阅读说明：本技术 一种基于数字图像的校炮装置及其方法 (Digital image-based cannon correcting device and method thereof ) 是由 郑兴 仇佳乐 任煜 吴景彬 赵嘉学 刘子骥 于 2019-08-09 设计创作，主要内容包括：本发明公开了一种基于数字图像的校炮装置及其方法,该装置包括规塞、图像采集模块和图像处理模块；其中,所述图像采集模块固定在规塞一端面上；校炮时,将规塞没有安装图像采集模块的一端推入并固定在炮管出炮口,之后将图像采集模块与所述图像处理模块进行通信连接；然后通过图像采集模块采集图像信息传送给图像处理模块进行数字化处理；最后所述图像处理模块通过对比环境试验前后两次图像十字靶形心坐标得到炮管位置偏差值,实现智能化校炮。本发明利用规塞、图像采集模块和图像处理模块实现智能化的校炮,不需要人工经验以及多人配合；实现了自动化、数字化校炮,大大减少了人力的投入,降低了操作人员的安全隐患。(The invention discloses a digital image-based cannon checking device and a digital image-based cannon checking method, wherein the device comprises a gauge plug, an image acquisition module and an image processing module; the image acquisition module is fixed on one end face of the gauge plug; when checking the gun, pushing one end of the gauge plug, which is not provided with the image acquisition module, into the gun barrel outlet and fixing the end of the gauge plug at the gun barrel outlet, and then connecting the image acquisition module with the image processing module in a communication manner; then, image information is acquired by the image acquisition module and is transmitted to the image processing module for digital processing; and finally, the image processing module obtains a gun barrel position deviation value by comparing the cross target shape center coordinates of the images of the environment test twice before and after the environment test, so that intelligent gun calibration is realized. The intelligent gun calibration is realized by utilizing the gauge plug, the image acquisition module and the image processing module, and manual experience and multi-person cooperation are not needed; the automatic and digital gun calibration is realized, the labor input is greatly reduced, and the potential safety hazard of operators is reduced.)

1. An intelligent cannon correcting device based on a digital image is characterized by comprising a gauge plug, an image acquisition module and an image processing module; the image acquisition module is fixed on one end face of the gauge plug; when checking the gun, pushing one end of the gauge plug, which is not provided with the image acquisition module, into the gun barrel outlet and fixing the end of the gauge plug at the gun barrel outlet, and then connecting the image acquisition module with the image processing module in a communication manner; then, image information is acquired by the image acquisition module and is transmitted to the image processing module for digital processing; and finally, the image processing module obtains a gun barrel position deviation value by comparing the cross target shape center coordinates of the images of the environment test twice before and after the environment test, so that intelligent gun calibration is realized.

2. The device according to claim 1, wherein the image acquisition module employs a CCD camera; the image processing module adopts a computer with an image acquisition card.

3. The device of claim 2, wherein the optical axis of the CCD camera is coaxial with the central axis of the gauge plug and barrel.

4. The device according to any one of claims 1 to 3, wherein the image acquisition module is fixed on the gauge through a fixed seat; and the positions of the gauge plug and the gun barrel are fixed through a fastener when the gun is calibrated.

5. A method of calibrating a fire using a fire calibrating apparatus according to any one of claims 1 to 4, the method comprising the steps of:

step S1, device installation: the gun calibration device is fixedly arranged at the gun outlet of the gun barrel and is connected with the image acquisition module and the image processing module;

step S2, carrying out intelligent gun calibration: acquiring image information through an image acquisition module and transmitting the image information to an image processing module for digital processing to obtain a cross target centroid coordinate; the image processing module obtains a gun barrel position deviation value by comparing the cross target shape center coordinates of the images of the environment test twice before and after, and intelligent gun calibration is realized.

