Method and device for predicting aiming position and shooting equipment

Abstract

The invention discloses an aiming position prediction method and device and shooting equipment, and relates to the field of aiming shooting, when it is determined that the center of a distance measurement partition of the shooting equipment coincides with a target object in a monitoring range, a first pixel number and a first distance at a first moment are determined; determining a second pixel number corresponding to the target object at a second moment, determining a predicted pixel number according to the first distance, the first pixel number, the second pixel number and a preset position prediction strategy, and determining a predicted aiming partition position corresponding to the predicted pixel number based on a currently set zero-quantile aiming partition, and displaying the predicted aiming division position on a display module of the shooting equipment. According to the scheme, the position condition of the target object at the third moment can be predicted to realize trajectory tracking locking, and the corresponding predicted aiming division position is directly displayed on the display module to assist in subsequent strike, so that improvement of strike accuracy and hit rate is facilitated, and strike requirements under various complex confrontation scenes in practical application are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of aiming and shooting, and in particular to an aiming position prediction method, device and shooting equipment. Background Art

[0002] Currently, with the rapid development of artificial intelligence technology, drones have transformed the way fire is conducted in confrontational situations, providing a cost-effective and effective strike solution without risking personnel. To combat the intrusion of drones equipped with firearms, two main methods are currently used. The first involves using radio interference to disrupt the drone's flight. However, this method is limited by radio propagation. Radio signals are easily affected by environmental factors such as terrain, buildings, and weather, resulting in ineffective interference. Furthermore, radio interference typically targets signals within a specific frequency range, making it difficult to precisely target a specific drone and potentially affecting other radio equipment or drones operating within the designated area. The second method relies on traditional image processing technology to identify drones, allowing personnel to target and strike them. However, this approach requires a high level of shooting skill and relies too heavily on personnel experience, making it insufficient for the strike requirements of complex confrontational situations.

[0003] Therefore, how to provide a more effective targeting and attack solution for drones is an urgent problem that needs to be solved. Summary of the Invention

[0004] In view of this, the present invention provides an aiming position prediction method, device and shooting equipment, which are beneficial to improving the strike accuracy and hit rate, and are beneficial to adapting to the strike requirements in various complex confrontation scenarios in actual applications.

[0005] To solve the above technical problems, the present application provides an aiming position prediction method, comprising:

[0006] When it is determined that the center of the range-finding scale of the shooting device coincides with the target object within the monitoring range, determining a first number of pixels and a first distance between the shooting device and the target object at a current first moment, the first number of pixels being the number of pixels occupied by the target object determined by a target recognition frame for identifying the target object;

[0007] Determining a second number of pixels corresponding to the target object at a second moment after a preset period from the current moment;

[0008] Determining a predicted number of pixels based on the first distance, the first number of pixels, the second number of pixels, and a preset position prediction strategy, wherein the predicted number of pixels is a predicted number representing the position of the target object at a third moment after the preset period starting from the second moment;

[0009] Based on the currently set zero-percent aiming scale, the predicted aiming scale position corresponding to the predicted number of pixels is determined to display the predicted aiming scale position on the display module of the shooting device.

[0010] Furthermore, after displaying the predicted aiming reticle position on the display module of the shooting device, the method further includes:

[0011] Determining the movement of the shooting device by a movement monitoring module in the shooting device;

[0012] The aiming scale position currently displayed on the display module is adjusted according to the movement situation, so as to move the shooting device until the aiming scale position coincides with the predicted aiming scale position.

[0013] Furthermore, the shooting device includes a sight and a ranging module, and the external power supply is connected to the power supply end of the ranging module through a power supply interface and a power supply management module;

[0014] The step of determining a first distance between the shooting device and the target object at a current first moment comprises:

[0015] Controlling the external power supply to supply power to the ranging module through the power supply management module;

[0016] A control instruction for starting ranging is sent to the ranging module to obtain a first distance between the sight and the target object in a current cycle, which is fed back by the ranging module.

[0017] Furthermore, determining the predicted number of pixels according to the first distance, the first number of pixels, the second number of pixels, and a preset position prediction strategy includes:

[0018] determining whether to correct the first distance based on the first number of pixels and the second number of pixels;

[0019] If not, determining a corresponding number of predicted pixels based on the first distance and a preset distance-position prediction strategy;

[0020] If so, determining a predicted distance representing the distance between the target object and the shooting device at the third moment based on the first distance, the first number of pixels, the second number of pixels, and a preset distance prediction strategy;

[0021] The corresponding predicted number of pixels is determined based on the predicted distance and the preset distance position prediction strategy.

