JP2022041606A - Target system and program - Google Patents

Abstract

To specify a hit position where a BB bullet hits a target with high accuracy and high speed.SOLUTION: A detected hit position calculation part calculates a position where an object hits a target board as a detected hit position based on an acoustic signal obtained by detecting an impact sound generated when the object hits the target board. A virtual hit position computing part obtains a virtual hit position obtained by that the object hits a specified position specified on the target board by computation, and obtains a prescribed number of virtual hit positions corresponding to a prescribed number of the specified positions. A specific object area limitation part specifies a position where the object hits the target board by repeatedly performing processing of narrowing a dimension of the specific object area specified as including the position where the object hits the target board in a prescribed rate relative to the specific object area based on a comparison between the detected hit position and a prescribed number of the virtual hit positions to narrow the specific object area. The technique can be applied to a target system of a soft air gun capable of shooting a BB bullet, for example.SELECTED DRAWING: Figure 10

Description

The present disclosure relates to a target system and a program, and more particularly to a target system and a program that enable an object released toward a target to identify the position where the object hits the target with high accuracy and high speed.

Conventionally, a shooting competition using a soft air gun, which is a toy gun equipped with a mechanism for firing a plastic bullet (hereinafter referred to as a BB (Ball Bullet) bullet) with low-pressure compressed air or the like, has been conducted. For example, in a shooting competition, a score obtained according to the landing position where a BB bullet shot at a target is landed on the target is competed. Therefore, it is very important to accurately detect the landing position of a BB bullet in a shooting competition.

Therefore, the applicant of the present application proposes a target system capable of accurately calculating the landing position, landing velocity, energy, etc. of a BB bullet by detecting a shock wave generated when a BB bullet lands on a target plate. (For example, see Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-25677

By the way, in the target system proposed in Patent Document 1 described above, it is necessary to prepare, for example, sequence data in which detection time difference data is arranged at predetermined intervals before detecting the landing position of a BB bullet. .. Therefore, if the landing position can be specified with high accuracy and high speed without preparing such array data in advance, it is considered that the convenience can be further improved.

The present disclosure has been made in view of such a situation, and is intended to enable highly accurate and high-speed identification of the position where an object hits a target.

The target system on one aspect of the present disclosure calculates the position where an object hits a target plate as a detected landing position based on an acoustic signal that detects an impact sound generated when the object hits the target plate. The position calculation unit and the virtual landing position, which is a virtual landing position obtained by assuming that the object hits the designated position on the target plate, are calculated, and a predetermined number corresponding to the predetermined number of the designated positions is obtained. Based on the comparison between the virtual landing position calculation unit for obtaining the virtual landing position of the above and the detected landing position and a predetermined number of the virtual landing positions, it is specified that the position where the object hits the target plate is included. The specific target area is limited to a narrow area having a predetermined ratio with respect to the specific target area, and the specific target area is limited by the specific target area limiting unit. By repeating the process and narrowing the specific target area, the position where the object hits the target plate is specified.

The program of one aspect of the present disclosure calculates the position where the object hits the target plate as the detected landing position based on the acoustic signal which detects the impact sound generated when the object hits the target plate, and the target. The virtual landing position, which is a virtual landing position obtained by assuming that the object hits the designated position designated on the plate, is calculated, and a predetermined number of virtual landing positions corresponding to the predetermined number of the designated positions are obtained. Based on the comparison between the detected landing position and the predetermined number of virtual landing positions, the size of the specific target area, which is the area specified to include the position where the object hits the target plate, is specified. The object hits the target plate by repeating a process of limiting the specific target area to a narrow area having a predetermined ratio with respect to the target area and narrowing the specific target area. Have the computer perform the process of identifying the position.

In one aspect of the present disclosure, the position where the object hits the target plate is calculated as the detected landing position based on the acoustic signal that detects the impact sound generated when the object hits the target plate, and is designated on the target plate. The virtual landing position, which is a virtual landing position obtained by assuming that the object hits the designated position, is obtained by calculation, and a predetermined number of virtual landing positions corresponding to the predetermined number of designated positions are obtained. Then, based on the comparison between the detected landing position and a predetermined number of virtual landing positions, the size of the specific target area, which is the area specified to include the position where the object hits the target plate, is set with respect to the specific target area. The process of limiting the specific target area to a narrow area of a predetermined ratio is repeatedly performed, and the specific target area is narrowed to specify the position where the object hits the target plate.

According to one aspect of the present disclosure, the position where the object hits the target can be specified with high accuracy and high speed.

The effects described here are not necessarily limited, and may be any of the effects described in the present disclosure.

It is a perspective view which shows the 1st configuration example of the target system to which this technique is applied. It is a perspective view which shows the configuration example of the target device. It is a figure explaining the basic idea of the landing position specifying method which specifies the landing position by looping the process which limits the target area to 1/4 based on the comparison. It is a figure which shows the waveform output from an acoustic sensor. It is a figure explaining the relationship between the detection time difference and the distance from a landing position to an acoustic sensor. It is a figure explaining the virtual landing position set at the time of the first loop. It is a figure explaining the process which limits the target area to 1/4 based on the comparison at the time of the 1st loop. It is a figure explaining the virtual landing position set at the time of the 2nd loop. It is a figure explaining the process which limits the target area to 1/4 based on the comparison at the time of the 2nd loop. It is a block diagram which shows the structural example of the landing position specifying processing apparatus. It is a flowchart explaining the landing position specifying process. It is a flowchart explaining the virtual landing position coordinate calculation process. It is a flowchart explaining the area limitation processing. It is a perspective view which shows the 2nd configuration example of a target system. It is a block diagram which shows the structural example of one Embodiment of the computer to which this technique is applied.

Hereinafter, specific embodiments to which the present technology is applied will be described in detail with reference to the drawings.

<First configuration example of the target system>
As shown in FIG. 1, the target system 10 is composed of a target device 11, a display 12, and a PC (Personal Computer) 13, and the display 12 is arranged on the back side of the target device 11.

For example, the user installs the PC 13 at hand, connects the target device 11 and the PC 13 with the signal cable 14, and connects the display 12 and the PC 13 with the video cable 15. Note that, for example, wireless communication may be used to connect the target device 11 and the display 12 to the PC 13. Then, the user operates the PC 13 to display the target image 16 representing the target when shooting is displayed on the display unit of the PC 13 and externally output the target image 16 to be displayed on the display 12.

After that, the user points the barrel of the soft air gun 17 toward the target device 11, looks into the sighting device fixed along the barrel, aims at the target image 16 displayed on the display 12, and shoots. You can do the target. The BB bullet 18 fired from the soft air gun 17 is placed below the front side of the target device 11 after the momentum of the collision is absorbed by the bending of the target plate 23 (see FIG. 2) of the target device 11. It falls on the collection mat 19 and is collected without being scattered. Here, the collection mat 19 has low resilience (slowly) so as to absorb the impact of the fall of the BB bullet 18 and the BB bullet 18 does not bounce off, for example, like a bore cloth or a pile cloth. It is preferable to use one having the property of returning to the original shape).

Then, the target system 10 can detect the landing position where the BB bullet 18 that flew toward the target device 11 landed on the target plate 23 (see FIG. 2). As a result, in the target system 10, the landing mark P indicating the detected landing position can be superimposed and displayed on the target image 16 displayed on the display 12, and the user can display the landing position of the BB bullet 18. You can recognize it without taking your eyes off the twelve. At the same time, in the target system 10, the landing mark P can be superimposed and displayed on the target image 16 displayed on the display unit of the PC 13, and the user can display the landing position of the BB bullet 18 in detail on the PC 13 at hand. You can check.

The target system 10 is configured in this way, and can be used in a competition in which the target image 16 displayed on the display 12 is targeted and the accuracy of the landing position is competed.

A configuration example of the target device 11 will be described with reference to the perspective view of the target device 11 shown in FIG.

As shown in FIG. 2, the target device 11 includes fixing members 21 and 22, target plates 23, back plates 24, support members 25 and 26, acoustic sensors 27-1 to 27-4, temperature sensors 28, and a control unit. 29 is provided.

The fixing members 21 and 22 are, for example, members having a U-shaped cross section when the target device 11 is viewed from the side surface, and the target plate 23 and the back surface plate 24 maintain a constant distance from each other and are flat. Fix it so that it has a shape. That is, the fixing member 21 has substantially the same length as the width of the target plate 23 and the back plate 24, and fixes the upper sides of the target plate 23 and the back plate 24. Similarly, the fixing member 22 has substantially the same length as the lateral width of the target plate 23 and the back plate 24, and fixes the lower sides of the target plate 23 and the back plate 24.

The target plate 23 is a transparent member that transmits the target image displayed on the display 12, and receives the collision of the BB bullet 18 fired toward the target image by the soft air gun 17 of FIG. 1 by bending. A soft sheet-like member that can be used is used. For example, for the target plate 23, it is preferable to use a soft vinyl chloride resin having a thickness of 1.5 mm or the like as a material having a slow restoration rate against deformation due to impact. Further, the target plate 23 is flat in a state of being stretched so as to be substantially vertical in front of the display 12, that is, is flat so as not to cause bending, and the upper side is the front surface of the fixing member 21. It is fixed to the side surface on the side, and the lower side is fixed to the side surface on the front surface side of the fixing member 22.

The back plate 24 is made of a transparent and soft sheet-like member similar to the target plate 23, for example, a soft vinyl chloride resin having a thickness of 1.5 mm, and the back side of the target plate 23 (display 12 side when viewed from the user). ) Is placed. That is, the back plate 24 is planarly fixed to the side surface on the back surface side of the fixing member 21 and the lower side is fixed to the side surface on the back surface side of the fixing member 22 in a plane similar to the target plate 23.

