target surface image is fitted.

Next, 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 aforementioned steps, the mapping relationship between the aiming pixel deviation in the first direction and the radius of the target surface image in the target image collected by the targeting 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 aforementioned steps, the mapping relationship between the aiming pixel deviation in the second direction and the radius of the target surface image in the target image collected by the targeting device is fitted.

In some embodiments of the present application, based on the preset direction aiming pixel deviation corresponding to each of the target images and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation in each of the target images and the radius of the corresponding target surface image is fitted, including: for each of the target images, taking the radius of the target surface image corresponding to each of the target images as an independent variable, taking the preset direction aiming pixel deviation corresponding to the corresponding target image as a dependent variable, and using a linear function to fit the mapping relationship between the preset direction aiming pixel deviation in the target image collected by the shooting device and the radius of the target surface image. For example, a linear function of the form y=kx+b can be used to represent the mapping relationship between the preset direction aiming pixel deviation and the radius of the target surface image, wherein the value of x is the radius of the target surface image in each target image, and y is the preset direction aiming pixel deviation corresponding to the corresponding target image.

As mentioned above, the preset direction includes: a first direction, and a second direction perpendicular to the first direction. Accordingly, according to the aiming pixel deviations along different directions corresponding to the radius of the target surface image, the mapping relationship between the aiming pixel deviations in the corresponding directions and the radius of the target surface image can be obtained respectively.

In some embodiments of the present application, the radius of the target surface image corresponding to each of the target images is taken as the independent variable, the preset direction aiming pixel deviation corresponding to the corresponding target image is taken as the dependent variable, and a linear function is used to fit the mapping relationship between the preset direction aiming pixel deviation in the target image collected by the targeting device and the radius of the target surface image, including: taking the radius of the target surface image corresponding to each of the target images as the independent variable, taking the first direction aiming pixel deviation corresponding to the corresponding target image as the dependent variable, and using a linear function to fit the mapping relationship between the first direction aiming pixel deviation in the target image collected by the targeting device and the radius of the target surface image; and taking the radius of the target surface image corresponding to each of the target images as the independent variable, taking the second direction aiming pixel deviation corresponding to the corresponding target image as the dependent variable, and using a linear function to fit the mapping relationship between the second direction aiming pixel deviation in the target image collected by the targeting device and the radius of the target surface image.

Taking the first direction as the horizontal direction as an example, when fitting the mapping relationship between the horizontal direction aiming pixel deviation and the radius of the target surface image, 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 taken as the independent variable, and the horizontal direction aiming pixel deviation corresponding to the target image is taken as the dependent variable y _H , and several linear functions are constructed. Then, by solving the optimal k value and b value, the linear distribution relationship of the horizontal direction aiming pixel deviation relative to the radius R of the target surface image is fitted, so as to determine the linear mapping relationship y _H =k _H R+b _H between the aiming pixel difference along the horizontal direction corresponding to each target image and the radius of the target surface image, that is, to determine the linear mapping relationship between the aiming pixel difference in the horizontal direction of the target shooting device and the radius of the target surface image.

Correspondingly, when fitting the mapping relationship between the vertical aiming pixel deviation and the radius of the target surface image, 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 taken as the independent variable, and the vertical aiming pixel deviation corresponding to the target image is taken as the dependent variable y _V , and several linear functions are constructed. Then, by solving the optimal k value and b value, the linear distribution relationship of the horizontal aiming pixel deviation relative to the radius R of the target surface image is fitted, so as to determine the linear mapping relationship y _V =k _V R+b _V between the aiming pixel difference in the vertical direction corresponding to each target image and the radius of the target surface image, that is, to determine the linear mapping relationship between the aiming pixel difference in the vertical direction of the target shooting device and the radius of the target surface image.

Step 140: According to the mapping relationship, a target aiming pixel deviation for calibrating the image center point of the target image acquired by the target shooting device at different target shooting distances is obtained.

