Simulated shooting model establishment method, simulated shooting method, device and storage medium

Abstract

The present invention relates to the field of simulated shooting technology, and discloses a simulated shooting model establishment method, simulated shooting method, device, and storage medium. The present invention includes the following steps: identifying the positions of the vertices and acquisition points of a shooting area, determining the spacing L, spacing L1, and similarity ratio k=L1 / L; sequentially establishing a virtual shooting area and a reference coordinate system, and determining the coordinates of the initial bullet based on the matching virtual vertices, vertex coordinates, and similarity ratio k; launching a simulated flying saucer, and upon receiving a trigger signal, launching a simulated bullet, synchronously identifying the position of an aiming point and determining its coordinates; determining the coordinates of the virtual aiming point; and processing and analyzing the flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet to determine whether the simulated flying saucer has been hit. The present invention establishes a virtual shooting area that meets standards and defines the position of the initial bullet to simulate a real shooting distance, thereby enhancing the realism and accuracy of simulated live-fire shooting, improving safety, and reducing costs.

Description

Technical Field

[0001] The present invention relates to the technical field of simulated shooting, in particular to a simulated shooting model establishment method, a simulated shooting method, a device and a storage medium. Background Art

[0002] At present, skeet shooting competitions still use live-fire shooting. Live-fire shooting is still dangerous and consumes a lot of bullets and skeets, which is costly. Current simulated shooting generally uses laser shooting to simulate bullet shooting. For example, in simulated shooting games, the bullet's ballistic trajectory is determined mainly by capturing images of the light spot projected on the screen, and then determining whether the shot hits. However, this shooting method is prone to misjudgment because there will be different positions shooting towards the same shooting point, and the system uses the same algorithm to make judgments, which will lose authenticity. Since the initial shooting coordinates are uncertain and the size of the projection screen on site is not fixed, if the same algorithm is used to calculate the ballistic trajectory of the simulated bullet, there will be deviations, resulting in simulation distortion. If applied to skeet shooting simulation, it will cause large errors in shooting results, affecting the competitiveness of the competition. Summary of the Invention

[0003] The present invention is intended to at least solve one of the technical problems in the prior art. To this end, the present invention also proposes a method for establishing a simulated shooting model, which can establish a simulated shooting model and improve the authenticity and accuracy of shooting.

[0004] The present invention also provides a simulated shooting method, which can realize simulated flying saucer shooting and improve the authenticity and accuracy of shooting.

[0005] The present invention also provides a simulated shooting device for implementing the above-mentioned simulated shooting model establishment method or for implementing the above-mentioned simulated shooting method.

[0006] The present invention also provides a computer-readable storage medium for implementing the above-mentioned simulated shooting model establishment method or for implementing the above-mentioned simulated shooting method.

[0007] In a first aspect, a method for establishing a simulated shooting model according to an embodiment of the present invention includes the following steps:

[0008] Acquire a first image to identify positions of vertices of a shooting area and positions of at least two acquisition points outside the shooting area, determine a distance between two acquisition points as L, a distance between two corresponding vertices as L1, and a similarity ratio k=L1 / L;

[0009] Establishing a virtual shooting area based on the acquisition point, so that the vertical distance from the initial launch point to the shooting area is E1 and the vertical distance between the virtual shooting area and the shooting area is E2, where E1=Ek, E2=E-E1, and E is the vertical distance from the initial launch point to the virtual shooting area;

[0010] A reference coordinate system is established based on the virtual shooting area, and each virtual vertex of the virtual shooting area and the coordinates corresponding to each vertex are determined. The coordinates of the initial bullet at the initial launch point are determined based on a set of matched coordinates of the virtual vertices, the coordinates of the vertices, and the similarity ratio k.

[0011] The simulated shooting method according to the embodiment of the present invention has at least the following beneficial effects: by utilizing the acquisition points, a virtual shooting area that meets the standards can be established based on the actual size of the shooting area and the position of the coordinates of the initial bullet can be limited to simulate the actual shooting distance, thereby improving the realism of the simulated live-fire shooting. At the same time, it can also improve the accuracy of the virtual shooting and reduce the demand for the venue. It can simulate the real shooting environment in a small area and a small screen.

[0012] According to some embodiments of the present invention, the acquisition points match the positions of the corresponding vertices, and a line segment between any two acquisition points is parallel to a line segment between the corresponding two vertices.

[0013] According to some embodiments of the present invention, the number of the collection points is the same as the number of the vertices, the collection area enclosed by each of the collection points is a similar figure to the shooting area, and the collection area is a congruent figure to the virtual shooting area.

[0014] According to some embodiments of the present invention, the specific steps of determining the coordinates of the initial bullet are:

[0015] Determine the coordinates of one set of matching virtual vertices as (x1, y1, z1), the coordinates of the corresponding vertex as (x2, y2, z2), and find the coordinates of the initial bullet (x3, y3, z3);

[0016] According to the similarity relationship, it is known that the following geometric relationship is satisfied:

[0017]

[0018] Then we can get:

[0019]

[0020] In a second aspect, according to an embodiment of the present invention, after executing the method for establishing a simulated shooting model as described in the first aspect, the following steps are continued:

[0021] launching a simulated flying saucer, firing a simulated bullet upon receiving a trigger signal of a simulated gun, and simultaneously capturing a second image to identify the position of an aiming point on the current shooting area and determine the coordinates of the aiming point;

[0022] determining the coordinates of the corresponding virtual aiming point on the virtual shooting area according to the coordinates of the initial bullet, the coordinates of the aiming point, and the similarity ratio k;

[0023] The flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet are processed and analyzed to determine whether the simulated flying saucer is hit.

[0024] The simulated shooting method according to the embodiment of the present invention has at least the following beneficial effects: by utilizing the acquisition points, a virtual shooting area that meets the standards can be established according to the actual size of the shooting area and the position of the coordinates of the initial bullet can be limited to simulate the actual shooting distance, thereby improving the realism of the simulated live-fire shooting. At the same time, the accuracy of the virtual shooting can be improved, and the demand for the site can be reduced. The real shooting environment can be simulated in a small area and on a small screen. The present invention can achieve the shooting effect of simulating a flying saucer to replace the live-fire shooting mode, which can effectively improve safety and reduce costs.