In this way, the target plate 23 is fixed to the front side surface of the fixing members 21 and 22, and the back plate 24 is fixed to the back surface side of the fixing members 21 and 22. As a result, a space 30 is provided between the target plate 23 and the back plate 24 at intervals according to the width of the upper surface of the fixing member 21 and the width of the lower surface of the fixing member 22. The space 30 is open on the left and right sides, and as will be described later, it is possible to achieve the effect of stably acquiring the impact sound by the acoustic sensor 27.

The support members 25 and 26 are rod-shaped members (so-called shredded bolts) having screws formed on the side surfaces over the entire length, and are formed so as to be slightly longer than the vertical widths of the target plate 23 and the back plate 24. .. Further, when the target device 11 is viewed from the front, the support member 25 supports the left end portion of the fixing member 21 and the left end portion of the fixing member 22, and the support member 26 is fixed to the right end portion of the fixing member 21. Supports the right end of the member 22.

For example, two nuts (not shown) are screwed into the screws at the top of the support members 25 and 26 so as to sandwich the fixing member 21, and the fixing member 22 is screwed into the screws at the bottom of the support members 25 and 26. Two nuts (not shown) are screwed so as to sandwich the. As a result, both ends of the fixing members 21 and 22 are supported. Here, by adjusting the position of the nut (not shown), the distance between the fixing member 21 and the fixing member 22 can be adjusted so that the target plate 23 and the back plate 24 are in a state where a certain amount of tension is applied. Further, by making the fixing members 21 and 22 supported by using nuts, the support members 25 and 26 can be easily removed. For example, the target plate 23 and the back plate with the fixing member 22 as an axis. 24 can be wound up. In this way, by rolling the target device 11 into a roll shape, portability and storability can be improved.

The acoustic sensors 27-1 to 27-4 acquire the impact sound generated when the BB bullet 18 (FIG. 1) lands on the target plate 23, and controls the acoustic signal according to the change in the amplitude of the acquired impact sound. Supply to the unit 29.

Regarding the arrangement of the acoustic sensors 27-1 to 27-4, the target plate 23 and the target plate 23 and the target plate 23 are arranged so as to be on the back side of the target plate 23, close to the four corners of the target plate 23, respectively, and at the optimum position for acquiring the impact sound. It is fixed in the space 30 sandwiched between the back plates 24. For example, the acoustic sensor 27-1 is arranged near the left end of the surface facing the lower side of the fixing member 21, and the acoustic sensor 27-2 is arranged near the right end of the surface facing the lower side of the fixing member 21. Further, the acoustic sensor 27-3 is arranged near the left end of the surface facing the upper side of the fixing member 22, and the acoustic sensor 27-4 is arranged near the right end of the surface facing the upper side of the fixing member 22. In the following, when it is not necessary to distinguish each of the acoustic sensors 27-1 to 27-4 as appropriate, it is simply referred to as an acoustic sensor 27.

Although the configuration using the four acoustic sensors 27-1 to 27-4 will be described in the present embodiment, the number of the acoustic sensors 27 is not limited to four. For example, it is possible to use a number of acoustic sensors 27 such as 3, 6, and 8 that can appropriately measure the landing position and the like according to the size or shape of the target device 11. For example, when six acoustic sensors 27 are used, the acoustic sensors 27 are arranged not only at the four corners but also at the center of the upper side and the center of the lower side.

Here, the acoustic sensor 27 is arranged in a closed space 30 in which the front side is closed by the target plate 23, the back side is closed by the back plate 24, and only the left and right sides of the target device 11 are open. For example, the space 30 is not a completely enclosed space but has an opening appropriately provided. In this way, the space 30 is configured to be partially opened by the opening, so that the impact sound is appropriately reverberated unlike the completely open one and the completely closed one. While doing so, the increase in pressure is moderately suppressed. Therefore, in the target device 11, air can easily enter and exit the closed space 30 through the opening, and therefore, for example, the inside of the space 30 due to the BB bullet 18 colliding with the target plate 23. The increase in pressure is moderately suppressed.

As a result, for example, even if the volume of the space 30 is sharply reduced due to the bending of the target plate 23 due to the impact of the BB bullet 18, the air is appropriately discharged through the opening, so that the BB bullet 18 is released. It is possible to appropriately suppress an increase in pressure in the space 30 when it lands. Therefore, the impact sound can be stably acquired by the acoustic sensor 27. Therefore, the target device 11 can improve the detection accuracy of the landing position and the landing speed as a result of suppressing the variation of the landing position and the landing speed obtained based on the acoustic signal output from the acoustic sensor 27.

The temperature sensor 28 detects the temperature in the closed space 30 in which the acoustic sensor 27 is arranged, and supplies a temperature signal indicating the temperature to the control unit 29. For example, in the target system 10, the speed of sound used when calculating the landing position of the BB bullet 18 is corrected based on the temperature detected by the temperature sensor 28.

The control unit 29 is attached to the center of the upper side surface of the fixing member 21, and the signal cable 14 connected to the PC 13 of FIG. 1 is detachably connected. Further, the control unit 29 has a signal line for inputting an acoustic signal output from the acoustic sensors 27-1 to 27-4 and a signal line for inputting a temperature signal output from the temperature sensor 28 (whichever). (Not shown) etc. are connected. Then, the control unit 29 is subjected to predetermined signal processing on the acoustic signal output from the acoustic sensor 27 when the BB bullet 18 lands on the target plate 23, so that the BB bullet 18 lands on the target plate 23. A signal processing board that outputs a detection signal for detecting the landing position and the landing speed at the time of landing is housed.

In a predetermined signal processing by the signal processing board of the control unit 29, a peak hold signal obtained by amplifying an acoustic signal and performing full-wave rectification and holding the peak value of the amplitude, and a signal obtained by integrating the peak hold signal are obtained. The impact sound detection time signal indicating the timing when the reference value is exceeded is output as a detection signal. This detection signal is supplied from the control unit 29 to the PC 13 of FIG. The signal processing by the signal processing board of the control unit 29 is described in detail in the above-mentioned Patent Document 1.

<How to specify the landing position>
A method of specifying a landing position for specifying a landing position of a BB bullet 18 in the target system 10 will be described with reference to FIGS. 3 to 9.

First, with reference to FIG. 3, the basic concept of the method of specifying the landing position of the target system 10 will be described.

The target system 10 limits the size of the specific target area specified as the area including the target landing position, which is the final target landing position, to a narrower area (for example, a 1/4 area). By repeating the area limitation process, a method of specifying the landing position of the BB bullet 18 can be adopted.

For example, in the area limitation processing, the area including the detected landing position DP, which is the landing position calculated from the acoustic signal detected by the acoustic sensor 27, is any area in which the specific target area is divided into four, upper and lower and left and right. Is determined. As will be described later with reference to FIGS. 7 and 9, this determination is made of the detected landing position DP and four virtual landing positions obtained by calculation assuming that the landing has occurred at the four corners of the specific target area. It is performed based on the comparison with the virtual landing positions TP1 to TP4.

Further, in the method of specifying the landing position of the target system 10, when the area limiting process is performed for the first time, that is, when the number of loops n indicating the number of times the area limiting process is repeated is 0, the size of the specific target area is determined by the target device. The width and height are set to cover the entire surface of 11. Specifically, as shown in FIG. 3, when the area limitation process is performed for the first time, the initial value areaW (= 800 mm) is set in the width W [0] of the specific target area, and the height of the specific target area is set. The initial value areaH (= 440 mm) is set in H [0].

Then, when the size of the specific target area is limited to 1/4 of the area each time the area limitation process is repeated, the width W [n] and the height of the specific target area when the area limitation process of the nth loop is performed. For H [n], a value of 2 to the nth power of the initial value (areaW / 2 ⁿ and areaH / 2 ⁿ ) is used, respectively.

That is, as shown in FIG. 3, when the area limitation processing of the first loop is performed, the width W [1] of the specific target area is narrowed to 1/2 (= 400) of the initial value areaW, and the specific target is specified. The area height H [1] is narrowed to 1/2 (= 220) of the initial value areaH. Similarly, when the area limitation process of the second loop is performed, the width W [2] of the specific target area is narrowed to 1/4 (= 200) of the initial value area W, and the height H [2] of the specific target area. 2] is narrowed to 1/4 (= 110) of the initial value areaH. Hereinafter, similarly, each time the region limitation process is repeated, the width W [n] and the height H [n] of the specific target region are narrowed based on the number of loops n.

Further, in the method of specifying the landing position of the target system 10, the range of the specific target area when the area limitation process of the nth loop is performed is the upper left end A1 [n] of the specific target area and the width W of the specific target area. Identified using [n] and height H [n]. That is, as shown in FIG. 3, the range of the specific target area is the coordinates indicating the upper left end A1 [n] (sumX [n], sumY [n]) and the coordinates indicating the upper right end A2 [n] (sumX [n]. ] + W [n], sumY [n]), coordinates indicating the lower left A3 [n] (sumX [n], sumY [n] + H [n]), and coordinates indicating the lower right A4 [n] ( It is specified by sumX [n] + W [n], sumY [n] + H [n]).

For example, when the area limitation process is performed for the first time (loop count n = 0), the coordinates (sumX [0], sumY [0]) indicating the upper left end A1 [0] of the specific target area are, for example, the target device 11. It is set to the device origin (0, 0), which is the upper left corner. Therefore, the range of the specific target area in the area limitation processing performed for the first time is the coordinates (0, 0) indicating the upper left end A1 [0], the coordinates (W [0], 0) indicating the upper right end A2 [0], and the lower left. It is specified by the coordinates (0, H [0]) indicating the end A3 [0] and the coordinates (W [0], H [0]) indicating the lower right A4 [0].

