Sunlight interference-resistant aiming point track measurement system

Abstract

The invention discloses an aiming point track measuring system capable of resisting sunlight interference, and relates to the field of shooting training, and the system comprises an infrared light source target which is arranged on a shooting target and is used for generating an infrared light source light spot serving as an aiming point; the sighting telescope light splitting module is connected to the rear end of an eyepiece of the sighting telescope and used for splitting incident light to form a first light path for observation of a shooter and a second light path for imaging processing; the aiming track display module is used for displaying an aiming point track; the system further comprises an imaging and data processing module which is used for obtaining an aiming point track based on incident light through imaging processing and sunlight interference resisting processing. Through VEB weakness, an aiming point track can be obtained through imaging processing and anti-sunlight interference processing based on incident light, the clear, interference-free and accurate aiming point track can be obtained through anti-sunlight interference processing, the obtained aiming point track is good in effect, and sunlight interference can be weakened.

Description

Technical Field

[0001] This invention relates to the field of shooting training, and more specifically, to an aiming point trajectory measurement system resistant to sunlight interference. Background Technology

[0002] The aiming trajectory is the path formed by the intersection of the aiming line and the target when the shooter is aiming at the target. This trajectory can quantitatively and visually demonstrate whether the shooter has aimed at the target, whether the shooter has controlled their breathing rhythm during aiming, and whether the firing timing has been correctly mastered. Therefore, instructors can use this trajectory to guide shooters in their shooting training, thereby rapidly improving their training performance.

[0003] Currently, the main methods used for measuring the trajectory of a firing aiming point are:

[0004] 1) A laser is mounted on the gun, projecting the laser onto a laser target. A photodetector on the target detects the laser spot, measures its position, and then strings these positions together in chronological order to obtain the aiming point trajectory. However, this system is limited by the density of the photodetector array, resulting in relatively low accuracy in measuring the aiming point position.

[0005] 2) Project the laser onto the target and use visual measurement methods to accurately calculate the position of the laser spot on the target to obtain the aiming point. After connecting the lasers along the time axis, the aiming point trajectory is obtained. The problem with this method is that if the brightness of the projected laser spot is insufficient, it will be impossible to conduct long-distance aiming training.

[0006] Snipers typically operate at distances of up to 500 meters, with the highest recorded distance abroad reaching 2.5 kilometers. Measuring the trajectory of a sniper's aiming point at this distance is extremely difficult. Existing shooting training systems (Noptel, SCATT, etc.) still focus on short to medium distances (≤100 meters), which cannot meet the operational requirements of sniper training at distances of 1-2.5 kilometers.

[0007] Therefore, in his patent application No. 2024108446762 (Prior Art 1) and Research on Sniper Aiming Point Trajectory Measurement System (Master's Thesis of Southwest University of Science and Technology - Zeng Yuhang, Prior Art 2), the applicant proposed a method for measuring the aiming point trajectory using a sniper scope and an infrared target.

[0008] The systems in existing technologies 1-2 add a 5:5 beam splitter at the rear of the scope to image the shooter's aiming view, and then place an infrared light source on the target to measure the aiming point trajectory using the infrared light source acquired through imaging. However, in practical applications, the existing solutions exhibit poor resistance to outdoor sunlight interference. Summary of the Invention

[0009] To address the aforementioned problems, this invention provides an aiming point trajectory measurement system resistant to sunlight interference.

[0010] To achieve the above-mentioned objectives, this invention provides an aiming point trajectory measurement system resistant to sunlight interference. The system includes: an infrared light source target, mounted on a shooting target, for generating an infrared light spot as the aiming point; a scope beam splitting module, connected to the rear end of the eyepiece of the scope, for splitting the incident light beam to form a first optical path for the shooter to observe and a second optical path for imaging processing; an aiming trajectory display module for displaying the aiming point trajectory; the system further includes: an imaging and data processing module for obtaining the aiming point trajectory based on the incident light through imaging processing and sunlight interference resistance processing.

[0011] Through in-depth analysis of existing systems, the applicant discovered that the sunlight interference in existing aiming point trajectory measurement systems is caused by strong outdoor sunlight entering from the human eye's observation side in the 5:5 beam splitting optical path at the rear of the eyepiece, resulting in the failure of the acquired infrared light source image and the inability to effectively measure the trajectory. This problem is difficult to discover directly from the descriptions in existing technologies 1-2; rather, it requires system development and practical application in specific usage environments, through corresponding research and observation, to become apparent. Therefore, this technical problem is not easily discovered by those skilled in the art. To solve this problem, this application differs from traditional aiming point trajectory measurement systems by adding an imaging and data processing module. This module can obtain the aiming point trajectory based on the incident light through imaging processing and anti-sunlight interference processing. Using this module, anti-sunlight interference processing can obtain a clear, interference-free, and accurate aiming point trajectory with better results and reduced sunlight interference.

[0012] Preferably, the system further includes an anti-sunlight interference module for reducing ambient light entering the scope beam splitter module; and / or, the scope beam splitter module is a dichroic prism that transmits visible light and reflects infrared light, and the scope beam splitter module has an infrared interference film coated on the lens surface near the human eye observation side.

[0013] The addition of an infrared interference film actively reduces ambient light; a dichroic prism with coating is used to separate visible and infrared light using spectral characteristics. This solves the problem of a large influx of ambient light (especially visible light) into the imaging system through the optical entrance, resulting in low image signal-to-noise ratio and obscuring target features. Interference is initially suppressed at the signal source (optical path), improving the contrast of the infrared spot on the target in the raw image acquired by the imaging sensor, thus reducing the burden on subsequent digital image processing.

[0014] Preferably, the anti-sunlight interference treatment includes:

[0015] Step a: Perform connected component analysis on the acquired image, and dynamically determine the sunlight interference status based on the number and geometric features of the connected components to obtain the determination result;

[0016] Step b: Based on the determination result, select and execute the corresponding processing mode: when it is determined that there is no sunlight interference, execute the normal centroid extraction mode; when it is determined that there is sunlight interference, start the anti-interference processing mode.

[0017] Step c: In the anti-interference processing mode, frame difference analysis is performed by controlling the infrared light source to emit target pulses, and the target spot area is extracted from the interference background, and / or a pre-trained target detection model is invoked to extract the target spot area from the interference background.

[0018] Step d: Calculate the sub-pixel center coordinates based on the extracted target spot region, and generate the aiming point trajectory according to the optical mapping relationship.

[0019] The proposed anti-sunlight interference processing steps involve a complete intelligent image processing workflow based on state awareness and decision execution. The core is the dynamic determination of the interference state, adaptively switching between a normal mode and an anti-interference mode accordingly. This solves the problem of existing algorithms having a single processing mode and being unable to adapt to complex and ever-changing sunlight interference scenarios (such as wasting resources by performing complex calculations even in the absence of interference, or simple algorithms failing under strong interference). The system possesses intelligent characteristics, capable of selecting the most efficient and reliable processing path based on the actual situation, balancing processing efficiency in the absence of interference with processing accuracy under interference.

[0020] Preferably, the method further includes the following steps before performing connected component analysis on the acquired image:

[0021] Aim at the center of the infrared light source target and position the infrared light source spot at the center of the imaging area;

[0022] The main processor chip in the imaging and data processing module controls the image sensor, adjusts the exposure parameters and gain of the image sensor, and acquires the bright spot image at the center of the imaging area.