[0025] According to some embodiments of the present invention, the specific steps of determining the coordinates of the corresponding virtual aiming point on the virtual shooting area based on the coordinates of the initial bullet, the coordinates of the aiming point, and the similarity ratio k are:

[0026] Determine the coordinates of the initial bullet (x3, y3, z3), the coordinates of the aiming point are (x4, y4, z4), and find the coordinates of the virtual aiming point (x5, y5, z5);

[0027] According to the similarity relationship, it is known that the following geometric relationship is satisfied:

[0028]

[0029] Then we can get:

[0030]

[0031] According to some embodiments of the present invention, the specific steps of processing and analyzing the flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet to determine whether the simulated flying saucer is hit are: after launching the simulated flying saucer, starting timing, calculating the flight trajectory of the simulated flying saucer based on the initial flying saucer virtual coordinates, flight parameters and simulated environment parameters of the simulated flying saucer, and determining the first coordinates of the simulated flying saucer at time T; using the first coordinate as the center of the circle, determining the target range according to the size of the simulated flying saucer; after launching the simulated bullet, recording the current time as T1, performing trajectory calculation based on the initial bullet coordinates, flight parameters and simulated environment parameters of the simulated bullet, combined with the virtual aiming point coordinates, and determining the second coordinates of the simulated bullet at time T; using the second coordinate as the center of the circle, determining the effective shooting range according to the flight parameters and size of the simulated bullet; and determining whether the simulated flying saucer is hit based on the positions of the effective shooting range and the target range.

[0032] According to some embodiments of the present invention, the step of determining whether the simulated flying saucer is hit based on the positions of the effective shooting range and the target range is: if it is determined that the effective shooting range and the target range overlap, then the simulated flying saucer is determined to be hit, and an animation effect of the simulated flying saucer being hit is displayed; or, if it is determined that the effective shooting range and the target range do not overlap, then the simulated flying saucer is determined not to be hit.

[0033] In a third aspect, a simulated shooting device according to an embodiment of the present invention includes a control analysis and processing module, an animation display module, a simulated gun, a camera module, and multiple acquisition points; the control analysis and processing module is used to execute the simulated shooting model establishment method as described in the first aspect or to execute the simulated shooting method as described in the second aspect; the animation display module is used to display the shooting area, the simulated flying saucer, and the simulated bullet, and is electrically connected to the control analysis and processing module; the simulated gun is used to send a trigger signal and an aiming point signal, and is electrically connected to the control analysis and processing module; multiple acquisition points are respectively arranged around the periphery of the shooting area, and are used to send virtual acquisition signals; the camera module is used to capture the position of the acquisition point, the shooting area, and the aiming point signal, and is electrically connected to the control analysis and processing module.

[0034] According to some embodiments of the present invention, the simulated firearm includes a gun body, a processing unit, a laser emitting unit, a trigger unit, a loading unit, a power supply unit and a communication unit; the gun body is provided with the muzzle and the trigger; the processing unit is provided on the gun body; the laser emitting unit is provided on the muzzle and is electrically connected to the processing unit; the trigger unit is provided on the trigger of the gun body and is electrically connected to the processing unit; the loading unit is provided on the loading rod of the gun body and is electrically connected to the processing unit; the power supply unit is provided on the gun body and is electrically connected to the processing unit; the communication unit is electrically connected to the processing unit and the control analysis and processing module respectively; wherein, when the trigger is pressed, the trigger unit is triggered and sends a trigger signal to the processing unit, and after receiving the trigger signal, the processing unit controls the laser emitting unit to project an aiming point signal on the shooting area.

[0035] The simulated shooting device according to the embodiment of the present invention has at least the following beneficial effects: by utilizing the acquisition points, a standard virtual shooting area can be established in the background according to the actual size of the shooting area displayed by the animation display module, and the position of the simulated gun, that is, the position of the coordinates of the initial bullet, can be determined, thereby simulating the actual shooting distance, improving the realism of the simulated live-fire shooting, and at the same time improving the accuracy of the virtual shooting, and reducing the demand for the site. The real shooting environment can be simulated in a small area and on a small screen. The simulated shooting device of the present invention can achieve the shooting effect of a simulated flying saucer to replace the live-fire shooting mode, which can effectively improve safety and reduce costs.

[0036] In a fourth aspect, according to a computer-readable storage medium according to an embodiment of the present invention, the storage medium stores one or more programs, and one or more of the programs can be executed by one or more processors. When the program is executed by the processor, the steps of the simulated shooting model establishment method as described in the embodiment of the first aspect or the steps of the simulated shooting method as described in the embodiment of the second aspect are implemented.

[0037] The computer-readable storage medium of the fourth embodiment of the present invention has the same effect as the simulated shooting method of the first embodiment, or the computer-readable storage medium of the third embodiment of the present invention has the same effect as the simulated shooting method of the second embodiment, which will not be repeated here.

[0038] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0040] Figure 1 A schematic flow chart of a method for establishing a simulated shooting model according to an embodiment of the present invention;

[0041] Figure 2 for Figure 1 One of the principle schematic diagrams of the method for establishing a simulated shooting model is shown;

[0042] Figure 3 for Figure 1 The second schematic diagram of the principle of the method for establishing a simulated shooting model is shown;

[0043] Figure 4 Schematic diagram of the flow of a simulated shooting method according to an embodiment of the present invention;

[0044] Figure 5 for Figure 1 One of the schematic diagrams of the principle of the simulated shooting method shown;

[0045] Figure 6 for Figure 1 A schematic diagram of a specific process for determining whether a shot has been hit in a simulated shooting method is shown;

[0046] Figure 7 A schematic diagram of the circuit principle of a simulated shooting device according to an embodiment of the present invention;

[0047] Figure 8 for Figure 7 The schematic diagram of the circuit principle of the simulated shooting device simulating a gun is shown.

[0048] Reference numerals:

[0049] Shooting area 100, virtual shooting area 200, control analysis and processing module 300, animation display module 400, simulated gun 500, processing unit 510, laser emission unit 520, trigger unit 530, loading unit 540, power supply unit 550, communication unit 560, camera module 600. DETAILED DESCRIPTION

[0050] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it should not be understood as a limitation on the scope of protection of the present invention.