[0022] Furthermore, determining whether to correct the first distance based on the first number of pixels and the second number of pixels includes:

[0023] Determining whether both a first condition and a second condition are met, wherein the first condition is that a first preset threshold value is less than or equal to a result of dividing the second number of pixels by the first number of pixels is less than or equal to a second preset threshold value; and the second condition is that the number of horizontal pixels in the second number of pixels is not greater than a preset horizontal pixel threshold value, and the number of vertical pixels in the second number of pixels is not greater than a preset vertical pixel threshold value;

[0024] If so, determining not to correct the first distance;

[0025] If not, it is determined to correct the first distance.

[0026] Further, determining a predicted distance representing the distance between the target object and the shooting device at the third moment based on the first distance, the first number of pixels, the second number of pixels, and a preset distance prediction strategy includes:

[0027] Calculating a vertical distance; wherein, when a first preset threshold value is less than or equal to a result of dividing the second number of pixels by the first number of pixels and less than or equal to a second preset threshold value, the vertical distance is equal to the first distance; and when the result is less than or equal to the second preset threshold value, the vertical distance is equal to ((2-the result)×the first distance) / the result.

[0028] Determining whether the number of horizontal pixels in the second number of pixels is not greater than a preset horizontal pixel threshold, and the number of vertical pixels in the second number of pixels is not greater than a preset vertical pixel threshold;

[0029] If so, determine that the actual offset is 0;

[0030] If not, the number of pixels moved is calculated according to a first predetermined relationship;

[0031] The first preset relationship is:

[0032] a 2 =a1 2 +a2 2

[0033] Wherein, a is the number of moving pixels, a1 is the number of horizontal pixels, and a2 is the number of vertical pixels;

[0034] Determine the actual offset based on a, the pixel size and number of pixels corresponding to the detector in the shooting device, the number of pixels corresponding to the display module, the first distance, the focal length of the lens of the sight in the shooting device, and a second preset relationship;

[0035] The second preset relationship is:

[0036]

[0037] Wherein, s is the first distance, d is the actual offset, A is the pixel size corresponding to the detector, L is the focal length, B1 is the number of pixels corresponding to the display module, and B2 is the number of pixels corresponding to the detector;

[0038] Determining a predicted distance representing the distance between the target object and the shooting device at the third moment according to the vertical distance, the actual offset, and a third preset relationship;

[0039] The third preset relationship is:

[0040] h 2 =4d 2 +s1 2

[0041] Wherein, h is the predicted distance, d is the actual offset, and s1 is the vertical distance.

[0042] Furthermore, determining the corresponding predicted number of pixels based on the predicted distance and the preset distance position prediction strategy includes:

[0043] determining a first aiming angle corresponding to the predicted distance;

[0044] Determining a predicted number of pixels based on the first aiming angle, the number of pixels corresponding to the display module, the focal length, the pixel size and number of pixels corresponding to the detector, and a fourth preset relationship;

[0045] The fourth preset relationship is:

[0046]

[0047] Wherein, φ1 is the predicted number of pixels, and θ1 is the first aiming angle.

[0048] Furthermore, determining a first aiming angle corresponding to the predicted distance includes:

[0049] A first aiming angle corresponding to the predicted distance is determined according to a preset distance-angle correspondence relationship.

[0050] To solve the above technical problems, the present invention further provides an aiming position prediction device, comprising:

[0051] Memory for storing computer programs;

[0052] A processor is configured to implement the steps of the aiming position prediction method as described above when executing the computer program.

[0053] To solve the above technical problems, the present invention further provides a shooting device, comprising a ranging module, a power supply interface, a power supply management module, a movement monitoring module and a display module, and also comprising the aiming position prediction device as described above;

[0054] The external power supply is connected to the power supply end of the ranging module, the power supply end of the mobile monitoring module, the power supply end of the display module and the power supply end of the aiming position prediction device respectively through the power supply interface and the power supply management module. The aiming position prediction device is also connected to the ranging module, the mobile monitoring module, the display module and the power supply management module respectively.