[0023] Calculate the binarization segmentation threshold of the bright spot image, binarize the bright spot image, and perform erosion and dilation operations on the binarized bright spot image;

[0024] When it is determined in step a that there is no sunlight interference, the exposure parameters and gain parameters of the image sensor that enable the target to be imaged are recorded, and the recorded parameters are used in subsequent imaging acquisition cycles.

[0025] Before the imaging and data processing module makes its judgment, a standardized image preprocessing workflow is executed. This includes aiming and positioning, exposure gain adjustment, and image enhancement (binarization, erosion and dilation). The imaging parameters (exposure, gain) when the target is successfully located are recorded and reused later. This solves the problem of inaccurate and unstable subsequent connected component analysis and feature extraction caused by poor initial image quality (such as overexposure, underexposure, and noise). It ensures that the images input to the imaging and data processing module are optimized and feature-clear, providing high-quality basic material for accurate subsequent judgment. It also solves the problem of needing to readjust imaging parameters for each processing, achieving continuous benefit from a single optimization. By solidifying the optimal imaging parameters, the system can stably acquire high-quality images in subsequent continuous operation, avoiding the delays and instability caused by repeated parameter adjustments, and significantly improving the system's response speed and continuity.

[0026] Preferably, the dynamic determination of sunlight interference status includes:

[0027] If there is only one connected component in the image, and its area, roundness, and size parameters meet the preset target feature threshold (i.e., the target selection method based on prior knowledge), it is determined to be free of sunlight interference.

[0028] If there are two or more connected components in the image, or if only one connected component exists and its features do not meet the preset target feature threshold, then it is determined that there is sunlight interference.

[0029] Specifically, the sunlight interference state is quantified into specific logical judgment rules based on the number of connected components and geometric features (area, roundness, and size parameters). This solves the key decision-making problem of how to objectively and automatically determine whether sunlight interference exists, avoiding subjective or empirical threshold settings. A clear and executable set of judgment criteria is provided, enabling the system to reliably distinguish between various situations such as single-target interference-free, multi-spot interference, and pseudo-single-spot interference.

[0030] Preferably, after determining that sunlight interference exists, the imaging and data processing module is further configured to first execute an exposure parameter adjustment process, including:

[0031] Provided that the preset adjustment limit is not exceeded, the exposure parameters of the image sensor in the imaging and data processing module are gradually reduced; the image is reacquired based on the adjusted exposure parameters, and then the connected component analysis operation corresponding to step a is performed based on the reacquired image;

[0032] If two or more connected components appear in the re-acquired image after a connected component analysis operation, the exposure parameter adjustment process is exited, and then a target selection process based on prior information is executed; the target selection process based on prior information includes:

[0033] When two or more connected components appear in an image, for each connected component, determine whether it simultaneously satisfies the following conditions:

[0034] Condition 1: The centroid of the connected domain is located within a preset central region of the image;

[0035] Condition 2: The shape of the connected component is circular;

[0036] Condition 3: The pixel area of ​​this connected region is within the range of the expected pixel area of ​​the target spot determined based on the current shooting distance;

[0037] If, after assessment, there is one and only one connected region that simultaneously satisfies conditions 1-3, then the connected region is determined to be the target spot region, and the aiming point coordinates are calculated based on this region.

[0038] If there is no connected component that simultaneously satisfies conditions 1-3, or if there are multiple connected components that satisfy all preset conditions, the filtering is deemed to have failed, and the operation of frame difference analysis by controlling the infrared light source target pulse emission is triggered.

[0039] If the preset maximum number of adjustments is reached, and multiple connected components still cannot be separated in the re-acquired image, then the exposure parameter adjustment process is exited, and step c is executed.

[0040] Upon determining the presence of interference, a physical method of iteratively and controllably reducing sensor exposure parameters is prioritized to attempt to weaken or separate overexposed sunlight interference spots in the image. This solves the problem that in the early stages of interference, sunlight spots may be difficult to separate due to their similar or overlapping brightness with target spots. It provides a low-cost and efficient preliminary separation method. If successful, the process can proceed directly to the screening step, simplifying subsequent processing; if it fails, it demonstrates the persistence of the interference, providing a basis for switching to a more advanced frame difference method.

[0041] Preferably, step c involves performing frame difference analysis by controlling the infrared light source target pulse emission, specifically including:

[0042] The infrared light source target is controlled to alternately turn on and off with a preset duty cycle synchronized with the frame rate of the image sensor in the imaging and data processing module;

[0043] Acquire at least one image pair containing frames where the infrared light source is turned on and frames where the infrared light source is turned off;

[0044] Calculate the frame difference image of the image pair, binarize the frame difference image, and determine the binarization threshold based on the brightness characteristics of the target spot area and the background area in the frame difference image.

[0045] This method involves actively controlling the pulsed emission of an infrared light source and simultaneously acquiring images that are on and off. By utilizing image difference, common backgrounds (including unchanging sunlight interference) in the two frames are eliminated, thus highlighting the target light spot that changes only in sync with the light source. This solves the problem of spatially and spectrally indistinguishable targets from interference in strong light and complex backgrounds. It creates absolute difference in the temporal dimension, enabling near-perfect extraction of the target from any complex static or dynamic background, achieving a qualitative breakthrough.

[0046] Preferably, the method for determining the binarization threshold is as follows:

[0047] In the frame difference image, the average brightness value e1 of the preset target spot area and the average brightness value e2 of the surrounding annular background area of ​​the target spot area are calculated.

[0048] According to the formula Calculate the binarization threshold T, where k is a predefined weighting coefficient, and the value of k ranges from 0 to 1.

[0049] This paper proposes an adaptive threshold calculation method based on a weighted average of foreground (target) and local background brightness. This method addresses the problem that fixed or single-ratio thresholds cannot adapt to different lighting intensities and contrast scenes during frame difference image binarization, leading to inaccurate segmentation. The proposed method allows the threshold to be dynamically adjusted according to the actual situation of the current image, significantly improving the robustness and accuracy of frame difference image binarization segmentation and ensuring stable extraction of complete light spots under various environments.

[0050] Preferably, the step of calling the pre-trained target detection model to extract the target spot region from the interference background specifically includes:

[0051] Call the YOLO series of object detection neural network models;

[0052] The target detection neural network model is trained using a dataset of images containing various sunlight interference scenarios and infrared light source target images, and is used to locate and output the region coordinates of the infrared light source target from the images.

[0053] This study introduces a lightweight deep learning-based target detection model (such as YOLO) as a parallel or alternative solution. The model is trained on a large amount of data containing interference, enabling it to directly understand and locate targets. This addresses the issue that traditional image processing algorithms (including frame difference methods) may fail or perform poorly under certain extreme or special interference modes, providing technical redundancy. It significantly enhances the system's robustness and generalization ability. Furthermore, it provides a cognitive-based alternative recognition scheme that is independent of specific light source modulation patterns, improving the overall reliability of the system.

[0054] Preferably, the imaging and data processing module is further configured to:

[0055] For image frames in which the aiming point trajectory could not be calculated due to the infrared light source being turned off during frame difference analysis by controlling the target pulse emission of the infrared light source, the aiming point coordinates calculated in the time series of adjacent frames with the infrared light source turned on are interpolated to complete the continuous aiming point trajectory.

[0056] The system also includes a synchronization control unit to ensure that the pulsed emission of the infrared light source target is synchronized with the exposure timing of the image sensor in the imaging and data processing module.