[0051] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0052] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of terms such as "first" and "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0053] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0054] First, refer to Figure 1 According to an embodiment of the present invention, a method for establishing a simulated shooting model includes the following steps:

[0055] Step S100: Capture a first image to identify the positions of each vertex of the shooting area 100 and the positions of at least two acquisition points outside the shooting area 100, determine that the distance between two acquisition points is L, the distance between two corresponding vertices is L1, and the similarity ratio k=L1 / L; wherein, in this embodiment, the process of identifying the acquisition point positions, vertex positions, distance L, and distance L1 is performed by capturing an image, that is, capturing the image in the direction of the shooting area 100 and the positions of the acquisition points to obtain a first image, and performing feature analysis on the captured first image, thereby quickly determining relevant parameters such as the acquisition point positions, vertex positions, distance L, and distance L1, and further quickly determining the value of the similarity ratio k;

[0056] Step S200, establish a virtual shooting area 200 based on the collection point, so that the vertical distance from the initial launch point to the shooting area 100 is E1 and the vertical distance between the virtual shooting area 200 and the shooting area 100 is E2, wherein E1=Ek, E2=E-E1, and E is the vertical distance from the initial launch point to the virtual shooting area 200; wherein, the vertical distance E can be directly limited by the staff in the background, and in the skeet shooting simulation competition, the vertical distance E is limited according to the statutes of the International Shooting Sport Federation, that is, the vertical distance E can be directly limited according to the requirements of the statutes of the International Shooting Sport Federation, and combined with the distance L1 between the two vertices of the shooting area 100 and the distance L between the corresponding two collection points, a virtual shooting area 200 that meets the vertical shooting distance can be established to enhance the realism of the simulated shooting.

[0057] Step S300, establish a reference coordinate system based on the virtual shooting area 200, determine the coordinates of each virtual vertex and the corresponding coordinates of each vertex, and determine the coordinates of the initial bullet of the initial launch point according to the coordinates of one set of matched virtual vertices, the coordinates of the vertex and the similarity ratio k; according to the established virtual shooting area 200, and in combination with one set of corresponding virtual vertex coordinates, the vertex coordinates and the similarity ratio k, the coordinates of the initial bullet can be determined, and the coordinates of the initial bullet shot by the contestant are limited, that is, the initial position of the gun firing is limited, thereby simulating the real shooting distance and improving the accuracy of the simulated shooting. After the coordinate position of the initial bullet is obtained, the coordinates of the initial bullet are limited in the background. At any time, the simulated bullet is fired from the coordinate position of the initial bullet. At the same time, before the shooting competition, after the coordinate position of the initial bullet is determined according to the background analysis, the shooting contestant is allowed to stand at the corresponding position to shoot.

[0058] It can be appreciated that when performing coordinate processing on the first image, the captured first image needs to be subjected to image filtering, image binarization, and edge detection. Simultaneously, a reference coordinate system is established based on the acquisition points of the first image, the similarity ratio k, and the virtual shooting area to achieve coordinate processing. Furthermore, feature points of the first image are subjected to coordinate processing and identification, thereby obtaining the coordinates of the initial bullet launch. It should be noted that the image filtering, image binarization, edge detection, and coordinate processing employed are conventional image processing techniques employed by those skilled in the art and will not be further elaborated upon herein.

[0059] In some embodiments of the present invention, the positions of the collection points and the corresponding vertices are matched, and the line segment between any two collection points is parallel to the line segment between the corresponding two vertices. In conjunction with the matching between the collection points and the vertices and the parallel relationship of the line segments, the shooting area 100 can be enlarged to the same extent so that the virtual shooting area 200 and the shooting area 100 are congruent figures. Then, while the corresponding simulated flying saucer position can be projected on the shooting area 100, the flight parameters of the corresponding simulated flying saucer can also be obtained on the virtual shooting area 200 within the real shooting range. The coordinates of the virtual aiming point can be synchronously confirmed in the virtual shooting area 200 according to the aiming point on the shooting area 100 to determine the flight direction and angle of the simulated bullet, and then the ballistic trajectory of the simulated bullet can be determined. At the same time, in conjunction with the flight trajectory of the simulated flying saucer, the real flying saucer shooting effect can be simulated.

[0060] In some embodiments of the present invention, the number of collection points is equal to the number of vertices. The collection area enclosed by each collection point is similar to the shooting area 100, and the collection area is congruent to the virtual shooting area 200. By making the number of collection points equal to the number of vertices, the backend's response time for establishing the reference coordinate system of the virtual shooting area 200 can be further improved, allowing the backend to quickly determine the size of the virtual shooting area 200 based directly on the signals from the collection points.

[0061] For further explanation, the shooting area 100 is set to be a square. Figure 2 , which has four vertices A1, A2, A3, and A4. According to the positions of vertices A1 and A2, two acquisition points B1 and B2 are set. It can be seen that when the first image is recognized, the length of the line segment B1B2 is L, and the length of the line segment A1A2 is L1, so the similarity ratio k=L1 / L can be determined. At the same time, according to the above steps S200 and S300, the reference virtual shooting area 200 and the reference coordinate system are established respectively, wherein the origin of the reference coordinate system can be any position. In this embodiment, it can be seen that the virtual shooting area 200 and the reference coordinate system can be any position. The two virtual vertex positions corresponding to the click area 200 are C1 and C2 respectively. Since the similarity ratio is k, the background program can identify the length between two adjacent points of the four vertices A1, A2, A3, and A4, and then synchronously establish virtual vertices C3 and C4, where vertex A1 corresponds to virtual vertex C1, vertex A2 corresponds to virtual vertex C2, vertex A3 corresponds to virtual vertex C3, and vertex A3 corresponds to virtual vertex C3. At the same time, according to the requirements of step S300, three-dimensional coordinates are established with C1 as the origin, and the coordinates of the four virtual vertices are divided into

[0062] C1(0, 0, 0);

[0063] C2(0, L, 0);

[0064] C3(0, L, L);

[0065] C4(0, 0, L);

[0066] Then the coordinates of the four vertices on the shooting area (100) are:

[0067] A1(-E2, (L-L1) / 2, (L-L1) / 2);

[0068] A2(-E2, (L+L1) / 2, (L-L1) / 2);

[0069] A3(-E2, (L+L1) / 2, (L+L1) / 2);

[0070] A4(-E2, (L-L1) / 2, (L+L1) / 2);

[0071] The coordinates of the two collection points are:

[0072] B1(-E2, 0, 0);

[0073] B2(-E2, L, 0).

