An automatic target reporting system for underwater photogrammetry

Abstract

This invention discloses an automatic target reporting system for underwater photogrammetry, comprising: an acquisition system including an underwater camera and an underwater projection light, the underwater projection light and the underwater camera being respectively positioned at a safe distance in front of both sides of the projected target; a triggering subsystem for controlling the underwater camera to initiate image acquisition and providing the data to a score interpretation system for display, storage, and real-time processing; and a score interpretation system including an image real-time display and acquisition system and an image data processing and score analysis system; wherein the triggering subsystem and the image real-time display and acquisition system are both connected to the underwater camera via watertight cables. This invention achieves high accuracy and efficiency in score interpretation, enabling automatic identification, automatic target reporting, and timely display of shooting scores during underwater shooting training.

Description

Technical Field

[0001] This invention relates to an automatic target reporting system for underwater photogrammetry, mainly used for underwater target detection and score interpretation, and belongs to the field of underwater photogrammetry technology. Background Technology

[0002] In traditional underwater target practice, physical targets are placed underwater, and trainees aim and fire at the target rings. After training, the targets are retrieved, and the trainees' scores are determined based on the impact points on the target rings. However, traditional underwater shooting training involves manual target replacement and score interpretation, leading to the following problems with this method of target reporting:

[0003] 1. Traditional underwater targets suffer wear and tear during use and cannot be reused after being scrapped. Replacement requires manual placement and retrieval, which is a cumbersome process.

[0004] 2. Traditional underwater target assessment relies on the position of the impact point on the target ring to determine the score. This method is inefficient and cannot effectively assess shots with the same impact point multiple times or shots that miss the target. Furthermore, newer acoustic and laser targets require measurement surfaces to be used in conjunction with physical targets. The distance between the measurement surface and the actual firing surface can lead to discrepancies between the interpreted score and the actual score, affecting accuracy.

[0005] 3. Traditional underwater target assessment has poor real-time performance and cannot effectively judge the shooting results of trainees each time.

[0006] Therefore, the key to solving the above-mentioned technical problems lies in developing a practical and highly automated underwater photogrammetry automatic target reporting system. Summary of the Invention

[0007] To address the numerous defects and shortcomings in the aforementioned background technology, this invention has made improvements and innovations. The aim is to provide a method that eliminates target material loss, enables real-time performance analysis of the shooting process, and provides superior performance interpretation efficiency compared to traditional methods. Furthermore, it allows for real-time observation, recording, and image processing of moving targets during live-fire underwater training within a fixed field of view, meeting imaging requirements in low-light underwater environments and accurately recording the instantaneous impact of a projectile on the target surface.

[0008] Another objective of this invention is to achieve high accuracy and efficiency in judging scores, enabling automatic judgment, automatic target reporting, and timely display of shooting scores during underwater shooting training.

[0009] To solve the above problems and achieve the above-mentioned objectives, the present invention provides an automatic target reporting system for underwater photogrammetry, which is implemented by adopting the following design structure and the following technical solution:

[0010] As an improvement to the underwater photogrammetry automatic target reporting system of the present invention, it includes:

[0011] The acquisition system (1) includes an underwater camera (11) and an underwater projection light (12), which are respectively set at a safe distance in front of the projection target on both sides.

[0012] The triggering subsystem (2) is used to control the underwater camera (11) to start image acquisition and provide the results to the performance evaluation system (3) for display, storage and real-time processing;

[0013] The grade interpretation system (3) includes: a real-time image display and acquisition system (31) and an image data processing and grade analysis system (32);

[0014] The triggering subsystem (2) and the real-time image display and acquisition system (31) are connected to the underwater camera (11) via watertight cables.

[0015] As an improvement of the present invention, the acquisition system further includes several auxiliary lighting devices (13). The auxiliary lighting devices (13) are set on both sides of the water target channel by placing them on opposite sides to illuminate the underwater target, so as to meet the light energy requirements of underwater camera target imaging, reduce the impact of underwater backscattering on the extraction of effective targets in the acquired image, and provide the shooter with better aiming targets.