As mentioned above, for a target shooting device, when the target is located at different target shooting distances, there is a corresponding relationship between the radius of the target surface image in the collected target image and the target shooting distance. Therefore, the mapping relationship between the preset direction aiming pixel deviation in the target image and the corresponding radius of the target surface image can be used as the mapping relationship between the preset direction aiming pixel deviation and different target shooting distances. That is, for a known target shooting distance, the radius of the target surface image in the collected target image is known, and according to the mapping relationship determined in the above steps, the aiming pixel deviation corresponding to the first direction and the aiming pixel deviation corresponding to the second direction can be determined respectively. The 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 collected by the target shooting device based on the target shooting distance; the aiming pixel deviation corresponding to the determined second direction is the target aiming pixel deviation of the second direction for calibrating the image center point of the target image collected by the target shooting device based on the target shooting distance.

In some other embodiments of the present application, as shown in FIG. 6 , the method further includes: steps 150 to 170 .

Step 150, obtaining the radius of the target surface image in the target image captured by the image acquisition device when the shooting trigger device of the target shooting equipment is triggered.

After determining the mapping relationship between the preset direction aiming pixel deviation in each of the target images and the radius of the corresponding target surface image, further, according to the mapping relationship, the target aiming pixel deviation calibrated by the target image center point of the target image collected by the target shooting device at different target shooting distances can be obtained. For example, when the target shooting device is shooting at a set target shooting distance, the target shooting device will collect a target image corresponding to the target shooting distance. According to the method described above, the radius R of the target surface image in the collected target image can be further determined.

Step 160: Obtaining a target aiming pixel deviation for calibrating an image center point of the target image according to the radius.

Next, based on the radius R of the target surface image of the target at the set target distance, the corresponding target aiming pixel deviation is obtained according to the mapping relationship. Specifically, the radius R is substituted into the mapping relationship y _H =k _H R+b _H of the first direction obtained by fitting in the above step, and the corresponding y _H is obtained, which is the target aiming pixel deviation along the first direction for calibrating the image center point of the target image. Similarly, the radius R is substituted into the mapping relationship y _V =k _V R+b _V of the second direction obtained by fitting in the above step, and the corresponding y _V is obtained, which is the target aiming pixel deviation along the second direction for calibrating the image center point of the target image.

Step 170, respectively superimposing the corresponding target aiming pixel deviation on the pixel coordinates of each preset direction corresponding to the image center point of the target image as the shooting center point of the targeting device, so that the shooting line of the targeting device coincides with the aiming baseline of the targeting device.

Finally, the pixel coordinates of the image center point of the target image corresponding to the first direction are superimposed with the target aiming pixel deviation _yH along the first direction, and the pixel coordinates of the image center point of the target image corresponding to the second direction are superimposed with the target aiming pixel deviation _yV along the second direction. The pixel point in the target image corresponding to the obtained pixel coordinates can be used as the shooting center point of the target shooting device this time.

After the above calibration, it is equivalent to adjusting the shooting line 502 of the target shooting device to coincide with the aiming baseline 501 of the target shooting device, so that the calculated shooting center point can more accurately reflect the aiming accuracy of the shooter.

The calibration method of the target shooting equipment disclosed in the embodiment of the present application obtains the deviation between the center point of the light spot image (such as the laser aiming point) and the image center point of the target image (such as the camera center point) at different target shooting distances, and corrects the image center point of the target image taken at different target shooting distances to achieve the coincidence of the shooting line and the aiming baseline. The calibration method of the target shooting equipment disclosed in the embodiment of the present application can ensure that at different target shooting distances, the aiming point formed by the three points of the human eye, the rear sight, and the front sight is the shooting center point, which can improve the accuracy of determining the shooting center point at different target shooting distances.

Embodiment 2

The present application discloses a calibration device for a target shooting device, which is applied to a target shooting 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 target shooting device points to the image acquisition field of view of the image acquisition device. As shown in FIG7 , the device comprises:

The target image acquisition module 710 is used to acquire a plurality of target images corresponding to the target at different shooting distances acquired by the image acquisition device, wherein the target image includes: a target surface image and a light spot image formed by the light beam directly incident on the target surface;

The aiming pixel deviation acquisition module 720 is used to acquire 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;

A mapping relationship acquisition module 730 is used to fit the mapping relationship between the preset direction aiming pixel deviation in each target image and the corresponding radius of the target surface image based on the preset direction aiming pixel deviation corresponding to each target image and the corresponding radius of the target surface image;

The calibration deviation acquisition module 740 is used to acquire the target aiming pixel deviation for calibrating the image center point of the target image collected by the shooting device at different shooting distances according to the mapping relationship.

