Target paper for laser simulated shooting and target surface image processing method using the same

Abstract

The present invention discloses a target paper for laser simulated shooting and a target surface image processing method using the same. The present invention corrects the target surface image using preset positioning points to obtain the coordinates of each positioning point on the undistorted target surface image. The actual position of the laser spot is then determined based on the coordinates of each positioning point on the undistorted target surface image. In other words, the present invention eliminates target surface image distortion caused by camera lens distortion and shooting angle, accurately calculating the coordinates of the laser spot on the actual target paper. Actual measurements have shown that the present invention achieves a spot center positioning accuracy of 0.1 mm and a hit ring count accuracy of 0.1 ring.

Description

Technical Field

[0001] The present invention relates to the technical field of laser simulation design, in particular to a target paper for laser simulation shooting and a target surface image processing method using the target paper. Background Art

[0002] Laser simulated shooting offers the advantages of low cost, high safety, and a high degree of fidelity, making it widely used in shooting training, competitive shooting, and simulated shooting entertainment. Laser simulated shooting uses a laser to emit laser light instead of live ammunition, eliminating bullet loss and leaving no marks on the target after shooting training. The target can be reused, significantly reducing the cost of shooting training. The laser transmitter emits a laser that is safe for people, eliminating the safety issues associated with live ammunition shooting and ensuring safe training. The laser's excellent straightness allows it to simulate the trajectory of a bullet, and when combined with other devices, it can provide a highly realistic shooting experience.

[0003] Image-processing-based laser shooting simulation requires relatively low system hardware requirements. It only requires a standard high-definition camera to capture the target surface image, and software controls to identify the target surface and laser spot. This system offers low hardware cost, easy installation and maintenance, and stable operation in complex lighting environments. However, when performing image-processing-based laser shooting simulation, the captured target surface image may be distorted due to lens distortion and shooting angle issues. Improper processing can affect target accuracy. Therefore, improving the accuracy of image processing-based target recognition has become a pressing issue. Summary of the Invention

[0004] The present invention provides a method for detecting anomalies in heterogeneous data sets and a computer-readable storage medium to solve the problem of low target accuracy in image processing in the prior art.

[0005] In a first aspect, the present invention provides a target paper for laser simulated shooting, comprising:

[0006] A plurality of light-transmitting areas are provided on the target paper for laser simulation shooting as positioning points. The light-transmitting areas are areas that can transmit indoor ambient light. The centers of all light-transmitting areas are distributed on the outside of a preset square, and the center point of the preset square coincides with the center point of the target paper for laser simulation shooting. The preset square is a square arranged at equal distances along the outer frame of the target paper for laser simulation shooting.

[0007] Optionally, the light-transmitting areas are arranged at the vertices of the preset square and the midpoints of the four sides of the preset square.

[0008] Optionally, the light-transmitting area is circular or square. When the light-transmitting area is circular, the radius of the light-transmitting area is less than 10 mm. When the light-transmitting area is square, the side length of the light-transmitting area is less than 10 mm.

[0009] In a second aspect, the present invention further provides a target surface image processing method based on any one of the above-mentioned laser simulated shooting target papers, the method comprising:

[0010] Collect target surface images on target paper used for laser simulation shooting;

[0011] After preprocessing the target surface image, the coordinates of each positioning point on the target surface image are corrected based on the positional relationship between the positioning points to obtain the coordinates of each positioning point on the undistorted target surface image, and the actual position of the laser spot is determined based on the coordinates of each positioning point on the undistorted target surface image.

[0012] Optionally, preprocessing the target surface image includes filtering and denoising the target surface image to eliminate noise in the target surface image.

[0013] Optionally, after preprocessing the target surface image, the method further includes: extracting a positioning point area and a laser spot on the target surface image, and determining whether the laser spot is within a preset hit judgment area; if not, it is determined that the shooting is off target; if so, the coordinates of each positioning point on the target surface image are corrected separately based on the positional relationship between the positioning points.

[0014] Optionally, extracting the positioning point area and the laser spot on the target surface image includes: separating the positioning point area and the laser spot from the background area by threshold segmentation, and extracting the positioning point area and the laser spot.

[0015] Optionally, based on the positional relationship between the positioning points, the coordinates of each positioning point on the target surface image are respectively corrected to obtain the coordinates of each positioning point on the undistorted target surface image, and the actual position of the laser spot is determined based on the coordinates of each positioning point on the undistorted target surface image, including:

[0016] According to the positional relationship between the positioning points on the target paper for laser simulation shooting and the coordinates of the positioning points on the target surface image, the transformation relationship between the target surface image and the undistorted target surface image is obtained, and the center coordinates of the laser spot in the undistorted target surface image are calculated based on the transformation relationship.