Then, as the size of the specific target area is limited to 1/4 of the area each time the area limitation process is repeated, the coordinates indicating the upper left end A1 [n] of the specific target area (sumX [n], sumY [ For n]), the coordinates indicating the upper left end of the area in which the specific target area is limited to 1/4 in the immediately preceding specific target area are used.

Therefore, when the specific target area is limited to the upper left 1/4 area in the nth loop area limitation process, the upper left end A1 [n + 1] of the specific target area used in the n + 1th loop area limitation process. ], The coordinates of the upper left corner of the upper left 1/4 area (sumX [n], sumY [n]) are used as they are for the coordinates (sumX [n + 1], sumY [n + 1]). .. Further, when the specific target area is limited to the upper right 1/4 area in the nth loop area limitation process, the upper left end A1 [n + 1] of the specific target area used in the n + 1th loop area limitation process. ] Is the coordinates (sumX [n + 1], sumY [n + 1]) at the upper left corner of the upper right 1/4 area (sumX [n] + W [n] / 2, sumY [n]. ]) Is used.

Similarly, when the specific target area is limited to the lower left 1/4 area in the area limitation process of the nth loop, the upper left end A1 [n + of the specific target area used in the area limitation process of the n + 1th loop. The coordinates indicating 1] (sumX [n + 1], sumY [n + 1]) are the coordinates of the upper left corner of the lower left 1/4 area (sumX [n], sumY [n] + H [n]. / 2) is used. Further, when the specific target area is limited to the lower right 1/4 area in the area limitation process of the nth loop, the upper left end A1 [n + of the specific target area used in the area limitation process of the n + 1th loop. The coordinates indicating 1] (sumX [n + 1], sumY [n + 1]) are the coordinates of the upper left corner of the lower right 1/4 area (sumX [n] + W [n] / 2, sumY. [n] + H [n] / 2) is used.

In this way, the coordinates (sumX [n + 1], sumY [n + 1]) indicating the upper left end A1 [n + 1] of the specific target area used in the area limitation processing of the n + 1th loop are the nth time. It differs depending on the area where the specific target area is limited by the area limitation process of the loop. That is, at the coordinates (sumX [n + 1], sumY [n + 1]) indicating the upper left end A1 [n + 1], the value W [n] which is 1/2 of the width W [n] of the specific target area. / 2 and the value H [n] / 2, which is 1/2 of the height H [n] of the specific target area, are added appropriately according to the limited area, and are added each time the area limiting process is repeated. It will be.

In the example shown in FIG. 3, in the area limitation process performed for the first time, the area including the detected landing position DP is the upper right 1/4 area of the specific target area having the width W [0] and the height H [0]. Is determined to be. Therefore, the coordinates (sumX [1], sumY [1]) indicating the upper left end A1 [1] of the specific target area in the area limitation processing of the first loop are 1/4 of the upper right of the immediately preceding specific target area. The coordinates indicating the upper left corner of the area are used. That is, the value sumX [1] in the X direction of the coordinates indicating the upper left end A1 [1] of the specific target area in the area limitation processing of the first loop is the coordinates indicating the upper left end A1 [0] of the immediately preceding specific target area. It is the value obtained by adding the value W [0] / 2, which is 1/2 of the width W [0] of the immediately preceding specific target area, to the value sumX [0] in the X direction of.

Here, since the value sumX [0] in the X direction of the coordinates indicating the upper left end A1 [0] of the specific target area in the area limiting process performed for the first time was 0, in the area limiting process of the first loop. The value in the X direction of the coordinates indicating the upper left end A1 [1] of the specific target area is W [0] / 2. Further, sumY [0] (= 0) is used as it is for the value sumY [1] in the Y direction of the coordinates indicating the upper left end A1 [1] of the specific target area. Therefore, the range of the specific target area in the area limitation processing of the first loop is the coordinates indicating the upper left end A1 [1] (W [0] / 2, 0) and the coordinates indicating the upper right end A2 [1] (W [1]. 0] / 2 + W [1], 0), coordinates indicating the lower left A3 [1] (W [0] / 2, H [1]), and coordinates indicating the lower right A4 [1] (W [0] ] / 2 + W [1], H [1]).

Further, in the example shown in FIG. 3, in the first region limiting process, the region including the detected landing position DP is 1/4 of the lower left of the specific target region having the width W [1] and the height H [1]. It is determined to be an area. Therefore, for the upper left end A1 [2] of the specific target area in the area limitation process of the second loop, the coordinates indicating the upper left end of the lower left 1/4 area of the immediately preceding specific target area are used. That is, the value sumY [2] in the Y direction of the coordinates indicating the upper left end A1 [2] of the specific target area in the area limitation processing of the second loop is the coordinates indicating the upper left end A1 [1] of the immediately preceding specific target area. It is the value obtained by adding the value H [1] / 2, which is 1/2 of the height H [1] of the immediately preceding specific target area, to the value sumY [1] in the Y direction of.

Here, since the value sumY [1] in the Y direction of the coordinates indicating the upper left end A1 [1] of the specific target area in the first area limitation process was 0, the identification in the area limitation process of the second loop. The value in the Y direction of the coordinates indicating the upper left end A1 [2] of the target area is H [1] / 2. Further, sumX [1] (= W [0] / 2) is used as it is for the value sumX [2] in the X direction of the coordinates indicating the upper left end A1 [2] of the specific target area. Therefore, the range of the specific target area in the area limitation processing of the second loop is the coordinates (W [0] / 2, H [1] / 2) indicating the upper left end A1 [2] and the upper right end A2 [2]. Coordinates indicating (W [0] / 2 + W [2], H [1] / 2), coordinates indicating lower left A3 [2] (W [0] / 2, H [1] / 2 + H [2) ]), And the coordinates indicating the lower right A4 [2] (W [0] / 2 + W [2], H [1] / 2 + H [2]).

Hereinafter, similarly, the upper left end of the area limited to 1/4 in the immediately preceding specific target area is shown at the coordinates (sumX [n], sumY [n]) indicating the upper left end A1 [n] of the specific target area. Coordinates are used, and the area limitation process that limits the size of the specific target area to the area of 1/4 is repeated.

For example, as described above, the initial value areaW of the width of the specific target area is 800 mm, and the initial value areaH of the height of the specific target area is 440 m. It is limited to the area. In this case, for example, the width W [8] and the height W [8] of the specific target area when the area limitation process is repeated 8 times are 1/65536 (1/8 of 4) of the initial values, respectively. , It is specified that the detected landing position DP is included in the range. Therefore, for example, when the region limiting process is repeated 10 times, the detected landing position DP is specified with an accuracy of 1 mm or less by the width W [10] and the height W [10] of the specific target region.

Next, a method of calculating the coordinates (pDX, pDY) indicating the detected landing position DP from the impact sound detected by the acoustic sensors 27-1 to 27-4 will be described.

FIG. 4 shows an example of an acoustic signal that the acoustic sensors 27-1 to 27-4 detect the impact sound generated by the BB bullet 18 landing on the target plate 23 and output it to the control unit 29. ing.

For example, when the BB bullet 18 lands on the target plate 23, the impact sound of the BB bullet 18 is detected by the acoustic sensors 27-1 to 27-4 in order from the landing position of the BB bullet 18. Therefore, the acoustic sensors 27-1 to 27-4 detect the impact sound with a time difference according to the distance from the landing position of the BB bullet 18, respectively. Further, the acoustic signals output from the acoustic sensors 27-1 to 27-4 have a waveform in which the initial amplitude is the largest and the amplitude is attenuated with the passage of time.

The signal processing board of the control unit 29 amplifies the acoustic signals output from the acoustic sensors 27-1 to 27-4, performs full-wave rectification, and generates a peak hold signal that holds the peak value of those amplitudes. I do. Then, on the signal processing board of the control unit 29, at the timing when the integrated value obtained by integrating the peak hold signals becomes equal to or higher than the reference value, and at the time when the acoustic sensors 27-1 to 27-4 detect the landing. The landing detection signal indicating a certain landing detection time T1 to T4 is output to the personal computer 13. For example, the landing detection times T1 to T4 are count values of the free running counter built in the control unit 29.

Then, the shooting application program executed by the personal computer 13 first specifies the minimum time Tmin indicating the timing at which the impact sound is first detected among the landing detection times T1 to T4. After that, the application program for shooting calculates the detection time difference Δt1 to Δt4, which is the difference between the landing detection times T1 to T4 and the minimum time Tmin, as shown in the following equation (1). Of the landing detection times T1 to T4, the detection time difference (Δt1 in the example of FIG. 4) from the time specified as the minimum time Tmin is 0.

Using the detection time differences Δt1 to Δt4 calculated in this way, the coordinates (pDX, pDY) indicating the detected landing position DP can be obtained as shown in the following equation (2).

Alternatively, the coordinates (pDX, pDY) indicating the detected landing position DP may be obtained by using the detection time differences Δt1 to Δt3 without using the detection time difference Δt4 as shown in the following equation (3).

As described above, when the application program for shooting acquires the landing detection times T1 to T4 in which the impact sound is detected by the acoustic sensors 27-1 to 27-4, the coordinates (pDX, pDY) indicating the detected landing position DP are obtained. Can be calculated.

Next, in the area limitation processing, the operation for obtaining the virtual landing positions TP1 to TP4 used for comparison with the detected landing position DP will be described.