In some embodiments of the present application, the aiming pixel deviation acquisition module 720 is further used to:

For each of the target images, the aiming pixel deviation in the preset direction corresponding to each of the target images at different shooting distances is determined 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 mapping relationship between the preset direction aiming pixel deviation and the corresponding radius of the target surface image in each target image is fitted based on the preset direction aiming pixel deviation corresponding to each target image and the corresponding radius of the target surface image, including:

For each of the target images, the radius of the target surface image corresponding to each of the target images is taken as the independent variable, and the preset direction aiming pixel deviation corresponding to the corresponding target image is taken as the dependent variable, and a linear function is used to fit the mapping relationship between the preset direction aiming pixel deviation in the target image collected by the targeting device and the radius of the target surface image.

In some embodiments of the present application, the preset direction includes: a first direction, and a second direction perpendicular to the first direction, the radius of the target surface image corresponding to each of the target images is used as an independent variable, the preset direction aiming pixel deviation corresponding to the corresponding target image is used as a dependent variable, and a linear function is used to fit the mapping relationship between the preset direction aiming pixel deviation in the target image collected by the shooting device and the radius of the target surface image, including:

Taking the radius of the target surface image corresponding to each of the target images as an independent variable and the first direction aiming pixel deviation corresponding to the corresponding target image as a dependent variable, a linear function is used to fit the mapping relationship between the first direction aiming pixel deviation in the target image collected by the shooting device and the radius of the target surface image; and

The radius of the target surface image corresponding to each target image is taken as the independent variable, the second direction aiming pixel deviation corresponding to the corresponding target image is taken as the dependent variable, and a linear function is used to fit the mapping relationship between the second direction aiming pixel deviation in the target image collected by the shooting device and the radius of the target surface image.

In some embodiments of the present application, as shown in FIG8 , the device further includes:

The target shooting image acquisition module 750 is used to acquire the radius of the target surface image in the target image acquired by the image acquisition device when the shooting trigger device of the target shooting equipment is triggered;

The calibration module 760 is used to obtain the target aiming pixel deviation for calibrating the image center point of the target image according to the radius; and to superimpose the corresponding target aiming pixel deviation on the pixel coordinates of each preset direction corresponding to the image center point of the target image as the shooting center point of the targeting device, so that the shooting line of the targeting device coincides with the aiming baseline of the targeting device.

The calibration device for a target shooting device disclosed in the embodiment of the present application is used to implement the calibration method for the target shooting device described in the first embodiment of the present application. The specific implementation methods of each module of the device will not be repeated here, and reference may be made to the specific implementation methods of the corresponding steps in the method embodiment.

The calibration device of the target shooting device disclosed in the embodiment of the present application is applied to the target shooting device based on image acquisition, and a light beam emitting device configured for calibrating the target shooting device is used so that the irradiation direction of the light beam emitted by the light beam emitting device points to the image acquisition field of view of the image acquisition device. Then, a plurality of target images corresponding to the target at different target shooting distances acquired by the image acquisition device are acquired, wherein the target image includes: a target surface image and a light spot image formed by the light beam directly irradiating on the target surface of the target; according to the light spot image and the target image in each of the target images, a preset direction aiming pixel deviation corresponding to each of the target images is acquired; based on the preset direction aiming pixel deviation corresponding to each of the target images and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation in each of the target images and the radius of the corresponding target surface image is fitted, so that according to the mapping relationship, a target aiming pixel deviation for calibrating the image center point of the target image acquired by the target shooting device at different target shooting distances can be acquired, thereby calibrating the image center point of the target image, which helps to improve the accuracy of determining the shooting center point of the target shooting device.