[0017] Optionally, after calculating the coordinates of the center of the laser spot in the undistorted target surface image according to the transformation relationship, the method further includes: determining the actual position of the center of the target ring in the undistorted target surface image according to the transformation relationship, and combining the actual position of the laser spot with the distance between the center of the laser spot and the center of the target ring, and the orientation of the target paper where the center of the laser spot is located, so as to determine the number of hit rings and the hit orientation of the laser spot.

[0018] Optionally, before acquiring the target surface image on the target paper for laser simulated shooting, the method further includes:

[0019] The target paper for laser simulation shooting is placed at a preset opening of a preset closed cavity. A camera is provided in the preset closed cavity. The optical axis of the camera is aligned with the target ring center of the target paper for laser simulation shooting and is perpendicular to the surface of the target paper for laser simulation shooting, and the target paper for laser simulation shooting just fills the field of view of the camera.

[0020] The beneficial effects of the present invention are as follows:

[0021] The present invention uses preset positioning points to correct the target surface image, obtaining the coordinates of each positioning point on the undistorted target surface image. The coordinates of each positioning point on the undistorted target surface image are then used to determine the actual position of the laser spot. This eliminates target surface image distortion caused by camera lens distortion and shooting angle, accurately calculating the coordinates of the laser spot on the actual target paper. Actual measurements have shown that the present invention can achieve a 0.1mm level of accuracy in spot center positioning and a 0.1-ring level of accuracy in hit count calculation.

[0022] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0024] Figure 1 Schematic diagram of target paper provided by an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the target paper and camera installation positions provided in an embodiment of the present invention;

[0026] Figure 3A schematic flow chart of a target surface image processing method provided by an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of a target surface image captured by a camera provided in an embodiment of the present invention.

[0028] Among them, 1 is a closed chamber, 2 is target paper, 3 is a camera, and 4 is a host. DETAILED DESCRIPTION

[0029] The embodiments of the present invention address the low target surface accuracy of existing laser simulation shooting processing for image processing. By using preset positioning points to correct the target surface image, the coordinates of each positioning point on the undistorted target surface image are obtained. The actual position of the laser spot is then determined based on the coordinates of each positioning point on the undistorted target surface image, thereby obtaining an accurate shooting position. The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and do not limit the present invention.

[0030] The first embodiment of the present invention provides a target paper for laser shooting simulation, see Figure 1 , the target paper specifically includes:

[0031] There are multiple light-transmitting areas on the target paper used for laser shooting simulation as positioning points. Figure 1 The positions marked on the corners of the inner square are light-transmitting areas that can transmit indoor ambient light. The centers of all light-transmitting areas are distributed on the outside of a preset square, and the center point of the preset square coincides with the center point of the target paper for laser simulation shooting. The preset square is a square set at equal distances along the outer frame of the target paper for laser simulation shooting.

[0032] Among them, the preset square in the embodiment of the present invention is a square at a preset distance from the outer frame of the target paper. The specific size of the square can be set by those skilled in the art according to actual needs, and the present invention does not make any specific limitation on this.

[0033] In specific implementation, the light-transmitting areas in the embodiment of the present invention are set at the vertices of the preset square and the midpoints of the four sides of the preset square. Figure 1 .

[0034] Specifically, the target paper in the embodiment of the present invention is printed with a semi-transparent material, and eight light-transmitting areas are set around it, which can transmit normal indoor ambient light. The center point of each light-transmitting area serves as a positioning point. The positioning points are the vertices and midpoints of the four sides of the square. The center point of the square coincides with the center point of the target ring. The remaining areas, including the target ring, are not transparent to normal indoor ambient light, but the laser light emitted by the laser can be transmitted. The target paper is placed at the front opening of an opaque closed cavity, and the camera is placed inside the opaque closed cavity, directly behind the target paper. The camera's optical axis is aligned with the center of the target ring and perpendicular to the target paper surface, so that the target paper just fills the camera's field of view. In the captured target surface image, the eight positioning point areas are bright, there is a laser bright spot in the middle, and the rest of the area is black or dark. The camera is connected to a computer host, and after the target surface image is captured, it is transmitted to the computer host for subsequent processing.