[0057] The design incorporates trajectory interpolation to fill in missing data points caused by the light source being turned off; hardware synchronization control ensures strict synchronization between the light source pulses and camera exposure. This resolves the issue of discontinuous aiming point trajectory data in pulsed illumination mode and eliminates the fundamental risk of frame difference method failure due to timing errors in software synchronization. It guarantees the continuity and smoothness of the final output trajectory, enhancing user experience and data analysis value. Hardware-level synchronization ensures the stable and reliable operation of the core algorithm (frame difference method), providing crucial engineering support for the algorithm's transition from theory to practical application.

[0058] One or more technical solutions provided by this invention have at least the following technical effects or advantages:

[0059] This invention constructs a closed-loop system consisting of an infrared target light source, a beam splitting module, an imaging processing module, and a display module. The aiming optical path is divided into two by beam splitting, and an independent imaging processing channel is established. This solves the fundamental problem of traditional sniper training systems being unable to measure the aiming point trajectory in real-time, accurately, and non-contactly under long-distance, strong ambient light (sunlight) interference, effectively addressing the sunlight interference problem in aiming point trajectory measurement systems. This invention provides a complete hardware platform foundation, enabling the subsequent implementation of a series of anti-interference software algorithms, laying the physical foundation for achieving high-precision, interference-resistant aiming point trajectory measurement. Attached Figure Description

[0060] The accompanying drawings, which are provided to further illustrate embodiments of the invention and constitute a part of this invention, are not intended to limit the scope of the invention.

[0061] Figure 1 This is a schematic diagram of the architecture of an aiming point trajectory measurement system that is resistant to sunlight interference.

[0062] Figure 2 This is a schematic diagram showing the motion relationship between the feature imaging points and the actual aiming points.

[0063] Figure 3This is a schematic diagram illustrating the synchronization and temporal distribution of imaging time and light source activation time.

[0064] Figure 4 A schematic diagram illustrating the calculation of the mean brightness in a frame difference image;

[0065] Figure 5 This is a schematic diagram of the automatic exposure calculation process;

[0066] Figure 6 This is a schematic diagram of the centroid method processing flow.

[0067] Figure 7 This is a schematic diagram of the threshold calculation process;

[0068] Figure 8 This is an image of a reference target in existing technology.

[0069] Figure 9 This is a magnified view of an image acquired using a reference target based on existing technology, showing the results of center coordinate extraction.

[0070] Figure 10 This is a schematic diagram of a specific embodiment of the present invention;

[0071] Figure 11 This is a schematic diagram of the rotating mechanism in a specific embodiment of the present invention;

[0072] Figure 12 This is a schematic diagram of the heat dissipation airflow in a specific embodiment of the present invention;

[0073] The attached diagram shows the markings and corresponding component names:

[0074] 1-Light source, 2-Concentrating cover, 3-Concentrating lens, 4-Light-diffusing plate, 5-Rotating device, 6-Target paper mounting plate, 7-Box body, 8-Light transmission hole, 9-Heat dissipation fins, 10-Thermal conductive material, 11-Blowing device, 12-Temperature sensor, 13-Controller, 14-Bracket, 15-Edge, 16-Support device, 17-Heat dissipation duct. Detailed Implementation

[0075] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other.

[0076] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0077] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0078] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0079] Example 1;

[0080] Embodiment 1 of the present invention provides an aiming point trajectory measurement system resistant to sunlight interference. Please refer to [link / reference]. Figure 1 , Figure 1 This is a schematic diagram of an aiming point trajectory measurement system resistant to sunlight interference. The system includes: an infrared light source target, mounted on a shooting target, used to generate an infrared light spot as the aiming point; a sight beam splitting module, connected to the rear end of the sight eyepiece, used to split the incident light beam into a first optical path for the shooter to observe and a second optical path for imaging processing; an aiming trajectory display module, used to display the aiming point trajectory; the system also includes: an imaging and data processing module, used to obtain the aiming point trajectory based on the incident light through imaging processing and sunlight interference resistance processing; and an aiming point trajectory display module, used to display the aiming point trajectory after it is obtained.

[0081] For details regarding the non-sunlight interference resistant parts of the infrared light source target, the scope beam splitting module, the aiming trajectory display module, and the imaging and data processing module in Embodiment 1 of the present invention, please refer to the patent application with application number 2024108446762 and the research on sniper aiming point trajectory measurement system - Master's thesis of Southwest University of Science and Technology - Zeng Yuhang. The embodiments of the present invention will not be described in detail.

[0082] In this embodiment of the invention, the system further includes an anti-sunlight interference module for reducing ambient light entering the scope's beam splitter module; and / or, the scope's beam splitter module is a dichroic prism that transmits visible light and reflects infrared light, and the lens surface of the scope's beam splitter module near the human eye's observation side is coated with an infrared interference film. The anti-sunlight interference module can be a component that reduces sunlight entry, such as a rubber sleeve, rubber ring, or rubber pad, etc., which will not be described in detail in this embodiment of the invention.

[0083] The infrared light source target has a circular bright spot with a diameter of not less than 100 mm, located at the center of the shooting target, and the infrared light source wavelength is 800-1000 nm, preferably 950 nm.

[0084] The scope's beam-splitting module is a beam-splitting prism. 50% of the light passes through the scope and enters the human eye for aiming and observation, while the remaining 50% enters the imaging device to image the infrared target. An imaging lens, a narrow-band filter, and an imaging sensor are placed along the reflected light path of the beam-splitting prism. A narrow-band filter is placed in front of the imaging sensor to filter out ambient light, allowing only the infrared light to pass through. The imaging sensor is a CMOS sensor that images the infrared target. The imaging detector is connected to a processing circuit, which consists of a main processing chip and related power supply, communication, capacitor, and resistor components. The main processing chip can be an FPGA, ARM, DSP, or MCU; this embodiment of the invention does not impose any specific limitations.

[0085] The main processing chip drives the image sensor to acquire and process images. Through image processing, the center of the circular spot of the infrared light source is obtained. Then, according to the method in the study of the sniper aiming point trajectory measurement system, the aiming point trajectory is calculated. The aiming point trajectory is transmitted to the aiming point trajectory display module for display through the communication interface.

[0086] A rubber sleeve is installed at the rear of the beam splitter module of the scope, which is fitted onto the rear of the beam splitter module and the front of the eye. In this way, the ambient light entering the beam splitter prism can be reduced.

[0087] Furthermore, the scope's beam-splitting module is a dichroic prism, allowing visible light to pass through while reflecting infrared light. This enhances the light flux entering the human eye and the infrared light flux entering the imaging system. On the side closest to the human eye, the lens surface is coated with an infrared interference film to absorb incident infrared light; the center absorption wavelength of the interference film is 950nm. In this way, the light intensity entering the imaging path through the beam-splitting prism on the human eye side can be further reduced.

[0088] Furthermore, the imaging and data processing module runs an algorithm to handle sunlight interference. The specific algorithm is as follows:

[0089] 1) The shooter aims at the center of the infrared light source target, ensuring that the infrared light spot is located in the center of the imaging area;

[0090] 2) The main processor chip controls the image sensor and adjusts the exposure parameters and gain of the image sensor to obtain the bright spot image at the center of the imaging location;

[0091] 3) For the acquired image, the Otsu method is used to calculate the image binarization segmentation threshold, the image is binarized, erosion and dilation operations are performed on the binarized image, and connected domain analysis is performed on the binarized image.

