阅读说明：本技术 一种基于近红外光成像的视觉识别报靶方法 (Visual identification target scoring method based on near-infrared light imaging ) 是由 孙立峰 于 2021-07-12 设计创作，主要内容包括：本发明公开了一种基于近红外光成像的视觉识别报靶方法,包括如下步骤：射击前,通过图像采集装置采集靶板背景图像；射击瞬间,报靶终端向报靶主机发送射击信号,报靶主机控制一字线红外激光器发射出平行于靶板的红外激光,从而在靶板前端形成一面虚拟光屏障,并控制图像采集装置开启长曝光拍照,从而采集虚拟光屏障被子弹击穿时的打靶图像；射击后,报靶主机对靶板背景图像和打靶图像进行运算处理,从而确定中弹位置,并通过报靶终端反馈射击成绩。本发明摆脱了传统视觉分析报靶技术对于靶面弹孔的视觉分析依赖,用于中弹位置识别的图像与实物靶板无相关性,从根本上解决环境光照、靶板重孔和连孔等引起的误报和漏报情况,显著地提高了报靶的准确性和可靠性。(The invention discloses a visual identification target-scoring method based on near-infrared light imaging, which comprises the following steps: before shooting, acquiring a background image of the target plate by an image acquisition device; at the moment of shooting, the target scoring terminal sends a shooting signal to the target scoring host, and the target scoring host controls a word line infrared laser to emit infrared laser parallel to the target plate, so that a virtual light barrier is formed at the front end of the target plate, and controls the image acquisition device to start long exposure shooting, so that a shooting image of the virtual light barrier when being punctured by a bullet is acquired; after shooting, the target scoring host computer carries out operation processing on the background image and the shooting image of the target plate, thereby determining the position of the middle projectile and feeding back the shooting result through the target scoring terminal. The invention gets rid of the dependence of the traditional visual analysis target-scoring technology on the visual analysis of target surface bullet holes, the image for identifying the position of the middle bullet has no correlation with the real target plate, thereby fundamentally solving the false alarm and missing report caused by environmental illumination, heavy holes and connecting holes of the target plate and the like, and obviously improving the accuracy and reliability of target scoring.)

1. A visual identification target scoring method based on near infrared light imaging is characterized in that: the visual identification target scoring method comprises a target plate, a target scoring host, an image acquisition device, a word line infrared laser and a target scoring terminal, wherein the image acquisition device, the word line infrared laser and the target scoring terminal are connected with the target scoring host, and the visual identification target scoring method comprises the following steps:

(1) before shooting, acquiring a background image of the target plate by an image acquisition device;

(2) at the moment of shooting, the target scoring terminal sends a shooting signal to the target scoring host, and the target scoring host controls a word line infrared laser to emit infrared laser parallel to the target plate by utilizing the speed difference between signal transmission and bullet flying, so that a virtual light barrier is formed at the front end of the target plate; meanwhile, the target reporting host controls the image acquisition device to start long exposure for shooting so as to acquire a target shooting image when the virtual light barrier is punctured by a bullet;

(3) after shooting, the target scoring host computer carries out operation processing on the background image and the shooting image of the target plate, thereby determining the position of the middle projectile and feeding back the shooting result through the target scoring terminal.

2. The visual identification target scoring method based on near-infrared light imaging as claimed in claim 1, characterized in that: the lens of the line infrared laser adopts a Bowell lens, a wave lens or a cylindrical lens.

3. The visual identification target scoring method based on near-infrared light imaging as claimed in claim 1, characterized in that: the wavelength of the laser light source of the word line infrared laser is 780-2526 nm.

4. The visual identification target scoring method based on near-infrared light imaging as claimed in claim 3, characterized in that: the image acquisition device is an industrial camera provided with an infrared filter, and the infrared filter adopts a band-pass infrared filter lens which has the same frequency band with a laser light source of the line infrared laser.

