CN114405007A - Simulation shooting model establishment method, simulated shooting method, device and storage medium - Google Patents

Abstract

The invention relates to the technical field of simulated shooting, and discloses a simulated shooting model establishment method, a simulated shooting method, a device and a storage medium. The present invention includes the following steps: identifying the vertex of the shooting area and the position of the collection point, determining the distance L, the distance L1 and the similarity ratio k ₌ L1/L _; Determine the coordinates of the initial bullet with the coordinates of the vertex and the similarity ratio k; launch the simulated flying saucer, when receiving the trigger signal, launch the simulated bullet, identify the position of the aiming point synchronously, and determine the coordinates; determine the coordinates of the virtual aiming point; The flight trajectory and the ballistic trajectory of the simulated bullet are processed and analyzed to determine whether the simulated flying saucer is hit. The invention establishes a virtual shooting area that meets the standard and limits the position of the initial bullet to simulate the real shooting distance, improves the realism and accuracy of the simulated live ammunition shooting, improves the safety and reduces the cost.

Description

Simulation shooting model establishment method, simulated shooting method, device and storage medium

technical field

The invention relates to the technical field of simulated shooting, in particular to a method for establishing a simulated shooting model, a simulated shooting method, a device and a storage medium.

Background technique

At present, the UFO shooting competition is still conducted by live ammunition. Because live ammunition is still dangerous, and the consumption of bullets and flying saucers is also high, the cost is high, and the current simulated shooting generally uses lasers to shoot and simulate bullets. Shooting, such as a simulated shooting game, determines the ballistic trajectory of the bullet, mainly through image acquisition through the light spot projected on the screen, and then determines whether the shooting hits, but this shooting method is prone to misjudgment, because there will be different positions facing the same. When shooting at the shooting point, the system uses the same algorithm to judge, which will lose the authenticity. Because the initial shooting coordinates are uncertain, and the size of the projection screen on the scene is not fixed, if the same algorithm is used to simulate the ballistic of the bullet If the trajectory is calculated, there will be deviations, which will cause simulation distortion. If it is applied to the flying saucer simulation shooting, it will cause a large error in shooting results, which will affect the competitiveness of the game.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention also proposes a method for establishing a simulated shooting model, which can establish a simulated shooting model and can improve the authenticity and accuracy of shooting.

The invention also proposes a simulated shooting method, which can realize the simulated shooting of the flying saucer, and can improve the authenticity and accuracy of the shooting.

The present invention also provides a simulated shooting device for implementing the above-mentioned method for establishing a simulated shooting model or for implementing the above-mentioned simulated shooting method.

The present invention also provides a computer-readable storage medium for implementing the above-mentioned method for establishing a simulated shooting model or for implementing the above-mentioned method for simulating shooting.

In a first aspect, a method for establishing a simulated shooting model according to an embodiment of the present invention includes the following steps:

Collect the first image to identify the positions of each vertex of the shooting area and the positions of at least two acquisition points on the periphery of the shooting area, and determine that the distance between the two acquisition points is L, and the corresponding two vertexes The distance between them is L ₁ and the similarity ratio k=L ₁ /L;

A virtual shooting area is established based on the collection point, so that the vertical distance from the initial launch point to the shooting area is E ₁ and the vertical distance between the virtual shooting area and the shooting area is E ₂ , where E ₁ =Ek, E ₂ =EE ₁ , E is the vertical distance from the initial firing point to the virtual firing area;

Based on the virtual shooting area, a reference coordinate system is established, and each virtual vertex of the virtual shooting area and the corresponding coordinates of each of the vertexes are determined, and the coordinates of the virtual vertexes and the location where the vertexes are located are determined according to one group of matched coordinates. The coordinates and the similarity ratio k determine the coordinates of the initial bullet at the initial firing point.

The simulated shooting method according to the embodiment of the present invention has at least the following beneficial effects: by using the collection points, a virtual shooting area that meets the standard can be established according to the actual size of the shooting area and the position of the coordinates of the initial bullet can be limited to simulate the real The shooting distance improves the realism of simulating live ammunition shooting, and at the same time, it can improve the accuracy of virtual shooting, and reduce the demand for venues. It can simulate a real shooting environment in a small area and a small screen.

According to some embodiments of the present invention, the collection points match the positions of the corresponding vertices, and a line segment between any two collection points is parallel to a line segment between the corresponding two vertices.

According to some embodiments of the present invention, the number of the collection points is the same as the number of the vertices, the collection area surrounded by each of the collection points is similar to the shooting area, and the collection area and the virtual The firing area is congruent graphics.

According to some embodiments of the present invention, the specific steps of determining the coordinates of the initial bullet are:

Determine the coordinates of one set of matched virtual vertices as (x ₁ , y ₁ , z ₁ ), and the corresponding coordinates of the vertices as (x ₂ , y ₂ , z ₂ ), and find the coordinates of the initial bullet (x ₃ , y ₃ , z ₃ );

According to the similarity relationship, it is known to satisfy the following proportional relationship:

then you can get:

In the second aspect, according to the simulated shooting method according to the embodiment of the present invention, after executing the method for establishing a simulated shooting model as described in the first aspect, the following steps are continued:

Launch the simulated flying saucer, when receiving the trigger signal of the simulated gun, launch the simulated bullet, and collect the second image synchronously, so as to identify the position of the aiming point on the current shooting area, and determine the coordinates of the aiming point;

According to the coordinates of the initial bullet, the coordinates of the aiming point and the similarity ratio k, determine the coordinates of the virtual aiming point corresponding to the virtual shooting area;

The flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet are processed and analyzed to determine whether the simulated flying saucer is hit.

The simulated shooting method according to the embodiment of the present invention has at least the following beneficial effects: by using the collection points, a virtual shooting area that meets the standard can be established according to the actual size of the shooting area and the position of the coordinates of the initial bullet can be limited to simulate the real The shooting distance improves the realism of simulating live ammunition shooting, and at the same time, it can improve the accuracy of virtual shooting, and reduce the demand for venues. It can simulate a real shooting environment in a small area and a small screen. The present invention can Realizing the shooting effect of the simulated flying saucer to replace the live ammunition shooting mode can effectively improve the safety and reduce the cost.

