JP3902625B2 - Target position adjustment method for shooting system - Google Patents

Description

  The present invention relates to a target position adjusting device for a shooting system that adjusts the position of a target of a light gun shooting system including high-precision measurement of the position of a light bullet to be shot.

  Shooting is known as one of the competition events. It is desirable to use a light gun instead of a live-fired live gun that requires attention in terms of safety and handling. As shown in Patent Document 1, the position of a light bullet emitted from a light gun is detected by a mechanical coordinate system set as a target. As shown in Patent Document 2, the light energy of the light bullet is converted into an electric signal by a photoelectric converter formed on the target surface of the target. The electrical signal includes the mechanical coordinates of the landing position.

  In a competition system in which the accuracy of shooting is improved by not connecting a gun and a computer by wire, it is required to establish a technique that establishes a one-to-one positional relationship between a light bullet and a target more strictly. In the technique, it is important that the landing coordinates of the light bullet are accurately measured on the mechanical coordinate system set in the target device. In this case, in order for the landing position coordinates included in the electrical signal to be strictly measured on the mechanical coordinate system, the relative position between the target surface where the mechanical coordinate system is fixed and the photoelectric conversion surface is fixed. It is important that the relationship is closely coordinated initially before the start of the competition.

  Adjustment of the relative positional relationship between the photoelectric conversion coordinate system and the landing coordinate system is strict, and furthermore, the adjustment is required to be easy.

JP 2002-318098 A JP 2000-61129 A

An object of the present invention is to provide a target position adjustment method for a shooting system in which the adjustment of the relative positional relationship between the photoelectric conversion coordinate system and the landing coordinate system is precise.
An additional object of the present invention is to provide a target position adjusting method for a shooting system that is easy to adjust.

  The target position adjusting method of the shooting system according to the present invention includes a target (4) having a mechanical coordinate (x, y) of an irradiation point that receives irradiation of a light bullet (9), and light of the irradiation point to receive the light of the light receiving point. A target position adjustment method for a shooting system including a two-dimensional light receiving unit (13) that outputs electrical system coordinates (x ′, y ′). The target position adjustment method of the shooting system includes an adjustment step of adjusting electrical system coordinates (x ′, y ′) based on mechanical system coordinates (x, y).

  The mechanical coordinates of the landing point are electrically output immediately (in real time). The electrical output signal having information on the mechanical position coordinates of the landing point is described in the electrical system coordinates corresponding to the mechanical system coordinate one-to-one, which can increase the calculation speed of the landing point, Due to the coincidence between the electric system coordinates and the mechanical system coordinates, the detection of the mechanical system coordinates of the landing point can be made highly accurate.

  The adjustment step is performed between the target (4) and the two-dimensional light receiving unit so that the electric system coordinates (x ′, y ′) coincide with the mechanical system coordinates (0, 0) of the center point (O) of the target. Mechanical steps for adjusting the relative positions of the two. Here, the target itself used for the competition can be used as the target, but a dedicated target for position adjustment can be used. In order to adjust the geometric positional relationship between the target (4) and the two-dimensional light receiving unit (13), the position of at least one of the target (4) and the two-dimensional light receiving unit (13) is adjusted. . The mechanical step is preferably exemplified by adjusting the mounting position of the two-dimensional light receiving unit (13). The adjustment step includes an irradiation point changing step for changing the position of the irradiation point, and electrical system coordinates (x ′, y ′) are completely set to the mechanical system coordinates (x, y) of the irradiation point changed by the irradiation point changing step. A mathematical step of mathematically adjusting the electrical system coordinates (x ′, y ′) so as to coincide with each other within an allowable range. The irradiation point changing step and the mathematical step are independently executed in a plurality of regions of the coordinate system of the mechanical system coordinates (x, y), and the optical distortion of the optical part of the light receiving unit (13) is performed for each region. It is corrected. The fairness of the competition is ensured by the official referee performing such an adjustment method.

  The target position adjustment method of the shooting system according to the present invention has the principle of accuracy of coincidence between the electric seat system that easily detects the landing position and the mechanical coordinate system that expresses the landing position, and the landing position is highly accurate. Since it is converted into an electrical signal, it can be adjusted with high accuracy. Such an adjustment method consequently facilitates the adjustment work.