5. The visual identification target scoring method based on near-infrared light imaging as claimed in claim 1, characterized in that: in step (2), the exposure time of the image acquisition device is adjusted according to the gun type, the shooting distance and the power of the one-line infrared laser.

6. The visual identification target scoring method based on near-infrared light imaging as claimed in claim 4, characterized in that: in the step (1), the target plate is illuminated and supplemented with light by an infrared light supplementing lamp, and then the background image of the target plate is acquired.

7. The visual identification target scoring method based on near-infrared light imaging as claimed in claim 1, characterized in that: and (3) binding the target scoring terminal at the wrist or the stock of the shooter, acquiring sound pressure and recoil acceleration information generated by the gun at the same time by the target scoring terminal in the step (2), and sending a shooting signal to the target scoring host when the sound pressure and the recoil acceleration are both greater than set thresholds.

8. The visual identification target scoring method based on near-infrared light imaging as claimed in claim 7, characterized in that: in the step (3), the target scoring host sends the shooting scores to the target scoring terminal, and the target scoring terminal feeds back the shooting scores in an image display or voice broadcasting mode.

9. The visual identification target scoring method based on near-infrared light imaging as claimed in claim 1, characterized in that: in the step (3), when the target-scoring host machine processes the background image of the target plate, firstly, trapezoidal image correction is carried out, and then target surface boundary identification and target center coordinate identification are carried out through the template matching position, so that the current target surface area coordinate and target center coordinate are calibrated, and therefore a background subtraction image is collected.

10. The visual identification target scoring method based on near-infrared light imaging as claimed in claim 9, characterized in that: in step (3), the processing of the target practice image by the target practice host includes: and performing background subtraction processing by combining the background subtraction image, performing trapezoidal image correction to obtain an image of a region corresponding to the target surface, performing binarization processing and image filtering processing on the image of the region corresponding to the target surface, performing edge recognition and light spot recognition, judging the position, the relative target center azimuth and the distance of the middle missile according to the light spot shape, and finally outputting the middle missile azimuth and the middle missile ring number.

Technical Field

The invention relates to the technical field of shooting target scoring, in particular to a visual identification target scoring method based on near infrared light imaging.

Background

The automatic target scoring modes commonly used in the current ball firing competition and training are as follows: conductive target plate type target scoring, shock wave type target scoring, light curtain type target scoring (correlation type) and visual recognition type target scoring. Wherein, electrically conductive target plate formula is because the target plate belongs to the consumptive material, needs to change in the shooting training, and the cost is higher. The light curtain type target scoring technology is easy to be damaged by bullets in use and has higher use and maintenance costs due to the combination mode of the target scoring core mechanism and the shooting target plate. The shock wave target scoring technology is to achieve target scoring by combining bullet shock waves of bullet flying and air friction products with an acoustic positioning technology, but because sound wave transmission is easily affected by air temperature, humidity and wind power, the target scoring precision and stability in an outdoor scene are not ideal, and the shock wave target scoring technology is not suitable for outdoor competition or training. The visual identification target-reporting technology utilizes a camera to combine with a machine visual identification algorithm to identify target surface bullet holes, and has the advantages of simple circuit structure, simple and convenient target surface calibration, good resistance to temperature and sound interference, sensitivity to environmental illumination, dependence on bullet marks left after bullets penetrate through the target surface, and easy generation of false reports and missed reports when continuous holes, heavy holes, target surface dirty marks and foreign matter interference occur in the shooting process.

Therefore, the visual identification target scoring method based on near infrared light imaging is provided.

Disclosure of Invention

The invention provides a visual identification target scoring method based on near infrared light imaging, and mainly aims to solve the problems in the prior art.