[0092] Based on prior information about the connected domain of the target region, the target is filtered. When there is only one connected domain, the area, roundness, diameter, and other parameters of the connected domain are calculated. At the current distance (i.e., the distance between the sniper scope and the target; since the target area (size) varies at different distances, we can measure and record the target area and diameter beforehand, and then select the corresponding target size (area, diameter) based on the current distance; alternatively, we can manually record the target area at the current distance and use this as a benchmark), the area, roundness, diameter, and other parameters of the infrared target are compared to determine whether the current region is an infrared light source target. This involves comparing the size and roundness of the connected domain with the area and roundness of the infrared target, and comparing the shape and size parameters of the target's connected domain and the connected domain of non-target regions. Here, area, size, and roundness parameters are selected. This connected domain refers to the region extracted after binarizing the infrared image. For the target image, the connected regions extracted after binarization correspond to the real target pattern, having the same shape and size. Therefore, when the size and roundness of a connected region are the same as the target area, the connected region can be identified as the target. If so, it is determined that there is no sunlight interference, and the current exposure and gain parameters are recorded, then proceed to step 4 (the control parameters of the image sensor during imaging: exposure and gain, determine the brightness of the captured image. Sunlight interference here will cause the image to be too bright. When it is too bright, reducing the exposure and gain parameters can reduce sunlight interference. Therefore, the exposure and gain parameters found here are usable. After recording them, each subsequent frame is imaged according to these parameters, which can reduce sunlight interference during imaging and ensure that the target area can be segmented by binarization in the captured image). If not, proceed to step 5; if more than two connected regions appear, record the current exposure and gain parameters, then proceed to step 6.

[0093] 4) Process the image within the connected domain, extract the sub-pixel coordinates of the infrared spot center, and then calculate the aiming point based on the shooting relationship (i.e., the position of the target in the imaging image is converted into the mapping relationship of the aiming point). Transmit the data to the trajectory display module for display. Subsequently, based on the exposure and gain parameters recorded in the third step, image acquisition and processing are performed to obtain the aiming point trajectory in a cyclic manner.

[0094] During aiming, the infrared light source on the target is imaged in the scope. The direction of movement of the characteristic imaging point on the target is opposite to the direction of movement of the aiming point on the target. The diagram showing the corresponding movement relationship between the characteristic imaging point and the actual aiming point is shown below. Figure 2 As shown, the actual trajectory of the aiming point can be obtained by centrally symmetric mapping of the target imaging points.

[0095] 5) Reduce the exposure parameters, acquire the image, and binarize the image using Otsu's method. Perform erosion and dilation operations on the binarized image, extract the connected domains from the binarized image, and filter them according to the area of ​​the connected domains until two or more connected domains are found. Proceed to step 6 and record the current sensor configuration parameters (exposure parameters, gain parameters). If more than two connected domains cannot be obtained after multiple exposure parameter adjustments, such as five times, proceed to step 7.

[0096] 6) Analyze the connected components to find the target connected components: The specific method is to select the target region based on parameters such as the area, roundness, and diameter of the target region connected components, then calculate the centroid of the target region, and then obtain the aiming trajectory point based on the aforementioned shooting relationship; if the target region cannot be found, proceed to step 7 and use pulse emission and frame difference methods to find the target region.

[0097] 7) Control the infrared light source to emit pulsed light, alternating between on and off states; switch the light emission on and off during the imaging cycle of the imaging sensor, such as... Figure 3 As shown. The infrared light source is turned on in odd-numbered frames and off in even-numbered frames (or vice versa) during imaging. This creates a difference between the infrared target light and the ambient light, used to distinguish the imaging position of the infrared light source and the position of the ambient light. Image pairs of the infrared light source being on and off are obtained. The frame difference method is used to binarize the image frames of the infrared light source being on, with the following formula: when abs(ik-ib)>t, a value of 1 is assigned; otherwise, a value of 0 is assigned. Here, i is the pixel value, k represents the image of the light source being on, b represents the image of the light source being off, and t is a threshold related to the brightness of the infrared light source spot. t is k times the average brightness of the infrared light source spot area, and k ranges from 0.6 to 0.8. The average brightness of the infrared light source spot area can be calculated manually during the experiment or from the image within the connected region located at the center position found in steps 3 or 5.

[0098] After binarizing the infrared light source activated image frame, erosion, dilation, and connectivity domain search are performed according to the aforementioned steps. The infrared light source target area is selected based on the geometric features of the infrared light source spot. Using this area as a guide, the sub-pixel coordinates of the infrared light source target circular spot are extracted and converted into aiming point trajectory coordinates, which are then output to the aiming point trajectory display module for display.

[0099] 8) Using the imaging method in step 7, acquire odd and even image pairs. Subtract the light source-off image frame from the light source-off image frame or subtract the light source-on image frame from the light source-off image frame to obtain the frame difference image. Use the Otsu method or multiple threshold segmentation method to find the circular spot of the infrared light source, then calculate the sub-pixel center coordinates of the spot, and calculate the aiming point trajectory.

[0100] 9) The aiming point trajectory of the infrared light source in the image frame is obtained by interpolation on the time series.

[0101] Furthermore, the activation control of the infrared light source target is achieved using the following method:

[0102] The infrared light source target is equipped with a control circuit and a communication module. The communication module is used for remote communication control, receiving control commands from the trajectory display module. Upon receiving the control commands, the control circuit controls the light source's state. The control modes include normally open mode and pulsed emission mode. The normally open mode is the existing operating mode. The pulsed emission mode... Figure 3 The illumination mode is shown. To ensure that the imaging time is aligned with the light source activation time, a pulse generator is set on the control circuit, and a pulse generator is set on the imaging and processing circuit. The pulse frequency on the imaging and processing circuit is n1Hz, and the pulse frequency on the light source control circuit is n1 / 2Hz. n1 is the frame rate of the imaging sensor used for aiming point trajectory measurement. After the infrared light source control circuit and the imaging and processing circuit are powered on, the pulse generators are reset via a hardware zeroing method through a shared signal line, aligning the phases of the two pulse generators. This ensures that the imaging acquisition time and the light source activation / deactivation time are aligned. Figure 3 As shown. Alternatively, as an alternative synchronization method, the imaging and processing circuitry and the control circuitry of the infrared light source target can be connected to the network separately. During system initialization, they can calibrate their internal clocks by receiving timing signals from the Global Positioning System (GPS) or Network Precise Time Protocol (PTP), and then collaboratively execute the preset pulse emission and exposure acquisition sequence based on a unified time reference. The infrared light source remains constantly lit when it does not receive a pulse illumination command. When the command is received, the generated pulses control the switching on and off of the light source.

[0103] Furthermore, the data processing method can also adopt the following patterns:

[0104] Aiming at the center of the target, and using the image brightness of the target imaging area as the optimization objective, an automatic exposure method is used to obtain an image of the target area with appropriate brightness;

[0105] Run a target detection algorithm based on pattern recognition to detect the target region and calculate the average image brightness of the target region as the basis for setting the image binarization threshold;

[0106] The infrared light source is set to pulse emission mode, and an odd-even frame imaging method is used. The frame difference binarization is performed on the odd-even frames to extract the infrared light source target area; the sub-pixel coordinates of the infrared light source target are then calculated.

[0107] The target detection algorithm based on pattern recognition includes: the YOLO series of lightweight target detection methods.

[0108] When building the YOLO target detection algorithm, a dataset containing sunlight interference was constructed to train the model, ensuring that the model can correctly detect infrared light source targets even with sunlight interference.