[0016] As a further improvement of the present invention, the underwater projection lamp (12) is used to project the projection film onto the background wall (4); the underwater camera (11) can focus in the underwater environment to make the projection target clear.

[0017] As a further improvement of the present invention, the underwater projection lamp (12) and the underwater camera (11) are both housed in a watertight shell. The watertight sealing window of the watertight shell is made of spherical reinforced quartz glass with high hardness and good pressure resistance. The spherical quartz glass is designed as part of the optical imaging system of the underwater projection lamp (12) and the underwater camera (11) to reduce underwater image distortion.

[0018] As a further improvement of the present invention, the real-time image display and acquisition system (31) is used to display the real-time images transmitted by the underwater camera (11) and to store the projectile hitting the target images acquired after the underwater camera (11) starts working.

[0019] As a further improvement of the present invention, the image data processing and performance analysis system (32) is used to receive image data transmitted by the real-time image display and acquisition system (31) and perform image processing.

[0020] As a further improvement of the present invention, the image data processing and performance analysis system (32) determines whether there is a target in the underwater camera (11) image compared to the original field of view by using the frame difference method. When the projectile enters the fixed field of view of the underwater camera (11), it can be regarded as a valid target and a "start" signal is given to the trigger subsystem (2) through the link. Then the trigger subsystem (2) outputs a pulse signal to the underwater camera (11) through the watertight cable. The underwater camera (11) starts image acquisition according to the pulse signal.

[0021] As a further improvement of the present invention, the triggering subsystem (2) adopts a pre-triggering mode to record the effective image of the projectile entering the field of view of the underwater camera (11) after the start of firing, and provides it to the score interpretation system (3) for display, storage and real-time processing.

[0022] As a further improvement of the present invention, the triggering subsystem (2) includes a trigger box (21) which is connected to the underwater camera (11);

[0023] The real-time image display and acquisition system (31) includes a real-time image display and acquisition terminal (311) and an underwater image real-time display screen (312);

[0024] The image data processing and performance analysis system (32) includes an image data processing and performance analysis terminal (321) and a real-time performance broadcast screen (322); the trigger box (21) and the real-time image display and acquisition terminal (311) and the image data processing and performance analysis terminal (321) are all installed on the ground. The real-time image display and acquisition terminal (311) receives the real-time image signal transmitted by the underwater camera (11) and transmits the signal to the underwater image real-time display screen (312) for display.

[0025] As a further improvement of the present invention, the underwater projection lamp (12) can adjust the target ring, color and number of rings on the projection target surface.

[0026] The working principle is:

[0027] This invention utilizes projection technology to project the target surface onto an underwater background wall for trainees to aim and shoot. A single-channel underwater high-definition camera continuously captures images of the projectile passing through the target surface at an appropriate frame rate. Finally, the real-time captured images are processed to extract the effective target surface, filter and enhance the target surface image, mark the target surface ring area, identify bullet holes, and determine the ring number to interpret the shooting score.

[0028] The beneficial effects of this invention compared to the prior art are:

[0029] 1. This invention uses projection target display technology to project the target onto the underwater target lane background wall, eliminating the problems of target material loss and repeated retrieval. At the same time, the target display is integrated with the shooting reference target surface, avoiding the error in judging the impact point caused by the distance between the target and the shooting reference target surface, such as acoustic targets and laser targets. The accuracy of the judgment is high.

[0030] 2. This invention uses a projection lamp to display the target ring and an underwater camera with a suitable frame rate to record the impact position of the projectile on the target ring. The entire shooting process image is analyzed in real time to determine whether the projectile hit the target and the score of each shot, realizing automatic underwater target reporting. At the same time, the shooting process can be analyzed in real time, and the efficiency of score interpretation is better than the traditional method and the accuracy of score interpretation is high.