[0055] The present application provides an aiming position prediction method, device and shooting equipment. When determining that the center of the ranging scale of the shooting equipment coincides with the target object within the monitoring range, a first pixel number at the current first moment and a first distance between the shooting equipment and the target object are determined, the first pixel number being the number of pixels occupied by the target object determined by a target identification frame for identifying the target object; a second pixel number corresponding to the target object at a second moment after a preset period starting from the current moment is determined; a predicted pixel number is determined based on the first distance, the first pixel number, the second pixel number and a preset position prediction strategy, the predicted pixel number being a predicted position representing the target object at a third moment after the preset period starting from the second moment; and a predicted aiming scale position corresponding to the predicted pixel number is determined based on the currently set zero percent aiming scale, so as to display the predicted aiming scale position on a display module of the shooting equipment. It can be seen that this solution can predict the position of the target object at the third moment to achieve trajectory tracking and locking of the target object, and directly display the corresponding predicted aiming scale position on the display module to assist in subsequent strikes, reducing the dependence on the experience of relevant personnel, and facilitating subsequent strikes when the target object moves to the predicted aiming scale position, which is conducive to improving the strike accuracy and hit rate, and has a higher degree of automation and intelligence, which is conducive to adapting to the strike needs in various complex confrontation scenarios in actual applications.

[0056] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0058] Figure 1 A flowchart of a method for predicting an aiming position provided by the present invention;

[0059] Figure 2 A schematic structural diagram of an aiming position prediction device provided by the present invention;

[0060] Figure 3 This is a structural schematic diagram of a shooting device provided by the present invention. DETAILED DESCRIPTION

[0061] The core of the present invention is to provide an aiming position prediction method, device and shooting equipment, which are conducive to improving the strike accuracy and hit rate, and are conducive to adapting to the strike requirements in various complex confrontation scenarios in actual applications.

[0062] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0063] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0064] Please refer to Figure 1 , Figure 1 This is a flow chart of a method for predicting an aiming position provided by the present invention.

[0065] The aiming position prediction method comprises:

[0066] S11: When it is determined that the center of the ranging scale of the shooting device coincides with the target object within the monitoring range, determining a first number of pixels and a first distance between the shooting device and the target object at a current first moment, where the first number of pixels is the number of pixels occupied by the target object determined by a target recognition frame for identifying the target object;

[0067] S12: Determine a second number of pixels corresponding to the target object at a second moment after a preset period from the current moment;

[0068] S13: Determine a predicted number of pixels based on the first distance, the first number of pixels, the second number of pixels, and a preset position prediction strategy, where the predicted number of pixels is a predicted representation of the position of the target object at a third moment after a preset period has elapsed since the second moment;

[0069] S14: Based on the currently set zero-point aiming scale, determine the predicted aiming scale position corresponding to the predicted number of pixels, so as to display the predicted aiming scale position on the display module of the shooting device.

[0070] In this embodiment, the target object here includes but is not limited to drones, aircraft, etc., and the display module can be a display screen of a sight in a shooting device, and the display screen is but not limited to an OLED screen (Organic Light-Emitting Diode); specifically, the shooting device can include a camera, and the observation field of view corresponding to the camera is the monitoring range that can be detected. Before step S11, it can also include: continuously acquiring images within the monitoring range through the camera, processing the images according to a preset image recognition strategy to determine whether there is a target object within the monitoring range; more specifically, target segmentation and feature extraction can be performed on the acquired image to determine whether there is a target object in the recognition frame currently used to identify the target object, and the target object can be displayed on the display module after being identified, so that relevant personnel can understand the surrounding situation in a timely manner. When the target object moves and / or Or when the shooting device moves and the center of the ranging scale coincides with the target object, the moment of coincidence is the first moment to start tracking the target object, that is, to determine the first number of pixels at the first moment and the first distance between the shooting device and the target object; it should be noted that the shooting device may include a sight, and the first distance may specifically be the first distance between the display screen of the sight and the target object; the first number of pixels is the number of pixels occupied by the target object, and the target identification frame marks the current position of the target object, so as to facilitate the determination of the first number of pixels through the target identification frame, and the first number of pixels may specifically include the horizontal number of pixels and the vertical number of pixels, then the first number of pixels is equal to the product of the horizontal number of pixels and the vertical number of pixels.

[0071] It can be understood that a preset period for sampling is pre-set, which can be 100ms or 40ms. There is no special limitation here and it is set according to actual needs; the second number of pixels is the number of pixels occupied by the target object at the second moment determined by the target recognition frame for identifying the target object, and then the tracking prediction of the target object can be achieved according to step S13; the predicted number of pixels essentially marks the deviation between the predicted aiming scale position and the currently set zero percent aiming scale, and then relies on step S14 to achieve accurate display of the predicted aiming scale position, so as to prompt and assist relevant personnel to complete subsequent strikes.