According to some embodiments of the present invention, the specific steps of determining the coordinates of the virtual aiming point corresponding to the virtual shooting area according to the coordinates of the initial bullet, the coordinates of the aiming point and the similarity ratio k are as follows:

Determine the coordinates of the initial bullet (x ₃ , y ₃ , z ₃ ), the coordinates of the aiming point are (x ₄ , y ₄ , z ₄ ), and find the coordinates of the virtual aiming point (x ₅ , y ₅ , _z5 );

According to the similarity relationship, it is known to satisfy the following proportional relationship:

then you can get:

According to some embodiments of the present invention, the specific steps of processing and analyzing the flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet to determine whether the simulated flying saucer is hit are: launching the simulated flying saucer After the flying saucer, start timing, according to the initial flying saucer virtual coordinates, flight parameters and simulated environment parameters of the simulated flying saucer, perform the calculation of the flight trajectory on the simulated flying saucer, and determine the first coordinate of the simulated flying saucer at time T Taking the first coordinate as the center of the circle, according to the size of the simulated flying saucer, determine the target range; After launching the simulated bullet, record the current moment as T ₁ , according to the coordinates of the initial bullet of the simulated bullet, flight parameters and Simulate environmental parameters, perform trajectory calculation in conjunction with the coordinates of the virtual aiming point, and determine the second coordinate of the simulated bullet at time T; take the second coordinate as the center of the circle, and determine the flight parameter and size of the simulated bullet based on Effective shooting range; according to the effective shooting range and the position of the target range, determine whether the simulated flying saucer is hit.

According to some embodiments of the present invention, the step of determining whether the simulated flying saucer is hit according to the positions of the effective shooting range and the target range is: determining that the effective shooting range and the target range overlap , then it is determined that the simulated UFO is hit, and the animation effect of the simulated UFO being hit is displayed; or, it is determined that the effective shooting range and the target range do not overlap, then it is determined that the simulated UFO is not hit middle.

In a third aspect, a simulated shooting device according to an embodiment of the present invention includes a control analysis and processing module, an animation display module, a simulated gun, a camera module, and a plurality of collection points; the control analysis and processing module is configured to execute the method described in the first aspect. The method for establishing a simulated shooting model or for performing the simulated shooting method described in the second aspect; the animation display module is used to display the shooting area, the simulated flying saucer and the simulated bullet, and is electrically connected with the control analysis and processing module. The simulated firearm is used to send out trigger signal and aiming point signal, and is electrically connected to the control analysis and processing module; a plurality of the collection points are respectively arranged around the periphery of the shooting area for sending out virtual collection points. signal; the camera module is used for photographing the position of the collection point, the shooting area and the aiming point signal, and is electrically connected with the control analysis and processing module.

According to some embodiments of the present invention, the simulated firearm includes a gun body, a processing unit, a laser emitting unit, a trigger unit, a reloading unit, a power supply unit and a communication unit; the gun body is provided with the muzzle and the trigger ; the processing unit is arranged on the gun body; the laser emitting unit is arranged on the muzzle, and is electrically connected with the processing unit; the trigger unit is arranged on the trigger of the gun body and is electrically connected with the processing unit; the loading unit is arranged on the single pull rod of the gun body and is electrically connected with the processing unit; the power supply unit is arranged on the gun body and is connected with the The processing unit is electrically connected; the communication unit is electrically connected to the processing unit and the control analysis processing module respectively; wherein, when the trigger is pressed, the trigger unit is triggered and sends a trigger signal to all and the processing unit, after receiving the trigger signal, the processing unit controls the laser emitting unit to project an aiming point signal on the shooting area.

The simulated shooting device according to the embodiment of the present invention has at least the following beneficial effects: by using the acquisition points, a standard virtual shooting area can be established in the background according to the actual size of the shooting area displayed by the animation display module, and the simulated gun can be determined. The position of the initial bullet is defined as the position of the coordinates of the initial bullet, so that the real shooting distance can be simulated, which improves the realism of the simulated live ammunition shooting. , In the case of a small screen, to simulate a real shooting environment, the simulated shooting device of the present invention can realize the shooting effect of a simulated flying saucer to replace the live ammunition shooting mode, which can effectively improve the safety and reduce the cost.

In a fourth aspect, a computer-readable storage medium according to an embodiment of the present invention stores one or more programs, one or more of the programs can be executed by one or more processors, and the programs are processed When the device is executed, the steps of the method for establishing a simulated shooting model according to the embodiment of the first aspect or the steps of the simulated shooting method according to the embodiment of the second aspect are implemented.

The computer-readable storage medium of the embodiment of the fourth aspect of the present invention has the same effect as the simulated shooting method of the embodiment of the first aspect, or the computer-readable storage medium of the embodiment of the third aspect of the present invention has the same effect as the embodiment of the second aspect. The effect of the simulated shooting method is the same, and will not be repeated here.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic flowchart of a method for establishing a simulated shooting model according to an embodiment of the present invention;

Fig. 2 is one of the principle schematic diagrams of the simulated shooting model establishment method shown in Fig. 1;

Fig. 3 is the second schematic diagram of the principle of the method for establishing the simulated shooting model shown in Fig. 1;

4 is a schematic flowchart of a simulated shooting method according to an embodiment of the present invention;

Fig. 5 is one of the principle schematic diagrams of the simulated shooting method shown in Fig. 1;

Fig. 6 is the concrete flow chart of judging whether to be hit in the simulated shooting method shown in Fig. 1;

7 is a schematic diagram of a circuit principle of a simulated shooting device according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of the circuit principle of the simulated gun of the simulated shooting device shown in FIG. 7 .

Reference number:

Shooting area 100, virtual shooting area 200, control analysis processing module 300, animation display module 400, simulated gun 500, processing unit 510, laser firing unit 520, trigger unit 530, bullet loading unit 540, power supply unit 550, communication unit 560, Camera module 600 .

Detailed ways

This part will describe the specific embodiments of the present invention in detail, and the preferred embodiments of the present invention are shown in the accompanying drawings. Each technical feature and overall technical solution of the invention should not be construed as limiting the protection scope of the invention.

In the description of the present invention, it should be understood that the azimuth description, such as the azimuth or position relationship indicated by up, down, front, rear, left, right, etc., is based on the azimuth or position relationship shown in the drawings, only In order to facilitate the description of the present invention and simplify the description, it is not indicated or implied that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number. If it is described that the first, second, etc. are only used for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or implicitly indicating the number of the indicated technical features or implicitly indicating the indicated technical features. successive relationship.