The target shooting equipment calibration device disclosed in the embodiment of the present application obtains the deviation between the center point of the light spot image (such as the laser aiming point) and the image center point of the target image (such as the camera center point) at different target shooting distances, and corrects the image center point of the target image taken at different target shooting distances to achieve the overlap of the shooting line and the aiming baseline. The target shooting equipment calibration method disclosed in the embodiment of the present application can ensure that at different target shooting distances, the aiming point formed by the three points of the human eye, the rear sight, and the front sight is the shooting center point, which can improve the accuracy of determining the shooting center point at different target shooting distances.

Correspondingly, the embodiment of the present application further discloses a shooting device. Taking the shooting gun shown in FIG. 9 as an example, the shooting device includes:

A front sight 901 is arranged at the front end of the target shooting device;

The rear sight 902 is arranged at the rear end of the target shooting device; the rear sight 902 and the front sight 901 form a sighting baseline of the target shooting device along the shooting outlet direction of the target shooting device;

A shooting trigger device 903, arranged on the target shooting device;

An image acquisition device 904 is provided on the target shooting device and is used to acquire a target image of a target provided at a set distance in front of the target shooting device when the shooting trigger device 904 is triggered;

Controller 905 is used to calibrate the image center point of the target image according to the radius of the target surface image in the target image and a preset target aiming pixel deviation corresponding to the radius for calibrating the image center point of the target image, and use the calibrated point as the shooting center point of the targeting device, so that the shooting line of the targeting device coincides with the aiming baseline of the targeting device.

In some embodiments of the present application, the controller 905 can be arranged on the main body of the target shooting device (for example, the arrangement in FIG. 9 ). In some embodiments of the present application, the controller 905 can be arranged outside the main body of the target shooting device. For example, the controller 905 can be an external general-purpose computing and processing device (such as an intelligent terminal), or a target shooting data processing terminal of a dedicated target shooting device. The present application does not limit the specific implementation and setting position of the controller 905.

In some embodiments of the present application, the target shooting device further comprises: a light beam emitting device configured for calibrating the target shooting device. When connected to the target shooting device, the irradiation direction of the light beam emitted by the light beam emitting device points to the image acquisition field of view of the image acquisition device.

In some embodiments of the present application, the light beam emitting device is detachably connected to the targeting equipment.

In some embodiments of the present application, the controller 905 further includes:

A preset module, used to execute the calibration method of the target shooting device as described in some steps 110 to 140 in the first embodiment, so as to obtain a target aiming pixel deviation for calibrating the image center point of the target image acquired by the target shooting device at different target shooting distances;

A calibration module, used to obtain the radius of the target surface image in the target image acquired by the image acquisition device when the shooting trigger device is triggered; and, based on the radius, obtain the target aiming pixel deviation for calibrating the shooting center point corresponding to the target image;

The calibration module is also used to superimpose the corresponding target aiming pixel deviation on the pixel coordinates of each preset direction corresponding to the image center point of the target image, as the shooting center point of the target shooting device.

The specific implementation of the preset module and the calibration module refers to the relevant description in the first embodiment, which will not be repeated here.

Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

The calibration method, device and target shooting equipment provided by the present application are introduced in detail above. The principles and implementation methods of the present application are explained in this article using specific examples. The description of the above embodiments is only used to help understand the method of the present application and a core idea. At the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some or all components in the electronic device according to the embodiment of the present application. The present application can also be implemented as a device or apparatus program (e.g., computer program and computer program product) for executing part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

For example, FIG. 10 shows an electronic device that can implement the method according to the present application. The electronic device can be a PC, a mobile terminal, a personal digital assistant, a tablet computer, etc. The electronic device traditionally includes a processor 1010 and a memory 1020 and a program code 1030 stored on the memory 1020 and can be run on the processor 1010, and the processor 1010 implements the method described in the above embodiment when executing the program code 1030. The memory 1020 can be a computer program product or a computer-readable medium. The memory 1020 can 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 the program code 1030 of the computer program for executing any method step in the above method. For example, the storage space 10201 for the program code 1030 can include various computer programs for implementing the various steps in the above method respectively. The program code 1030 is a computer-readable code. These computer programs can be read from one or more computer program products or written into the one or more computer program products. These computer program products include a program code carrier such as a hard disk, a compact disk (CD), a memory card or a floppy disk. The computer program includes a computer readable code, which, when executed on an electronic device, causes the electronic device to execute the method according to the above embodiments.

