Calibration method and device for a targeting device, and targeting device

Abstract

The application discloses a kind of shooting equipment and the calibration method of shooting equipment, belong to shooting equipment technical field, help to promote the accuracy of determining the shooting center point of shooting equipment.The method comprises: for calibrating shooting equipment configuration light beam emitting device, so that the irradiation direction of light beam emitted by light beam emitting device is directed to the image acquisition field of view of image acquisition device, then, by obtaining the corresponding several target images of target located at different shooting distances when image acquisition device is collected, and according to the light spot image formed by the irradiation of light beam emitting device in each target image and the target image, the preset direction aiming pixel deviation corresponding to each target image is obtained;Based on the preset direction aiming pixel deviation corresponding to each target image and the radius of target surface image in the target image, the mapping relationship between the preset direction aiming pixel deviation and the radius of target surface image in the target image is fitted, and the image center point of the target image collected during shooting is calibrated according to the mapping relationship.

Description

Technical Field

[0001] This application relates to the field of shooting equipment technology, and in particular to calibration methods and apparatus for shooting equipment, as well as shooting equipment, electronic equipment and computer-readable storage media. Background Technology

[0002] In existing target shooting equipment, the basic principle for obtaining shooting scores based on image processing of the target is to take the center point of the target image acquired by the equipment as the shooting point, and compare the deviation between the shooting point and the center point of the target image to determine the shooting score (such as the number of rings hit). This method of using the center point of the target image as the shooting center point in the existing technology cannot accurately reflect the shooting accuracy of the shooter. Summary of the Invention

[0003] This application provides a calibration method for a shooting device, which helps to improve the accuracy of determining the firing center point of the shooting device.

[0004] In a first aspect, embodiments of this application provide a calibration method for a target-shooting device, including:

[0005] A calibration method is applied to a shooting apparatus equipped with an image acquisition device, wherein the illumination direction of the beam emitted by the beam emitting device configured for calibrating the shooting apparatus is directed towards the image acquisition field of view of the image acquisition device, the calibration method comprising:

[0006] The image acquisition device acquires several target images corresponding to different shooting distances of the target, wherein the target images include: target surface images and light spot images formed by the beam directly hitting the target surface of the target;

[0007] Based on the light spot image and the target image in each target image, obtain the preset direction aiming pixel deviation corresponding to each target image;

[0008] Based on the preset direction aiming pixel deviation corresponding to each target image and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image is fitted.

[0009] Based on the mapping relationship, the target aiming pixel deviation is obtained by calibrating the image center point of the target image acquired by the shooting device at different shooting distances.

[0010] Secondly, embodiments of this application provide a calibration device for a shooting apparatus, comprising:

[0011] A calibration device is applied to a target shooting apparatus equipped with an image acquisition device, wherein the beam emitted by a beam emitting device configured for calibrating the target shooting apparatus is directed toward the image acquisition field of view of the image acquisition device, and the calibration device includes:

[0012] The target image acquisition module is used to acquire several target images corresponding to different shooting distances of the target, which are acquired by the image acquisition device. The target images include: target surface image and light spot image formed by the beam directly hitting the target surface of the target.

[0013] The aiming pixel deviation acquisition module is used to acquire the preset direction aiming pixel deviation corresponding to each of the target images based on the light spot image and the target image in each of the target images;

[0014] The mapping relationship acquisition module is used to fit the mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image based on the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image.

[0015] The calibration deviation acquisition module is used to acquire the target aiming pixel deviation for calibrating the image center point of the target image acquired by the shooting device at different shooting distances, based on the mapping relationship.

[0016] Thirdly, embodiments of this application provide a target-shooting device, including:

[0017] The sight is located at the front end of the firing device;

[0018] A rear sight is located at the rear end of the target shooting device; the rear sight and the front sight form the aiming baseline of the target shooting device along the firing exit direction of the target shooting device.

[0019] A firing triggering device is installed on the target firing equipment;

[0020] An image acquisition device is installed on the target shooting equipment and is used to acquire a target image of a target set at a predetermined distance in front of the target shooting equipment when the shooting triggering device is triggered.

[0021] The controller is used to calibrate the image center point of the target image based on the radius of the target surface image in the target image and a preset target aiming pixel deviation corresponding to the radius for calibrating the image center point of the target image, and use the calibrated point as the firing center point of the shooting device, so that the firing line of the shooting device coincides with the aiming baseline of the shooting device.

[0022] Fourthly, this application also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the calibration method of the target shooting device described in this application.

[0023] Fifthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, represents the steps of the calibration method for the target-shooting equipment disclosed in embodiments of this application.

[0024] The calibration method for a shooting device disclosed in this application is applied to an image acquisition-based shooting device. By using a beam emitting device configured for calibrating the shooting device, the beam emitted by the beam emitting device is directed towards the image acquisition field of view of the image acquisition device. Then, several target images corresponding to different shooting distances are acquired by the image acquisition device. Each target image includes a target surface image and a spot image formed by the beam directly hitting the target surface. Based on the spot image and the target image in each target image, a preset direction aiming pixel deviation corresponding to each target image is obtained. Based on the preset direction aiming pixel deviation corresponding to each target image and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image is fitted. This mapping relationship allows the acquisition of the target aiming pixel deviation for calibrating the image center point of the target images acquired by the shooting device at different shooting distances, thereby calibrating the image center point of the target images and improving the accuracy of determining the shooting center point of the shooting device.