[0072] In summary, the present application provides an aiming position prediction method, which can predict the position of the target object at the third moment to achieve trajectory tracking and locking of the target object, and directly display the corresponding predicted aiming scale position on the display module to assist in subsequent strikes, reducing dependence on the experience of relevant personnel, facilitating subsequent strikes when the target object moves to the predicted aiming scale position, and improving strike accuracy and hit rate. It has a higher degree of automation and intelligence, and is conducive to adapting to the strike needs in various complex confrontation scenarios in actual applications.

[0073] Based on the above embodiment:

[0074] In some embodiments, after displaying the predicted aiming reticle position on a display module of the shooting device, the method further includes:

[0075] Determine the movement of the shooting device through a movement monitoring module in the shooting device;

[0076] The aiming scale position currently displayed on the display module is adjusted according to the movement situation so that the shooting device can be moved until the aiming scale position coincides with the predicted aiming scale position.

[0077] Specifically, the mobile monitoring module here includes but is not limited to a gyroscope; since the bullet's axis needs to be aligned with the target object before it can hit the target, after the predicted aiming scale position is displayed, the relevant personnel will move the shooting device to adjust the axis. The adjustment of the axis will change the currently displayed aiming scale position. Therefore, by moving the shooting device, the aiming scale position is made to coincide with the predicted aiming scale position, so that the target object can be struck when it coincides with the predicted aiming scale position.

[0078] In some embodiments, the shooting device includes a sight and a range-finding module, and the external power supply is connected to the power supply terminal of the range-finding module via the power supply interface and the power supply management module;

[0079] The step of determining a first distance between the shooting device and the target object at a current first moment includes:

[0080] The power management module controls the external power supply to supply power to the ranging module;

[0081] A control instruction for starting ranging is sent to the ranging module to obtain the first distance between the sight and the target object in the current cycle, which is fed back by the ranging module.

[0082] Specifically, the distance measurement module here includes but is not limited to a laser rangefinder. The distance measurement module is powered only when it is determined that the center of the distance measurement scale coincides with the target object to start distance measurement, which is more conducive to energy saving.

[0083] In some embodiments, determining the predicted number of pixels based on the first distance, the first number of pixels, the second number of pixels, and a preset position prediction strategy includes:

[0084] determining whether to correct the first distance based on the first number of pixels and the second number of pixels;

[0085] If not, determining a corresponding predicted number of pixels based on the first distance and a preset distance-position prediction strategy;

[0086] If so, determining a predicted distance representing the distance between the target object and the shooting device at a third moment based on the first distance, the first number of pixels, the second number of pixels, and a preset distance prediction strategy;

[0087] The corresponding predicted number of pixels is determined based on the predicted distance and the preset distance position prediction strategy.

[0088] In this embodiment, taking the target object as an unmanned aerial vehicle as an example, if there is no movement in the Z-axis direction during flight, its movement can be approximately regarded as a movement in a two-dimensional plane formed by the X-axis and the Y-axis. If there is movement in the Z-axis direction at the same time, as a three-dimensional plane movement, when it is converted to the predicted aiming scale position displayed on the display module, a certain distance correction is required to ensure accurate hitting of the target object. The specific implementation steps are described above and will not be repeated here.

[0089] It should also be noted that determining the corresponding predicted number of pixels based on the first distance and the preset distance-position prediction strategy includes:

[0090] determining a second aiming angle corresponding to the first distance;

[0091] Determining the predicted number of pixels at this time based on the second aiming angle, the number of pixels corresponding to the display module, the focal length, the pixel size and number of pixels corresponding to the detector, and a fifth preset relationship;

[0092] The fifth preset relationship is:

[0093]

[0094] Among them, θ2 is the second aiming angle, φ2 is the predicted number of pixels at this time, and then according to the currently set zero percent aiming scale, the predicted aiming scale position corresponding to the predicted number of pixels at this time is determined and displayed.