  Corresponding to the figures, a preferred embodiment of the target positioning method of the shooting system according to the present invention is described. As shown in FIG. 1, the plurality of shooting boxes 1 are provided with a plurality of landing position detectors 2. One shooting box 1 and one landing position detector 2 correspond one-to-one in terms of position and competition, and light bullets are fired from one shooting box 1 to a plurality of landing position detectors 2. It is not necessarily excluded. It is not excluded that a shooting competition of n guns and n targets is performed, not limited to one gun and one target. One shooting box 1 is formed by being partitioned by two partition plates 3. A square or circular target plate 4 is fixed to the front surface of the landing position detector 2.

  The front surfaces of the plurality of target plates 4 form a common plane 5. A plurality of shooting boxes 1 are formed with a common shooting permission surface 6. The common plane 5 and the common firing permissible surface 6 are parallel to each other and are both vertical surfaces.

  The landing position detector 2 emits a conical beam 8 such as a light cone beam, a light elliptical cone beam, or a rectangular cone beam generated by an infrared LED. One of the light elliptical cone beams 8 emitted from the five landing position detectors 2 reaches one shooting box 1 directly opposite to each other and does not reach two shooting boxes in principle. The laser beam 9 emitted from the laser gun 7 is a light bullet having a signal inherently corresponding to the laser gun 7 that emits the beam. The light bullet 9 has a high parallel light flux, and reaches the target plate 4 in the form of a light spot by a lens described later.

  The conical beam 8 is a launch condition signal for emitting the laser beam 9 and is received by the light receiving unit of the laser gun 7. 07 cannot fire the light bullet 9 unless it receives a physical firing condition signal. It is preferable that the conical beams 8 emitted from the plurality of landing position detectors 2 are emission condition signals that are unique in relation to the laser guns individually corresponding thereto.

  FIG. 2 shows the landing position detector 2 in detail. The housing and the internal support structure of the landing position detector 2 are designed and assembled with high rigidity so that the magnitude of thermal strain is suppressed within an allowable range. The landing position detector 2 includes a position detecting optical element 11 in addition to the target plate 4 described above. The position detecting optical element 11 includes a condensing lens 12 and a position detecting semiconductor element 13. The landing position detector 2 further includes an infrared LED 14. A CCD device or PSD is known as the position detecting semiconductor element 13. PSD is preferably used as the position detection semiconductor element 13 in terms of cost and detection speed.

The PSD 13 has a two-dimensional current generating film, and a current corresponding to the coordinate position (x, y) of the light spot that is incident on the film by the focusing lens 12 being focused on the laser beam in two dimensions. It is generated in the film in a two-dimensional direction. The PSD 13 generates a current Ix1 and a current Ix2 in the opposite directions in the x-axis direction, and generates a current Iy1 and a current Iy2 in the opposite directions in the y-axis direction. The light spot coordinate (x, y) is expressed by the following equation.
x = k (Ix2-Ix1) / (Ix2 + Ix1)
y = k (Iy2-Iy1) / (Iy2 + Iy1) (1)
Accordingly, the light spot coordinates (x, y) are determined by calculation in a one-to-one correspondence with the light spot position. The light spot position where (Ix2-Ix1) and (Iy2-Iy1) are both zero is determined as the electrical coordinate origin (0, 0) of the PSD 13. The electrical system coordinate origin is a position where the coordinate value defined by the above equation becomes zero, and coincides with the electrical center point of the PSD 13. The electrical system coordinate origin is fixed on the highly rigid housing structure of the landing position detector 2 and is defined as the electrical system mechanical origin. The target plate 4 is two-dimensionally positioned with an accuracy within an allowable range defined for the PSD 13. Such coordinate transformation correction is performed in various ways corresponding to individual characteristics of the electronic device, target attachment errors, and the like. A mechanical coordinate system including a mechanical coordinate origin is fixed to the target plate 4. The spatial relationship between the mechanical system coordinate system including the mechanical system coordinate origin and the electrical system coordinate system including the electrical system coordinate origin can be strictly adjusted as described later.