[0025] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] Figure 1 This is a flowchart of a calibration method for a shooting device according to an embodiment of this application;

[0028] Figure 2 This is a schematic diagram of a target shooting device structure in one embodiment of this application;

[0029] Figure 3 This is a schematic diagram of another target-shooting device structure in one embodiment of this application;

[0030] Figure 4 This is a schematic diagram of a target image acquired by a shooting device in one embodiment of this application;

[0031] Figure 5 This is a schematic diagram of the calibration principle in one embodiment of this application;

[0032] Figure 6 This is another flowchart of a calibration method for a shooting device according to one embodiment of this application;

[0033] Figure 7 This is one of the schematic diagrams of the calibration device structure of a shooting apparatus according to an embodiment of this application;

[0034] Figure 8 This is a second schematic diagram of the calibration device structure of a target shooting equipment according to an embodiment of this application;

[0035] Figure 9 This is a schematic diagram of another target-shooting device structure in one embodiment of this application;

[0036] Figure 10 A block diagram schematically illustrates an electronic device for performing the method according to this application; and

[0037] Figure 11 A storage unit for holding or carrying program code implementing the method according to this application is illustrated schematically. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] Example 1

[0040] This application discloses a calibration method for a shooting device, such as... Figure 1 As shown, the method includes steps 110 to 140.

[0041] Step 110: Acquire several target images captured by the image acquisition device when the target is located at different shooting distances, wherein the target images include: target surface images and light spot images formed by the beam directly hitting the target surface of the target.

[0042] The calibration method for the shooting equipment described in this application embodiment is applied to a shooting equipment equipped with an image acquisition device, wherein the beam emitted by the beam emitting device configured for calibrating the shooting equipment is directed towards the image acquisition field of view of the image acquisition device.

[0043] The target shooting equipment described in this application embodiment can be a target shooting gun, a target shooting game machine, a target shooting crossbow, etc. (Reference) Figure 2 Taking a target shooting rifle as an example, the target shooting equipment 200 includes: a front sight 201, a rear sight 202, a firing trigger device 203, and an image acquisition device 204. Figure 2 The front sight 201, rear sight 202, firing trigger device 203, and image acquisition device 204 marked in the image are for illustrative purposes only.

[0044] The following examples illustrate the location, function, and structure of each component of the target shooting equipment.

[0045] The front sight 201 is located at the front end of the shooting device 200; the rear sight 202 is located at the rear end of the shooting device 200; the rear sight 202 and the front sight 201 form the aiming baseline of the shooting device 200 along the firing exit direction of the shooting device 200.

[0046] The firing triggering device 203 is disposed on the target shooting equipment 200. Taking a target shooting gun as an example, the firing triggering device 203 is a trigger structure, and the firing triggering device 203 is disposed below the gun body of the target shooting equipment 200.

[0047] The image acquisition device 204 is installed on the target shooting equipment and is used to acquire a target image of a target positioned at a predetermined distance in front of the target shooting equipment 200 when the firing trigger device 203 is triggered. The image acquisition device 204 can be installed inside the main body of the target shooting equipment 200, such as being fixedly installed on the barrel of the target shooting gun, or it can be detachably installed below the barrel of the target shooting gun.

[0048] In some embodiments of this application, the image acquisition device 204 is integrally disposed with the target shooting equipment 200 and is used to acquire the field-of-view image of the aiming direction of the target shooting equipment 200. For example, it acquires the image of a target placed in front of the target shooting equipment 200. Taking the target shooting equipment 200 as a target shooting gun as an example, the image acquisition device 204 can be a camera disposed inside the barrel of the target shooting gun. In other embodiments of this application, the image acquisition device 204 can also be disposed on one side of the target shooting equipment 200, such as being disposed below the firing body of the target shooting equipment with a fixed or detachable structure, or disposed in other positions that do not affect aiming and are not obstructed along the aiming direction. The firing body of the target shooting equipment 200 is a device body containing a firing exit. The image acquisition device 204 can be disposed inside the firing body or fixed to the outside of the firing body in a detachable manner.

[0049] In embodiments of this application, a beam emitting device is also required for calibrating the target firing device 200. This beam emitting device can be a laser emitter, or other independent device capable of emitting a focused beam.

[0050] In some embodiments of this application, the beam emitting device is a means for calibrating and configuring the target-shooting equipment. For example, as... Figure 3 As shown, the target firing device 200 further includes a beam emitting device 205 configured for calibrating the target firing device 200. The beam emitting device can be detachably connected to the target firing device or fixedly mounted on the target firing device. In some embodiments of this application, such as... Figure 3 As shown, the beam emitting device 205 is disposed at the rear end of the target shooting equipment 200; the rear sight 202, the front sight 201, and the beam emitting device 205 form a straight line with the firing exit direction of the target shooting equipment 200, i.e., the aiming baseline.

[0051] In some embodiments of this application, when using the target shooting equipment, the beam emitting device can be used to calibrate the equipment first, thus obtaining a more accurate shooting center point during the shooting process. During the calibration of the target shooting equipment, the beam emitting device 205 emits a focused beam into the field of view of the image acquisition device 204. Taking the beam emitting device 205 as a laser emitter as an example, when the target shooting equipment 200 aims at the target surface, the laser emitted by the beam emitting device 205 will illuminate the target surface and project a light spot, i.e., a light point, onto the target surface. Then, when the firing trigger device 203 of the target shooting equipment 200 is triggered, the image acquisition device 204 acquires the target image. At this time, if... Figure 4 As shown, the target image 400 acquired by the image acquisition device 204 will include: target surface image 401 and light spot image 402.