For example, as shown in FIG. 5, an arbitrary position on the plane where the acoustic sensors 27-1 to 27-4 are arranged is specified, and it is assumed that the coordinates (specX, specY) of the specified position T are landed. The landing positions TP1 to TP4 are calculated.

Here, the coordinates (X0, Y0) of the acoustic sensor 27-1 are the distances in the X and Y directions from (sumX [0], sumY [0]) of the upper left end A1 [0] of the first specific target area. Can be set. Further, according to the distance Xs in the X direction and the distance Ys in the Y direction between the acoustic sensors 27, the coordinates (X0 + Xs, Y0) of the acoustic sensor 27-2 are referred to the coordinates (X0, Y0) of the acoustic sensor 27-1. , The coordinates of the acoustic sensor 27-3 (X0, Y0 + Ys), and the coordinates of the acoustic sensor 27-4 (X0 + Xs, Y0 + Ys) are set.

Then, using these coordinates and the distance Z0 from the surface of the target plate 23 to the center of the acoustic sensor 27, acoustically from the designated position T as shown in the following equation (4) based on the three-square theorem. The distances L1 to L4 from the sensors 27-1 to 27-4 can be obtained by calculation.

Specifically, when the target device 11 shown in FIG. 2 is designed according to the size of the 32-inch wide display 12, the distance Xs between the acoustic sensors 27 in the X direction is set to 595 mm, and the acoustic sensor 27 is set. The distance Ys in the Y direction between them is set to 433.8 mm. Similarly, the coordinates (X0, Y0) of the acoustic sensor 27-1 are set to (102.5 mm, 3.1 mm), and the distance Z0 from the surface of the target plate 23 to the center of the acoustic sensor 27 is set to 9.0 mm.

Then, the application program for shooting obtains the distances L1 to L4 by calculating the equation (4) based on such a setting, and specifies the shortest distance among them as the minimum distance m. After that, the application program for shooting calculates the distance difference ΔL1 to ΔL4, which is the difference between the distances L1 to L4 and the minimum distance m, as shown in the following equation (5). Of the distances L1 to L4, the distance difference from the distance specified as the minimum distance m (distance L1 in the example of FIG. 5) is 0.

Further, the application program for shooting uses the clock number cpm per 1 mm based on the clock number of the free running counter provided in the signal processing board of the control unit 29, and the distance is as shown in the following equation (6). The difference ΔL1 to ΔL4 is converted into the clock number difference Δct1 to Δct4.

Here, using the minimum distance m and the speed of sound k in the air, the distances L1 to L4 and the clock number difference Δct1 to Δct4 are represented by the relationships shown in FIG. That is, in the example shown in FIG. 5, the distance L2 is represented as m + k × Δct2, the distance L3 is represented as m + k × Δct3, and the distance L4 is represented as m + k × Δct4. In the example of FIG. 5, the clock number difference Δct1 is 0.

Using the clock number differences Δct1 to Δct4 obtained in this way, as shown in the following equation (7), the virtual landing position TP when it is assumed that the coordinates (specX, specY) of the designated position T have landed is obtained. The indicated coordinates (pTX, pTY) can be obtained.

Alternatively, instead of using the clock number difference Δct4, the clock number differences Δct1 to Δct3 may be used to obtain the coordinates (pTX, pTY) indicating the virtual landing position TP as shown in the following equation (8).

Then, in the target system 10, based on the comparison between the detected landing position DP and the four virtual landing positions TP1 to TP4, which are virtual landing positions obtained by calculation assuming that the landing has occurred at the four corners of the specific target area. Area limitation processing is performed.

Next, with reference to FIGS. 6 to 9, a region limiting process repeatedly performed in the method of specifying the landing position of the target system 10 will be described.

As shown in FIG. 6, when the region limitation process is performed for the first time (loop count n = 0), the target device 11 has a specific target region in a wider range than the acoustic sensors 27-1 to 27-4. It is set to the width W [0] and the height H [0] that cover the entire surface. Further, the coordinates (pTX) of the virtual landing position TP are calculated by calculating the above equations (4) to (8) based on the distances L1 to L4 from the designated position T to the acoustic sensors 27-1 to 27-4. , PTY) is required.

Then, when the area limitation process is performed for the first time, the coordinates (specX, specY) of the designated position T are the (sumX [0], sumY [0]) of the upper left end A1 [0] of the specific target area, and the specific target area. Coordinates of the upper right A2 [0] (sumX [0] + W [0], sumY [0]), coordinates of the lower left A3 [0] of the specific target area (sumX [0], sumY [0] + H [ 0]) and the coordinates of the lower right corner A4 [0] of the specific target area (sumX [0] + W [0], sumY [0] + H [0]) are specified.

As a result, as shown in FIG. 7, the operation performed by designating (sumX [0], sumY [0]) of the upper left end A1 [0] of the specific target area as the coordinates (specX, specY) of the designated position T. Therefore, the coordinates (pTX1 [0], pTY1 [0]) of the virtual landing position TP1 [0] are obtained. In addition, by the operation performed by designating the coordinates (sumX [0] + W [0], sumY [0]) of the upper right end A2 [0] of the specific target area as the coordinates (specX, specY) of the designated position T. The coordinates of the virtual landing position TP2 [0] (pTX2 [0], pTY2 [0]) are obtained. Hereinafter, similarly, the coordinates of the virtual landing position TP3 [0] (pTX3 [0], pTY3 [0]) and the coordinates of the virtual landing position TP4 [0] (pTX4 [0], pTY4 [0]) are obtained.

Then, the region including the coordinates (pDX, pDY) of the detected landing position DP, which is the landing position calculated from the acoustic signal detected by the acoustic sensor 27, specifies the width W [0] and the height H [0]. It is determined which area the target area is divided into upper and lower and left and right.

For example, the difference value (= pDX-pTX1 [0]) from the X-direction value pDX of the coordinates of the detected landing position DP to the X-direction value pTX1 [0] of the coordinates of the virtual landing position TP1 [0] is X. The comparison distance XL [0] on the left side of the direction. In addition, the difference value (= pTX2 [0] -pDX) from the value pTX2 [0] in the X direction of the coordinates of the virtual landing position TP2 [0] to the value pDX in the X direction of the coordinates of the detected landing position DP is X. The comparison distance XR [0] on the right side of the direction. Similarly, the difference value (= pDY-pTY1 [0]) from the value pDY in the Y direction of the coordinates of the detected landing position DP to the value pTY1 [0] in the Y direction of the coordinates of the virtual landing position TP1 [0]. Let the comparison distance YU [0] on the upper side in the Y direction. Further, the difference value (= pTY3 [0] -pDY) from the value pTY3 [0] in the Y direction of the coordinates of the virtual landing position TP3 [0] to the value pDY in the Y direction of the coordinates of the detected landing position DP is set to Y. The comparison distance on the lower side of the direction is YD [0].

Then, the comparison result comparing the magnitude relation between the comparison distance XL [0] on the left side in the X direction and the comparison distance XR [0] on the right side in the X direction, and the comparison distance YU [0] on the upper side in the Y direction and the lower side in the Y direction. The region including the coordinates (pDX, pDY) of the detected landing position DP is determined based on the comparison result comparing the magnitude relation with the comparison distance YD [0].

For example, the comparison distance XL [0] on the left side in the X direction is equal to or less than the comparison distance XR [0] on the right side in the X direction, and the comparison distance YU [0] on the upper side in the Y direction is the comparison distance YD [0] on the lower side in the Y direction. ] When the following (XL [0] ≤ XR [0] & YU [0] ≤ YD [0]), the area containing the coordinates (pDX, pDY) of the detected landing position DP is the upper left of the specific target area. It is determined to be an area. Similarly, the comparison distance XL [0] on the left side in the X direction is larger than the comparison distance XR [0] on the right side in the X direction, and the comparison distance YU [0] on the upper side in the Y direction is the comparison distance YD [0] on the lower side in the Y direction. ] When the following (XL [0]> XR [0] & YU [0] ≤ YD [0]), the area containing the coordinates (pDX, pDY) of the detected landing position DP is the upper right of the specific target area. It is determined to be an area.

Further, the comparison distance XL [0] on the left side in the X direction is equal to or less than the comparison distance XR [0] on the right side in the X direction, and the comparison distance YU [0] on the upper side in the Y direction is the comparison distance YD [0] on the lower side in the Y direction. ] (XL [0] ≤ XR [0] & YU [0]> YD [0]), the area containing the coordinates (pDX, pDY) of the detected landing position DP is the lower left area of the specific target area. Is determined to be. Similarly, the comparison distance XL [0] on the left side in the X direction is larger than the comparison distance XR [0] on the right side in the X direction, and the comparison distance YU [0] on the upper side in the Y direction is the comparison distance YD [0] on the lower side in the Y direction. ] (XL [0]> XR [0] & YU [0]> YD [0]), the area containing the coordinates (pDX, pDY) of the detected landing position DP is at the lower right of the specific target area. It is determined to be an area.

Based on this, in the example shown in FIG. 7, the comparison distance XL [0] on the left side in the X direction is larger than the comparison distance XR [0] on the right side in the X direction, and the comparison distance YU [0] on the upper side in the Y direction is in the Y direction. Since the comparison distance on the lower side is YD [0] or less, it is determined that the region including the coordinates (pDX, pDY) of the detected landing position DP is the upper right region of the specific target region.

Therefore, the specific target area used in the area limitation process of the first loop is limited to the upper right 1/4 area of the immediately preceding specific target area, and the coordinates A1 [1] to A4 [1] at the four corners of that area. ] Is specified as described above with reference to FIG.