[0074] Similarly, we can know that, referring to Figure 3 When the number of acquisition points and vertices in the shooting area 100 is the same, based on the above embodiment, acquisition points B3 and B4 are set simultaneously. When acquiring the first image, acquisition points B3 and B4 are identified simultaneously. Then, based on the four acquisition points, the positions and sizes of the four virtual vertices of the virtual shooting area 200 are directly determined. This can further improve the speed of establishing the virtual shooting area 200 and the reference coordinate system in the background. Similarly, based on the identified spacing and similarity ratio requirements, the coordinate values ​​of the above points can also be obtained. At the same time, the coordinates of the other two acquisition points are:

[0075] B3(-E2, L, L);

[0076] B4(-E2, L, 0).

[0077] It is known that the collection point can be a laser emitter, that is, a laser emitter is set at the corresponding position so that the background can quickly confirm the location of the collection point based on the collected image. Similarly, a corresponding laser emitter can also be set at the position of the corresponding vertex of the shooting area 100, which allows the background to quickly confirm the position and size parameters of the shooting area 100, such as the distance between two adjacent vertices and the distance between two adjacent collection points. At the same time, to avoid affecting the shooting athletes, the laser emitter used is a light source that is invisible to the naked eye. Only when a special camera is used can the position of the laser point of the corresponding frequency be captured for background identification and confirmation.

[0078] In some embodiments of the present invention, the specific steps of determining the coordinates of the initial bullet are:

[0079] Determine the coordinates of one set of matching virtual vertices as (x1, y1, z1), the coordinates of the corresponding vertex are (x2, y2, z2), and find the coordinates of the initial bullet (x3, y3, z3);

[0080] According to the similarity relationship, it is known that the following geometric relationship is satisfied:

[0081]

[0082] Then we can get:

[0083]

[0084] It should be noted that the above geometric relationship is obtained by combining the relationship between geometric figures in mathematical principles, and can be deduced by combining the similarity ratio k and the corresponding geometric figures.

[0085] Therefore, after step S200 and step S300, the coordinate values ​​of the matched virtual vertices and vertices can be obtained and substituted into formula (1) for calculation. Figure 2 or Figure 3 After determining the coordinates of each vertex and virtual vertex, substitute the matching coordinate values ​​into formula (1), and then we can get the specific coordinate values ​​of the corresponding initial bullet, such as vertex A1 and virtual vertex B1, or vertex A2 and virtual vertex B2, or vertex A3 and virtual vertex B3, or vertex A4 and virtual vertex B4.

[0086] Secondly, refer to Figure 4 According to an embodiment of the present invention, the simulated shooting method includes the following steps:

[0087] Step S100: Capture a first image to identify the positions of each vertex of the shooting area 100 and the positions of at least two acquisition points outside the shooting area 100, determine that the distance between two acquisition points is L, the distance between two corresponding vertices is L1, and the similarity ratio k=L1 / L; wherein, in this embodiment, the process of identifying the acquisition point positions, vertex positions, distance L, and distance L1 is performed by capturing an image, that is, capturing the image in the direction of the shooting area 100 and the positions of the acquisition points to obtain a first image, and performing feature analysis on the captured first image, thereby quickly determining relevant parameters such as the acquisition point positions, vertex positions, distance L, and distance L1, and further quickly determining the value of the similarity ratio k;

[0088] Step S200, establish a virtual shooting area 200 based on the collection point, so that the vertical distance from the initial launch point to the shooting area 100 is E1 and the vertical distance between the virtual shooting area 200 and the shooting area 100 is E2, wherein E1=Ek, E2=E-E1, and E is the vertical distance from the initial launch point to the virtual shooting area 200; wherein, the vertical distance E can be directly limited by the staff in the background, and in the skeet shooting simulation competition, the vertical distance E is limited according to the statutes of the International Shooting Sport Federation, that is, the vertical distance E can be directly limited according to the requirements of the statutes of the International Shooting Sport Federation, and combined with the distance L1 between the two vertices of the shooting area 100 and the distance L between the corresponding two collection points, a virtual shooting area 200 that meets the vertical shooting distance can be established to enhance the realism of the simulated shooting.

[0089] Step S300: Establish a reference coordinate system based on the virtual shooting area 200, determine the coordinates of each virtual vertex and the corresponding coordinates of each vertex, and determine the coordinates of the initial bullet of the initial launch point according to the coordinates of one set of matched virtual vertices, the coordinates of the vertex, and the similarity ratio k; Based on the established virtual shooting area 200, and in conjunction with one set of corresponding virtual vertex coordinates, the vertex coordinates, and the similarity ratio k, the coordinates of the initial bullet can be determined, and the coordinates of the initial bullet of the simulated bullet shot by the contestant are limited, that is, the initial position of the gun firing is limited, thereby simulating the real shooting distance and improving the accuracy of the simulated shooting. After the coordinate position of the initial bullet is obtained, the coordinates of the initial bullet are limited in the background. At any time, the simulated bullet is fired from the coordinate position of the initial bullet. At the same time, before the shooting competition, after the coordinate position of the initial bullet is determined according to the background analysis, the shooting contestant is allowed to stand at the corresponding position to shoot;

[0090] Step S400: Launching a simulated flying saucer and synchronously displaying an image on the shooting area 100; upon receiving a trigger signal from the simulated gun 500, firing a simulated bullet; and synchronously capturing a second image to identify the position of an aiming point on the current shooting area 100 and determine the coordinates of the aiming point; identifying the position of the aiming point, i.e., confirming the coordinates of the aiming point, primarily involves capturing an image with a camera directed toward the shooting area 100 to obtain a second image, and then coordinating the second image with a background algorithm to determine the coordinate parameters of the aiming point;

[0091] The simulated flying saucer can fly in different directions and speeds within a set range. When displaying images, a target trench can be virtually displayed. The flying saucer's flight altitude, flight direction, and flight speed can be adjusted through background settings. The background software can also be set to allow the flying saucer to fly randomly in different directions and speeds within the limited flight parameters. At the same time, the flight area of ​​the simulated flying saucer is limited to the plane where the virtual shooting area 200 is located.