[0052] In some embodiments of this application, in order to calibrate the target-shooting device 200, such as Figure 5 As shown, the first step is to acquire several target images corresponding to different firing distances. Figure 5 Taking the target image acquisition scenario shown as an example, when the target is set at a first firing distance in front of the firing device 200, the firing device 200 is used to fire at the target, and several target images corresponding to the first firing distance are acquired. When the target is set at a second firing distance in front of the firing device 200, the firing device 200 is used to fire at the target, and several target images corresponding to the second firing distance are acquired. When the target is set at a third firing distance in front of the firing device 200, the firing device 200 is used to fire at the target, and several target images corresponding to the third firing distance are acquired. That is, the image acquisition device 204 acquires target images at different firing distances in front of the firing device 200. Depending on the actual calibration needs, several different firing distances can be selected, such as three or more firing distances.

[0053] Step 120: Based on the light spot image and the target image in each target image, obtain the preset direction aiming pixel deviation corresponding to each target image.

[0054] Taking a preset direction including a first direction and a second direction as an example, the preset direction aiming pixel deviation for each target image includes: the pixel deviation along the first direction between the image center point of the light spot image in the corresponding target image and the image center point of the target image, and the pixel deviation along the second direction between the image center point of the light spot image in the corresponding target image and the image center point of the target image. The pixel deviation includes two factors: magnitude and direction. The first direction is perpendicular to the second direction.

[0055] As mentioned above, each target image acquired includes a target surface image and a spot image. The position of the target surface image within the target image is not entirely the same in each acquired target image, resulting in deviations; similarly, the position of the spot image within the target image is not entirely the same in each acquired target image, resulting in deviations. This allows for the acquisition of a richer set of sample images, enabling the learning of the preset direction aiming pixel deviations corresponding to each target image acquired by the shooting device based on these sample images.

[0056] In some embodiments of this application, obtaining the preset direction aiming pixel deviation corresponding to each target image based on the spot image and the target image in each target image includes: for each target image, determining the preset direction aiming pixel deviation corresponding to each target image at different shooting distances based on the pixel deviation of the image center point of the target image along a preset direction relative to the image center point of the spot image. The preset direction includes: a first direction, and a second direction perpendicular to the first direction.

[0057] One of the target images acquired using the aforementioned steps is shown below. Figure 4 Taking the target image 400 shown as an example, the image center point of the target image is marked as 403, and the image center point of the spot image 402 is marked as 4021. It can be seen that the image center point 403 of the target image has a pixel deviation relative to the image center point 4021 of the spot image 402 in both the horizontal and vertical directions. To describe this deviation, the horizontal direction can be taken as the first direction, with the horizontal to the right as the positive deviation and the horizontal to the left as the negative deviation. The pixel deviation of the image center point of each target image relative to the image center point of the spot image in that target image in the horizontal direction (i.e., the first direction) can be recorded. Similarly, the vertical direction can be taken as the second direction, with the vertical upward as the positive deviation and the vertical downward as the negative deviation. The pixel deviation of the image center point of each target image relative to the image center point of the spot image in that target image in the vertical direction (i.e., the second direction) can be recorded.

[0058] In the embodiments of this application, taking a target image acquired by a shooting device with a width of W pixels and a height of H pixels as an example, the image center point of the target image is the image pixel point determined by the W / 2th image pixel in the width direction and the H / 2th image pixel in the height direction. If the upper left corner of the target image is taken as the origin of the coordinate system, the image center point of the target image can be represented as (W / 2, H / 2).

[0059] For example, when the center point c1 of the target image is located at a position x1 pixels to the right of the light spot image in the horizontal direction, the pixel deviation is x1, and x1 is greater than 0. When the center point c1 of the target image is located at a position x2 pixels to the left of the light spot image in the horizontal direction, the pixel deviation is x2, and x2 is less than 0. When the center point c1 of the target image is located at a position y1 pixels upward in the vertical direction of the light spot image, the pixel deviation is y1, and y1 is greater than 0. When the center point c1 of the target image is located at a position y2 pixels downward in the vertical direction of the light spot image, the pixel deviation is y2, and y2 is less than 0.

[0060] If we represent the pixel deviation along the first direction as dx, and the pixel deviation along the second direction as dy, then... Figure 4 Taking the target image 400 as an example, the pixel deviation of the target image along the first direction (i.e., the horizontal direction) is dx, dx>0, and the pixel deviation along the second direction (i.e., the vertical direction) is dy, dy<0.

[0061] Using the above method, the pixel deviations along the first direction for each of several target images can be obtained, as well as the pixel deviations along the second direction for each of several target images.

[0062] Depend on Figure 5 As shown in the target image acquisition scenario, for image-based target acquisition equipment, there is an aiming baseline and a firing line during the target acquisition process. For example... Figure 5 The image acquisition device includes an aiming baseline 501 and a firing line 502. The aiming baseline 501 is a straight line formed by the rear sight and the front sight; the human eye aims along this baseline. The firing line 502 is a ray extending from the center line of the image acquisition device towards its exit direction. When the target is at different firing distances, due to differences in human eye aiming, the aiming baseline 501 and the firing line 502 are often neither parallel nor coincident, exhibiting deviations in different directions—the aiming pixel deviations described in this embodiment. In this embodiment, the pixel deviations along the first and second directions corresponding to the target image are respectively the aiming pixel deviations along the first and second directions corresponding to the target image.