That is, as shown in FIG. 8, in the area limiting process of the first loop (loop count n = 1), the specific target area is limited to the upper right 1/4 area of the specific target area shown in FIG. , The area limitation process is performed in the same manner as described above.

That is, as the coordinates (specX, specY) of the designated position T, (sumX [1], sumY [1]) at the upper left end A1 [1] of the specific target area shown in FIG. 8 is specified, and as shown in FIG. The coordinates of the virtual landing position TP1 [1] (pTX1 [1], pTY1 [1]) are obtained. Similarly, the coordinates of the virtual landing position TP2 [1] (pTX2 [1], pTY2 [1]), the coordinates of the virtual landing position TP3 [1] (pTX3 [1], pTY3 [1]), and the virtual landing position TP4. The coordinates of [1] (pTX4 [1], pTY4 [1]) are obtained.

Then, the region including the coordinates (pDX, pDY) of the detected landing position DP, which is the landing position calculated from the acoustic signal detected by the acoustic sensor 27, specifies the width W [1] and the height H [1]. It is determined which area the target area is divided into upper and lower and left and right.

In the example shown in FIG. 9, the comparison distance XL [1] on the left side in the X direction is equal to or less than the comparison distance XR [1] on the right side in the X direction, and the comparison distance YU [1] on the upper side in the Y direction is lower in the Y direction. Since it is larger than the comparison distance YD [1], it is determined that the region including the coordinates (pDX, pDY) of the detected landing position DP is the lower left region of the specific target region.

Therefore, the specific target area used in the area limitation process of the second loop is limited to the lower left quarter area of the immediately preceding specific target area, and the coordinates A1 [2] to A4 [2] at the four corners of that area. ] Is specified as described above with reference to FIG. Hereinafter, similarly, the area limitation process is repeatedly performed.

Then, by repeating such a region limiting process 10 times as described above, the detected landing position DP can be specified with an accuracy of 1 mm or less.

<Configuration example of landing position identification processing device>

FIG. 10 is a block diagram showing a configuration example of an embodiment of the landing position specifying processing device realized by the personal computer 13 executing an application program for shooting.

As shown in FIG. 10, the landing position specifying processing device 51 includes a landing recognition unit 52, a detected landing position calculation unit 53, a calculation setting processing unit 54, a virtual landing position calculation unit 55, a specific target area limiting unit 56, and a calculation determination. It is configured to include a processing unit 57.

For example, the landing recognition unit 52 determines that the BB bullet 18 has landed on the target plate 23 at the timing when the landing detection signal is output from the control unit 29, and the landing is indicated by the landing detection signal supplied from the control unit 29. Recognize detection times T1 to T4. Then, the landing recognition unit 52 sets the minimum value among the landing detection times T1 to T4 at which the impact sound of the BB bullet 18 is detected by the acoustic sensors 27-1 to 27-4, and the timing at which the impact sound is first detected. Is specified as the minimum time Tmin indicating. Based on this, the landing recognition unit 52 calculates the detection time difference Δt1 to Δt4 according to the above-mentioned equation (1). Then, the landing recognition unit 52 supplies the detection time difference Δt1 to Δt4 to the detection landing position calculation unit 53, and instructs the calculation setting processing unit 54 to start the calculation of the virtual landing position.

The detection landing position calculation unit 53 uses the detection time differences Δt1 to Δt4 supplied from the landing recognition unit 52 to obtain coordinates (pDX, pDY) indicating the detected landing position DP according to the above-mentioned equation (2) or equation (3). It is calculated and supplied to the specific target area limiting unit 56.

Further, a temperature signal indicating the current temperature detected by the temperature sensor 28 in FIG. 2 is supplied to the detection landing position calculation unit 53 via the control unit 29. Then, prior to calculating the detected landing position DP, the detected landing position calculation unit 53 uses the temperature correction coefficient k for the detection time differences Δt1 to Δt4 as shown in the following equation (9), and uses the temperature correction coefficient k to determine the speed of sound. Make corrections due to temperature changes. By making such a correction, it is possible to suppress a decrease in measurement accuracy due to a temperature change, and the detected landing position calculation unit 53 accurately calculates the coordinates (pDX, pDY) indicating the detected landing position DP. be able to.

The calculation setting processing unit 54 stores various initial values required for processing for specifying the landing position in the landing position specifying processing device 51. Then, when the calculation setting processing unit 54 is instructed by the landing recognition unit 52 to start the calculation of the virtual landing position, the calculation setting processing unit 54 sets the initial value for the virtual landing position calculation unit 55. For example, the arithmetic setting processing unit 54 may perform the initial value areaW and the initial value areaH of the width of the specific target area, and the coordinates (sumX) of the upper left end A1 [0] of the specific target area used in the area limitation processing performed for the first time. Set the device origin (0, 0) that is [0], sumY [0]). Further, the calculation setting processing unit 54 clears (n = 0) the number of loops n indicating the number of times the area limitation process is repeated.

The virtual landing position calculation unit 55 obtains the coordinates (pTX, pTY) of the virtual landing position TP by calculating the above equations (4) to (8) and supplies the coordinates (pTX, pTY) to the specific target area limiting unit 56. The landing position coordinate calculation process is repeated. The virtual landing position coordinate calculation unit 55 performs processing based on the initial value set by the calculation setting processing unit 54 in the virtual landing position coordinate calculation processing (n = 0) performed for the first time, and the subsequent landing position coordinate calculation processing (n = 0). In n ≧ 1), the process is performed based on the result of the specific target area limitation process by the specific target area limitation unit 56.

That is, as described with reference to FIGS. 6 and 8 described above, the virtual landing position calculation unit 55 sets the coordinates (specX, specY) of the designated position T as the coordinates (specX, specY) of the upper left end A1 [n] of the specific target area. sumX [n], sumY [n]), coordinates of upper right corner A2 [n] (sumX [n] + W [n], sumY [n]), coordinates of lower left corner A3 [n] (sumX [n], Specify sumY [n] + H [n]) and the coordinates of the lower right A4 [n] (sumX [n] + W [n], sumY [n] + H [n]). As a result, the virtual landing position calculation unit 55 uses the coordinates (pTX1 [n], pTY1] of the four virtual landing positions TP1 [n] to TP4 [n] corresponding to the coordinates (specX, specY) of each designated position T. n]) to coordinates (pTX4 [n], pTY4 [n]) can be obtained by calculation.

The specific target area limiting unit 56 includes the coordinates (pTX, pTY) of the virtual landing position TP supplied from the virtual landing position calculation unit 55, and the four virtual landing position TP1 [n] supplied from the virtual landing position calculation unit 55. ] To TP4 [n] coordinates (pTX1 [n], pTY1 [n]) to (pTX4 [n], pTY4 [n]) I do.

That is, as described with reference to FIGS. 7 and 9 described above, first, the specific target area limiting portion 56 sets the comparison distance XL [n] on the left side in the X direction and the comparison distance XR [n] on the right side in the X direction. Find and compare their magnitude relationships. Then, when the comparison distance XL [n] on the left side in the X direction is larger than the comparison distance XR [n] on the right side in the X direction, the virtual landing position TP is the area on the right side of the center of the specific target area. It can be determined that it is included in. On the other hand, in the specific target area limiting portion 56, when the comparison distance XL [n] on the left side in the X direction is equal to or less than the comparison distance XR [n] on the right side in the X direction, the virtual landing position TP is on the left side of the center of the specific target area. It can be determined that it is included in the area.

Similarly, the specific target area limiting unit 56 obtains a comparison distance YU [n] on the upper side in the Y direction and a comparison distance YD [n] on the lower side in the Y direction, and compares their magnitude relationships. When the comparison distance YU [n] on the upper side in the Y direction is larger than the comparison distance YD [n] on the lower side in the Y direction, the virtual landing position TP of the specific target area limiting portion 56 is lower than the center of the specific target area. It can be determined that it is included in the area of. On the other hand, in the specific target area limiting portion 56, when the comparison distance YU [n] on the upper side in the Y direction is equal to or less than the comparison distance YD [n] on the lower side in the Y direction, the virtual landing position TP is above the center of the specific target area. It can be determined that it is included in the area of.

Then, when the specific target area limiting unit 56 determines that the virtual landing position TP is included in the area on the right side of the center of the specific target area, the specific target area limiting unit 56 uses the specific target area in the next area limiting process (n = n + 1). Update the value sumX [n + 1] in the X direction of the coordinates indicating the upper left A1 [n + 1] (sumX [n + 1] = sumX [n] + W [n] / 2). On the other hand, when it is determined that the virtual landing position TP is not included in the area on the right side of the center of the specific target area (included on the left side), the specific target area used in the next area limitation process (n = n + 1). The value sumX [n + 1] in the X direction of the coordinates indicating the upper left A1 [n + 1] is not updated, and sumX [n] is used as it is.

Similarly, when the specific target area limiting unit 56 determines that the virtual landing position TP is included in the area below the center of the specific target area, the specific target area limiting unit 56 is used in the next area limiting process (n = n + 1). Update the value sumY [n + 1] in the Y direction of the coordinates indicating the upper left corner A1 [n + 1] of the area (sumY [n + 1] = sumY [n] + H [n] / 2). On the other hand, when it is determined that the virtual landing position TP is not included in the region below the center of the specific target region (included in the upper side), the specific target region used in the next region limitation process (n = n + 1). The value sumY [n + 1] in the Y direction of the coordinates indicating the upper left end A1 [n + 1] of is not updated, and sumY [n] is used as it is.