[0092] Step S500: Determine the coordinates of the corresponding virtual aiming point on the virtual shooting area 200 based on the coordinates of the initial bullet, the coordinates of the aiming point, and the similarity ratio k. By determining the coordinates of the initial bullet and the coordinates of the aiming point on the shooting area 100 and combining them with the similarity ratio k, the coordinate parameters of the virtual aiming point can be determined. Based on the coordinates of the virtual aiming point and the initial bullet, and combining them with the flight parameters of the bullet and the simulation environment parameters, the aiming direction of the simulated bullet and the ballistic trajectory of the simulated bullet can be determined.

[0093] Step S600: Process and analyze the flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet to determine whether the simulated flying saucer is hit. The flight trajectory of the simulated flying saucer can be obtained through the background, and combined with the ballistic trajectory, it can be determined whether the flight trajectory and the ballistic trajectory overlap at a certain moment, thereby determining whether the simulated flying saucer is hit.

[0094] It can be known that the simulated bullet can be a display of any bullet type. For example, in skeet shooting, since shotgun shooting is conventionally used, the simulated bullet in this embodiment uses an animation display effect after shotgun shooting.

[0095] It can be appreciated that when coordinate processing is performed on the first and second images, the captured first and second images need to be subjected to image filtering, image binarization, and edge detection. Simultaneously, a reference coordinate system is established based on the acquisition points of the first image, the similarity ratio k, and the reference of the virtual shooting area to achieve coordinate processing. Furthermore, the feature points of the first image and the aiming point position on the second image are coordinate processed and identified, thereby obtaining the coordinates of the initial bullet launch and the coordinates of the virtual aiming point on the virtual shooting area 200. It should be noted that the image filtering, image binarization, edge detection, and coordinate processing employed are conventional image processing techniques employed by those skilled in the art and will not be further elaborated upon herein.

[0096] The simulated shooting method according to the embodiment of the present invention has at least the following beneficial effects: by utilizing the acquisition points, a virtual shooting area 200 that meets the standards can be established based on the actual size of the shooting area 100 and the position of the coordinates of the initial bullet can be limited to simulate the actual shooting distance, thereby improving the realism of the simulated live-fire shooting. At the same time, it can also improve the accuracy of the virtual shooting and reduce the demand for the site. The real shooting environment can be simulated in a small area and on a small screen. The present invention can achieve the shooting effect of simulating a flying saucer to replace the live-fire shooting mode, which can effectively improve safety and reduce costs.

[0097] In some embodiments of the present invention, the specific steps of determining the coordinates of the corresponding virtual aiming point on the virtual shooting area 200 according to the coordinates of the initial bullet, the coordinates of the aiming point, and the similarity ratio k are as follows:

[0098] Determine the coordinates of the initial bullet (x3, y3, z3), the coordinates of the aiming point are (x4, y4, z4), and find the coordinates of the virtual aiming point (x5, y5, z5);

[0099] According to the similarity relationship, it is known that the following geometric relationship is satisfied:

[0100]

[0101] Then we can get:

[0102]

[0103] It should be noted that the above geometric relationship is obtained by combining the relationship between geometric figures in mathematical principles, and can be deduced by combining the similarity ratio k and the corresponding geometric figures.

[0104] Similarly, after determining the vertex coordinates and virtual vertex coordinates according to the model building method of the first aspect, refer to Figure 2 and Figure 3 , the coordinates of the initial bullet can be determined, and after identifying the coordinates of the aiming point on the audit area, refer to Figure 5 , P1 is the aiming point on the shooting area 100, and P2 is the virtual aiming point on the virtual shooting area 200. After determining the coordinates of the initial bullet P and the coordinates of the aiming point P1, they can be substituted into formula (2) to determine the specific values ​​of the virtual coordinates.

[0105] Reference Figure 6 In some embodiments of the present invention, the specific steps of processing and analyzing the flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet to determine whether the simulated flying saucer is hit are as follows:

[0106] Step S610: After the simulated flying saucer is launched, a timer is started, and a flight trajectory of the simulated flying saucer is calculated based on the initial virtual coordinates of the simulated flying saucer, flight parameters, and simulated environment parameters to determine the first coordinates of the simulated flying saucer at time T.

[0107] Step S620: Taking the first coordinate as the center of the circle and according to the size of the simulated flying saucer, determine the target range;

[0108] Step S630: After the simulated bullet is fired, the current time is recorded as T1, and a trajectory calculation is performed based on the coordinates of the initial bullet, the flight parameters, and the simulated environment parameters of the simulated bullet, combined with the coordinates of the virtual aiming point, to determine the second coordinates of the simulated bullet at time T;

[0109] Step S640: Taking the second coordinate as the center of the circle, determine the effective shooting range according to the flight parameters and size of the simulated bullet;

[0110] Step S650: Determine whether the simulated flying saucer is hit based on the effective shooting range and the position of the target range.

[0111] In some embodiments of the present invention, the steps of determining whether the simulated flying saucer is hit based on the effective shooting range and the position of the target range are as follows:

[0112] Step S641: If it is determined that the effective shooting range and the target range overlap, it is determined that the simulated flying saucer is hit, and an animation effect of the simulated flying saucer being hit is displayed;

[0113] or,

[0114] Step S642: If it is determined that the effective shooting range and the target range do not overlap, it is determined that the simulated flying saucer has not been hit.