[0063] Furthermore, based on the aiming pixel deviations along the first direction corresponding to each of the several target images, and the aiming pixel deviations along the second direction corresponding to each of the several target images, the aiming pixel deviations along the first direction and the aiming pixel deviations along the second direction corresponding to the radius of the target surface image in each target image can be obtained.

[0064] In some embodiments of this application, the radius of the target surface image in each of the above target images can be obtained by image measurement methods, such as... Figure 4 The radius of the circular target image. For example, given the pixel size of the first target image, the target image region is identified using image processing techniques such as edge detection, and then the target radius is determined using planar image measurement techniques. This application does not limit the specific implementation method for obtaining the radius of the target image.

[0065] Based on imaging principles, it is known that the radius of the target image in the target image acquired by a specific shooting equipment varies depending on the shooting distance. For the same target, when using the same shooting equipment, the smaller the shooting distance, the larger the radius of the target image in the acquired target image; conversely, the larger the shooting distance, the smaller the radius of the target image in the acquired target image. In other words, the radius of the target image in the acquired target image corresponds to the shooting distance. Therefore, the aiming pixel deviation along the first direction and along the second direction corresponding to the radius of the target image in each target image essentially reflect the aiming pixel deviation along the first direction and along the second direction corresponding to the shooting distance for each target image.

[0066] Step 130: Based on the preset direction aiming pixel deviation corresponding to each target image and the radius of the corresponding target surface image, fit the mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image.

[0067] Next, based on the aiming pixel deviation along the first direction corresponding to the radius of the target surface image of each target image obtained in the aforementioned steps, the mapping relationship between the aiming pixel deviation in the first direction and the radius of the target surface image in the target image acquired by the shooting device is fitted. Also, based on the aiming pixel deviation along the second direction corresponding to the radius of the target surface image of each target image obtained in the aforementioned steps, the mapping relationship between the aiming pixel deviation in the second direction and the radius of the target surface image in the target image acquired by the shooting device is fitted.

[0068] In some embodiments of this application, based on the preset direction aiming pixel deviation corresponding to each target image and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image is fitted. This includes: for each target image, using the radius of the target surface image corresponding to each target image as the independent variable and the preset direction aiming pixel deviation corresponding to the corresponding target image as the dependent variable, a linear function is used to fit the mapping relationship between the preset direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the shooting device. For example, a linear function of the form y = kx + b can be used to represent the mapping relationship between the preset direction aiming pixel deviation and the radius of the target surface image, where x is the radius of the target surface image in each target image, and y is the preset direction aiming pixel deviation corresponding to the corresponding target image.

[0069] As mentioned above, the preset direction includes a first direction and a second direction perpendicular to the first direction. Accordingly, based on the aiming pixel deviation along different directions corresponding to the radius of the target image, the mapping relationship between the aiming pixel deviation and the radius of the target image in the corresponding direction can be obtained respectively.

[0070] In some embodiments of this application, the step of using the radius of the target image corresponding to each target image as the independent variable and the preset direction aiming pixel deviation corresponding to the target image as the dependent variable, and using a linear function to fit the mapping relationship between the preset direction aiming pixel deviation and the radius of the target image in the target image acquired by the shooting device, includes: using the radius of the target image corresponding to each target image as the independent variable and the first direction aiming pixel deviation corresponding to the target image as the dependent variable, and using a linear function to fit the mapping relationship between the first direction aiming pixel deviation and the radius of the target image in the target image acquired by the shooting device; and using the radius of the target image corresponding to each target image as the independent variable and the second direction aiming pixel deviation corresponding to the target image as the dependent variable, and using a linear function to fit the mapping relationship between the second direction aiming pixel deviation and the radius of the target image in the target image acquired by the shooting device.

[0071] Taking the horizontal direction as an example, when fitting the mapping relationship between the horizontal aiming pixel deviation and the radius of the target image, the independent variable of the linear function is R, and the dependent variable is y. H That is, for each target image, the radius R of the target surface image in that target image is taken as the independent variable, and the horizontal aiming pixel deviation corresponding to that target image is taken as the dependent variable y. H Several linear functions are constructed. Then, by solving for the optimal k and b values, a linear distribution relationship between the horizontal aiming pixel deviation and the radius R of the target image is fitted. This determines the linear mapping relationship y between the horizontal aiming pixel difference corresponding to each target image and the radius of the target image. H =k H R+b H That is, to determine the linear mapping relationship between the horizontal aiming pixel difference of the shooting device and the radius of the target image.

[0072] Accordingly, when fitting the mapping relationship between the vertical aiming pixel deviation and the radius of the target image, the independent variable of the linear function is R, and the dependent variable is y. V That is, for each target image, the radius R of the target surface image in that target image is taken as the independent variable, and the vertical aiming pixel deviation corresponding to that target image is taken as the dependent variable y. VSeveral linear functions are constructed. Then, by solving for the optimal k and b values, a linear distribution relationship between the horizontal aiming pixel deviation and the radius R of the target image is fitted. This determines the linear mapping relationship y between the vertical aiming pixel difference and the radius of the target image for each target image. V =k V R+b V That is, to determine the linear mapping relationship between the vertical aiming pixel difference of the shooting device and the radius of the target image.