Further, the specific target area limiting unit 56 is limited to the specific target area specified by the updated upper left end A1 [n + 1] as described with reference to the flowchart of FIG. 13 described later. , Determine whether or not the virtual landing position TP is included. As a result, the specific target area can be reliably converged by repeating the area limitation process.

As described above, the specific target area limiting unit 56 limits the specific target area to the 1/4 area by performing the area limiting process based on the comparison as described above, and the upper left end of the 1/4 area. (SumX [n + 1], sumY [n + 1]) are supplied to the calculation determination processing unit 57 as a result of the area limitation processing.

The calculation determination processing unit 57 increments (n = n + 1) the number of loops n indicating the number of times the area limitation process is repeated by the specific target area limitation unit 56, and the number of loops n is a predetermined number of times (for example, the above-mentioned 10 times). ) To determine if it is less than. Then, when the calculation determination processing unit 57 determines that the number of loops n is less than the specified number of times, the arithmetic determination processing unit 57 determines the coordinates (sumX [n + 1], sumY [n + 1]) supplied from the specific target area limiting unit 56. , Is supplied to the virtual landing position calculation unit 55 as indicating the upper left end A1 [n + 1] of the specific target area in the next area determination process.

On the other hand, when the calculation determination processing unit 57 determines that the number of loops n is not less than the specified number of times (exceeds the specified number of times), the coordinates (sumX [n + 1], sumY [ n + 1]) is output to the subsequent stage as coordinates (pQX, pQY) indicating the target landing position QP. For example, the coordinates (pQX, pQY) indicating the target landing position QP are supplied to the display processing unit that displays the landing mark P shown in FIG. 1, the landing mark P is displayed, and the score according to the position is displayed. Is calculated and displayed.

In the landing position specifying processing device 51 configured as described above, the process of limiting the specific target area to the 1/4 area is repeatedly performed based on the comparison, and the specific target area is narrowed, so that the BB bullet 18 The landing position of is specified. Thereby, for example, the landing position can be obtained with higher accuracy as compared with the configuration in which the landing position is calculated based only on the impact sound of the acoustic sensor 27.

That is, when the landing position is calculated based only on the impact sound of the acoustic sensor 27, an error occurs at the time when the detection time difference Δt is calculated, and an error occurs when the minimum distance m is obtained from the detection time difference Δt. And the error will accumulate. In particular, there was a strong tendency for the error to increase as the distance from the center of the target plate 23 increased.

On the other hand, in the landing position specifying processing device 51, since the landing position of the BB bullet 18 is specified by repeating the comparison as described above, the accumulation of such errors does not occur and the landing position is accurately obtained. be able to.

Further, in the landing position specifying processing device 51, since the arrangement of the acoustic sensor 27 does not affect the calculation formula for obtaining the landing position, the acoustic sensor 27 can be freely arranged, and the versatility is enhanced. be able to.

Further, the landing position specifying processing device 51 does not need to prepare sequence data in advance as compared with the target system proposed in Patent Document 1 described above, and can specify the landing position with high accuracy and high speed. .. Further, since the accuracy of the landing position specifying processing device 51 is not limited by the array data, the accuracy of the landing position can be improved without limit.

In the target system 10, the target plate 23 is provided so as to cover a wider area than the arrangement positions of the acoustic sensors 27-1 to 27-4, and the specific target area when the area limitation process is performed for the first time is set to the acoustic sensor 27-. It can be set to include a region outside 1 to 27-4. As a result, the target system 10 can detect the landing position of the BB bullet 18 that has landed on the target plate 23 even outside the arrangement position of the acoustic sensors 27-1 to 27-4.

<Impact position identification process>
The process of specifying the landing position of the BB bullet 18 by the landing position specifying processing device 51 will be described with reference to the flowcharts of FIGS. 11 to 13.

FIG. 11 shows a flowchart illustrating the landing position specifying process.

For example, when the personal computer 13 executes the application program for shooting, the process is started, and in step S11, the landing recognition unit 52 determines whether or not the BB bullet 18 has landed. For example, in a state where the landing detection signal is not output from the control unit 29, the landing recognition unit 52 determines in step S11 that the BB bullet 18 has not landed, and performs processing until the landing detection signal is output from the control unit 29. stand by.

On the other hand, at the timing when the landing detection signal is output from the control unit 29, the landing recognition unit 52 determines in step S11 that the BB bullet 18 has landed, and the process proceeds to step S12.

In step S12, the landing recognition unit 52 recognizes the landing detection times T1 to T4 indicated by the landing detection signal output from the control unit 29. Then, the landing recognition unit 52 instructs the calculation setting processing unit 54 to start the calculation of the virtual landing position.

In step S13, the landing recognition unit 52 sets the minimum value among the landing detection times T1 to T4 (count value of the free running counter) recognized in step S12 as the minimum time Tmin indicating the timing when the impact sound is first detected. Specify as.

In step S14, the landing recognition unit 52 calculates the detection time differences Δt1 to Δt4 according to the above equation (1) and supplies them to the detection landing position calculation unit 53.

In step S15, the detection landing position calculation unit 53 uses a temperature signal indicating the current temperature detected by the temperature sensor 28 with respect to the detection time differences Δt1 to Δt4 supplied from the landing recognition unit 52 in step S14. As shown in the above equation (9), the correction is performed according to the temperature change of the sound velocity.

In step S16, the detected landing position calculation unit 53 determines the detected landing position according to the above-mentioned equation (2) or equation (3) based on the detection time differences Δt1 to Δt4 corrected in step S15 due to the temperature change of the sound velocity. Coordinates (pDX, pDY) indicating DP are calculated and supplied to the specific target area limiting unit 56.

In step S17, the calculation setting processing unit 54 initially indicates the width of the specific target area to the virtual landing position calculation unit 55 in accordance with the instruction to start the calculation of the virtual landing position by the landing recognition unit 52 in step S12. Set the value areaW and the initial height areaH.

In step S18, the calculation setting processing unit 54 refers to the virtual landing position calculation unit 55 with respect to the virtual landing position calculation unit 55.
The device origin (0, 0) is set as the initial value that becomes the coordinates (sumX [0], sumY [0]) of the upper left end A1 [0] of the specific target area.

In step S19, the calculation setting processing unit 54 clears (n = 0) the number of loops n indicating the number of times the area limitation process of step S25 is repeated.

In step S20, the calculation determination processing unit 57 determines whether or not the number of loops n is less than 10. Then, when the calculation determination processing unit 57 determines that the number of loops n is less than 10, the process proceeds to step S21.

In steps S21 to S24, the virtual landing position calculation unit 55 calculates the virtual landing position TP coordinates (pTX, pTY) when the coordinates (specX, specY) of the designated position T are landed. Coordinate calculation processing (processing of the flowchart of FIG. 11) is performed.

For example, in step S21, the virtual landing position TP1 [n] is specified as the coordinates (specX, specY) of the designated position T at the upper left end A1 [n] of the specific target area (sumX [n], sumY [n]). ] (PTX1 [n], pTY1 [n]), the first virtual landing position coordinate calculation process is performed. Further, in step S22, the coordinates (sumX [n] + W [n], sumY [n]) of the upper right end A2 [n] of the specific target area are designated as the coordinates (specX, specY) of the designated position T. The second virtual landing position coordinate calculation process for obtaining the coordinates (pTX2 [n], pTY2 [n]) of the virtual landing position TP2 [n] is performed. Similarly, in step S23, a third virtual landing position coordinate calculation process for obtaining the coordinates (pTX3 [n], pTY3 [n]) of the virtual landing position TP3 [n] is performed, and in step S24, the virtual landing position TP4 [n] is performed. ] Coordinates (pTX4 [n], pTY4 [n]) are obtained by the fourth virtual landing position coordinate calculation process.

In step S25, the specific target area limiting unit 56 performs an area limiting process (processing of the flowchart of FIG. 12) that limits the specific target area to a 1/4 area. In the area limitation process, the coordinates of the detected landing position DP calculated in step S16 (pDX, pDY) and the coordinates of the virtual landing positions TP1 [n] to TP4 [n] obtained in steps S21 to S24 (pTX1 [n]. ], PTY1 [n]) to (pTX4 [n], pTY4 [n]), the specific target area is limited to the 1/4 area.

In step S26, the calculation determination processing unit 57 increments (n = n + 1) the number of loops n indicating the number of times the area limitation process of step S25 is repeated, and then the process returns to step S20.

Then, the same process as described above is repeated until it is determined in step S20 that the number of loops n is not less than 10, and it is determined that the number of loops n is not less than 10 (more than 10). , The process proceeds to step S27.

In step S27, the calculation determination processing unit 57 repeats the area limiting process 10 times to obtain the specific target area limiting unit 56 at the upper left end A1 [10] of the specific target area having the width W [10] and the height W [10]. ] Is output to the subsequent stage as coordinates (pQX, pQY) indicating the target landing position QP.

FIG. 12 shows a flowchart illustrating the virtual landing position coordinate calculation process performed in steps S21 to S24 of FIG.

In step S31, the virtual landing position calculation unit 55 performs various initial settings necessary for obtaining the virtual landing position coordinates. For example, the virtual landing position calculation unit 55 may use the coordinates (X0, Y0) of the acoustic sensor 27-1, the X-direction spacing Xs and the Y-direction spacing Ys between the acoustic sensors 27, and the acoustic sensor 27 from the surface of the target plate 23. Set the interval Z0 to the center of, the number of clocks per 1 mm, cpm, and the like. Here, as the coordinates (specX, specY) of the designated position T, the coordinates (sumX [n], sumY [n]) of the upper left end A1 [n] of the specific target area are set in step S21, and the specific target is set in step S22. The coordinates of the upper right corner A2 [n] of the area (sumX [n] + W [n], sumY [n]) are set. Similarly, in step S23, the coordinates (sumX [n], sumY [n] + H [n]) indicating the left lower end A3 [n] of the specific target area are set, and in step S24, the right lower end A4 [n] of the specific target area is set. Coordinates indicating n] (sumX [n] + W [n], sumY [n] + H [n]) are set.