[0115] Among them, reference Figure 5 The specific calculation process for determining whether the simulated flying saucer has been hit is as follows:

[0116] By combining the above formulas (1) and (2), the specific values ​​of the initial bullet coordinates and the virtual aiming point coordinates can be determined:

[0117] For the sake of convenience, set the parameters related to the simulated bullet: Set the initial bullet coordinates to P The first coordinate required is ;Simulated bullet flight parameters including bullet speed The angle β between the bullet's velocity and the positive direction of the X axis a , bullet mass m1, bullet frontal area s1, bullet effective shooting radius R;

[0118] Simulated UFO related parameters: The coordinates of the initial launch position of the UFO are The flight parameters of the simulated UFO include the UFO speed 、The elevation angle α of the flying saucer's speed b , the angle β between the flying saucer speed and the positive direction of the X axis b , the flying saucer's frontal area s2, the flying saucer's vertical area s3, the flying saucer's mass m2, the flying saucer's radius r, and the flying saucer's height h. It can be seen that, through background limitations, the actual simulated flying saucer is flying within the virtual shooting area 200, and the image of the shooting area 100 is only used for image display;

[0119] Simulated environmental parameters: wind speed v w , wind speed pitch angle α w , the angle β between wind speed and the positive direction of X axis w , gravitational acceleration g, air resistance coefficient C and air density ρ; It can be known that the simulation environment parameters are simulated and set by the background itself, so the relevant parameters can be directly obtained by the background.

[0120] It is worth noting that in reality, due to the influence of gravity, air resistance, wind speed and other environmental factors, the simulated bullet aiming position will deviate from the actual shooting point. The following is an explanation of the calculation process of the simulated bullet's ballistic trajectory:

[0121] First, establish the reference coordinates according to the above steps. It is known that the initial position of the muzzle, that is, the coordinates of the initial bullet, is , and according to formula (1) and formula (2), the P2 coordinate of the virtual aiming point can also be obtained as , where PP1 represents the direction of the simulated bullet launch, i.e., the direction of the simulated bullet velocity, and PP2 represents the simulated ballistic trajectory after the simulated bullet launch. The purpose of this embodiment is to calculate the second coordinate ; Among them, combined and The elevation angle α of the simulated bullet can be calculated a , and the angle β between the bullet velocity direction and the positive direction of the X axis a , where the elevation angle α a is ∠P1PP4, and the included angle is ∠P1PP3, where Specific cooperation and The calculation process of the two coordinates belongs to the conventional mathematical calculation method in this field, and no detailed calculation is performed this time. a , and the angle β between the bullet velocity direction and the positive direction of the X axis a , we can get the component velocity of the simulated bullet on each coordinate axis:

[0122]

[0123] in, To simulate the velocity of the bullet on the X axis, To simulate the velocity of the bullet on the Y axis, To simulate the bullet's velocity on the Z axis.

[0124] Similarly, the following formula is used to calculate the wind speed component on the coordinate axis:

[0125]

[0126] In addition, according to physical calculations, we can know that:

[0127] When the object's velocity in the X-axis direction is v x When combined with the environmental resistance factor, the actual speed of the object in the X-axis direction can be calculated as follows:

[0128]

[0129] When the object's velocity in the Y-axis direction is v y When combined with the environmental resistance factor, the actual speed of the object in the Y-axis direction can be calculated as follows:

[0130]

[0131] When the object's velocity in the Z-axis direction is v z When combined with the environmental resistance factor, the actual speed of the object in the Z-axis direction can be calculated as follows:

[0132]

[0133] Among them, in formula (5), formula (6) and formula (7), C, ρ, and g are the air resistance coefficient C, air density ρ, and gravity acceleration g corresponding to the simulation environment mentioned above, respectively; m is the weight of the corresponding object; and s is the area of ​​the object on the corresponding coordinate axis.

[0134] The integral formula for calculating the displacement of an object is:

[0135]

[0136] In this embodiment, the simulated bullet is a shotgun bullet, so the frontal area on the coordinate axis is s1. Then, according to formula (3), formula (4), formula (5), formula (6), formula (7), formula (8) and the simulated bullet parameters, when the simulated bullet is fired, it is known that the flying saucer has flown for a time T1. Then, at time T, the flight time of the simulated bullet is T-T1, and the flight time of the simulated flying saucer is T. It can be obtained that the displacement calculation formula of the simulated bullet on each coordinate axis is:

[0137]

[0138] Therefore, at time T, with the initial bullet coordinates The second coordinate of the simulated bullet can be obtained

[0139] Similarly, the component velocities of the simulated flying saucer on each coordinate axis are:

[0140]

[0141] Then, by combining formula (10), formula (4), formula (5), formula (6), formula (7), formula (8) and the parameters of the simulated flying saucer, we can know that the windward area of ​​the simulated flying saucer in the X-axis and Y-axis directions is s2, and the windward area of ​​the simulated flying saucer in the Z-axis direction, that is, the vertical area, is s3; then we can derive the calculation formula of the simulated flying saucer in each coordinate axis as follows:

[0142]

[0143] Therefore, at time T, the coordinates of the initial launch of the simulated flying saucer are , we can get the first coordinate of the simulated flying saucer

[0144] Simulate the volume of the bullet and the second coordinate It can be concluded that the effective shooting range is based on the second coordinate is the center of the circle and its volume is area.

[0145] The volume V of the simulated flying saucer b =πr 2 h and the first coordinate It can be concluded that the target range is based on the first coordinate is centered and has a volume of πr 2 The area of ​​h.

[0146] Therefore, as long as there is an overlapping area between the effective shooting range and the target range at a certain moment, it can be determined that the simulated flying saucer is hit, and an animation is used to display the simulated flying saucer being broken in the shooting area 100. If there is no overlapping area, it can be determined that the flying saucer is not hit.

[0147] Reference Figure 7In a third aspect, a simulated shooting device according to an embodiment of the present invention includes a control analysis and processing module 300, an animation display module 400, a simulated gun 500, a camera module 600, and multiple acquisition points; the control analysis and processing module 300 is used to execute the simulated shooting model establishment method as in the first aspect or to execute the simulated shooting method as in the second aspect; the animation display module 400 is used to display the shooting area 100, the simulated flying saucer, and the simulated bullet, and is electrically connected to the control analysis and processing module 300; the simulated gun 500 is used to send a trigger signal and an aiming point signal, and is electrically connected to the control analysis and processing module 300; multiple acquisition points are respectively arranged around the periphery of the shooting area 100, and are used to send virtual acquisition signals; the camera module 600 is used to capture the positions of the acquisition points, the shooting area 100, and the aiming point signal, and is electrically connected to the control analysis and processing module 300.