The invention adopts the following technical scheme:

a visual identification target scoring method based on near infrared light imaging comprises a target plate, a target scoring host, an image acquisition device connected with the target scoring host, a word line infrared laser and a target scoring terminal, and comprises the following steps:

(1) before shooting, acquiring a background image of the target plate by an image acquisition device;

(2) at the moment of shooting, the target scoring terminal sends a shooting signal to the target scoring host, and the target scoring host controls a word line infrared laser to emit infrared laser parallel to the target plate by utilizing the speed difference between signal transmission and bullet flying, so that a virtual light barrier is formed at the front end of the target plate; meanwhile, the target reporting host controls the image acquisition device to start long exposure for shooting so as to acquire a target shooting image when the virtual light barrier is punctured by a bullet;

(3) after shooting, the target scoring host computer carries out operation processing on the background image and the shooting image of the target plate, thereby determining the position of the middle projectile and feeding back the shooting result through the target scoring terminal.

Furthermore, the lens of the line infrared laser adopts a Powell lens, a wave lens or a cylindrical lens.

Further, the wavelength of the laser light source of the word line infrared laser is 780-2526 nm.

Furthermore, the image acquisition device is an industrial camera provided with an infrared filter, and the infrared filter adopts a band-pass infrared filter lens with the same frequency band as the laser light source of the line infrared laser.

Further, in step (2), the exposure time of the image capturing device is adjusted according to the gun type used, the shooting distance, and the power of the one-line infrared laser.

And (2) further, in the step (1), the target plate is subjected to illumination and light supplement through an infrared light supplement lamp, and then the background image of the target plate is acquired.

Further, the target scoring terminal is bound at the wrist or the stock of the shooter, in the step (2), the target scoring terminal simultaneously collects the sound pressure and the recoil acceleration information generated by the gun, and when the sound pressure and the recoil acceleration are both larger than the set threshold value, a shooting signal is sent to the target scoring host

Furthermore, in the step (3), the target scoring host sends the shooting result to the target scoring terminal, and the target scoring terminal feeds back the shooting result through image display or voice broadcasting.

Further, in the step (3), when the target reporting host processes the background image of the target plate, firstly, trapezoidal image correction is performed, and then target surface boundary recognition and target center coordinate recognition are performed through the template matching position, so that the current target surface area coordinate and target center coordinate are calibrated, and therefore a background subtraction image is collected.

Further, in step (3), the processing of the target practice image by the target practice host includes: and performing background subtraction processing by combining the background subtraction image, performing trapezoidal image correction to obtain an image of a region corresponding to the target surface, performing binarization processing and image filtering processing on the image of the region corresponding to the target surface, performing edge recognition and light spot recognition, judging the position, the relative target center azimuth and the distance of the middle missile according to the light spot shape, and finally outputting the middle missile azimuth and the middle missile ring number.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention adopts a line infrared laser to form a virtual light barrier in front of the target plate for the identification of the position of the projectile, gets rid of the visual analysis dependence of the traditional visual analysis target reporting technology on the target surface projectile hole, and the image for the identification of the position of the projectile has no correlation with the physical target plate, thereby fundamentally solving the false alarm and missing report conditions caused by environmental illumination, target plate heavy hole, connecting hole and the like and obviously improving the accuracy and reliability of target reporting.

2. The industrial camera is provided with the infrared filter with the same frequency as the laser light source, the high directivity characteristic of infrared light is utilized, the long exposure mode of the industrial camera is adopted to ensure that the bullet passing moment is captured by the industrial camera, and the problem of dependence on the high frame rate camera is fundamentally solved. And the image acquisition for the identification of the middle missile position does not depend on visible light, and can be suitable for target reporting in various illumination environments such as strong light, low light, no light, night training illumination indication and the like.

3. The target-scoring terminal adopts the acceleration and sound pressure dual triggering principle, solves the problem of false triggering when multiple groups of people train simultaneously, and realizes the off-target scoring in shooting.

4. The invention provides global illumination of the target surface in an infrared light supplement lamp mode, and can realize the identification, position correction and center point identification of the type of the target surface without switching infrared filter lenses.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic diagram of the structure of the target plate and a word line infrared laser in the present invention.