[0095] In some embodiments, determining whether to correct the first distance based on the first number of pixels and the second number of pixels includes:

[0096] Determining whether both a first condition and a second condition are met, wherein the first condition is that the first preset threshold value is less than or equal to the result of dividing the second number of pixels by the first number of pixels and less than or equal to the second preset threshold value; and the second condition is that the number of horizontal pixels in the second number of pixels is not greater than the preset horizontal pixel threshold value, and the number of vertical pixels in the second number of pixels is not greater than the preset vertical pixel threshold value;

[0097] If so, determine not to correct the first distance;

[0098] If not, it is determined that the first distance is to be corrected.

[0099] In this embodiment, when both the first condition and the second condition are met, it can be determined that the target object is a stationary object, so no correction is required. The first distance and the preset distance-position prediction strategy are directly used to determine the corresponding predicted number of pixels to obtain the predicted aiming scale position for display. When the first condition and / or the second condition are not met, the target object is a moving object. In order to hit more accurately, correction is performed. Otherwise, without correction, the current first distance and the preset distance-position prediction strategy are directly used to determine the corresponding predicted number of pixels for aiming prediction and hitting, which will result in off-target shooting.

[0100] Specifically, the preset horizontal pixel threshold here includes but is not limited to being set to 4, the preset vertical pixel threshold includes but is not limited to being set to 4, the first preset threshold includes but is not limited to being 0.7, and the second preset threshold includes but is not limited to being 1.3, which can be set according to actual needs.

[0101] In some embodiments, determining a predicted distance representing the distance between the target object and the shooting device at a third moment based on the first distance, the first number of pixels, the second number of pixels, and a preset distance prediction strategy includes:

[0102] Calculate the vertical distance; where, when the first preset threshold is less than or equal to the result of dividing the second number of pixels by the first number of pixels and less than or equal to the second preset threshold, the vertical distance is equal to the first distance; and when the result is less than or equal to the second preset threshold, the vertical distance is equal to ((2-result)×first distance) / result).

[0103] determining whether the number of horizontal pixels in the second number of pixels is not greater than a preset horizontal pixel threshold, and the number of vertical pixels in the second number of pixels is not greater than a preset vertical pixel threshold;

[0104] If so, determine that the actual offset is 0;

[0105] If not, the number of pixels moved is calculated according to a first predetermined relationship;

[0106] The first preset relationship is:

[0107] a 2 =a1 2 +a2 2

[0108] Among them, a is the number of moving pixels, a1 is the number of horizontal pixels, and a2 is the number of vertical pixels;

[0109] Determine the actual offset based on a, the pixel size and number of pixels corresponding to the detector in the shooting device, the number of pixels corresponding to the display module, the first distance, the focal length of the lens of the sight in the shooting device, and the second preset relationship;

[0110] The second preset relationship is:

[0111]

[0112] Where s is the first distance, d is the actual offset, A is the pixel size corresponding to the detector, L is the focal length, B1 is the number of pixels corresponding to the display module, and B2 is the number of pixels corresponding to the detector;

[0113] Determining a predicted distance representing the distance between the target object and the shooting device at a third moment based on the vertical distance, the actual offset, and a third preset relationship;

[0114] The third preset relationship is:

[0115] h 2 =4d 2 +s1 2

[0116] Among them, h is the predicted distance, d is the actual offset, and s1 is the vertical distance.

[0117] Specifically, the above method can accurately and reliably determine the predicted distance, which is conducive to improving the hit rate; among them, when the display module is an OLED screen, B1 can specifically be the number of pixels corresponding to the OLED screen; it should also be noted that the detector here can be a photoelectric detector that can sense light signals to realize the conversion of light signals to electrical signals. The OLED screen receives the electrical signal and converts it into an image for display.

[0118] In some embodiments, determining the corresponding predicted number of pixels based on the predicted distance and a preset distance position prediction strategy includes:

[0119] determining a first aiming angle corresponding to the predicted distance;

[0120] Determining a predicted number of pixels based on the first aiming angle, the number of pixels corresponding to the display module, the focal length, the pixel size and number of pixels corresponding to the detector, and a fourth preset relationship;

[0121] The fourth preset relationship is:

[0122]

[0123] Among them, φ1 is the predicted pixel number, and θ1 is the first aiming angle.

[0124] Specifically, the first preset relationship here This part aims to achieve the conversion from dense bits to angles, so as to facilitate the calculation and determination of the subsequent predicted pixel number.

[0125] In some embodiments, determining a first aiming angle corresponding to the predicted distance includes:

[0126] A first aiming angle corresponding to the predicted distance is determined according to a preset distance-angle correspondence relationship.