[0073] Step 140: Based on the mapping relationship, obtain the target aiming pixel deviation for calibrating the image center point of the target image acquired by the shooting device at different shooting distances.

[0074] As mentioned earlier, for a shooting device, when the target is located at different shooting distances, there is a corresponding relationship between the radius of the target surface image in the acquired target image and the shooting distance. Therefore, the mapping relationship between the preset direction aiming pixel deviation in the target image and the corresponding radius of the target surface image can be used as the mapping relationship between the preset direction aiming pixel deviation and different shooting distances. That is, for a known shooting distance, the radius of the target surface image in the acquired target image is known. According to the mapping relationship determined in the aforementioned steps, the aiming pixel deviation corresponding to the first direction and the aiming pixel deviation corresponding to the second direction can be determined respectively. The determined aiming pixel deviation corresponding to the first direction is the target aiming pixel deviation in the first direction for calibrating the image center point of the target image acquired by the shooting device based on the shooting distance; the determined aiming pixel deviation corresponding to the second direction is the target aiming pixel deviation in the second direction for calibrating the image center point of the target image acquired by the shooting device based on the shooting distance.

[0075] In other embodiments of this application, such as Figure 6 As shown, the method further includes steps 150 to 170.

[0076] Step 150: Obtain the radius of the target surface image in the target image acquired by the image acquisition device when the shooting trigger device of the shooting equipment is triggered.

[0077] After determining the mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target image in each target image, the target aiming pixel deviation calibrated by the image center point of the target images acquired by the shooting device at different shooting distances can be obtained based on the mapping relationship. For example, when the shooting device fires at a set shooting distance, it will acquire a target image corresponding to that shooting distance. According to the method described above, the radius R of the target image in the acquired target image can be further determined.

[0078] Step 160: Based on the radius, obtain the target aiming pixel deviation for calibrating the image center point of the target image.

[0079] Next, based on the radius R of the target image obtained at the set firing distance, the corresponding target aiming pixel deviation is obtained according to the mapping relationship. Specifically, the radius R is substituted into the mapping relationship y obtained in the first direction in the aforementioned steps. H =k H R+b H , to obtain the corresponding y H This refers to the target aiming pixel deviation along the first direction, which is used to calibrate the image center point of the target image. Similarly, the radius R is substituted into the mapping relationship y obtained by fitting in the previous steps in the second direction. V =k V R+b V , to obtain the corresponding y V This refers to the target aiming pixel deviation along the second direction, which is used to calibrate the image center point of the target image.

[0080] Step 170: The pixel coordinates of each preset direction corresponding to the center point of the target image are superimposed with the target aiming pixel deviation as the firing center point of the shooting device, so that the firing line of the shooting device coincides with the aiming baseline of the shooting device.

[0081] Finally, the pixel coordinates corresponding to the image center point of the target image in the first direction are superimposed with the target aiming pixel deviation y along the first direction. H For the pixel coordinates of the image center point of the target image corresponding to the second direction, the target aiming pixel deviation y along the second direction is superimposed. V The pixel points in the target image corresponding to the obtained pixel coordinates can be used as the firing center point of the shooting device for this shooting.

[0082] After the above calibration, the firing line 502 of the shooting equipment is adjusted to coincide with the aiming baseline 501 of the shooting equipment. In this way, the calculated firing center point can more accurately reflect the aiming accuracy of the shooter.

[0083] The calibration method for a shooting device disclosed in this application is applied to an image acquisition-based shooting device. By using a beam emitting device configured for calibrating the shooting device, the beam emitted by the beam emitting device is directed towards the image acquisition field of view of the image acquisition device. Then, several target images corresponding to different shooting distances are acquired by the image acquisition device. Each target image includes a target surface image and a spot image formed by the beam directly hitting the target surface. Based on the spot image and the target image in each target image, a preset direction aiming pixel deviation corresponding to each target image is obtained. Based on the preset direction aiming pixel deviation corresponding to each target image and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image is fitted. This mapping relationship allows the acquisition of the target aiming pixel deviation for calibrating the image center point of the target images acquired by the shooting device at different shooting distances, thereby calibrating the image center point of the target images and improving the accuracy of determining the shooting center point of the shooting device.

[0084] The calibration method for shooting equipment disclosed in this application corrects the center point of the target image captured at different shooting distances by obtaining the deviation between the center point of the light spot image (such as the laser aiming point) and the center point of the target image (such as the camera center point) at different shooting distances, thereby achieving the alignment of the firing line and the aiming baseline. This calibration method ensures that at different shooting distances, the aiming point formed by the human eye, rear sight, and front sight in a straight line is the firing center point, thus improving the accuracy of determining the firing center point at different shooting distances.

[0085] Example 2

[0086] This application discloses a calibration device for a shooting apparatus, applied to a shooting apparatus equipped with an image acquisition device, wherein the beam emitted by a beam emitting device configured for calibrating the shooting apparatus is directed towards the image acquisition field of view of the image acquisition device. Figure 7 As shown, the device includes:

[0087] The target image acquisition module 710 is used to acquire several target images corresponding to different shooting distances of the target, which are acquired by the image acquisition device. The target images include: target surface image and light spot image formed by the beam directly hitting the target surface of the target.