6. The method of calibrating a gun according to claim 5, wherein the step S2 further comprises:

step S21, collecting the target through the image collecting moduleThe image of the target is transmitted to the image processing module, the target is displayed and observed through the image processing module, the gun barrel is moved to the central area of the target in the image, a pixel space coordinate system is established, the cross area of the target is selected from the image, and the centroid point coordinate (X-ray coordinate) is carried out on the cross area₀，Y₀) Calculating the centroid point of the reference datum point;

step S22, taking down the gun calibration device, and carrying out environmental test on the vehicle;

step S23, returning to the vehicle initial position after the environmental test is completed, and repeating the step S1;

step S24, collecting the image of the target by the image collecting module and transmitting the image to the image processing module, displaying and observing the target by the image processing module, moving the gun barrel to the central area of the target in the image, establishing a pixel space coordinate system, selecting the cross area of the target on the image, and carrying out the centroid point coordinate (X) on the cross area₁，Y₁) Calculating;

step S25, comparing the centroid point coordinates (X) obtained in step S21 by the image processing module₀，Y₀) And the centroid point coordinates (X) obtained in step S24₁，Y₁) Obtaining a deviation value of the gun barrel position;

and step S26, moving the gun barrel so that X0 is equal to X1 and Y0 is equal to Y1, resetting the gun barrel and correcting the guns intelligently.

7. The method of claim 5 or 6, wherein the centroid point coordinates calculation in steps S21 and S24 are as follows:

step a, image preprocessing: calculating an optimal threshold by adopting a maximum variance threshold segmentation method, and segmenting a high-brightness area of the cross target from a background;

step b, extracting a central line of the cross target: continuously removing the image boundary by adopting a morphological corrosion method until only the skeleton is left as a cross-shaped central line;

step c, calculating the cross centroid: and (3) calculating the best fitting straight lines L1 and L2 of the central lines by adopting a least square method, wherein the coordinates of the intersection point of the straight line L1 and the straight line L2 are the coordinates of the centroid point.

Technical Field

The invention relates to the technical field of photoelectric imaging detection, in particular to a digital image-based cannon correction device and a digital image-based cannon correction method.

Background

The infrared thermal imaging sighting device is used as an important component device in a vehicle fire control system and is mainly responsible for target detection, tracking, sighting and the like. The tank vehicle can produce impact, vibration in the use such as traveling, shooting, the optical axis of aiming at the utensil can change, will directly influence the reliability and the hit rate of aiming at the system when serious change. The zero-position walking momentum of the thermal imager directly influences the accuracy of target aiming, so that after the sighting device leaves a factory and is loaded, the zero-position walking momentum of the fire control system is one of important indexes for measuring the performance stability of the sighting device.

In the traditional gun calibration method, an observer observes optical imaging of a gun barrel and guides a gun hand to calibrate the zero position of the gun barrel. The traditional method depends on the experience of observers, has large errors, needs cooperation of multiple persons, has low detection efficiency, and has the potential safety hazard that the cannon barrel accidentally injures the observers. An intelligent school big gun device based on digital image can effectively improve school big gun error, improves detection efficiency and reduces the potential safety hazard.

Disclosure of Invention

The invention provides a digital image-based cannon correction device, which realizes high-precision digital cannon correction.

The invention provides a digital image-based cannon calibration device, which comprises a gauge plug, an image acquisition module and an image processing module; the image acquisition module is fixed on one end face of the gauge plug; when checking the gun, pushing one end of the gauge plug, which is not provided with the image acquisition module, into the gun barrel outlet and fixing the end of the gauge plug at the gun barrel outlet, and then connecting the image acquisition module with the image processing module in a communication manner; then, image information is acquired by the image acquisition module and is transmitted to the image processing module for digital processing; and finally, the image processing module obtains a gun barrel position deviation value by comparing the cross target shape center coordinates of the images of the environment test twice before and after the environment test, so that intelligent gun calibration is realized.

Preferably, the image acquisition module adopts a CCD camera; the image processing module adopts a computer with an image acquisition card.

Preferably, the optical axis of the CCD camera is coaxial with the central axis of the gauge plug and the central axis of the gun barrel.

Preferably, the image acquisition module is fixed on the gauge through a fixed seat; and the positions of the gauge plug and the gun barrel are fixed through a fastener when the gun is calibrated.

On the other hand, the invention also provides a cannon calibration method applied to the cannon calibration device, which comprises the following steps:

step S1, device installation: the gun calibration device is fixedly arranged at the gun outlet of the gun barrel and is connected with the image acquisition module and the image processing module;

step S2, carrying out intelligent gun calibration: acquiring image information through an image acquisition module and transmitting the image information to an image processing module for digital processing to obtain a cross target centroid coordinate; the image processing module obtains a gun barrel position deviation value by comparing the cross target shape center coordinates of the images of the environment test twice before and after, and intelligent gun calibration is realized.