[0127] Specifically, the preset distance-angle correspondence includes but is not limited to being pre-determined and recorded in the form of a table for storage, and then the first aiming angle is simply and reliably determined by looking up the table. The determination of the above-mentioned second aiming angle is also based on the preset distance-angle correspondence, which will not be repeated here.

[0128] Please refer to Figure 2 , Figure 2 This is a structural schematic diagram of an aiming position prediction device provided by the present invention.

[0129] The aiming position prediction device comprises:

[0130] Memory 21, for storing computer programs;

[0131] The processor 22 is configured to implement the steps of the aiming position prediction method described above when executing a computer program.

[0132] For an introduction to the aiming position prediction device provided in this application, please refer to the embodiment of the above-mentioned aiming position prediction method, which will not be repeated here.

[0133] Please refer to Figure 3 , Figure 3 This is a structural schematic diagram of a shooting device provided by the present invention.

[0134] The shooting device includes a distance measuring module 34, a power supply interface 31, a power supply management module 32, a movement monitoring module 35 and a display module 36, and also includes the aiming position prediction device 33 as described above;

[0135] The external power supply 37 is connected to the power supply end of the ranging module 34, the power supply end of the mobile monitoring module 35, the power supply end of the display module 36 and the power supply end of the aiming position prediction device 33 through the power supply interface 31 and the power supply management module 32 respectively. The aiming position prediction device 33 is also connected to the ranging module 34, the mobile monitoring module 35, the display module 36 and the power supply management module 32 respectively.

[0136] For an introduction to the shooting equipment provided in this application, please refer to the above-mentioned embodiment of the aiming position prediction method, which will not be repeated here.

[0137] It can be understood that the output end of the external power supply 37 is connected to one end of the power supply interface 31, and the other end of the power supply interface 31 is connected to the power input end of the power supply management module 32, and the power output end of the power supply management module 32 realizes power output to power the ranging module 34, the mobile monitoring module 35, the display module 36 and the aiming position prediction device 33; the connection between the aiming position prediction device 33 and the ranging module 34 here is used to realize two-way communication with the ranging module 34, so as to realize the issuance of control instructions or the reception of the collected first distance; the connection between the aiming position prediction device 33 and the mobile monitoring module 35 and the display module 36 is similar, and is used to realize two-way communication with the corresponding modules; the aiming position prediction device 33 is also connected to the control end of the power supply management module 32, so as to realize the control of the external power supply 37 for powering each module through the control of the power supply management module 32.

[0138] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. Relational terms such as first and second are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements limited by the sentence "comprising a" do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0139] The above description of the disclosed embodiments will enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for predicting an aiming position, characterized in that: include: When it is determined that the center of the range-finding scale of the shooting device coincides with the target object within the monitoring range, determining a first number of pixels and a first distance between the shooting device and the target object at a current first moment, the first number of pixels being the number of pixels occupied by the target object determined by a target recognition frame for identifying the target object; Determining a second number of pixels corresponding to the target object at a second moment after a preset period from the current moment; Determining a predicted number of pixels based on the first distance, the first number of pixels, the second number of pixels, and a preset position prediction strategy, wherein the predicted number of pixels is a predicted number representing the position of the target object at a third moment after the preset period starting from the second moment; Based on the currently set zero-percent aiming scale, the predicted aiming scale position corresponding to the predicted number of pixels is determined to display the predicted aiming scale position on the display module of the shooting device.

2. The aiming position prediction method according to claim 1, wherein: After displaying the predicted aiming reticle position on the display module of the shooting device, the method further includes: Determining the movement of the shooting device by a movement monitoring module in the shooting device; The aiming scale position currently displayed on the display module is adjusted according to the movement situation, so as to move the shooting device until the aiming scale position coincides with the predicted aiming scale position.

3. The aiming position prediction method according to claim 1, wherein: The shooting device includes a sight and a ranging module, and the external power supply is connected to the power supply end of the ranging module through a power supply interface and a power supply management module; The step of determining a first distance between the shooting device and the target object at a current first moment comprises: Controlling the external power supply to supply power to the ranging module through the power supply management module; A control instruction for starting ranging is sent to the ranging module to obtain a first distance between the sight and the target object in a current cycle, which is fed back by the ranging module.