Fig. 3 is an image of a target in the present invention when a virtual light barrier is punctured by a bullet.

FIG. 4 is a schematic diagram of an image after subtraction.

Fig. 5 is an image of the present invention at the time of bullet hole recognition.

Detailed Description

The following describes specific embodiments of the present invention. Numerous details are set forth below in order to provide a thorough understanding of the present invention, but it will be apparent to those skilled in the art that the present invention may be practiced without these details.

Referring to fig. 1 and 2, a visual identification target scoring system based on near infrared light imaging comprises a target plate 1 and a target scoring host 2, and further comprises an image acquisition device 3 and a line infrared laser 4 which are arranged in front of the target plate 1 and connected with the target scoring host 2. The infrared laser 4 is arranged between the target plate 1 and the image acquisition device 3 and used for emitting infrared laser parallel to the target plate 1 during shooting, so that a virtual light barrier 41 is formed at the front end of the target plate 1; the image acquisition device 3 is used for acquiring a background image of the target plate before shooting and a shooting image when the virtual light barrier is punctured by a bullet during shooting (as shown in fig. 3); the target scoring host 2 is used for controlling the relevant operation of the image acquisition device 3 and the word line infrared laser 4, and carrying out operation processing on the target board background image and the target shooting image so as to determine the shooting position and feed back the shooting result.

Referring to fig. 1 and 2, the image acquisition device 3 is an industrial camera provided with an infrared filter, wherein the industrial camera selects an industrial area-array camera supporting external triggering, a large target surface and a global shutter, a low-distortion lens is adopted, and the focal length of the lens is determined according to the placement angle, distance and position of the industrial camera, camera sensor parameters and the like; the infrared filter adopts a band-pass infrared filter with the same frequency band as the laser light source of the word line infrared laser, the half bandwidth of the infrared filter is less than or equal to 40nm, the peak light transmittance is more than 80 percent, and the cut-off depth OD3 is more than or equal to. In addition, the system also comprises an infrared light supplement lamp 6 arranged beside the industrial camera. When starting up or changing target plate 1, should throw light on through infrared light filling lamp 6 to target plate 1 earlier, carry out target plate background image collection again. The infrared light supplement lamp 6 adopts a light source with the same frequency as the line infrared laser 4, the purpose of the infrared light supplement lamp 6 is to enable an industrial camera to shoot a real object target plate image, and then the image is analyzed to determine the type of the target plate currently used and the installation position of the target plate (namely the central point of the target plate) so as to calculate the position (corresponding to the missile position) of the target plate corresponding to the collected light spot in the subsequent shooting.

Referring to fig. 1 and 2, the wavelength of the laser source of the word line infrared laser 4 is 780-2526nm, the lens thereof is a powell lens, a wave lens or a cylindrical lens, and the thickness of the virtual light barrier 41 is controlled to be about 0.5-2 mm. Since the infrared laser light is irradiated parallel to the target plate 1, the virtual light barrier 41 is invisible to human eyes in front of the target plate 1, and an image taken by an industrial camera provided with an infrared filter when no object passes through the virtual light barrier 41 has nothing. When the bullet passes through the virtual light barrier, the bullet and the infrared laser interfere with each other to generate light reflection, and at the moment, a light spot formed by the light reflection can be captured by the industrial camera, and the position of the light spot is the middle bullet position of the bullet passing through the target plate 1. Referring to fig. 3 to 5, since the infrared laser 4 is irradiated upward from the bottom of the target plate 1 in this embodiment, the refracted light spot is substantially the reflected light of the periphery of the lower edge of the bullet, and the actual middle bullet position is the center point position above the light spot. Besides parallel irradiation, the light-emitting angle of the line infrared laser 4 can also be determined according to the distance from the target plate 1, but the infrared light is ensured to completely cover the target surface and be close to but not cross-linked with the target surface.