  The target plate 4 has a light scattering light transmission film, and the light bullet 9 reaching the target plate 4 is formed on the light scattering light transmission film as a substantially circular image having a diameter of about 1 mm. The substantially circular image is condensed by the condensing lens 12 and formed as a real image (the above-mentioned light spot) in a spot shape on the light receiving surface of the PSD 13. In order for each of the four currents generated by the PSD 13 to be larger than the threshold value, the light quantity of the laser beam 9 received by the PSD 13 must be larger than the threshold value. In order for the amount of light to be larger than those thresholds, the width of an optical pulse, which will be described later, must be larger than a certain width, but increasing the width means that the time from the point of impact to the detection of the position is large. Means longer.

  As shown in FIG. 3, positioning holes 17 are opened at a plurality of locations on the front side of the housing of the target plate 4 and the landing position detector 2. The positioning hole 17 on the landing position detector 2 side is positioned with high accuracy in a three-dimensional coordinate system that includes the above-described mechanical system coordinate system of the landing position detector 2 in a fixed manner. The relative positional relationship of the positioning holes 17 exactly matches the relative positional relationship of the positioning holes 17 on the target plate 4 side. The target plate 4 can be replaced depending on the sporting event, but by passing pins through the positioning holes 17 on both sides, the replaced target plate 4 is always three-dimensional (at least two-dimensional) with respect to the electrical coordinate origin of the PSD 13. ) Is strictly adjustable.

  A conical cover 18 is attached between the target plate 4 and the condensing lens 12. The conical cover 18 is a dark box that does not allow the scattered light that is formed on the target plate 4 and scattered by the target plate 4 to enter the condensing lens 12 as stray light. The condensing lens 12 and the PSD 13 are attached to the attachment substrate 19. As shown in FIG. 3, the mounting substrate 19 is firmly and highly rigidly attached to the housing portion of the landing position detector 2 by bolts 21. The landing position detector 2 includes an air cooling window and various electronic circuit units to be described later, and is a stand (shown) that is firmly installed so that the target center point of the target plate 4 is at a specified height position. Not installed).

  FIG. 4 illustrates details of the target plate 4. The target plate 4 is divided into 10 areas whose score areas are represented by 10 concentric circles. The score of the outermost ring region is 1 point, and the score of the central circle region is 10 points. A plurality of target plates 4 are prepared, and as described above, the target plate 4 to be assembled by passing the pin through the positioning hole 17 can be attached interchangeably.

  The circular geometric accuracy of the target plate 4 is sufficiently higher than the accuracy of the player's skill, but the electrical, mechanical, and optical accuracy of the PSD 13 is not sufficient. The geometric position accuracy of the condensing lens 12 with respect to the PSD 13, the mechanical accuracy related to the attachment of the condensing lens 12 and the PSD 13, and the electrical accuracy related to the electrical symmetry due to the distortion of the PSD 13 are sufficiently high by adjustment. It is important to be retained. Such an adjustment device is provided.

  The adjusting instrument is composed of a displacement mechanism for moving a fixing jig (not shown) for fixing the position detecting optical element 11 in a two-dimensional manner and a fixing base for fixing the target plate 4. . The two-dimensional displacement between the fixing jig and the displacement mechanism is given relatively. Such a fixing jig and a displacement mechanism are well known as optical instruments. Positional relationship between the displacement mechanism and the fixing jig so that the light receiving surface of the target plate 4 is parallel to the two-dimensional displacement surface of the displacement mechanism and the optical axis of the position detecting optical element 11 is orthogonal to the light receiving surface. Is appropriately adjusted in advance. The PSD 13 attached to such a displacement mechanism is arranged and attached to the support structure of the landing position detector 2 as shown in FIG. The target plate 4 is attached to the landing position detector 2 together with such a fixing jig. The above-described positioning hole 17 is formed in such a fixing jig.