In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

In the first aspect, referring to FIG. 1 , a method for establishing a simulated shooting model according to an embodiment of the present invention includes the following steps:

Step S100, collecting a first image to identify the positions of each vertex of the shooting area 100 and the positions of at least two collecting points around the shooting area 100, and determining that the distance between the two collecting points is L, the corresponding two The distance between the vertices is L ₁ and the similarity ratio k=L ₁ /L; wherein, in this embodiment, the process of identifying the location of the collection point, the location of the vertex, the distance L and the distance L ₁ is by means of image shooting, That is, shooting toward the shooting area 100 and the position of the collection point to obtain a first image, and analyzing the characteristics of the captured _first image, and then quickly determining the collection point position, vertex position, distance L, and distance L1 and other related parameters , and then the value of the similarity ratio k can be quickly determined;

In step S200, a virtual shooting area 200 is established based on the collection point, so that the vertical distance from the initial launch point to the shooting area 100 is E ₁ and the vertical distance between the virtual shooting area 200 and the shooting area 100 is E ₂ , wherein E ₁ =Ek, E ₂ =EE ₁ , E is the vertical distance from the initial launch point to the virtual shooting area 200; wherein, the vertical distance E can be directly defined by the staff in the background, and in the flying saucer simulation shooting competition, the vertical distance E is It is limited according to the regulations of the International Shooting Sports Federation, that is, the vertical distance E can be limited directly according to the requirements of the regulations of the International Shooting Sports Federation, in line with the distance L ₁ between the two vertices of the shooting area 100 and the corresponding two The distance L between the collection points can establish a virtual shooting area 200 that meets the vertical shooting distance, so as to enhance the realism of the simulated shooting.

Step S300, set up a reference coordinate system with the virtual shooting area 200 as a benchmark, determine the coordinates corresponding to each virtual vertex and each vertex, and determine the initial launch point according to the coordinates of a group of matched virtual vertexes and the coordinates where the vertex is located and the similarity ratio k. The coordinates of the initial bullet; according to the established virtual shooting area 200, and with one set of corresponding virtual vertex coordinates and vertex coordinates and similarity ratio k, the coordinates of the initial bullet can be determined, and the initial bullet of the player shooting the simulated bullet can be determined. The coordinates are limited, that is, the initial position of the firearm is limited, and then the real shooting distance can be simulated, and the accuracy of the simulated shooting can be improved at the same time, and the coordinate position of the initial bullet can be obtained, and the coordinates of the initial bullet can be limited in the background. At any time, the simulated bullet is sent from the coordinate position of the initial bullet. At the same time, before the shooting competition, after the coordinate position of the initial bullet is determined according to the analysis of the background, the shooter is asked to stand at the corresponding position to shoot.

It can be known that when performing coordinate processing on the first image, it is necessary to perform image filtering, image binarization, edge detection on the collected first image, and at the same time use the collection points collected from the first image, the similarity ratio k. and the reference of the virtual shooting area to establish a reference coordinate system to realize coordinateization, and then coordinate processing and identification of the feature points of the first image, so as to obtain the coordinates of the initial bullet firing. It should be noted that the adopted image filtering, image binarization, edge detection, and coordinate processing all belong to the conventional image processing means of those skilled in the art, and will not be described in detail this time.

In some embodiments of the present invention, the positions of the collection points and the corresponding vertices are matched, and the line segment between any two collection points is parallel to the line segment between the corresponding two vertices, matching the matching between the collection points and the vertices The relationship between the line segment and the line segment is parallel, the shooting area 100 can be enlarged equally, so that the virtual shooting area 200 and the shooting area 100 are congruent graphics, and then the shooting area 100 can project the corresponding simulated UFO position at the same time. The flight parameters of the corresponding simulated flying saucer are obtained from the virtual shooting area 200 within the real shooting range, and the coordinates of the virtual aiming point can be synchronously confirmed in the virtual shooting area 200 according to the aiming point on the shooting area 100 to determine the flight direction of the simulated bullet And the angle, and then can determine the ballistic trajectory of the simulated bullet, and at the same time with the flight trajectory of the simulated flying saucer, it can simulate the real flying saucer shooting effect.

In some embodiments of the present invention, the number of collection points is the same as the number of vertices, the collection area surrounded by each collection point and the shooting area 100 are similar graphics, and the collection area and the virtual shooting area 200 are congruent graphics. Making the number of acquisition points the same as the number of vertices can further improve the response time of the background to establish the reference coordinate system of the virtual shooting area 200, so that the background can directly confirm the size of the virtual shooting area 200 according to the signal of the recognized acquisition point.

For further explanation, the shooting area 100 is set as a square, referring to FIG. 2 , which has four vertices A ₁ , A ₂ , A ₃ , A ₄ , and two collection points B ₁ are set according to the positions of the vertices A ₁ and A ₂ . and B ₂ , where it can be known that when the first image is used for identification, it can be obtained that the length of the line segment B ₁ B ₂ is L, and the length of the line segment A ₁ A ₂ is L ₁ , then it can be determined that the similarity ratio k=L ₁ /L; at the same time, according to the above-mentioned steps S200 and S300, respectively establish a reference virtual shooting area 200 and a reference coordinate system, wherein the origin of the reference coordinate system can be any position. In this embodiment, it can be known that the virtual shooting area 200 corresponds to The positions of the two virtual vertices are C ₁ and C ₂ respectively. Since the similarity ratio is k, the background program can identify the distance between the adjacent two points of the four vertices A ₁ , A ₂ , A ₃ , and A ₄ , and then establish virtual vertices C ₃ and C ₄ synchronously, wherein vertex A ₁ corresponds to virtual vertex C ₁ , vertex A ₂ corresponds to virtual vertex C ₂ , vertex A ₃ corresponds to virtual vertex C ₃ , and vertex A ₃ corresponds to virtual vertex C _3. At the same time, according to the requirements of step S300, three-dimensional coordinates are established with _C1 as the origin, and the coordinates of the four virtual vertices are divided into:

C ₁ (0, 0, 0);

C ₂ (0, L, 0);

C ₃ (0, L, L);

C ₄ (0, 0, L);

Then the coordinates of the four vertices on the shooting area (100) are:

A ₁ (-E ₂ , (LL ₁ )/2, (LL ₁ )/2);

A ₂ (-E ₂ , (L+L ₁ )/2, (LL ₁ )/2);

A ₃ (-E ₂ , (L+L ₁ )/2, (L+L ₁ )/2);

A ₄ (-E ₂ , (LL ₁ )/2, (L+L ₁ )/2);

The coordinates of the two collection points are:

B ₁ (-E ₂ , 0, 0);

B ₂ (-E ₂ , L, 0).