[0109] Furthermore, a simplified processing method can be adopted:

[0110] If, in step 3, you determine that there is interference from sunlight, proceed to step 9:

[0111] 9) The light source adopts a pulsed illumination mode. Aiming at the center of the target, acquire odd and even image pairs. Difference is calculated between adjacent frames; for example, subtracting the frame where the light source is off from the frame where the light source is on yields a frame difference image. Figure 4 As shown, the average brightness values ​​e1 (target area) and e2 (target surrounding area) in the frame difference image are calculated. Based on these values, a threshold t=(e1+e2) / 2 is set to binarize the frame difference image. The binarized image is then processed in the aforementioned manner to obtain the aiming point trajectory.

[0112] The target area is determined according to the actual situation, and the distance from the inner ring of the target area to the outer ring of the target area is not less than 1 / 10 of the image width.

[0113] This system addresses the issue of sunlight interference encountered in real-world applications under specific circumstances. This problem is not readily apparent; it requires practical investigation to uncover, and cannot be directly observed from publicly available information (such as existing technologies 1-2). It provides an effective solution. Practical application demonstrates that our system, employing both physical and algorithmic approaches, effectively solves the sunlight interference problem, with excellent performance.

[0114] At the physical level, a rubber sleeve was added behind the beam splitting imaging module to block and reduce ambient light entering the imaging optical path; an interference coating was added to the side of the beam splitter closest to the human eye to further reduce interference light entering the imaging sensor from here.

[0115] At the data processing level, a method for identifying sunlight interference is first proposed. Then, upon detecting sunlight interference, the illumination mode of the light source is adjusted. By switching the light source on and off, it is encoded in the time domain to separate it from ambient interference light. Finally, a frame difference binarization method using odd and even image pairs is used to separate the infrared light source target from the ambient interference light. This approach can completely solve the problem of ambient light interference, even if the interference light covers the entire imaging area.

[0116] Example 2;

[0117] Based on Example 1, with the target center being aimed at and the image brightness of the target imaging area as the optimization objective, an automatic exposure method is used to obtain an image of the target area with suitable brightness. The specific automatic exposure method includes:

[0118] The infrared light source target can generate a pulsed light source, that is, a light source that is turned on and off at a certain frequency; the frequency of turning on and off is 100Hz, and the on time is 10us.

[0119] Robust extraction methods include: COMS automatic exposure algorithm, aiming point image enhancement, aiming point ROI extraction, adaptive threshold calculation, connected component search, and aiming point centroid extraction.

[0120] The exposure in this invention can employ existing exposure methods or the following automatic exposure algorithm design:

[0121] Automatic exposure adjusts the image sensor's exposure time based on the ambient light or the intensity of the object being photographed, ensuring the average grayscale of the output image remains within a reasonable range, preventing overexposure or underexposure. The automatic exposure module consists of two parts: a pixel sampling module and an exposure parameter delivery module. The automatic exposure calculation process is as follows: Figure 5 As shown, Image grayscale mean The minimum gray level of the image. To determine the maximum grayscale value of the image, the image sensor is first configured according to the default exposure parameters. The pixel sampling module determines whether the row and column of the input image data are multiples of 4. If they are multiples of 4, the image data is sampled until the end of one frame. The average grayscale value is calculated based on the sampled pixel data and pixel count. If the average grayscale value is not within the preset grayscale range, the exposure parameters are adjusted and the CMOS image sensor is reconfigured through exposure parameter matching until the preset grayscale range is met.

[0122] The formula for calculating the average gray level of the sample is as follows:

[0123] ;

[0124] In the formula: is the average gray level of the image; g is the gray level of the image; n2 is the number of samples.

[0125] The imaging and data processing module in this system is also used to enhance the aiming point image, specifically including:

[0126] The image data parsed by the imaging and data processing module first passes through the image enhancement module to enhance sharp details. This is achieved using an exponential contrast enhancement algorithm, which, centered on a certain threshold, increases brightness above the threshold and decreases brightness below the threshold, thus highlighting details at the aiming point. The formula for the contrast enhancement function is as follows:

[0127] ;

[0128] Where q is the enhanced image pixel; Threshold is the preset threshold; P is the current image pixel; E is the exponent, the larger the value of E, the greater the compression of dark areas and the enhancement of bright areas, and the more obvious the contrast between light and dark.

[0129] However, real-time calculations of exponential and logarithmic functions are very time-consuming, and floating-point calculations are difficult to implement on FPGAs. But once the algorithm parameters are selected, the result is fixed. Therefore, the mapping result of the function can be calculated first based on the parameters, and then indexed using an array to obtain the calculated result. By using a lookup table for mapping operations, the respective mapping points on the X and Y coordinates can be found, greatly simplifying the calculation process and improving the algorithm's real-time performance.

[0130] The aiming point extraction in this invention can employ existing aiming point extraction methods, or it can be implemented using the following aiming point ROI extraction algorithm:

[0131] Region of Interest (ROI) algorithms can focus on specific regions of interest for target tracking without processing the entire image, reducing computational load and improving algorithm efficiency. Using ROI techniques for single-target tracking reduces attention to the background, thus minimizing background interference. This improves the algorithm's robustness, allowing it to focus more on the target's movement and position. In shooting training scenarios, background pixel values ​​are consistently below 60, while foreground pixel values ​​are above 200. Therefore, projecting image pixels horizontally and vertically and finding the coordinates corresponding to the maximum projection results in these two directions allows for rapid location of the ROI region.

[0132] The centroid extraction of the aiming point in this invention can employ existing methods or the following algorithm design:

[0133] The center of mass is an important attribute of an object's overall motion. Describing the motion of the center of mass simplifies the description of the entire object's motion. Therefore, the center of mass method is used to describe the trajectory of the aiming point. To obtain accurate coordinates of the aiming point's center of mass, this invention performs operations such as image binarization, connected component search, and feature value calculation during the center of mass extraction process. Figure 6 As shown.

[0134] The image binarization in this invention can employ existing image binarization methods, or it can be designed using the following image binarization algorithms:

[0135] Image binarization algorithms are commonly used in image processing fields such as target recognition and feature extraction. The threshold for image binarization is a crucial parameter, determining the boundary between black and white pixel values. The choice of threshold significantly impacts the final binarization result, making the selection of an appropriate threshold essential. Traditional fixed threshold methods cannot adapt to changes in lighting conditions; therefore, an iterative binary search strategy based on connected component feedback is adopted, as follows: Figure 7 As shown.

[0136] The algorithm initializes with a threshold search range of 0 (all black) to 255 (all white), and defines the current optimal threshold initial value as 127. In each iteration, the midpoint value of the current threshold range (e.g., initially 127) is calculated, and this threshold is used to binarize the ROI image: all pixels with gray values ​​greater than or equal to the threshold are set to white (1), and the rest are set to black (0), as shown in the following formula, where... For the current pixel; Th represents the binary representation of the pixel; Th is the optimal threshold.

[0137]

[0138] After binarization, the number of independent connected components in the image is counted using an 8-connected component analysis algorithm. This process requires eliminating scattered noise points at the image edges and retaining only candidate regions with an area greater than a preset minimum value.

[0139] If the number of detected connected components is greater than 1, it indicates that the threshold is too low, resulting in incomplete removal of background noise. In this case, the lower threshold needs to be increased to eliminate interference. If the number of connected components is 0, it indicates that the threshold is too high, causing missegmentation of the light spot. The upper threshold needs to be decreased to restore the light spot region. If and only if the number of connected components is 1, further verification of the shape characteristics of the region is performed: its circularity index is calculated using the following formula:

[0140] ;

[0141] Where C represents circularity; A represents area; and P represents perimeter.