[0031] 3. This invention utilizes photogrammetry and image processing technology to determine shooting scores. It can effectively interpret the hit situation and the corresponding score area of ​​each shot, eliminating the inability to identify multiple shots with the same hit point or shots that miss the target. The interpretation accuracy is high and the efficiency is fast.

[0032] 4. This invention, through real-time image data processing, can realize shooting results during underwater shooting training, and can automatically identify, report targets, and display shooting results in a timely manner during underwater shooting training;

[0033] 5. This invention saves time and effort, has a high degree of automation, and solves the problems of manual target ring replacement, time-consuming target judgment methods, and poor real-time performance in traditional underwater target reporting.

[0034] 6. This invention can complete the real-time observation, recording and image processing of moving targets when projectiles are fired at the target surface within a fixed field of view during daily underwater live-fire training, meet the imaging requirements in low-light underwater environments, and accurately record the instantaneous process of the projectile hitting the target surface. Attached Figure Description

[0035] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein:

[0036] Figure 1 This is a schematic diagram of the technical solution of the present invention;

[0037] Figure 2 This is a flowchart of the performance evaluation system of the present invention;

[0038] Figure 3 This is one of the implementation diagrams of the water target channel acquisition system of the present invention;

[0039] Figure 4 This is the second embodiment of the water target channel acquisition system of the present invention;

[0040] Figure 5This is the third embodiment of the water target channel acquisition system of the present invention;

[0041] Figure 6 This is a schematic diagram of the implementation scheme of the triggering system and the score interpretation system of the present invention;

[0042] Figure 7 This is a schematic diagram of the target ring edge image detection scheme of the present invention;

[0043] Among them, 1—acquisition system, 11—underwater camera, 12—underwater projection light, 13—auxiliary lighting device;

[0044] 2—Trigger subsystem, 2—Trigger box;

[0045] 3—Score interpretation system; 31—Real-time image display and acquisition system; 32—Image data processing and score analysis system; 311—Real-time image display and acquisition terminal; 312—Real-time underwater image display screen; 321—Image data processing and score analysis terminal; 322—Real-time score broadcast screen.

[0046] 4—Background wall;

[0047] 5—Deployment device. Detailed Implementation

[0048] To make the technical means, inventive features, objectives, and effects of this invention readily understandable, the technical solution of this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other. The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] An automatic target reporting system for underwater photogrammetry, as shown in the attached diagram of the instruction manual, includes:

[0050] Acquisition system 1 includes: underwater camera 11 and underwater projection light 12, with the underwater projection light 12 and underwater camera 11 respectively positioned at a safe distance in front of the projection target on both sides.

[0051] Triggering subsystem 2 is used to control the underwater camera 11 to start image acquisition and provide the results to the performance evaluation system 3 for display, storage and real-time processing;

[0052] The grade interpretation system 3 includes: a real-time image display and acquisition system 31 and an image data processing and grade analysis system 32;

[0053] Among them, the triggering subsystem 2 and the real-time image display and acquisition system 31 are both connected to the underwater camera 11 via watertight cables.

[0054] Furthermore, the acquisition system also includes several auxiliary lighting devices 13, which are placed on both sides of the water target channel to illuminate the underwater target. This is to meet the light energy requirements for underwater camera target imaging, reduce the impact of underwater backscattering on the extraction of effective targets in the acquired images, and provide the shooter with better aiming targets.

[0055] Furthermore, the underwater projection lamp 12 is used to project the projection film onto the background wall 4; the underwater camera 11 can focus in the underwater environment to adjust the projection target surface to be clear.

[0056] Furthermore, both the underwater projection lamp 12 and the underwater camera 11 are housed in a watertight housing. The watertight sealing window of the watertight housing is made of spherical reinforced quartz glass with high hardness and good pressure resistance. The spherical quartz glass is designed as part of the optical imaging system of the underwater projection lamp 12 and the underwater camera 11 to reduce underwater image distortion.