[0148] Among them, the camera module 600 shoots in the direction of the animation display module 400 and the position of the collection point, and is used to collect the first image and the second image respectively, and the camera module 600 can use a MOS sensor camera or a CMOS sensor or a CCD sensor. Those skilled in the art can choose according to their needs. At the same time, it should be noted that the steps or functions performed by the background mentioned in the first aspect embodiment are completed by the control analysis and processing module 300 in the second aspect embodiment, that is, the control analysis and processing module 300 is equivalent to the background.

[0149] In some embodiments of the present invention, the animation display module 400 is at least one of a display, a three-dimensional projector, or a two-dimensional projector. Specifically, the animation display module 400 can be displayed using a conventional display to ensure the display brightness and resolution of the image. Using a two-dimensional projector allows the shooting range to be moved, improving convenience. Using a three-dimensional projector for projection can further enhance the actual simulation effect of skeet shooting. At the same time, laser emitters that can be recognized by the camera module 600 are set at the four vertices of the shooting area 100, the area projected by the animation display module 400. At the same time, in order to avoid affecting the players, a laser light source that is invisible to the naked eye can be used. Similarly, the same laser emitter can also be used at the collection point.

[0150] Reference Figure 8In some embodiments of the present invention, the simulated gun 500 includes a gun body, a processing unit 510, a laser emitting unit 520, a trigger unit 530, a loading unit 540, a power supply unit 550, and a communication unit 560; the gun body is provided with a muzzle and a trigger; the processing unit 510 is provided on the gun body; the laser emitting unit 520 is provided on the muzzle and is electrically connected to the processing unit 510; the trigger unit 530 is provided on the trigger of the gun body and is electrically connected to the processing unit 510; the loading unit 540 is provided on the power supply unit 550 and the communication unit 560. 0 is provided on the single-loading pull rod of the gun body and is electrically connected to the processing unit 510; the power supply unit 550 is provided on the gun body and is electrically connected to the processing unit 510; the communication unit 560 is electrically connected to the processing unit 510 and the control analysis and processing module 300 respectively; wherein, when the trigger is pressed, the trigger unit 530 is triggered and sends a trigger signal to the processing unit 510. After receiving the trigger signal, the processing unit 510 controls the laser emitting unit 520 to project the aiming point signal on the shooting area 100.

[0151] The trigger unit 530 includes a trigger trigger provided on the trigger, and the trigger trigger is electrically connected to the processing unit 510. The use of the trigger trigger and the trigger can further enhance the authenticity of the shooting. In conjunction with the loading module and the loading rod, the effect of loading a bullet can be simulated, thereby enhancing the authenticity of the shooting. Specifically, the loading module uses a loading trigger, the trigger end of which is provided on the loading rod, and the output end of the loading trigger is electrically connected to the processing unit 510; the trigger is electrically connected to the trigger end of the trigger trigger. When the shooter pulls the loading rod of the gun, the loading trigger installed in the rod will be triggered, and a signal will be input to the processing unit 510. The trigger unit 530 can only be triggered when the shooter pulls the trigger, otherwise the shooting cannot be performed.

[0152] The communication unit 560 can be used to transmit signals between the processing unit 510 and the control analysis processing module 300. Specifically, the communication unit 560 can adopt an optical cable communication unit, a Bluetooth communication unit or a WIFI communication unit. Among them, the optical cable communication unit adopts a wired transmission method, which can improve the stability and reliability of the signal; and the Bluetooth communication unit supports point-to-point transmission, and has the characteristics of fast transmission speed, etc. The WIFI communication unit has a fast transmission speed and is convenient for networking, and the communication unit can be set according to actual needs. Among them, the communication unit 560 adopts existing conventional technical means, which are well known to those skilled in the art, so they will not be described in detail this time. In addition to the above-mentioned signal transmission methods, those skilled in the art can add other different wired or wireless technologies for replacement as needed.

[0153] Specifically, before shooting, the positions of the animation display module 400 and the collection points are set in advance, and the control analysis processing module 300 will display the shooting area 100 on the animation display module 400 .

[0154] The control analysis processing module 300 executes step S100, controls the camera module 600 to capture images in the direction of the animation display module 400 and the capture point, and determines the specific values ​​of the distance L, the distance L1, and the similarity ratio k;

[0155] According to step S200 and step S300, a virtual shooting area 200 and a reference coordinate system are established, and the coordinates of the corresponding virtual vertices, the coordinates of the vertices and the coordinates of the initial bullet are determined. The staff can determine the relative position between the player and the animation display module 400 according to the coordinates of the initial bullet displayed by the control analysis processing module 300. After completing the corresponding pre-match preparations, the control analysis processing module 300 simulates the flight trajectory of the flying saucer in the virtual shooting area 200, and at the same time displays the animation effect of the flying saucer flying in the animation display module 400, i.e., the shooting area 100. At this time, the player can aim and shoot according to the flying saucer on the shooting area 100, and when the trigger signal is pressed, the simulated bullet is fired, stimulating The light emitting unit 520 will synchronously display the point aimed at by the player, that is, the light spot of the aiming point, on the shooting area 100. The control, analysis and processing module 300 will control the camera module 600 to synchronously capture the second image to identify the coordinates of the aiming point and synchronously determine the coordinates of the virtual aiming point, and then determine the simulated trajectory. At the same time, the control, analysis and processing module 300 will process and analyze the flight trajectory and simulated trajectory of the simulated flying saucer to determine whether the flying saucer is hit. If it is hit, the animation effect of the flying saucer being hit will be displayed. If it is determined that it is not hit, the animation effect of the flying saucer flying out of the shooting area 100 or landing will be displayed. That is, the control, analysis and processing module 300 will execute steps S400, S500 and S600 in sequence.