[0142] The circularity index is used to quantify how close a region is to an ideal circle. For a perfect circle, this value is 1. When the circularity is ≥ 0.8, the current threshold is considered valid, the iteration is terminated, and the threshold is recorded. If it is below 0.8, the spot may be partially segmented (e.g., the edge is truncated due to an excessively high threshold), and the threshold range needs to be adjusted further. This process converges quickly using a binary search method and can usually be completed within 10 iterations.

[0143] The centroid calculation in this invention can employ existing centroid calculation methods, or it can be designed using the following centroid calculation algorithm:

[0144] In calculating the trajectory of the aiming point using the centroid method, the target's area, x and y coordinates, and other characteristic parameters are the most important. The trajectory can be determined by comparing the centroid movement of the same marked point between consecutive frames or across several frames. Labeling connected components facilitates the statistical calculation of the area and x and y coordinates of marked targets within the same connected component. The centroid method based on connected components is shown in the following equation:

[0145]

[0146] in, The x-coordinate of the centroid Let be the centroid ordinate, i be the pixel x-coordinate, and j be the pixel ordinate. Let be the area of ​​the connected region;

[0147] Since the aiming point occupies no less than 30 image pixels, this invention directly disregards feature points with a connected component marking area of ​​less than 30.

[0148] This embodiment reduces background light interference and improves the saliency of target points by using automatic exposure and image enhancement algorithms, thereby increasing the accuracy of ROI selection. It also adjusts image processing parameters in real time based on ambient light intensity to achieve robust centroid extraction. An FPGA pipeline + parallel computing architecture is employed to effectively improve real-time computation performance.

[0149] Example 3;

[0150] Based on the aforementioned embodiments, this embodiment improves the infrared light source target in the system, specifically as follows:

[0151] The applicant discovered the following prominent problems with the prior application in actual use:

[0152] 1) The infrared light source on the reference target uses an LED array to emit light, which makes it difficult to form a high-quality light spot during imaging. Figure 8 and Figure 9 As shown, the imaged light spot is not an ideal circle. Using the center of the light spot for aiming point trajectory measurement and calculation will lead to significant errors in the system's calculation results. Furthermore, during close-range training, since the imaging is actually performed on an LED array, not an ideal circular light source, the non-uniformity of the light spot will be more pronounced. Therefore, the previously applied light source mode is singular and limited by the light source energy, unable to simultaneously meet the requirements of close-range shooting training (highly circular and uniform light spot) and long-range sniping training (high-brightness light spot).

[0153] 2) To meet the requirements of long-distance measurement, the reference target needs to integrate a high-power LED array, as the prior application explicitly requires a luminous power of not less than 100 watts. However, in actual use, it has been found that such high-power LED arrays have serious heat generation issues; after 10 minutes of continuous use, the temperature of the LED base rapidly rises to over 150°C; under longer usage conditions, it may even ignite the target paper, not only interfering with the normal conduct of sniper shooting training, but also posing a great safety hazard.

[0154] 3) The waterproof performance is relatively weak when used outdoors.

[0155] This invention provides an infrared light source target to solve the problem that the existing technology has a single light source mode and cannot simultaneously meet the requirements of close-range shooting training and long-range sniping training. It aims to improve the functionality of the target system and enable it to simultaneously meet the requirements of close-range shooting training and long-range sniping training.

[0156] This invention is achieved through the following technical solution:

[0157] An infrared light source target includes a light source, a light-concentrating cover disposed at the front end of the light source, a light-concentrating lens disposed inside the light-concentrating cover, a light-diffusing plate disposed at the front end of the light-concentrating cover, and a rotating mechanism for driving the light-diffusing plate to rotate.

[0158] To address the problem that existing technologies have a single light source mode, which cannot simultaneously meet the requirements of close-range shooting training and long-range sniping training, this invention first proposes an infrared light source target. This infrared light source target has a light-concentrating cover set at the front end of the light source, and a light-concentrating lens set inside the light-concentrating cover to focus the light towards the front end of the light-concentrating cover. The light-concentrating cover and the light-concentrating lens work together to perform the light-concentrating function to reduce light loss.

[0159] Furthermore, the inventors' team discovered during their research that during long-range (e.g., over 1 km) shooting training, even with a 100mm diameter aperture, only a very small light spot could be formed. Therefore, at this training distance, the circularity of the light spot was no longer important; rather, its brightness was more crucial. However, during close-range shooting training, the circularity of the light spot became more important. Therefore, this invention incorporates a light-diffusing plate at the front of the condenser, controlled by a rotating mechanism. When the light-diffusing plate rotates to the front of the condenser, the light converged by the condenser and lens passes through the plate before exiting, forming a highly circular and uniform light spot, which is more suitable for close-range shooting training on small targets. When the light-diffusing plate rotates away from the area directly in front of the condenser, the light converged by the condenser and lens exits directly, producing a bright light spot, which is more suitable for long-range shooting training on medium to large targets, effectively supporting the needs of long-range sniper training.

[0160] Therefore, this application overcomes the technical deficiency of the single light source mode in the prior art through a simple structure. Under the premise of unchanged light source energy, it can simultaneously meet the requirements of close-range shooting training and long-range sniping training, making this application compatible with two different training modes and significantly improving the functionality of the sniper aiming point trajectory measurement target system.

[0161] Those skilled in the art should understand that in this application, "front" refers to the direction of the light source, the target paper, or the direction of the trainee.

[0162] Furthermore, the inner diameter of the focusing cover gradually increases from the end closest to the light source to the end furthest from the light source. This design, through the gradually expanding diameter of the focusing cover, allows the light emitted by the light source to diffuse outward in a stable and orderly manner, which is beneficial for forming a uniform light spot of sufficient size and is more suitable for close-range shooting training on small targets.

[0163] Furthermore, the axis of rotation of the light-diffusing plate is parallel to the axis of the light-condensing lens; this ensures that the light-diffusing plate can rotate in a plane perpendicular to the axis of the light-condensing lens, thereby quickly moving out of the light-condensing cover area and reducing the space occupancy rate of the light-diffusing plate.

[0164] Furthermore, the rotating mechanism includes a rotating device, the output end of which is connected to the light-diffusing plate. This solution drives the light-diffusing plate to rotate via the rotating device; any existing rotating device and its corresponding transmission method can be applied to this solution.

[0165] Furthermore, a target paper mounting plate is provided on the front side of the light-diffusing plate. As the name suggests, the target paper mounting plate is used to mount the target paper, which can be installed and positioned on it by any method such as pasting or clamping.

[0166] Furthermore, it also includes a housing; the light source, the light-concentrating cover, and the light-diffusing plate are all located inside the housing; a light-transmitting hole is opened on the surface of the housing, facing the light-concentrating cover, and the rotating mechanism is used to drive the light-diffusing plate to block or open the light-transmitting hole.

[0167] This solution uses a housing to house and protect the light source, light-concentrating cover, and light-diffusing plate, reducing interference from adverse weather conditions such as wind, rain, and direct sunlight. The light, focused by the light-concentrating cover, is emitted outward through the light-transmitting hole. The light-diffusing plate is located between the light-concentrating cover and the light-transmitting hole. When the light-diffusing plate is rotated to completely block the light-transmitting hole, it is suitable for close-range shooting training on small targets; when the light-diffusing plate is rotated to fully open the light-transmitting hole, it is suitable for long-range shooting training on medium to large targets.