[0088] The aiming pixel deviation acquisition module 720 is used to acquire the preset direction aiming pixel deviation corresponding to each of the target images based on the light spot image and the target image in each of the target images;

[0089] The mapping relationship acquisition module 730 is used to fit the mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image based on the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image.

[0090] The calibration deviation acquisition module 740 is used to acquire the target aiming pixel deviation for calibrating the image center point of the target image acquired by the shooting device based on different shooting distances, according to the mapping relationship.

[0091] In some embodiments of this application, the aiming pixel deviation acquisition module 720 is further configured to:

[0092] For each target image, the preset direction aiming pixel deviation corresponding to each target image at different shooting distances is determined based on the pixel deviation of the image center point of the target image along a preset direction relative to the image center point of the light spot image.

[0093] In some embodiments of this application, the step of fitting a mapping relationship between the preset direction aiming pixel deviation in each target image and the radius of the corresponding target surface image based on the preset direction aiming pixel deviation and the radius of the corresponding target surface image includes:

[0094] For each target image, the radius of the target surface image corresponding to each target image is used as the independent variable, and the preset direction aiming pixel deviation corresponding to the target image is used as the dependent variable. A linear function is used to fit the mapping relationship between the preset direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the shooting device.

[0095] In some embodiments of this application, the preset direction includes: a first direction and a second direction perpendicular to the first direction. The step of fitting the mapping relationship between the preset direction aiming pixel deviation and the radius of the target image in the target image acquired by the shooting device using a linear function, with the radius of the target surface image corresponding to each target image as the independent variable and the preset direction aiming pixel deviation corresponding to the target image as the dependent variable, includes:

[0096] Using the radius of the target image corresponding to each target image as the independent variable and the first-direction aiming pixel deviation corresponding to the target image as the dependent variable, a linear function is used to fit the mapping relationship between the first-direction aiming pixel deviation and the radius of the target image in the target images acquired by the shooting device; and,

[0097] Using the radius of the target image corresponding to each target image as the independent variable and the second-direction aiming pixel deviation corresponding to the target image as the dependent variable, a linear function is used to fit the mapping relationship between the second-direction aiming pixel deviation and the radius of the target image in the target image acquired by the shooting device.

[0098] In some embodiments of this application, such as Figure 8 As shown, the device further includes:

[0099] The target image acquisition module 750 is used to acquire the radius of the target surface image in the target image acquired by the image acquisition device when the shooting trigger device of the target shooting equipment is triggered;

[0100] The calibration module 760 is used to obtain the target aiming pixel deviation for calibrating the image center point of the target image based on the radius; and to superimpose the corresponding target aiming pixel deviation onto the pixel coordinates of each preset direction corresponding to the image center point of the target image, so as to serve as the firing center point of the shooting device, thereby making the firing line of the shooting device coincide with the aiming baseline of the shooting device.

[0101] The calibration device for the shooting equipment disclosed in this application is used to implement the calibration method for the shooting equipment described in Embodiment 1 of this application. The specific implementation methods of each module of the device will not be repeated here, but can be found in the specific implementation methods of the corresponding steps in the method embodiment.

[0102] The calibration device for a shooting equipment disclosed in this application is applied to an image-based shooting equipment. By using a beam emitting device configured for calibrating the shooting equipment, the beam emitted by the beam emitting device is directed towards the image acquisition field of view of the image acquisition device. Then, several target images corresponding to different shooting distances are acquired by the image acquisition device. Each target image includes a target surface image and a spot image formed by the beam directly hitting the target surface. Based on the spot image and the target image in each target image, a preset direction aiming pixel deviation corresponding to each target image is obtained. Based on the preset direction aiming pixel deviation corresponding to each target image and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image is fitted. This mapping relationship allows the acquisition of the target aiming pixel deviation for calibrating the image center point of the target images acquired by the shooting equipment at different shooting distances, thereby calibrating the image center point of the target images and improving the accuracy of determining the shooting center point of the shooting equipment.

[0103] The calibration device for shooting equipment disclosed in this application corrects the center point of the target image captured at different shooting distances by obtaining the deviation between the center point of the light spot image (such as the laser aiming point) and the center point of the target image (such as the camera center point) at different shooting distances, thereby achieving overlap between the firing line and the aiming baseline. The calibration method for shooting equipment disclosed in this application ensures that, at different shooting distances, the aiming point formed by the human eye, rear sight, and front sight in a straight line is the firing center point, thus improving the accuracy of determining the firing center point at different shooting distances.

[0104] Accordingly, embodiments of this application also disclose a target-shooting device, for Figure 9 Taking the target shooting rifle shown as an example, the target shooting equipment includes:

[0105] The sight 901 is located at the front end of the target shooting device;

[0106] A rear sight 902 is disposed at the rear end of the target shooting device; the rear sight 902 and the front sight 901 form the aiming baseline of the target shooting device along the firing exit direction of the target shooting device.

[0107] A firing triggering device 903 is installed on the target firing equipment;

[0108] An image acquisition device 904 is installed on the target shooting equipment and is used to acquire a target image of a target set at a predetermined distance in front of the target shooting equipment when the shooting triggering device 904 is triggered.

[0109] The controller 905 is used to calibrate the image center point of the target image based on the radius of the target surface image in the target image and a preset target aiming pixel deviation corresponding to the radius for calibrating the image center point of the target image, and use the calibrated point as the firing center point of the shooting device, so that the firing line of the shooting device coincides with the aiming baseline of the shooting device.