Preferably, the step S2 further includes:

step S21, collecting the image of the target by the image collecting module and transmitting the image to the image processing module, displaying and observing the target by the image processing module, moving the gun barrel to the central area of the target in the image, establishing a pixel space coordinate system, selecting the cross area of the target on the image, and carrying out the centroid point coordinate (X) on the cross area₀，Y₀) Calculating the centroid point of the reference datum point;

step S22, taking down the gun calibration device, and carrying out environmental test on the vehicle;

step S23, returning to the vehicle initial position after the environmental test is completed, and repeating the step S1;

step S24, collecting the image of the target by the image collecting module and transmitting the image to the image processing module, displaying and observing the target by the image processing module, moving the gun barrel to the central area of the target in the image, establishing a pixel space coordinate system, selecting the cross area of the target on the image, and carrying out the centroid point coordinate (X) on the cross area₁，Y₁) Calculating;

step S25, comparing the centroid point coordinates (X) obtained in step S21 by the image processing module₀，Y₀) And the centroid point coordinates (X) obtained in step S24₁，Y₁) Obtaining a deviation value of the gun barrel position;

and step S26, moving the gun barrel so that X0 is equal to X1 and Y0 is equal to Y1, resetting the gun barrel and correcting the guns intelligently.

Preferably, the centroid point coordinate calculation procedures in steps S21 and S24 are as follows:

step a, image preprocessing: calculating an optimal threshold by adopting a maximum variance threshold segmentation method, and segmenting a high-brightness area of the cross target from a background;

step b, extracting a central line of the cross target: continuously removing the image boundary by adopting a morphological corrosion method until only the skeleton is left as a cross-shaped central line;

step c, calculating the cross centroid: and (3) calculating the best fitting straight lines L1 and L2 of the central lines by adopting a least square method, wherein the coordinates of the intersection point of the straight line L1 and the straight line L2 are the coordinates of the centroid point.

Compared with the prior art, the invention has the following advantages and beneficial effects:

(1) the intelligent gun calibration is realized by utilizing the gauge plug, the image acquisition module and the image processing module, and manual experience and multi-person cooperation are not needed; the automatic and digital gun calibration is realized, the labor input is greatly reduced, and the potential safety hazard of operators is reduced.

(2) The method is different from the traditional shot correction method, the image is preprocessed by adopting a maximum variance threshold value method, the center line of the cross target is extracted by combining a morphological erosion method, and the centroid coordinate calculation is carried out by adopting a least square method, namely the method realizes the full-digital image processing, and greatly improves the detection precision of the zero-position walking momentum of the sighting telescope in a fire control system.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a schematic structural view of a gun calibration device according to the present invention;

FIG. 2 is a schematic view of the overall structure of the gun calibration device and the gun barrel of the present invention;

FIG. 3 is a schematic view of the morphological etching process of the present invention;

FIG. 4 is a schematic diagram of the target cross target centroid offset according to the present invention.

Detailed Description

Hereinafter, the term "comprising" or "may include" used in various embodiments of the present invention indicates the presence of the invented function, operation or element, and does not limit the addition of one or more functions, operations or elements. Furthermore, as used in various embodiments of the present invention, the terms "comprises," "comprising," "includes," "including," "has," "having" and their derivatives are intended to mean that the specified features, numbers, steps, operations, elements, components, or combinations of the foregoing, are only meant to indicate that a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be construed as first excluding the existence of, or adding to the possibility of, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.

In various embodiments of the invention, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B, or may include both a and B.

Expressions (such as "first", "second", and the like) used in various embodiments of the present invention may modify various constituent elements in various embodiments, but may not limit the respective constituent elements. For example, the above description does not limit the order and/or importance of the elements described. The foregoing description is for the purpose of distinguishing one element from another. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present invention.

It should be noted that: if it is described that one constituent element is "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and a third constituent element may be "connected" between the first constituent element and the second constituent element. In contrast, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.

The terminology used in the various embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the invention. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.