The embodiment of the present application further discloses a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the calibration method of the target shooting equipment described in the embodiment of the present application are implemented.

Such a computer program product may be a computer-readable storage medium, which may have a storage segment, a storage space, etc. arranged similarly to the memory 1020 in the electronic device shown in FIG10. The program code may be compressed and stored in the computer-readable storage medium, for example, in an appropriate form. The computer-readable storage medium is typically a portable or fixed storage unit as described with reference to FIG11. Typically, the storage unit includes a computer-readable code 1030', which is a code read by a processor, and when these codes are executed by the processor, the various steps in the method described above are implemented.

References herein to "one embodiment," "embodiment," or "one or more embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. In addition, please note that examples of the term "in one embodiment" herein do not necessarily all refer to the same embodiment.

In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

In the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Industrial Applicability

The present application provides a calibration method and device for a target shooting device, as well as a target shooting device. By fitting the mapping relationship between the aiming pixel deviation in a preset direction in each target image and the radius of the corresponding target surface image, the target aiming pixel deviation can be obtained for calibrating the image center point of the target image collected by the target shooting device at different target shooting distances, thereby calibrating the image center point of the target image, which helps to improve the accuracy of determining the shooting center point of the target shooting device and has strong industrial applicability.

Claims

A method for calibrating a target shooting device, characterized in that it is applied to a target shooting 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 target shooting device points to the image acquisition field of view of the image acquisition device, and the calibration method comprises:

Acquire a plurality of target images corresponding to when the target is located at different shooting distances, which are acquired by the image acquisition device, wherein the target image includes: a target surface image and a light spot image formed by the light beam directly irradiating the target surface;

According to the light spot image and the target image in each of the target images, obtaining the aiming pixel deviation in the preset direction corresponding to each of the target images;

Based on the preset direction aiming pixel deviation corresponding to each of the target images and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation in each of the target images and the radius of the corresponding target surface image is obtained by fitting;

According to the mapping relationship, a target aiming pixel deviation is obtained for calibrating the image center point of the target image acquired by the target shooting device at different target shooting distances.
The method according to claim 1, characterized in that the step of obtaining the preset direction aiming pixel deviation corresponding to each target image according to the light spot image and the target image in each target image comprises:

For each of the target images, the aiming pixel deviation in the preset direction corresponding to each of the target images at different shooting distances is determined 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.
The method according to claim 1 is characterized in that, based on the preset direction aiming pixel deviation corresponding to each of the target images and the radius of the corresponding target surface image, fitting the mapping relationship between the preset direction aiming pixel deviation in each of the target images and the radius of the corresponding target surface image comprises:

For each of the target images, the radius of the target surface image corresponding to each of the target images is taken as the independent variable, and the preset direction aiming pixel deviation corresponding to the corresponding target image is taken as the dependent variable, and a linear function is used to fit the mapping relationship between the preset direction aiming pixel deviation in the target image collected by the targeting device and the radius of the target surface image.
The method according to claim 3 is characterized in that the preset direction includes: a first direction, and a second direction perpendicular to the first direction, the radius of the target surface image corresponding to each of the target images is used as an independent variable, the preset direction aiming pixel deviation corresponding to the corresponding target image is used as a dependent variable, and a linear function is used to fit the mapping relationship between the preset direction aiming pixel deviation in the target image collected by the shooting device and the radius of the target surface image, comprising:

Taking the radius of the target surface image corresponding to each of the target images as an independent variable and the first direction aiming pixel deviation corresponding to the corresponding target image as a dependent variable, a linear function is used to fit the mapping relationship between the first direction aiming pixel deviation in the target image collected by the shooting device and the radius of the target surface image; and