[0168] Furthermore, the target paper mounting plate is located outside the housing, and the area on the target paper mounting plate facing the light-transmitting hole is cut out. This design facilitates quick target paper replacement and ensures that the effective area on the target paper is directly opposite the light-transmitting hole.

[0169] Furthermore, it also includes heat dissipation fins, with thermally conductive material filling the space between the heat dissipation fins and the light source.

[0170] To address the issue that high-power LED arrays in existing technologies can reach high temperatures during prolonged use, posing a risk of igniting the target paper, this solution incorporates heat dissipation fins. A thermally conductive material is then filled between the heat dissipation fins and the light source. The large amount of heat emitted by the light source is rapidly conducted to the heat dissipation fins via the thermally conductive material, and then quickly dissipated through the fins. This reduces the risk of the target paper igniting and improves the safety and stability of shooting training.

[0171] Furthermore, the heat dissipation fins are located inside the housing, and a streamlined heat dissipation duct is provided inside the housing; both ends of the heat dissipation duct open from the bottom surface of the housing, and the heat dissipation fins are located at the top inside the heat dissipation duct; one end of the heat dissipation duct is provided with an inward blowing device, and the blowing device has a distance of 5~10cm from the bottom surface of the housing.

[0172] This solution achieves active heat dissipation of the heat sink fins through a heat dissipation duct, significantly improving heat dissipation performance. A blower is installed within the heat dissipation duct to continuously blow air onto the heat sink fins, accelerating airflow for rapid heat dissipation. A streamlined heat dissipation duct, such as a U-shape, C-shape, or arc shape, effectively reduces air resistance and improves heat dissipation efficiency.

[0173] In addition, both ends of the heat dissipation duct in this solution are open from the bottom surface of the box, and there is a gap of 5~10cm between the blower and the bottom surface of the box. This arrangement can improve the rainproof capability of this application and prevent rainwater from being sucked into the heat dissipation duct by the blower in rainy weather.

[0174] Furthermore, it also includes a temperature sensor for monitoring the temperature of the light source, and a controller for controlling the blower and / or the light source, wherein the temperature sensor is signal-connected to the controller.

[0175] This solution monitors the light source temperature using a temperature sensor. When the temperature exceeds a set threshold, the controller can activate a cooling fan for rapid cooling and / or temporarily shut down the light source to accelerate heat dissipation. When the temperature does not exceed the set threshold, the cooling fan can be turned off to avoid energy waste.

[0176] Compared with the prior art, the present invention has at least the following advantages and beneficial effects:

[0177] 1. The present invention provides an infrared light source target that overcomes the technical defects of the single light source mode in the prior art through a simple structure. Under the premise of constant light source energy, it can simultaneously meet the requirements of close-range shooting training and long-range sniping training, making the present application compatible with two different training modes and significantly improving the functionality of the sniper aiming point trajectory measurement target system.

[0178] 2. The present invention provides an infrared light source target that allows a large amount of heat emitted by the light source to be quickly conducted to the heat dissipation fins through the heat-conducting material, and then quickly dissipated through the heat dissipation fins, thereby reducing the risk of the target paper being ignited and improving the safety and stability of shooting training.

[0179] 3. The infrared light source target of this invention has good rainproof capability, which is beneficial for use in rainy weather.

[0180] like Figure 10 The infrared light source target shown includes a light source 1, a focusing cover 2 disposed at the front end of the light source 1, a focusing lens 3 disposed inside the focusing cover 2, a light-diffusing plate 4 disposed at the front end of the focusing cover 2, and a rotating mechanism for driving the light-diffusing plate 4 to rotate. The focusing lens 3 is a convex lens. The rotation axis of the light-diffusing plate 4 is parallel to the axis of the focusing lens 3.

[0181] In this embodiment, the light source 1 is a plurality of LED beads arranged in an array, with a total power of at least 100W. The focusing cover 2 is trumpet-shaped, and its inner diameter gradually increases from the end closer to the light source 1 to the end farther away from the light source 1.

[0182] The target paper mounting plate 6 is provided on the front side of the light-diffusing plate 4 for attaching the target paper thereon.

[0183] The rotating mechanism is as follows Figure 11 As shown, the device includes a rotating device 5, the output end of which is connected to the light-diffusing plate 4. In this embodiment, the rotating device 5 is a motor, preferably a stepper motor or a servo motor, and its output end is fixedly connected to the light-diffusing plate 4 via a bracket 14. Figure 11 The arrow in the image indicates the direction of rotation of the light-diffusing plate 4.

[0184] In a more preferred embodiment, the distance between the axis of the condenser lens 3 and the motor output shaft is greater than 1 / 2 of the maximum outer diameter of the condenser cover 2, so as to ensure that the light-diffusing plate 4 can be completely rotated outside the range of the condenser cover 2.

[0185] This embodiment can generate circular and uniform light spots in a targeted manner during close-range training, providing effective data for high-precision marker point measurement in close-range situations; while during long-range sniper shooting training, it can generate high-brightness light spots to effectively support measurements in long-range situations.

[0186] An infrared light source target, based on the above embodiments, such as... Figures 10 to 12As shown, it also includes a housing 7; the light source 1, the light-concentrating cover 2, and the light-diffusing plate 4 are all located inside the housing 7; a light-transmitting hole 8 is opened on the surface of the housing 7, facing the light-concentrating cover 2, and the rotating mechanism is used to drive the light-diffusing plate 4 to block or open the light-transmitting hole 8. The target paper mounting plate 6 is located outside the housing 7, and the area on the target paper mounting plate 6 facing the light-transmitting hole 8 is hollowed out.

[0187] In this embodiment, both the light-transmitting hole 8 and the light-diffusing plate 4 are circular and coaxial, with the outer diameter of the light-diffusing plate 4 being larger than the diameter of the light-transmitting hole 8. The hollowed-out area on the target paper mounting plate 6 is a circular hole coaxial with the light-transmitting hole 8, and the diameter of this circular hole is larger than the diameter of the light-transmitting hole 8. The housing 7 and other components are supported by the support device 16.

[0188] This embodiment also includes heat dissipation fins 9, and the space between the heat dissipation fins 9 and the light source 1 is filled with a thermally conductive material 10, such as thermally conductive silicone grease.

[0189] The heat dissipation fins 9 are located inside the housing 7, and a streamlined heat dissipation duct 17 is provided inside the housing 7. Both ends of the heat dissipation duct 17 open from the bottom surface of the housing 7, and the heat dissipation fins 9 are located at the top inside the heat dissipation duct 17. One end of the heat dissipation duct 17 is provided with an inward blowing device 11, and there is a distance of 5~10cm between the blowing device 11 and the bottom surface of the housing 7.

[0190] like Figure 12 As shown, the heat dissipation duct 17 in this embodiment has an inverted U-shaped structure, and the heat dissipation fins 9 are located at the top of the inverted U-shape.

[0191] In addition, this embodiment also provides a perimeter 15 at the bottom of the housing 7 to further prevent rainwater from being drawn into the heat dissipation duct 17 by the blower 11. Figure 12 The arrows in the diagram indicate the direction of airflow.