[0035] It should be noted that, in order to improve the accuracy of the correction, the embodiment of the present invention can set multiple positioning points. The positions of the points need to be evenly distributed on the preset square on the target paper, and more positioning points can be set to further improve the accuracy of the correction. However, the more positioning points there are, the greater the amount of calculation required for the subsequent correction calculation. Therefore, it is necessary to balance the accuracy of the calculation and the amount of calculation to determine the number of positioning points. However, in order to ensure the accuracy of the final calculation of the target position, it is necessary to set at least one positioning point at the vertex of the preset square and the middle position of each side of the square. Another setting method can also be to evenly distribute two or more positioning points at the vertex of the preset square and each side of the square.

[0036] In specific implementations, the light-transmitting areas in the embodiments of the present invention may be various shapes, such as circular and square, and the present invention does not impose any specific limitations on this. Specifically, when the light-transmitting area is circular, the radius of the light-transmitting area may be set to be less than 10 mm, and when the light-transmitting area is square, the side length of the light-transmitting area may be set to be less than 10 mm. In other words, those skilled in the art may arbitrarily set the shape and specific size of the light-transmitting area according to actual needs, as long as they meet the target surface usage requirements.

[0037] Generally speaking, the embodiments of the present invention set positioning points on the target paper and then use the positioning points to correct the target surface image to eliminate the target surface image deformation caused by camera lens distortion and shooting angle, and accurately calculate the coordinates of the laser spot on the actual target paper. Actual measurements show that the positioning accuracy of the center of the laser spot of the present invention can reach 0.1mm level, and the calculation of the number of hit rings can reach 0.1 ring level.

[0038] In the specific implementation, see Figure 2In one embodiment of the present invention, the laser shooting simulation target paper is placed at a predetermined opening of a predetermined enclosed chamber. A camera is positioned within the predetermined enclosed chamber, with the camera's optical axis aligned with the center of the target ring of the laser shooting simulation target paper and perpendicular to the surface of the target paper. The target paper exactly fills the camera's field of view. In other words, through the coordination of the target paper and various devices, the present embodiment ultimately achieves the requirements for laser shooting simulation.

[0039] Accordingly, the embodiment of the present invention further provides a target surface image processing method based on any one of the above-mentioned laser simulated shooting target papers, see Figure 3 ,include:

[0040] S301, collecting a target surface image on a target paper for laser simulated shooting;

[0041] S302. After preprocessing the target surface image, the coordinates of each positioning point on the target surface image are corrected based on the positional relationship between the positioning points to obtain the coordinates of each positioning point on the undistorted target surface image, and the actual position of the laser spot is determined based on the coordinates of each positioning point on the undistorted target surface image.

[0042] That is to say, the embodiment of the present invention corrects the target surface image based on the positions between the positioning points on the target surface, thereby finally obtaining the accurate position of the laser spot, thereby effectively solving the problem of low target reporting accuracy in existing image processing.

[0043] In specific implementation, the preprocessing of the target surface image described in the embodiment of the present invention specifically involves performing filtering and noise reduction operations on the target surface image to eliminate noise in the target surface image so that the target surface image meets the requirements of subsequent correction calculations.

[0044] Furthermore, in the embodiment of the present invention, after pre-processing the target surface image, the method further comprises: extracting the positioning point area and the laser spot on the target surface image, for details, see Figure 4 Then, it is determined whether the laser spot is within the preset hit judgment area. If not, it is determined that the shooting is off target. If so, the coordinates of each positioning point on the target surface image are corrected separately based on the positional relationship between the positioning points.

[0045] Specifically, the embodiment of the present invention uses threshold segmentation to separate the positioning point area and the laser spot from the background area to extract the positioning point area and the laser spot. Then, based on the positional relationship between the positioning points on the target paper for laser simulated shooting and the coordinates of the positioning points on the target surface image, the transformation relationship between the target surface image and the undistorted target surface image is calculated. Then, based on the transformation relationship, the center coordinates of the laser spot in the undistorted target surface image are calculated. Finally, based on the transformation relationship, the actual position of the target ring center of the undistorted target surface image is determined. Combined with the actual position of the laser spot, the distance between the center of the laser spot and the center of the target ring, as well as the orientation of the target paper where the center of the laser spot is located, are determined to determine the number of hit rings and the hit orientation of the laser spot.