[0057] Furthermore, the real-time image display and acquisition system 31 is used to display the real-time images transmitted by the underwater camera 11, and to store the projectile hit-target images acquired after the underwater camera 11 starts working.

[0058] Furthermore, the image data processing and performance analysis system 32 is used to receive image data transmitted by the real-time image display and acquisition system 31 and perform image processing.

[0059] Furthermore, the image data processing and performance analysis system 32 uses the frame difference method to determine whether there is a target in the underwater camera 11's field of view compared to the original field of view. When the projectile enters the fixed field of view of the underwater camera 11, it can be regarded as a valid target and a "start" signal is given to the trigger subsystem 2 through the link. Then, the trigger subsystem 2 outputs a pulse signal to the underwater camera 11 through a watertight cable. The underwater camera 11 is started to start image acquisition according to the pulse signal.

[0060] Furthermore, the triggering subsystem 2 adopts a pre-triggering method to record effective images of the projectile entering the field of view of the underwater camera 11 after the start of firing, and provides them to the score interpretation system 3 for display, storage and real-time processing.

[0061] Furthermore, the triggering subsystem 2 includes a trigger box 21, which is connected to the underwater camera 11;

[0062] The real-time image display and acquisition system 31 includes a real-time image display and acquisition terminal 311 and an underwater image real-time display screen 312;

[0063] The image data processing and performance analysis system 32 includes an image data processing and performance analysis terminal 321 and a real-time performance broadcast screen 322; the trigger box 21, the real-time image display and acquisition terminal 311, and the image data processing and performance analysis terminal 321 are all deployed on the ground. The real-time image display and acquisition terminal 311 receives the real-time image signal transmitted by the underwater camera 11 and transmits the signal to the underwater image real-time display screen 312 for display.

[0064] Furthermore, the underwater projection light 12 can adjust the target rings, colors, and number of rings on the projection target surface.

[0065] In summary, a more specific embodiment of the present invention is as follows:

[0066] Before using the above-described underwater photogrammetry automatic target reporting system, it needs to be installed as a backup.

[0067] As attached Figure 1 As shown, the acquisition system mainly includes an underwater camera 11, an underwater projector 12, and an auxiliary lighting device 13. The underwater projector 12 is mounted on the deployment device 5. It projects the target surface (used for aiming and shooting) onto the background wall 4. The underwater camera 11 selects a lens with a suitable focal length and focuses on the background wall 4 in the underwater environment to clearly project the target surface. The underwater projector 12 and the underwater camera 11 are positioned at a safe distance in front of the projected target on both sides. The auxiliary lighting device 13 also illuminates the underwater target by being placed on opposite sides, meeting the light energy requirements for underwater target imaging, minimizing the impact of underwater backscattering on the extraction of effective targets in the acquired images, and providing the shooter with a better aiming target. Both the underwater projector 12 and the underwater camera 11 need to be housed in a watertight shell. The watertight sealing window is made of spherical reinforced quartz glass with high hardness and good pressure resistance. The spherical quartz glass is used as part of the underwater camera 11 and the underwater projector 12 optical imaging system for underwater optical design to reduce underwater image distortion.

[0068] In this invention, the triggering subsystem 2, the real-time image display and acquisition system 31, and the image data processing and performance analysis system 32 are all deployed on the ground. The triggering subsystem 2 and the real-time image display and acquisition system 31 communicate with the underwater camera 11 via a watertight cable.

[0069] In this invention, the triggering subsystem 2 uses a pre-triggering method to start the underwater camera recording before the projectile hits the target, recording the effective image of the projectile entering the field of view of the underwater fixed camera after the start of firing, and providing it to the score interpretation system 3 for display, storage and real-time processing.