The radius of the target surface image corresponding to each target image is taken as the independent variable, the second direction aiming pixel deviation corresponding to the corresponding target image is taken as the dependent variable, and a linear function is used to fit the mapping relationship between the second direction aiming pixel deviation in the target image collected by the shooting device and the radius of the target surface image.
The method according to any one of claims 1 to 4, characterized in that the calibration method further comprises:

Acquire the radius of the target surface image in the target image acquired by the image acquisition device when the shooting trigger device of the target shooting equipment is triggered;

According to the radius, obtaining a target aiming pixel deviation for calibrating an image center point of the target image;

The corresponding target aiming pixel deviation is superimposed on the pixel coordinates of each preset direction corresponding to the image center point of the target image as the shooting center point of the targeting device, so that the shooting line of the targeting device coincides with the aiming baseline of the targeting device.
A calibration device for a target shooting device, characterized in that it is applied to a target shooting 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 target shooting device points to the image acquisition field of view of the image acquisition device, and the calibration device comprises:

A target image acquisition module, used to acquire a plurality of target images corresponding to when the target is located at different target shooting distances, acquired by the image acquisition device, wherein the target image includes: a target surface image and a light spot image formed by the light beam directly incident on the target surface;

An aiming pixel deviation acquisition module, used for acquiring an aiming pixel deviation in a preset direction corresponding to each target image according to the light spot image and the target image in each target image;

A mapping relationship acquisition module, used for fitting the mapping relationship between the preset direction aiming pixel deviation in each target image and the corresponding radius of the target surface image based on the preset direction aiming pixel deviation corresponding to each target image and the corresponding radius of the target surface image;

The calibration deviation acquisition module is used to obtain the target aiming pixel deviation for calibrating the image center point of the target image collected by the shooting device at different shooting distances according to the mapping relationship.
A target shooting device, characterized in that it comprises:

A front sight, arranged at the front end of the target shooting device;

A rear sight is arranged at the rear end of the target shooting device; the rear sight and the front sight form a sighting baseline of the target shooting device along the shooting outlet direction of the target shooting device;

A shooting trigger device, arranged on the target shooting device;

An image acquisition device is provided on the target shooting device and is used to acquire a target image of a target provided at a set distance in front of the target shooting device when the shooting trigger device is triggered;

A controller is used to calibrate the image center point of the target image according to the radius of the target surface image in the target image and a preset target aiming pixel deviation corresponding to the radius for calibrating the image center point of the target image, and use the calibrated point as the shooting center point of the targeting device so that the shooting line of the targeting device coincides with the aiming baseline of the targeting device.
The target practice device according to claim 7 is characterized in that it also includes: a light beam emitting device configured for calibrating the target practice device, and when connected to the target practice device, the irradiation direction of the light beam emitted by the light beam emitting device points to the image acquisition field of view of the image acquisition device.
The target shooting equipment according to claim 8 is characterized in that the light beam emitting device is detachably connected to the target shooting equipment.
The target shooting device according to any one of claims 7 to 9, characterized in that the controller further comprises:

A preset module, used to execute the calibration method of the target shooting device according to any one of claims 1 to 4, so as to obtain a target aiming pixel deviation for calibrating the image center point of the target image collected by the target shooting device at different target shooting distances;

A calibration module, used to obtain the radius of the target surface image in the target image acquired by the image acquisition device when the shooting trigger device is triggered; and, based on the radius, obtain the target aiming pixel deviation for calibrating the shooting center point corresponding to the target image;

The calibration module is also used to superimpose the corresponding target aiming pixel deviation on the pixel coordinates of each preset direction corresponding to the image center point of the target image, as the shooting center point of the target shooting device.
An electronic device comprises a memory, a processor and a program code stored in the memory and executable on the processor, wherein the processor implements the target shooting equipment calibration method according to any one of claims 1 to 5 when executing the program code.
A computer-readable storage medium having program codes stored thereon, characterized in that when the program codes are executed by a processor, the steps of the method for calibrating a target shooting device as claimed in any one of claims 1 to 5 are implemented.