[0046] In specific implementation, the embodiment of the present invention is to first filter and reduce noise on the image after collecting the target surface image to eliminate the influence of noise, and then separate the positioning point area, laser spot and background area through threshold segmentation, extract the positioning point area and laser spot, and set a hit judgment area in the target surface image, and detect the laser spot in this hit judgment area. If the spot is not detected, it is determined that the shot is off target. If a light spot is detected, subsequent processing is performed: the coordinates of the positioning points and the center coordinates of the light spot in the target surface image are calculated by the algorithm; the coordinates of each positioning point on the target surface image are corrected according to the known positional relationship of each positioning point on the actual target paper, and the coordinates of each positioning point on the undistorted target surface image are obtained, so as to obtain the transformation relationship between the target surface image and the undistorted target surface image, and the coordinates of the center point of the target ring are calculated, and then the coordinates of the center of the light spot in the undistorted target surface image are calculated through this transformation relationship; the coordinates of the target ring center and the light spot center on the actual target paper can be calculated according to the correspondence between the pixels of the undistorted target surface image and the actual target paper, and then the distance between the light spot center and the target ring center and the orientation of the target paper where the light spot center is located can be calculated; finally, the accurate number of hit rings and the hit orientation can be calculated according to the hit ring number calculation rules.

[0047] In addition, it should be noted that, during specific implementation, those skilled in the art may also use other camera equipment to capture target surface images, and the embodiment of the present invention only uses a camera as an example to illustrate the method described in the embodiment of the present invention. However, during specific implementation, any other image acquisition equipment may also be used to capture target surface images, and the present invention does not make specific limitations on this.

[0048] Actual measurements show that the spot center positioning accuracy using the method described in the embodiment of the present invention can reach 0.1mm level, and the hit ring number calculation can reach 0.1 ring level. Therefore, the method described in the embodiment of the present invention can effectively improve the target surface accuracy of laser simulation shooting processing in image processing. In addition, the device described in the embodiment of the present invention has a simple structure and low cost. Therefore, the application scenarios of the embodiment of the present invention are wide.

[0049] The method described in the embodiment of the present invention will be explained and illustrated in detail below through a specific example:

[0050] In order to solve the problem that the existing image processing-based laser simulation shooting target reporting has low accuracy, an embodiment of the present invention proposes a method for collecting and processing target surface images of laser simulation shooting.

[0051] The target paper in the embodiment of the present invention is as follows Figure 1 As shown, it is printed with semi-transparent material, and 8 light-transmitting areas are set around it to allow normal indoor ambient light to pass through. The center point of the light-transmitting area is used as the positioning point, as shown in the figure. Figure 1 As shown in the dotted square, the positioning points are the vertices and midpoints of the four sides of the square. The center of the square coincides with the center of the target ring. The rest of the area, including the target ring in the middle of the target paper, cannot pass through normal indoor ambient light, but the laser emitted by the laser can. Figure 2 As shown, in the embodiment of the present invention, the target paper 2 is placed at the front opening of the light-proof closed cavity 1, and the camera 3 is placed inside the light-proof closed cavity and directly behind the target paper. The optical axis of the camera is aligned with the center of the target ring and perpendicular to the target paper surface, so that the target paper just fills the camera field of view; the camera is connected to the computer host 4, and after collecting the target surface image, it is transmitted to the computer host for subsequent processing. The target surface image collected by the camera is as shown in FIG. Figure 3 As shown, the 8 positioning point areas are bright, there is a laser bright spot in the middle, and the rest of the areas are black or dark.

[0052] After the camera captures the target surface image, it is transmitted to the host computer, where the target surface image is processed. First, the image is filtered to reduce noise to eliminate the influence of noise. Then, threshold segmentation is used to separate the positioning point area, laser spot, and background area, extracting the positioning point area and laser spot. The laser spot is then detected in the hit judgment area of the target surface image. If the spot is not detected, it is determined to be a miss.

[0053] If a light spot is detected, subsequent processing is performed:

[0054] ① In the target surface image, the coordinates of the eight positioning points in the target surface image are calculated by combining Hough transform with grayscale centroid method, and the coordinates of the center of the spot are calculated by curve fitting method;

[0055] ② It is known that the positioning points on the actual target paper are the vertices of the square and the midpoints of each side. The center point of the square coincides with the center point of the target ring. According to this positional relationship, the coordinates of each positioning point on the target surface image are corrected respectively to obtain the coordinates of each positioning point on the undistorted target surface image. In this way, the transformation relationship between the target surface image and the undistorted target surface image is obtained. At the same time, the coordinates of the center point of the target ring are calculated. Then, the coordinates of the center of the light spot in the undistorted target surface image are calculated through this transformation relationship.

[0056] ③ According to the correspondence between the pixels of the undistorted target surface image and the actual target paper, the coordinates of the target ring center and the light spot center on the actual target paper are calculated, and then the distance between the light spot center and the target ring center and the orientation of the target paper where the light spot center is located are calculated;

[0057] ④Finally, calculate the exact number of hit rings and the hit position based on the hit ring calculation rules.