[0156] The simulated shooting device according to the embodiment of the present invention has at least the following beneficial effects: by utilizing the acquisition points, a standard virtual shooting area 200 can be established in the background according to the actual size of the shooting area 100 displayed by the animation display module 400 to simulate the actual shooting distance, thereby improving the realism of the simulated live-fire shooting. At the same time, the position of the simulated gun 500, i.e., the coordinates of the initial bullet, is limited, which can improve the accuracy of the virtual shooting and reduce the demand for the site. The real shooting environment can be simulated in a small area and on a small screen. In combination with the simulated shooting device of the present invention, the shooting effect of a simulated flying saucer can be achieved to replace the live-fire shooting mode, which can effectively improve safety and reduce costs.

[0157] In a fourth aspect, according to a computer-readable storage medium according to an embodiment of the present invention, the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors. When the program is executed by the processor, the steps of the simulated shooting model establishment method of the first aspect embodiment or the steps of the simulated shooting method of the second aspect embodiment are implemented.

[0158] The computer-readable storage medium of the fourth embodiment of the present invention has the same effect as the simulation shooting model establishment method of the first embodiment, or the computer-readable storage medium of the fourth embodiment of the present invention has the same effect as the simulation shooting method of the second embodiment, which will not be elaborated here.

[0159] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disk (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0160] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0161] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A method for establishing a simulated shooting model, characterized in that: The following steps are involved: Acquire a first image to identify positions of vertices of a shooting area and positions of at least two acquisition points outside the shooting area, determine a distance between two acquisition points as L, a distance between two corresponding vertices as L1, and a similarity ratio k=L1 / L; Establishing a virtual shooting area based on the acquisition point, so that the vertical distance from the initial launch point to the shooting area is E1 and the vertical distance between the virtual shooting area and the shooting area is E2, where E1=Ek, E2=E-E1, and E is the vertical distance from the initial launch point to the virtual shooting area; A reference coordinate system is established based on the virtual shooting area, and each virtual vertex of the virtual shooting area and the coordinates corresponding to each vertex are determined. The coordinates of the initial bullet at the initial launch point are determined based on a set of matched coordinates of the virtual vertices, the coordinates of the vertices, and the similarity ratio k.

2. The method for establishing a simulated shooting model according to claim 1, wherein: The acquisition points match the positions of the corresponding vertices, and a line segment between any two acquisition points is parallel to a line segment between the corresponding two vertices.

3. The method for establishing a simulated shooting model according to claim 1 or 2, wherein: The number of the collection points is the same as the number of the vertices, the collection area enclosed by each of the collection points and the shooting area are similar figures, and the collection area and the virtual shooting area are congruent figures.

4. The method for establishing a simulated shooting model according to claim 1, wherein: The specific steps of determining the coordinates of the initial bullet are: Determine the coordinates of one set of matching virtual vertices as (x1, y1, z1), the coordinates of the corresponding vertex as (x2, y2, z2), and find the coordinates of the initial bullet (x3, y3, z3); According to the similarity relationship, it is known that the following geometric relationship is satisfied: Then we can get:

5. A simulated shooting method, characterized in that: After executing the method for establishing a simulated shooting model according to any one of claims 1 to 4; Continue with the following steps: launching a simulated flying saucer, firing a simulated bullet upon receiving a trigger signal of a simulated gun, and simultaneously capturing a second image to identify the position of an aiming point on the current shooting area and determine the coordinates of the aiming point; determining the coordinates of the corresponding virtual aiming point on the virtual shooting area according to the coordinates of the initial bullet, the coordinates of the aiming point, and the similarity ratio k; processing and analyzing the flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet to determine whether the simulated flying saucer is hit; The specific steps of processing and analyzing the flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet to determine whether the simulated flying saucer is hit are as follows: After the simulated flying saucer is launched, timing is started, and the flight trajectory of the simulated flying saucer is calculated based on the initial virtual flying saucer coordinates, flight parameters, and simulated environment parameters of the simulated flying saucer to determine the first coordinates of the simulated flying saucer at time T; Taking the first coordinate as the center of the circle, and determining the target range according to the size of the simulated flying saucer; After the simulated bullet is fired, the current time is recorded as T1, and a trajectory calculation is performed based on the initial coordinates of the simulated bullet, flight parameters, and simulation environment parameters of the simulated bullet in combination with the virtual aiming point coordinates to determine the second coordinates of the simulated bullet at time T; Taking the second coordinate as the center of the circle, determining the effective shooting range according to the flight parameters and size of the simulated bullet; According to the effective shooting range and the position of the target range, it is determined whether the simulated flying saucer is hit.

6. The simulated shooting method according to claim 5, wherein: The specific steps of determining the coordinates of the virtual aiming point corresponding to the virtual shooting area according to the coordinates of the initial bullet, the coordinates of the aiming point, and the similarity ratio k are as follows: Determine the coordinates of the initial bullet (x3, y3, z3), the coordinates of the aiming point are (x4, y4, z4), and find the coordinates of the virtual aiming point (x5, y5, z5); According to the similarity relationship, it is known that the following geometric relationship is satisfied: Then we can get:

7. The simulated shooting method according to claim 5, wherein: The step of determining whether the simulated flying saucer is hit according to the effective shooting range and the position of the target range is as follows: If it is determined that the effective shooting range and the target range overlap, it is determined that the simulated flying saucer is hit, and an animation effect indicating that the simulated flying saucer is hit is displayed; Alternatively, if it is determined that the effective shooting range and the target range do not overlap, it is determined that the simulated flying saucer has not been hit.

8. A simulated shooting device, characterized in that: include: A control analysis and processing module, configured to execute the method for establishing a simulated shooting model according to any one of claims 1 to 4, or to execute the simulated shooting method according to any one of claims 5 to 7; An animation display module, used for displaying the shooting area, the simulated flying saucer and the simulated bullet, and electrically connected to the control analysis and processing module; A simulated gun, used to send trigger signals and aiming point signals, and electrically connected to the control analysis and processing module; a plurality of collection points, respectively arranged around the periphery of the shooting area, for emitting virtual collection signals; The camera module is used to shoot the position of the acquisition point, the shooting area and the aiming point signal, and is electrically connected to the control analysis and processing module.

9. A computer-readable storage medium, characterized in that The storage medium stores one or more programs, and one or more of the programs can be executed by one or more processors to implement the steps of the simulated shooting model establishment method described in any one of claims 1 to 4, or to implement the steps of executing the simulated shooting method described in any one of claims 5 to 7.

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