In step S32, the virtual landing position calculation unit 55 obtains the distances L1 to L4 from the designated position T to the acoustic sensors 27-1 to 27-4 by calculating the above-mentioned equation (4).

In step S33, the virtual landing position calculation unit 55 specifies the shortest distance among the distances L1 to L4 obtained in step S32 as the minimum distance m.

In step S34, the virtual landing position calculation unit 55 obtains the distance difference ΔL1 to ΔL4, which is the difference between the minimum distance m specified in step S33 and the distances L1 to L4, by calculating the above-mentioned equation (5).

In step S35, the virtual landing position calculation unit 55 converts the distance difference ΔL1 to ΔL4 into the clock number difference Δct1 to Δct4 by calculating the above-mentioned equation (6).

In step S36, the virtual landing position calculation unit 55 calculates the above-mentioned equation (7) or equation (8) to assume that the coordinates (specX, specY) of the designated position T have landed. Obtain the coordinates (pTX, pTY) indicating the position TP. That is, in step S21, the coordinates of the virtual landing position TP1 [n] (pTX1 [n], pTY1 [n]) are obtained, and in step S22, the coordinates of the virtual landing position TP2 [n] (pTX2 [n], pTY2 [n]) are obtained. ]) Is required. Similarly, in step S23, the coordinates of the virtual landing position TP3 [n] (pTX3 [n], pTY3 [n]) are obtained, and in step S24, the coordinates of the virtual landing position TP4 [n] (pTX4 [n], pTY4 [ n]) is required.

After that, the virtual landing position calculation unit 55 supplies the coordinates (pTX, pTY) indicating the virtual landing position TP to the specific target area limiting unit 56, and the virtual landing position coordinate calculation process is completed.

FIG. 13 shows a flowchart illustrating the area limitation process performed in step S25 of FIG.

In step S41, the specific target area limiting portion 56 has a comparison distance XL [n] (= pDX-pTX1 [n]) on the left side in the X direction and a comparison distance XR [n] (= pTX2 [n]-] on the right side in the X direction. pDX) Determine if it is larger than.

If it is determined in step S41 that the comparison distance XL [n] on the left side in the X direction is larger than the comparison distance XR [n] on the right side in the X direction, the process proceeds to step S42. That is, in this case, it is determined that the virtual landing position TP is included in the area on the right side of the center of the specific target area.

In step S42, the specific target area limiting unit 56 is the value sumX [n + 1] in the X direction of the coordinates indicating the upper left end A1 [n + 1] of the specific target area used in the next area limiting process (n = n + 1). ] Is updated, the process proceeds to step S43. That is, half of the width W [n] of the current specific target area is added to the value sumX [n] in the X direction of the coordinates indicating the upper left end A1 [n] of the current specific target area (sumX [n + 1]). = SumX [n] + W [n] / 2).

On the other hand, if it is determined in step S41 that the comparison distance XL [n] on the left side in the X direction is not larger (or less) than the comparison distance XR [n] on the right side in the X direction, the process proceeds to step S43. That is, in this case, it is determined that the virtual landing position TP is included in the area on the left side of the center of the specific target area, and the upper left end A1 [n + 1] of the specific target area used in the next area limitation process. ] Is used as it is for the value sumX [n + 1] in the X direction of the coordinates.

In step S43, in the specific target area limiting unit 56, the upper left end A1 [n + 1] of the specific target area updated in step S42 is on the right side of the detected landing position DP (pDX <sumX [n + 1]). ) Whether or not. That is, in step S42, the value sumX [n] in the X direction of the coordinates indicating the upper left end A1 [n] of the current specific target area is updated by adding half of the width W [n] of the current specific target area. As a result, it is confirmed whether or not the detected landing position DP is not included in the specific target area after limiting to 1/4. For example, if the addition amount in step S42 is too large and the detected landing position DP is not included in the specific target area after limiting to 1/4, the specific target area does not converge. Is required.

If the specific target area limiting unit 56 determines in step S43 that the upper left end A1 [n + 1] of the specific target area updated in step S42 is on the right side of the detected landing position DP, the process is step S44. Proceed to.

In step S44, the specific target area limiting unit 56 adjusts the value sumX [n + 1] in the X direction of the coordinates indicating the upper left end A1 [n] of the specific target area updated in step S42, and then the process is a step. Proceed to S45. For example, the specific target area limiting unit 56 subtracts half of the width W [n] of the specific target area from the current value sumX [n + 1] in the X direction (sumX [n + 1] = sumX [n +]. By 1] -W [n] / 2), the value sumX [n + 1] in the X direction is adjusted.

On the other hand, in step S43, the specific target area limiting unit 56 determines that the upper left end A1 [n + 1] of the specific target area updated in step S42 is not on the right side (on the left side) of the detected landing position DP. If so, the process proceeds to step S45.

In step S45, the specific target area limiting unit 56 is detected by the upper right end A2 [n + 1] obtained by adding the width W [n] to the upper left end A1 [n + 1] of the specific target area adjusted in step S44. It is determined whether or not it is on the left side of the landing position DP (pDX> sumX [n + 1] + W [n]). That is, as a result of adjusting the upper left end A1 [n + 1] of the specific target area in step S44, it is confirmed whether the detected landing position DP is not included in the specific target area after limiting to 1/4. For example, if the subtraction amount in step S44 is too large and the detected landing position DP is not included in the specific target area after limiting to 1/4, the specific target area does not converge. Is required.

In step S45, the specific target area limiting unit 56 detects the upper right end A2 [n + 1] obtained by adding the width W [n] to the upper left end A1 [n + 1] of the specific target area adjusted in step S44. If it is determined to be on the left side of the landing position DP, the process proceeds to step S46.

In step S46, the specific target area limiting unit 56 readjusts the value sumX [n + 1] in the X direction of the coordinates indicating the upper left end A1 [n] of the specific target area adjusted in step S42, and then the process is performed. The process proceeds to step S47. For example, the specific target area limiting unit 56 adds half of the width W [n] of the specific target area from the current value sumX [n + 1] in the X direction (sumX [n + 1] = sumX [n +]. By 1] + W [n] / 2), the value sumX [n + 1] in the X direction is readjusted.

On the other hand, in step S45, the specific target area limiting unit 56 has the upper right end A2 [n + 1] obtained by adding the width W [n] to the upper left end A1 [n + 1] of the specific target area adjusted in step S44. If it is determined that the detection landing position DP is not on the left side (on the right side), the process proceeds to step S47. That is, in this case, it is confirmed that the detected landing position DP is included in the specific target area after limiting to 1/4 in the X direction.

In step S47, in the specific target area limiting portion 56, the comparison distance YU [n] (= pDY-pTY1 [n]) on the upper side in the Y direction is the comparison distance YD [n] (= pTY2 [n]) on the lower side in the Y direction. -pDY) Determine if it is greater than.

If it is determined in step S47 that the comparison distance YU [n] on the upper side in the Y direction is larger than the comparison distance YD [n] on the lower side in the Y direction, the process proceeds to step S48. That is, in this case, it is determined that the virtual landing position TP is included in the region below the center of the specific target region.

In step S48, the specific target area limiting unit 56 is the value sumY [n + 1] in the Y direction of the coordinates indicating the upper left end A1 [n + 1] of the specific target area used in the next area limiting process (n = n + 1). ] Is updated, the process proceeds to step S49. That is, half of the height H [n] of the current specific target area is added to the value sumY [n] in the Y direction of the coordinates indicating the upper left end A1 [n] of the current specific target area (sumY [n + 1). ] = SumY [n] + H [n] / 2).

On the other hand, if it is determined in step S47 that the comparison distance YU [n] on the upper side in the Y direction is not larger than (or less) than the comparison distance YD [n] on the lower side in the Y direction, the process proceeds to step S49. That is, in this case, it is determined that the virtual landing position TP is included in the area above the center of the specific target area, and the upper left end A1 [n + 1] of the specific target area used in the next area limitation process. ] Is used as it is for the value sumY [n + 1] in the Y direction of the coordinates.

In step S49, in the specific target area limiting unit 56, the upper left end A1 [n + 1] of the specific target area updated in step S48 is below the detected landing position DP (pDY <sumY [n + 1]. ]) Judge whether or not. That is, in step S48, half of the height H [n] of the current specific target area is added to the value sumY [n] in the Y direction of the coordinates indicating the upper left end A1 [n] of the current specific target area to update. As a result, it is confirmed whether or not the detected landing position DP is not included in the specific target area after limiting to 1/4. For example, if the addition amount in step S48 is too large and the detected landing position DP is not included in the specific target area after limiting to 1/4, the specific target area does not converge. Is required.

If the specific target area limiting unit 56 determines in step S49 that the upper left end A1 [n + 1] of the specific target area updated in step S48 is lower than the detected landing position DP, the process is step. Proceed to S50.

In step S50, the specific target area limiting unit 56 adjusts the value sumY [n + 1] in the Y direction of the coordinates indicating the upper left end A1 [n] of the specific target area updated in step S48, and then the process is a step. Proceed to S51. For example, the specific target area limiting unit 56 subtracts half of the height H [n] of the specific target area from the current value sumY [n + 1] in the Y direction (sumY [n + 1] = sumX [n). By +1] -H [n] / 2), the value sumY [n + 1] in the Y direction is adjusted.