Similarly, it can be known that, referring to FIG. 3 , when the number of vertices of the acquisition point and the shooting area 100 is the same, then on the basis of the above-mentioned embodiment, the acquisition points B ₃ and B ₄ are set synchronously, and when the first image is acquired At the same time, the acquisition points B ₃ and B ₄ are identified synchronously, and then the positions and sizes of the four virtual vertices of the virtual shooting area 200 are directly determined according to the four acquisition points, so that the speed of establishing the virtual shooting area 200 and the reference coordinate system in the background can be further improved. . Similarly, the coordinate values of the above points can also be obtained according to the identification distance and the similarity ratio requirements. At the same time, the coordinates of the other two collection points are:

B ₃ (-E ₂ , L, L);

B ₄ (-E ₂ , L, 0).

It can be known that the collection point can be a laser transmitter, that is, the laser transmitter is set at the corresponding position, so that the background can quickly confirm the position of the collection point according to the collected image. Similarly, the position of the corresponding vertex in the shooting area 100 Corresponding laser emitters can also be set, so that the background can quickly confirm the position and size parameters of the shooting area 100, such as the distance between two adjacent vertices and the distance between two adjacent collection points. At the same time, in order to avoid affecting the shooters, the laser transmitter used is a light source invisible to the naked eye. Only when a special camera is used, the position of the laser point of the corresponding frequency can be photographed, so as to facilitate the identification and confirmation in the background.

In some embodiments of the present invention, the specific steps of determining the coordinates of the initial bullet are:

Determine the coordinates of one set of matching virtual vertices as (x ₁ , y ₁ , z ₁ ), and the coordinates of the corresponding vertices as (x ₂ , y ₂ , z ₂ ), and find the coordinates of the initial bullet (x ₃ , y _{3 )} , z ₃ );

According to the similarity relationship, it is known to satisfy the following proportional relationship:

then you can get:

It should be noted that the above proportional relationship is obtained by combining the relationship of the middle ratio graph with the mathematical principle, and can be calculated by matching the similarity ratio k and the corresponding proportional graph.

Therefore, after step S200 and step S300, the matching virtual vertex and the coordinate value of the vertex can be obtained, which is substituted into formula (1) for calculation, and can refer to FIG. 2 or FIG. 3, when the coordinates of each vertex and the virtual vertex are determined, Substituting the matched coordinate values into formula (1), the specific values of the coordinates corresponding to the initial bullet can be obtained, such as vertex A ₁ and virtual vertex B ₁ , or vertex A ₂ and virtual vertex B ₂ , or vertex A ₃ and virtual vertex B ₃ , or vertex A ₄ and virtual vertex B ₄ .

In the second aspect, referring to FIG. 4 , a simulated shooting method according to an embodiment of the present invention includes the following steps:

Step S100, collecting a first image to identify the positions of each vertex of the shooting area 100 and the positions of at least two collecting points around the shooting area 100, and determining that the distance between the two collecting points is L, the corresponding two The distance between the vertices is L ₁ and the similarity ratio k=L ₁ /L; wherein, in this embodiment, the process of identifying the location of the collection point, the location of the vertex, the distance L and the distance L ₁ is by means of image shooting, That is, shooting towards the shooting area 100 and the position direction of the collection point to obtain a first image, and analyzing the characteristics of the captured _first image, so as to quickly determine the collection point position, vertex position, distance L and distance L1 and other related parameters , and then the value of the similarity ratio k can be quickly determined;

In step S200, a virtual shooting area 200 is established based on the collection point, so that the vertical distance from the initial launch point to the shooting area 100 is E ₁ and the vertical distance between the virtual shooting area 200 and the shooting area 100 is E ₂ , wherein E ₁ =Ek, E ₂ =EE ₁ , E is the vertical distance from the initial launch point to the virtual shooting area 200; wherein, the vertical distance E can be directly defined by the staff in the background, and in the flying saucer simulation shooting competition, the vertical distance E is It is limited according to the regulations of the International Shooting Sports Federation, that is, the vertical distance E can be limited directly according to the requirements of the regulations of the International Shooting Sports Federation, in line with the distance L1 between the two vertices of the shooting area ₁₀₀ and the corresponding two The distance L between the collection points can establish a virtual shooting area 200 that meets the vertical shooting distance, so as to enhance the realism of the simulated shooting.

Step S300, set up a reference coordinate system with the virtual shooting area 200 as a benchmark, determine the coordinates corresponding to each virtual vertex and each vertex, and determine the initial launch point according to the coordinates of a group of matched virtual vertexes and the coordinates where the vertex is located and the similarity ratio k. The coordinates of the initial bullet; according to the established virtual shooting area 200, and with one set of corresponding virtual vertex coordinates and vertex coordinates and similarity ratio k, the coordinates of the initial bullet can be determined, and the initial bullet of the player shooting the simulated bullet can be determined. The coordinates are limited, that is, the initial position of the firearm is limited, and then the real shooting distance can be simulated, and the accuracy of the simulated shooting can be improved at the same time, and the coordinate position of the initial bullet can be obtained, and the coordinates of the initial bullet can be limited in the background. At any time, the simulated bullets are sent out from the coordinates of the initial bullets. At the same time, before the shooting competition, after the coordinates of the initial bullets are determined according to the analysis of the background, the shooters are allowed to stand at the corresponding positions to shoot;

Step S400, launching a simulated flying saucer, synchronously displaying an image on the shooting area 100, when receiving the trigger signal of the simulated gun 500, launching a simulated bullet, synchronously collecting a second image to identify the position of the aiming point on the current shooting area 100, Determine the coordinates of the aiming point; identifying the position of the aiming point is the way to confirm the coordinates of the aiming point, mainly through the camera facing the shooting area 100 for image acquisition to obtain the second image, and with the background algorithm to identify the second image to determine The coordinate parameters of the aiming point;

Among them, the simulated flying saucer can fly in different directions and different speeds within the set range. When displaying images, the target trench can be displayed virtually. Through the settings in the background, the flying height, flight direction and flight speed of the flying saucer can be adjusted. Adjustment, you can also set the background software to make the flying saucer fly randomly in different directions and different speeds within the limited flight parameters, and the flight area of the simulated flying saucer is limited to the plane where the virtual shooting area 200 is located;

Step S500, according to the coordinates of the initial bullet, the coordinates of the aiming point and the similarity ratio k, determine the coordinates of the virtual aiming point corresponding to the virtual shooting area 200; By determining the coordinates of the initial bullet and the coordinates of the aiming point on the shooting area 100, And with the similarity ratio k, the coordinate parameters of the virtual aiming point can be determined. According to the coordinates of the virtual aiming point and the initial bullet, and the flight parameters of the bullet and the simulated environment parameters, the aiming direction of the simulated bullet and the flight of the simulated bullet can be determined. ballistic trajectory,

Step S600, processing and analyzing the flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet to determine whether the simulated flying saucer is hit; wherein, the flight trajectory of the simulated flying saucer can be obtained through the background, and combined with the ballistic trajectory, it can be determined that the simulated flying saucer is in a certain position. At the moment, whether the flight trajectory and the ballistic trajectory coincide, so that it can be determined whether the simulated flying saucer has been hit.