[0110] In some embodiments of this application, the controller 905 may be disposed on the main body of the target shooting device (e.g., Figure 9 (Setting method in the text). In some embodiments of this application, the controller 905 can be located outside the main body of the shooting equipment. For example, the controller 905 can be an external general-purpose computing processing device (such as a smart terminal), or a dedicated shooting data processing terminal for the shooting equipment. This application does not limit the specific implementation method and setting location of the controller 905.

[0111] In some embodiments of this application, the target shooting device further includes a beam emitting device (not shown) configured for calibrating the target shooting device. When connected to the target shooting device, the beam emitted by the beam emitting device is directed towards the image acquisition field of view of the image acquisition device.

[0112] In some embodiments of this application, the beam emitting device is detachably connected to the target-shooting equipment.

[0113] In some embodiments of this application, the controller 905 further includes:

[0114] A preset module (not shown in the figure) is used to perform the calibration method of the shooting device as described in some steps 110 to 140 of Embodiment 1, so as to obtain the target aiming pixel deviation for calibrating the image center point of the target image collected by the shooting device based on different shooting distances.

[0115] A calibration module (not shown in the figure) is used to obtain the radius of the target surface image in the target image acquired by the image acquisition device when the firing triggering device is triggered; and, based on the radius, to obtain the target aiming pixel deviation for calibrating the firing center point corresponding to the target image.

[0116] The calibration module is also used to superimpose the corresponding target aiming pixel deviation onto the pixel coordinates of each preset direction corresponding to the image center point of the target image, and use them as the firing center point of the shooting device.

[0117] For specific implementation details of the preset module and the calibration module, please refer to the relevant description in Embodiment 1, which will not be repeated here.

[0118] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus embodiments, since they are fundamentally similar to the method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0119] The above provides a detailed description of the calibration method, apparatus, and target device for a shooting device provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and its core idea. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0120] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0121] The various component embodiments of this application can be implemented in hardware, or as software modules running on one or more processors, or a combination thereof. Those skilled in the art will understand that microprocessors or digital signal processors (DSPs) can be used in practice to implement some or all of the functions of some or all of the components in the electronic device according to the embodiments of this application. This application can also be implemented as a device or apparatus program (e.g., a computer program and computer program product) for performing part or all of the methods described herein. Such a program implementing this application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, provided on a carrier signal, or provided in any other form.

[0122] For example, Figure 10An electronic device is shown that can implement the methods according to this application. The electronic device may be a PC, mobile terminal, personal digital assistant, tablet computer, etc. The electronic device conventionally includes a processor 1010 and a memory 1020, and program code 1030 stored in the memory 1020 and executable on the processor 1010. When the processor 1010 executes the program code 1030, it implements the methods described in the above embodiments. The memory 1020 may be a computer program product or a computer-readable medium. The memory 1020 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. The memory 1020 has a storage space 10201 for the program code 1030 of a computer program for performing any of the method steps described above. For example, the storage space 10201 for the program code 1030 may include various computer programs for implementing the various steps in the above methods. The program code 1030 is computer-readable code. These computer programs can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact discs (CDs), memory cards, or floppy disks. The computer program includes computer-readable code that, when executed on an electronic device, causes the electronic device to perform the methods according to the embodiments described above.

[0123] This application also discloses a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the calibration method for the target firing device as described in this application.

[0124] Such a computer program product can be a computer-readable storage medium, which can have the same characteristics as... Figure 10 The memory 1020 in the illustrated electronic device is similarly arranged as storage segments, storage spaces, etc. Program code can be stored, for example, in a compressed form on the computer-readable storage medium. The computer-readable storage medium is typically as shown in the reference... Figure 11 The portable or fixed storage unit is described above. Typically, the storage unit includes computer-readable code 1030', which is code read by a processor. When executed by the processor, this code implements the various steps in the method described above.

[0125] The terms "an embodiment," "embodiment," or "one or more embodiments" as used herein mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Furthermore, please note that the examples of the phrase "in one embodiment" do not necessarily all refer to the same embodiment.

[0126] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0127] In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A calibration method for a target shooting device, characterized in that, A calibration method is applied to a shooting apparatus equipped with an image acquisition device, wherein the illumination direction of the beam emitted by the beam emitting device configured for calibrating the shooting apparatus is directed towards the image acquisition field of view of the image acquisition device, the calibration method comprising: The image acquisition device acquires several target images corresponding to different shooting distances of the target, wherein the target images include: target surface images and light spot images formed by the beam directly hitting the target surface of the target; Based on the light spot image and the target image in each target image, obtain the preset direction aiming pixel deviation corresponding to each target image; Based on the preset direction aiming pixel deviation corresponding to each target image and the radius of the corresponding target surface image, a mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image is fitted. Based on the mapping relationship, the target aiming pixel deviation is obtained by calibrating the image center point of the target image acquired by the shooting device at different shooting distances. The step of obtaining the preset direction aiming pixel deviation corresponding to each of the target images based on the light spot image and the target image in each target image includes: For each target image, based on the pixel deviation of the image center point of the target image relative to the image center point of the light spot image along a preset direction, the preset direction aiming pixel deviation corresponding to each target image at different shooting distances is determined; the preset direction includes: a first direction and a second direction perpendicular to the first direction; the pixel deviation includes two factors: size and direction.