[0070] As attached Figure 2As shown, when a bullet is detected in the fixed field of view of the camera, the score interpretation system 3 considers it a valid target and sends a trigger signal to the underwater camera 11; if no valid target appears in the field of view, the camera will not start working. Because the characteristic positional relationship of the target surface in the image acquired by the underwater camera 11 is easy to distinguish, such as the target ring, color, and number of rings, the score interpretation system 3 first locates the valid area from the projected target surface image and records the pixel coordinates of that area. Since the target surface position remains unchanged during projection, the effective area can be quickly extracted using these pixel coordinates. Appropriate cropping is then performed to remove invalid areas and increase processing speed. Based on the known effective target surface positioning area and target image, the target ring lines are roughly measured, and morphological processing is performed to obtain the closed boundaries of each ring value region. Then, each ring value region is marked sequentially. In the effective image, the bullet hole region is first roughly extracted by observing the color and grayscale changes in the local bullet area. Then, binarization processing is performed to identify the center coordinates of each bullet hole region. The score is determined based on the bullet hole center being located within the marked ring area. If there is no color or grayscale change in the local area, the shot is considered a miss, and the score is 0. Finally, the image data processing and score analysis system 32 displays and broadcasts the shooting score in a timely manner.

[0071] The more specific implementation process is as follows:

[0072] Step 1: Deployment of the data acquisition system

[0073] As attached Figure 3 ~Attached Figure 5 As shown, the target lane has multiple recesses. The underwater camera 11 and underwater projector 12 are pre-installed in the recesses on both sides of the target lane. The underwater camera 11 and underwater projector 12 are placed in a watertight housing with an optically designed sealed window. The watertight housing is lowered into the water using a hoisting device and sliding rail inside the recess, ensuring that the two devices are placed at the same height. The underwater projector 12 is adjusted to project the target surface onto the background wall 4, ensuring that the underwater projector 12 projects the target surface used for aiming and shooting onto the background wall 4. The underwater camera 11 selects a lens with a suitable focal length and focuses on the underwater environmental reference background wall 4 to make the projected target surface clear. The auxiliary lighting device 13 is placed on the opposite side of the target lane wall to illuminate the reference background wall 4, providing supplementary lighting for the underwater camera 11 to capture images, and also providing the shooter with a better aiming target.

[0074] Step 2: Trigger the operation of subsystem 2 and grade interpretation system 3.

[0075] The trigger box 21, the real-time image display and acquisition terminal 311, and the image data processing and performance analysis terminal 321 are installed on the ground, as shown in the attached diagram. Figure 6As shown, the trigger box 21 and the real-time image display and acquisition terminal 311 communicate with the underwater camera 11 via a 24-core watertight cable. Eight cores of the watertight cable transmit image signals from the underwater camera 11, and two cores transmit pulse signals generated by the trigger box 21. The real-time image display and acquisition terminal 311 receives the real-time image signals transmitted from the underwater camera 11 and transmits these signals to the underwater image real-time display screen 312 for display.

[0076] The image data processing and performance analysis terminal 321 receives underwater image data and determines whether a target appears in the field of view compared to the original field of view using the frame difference method. The frame difference subtraction recognition uses m as the sliding processing window (m frames of consecutively read images). The effective target appearance image in the k-th frame (subtracting the fixed field of view background) can be expressed as:

[0077] F(k,x,y)=s(x,y)+n(k,x,y) (1)

[0078] Where s(x,y) is the image of the effective target, and n(k,x,y) is the background noise image. Further averaging is performed on m consecutive frames, resulting in the average difference image g(x,y).

[0079]

[0080] Signal-to-noise ratio of average difference image After accumulating and averaging the m-frame sequence images, the signal-to-noise ratio of the resulting average difference image is improved by a factor of m, meaning the image of the effective target is enhanced by a factor of m. When the projectile enters the fixed field of view of the underwater camera 11, it is determined to be an effective target, and a trigger signal is output to the real-time image display and acquisition terminal 311, which then forwards it to the trigger box 21. According to the pre-triggering mechanism (starting the underwater camera to record before the projectile hits the target), the trigger box 21 outputs a pulse signal to the underwater camera 11 via a watertight cable to start the underwater camera 11 to begin recording. The effective image of the projectile entering the field of view of the underwater fixed camera after the start of firing is acquired and stored at the acquisition terminal, and simultaneously provided to the image data processing and performance analysis terminal 321 for performance determination. The image data processing and performance analysis terminal 321 transmits the performance data to the real-time performance broadcast screen 322 for display.