Among them, it can be known that the simulated bullet can be a display of any bullet type. For example, in flying saucer shooting, since shotgun shooting is conventionally used, in this embodiment, the simulated bullet is shot by shotgun. animation display effect.

It can be known that, when performing coordinate processing on the first image and the second image, it is necessary to perform image filtering, image binarization, edge detection on the collected first image and second image, and simultaneously collect the first image and the second image. The acquisition point, similarity ratio k and the reference of the virtual shooting area establish a reference coordinate system to realize coordinateization, and then coordinate processing and identification of the feature points of the first image and the aiming point position on the second image, so that the initial image can be obtained. The coordinates of the bullet fired and the coordinates of the virtual aiming point on the virtual shooting area 200 . It should be noted that the adopted image filtering, image binarization, edge detection, and coordinate processing all belong to the conventional image processing means of those skilled in the art, and will not be described in detail this time.

The simulated shooting method according to the embodiment of the present invention has at least the following beneficial effects: by using the collection points, a virtual shooting area 200 that meets the standard can be established according to the actual size of the shooting area 100 and the position of the coordinates of the initial bullet can be limited to simulate the position of the initial bullet. The real shooting distance improves the realism of simulating live ammunition shooting, and at the same time, it can improve the accuracy of virtual shooting, and reduce the demand for the venue. It can simulate the real shooting environment in a small area and a small screen. The invention can realize the shooting effect of the simulated flying saucer to replace the live ammunition shooting mode, which can effectively improve the safety and reduce the cost.

In some embodiments of the present invention, according to the coordinates of the initial bullet, the coordinates of the aiming point and the similarity ratio k, the specific steps of determining the coordinates of the virtual aiming point corresponding to the virtual shooting area 200 are as follows:

Determine the coordinates of the initial bullet (x ₃ , y ₃ , z ₃ ), the coordinates of the aiming point are (x ₄ , y ₄ , z ₄ ), and find the coordinates of the virtual aiming point (x ₅ , y ₅ , z ₅ );

According to the similarity relationship, it is known to satisfy the following proportional relationship:

then you can get:

It should be noted that the above proportional relationship is obtained by combining the relationship of the middle ratio graph with the mathematical principle, and can be calculated by matching the similarity ratio k and the corresponding proportional graph.

In the same way, after determining the vertex coordinates and the virtual vertex coordinates by the model building method of the first aspect, referring to Figure 2 and Figure 3, the coordinates of the initial bullet can be determined, and after identifying the aiming point coordinates on the audit area, refer to Figure 2 and Figure 3. 5, P ₁ is the aiming point on the shooting area 100, P ₂ is the virtual aiming point on the virtual shooting area 200, after determining the coordinates of the initial bullet P and the coordinates P ₁ of the aiming point, then can be substituted into formula (2) To determine the specific value of the virtual coordinates.

6, in some embodiments of the present invention, the flight trajectory of the simulated flying saucer and the ballistic trajectory of the simulated bullet are processed and analyzed, and the specific steps for determining whether the simulated flying saucer is hit are:

Step S610, after launching the simulated flying saucer, start timing, and calculate the flight trajectory of the simulated flying saucer according to the initial flying saucer virtual coordinates, flight parameters and simulated environment parameters of the simulated flying saucer, and determine the first coordinate of the simulated flying saucer at time T;

Step S620, taking the first coordinate as the center of the circle, and determining the target range according to the size of the simulated flying saucer;

Step S630, after launching the simulated bullet, record the current moment as T ₁ , according to the coordinates of the initial bullet of the simulated bullet, flight parameters and simulated environment parameters, and in combination with the coordinates of the virtual aiming point, perform trajectory calculation to determine the second time of the simulated bullet at time T. coordinate;

Step S640, taking the second coordinate as the center of the circle, and determining the effective shooting range according to the flight parameters and size of the simulated bullet;

Step S650, according to the position of the effective shooting range and the target range, determine whether the simulated flying saucer is hit.

In some embodiments of the present invention, according to the position of the effective shooting range and the target range, the steps of determining whether the simulated flying saucer is hit are:

Step S641, determine that the effective shooting range and the target range overlap, then determine that the simulated flying saucer is hit, and display the animation effect of the simulated flying saucer being hit;

or,

In step S642, it is determined that the effective shooting range and the target range do not overlap, and it is determined that the simulated flying saucer has not been hit.

Wherein, with reference to Figure 5, the calculation process for determining whether the simulated flying saucer is hit is as follows:

By cooperating with the calculation of the above formula (1) and formula (2), the specific values of the initial bullet coordinates and the virtual aiming point coordinates can be confirmed:

所求的第一坐标为

；模拟子弹的飞行参数包括子弹速度

子弹速度方向与X轴正方向的夹角β_a、子弹质量m₁、子弹迎风面积s₁、子弹有效射击半径R；For the convenience of description, set the parameters related to the simulated bullet: set the desired initial bullet coordinate as P

The first coordinate required is

;The flight parameters of the simulated bullet include the bullet velocity

The angle β _a between the bullet velocity direction and the positive direction of the X axis, the bullet mass m ₁ , the bullet windward area s ₁ , and the bullet effective firing radius R;

模拟飞碟的飞行参数包括飞碟速度

、飞碟速度的仰角α_b、飞碟速度与X轴正方向的夹角β_b、飞碟迎风面积s₂、飞碟垂直方向面积s₃、飞碟质量m₂、飞碟碟面半径r以及飞碟高度h，其中可以知道的是，通过后台限定，实际的模拟飞碟是在虚拟射击区域200内进行飞行，射击区域100的图像仅是用作图像进行显示；Parameters related to the simulated flying saucer: the coordinates of the initial launch position of the flying saucer are:

The flight parameters of the simulated flying saucer include the speed of the flying saucer

, the elevation angle α _b of the flying saucer speed, the angle β _b between the flying saucer velocity and the positive direction of the X axis, the flying saucer windward area s ₂ , the flying saucer vertical area s ₃ , the flying saucer mass m ₂ , the flying saucer surface radius r and the flying saucer height h, where It can be known that, through the background limitation, the actual simulated flying saucer flies in the virtual shooting area 200, and the image of the shooting area 100 is only used as an image for display;

Simulation environment parameters: wind speed v _w , wind speed pitch angle α _w , angle β _w between wind speed and the positive direction of the X axis, gravitational acceleration g, air resistance coefficient C and air density ρ; it can be known that the simulation environment parameters are determined by the background It is simulated and set by itself, so the relevant parameters can be obtained directly from the background.