[0058] In general, the embodiment of the present invention utilizes eight points—the four vertices and the midpoints of the four sides of a square—as positioning points. This eliminates target surface image distortion caused by camera lens distortion and shooting angle, accurately calculating the coordinates of the laser spot on the actual target paper. The accuracy of the spot center positioning can reach 0.1mm, and the number of hits can be calculated to 0.1 ring. Furthermore, the target paper in the embodiment of the present invention is printed with a semi-transparent material, and the camera is placed in an opaque, enclosed chamber. In the captured image, only the positioning point area and the laser spot are bright, while the rest of the area is dark, which is less affected by ambient light. The image is simple and easy to process.

[0059] Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and thus, the scope of the present invention should not be limited to the above embodiments.

Claims

1. A target paper for laser simulated shooting, characterized in that: include: A plurality of light-transmitting areas are provided on the target paper for laser shooting simulation as positioning points. The light-transmitting areas are areas that can transmit indoor ambient light. The centers of all light-transmitting areas are arranged on the outside of a preset square, and the center point of the preset square coincides with the center point of the target paper for laser shooting simulation. The preset square is a square arranged at equal distances along the outer frame of the target paper for laser shooting simulation; Except for the light-transmitting area, the rest of the area including the target ring is not transparent to normal indoor ambient light, but the laser emitted by the laser can be transparent. The target paper for laser simulation shooting is placed at a preset opening of a preset closed cavity. A camera is provided in the preset closed cavity. The optical axis of the camera is aligned with the center of the target ring of the target paper for laser simulation shooting and is perpendicular to the paper surface of the target paper for laser simulation shooting, and the target paper for laser simulation shooting just fills the field of view of the camera.

2. The target paper for laser shooting simulation according to claim 1, characterized in that: The light-transmitting areas are arranged at the vertices of the preset square and the midpoints of the four sides of the preset square.

3. The target paper for laser simulated shooting according to claim 1 or 2, characterized in that: The light-transmitting area is circular or square. When the light-transmitting area is circular, the radius of the light-transmitting area is less than 10 mm. When the light-transmitting area is square, the side length of the light-transmitting area is less than 10 mm.

4. A method for processing a target surface image based on the target paper for laser shooting simulation according to any one of claims 1 to 3, characterized in that: include: Collect target surface images on target paper used for laser simulation shooting; After preprocessing the target surface image, the coordinates of each positioning point on the target surface image are corrected based on the positional relationship between the positioning points to obtain the coordinates of each positioning point on the undistorted target surface image, and the actual position of the laser spot is determined based on the coordinates of each positioning point on the undistorted target surface image.

5. The method according to claim 4, characterized in that Preprocessing the target surface image includes: The target surface image is filtered and denoised to eliminate noise in the target surface image.

6. The method according to claim 4, characterized in that After preprocessing the target surface image, the method further includes: The positioning point area and the laser spot are extracted from the target surface image to determine whether the laser spot is within the preset hit judgment area. If not, it is determined that the shooting is off target. If so, the coordinates of each positioning point on the target surface image are corrected separately based on the positional relationship between the positioning points.

7. The method according to claim 6, characterized in that Extracting the positioning point area and the laser spot on the target surface image includes: The positioning point area and the laser spot are separated from the background area by threshold segmentation, and the positioning point area and the laser spot are extracted.

8. The method according to any one of claims 4 to 7, characterized in that Based on the positional relationship between the positioning points, the coordinates of each positioning point on the target surface image are respectively corrected to obtain the coordinates of each positioning point on the undistorted target surface image, and the actual position of the laser spot is determined based on the coordinates of each positioning point on the undistorted target surface image, including: According to the positional relationship between the positioning points on the target paper for laser simulation shooting and the coordinates of the positioning points on the target surface image, the transformation relationship between the target surface image and the undistorted target surface image is obtained, and the center coordinates of the laser spot in the undistorted target surface image are calculated based on the transformation relationship.

9. The method according to claim 8, characterized in that After calculating the center coordinates of the laser spot in the undistorted target surface image according to the transformation relationship, the method further includes: According to the transformation relationship, the actual position of the target ring center of the undistorted target surface image is determined. Combined with the actual position of the laser spot, the distance between the center of the laser spot and the center of the target ring, and the orientation of the target paper where the center of the laser spot is located are determined to determine the number of hit rings and the hit orientation of the laser spot.

Images