[0081] Step 3: Real-time image processing and score interpretation

[0082] Based on the easily distinguishable positional relationship between the fixed projected target surface and the background wall in the images acquired by the underwater camera 11, the score interpretation system 3 first locates the effective target area from the projected target surface image. Using image segmentation technology, pixels corresponding to the projected target area are grouped together, marked, and their coordinates are recorded. Since the position of the projected target surface remains unchanged, the effective target area in the sequence of images acquired by the underwater camera 11 is quickly segmented using pixel coordinates, and invalid background areas are cropped to improve the data processing speed of the score interpretation system 3.

[0083] Based on the known effective target surface localization area and target surface image, the target ring line is roughly measured and then morphological processing is performed to obtain the closed boundaries of each ring value region. Subsequently, each ring value region is sequentially marked, and the target ring line edge detection is performed as follows: Figure 7 As shown, the grayscale value changes in the image region are concave, and the edges where the change value L is less than the width of the structuring element are the edges of the dark roof, as shown. Figure 7 (a) The grayscale value change in the area exhibits a convex shape, and the edge where the change value L is less than the width of the structural element is the bright roof edge, such as... Figure 7 (b) The grayscale value varies between two fixed regions, and the variation value L is greater than or equal to the width of the structuring element, forming a step-like edge, such as... Figure 7 (c). In the examples described, a projection target is used as... Figure 7 (d) The edges in the projected target image are segmented as follows: the edges of the ten-ring central region and the outer contour of the chest ring target are step-type edges; the white ring line and the ring number are the bright roof edges; and the pixel coordinates of each ring area (closed area) are recorded.

[0084] In the effective target surface image, such as Figure 7 (d) The bullet hole region is located at the edge of a dark roof. The bullet hole region is first coarsely extracted by analyzing the local grayscale changes. Then, sub-pixel edge extraction is performed on the edge points of the bullet hole region to coarsely locate the center of the elliptical region of the bullet hole. Finally, the sub-pixel edges corresponding to the edge points saved during coarse localization are used for least-squares fitting to calculate the ellipse parameters: the coordinates of the ellipse center (X, Y), the major axis a, the minor axis b, and the angle θ between the major axis and the X-axis. To further improve the fitting accuracy, an iterative method is used.

[0085]

[0086]

[0087] m, n, a, b, θ are the ellipse parameters obtained after the previous ellipse fitting; (x i y i (X) represents the edge coordinates of the ellipse after the previous iteration removed large amounts of data; i Y i ) is for (x i yi The coordinates of the standard ellipse edge after coordinate transformation, with the ellipse center at the origin; N is the number of ellipse edge coordinate data.

[0088]

[0089] The edge points that satisfy equation (5) are saved and fitted again according to equation (4). After several iterations, until the value of N in equation (4) no longer changes, the m and n values ​​obtained at this time are the final X and Y coordinate values, a and b are the major and minor axes of the ellipse, and θ is the angle between the major axis and the X axis. Thus, the precise position of the bullet hole center in the image pixel coordinates can be obtained. The score (ring number) is determined based on the result that the pixel coordinates of the bullet hole center are located in the target ring area, and the score is displayed on the computer in real time. If there is no grayscale change in the local area of ​​the projected target surface, it is considered that the shot missed the target and the score is 0.

[0090] Step 4: Score Verification

[0091] Step 3 is the real-time interpretation of the target impact image, and step 4 is the re-interpretation of the entire shooting process. When the last shot is completed, the images captured and saved by the camera are sorted again to identify the effective image set with moving targets. The target impact position of the image set is interpreted, compared and verified with the real-time interpretation, and a final report is generated to avoid misjudgment or omission during the real-time interpretation process.