4. The aiming position prediction method according to any one of claims 1 to 3, characterized in that: Determining a predicted number of pixels according to the first distance, the first number of pixels, the second number of pixels, and a preset position prediction strategy includes: determining whether to correct the first distance based on the first number of pixels and the second number of pixels; If not, determining a corresponding predicted number of pixels based on the first distance and a preset distance-position prediction strategy; If so, determining a predicted distance representing the distance between the target object and the shooting device at the third moment based on the first distance, the first number of pixels, the second number of pixels, and a preset distance prediction strategy; The corresponding predicted number of pixels is determined based on the predicted distance and the preset distance position prediction strategy.

5. The aiming position prediction method according to claim 4, wherein: Determining whether to correct the first distance based on the first number of pixels and the second number of pixels includes: Determining whether both a first condition and a second condition are met, wherein the first condition is that a first preset threshold value is less than or equal to a result of dividing the second number of pixels by the first number of pixels is less than or equal to a second preset threshold value; and the second condition is that the number of horizontal pixels in the second number of pixels is not greater than a preset horizontal pixel threshold value, and the number of vertical pixels in the second number of pixels is not greater than a preset vertical pixel threshold value; If so, determining not to correct the first distance; If not, it is determined to correct the first distance.

6. The aiming position prediction method according to claim 4, wherein: Determining a predicted distance representing a distance between the target object and the shooting device at the third moment based on the first distance, the first number of pixels, the second number of pixels, and a preset distance prediction strategy includes: Calculating a vertical distance; wherein, when a first preset threshold value is less than or equal to a result of dividing the second number of pixels by the first number of pixels and less than or equal to a second preset threshold value, the vertical distance is equal to the first distance; and when the result is less than or equal to the second preset threshold value, the vertical distance is equal to ((2-the result)×the first distance) / the result. Determining whether the number of horizontal pixels in the second number of pixels is not greater than a preset horizontal pixel threshold, and the number of vertical pixels in the second number of pixels is not greater than a preset vertical pixel threshold; If so, determine that the actual offset is 0; If not, the number of pixels moved is calculated according to a first predetermined relationship; The first preset relationship is: <h2 style=";text-align:left;direction:ltr">a<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> =a1<h2 style=";text-align:left;direction:ltr"> 2 <h2 style=";text-align:left;direction:ltr"> +a2<h2 style=";text-align:left;direction:ltr"> 2 Wherein, a is the number of moving pixels, a1 is the number of horizontal pixels, and a2 is the number of vertical pixels; Determine the actual offset based on a, the pixel size and number of pixels corresponding to the detector in the shooting device, the number of pixels corresponding to the display module, the first distance, the focal length of the lens of the sight in the shooting device, and a second preset relationship; The second preset relationship is: Wherein, s is the first distance, d is the actual offset, A is the pixel size corresponding to the detector, L is the focal length, B1 is the number of pixels corresponding to the display module, and B2 is the number of pixels corresponding to the detector; Determining a predicted distance representing the distance between the target object and the shooting device at the third moment according to the vertical distance, the actual offset, and a third preset relationship; The third preset relationship is: h 2 =4d 2 +s1 2 Wherein, h is the predicted distance, d is the actual offset, and s1 is the vertical distance.

7. The aiming position prediction method according to claim 6, wherein: Determining the corresponding predicted number of pixels based on the predicted distance and the preset distance position prediction strategy includes: determining a first aiming angle corresponding to the predicted distance; Determining a predicted number of pixels based on the first aiming angle, the number of pixels corresponding to the display module, the focal length, the pixel size and number of pixels corresponding to the detector, and a fourth preset relationship; The fourth preset relationship is: Wherein, φ1 is the predicted number of pixels, and θ1 is the first aiming angle.

8. The aiming position prediction method according to claim 7, wherein: Determining a first aiming angle corresponding to the predicted distance includes: A first aiming angle corresponding to the predicted distance is determined according to a preset distance-angle correspondence relationship.

9. A device for predicting an aiming position, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the aiming position prediction method according to any one of claims 1 to 8 when executing the computer program.

10. A shooting device, characterized in that: It includes a distance measurement module, a power supply interface, a power supply management module, a movement monitoring module and a display module, and also includes the aiming position prediction device according to claim 9; The external power supply is connected to the power supply end of the ranging module, the power supply end of the mobile monitoring module, the power supply end of the display module and the power supply end of the aiming position prediction device respectively through the power supply interface and the power supply management module. The aiming position prediction device is also connected to the ranging module, the mobile monitoring module, the display module and the power supply management module respectively.

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