  The laser is irradiated to the center point of the 10-score region of the target plate 4. The position detecting optical element 11 is continuously moved in the two-dimensional direction by the displacement mechanism. The movement is executed in a direction in which the value on the left side of the expression (1) represented by the current values Ix2 and Ix1 generated by the PSD 13 at each point during the movement decreases. The position where both (Ix2-Ix1) and (Iy2-Iy1) are zero is determined as the electrical center point of the PSD 13, and the two-dimensional scale of the displacement mechanism at that time is recorded and positioned corresponding to the scale. The electrical center point of the PSD 13 is determined as the electrical coordinate origin of the landing position detector 2.

  The PSD 13 is displaced in the x-coordinate direction and the y-coordinate direction by a displacement mechanism that fixes the PSD 13 whose electrical center point coincides with the mechanical coordinate origin, and (Ix2-Ix1) and (Iy2-Iy1) Measure. Next, the laser spot point is moved in the + x-axis direction by the length of the concentric circle interval. Next, the PSD 13 is moved in the −x-axis direction until (Ix2−Ix1) becomes zero. The scale of the displacement mechanism indicating the movement in the −x axis direction is read with respect to the scale corresponding to the origin, and x ′ is determined. Next, the laser spot point is moved in the + y-axis direction by the length of the concentric circle interval. Next, the PSD 13 is moved in the −y axis direction until (Iy2−Iy1) becomes zero. The scale of the displacement mechanism indicating the movement in the -y-axis direction is read with respect to the above-described origin corresponding scale, and y'1 is determined. The laser spot is moved on the surface of the target plate 4 in the x-axis direction and the y-axis direction, respectively, and zero points where (Ix2-Ix1) and (Iy2-Iy1) become zero respectively are found (x ′ , Y ′).

By such measurement,
x ′ = ax
y '= by
Is obtained. If the mapping relationship of the optical system including the lens or the like is ideal, j and k are the same and invariable. Such a set (x ′, y ′) does not completely coincide with the coordinates (x, y) obtained from the expression (1) at that position due to the asymmetry described above. The relationship between (x ′, y ′) and (x, y) in each case is approximately linearly expressed for each region.

x ′ = jx
y '= ky
These j and k vary according to the first quadrant to the fourth quadrant of the target plate 4, and further vary depending on the distance from the origin. The score area of the target plate 4 is preferably divided into a plurality of areas. If the area distinction number of a plurality of areas is indicated by s,
x ′ = jsx
y '= ksy
This set is set in a table (not shown) installed in 02.

  The above-described distortion correction is performed based on the fixing of the absolute position of the laser irradiation point and the relative displacement between the target plate and the PSD, but the fixing of both the target plate and the PSD and the laser irradiation are performed. And can be performed based on the displacement of the points. When distortion correction is performed by the displacement of the laser irradiation point, the target plate is irradiated with a laser, the irradiation position is visually confirmed, and the coordinates (x, y) are artificially read, and the PSD corresponding to the visual recognition position is read. Record the output coordinates (x ′, y ′). The variable conversion between (x, y) and (x ′, y ′) is as described above. The variable conversion is performed for each divided area, and the variable conversion can be expressed by a table for each divided area. In this case, no calculation is necessary. The coordinates (x, y) are not limited to orthogonal coordinates, and polar coordinates can be used instead of the orthogonal coordinates. It is preferable that the range of each of the plurality of divided regions is set to be narrow in a region far from the electrical center point of the PSD and wide in a region near the electrical center point of the PSD.

  The adjustment method can be carried out at the competition venue by technicians under the guidance of official judges. It is desirable that such adjustments by technicians be simple. A simple adjustment method is performed as follows. An appropriate light beam generator is placed in front of the landing position detector 2. A coordinate plate having small holes at 5 mm intervals in the vertical and horizontal directions is positioned and attached to the target plate 4 forming the front surface of the landing position detector 2.

  The light beam emitted from the light beam generator is irradiated to the hole at the center point of the coordinate plate. The electrical coordinate values (x ′, y ′) output by the PSD of the landing position detector 2 are (0, 0) or indicate coordinate values close thereto. The position of the target plate 4 is adjusted by slightly moving the target plate 4 together with the coordinate plate so that the electric coordinate value (x ′, y ′) becomes (0, 0). It is possible to adjust the position of the PSD 13 without adjusting the position of the target plate 4. By such adjustment, the electrical system coordinate origin (0 ', 0') of the PSD 13 exactly coincides with the mechanical system coordinate origin (0, 0) of the target plate 4 in a one-to-one correspondence.