Referring to fig. 1 and 2, in order to facilitate image operation processing, the hit report host 2 is provided with a computer module, and uses a CPU supporting a gigabit port and low power consumption, and operates a WINDOWS or Linux system.

Referring to fig. 1 and 2, the visual identification target scoring system further comprises a target scoring terminal 5 connected to the target scoring host 2, wherein the target scoring terminal 5 is bound at the wrist or butt position of a shooter and used for sending a shooting signal to the target scoring host 2 during shooting and reporting a shooting result fed back by the target scoring host 1. The target scoring terminal 5 is provided with a sound pressure sensor and an acceleration sensor, when shooting, the target scoring terminal 5 simultaneously collects sound pressure and recoil acceleration information generated by the gun, and when the sound pressure and the recoil acceleration are both greater than a set threshold, a shooting signal is sent to the target scoring host. The target scoring host 2 and the target scoring terminal 5 are connected by wireless communication, and under normal conditions, the wireless propagation speed is approximately equal to the light speed, 300000000m/s, a 95 rifle bullet firing rate of 950m/s, a 92 pistol bullet firing rate of 450m/s, it can be seen that there is a certain difference between the propagation velocity of the radio wave and the flying velocity of the bullet, and when the target scoring host 2 receives the shooting signal, the image acquisition device 3 and the word line infrared laser 4 are started to execute relevant operations by utilizing the time difference, thereby controlling the industrial camera to start long exposure shooting before the bullet reaches the target plate 1, ensuring that the bullet crosses the virtual light barrier 41 within the exposure time, and the captured image shows a semicircular light spot (as shown in figure 3), and then filtering, calibrating and identifying the central point of the light spot on the image, so that the accurate position of the shooting can be identified.

Referring to fig. 1 and 5, a visual identification target scoring method based on near infrared light imaging includes the following steps:

(1) before shooting, an industrial camera with an infrared filter is used for collecting a background image of the target plate. Specifically, when the target plate 1 is started or replaced, the target plate 1 is lighted and supplemented with light through the infrared light supplementing lamp 6, and then the background image of the target plate is collected, wherein the infrared light supplementing lamp 6 adopts a light source with the same frequency as the line infrared laser 4.

(2) At the moment of shooting, the target scoring terminal 5 simultaneously acquires sound pressure and recoil acceleration information generated by the gun, and when the sound pressure and the recoil acceleration are both greater than set thresholds, a shooting signal is sent to the target scoring host 2. When receiving the shooting signal, the target reporting host 2 controls the word line infrared laser 4 to emit infrared laser parallel to the target plate 1, so that a virtual light barrier 41 is formed at the front end of the target plate 1, and meanwhile, the target reporting host 2 controls the industrial camera to start long exposure for shooting, so that a shooting image when the virtual light barrier is punctured by a bullet is collected. Fig. 3 is a captured target image.

(3) After shooting, the target scoring host 2 performs operation processing on the target board background image and the shooting image so as to determine a shooting position and feed back a shooting result, and the target scoring terminal 5 plays the shooting result fed back by the target scoring host 2. And then each device enters a standby state and waits for the next target-reporting trigger instruction.

Referring to fig. 1 and 5, when the target scoring host 2 processes the background image of the target plate, firstly, trapezoidal image correction is performed, and then target surface boundary recognition and target center coordinate recognition are performed through a template matching position, so that the current target surface area coordinate and target center coordinate are calibrated, and thus a background subtraction image is acquired. As shown in fig. 4 and 5, the processing of the target practice image by the target practice host 2 includes: firstly, background subtraction processing is carried out by combining a background subtraction image, trapezoidal image correction is carried out, an image of a region corresponding to a target surface is obtained, and then binarization processing and image filtering processing are carried out on the image of the region corresponding to the target surface; and then edge identification and light spot identification are carried out, the position, the relative target center direction and the distance of the missile are judged according to the light spot shape, and finally the missile direction and the number of missile rings are output.

The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.