It is worth noting that due to the influence of gravity, air resistance and wind speed in reality, the aiming position of the simulated bullet will deviate from the actual shooting point. The following describes the calculation process of the simulated ballistic trajectory of the simulated bullet:

，而对根据公式(1)和公式(2)，同样可以求得虚拟瞄准点的P₂坐标为

，其中，PP₁代表的是模拟子弹的发射方向即模拟子弹的速度方向，PP₂代表的是模拟子弹发射后的模拟弹道轨迹，本实施例的目的就是计算出第二坐标

；其中，结合

和

可以计算得出模拟子弹的仰角α_a、以及子弹速度方向与X轴正方向的夹角β_a，其中仰角α_a为∠P₁PP₄，夹角为∠P₁PP₃，其中，

具体的配合

和

的两个坐标的计算过程属于本领域常规的数学计算方式，此次则不再进行详细的计算，则根据模拟子弹的仰角α_a、以及子弹速度方向与X轴正方向的夹角β_a，可以得出模拟子弹在各坐标轴上的分速度：First, establish the reference coordinates according to the above steps. It is known to set the initial position of the muzzle, that is, the coordinates of the initial bullet are:

, and according to formula (1) and formula (2), the P ₂ coordinate of the virtual aiming point can also be obtained as

, among them, PP ₁ represents the firing direction of the simulated bullet, that is, the speed direction of the simulated bullet, PP ₂ represents the simulated ballistic trajectory after the simulated bullet is fired, and the purpose of this embodiment is to calculate the second coordinate

; of which, combined

and

The elevation angle α _a of the simulated bullet and the included angle β _a between the bullet velocity direction and the positive direction of the X-axis can be calculated, where the elevation angle α _a is ∠P ₁ PP ₄ , and the included angle is ∠P ₁ PP ₃ , where,

specific fit

and

The calculation process of the two coordinates belongs to the conventional mathematical calculation method in the field. This time, the detailed calculation is not carried out. Then, according to the elevation angle α _a of the simulated bullet and the angle β _a between the bullet speed direction and the positive direction of the X axis, The minute velocity of the simulated bullet on each coordinate axis can be obtained:

为模拟子弹在X轴上的分速度、

为模拟子弹在Y轴上的分速度、

为模拟子弹在Z轴上的分速度。in,

In order to simulate the minute velocity of the bullet on the X axis,

In order to simulate the minute velocity of the bullet on the Y axis,

To simulate the minute velocity of the bullet on the Z axis.

In the same way, the following formula is used to calculate the component velocity of the wind speed on the coordinate axis:

In addition, according to the physical operation, it can be known that:

When the sub-velocity of the object in the X-axis direction is v _x , the calculation formula of the actual speed of the object in the X-axis direction can be known by combining with the environmental resistance factor:

When the component velocity of the object in the Y-axis direction is v _y , the calculation formula of the actual velocity of the object in the Y-axis direction can be known by combining with the environmental resistance factor:

When the component velocity of the object in the Z-axis direction is v _z , the calculation formula of the actual velocity of the object in the Z-axis direction can be known by combining with the environmental resistance factor:

Among them, in formula (5), formula (6) and formula (7), C, ρ, g are the corresponding air resistance coefficient C, air density ρ and gravitational acceleration g in the simulation environment mentioned above, respectively. m is the weight of the corresponding object, and s is the area of the object on the corresponding coordinate axis.

The integral formula for calculating the displacement of the object is:

Among them, in this embodiment, the bullet of the shotgun is used for the simulated bullet, so the windward area on the coordinate axis is all s1, then formula (3), formula (4), formula (5), formula ( 6), formula (7), formula (8) and simulated bullet parameters, when the simulated bullet is fired, it is known that the flying time of the flying saucer is T ₁ , then at time T, the flight time of the simulated bullet is TT ₁ , and the simulated flying saucer is TT 1 . The flight time is T, and the calculation formula for the displacement of the simulated bullet in each coordinate axis is:

可以得出模拟子弹的第二坐标

Therefore, at time T, with the initial bullet coordinates

The second coordinate of the simulated bullet can be obtained

In the same way, to simulate the velocity of the flying saucer on each coordinate axis is:

Then match formula (10), formula (4), formula (5), formula (6), formula (7), formula (8) and the parameters of the simulated flying saucer. At the same time, it can be known that the simulated flying saucer is in the X axis and the Y axis. The windward area in the direction is s ₂ , and the windward area of the simulated flying saucer in the Z-axis direction, that is, the vertical area is s ₃ ; then the calculation formula of the simulated flying saucer in each coordinate axis can be obtained as follows:

，可以得出模拟飞碟第一坐标

Therefore, at time T, the coordinates of the initial launch of the simulated flying saucer are:

, the first coordinates of the simulated flying saucer can be obtained

以及第二坐标

可以得出有效射击范围是以第二坐标

为圆心且体积为

的区域。At the same time combined with the volume of the simulated bullet

and the second coordinate

It can be concluded that the effective firing range is the second coordinate

is the center of the circle and has a volume of

Area.

可以得出有目标范围是以第一坐标

为中心且体积为πr²h的区域。And the volume of the simulated flying saucer V _b =πr ² h and the first coordinate

It can be concluded that the target range is the first coordinate

is a region centered and of volume πr ² h.

Therefore, as long as there is an overlapping area between the effective shooting range and the target range at a certain moment, it can be determined that the simulated flying saucer is hit, and the simulated flying saucer is displayed as an animation in the shooting area 100. If there is no overlapping area, Then it can be determined that the flying saucer was not hit.

Referring to FIG. 7 , in the third aspect, a simulated shooting device according to an embodiment of the present invention includes a control analysis and processing module 300, an animation display module 400, a simulated gun 500, a camera module 600 and a plurality of collection points; the control analysis and processing module 300 is used for Execute the simulated shooting model establishment method as in the first aspect or be used to execute the simulated shooting method as in the second aspect; the animation display module 400 is used for displaying the shooting area 100, the simulated flying saucer and the simulated bullet, and is electrically connected with the control analysis processing module 300 ; The simulated gun 500 is used to send out the trigger signal and the aiming point signal, and is electrically connected with the control analysis processing module 300; the multiple collection points are respectively arranged around the periphery of the shooting area 100 for sending out virtual collection signals; the camera module 600 is used for The position of the shooting and collection point, the shooting area 100 and the aiming point signal are electrically connected with the control analysis and processing module 300 .