[0092] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An automatic target reporting system for underwater photogrammetry, characterized in that, include: The acquisition system (1) includes an underwater camera (11) and an underwater projection light (12), with the underwater projection light (12) and the underwater camera (11) respectively positioned at a safe distance in front of the projection target on both sides. The underwater projection lamp (12) and the underwater camera (11) are both housed in a watertight shell. The watertight sealing window of the watertight shell is made of spherical reinforced quartz glass with high hardness and good pressure resistance. The spherical quartz glass is designed as part of the optical imaging system of the underwater projection lamp (12) and the underwater camera (11) to reduce underwater image distortion. The acquisition system also includes several auxiliary lighting devices (13). The auxiliary lighting devices (13) are set on both sides of the water target channel by placing them on opposite sides to illuminate the underwater target. This is to meet the light energy requirements of underwater camera target imaging, reduce the impact of underwater backscattering on the extraction of effective targets in the acquired image, and provide the shooter with better aiming targets. The triggering subsystem (2) is used to control the underwater camera (11) to start image acquisition and provide the results to the performance evaluation system (3) for display, storage and real-time processing; The grade interpretation system (3) includes: a real-time image display and acquisition system (31) and an image data processing and grade analysis system (32). The triggering subsystem (2) and the real-time image display and acquisition system (31) are connected to the underwater camera (11) via watertight cables.

2. The underwater photogrammetry automatic target reporting system according to claim 1, characterized in that, The underwater projection lamp (12) is used to project the projection film onto the background wall (4); the underwater camera (11) can focus in the underwater environment to make the projection target clear.

3. The underwater photogrammetry automatic target reporting system according to claim 1, characterized in that, The real-time image display and acquisition system (31) is used to display the real-time images transmitted by the underwater camera (11) and to store the projectile hit-target images acquired after the underwater camera (11) starts working.

4. The underwater photogrammetry automatic target reporting system according to claim 1, characterized in that, The image data processing and performance analysis system (32) is used to receive image data transmitted by the real-time image display and acquisition system (31) and perform image processing.

5. An automatic target reporting system for underwater photogrammetry according to claim 1 or 4, characterized in that, The image data processing and performance analysis system (32) uses the frame difference method to determine whether there is a target in the underwater camera (11) image compared to the original field of view. When the projectile enters the fixed field of view of the underwater camera (11), it can be regarded as a valid target and a "start" signal is given to the trigger subsystem (2) through the link. Then the trigger subsystem (2) outputs a pulse signal to the underwater camera (11) through the watertight cable. The underwater camera (11) starts image acquisition according to the pulse signal.

6. The underwater photogrammetry automatic target reporting system according to claim 1, characterized in that, The triggering subsystem (2) adopts a pre-triggering mode to record the effective image of the projectile entering the field of view of the underwater camera (11) after the start of firing, and provides it to the score interpretation system (3) for display, storage and real-time processing.

7. The underwater photogrammetry automatic target reporting system according to claim 1, characterized in that, The triggering subsystem (2) includes a trigger box (21), which is connected to the underwater camera (11); The real-time image display and acquisition system (31) includes a real-time image display and acquisition terminal (311) and an underwater image real-time display screen (312). The image data processing and performance analysis system (32) includes an image data processing and performance analysis terminal (321) and a real-time performance broadcast screen (322); the trigger box (21), the real-time image display and acquisition terminal (311), and the image data processing and performance analysis terminal (321) are all installed on the ground. The real-time image display and acquisition terminal (311) receives the real-time image signal transmitted by the underwater camera (11) and transmits the signal to the underwater image real-time display screen (312) for display.

8. The underwater photogrammetry automatic target reporting system according to claim 1, characterized in that, The underwater projection light (12) can adjust the target ring, color, and number of rings on the projection target surface.

Images