2. The method according to claim 1, characterized in that, The step of fitting a mapping relationship between the preset direction aiming pixel deviation in each target image and the radius of the corresponding target surface image, based on the preset direction aiming pixel deviation and the radius of the corresponding target surface image, includes: For each target image, the radius of the target surface image corresponding to each target image is used as the independent variable, and the preset direction aiming pixel deviation corresponding to the target image is used as the dependent variable. A linear function is used to fit the mapping relationship between the preset direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the shooting device.

3. The method according to claim 2, characterized in that, The step of fitting the mapping relationship between the preset direction aiming pixel deviation and the radius of the target surface image in the target image acquired by the shooting device using a linear function, with the radius of the target surface image corresponding to each target image as the independent variable and the preset direction aiming pixel deviation corresponding to the target image as the dependent variable, includes: Using the radius of the target image corresponding to each target image as the independent variable and the first-direction aiming pixel deviation corresponding to the target image as the dependent variable, a linear function is used to fit the mapping relationship between the first-direction aiming pixel deviation and the radius of the target image in the target images acquired by the shooting device; and, Using the radius of the target image corresponding to each target image as the independent variable and the second-direction aiming pixel deviation corresponding to the target image as the dependent variable, a linear function is used to fit the mapping relationship between the second-direction aiming pixel deviation and the radius of the target image in the target image acquired by the shooting device.

4. The method according to any one of claims 1-3, characterized in that, The calibration method further includes: The radius of the target surface image in the target image acquired by the image acquisition device when the firing trigger device of the shooting equipment is triggered is obtained; Based on the radius, obtain the target aiming pixel deviation for calibrating the image center point of the target image; The target aiming pixel deviation is superimposed on the pixel coordinates of each preset direction corresponding to the center point of the target image to serve as the firing center point of the shooting device, so that the firing line of the shooting device coincides with the aiming baseline of the shooting device.

5. A calibration device for a shooting range, characterized in that, A calibration device is applied to a target shooting apparatus equipped with an image acquisition device, wherein the beam emitted by a beam emitting device configured for calibrating the target shooting apparatus is directed toward the image acquisition field of view of the image acquisition device, and the calibration device includes: The target image acquisition module is used to acquire several target images corresponding to different shooting distances of the target, which are acquired by the image acquisition device. The target images include: target surface image and light spot image formed by the beam directly hitting the target surface of the target. The aiming pixel deviation acquisition module is used to acquire the preset direction aiming pixel deviation corresponding to each of the target images based on the light spot image and the target image in each of the target images; The mapping relationship acquisition module is used to fit the mapping relationship between the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image based on the preset direction aiming pixel deviation and the radius of the corresponding target surface image in each target image. The calibration deviation acquisition module is used to acquire the target aiming pixel deviation for calibrating the image center point of the target image acquired by the shooting device based on different shooting distances, according to the mapping relationship. The aiming pixel deviation acquisition module is also used for: For each target image, based on the pixel deviation of the image center point of the target image relative to the image center point of the light spot image along a preset direction, the preset direction aiming pixel deviation corresponding to each target image at different shooting distances is determined; the preset direction includes: a first direction and a second direction perpendicular to the first direction; the pixel deviation includes two factors: size and direction.

6. A target-shooting device, characterized in that, include: The sight is located at the front end of the firing device; A rear sight is located at the rear end of the target shooting device; the rear sight and the front sight form the aiming baseline of the target shooting device along the firing exit direction of the target shooting device. A firing triggering device is installed on the target firing equipment; An image acquisition device is installed on the target shooting equipment and is used to acquire a target image of a target set at a predetermined distance in front of the target shooting equipment when the shooting triggering device is triggered. The controller is used to calibrate the image center point of the target image based on the radius of the target surface image in the target image and a preset target aiming pixel deviation corresponding to the radius for calibrating the image center point of the target image, and use the calibrated point as the firing center point of the shooting device, so that the firing line of the shooting device coincides with the aiming baseline of the shooting device. The controller includes: A preset module is used to execute the calibration method of the shooting device as described in any one of claims 1 to 3, so as to obtain the target aiming pixel deviation for calibrating the image center point of the target image acquired by the shooting device based on different shooting distances.

7. The target-shooting device according to claim 6, characterized in that, Also includes: To calibrate the beam emitting device configured for the target shooting equipment, when connected to the target shooting equipment, the beam emitted by the beam emitting device is directed towards the image acquisition field of view of the image acquisition device.

8. The target-shooting device according to claim 7, characterized in that, The beam emitting device is detachably connected to the target-shooting equipment.

9. The target-shooting device according to any one of claims 6 to 8, characterized in that, The controller further includes: The calibration module is used to obtain the radius of the target surface image in the target image acquired by the image acquisition device when the firing triggering device is triggered; and, based on the radius, to obtain the target aiming pixel deviation for calibrating the firing center point corresponding to the target image. The calibration module is also used to superimpose the corresponding target aiming pixel deviation onto the pixel coordinates of each preset direction corresponding to the image center point of the target image, and use them as the firing center point of the shooting device.

10. An electronic device, comprising a memory, a processor, and program code stored in the memory and executable on the processor, characterized in that, When the processor executes the program code, it implements the calibration method of the target shooting device according to any one of claims 1 to 4.

11. A computer-readable storage medium having program code stored thereon, characterized in that, When executed by a processor, the program code implements the steps of the calibration method for the target-shooting device as described in any one of claims 1 to 4.

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