Wherein, the camera module 600 shoots towards the animation display module 400 and the position direction of the collection point for collecting the first image and the second image respectively, and the camera module 600 can use a MOS sensor camera, a CMOS sensor or a CCD sensor, which is in the art The technical personnel can choose according to their needs. At the same time, it should be noted that the steps or functions performed in the background mentioned in the embodiment of the first aspect are performed by the control analysis and processing module 300 in the embodiment of the second aspect. Completion, that is, the control analysis processing module 300 is equivalent to the background.

In some embodiments of the present invention, the animation display module 400 is at least one of a display, a three-dimensional projector or a two-dimensional projector. Specifically, the animation display module 400 can use a conventional display for display, which can ensure the display brightness and resolution of the picture, while using a two-dimensional projector can transfer the shooting range, which improves the convenience. Projection can further improve the actual simulation effect of flying saucer shooting. At the same time, laser emitters that can be recognized by the camera module 600 are arranged at the projected area of the animation display module 400, that is, the four vertices of the shooting area 100. At the same time, in order to avoid affecting the players, a laser light source that is invisible to the naked eye can be used. Similarly, the collection point can also use the same laser transmitter.

8, in some embodiments of the present invention, the simulated firearm 500 includes a gun body, a processing unit 510, a laser emitting unit 520, a trigger unit 530, a loading unit 540, a power supply unit 550 and a communication unit 560; the gun body is provided with The muzzle and the trigger; the processing unit 510 is arranged on the gun body; the laser emitting unit 520 is arranged on the muzzle and is electrically connected with the processing unit 510; the trigger unit 530 is arranged on the trigger of the gun body and is electrically connected with the processing unit 510 The loading unit 540 is arranged on the single pull rod of the gun body and is electrically connected with the processing unit 510; the power supply unit 550 is arranged on the gun body and is electrically connected with the processing unit 510; the communication unit 560 is respectively connected with the processing unit 510 and the control unit 510. The analysis and processing module 300 is electrically connected; wherein, when the trigger is pressed, the trigger unit 530 is triggered and sends a trigger signal to the processing unit 510. After the processing unit 510 receives the trigger signal, it controls the laser emitting unit 520 to project and aim on the shooting area 100 point signal.

The trigger unit 530 includes a trigger trigger disposed on the trigger, and the trigger trigger is electrically connected with the processing unit 510 . The realism of shooting can be further enhanced with the use of trigger triggers and triggers. Combined with the reloading module and the reloading lever, it can simulate the effect of loading bullets, thereby improving the authenticity of shooting. Specifically, the loading module adopts a loading trigger, the trigger end of the loading trigger is set on the loading rod, and the output end of the loading trigger is electrically connected with the processing unit 510; The trigger terminal is electrically connected. When the shooter pulls the reloading lever of the gun, the reloading trigger installed in the lever will be triggered, and a signal is input to the processing unit 510, and the trigger unit can be triggered only when the shooter pulls the trigger. 530, otherwise it cannot be fired.

Using the communication unit 560 , the signal transmission between the processing unit 510 and the control analysis processing module 300 can be performed. Specifically, the communication unit 560 may adopt an optical cable communication unit, a Bluetooth communication unit or a WIFI communication unit. Among them, the optical cable communication unit adopts the method of wired transmission, which can improve the stability and reliability of the signal; the Bluetooth communication unit supports point-to-point transmission and has the characteristics of fast transmission speed. The transmission speed of the WIFI communication unit is fast and convenient for networking. The communication unit actually needs to be set. Wherein, the communication unit 560 adopts the existing conventional technical means, which are well known to those skilled in the art, so detailed description is omitted here. In addition to the above-mentioned signal transmission methods, those skilled in the art can add other different wired or wireless technologies for substitution as required.

Specifically, before shooting, the positions of the animation display module 400 and the collection point are set in advance, and the control analysis and processing module 300 will display the shooting area 100 on the animation display module 400 .

The control analysis and processing module 300 will execute step S100, control the camera module 600 to perform image capture towards the animation display module 400 and the direction of the collection point, and determine the specific values of the distance L, the distance L ₁ and the similarity ratio k;

And according to step S200 and step S300, establish the virtual shooting area 200 and the reference coordinate system, simultaneously determine the coordinates of the corresponding virtual vertex, the coordinates of the vertex and the coordinates of the initial bullet, the staff can then control the analysis processing module 300 to display the initial bullet's coordinates. Coordinates, determine the relative position between the player and the animation display module 400, after completing the corresponding pre-match preparations, the control analysis and processing module 300 simulates the flight trajectory of the flying saucer in the virtual shooting area 200, while the animation display module 400 is the shooting area 100. The animation effect of flying saucer is displayed inside. At this time, the player can aim and shoot according to the flying saucer on the shooting area 100. When the trigger signal is pulled, the simulated bullet is fired, and the laser emitting unit 520 will synchronously display the point on the shooting area 100 that the player is aiming at. , namely the light spot of the aiming point, the control analysis processing module 300 will control the camera module 600 to synchronously collect the second image to identify the coordinates of the aiming point and synchronously determine the coordinates of the virtual aiming point, and then determine the simulated ballistic trajectory, and at the same time control the analysis processing module 300 to Process and analyze the simulated flying trajectory and simulated ballistic of the flying saucer to determine whether the flying saucer is hit. If it is hit, the animation effect of the flying saucer being hit will be displayed. If it is determined that the flying saucer is not hit, the flying saucer will be displayed. The animation effect of the area 100 or the landing, that is, the control analysis processing module 300 will execute step S400, step S500 and step S600 in sequence.

The simulated shooting device according to the embodiment of the present invention has at least the following beneficial effects: by using the collection points, a standard virtual shooting area 200 can be established in the background according to the actual size of the shooting area 100 displayed by the animation display module 400 to simulate The real shooting distance improves the realism of the simulated live ammunition shooting. At the same time, the position of the simulated gun 500, that is, the coordinates of the initial bullet, can be limited, which can improve the accuracy of virtual shooting and reduce the demand for the venue. It can be used in a small area. In the case of a small screen, a real shooting environment can be simulated, and the simulated shooting device of the present invention can achieve the shooting effect of a simulated flying saucer to replace the live ammunition shooting mode, which can effectively improve the safety and reduce the cost.

In a fourth aspect, according to a computer-readable storage medium according to an embodiment of the present invention, the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors. The steps of the method for establishing a simulated shooting model according to an embodiment of the first aspect or the steps of the simulated shooting method according to the embodiment of the second aspect.