On the other hand, in step S49, the specific target area limiting unit 56 states that the upper left end A1 [n + 1] of the specific target area updated in step S48 is not below (above) the detected landing position DP. If determined, the process proceeds to step S51.

In step S51, the specific target area limiting unit 56 has a left lower end A3 [n + 1] obtained by adding a height H [n] to the upper left end A1 [n + 1] of the specific target area adjusted in step S50. It is determined whether or not it is above the detected landing position DP (pDY> sumY [n + 1] + H [n]). That is, as a result of adjusting the upper left end A1 [n + 1] of the specific target area in step S50, it is confirmed whether the detected landing position DP is not included in the specific target area after limiting to 1/4. For example, if the subtraction amount in step S50 is too large and the detected landing position DP is not included in the specific target area after limiting to 1/4, the specific target area does not converge. Is required.

In step S51, the specific target area limiting unit 56 has the left lower end A3 [n + 1] obtained by adding the height H [n] to the upper left end A1 [n + 1] of the specific target area adjusted in step S50. If it is determined that it is above the detected landing position DP, the process proceeds to step S52.

In step S52, the specific target area limiting unit 56 readjusts the value sumY [n + 1] in the Y direction of the coordinates indicating the upper left end A1 [n] of the specific target area adjusted in step S42, and then the process is performed. The process proceeds to step S53. For example, the specific target area limiting unit 56 adds half of the height H [n] of the specific target area from the current value sumY [n + 1] in the Y direction (sumY [n + 1] = sumY [n]. Readjust the value sumY [n + 1] in the Y direction by + 1] + H [n] / 2).

On the other hand, in step S51, the specific target area limiting unit 56 adds the height H [n] to the upper left end A1 [n + 1] of the specific target area adjusted in step S50, and the lower left end A3 [n + 1]. However, if it is determined that it is not above (below) the detected landing position DP, the process proceeds to step S53. That is, in this case, it is confirmed that the detected landing position DP is included in the specific target area after limiting to 1/4.

In step S53, the specific target area limiting unit 56 uses the coordinates (sumX [n + 1], sumY [n +] of the upper left end A1 [n + 1] of the specific target area finally obtained in the processes of steps S41 to S52. ]) Is supplied to the calculation determination processing unit 57. Then, the arithmetic determination processing unit 57 updates the width W [n] and the height H [n] of the specific target area (W [n + 1] = W [n] / 2, H [n + 1] = H. After [n] / 2), the area limitation process is terminated.

As described above, the error is accumulated by repeatedly performing the process of limiting the specific target area to the 1/4 area based on the comparison and specifying the landing position of the BB bullet 18 by narrowing the specific target area. It is possible to obtain the landing position with higher accuracy without doing so.

<Second configuration example of the target system>
FIG. 14 is a diagram showing a second configuration example of the target system 10. In FIG. 14, the configurations common to the target system 10 of FIG. 1 are designated by the same reference numerals, and detailed description thereof will be omitted.

The target system 10A shown in FIG. 14 has a configuration different from that of the target system 10 of FIG. 1 in that it includes a housing 20 arranged so as to surround the target device 11 and the display 12. That is, the target system 10A is configured so that the target device 11 and the display 12 are incorporated inside the housing 20, and the housing 20 is a plate-shaped member other than the front opening provided on the front side thereof. It has a structure that surrounds it.

That is, in the target system 10A, the target image 16 is visually recognized through the front opening of the housing 20, and the BB bullet 18 fired from the soft air gun 17 enters the inside of the housing 20 from the front opening of the housing 20. It enters and lands on the target device 11.

In this way, by integrally configuring the target device 11 and the display 12 using the housing 20, the target system 10A can be easily installed. Further, the positional relationship between the target device 11 and the display 12 is fixed, and it is possible to save time and effort such as adjustment required when the positional relationship changes. Further, since the positional relationship between the target device 11 and the display 12 is fixed, the accuracy of detecting the landing position can be improved.

Further, in the target system 10A, the fixing members 21 and 22 (FIG. 2) constituting the target device 11 can be fixed to the housing 20, and the support members 25 and 26 can be omitted. Further, since the target device 11 is not rolled into a roll shape as described above, either a soft or hard member may be used as the back plate 24.

It should be noted that each process described with reference to the above flowchart does not necessarily have to be processed in chronological order in the order described as the flowchart, and is a process executed in parallel or individually (for example, a parallel process or an object). Processing by) is also included. Further, the program may be processed by a single CPU or may be processed by a plurality of CPUs in a distributed manner.

Further, the series of processes described above can be executed by hardware or by software. When a series of processes are executed by software, the programs that make up the software execute various functions by installing a computer embedded in the dedicated hardware or various programs. It can be installed, for example, on a general-purpose personal computer, from the program recording medium on which the program is recorded.

FIG. 15 is a block diagram showing an example of hardware configuration of a computer that executes the above-mentioned series of processes programmatically.

In a computer, a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, and a RAM (Random Access Memory) 103 are connected to each other by a bus 104.

An input / output interface 105 is further connected to the bus 104. The input / output interface 105 includes an input unit 106 consisting of a keyboard, a mouse, a microphone, etc., an output unit 107 consisting of a display, a speaker, etc., a storage unit 108 consisting of a hard disk, a non-volatile memory, etc., and a communication unit 109 consisting of a network interface, etc. , A drive 110 for driving a removable medium 111 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory is connected.

In the computer configured as described above, the CPU 101 loads the program stored in the storage unit 108 into the RAM 103 via the input / output interface 105 and the bus 104 and executes the above-mentioned series. Is processed.

The program executed by the computer (CPU101) is, for example, a magnetic disk (including a flexible disk), an optical disk (CD-ROM (Compact Disc-Read Only Memory), DVD (Digital Versatile Disc), etc.), an optical magnetic disk, or a semiconductor. It is recorded on a removable media 111, which is a packaged medium including a memory, or provided via a wired or wireless transmission medium such as a local area network, the Internet, or a digital satellite broadcast.

Then, the program can be installed in the storage unit 108 via the input / output interface 105 by mounting the removable media 111 in the drive 110. Further, the program can be received by the communication unit 109 and installed in the storage unit 108 via a wired or wireless transmission medium. In addition, the program can be installed in the ROM 102 or the storage unit 108 in advance.

The present embodiment is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present disclosure. Further, the effects described in the present specification are merely exemplary and not limited, and other effects may be used.

11 target device, 12 display, 13 PC, 14 signal cable, 15 video cable, 16 target image, 17 soft air gun, 18 BB bullet, 19 collection mat, 20 housing, 21 and 22 fixing members, 23 target plate, 24 Back plate, 25 and 26 support members, 27-1 to 27-4 acoustic sensor, 28 temperature sensor, 29 control unit, 30 space, 51 landing position identification processing device, 52 landing recognition unit, 53 detection landing position calculation unit, 54 Calculation setting processing unit, 55 Virtual landing position calculation unit, 56 Specific target area limitation unit, 57 Calculation judgment processing unit

Claims (6)

A detection landing position calculation unit that calculates the position where the object hits the target plate as the detected landing position based on the acoustic signal that detects the impact sound generated when the object hits the target plate.
The virtual landing position, which is a virtual landing position obtained by assuming that the object hits the designated position designated on the target plate, is calculated by calculation, and a predetermined number of the virtual landing positions corresponding to the predetermined number of the designated positions are obtained. The virtual landing position calculation unit that finds
Based on the comparison between the detected landing position and the predetermined number of virtual landing positions, the size of the specific target area, which is the area specified to include the position where the object hits the target plate, is determined by the specific target. It is provided with a specific target area limiting part that limits the area to a narrow area at a predetermined ratio with respect to the area.
A target system that identifies a position where an object hits a target plate by repeatedly performing a process of limiting the specific target area by the specific target area limiting unit and narrowing the specific target area. The virtual landing position calculation unit obtains the virtual landing position with the four corners of the specific target area as the designated positions.
The specific target area limiting portion is limited to any area obtained by dividing the specific target area into four upper and lower areas and left and right, and repeats a process of narrowing the size of the specific target area to a 1/4 area. The target system described in. The specific target area limiting portion compares the detected landing position with the virtual landing position obtained with the four corners of the specific target area as the designated positions, and the detected landing position is located at the center of the specific target area. The target system according to claim 2, wherein the target system determines whether the area is included in the left, right, top, or bottom regions. After limiting the specific target area to a narrow area, the specific target area limiting portion confirms whether the detected landing position is included in the narrow area, and if the detected landing position is not included, the specific target area limiting unit does not include the detected landing position. The target system according to claim 3, wherein the position of the narrow area is adjusted. The claim that the virtual landing position calculation unit calculates the detected landing position by correcting the detection time difference of the acoustic signals output from a plurality of acoustic sensors according to the current temperature detected by the temperature sensor. The target system according to 1. The position where the object hits the target plate is calculated as the detected landing position based on the acoustic signal that detects the impact sound generated when the object hits the target plate.
The virtual landing position, which is a virtual landing position obtained by assuming that the object hits the designated position designated on the target plate, is calculated by calculation, and a predetermined number of the virtual landing positions corresponding to the predetermined number of the designated positions are obtained. Seeking,
Based on the comparison between the detected landing position and the predetermined number of virtual landing positions, the size of the specific target area, which is the area specified to include the position where the object hits the target plate, is determined by the specific target. Includes steps to limit the area to a given proportion of the area
A program of a target system that causes a computer to execute a process of specifying a position where an object hits a target plate by repeatedly performing a process of limiting the specific target area and narrowing the specific target area.

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