  Following such mechanical adjustment, a mathematical adjustment is performed. A light beam is irradiated to a hole adjacent to the hole corresponding to the origin of the target plate. The coordinates (x, y) of the hole at this time are (0, 5), (5, 0) or (5, 5) in mm. In this case, the electrical coordinate values (x ′, y ′) indicated by the output of the PSD 13 do not necessarily match (5, 5). In general, the mechanical coordinate value (x, y) of the hole of the coordinate plate irradiated with the light beam does not match the electrical coordinate value (x ′, y ′) of the PSD 13 corresponding to the coordinate value. The above-described coordinate conversion is performed between the mechanical coordinate value (x, y) and the electrical coordinate value (x ′, y ′). Such coordinate transformation is translational coordinate transformation or rotational coordinate transformation.

  Such mathematical adjustment by coordinate transformation is performed for the four quadrants shown in the figure. The quadrants a, u, d, and o including the origin O determined by mechanical adjustment are adopted. Quadrants i, u, d, and o are each a square area of 100 mm × 100 mm, and each include an origin O in common. For the first quadrant i, the light spot is moved at an interval of 5 mm in the x-axis direction and the y-axis direction, and coordinates (x ′, y ′) based on the PSD output corresponding to the coordinates (x, y) of the light spot are obtained. Measure and perform the mathematical adjustments described above. Such an adjustment is performed for the other three quadrants.

  FIG. 5 shows the overall system of the competition. The landing position detector 2 including the target plate 4 corresponding to the laser gun 7 of one player is combined with the landing position detector 2 including the target plate 4 corresponding to the laser gun 7 of another player via the LAN. It is connected to the personal computer 66. The connection between the two target plates 4 and one personal computer 66 is selectively switched by the switching unit 96. The personal computer 66 displays the competitor's bib number, bullet number, the score corresponding to the bullet number, the total score, and the hit position where the light bullet hits the target plate 4 simultaneously or at time intervals. The final summary table is output from the printer 97 connected to the personal computer 66. The target plate 4 can be replaced with a 25 m target plate 4 '. In such exchange, 017 is used, and if necessary, adjustment of the coincidence between the electrical system coordinate origin and the mechanical system coordinate origin is performed by the judge.

FIG. 1 is a plan view showing a positional relationship between a gun and a target in a target position adjusting method for a shooting system according to the present invention. FIG. 2 is a side sectional view showing the target device. FIG. 3 is a front view of FIG. FIG. 4 is a front view showing the target. FIG. 5 is a system block diagram showing the competition system.

Explanation of symbols

4 ... Target 9 ... Light bullet 13 ... Two-dimensional light receiving unit

Claims (4)

A target having mechanical coordinates (x, y) of an irradiation point that is irradiated with a light bullet;
A position adjustment method of a target device including a two-dimensional light receiving unit that receives light at the irradiation point and outputs electrical coordinates (x ′, y ′) of the light receiving point;
An adjusting step for adjusting the electrical system coordinates (x ′, y ′) based on the mechanical system coordinates (x, y)
Including
The adjustment step includes
The relative position between the target and the two-dimensional light receiving unit is adjusted so that the electrical system coordinates (x ′, y ′) coincide with the mechanical system coordinates (0, 0) of the center point of the target. Mechanical step
A method for adjusting a target position of a shooting system. 2. The target position adjusting method for a shooting system according to claim 1 , wherein the mechanical step is a step of adjusting a mounting position of the two-dimensional light receiving unit. The adjustment step includes
An irradiation point changing step for changing the position of the irradiation point;
The electric system coordinates (x ′, y ′) are set so that the electric system coordinates (x ′, y ′) coincide with the mechanical system coordinates (x, y ′) of the irradiation point changed in the irradiation point changing step. mathematical steps and further the target position adjusting method for shooting system according to claim 1 comprising a mathematically adjusted. 4. The target position adjustment method for a shooting system according to claim 3 , wherein the irradiation point changing step and the mathematical step are independently performed in a plurality of regions of the coordinate system of the mechanical system coordinates (x, y).

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