The computer-readable storage medium of the embodiment of the fourth aspect of the present invention has the same effect as the method for establishing a simulated shooting model of the embodiment of the first aspect, or the computer-readable storage medium of the embodiment of the fourth aspect of the present invention and the embodiment of the second aspect The effect is the same as that of the simulated shooting method, and will not be repeated here, and will not be repeated here.

Those of ordinary skill in the art can understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit . Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those of ordinary skill in the art, the term computer storage media includes both volatile and nonvolatile implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules or other data flexible, removable and non-removable media. Computer storage media include, but are not limited to, R, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cartridges, magnetic tape, magnetic disk storage or other magnetic storage device, or any other medium that can be used to store desired information and that can be accessed by a computer. In addition, communication media typically include computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and can include any information delivery media, as is well known to those of ordinary skill in the art .

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., is meant to incorporate the embodiments A particular feature, structure, material, or characteristic described by an example or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, The scope of the invention is defined by the claims and their equivalents.

Claims (10)

1. A simulated shooting model building method is characterized by comprising the following steps:

acquiring a first image to identify the position of each vertex of a shooting area and the positions of at least two acquisition points at the periphery of the shooting area, and determining the distance between two acquisition points as L and the distance between two corresponding vertexes as L₁And the similarity ratio k ═ L₁/L；

Establishing a virtual shooting area by taking the acquisition point as a reference, and enabling the vertical distance from the initial launching point to the shooting area to be E₁And the vertical distance between the virtual shooting area and the shooting area is E₂Wherein E is₁＝Ek、E₂＝E-E₁E is the vertical distance from the initial launching point to the virtual shooting area;

and establishing a reference coordinate system by taking the virtual shooting area as a reference, determining each virtual vertex of the virtual shooting area and the corresponding coordinate of each vertex, and determining the coordinate of the initial bullet of the initial shooting point according to the coordinate of one group of matched virtual vertices, the coordinate of the vertex and the similarity ratio k.

2. The simulated shooting model building method of claim 1, characterized in that: the collection points are matched with the positions of the corresponding vertexes, and the line segment between any two collection points is parallel to the line segment between the corresponding two vertexes.

3. The simulated shooting model building method as claimed in claim 1 or 2, characterized in that: the number of the acquisition points is the same as that of the vertexes, the acquisition area and the shooting area which are surrounded by the acquisition points are similar in graph, and the acquisition area and the virtual shooting area are congruent in graph.

4. The simulated shooting model building method of claim 1, characterized in that: the specific steps of determining the coordinates of the initial bullet are:

determining the coordinates of a set of matched virtual vertices as (x)₁、y₁、z₁) The coordinate of the corresponding vertex is (x)₂、y₂、z₂) Determining the coordinates (x) of said initial bullet₃、y₃、z₃)；

From the similarity relationship, it is known that the following geometric relationship is satisfied:

then it is possible to obtain:

5. a method for simulating shooting is characterized in that,

after performing the simulated shooting model building method of any one of claims 1 to 4;

the following steps are continuously executed:

launching a simulated flying saucer, launching a simulated bullet when a trigger signal of a simulated gun is received, and synchronously acquiring a second image to identify the position of an aiming point on the current shooting area and determine the coordinate of the aiming point;

determining the coordinate of a corresponding virtual aiming point on the virtual shooting area according to the coordinate of the initial bullet, the coordinate of the aiming point and the similarity ratio k;

and processing and analyzing the flight track of the simulated flying saucer and the trajectory track of the simulated bullet, and judging whether the simulated flying saucer is hit.

6. A method of simulated shooting according to claim 5, characterized in that: the specific step of determining the coordinates of the corresponding virtual aiming point on the virtual shooting area according to the coordinates of the initial bullet, the coordinates of the aiming point and the similarity ratio k is as follows:

determining coordinates (x) of the initial bullet therein₃、y₃、z₃) The coordinate of the aiming point is (x)₄、y₄、z₄) Determining the coordinates (x) of said virtual aiming point₅、y₅、z₅)；

From the similarity relationship, it is known that the following geometric relationship is satisfied:

then it is possible to obtain:

7. a method of simulated shooting according to claim 5, characterized in that: the specific steps of processing and analyzing the flight trajectory of the simulated flying saucer and the trajectory of the simulated bullet and judging whether the simulated flying saucer is hit are as follows:

after the simulated flying saucer is launched, timing is started, the flight track of the simulated flying saucer is calculated according to the initial flying saucer virtual coordinate, flight parameters and simulated environment parameters of the simulated flying saucer, and the first coordinate of the simulated flying saucer at the time T is determined;

determining a target range according to the size of the simulated flying saucer by taking the first coordinate as a circle center;

after the simulated bullet is launched, recording the current moment as T₁According to the coordinates of the initial bullet of the simulated bullet, flight parameters and simulated environment parameters, combining the virtual aiming point coordinates to calculate the track, and determining the second coordinates of the simulated bullet at the time T;

determining an effective shooting range according to the flight parameters and the size of the simulated bullet by taking the second coordinate as a circle center;

and judging whether the simulated flying saucer is hit or not according to the positions of the effective shooting range and the target range.

8. A method of simulated shooting according to claim 7, characterized in that: the step of judging whether the simulated flying saucer is hit or not according to the positions of the effective shooting range and the target range comprises the following steps:

if the effective shooting range is determined to be coincident with the target range, judging that the simulated flying saucer is hit, and displaying the hit animation effect of the simulated flying saucer;

or determining that the effective shooting range and the target range are not overlapped, and judging that the simulated flying saucer is not hit.

9. A simulated shooting apparatus, comprising:

a control analysis processing module for performing the simulated shooting model building method of any one of claims 1 to 4 or for performing the simulated shooting method of any one of claims 5 to 8;

the animation display module is used for displaying the shooting area, the simulated flying saucer and the simulated bullet and is electrically connected with the control analysis processing module;

the simulated gun is used for sending a trigger signal and an aiming point signal and is electrically connected with the control analysis processing module;

the plurality of acquisition points are respectively arranged on the periphery of the shooting area and used for sending out virtual acquisition signals;

the shooting module is used for shooting the position of the acquisition point, the shooting area and the aiming point signal and is electrically connected with the control analysis processing module.

10. A computer readable storage medium, storing one or more programs, which are executable by one or more processors to perform the steps of the simulated shooting model building method of any one of claims 1 to 4 or to perform the steps of the simulated shooting method of any one of claims 5 to 8.

Images