[0192] This embodiment also includes a temperature sensor 12 for monitoring the temperature of the light source 1 and a controller 13 for controlling the blower device 11 and / or the light source 1, wherein the temperature sensor 12 is signal-connected to the controller 13. The temperature sensor 12 is preferably a platinum resistance temperature sensor, and the controller 13 can be an SMT32 microcontroller.

[0193] In addition, this embodiment can also be configured with a wireless communication control module, which is used to receive control commands via wireless communication technology and then transmit the control commands to the controller for turning the light source and / or the blower on and off. To improve the communication reliability of the wireless communication module, except for the supporting device, all other components can be made of non-metallic materials, such as a plastic shell for the housing, to facilitate the transmission of radio waves. The antenna of the wireless communication module is placed inside the light box for easy handling and to avoid damage during handling if the antenna is external.

[0194] The active heat dissipation method provided in this embodiment ensures the stable and continuous operation of the target system during shooting training. Through actual verification by the inventors, this embodiment can also operate stably and continuously even in hot weather conditions, with a single operating time exceeding 48 hours, without any problems such as system crashes due to overheating of the light source or spontaneous combustion of the target paper. This sufficiently demonstrates that this application represents a significant improvement over existing technologies.

[0195] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0196] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A targeting point trajectory measurement system resistant to sunlight interference, the system comprising: An infrared light source target, placed on a shooting target, is used to generate an infrared light spot that serves as an aiming point; A beam splitter module, connected to the rear end of the eyepiece of the sight, is used to split the incident light beam into a first optical path for the shooter to observe and a second optical path for imaging processing; an aiming trajectory display module is used to display the aiming point trajectory; the system is characterized by further comprising: The imaging and data processing module is used to obtain the aiming point trajectory based on the incident light through imaging processing and anti-sunlight interference processing.

2. The aiming point trajectory measurement system resistant to sunlight interference according to claim 1, characterized in that, The system also includes an anti-sunlight interference module to reduce ambient light entering the scope beam splitter module; and / or, the scope beam splitter module is a dichroic prism that transmits visible light and reflects infrared light, and the scope beam splitter module has an infrared interference film coated on the lens surface near the human eye observation side.

3. The aiming point trajectory measurement system resistant to sunlight interference according to claim 1, characterized in that, The anti-sunlight interference treatment includes: Step a: Perform connected component analysis on the acquired image, and dynamically determine the sunlight interference status based on the number and geometric features of the connected components to obtain the determination result; Step b: Based on the determination result, select and execute the corresponding processing mode: when it is determined that there is no sunlight interference, execute the normal centroid extraction mode; when it is determined that there is sunlight interference, start the anti-interference processing mode. Step c: In the anti-interference processing mode, frame difference analysis is performed by controlling the infrared light source to emit target pulses, and the target spot area is extracted from the interference background, and / or a pre-trained target detection model is invoked to extract the target spot area from the interference background. Step d: Calculate the sub-pixel center coordinates based on the extracted target spot region, and generate the aiming point trajectory according to the optical mapping relationship.

4. The aiming point trajectory measurement system resistant to sunlight interference according to claim 3, characterized in that, The steps preceding the connected component analysis of the acquired image include: Aim at the center of the infrared light source target and position the infrared light source spot at the center of the imaging area; The main processor chip in the imaging and data processing module controls the image sensor, adjusts the exposure parameters and gain of the image sensor, and acquires the bright spot image at the center of the imaging area. Calculate the binarization segmentation threshold of the bright spot image, binarize the bright spot image, and perform erosion and dilation operations on the binarized bright spot image; When it is determined in step a that there is no sunlight interference, the exposure parameters and gain parameters of the image sensor that enable the target to be imaged are recorded, and the recorded parameters are used in subsequent imaging acquisition cycles.

5. The aiming point trajectory measurement system resistant to sunlight interference according to claim 3, characterized in that, The dynamic determination of sunlight interference status includes: If there is only one connected component in the image, and its area, roundness, and size parameters meet the preset target feature threshold, it is determined that there is no sunlight interference. If there are two or more connected components in the image, or if only one connected component exists and its features do not meet the preset target feature threshold, then it is determined that there is sunlight interference.

6. The aiming point trajectory measurement system resistant to sunlight interference according to claim 5, characterized in that, After determining that sunlight interference exists, the imaging and data processing module is also configured to first execute an exposure parameter adjustment process, including: Provided that the preset adjustment limit is not exceeded, the exposure parameters of the image sensor in the imaging and data processing module are gradually reduced; the image is reacquired based on the adjusted exposure parameters, and then the connected component analysis operation corresponding to step a is performed based on the reacquired image; If two or more connected components appear in the re-acquired image after a connected component analysis operation, the exposure parameter adjustment process is exited, and then the target screening process based on prior information is executed. The target selection process based on prior information includes: When two or more connected components appear in an image, for each connected component, determine whether it simultaneously satisfies the following conditions: Condition 1: The centroid of the connected domain is located within a preset central region of the image; Condition 2: The shape of the connected component is circular; Condition 3: The pixel area of ​​this connected region is within the range of the expected pixel area of ​​the target spot determined based on the current shooting distance; If, after assessment, there is one and only one connected region that simultaneously satisfies conditions 1-3, then the connected region is determined to be the target spot region, and the aiming point coordinates are calculated based on this region. If there is no connected component that simultaneously satisfies conditions 1-3, or if there are multiple connected components that satisfy all preset conditions, the filtering is deemed to have failed, and the operation of frame difference analysis by controlling the infrared light source target pulse emission is triggered. If the preset maximum number of adjustments is reached, and multiple connected components still cannot be separated in the re-acquired image, then the exposure parameter adjustment process is exited, and step c is executed.

7. The aiming point trajectory measurement system resistant to sunlight interference according to claim 3, characterized in that, Step c involves performing frame difference analysis by controlling the infrared light source target to emit pulsed light, specifically including: The infrared light source target is controlled to alternately turn on and off with a preset duty cycle synchronized with the frame rate of the image sensor in the imaging and data processing module; Acquire at least one image pair containing frames where the infrared light source is turned on and frames where the infrared light source is turned off; Calculate the frame difference image of the image pair, binarize the frame difference image, and determine the binarization threshold based on the brightness characteristics of the target spot area and the background area in the frame difference image.

8. The aiming point trajectory measurement system resistant to sunlight interference according to claim 7, characterized in that, The method for determining the binarization threshold is as follows: In the frame difference image, the average brightness value e1 of the preset target spot area and the average brightness value e2 of the surrounding annular background area of ​​the target spot area are calculated. According to the formula Calculate the binarization threshold T, where k is a predefined weighting coefficient.

9. The aiming point trajectory measurement system resistant to sunlight interference according to claim 3, characterized in that, The step of calling the pre-trained target detection model to extract the target spot region from the interference background specifically includes: Call the YOLO series of object detection neural network models; The target detection neural network model is trained using a dataset of images containing various sunlight interference scenarios and infrared light source target images, and is used to locate and output the region coordinates of the infrared light source target from the images.

10. The aiming point trajectory measurement system resistant to sunlight interference according to claim 3, characterized in that, The imaging and data processing module is further configured to: For image frames in which the aiming point trajectory could not be calculated due to the infrared light source being turned off during frame difference analysis by controlling the target pulse emission of the infrared light source, the aiming point coordinates calculated in the time series of adjacent frames with the infrared light source turned on are interpolated to complete the continuous aiming point trajectory. The system also includes a synchronization control unit to ensure that the pulsed emission of the infrared light source target is synchronized with the exposure timing of the image sensor in the imaging and data processing module.

Images