JP5342854B2 - Simulated combat device for shooting training - Google Patents

Description

  The present invention automatically shoots a moving target from image information obtained from a camera and shoots a simulated counter-shooting training by irradiating a laser beam simulating shooting at the center of the target. It is related to a countermeasure device.

  Conventionally, when performing shooting training, it has been common to use a target device that simulates the shape of a human being, etc., but a large drive control mechanism is required to perform the concealment operation of the target part, which is economical There was a problem in terms of (device procurement), and the trainer could find the target relatively easily due to the structure of the target device, which hindered practical training.

  In the conventional target device, the laser strike-back mechanism is basically integrated with the target part, but since the aiming function is not provided, it is not possible to accurately irradiate the trainee with laser light by remote control. It was difficult. For this reason, it is necessary to irradiate a wide laser beam different from the characteristics of shooting (actual bullets) as a solution, and there was a problem in the simulation realization of practical training.

  Conventional target devices are structurally large-scale devices, so the installation location of the target device is limited, battery size increases due to increased power consumption, difficulty in deployment / removal, and economics (equipment availability) ) Worsening.

  Further, in a general counter-fire training apparatus, it is necessary for a trainer to prepare a counter-trainer in order to improve his / her training level, which also has an operational problem.

In addition, although it is possible to consider a simulation training apparatus for shooting training, which performs image processing based on camera images and automatically tracks the target, and performs simulated counter shooting training by irradiating the target with laser light that simulates shooting. In this case, since the target device is installed in a small and stationary state, it is difficult for the trainer to find and recognize the enemy (target device) at a relatively long distance. Moreover, since it did not have the function of concealing the target portion, there was a problem in carrying out more practical training.
JP 2005-147598 A

  The present invention has been made in view of the above circumstances, and by making the target part a structure simulating a humanoid and providing a manipulator mechanism, it is possible to realize the hidden operation of the target part in the vertical and horizontal directions. It is an object to provide a simulation counter device for shooting training using a target device close to a real battle.

  In order to achieve the above-mentioned object, a simulation training apparatus for shooting training according to the present invention includes an I / F processing circuit that receives video data output from a camera, performs image processing, and outputs target tracking information and a motor drive signal. An aiming direction indication LED for displaying a standard direction based on target tracking information from the I / F processing circuit, and a visual sight for irradiating a target with a visible laser based on target tracking information from the I / F processing circuit; A projector that emits a laser beam that simulates shooting with a laser code from the I / F processing circuit, and a drive that moves the projector, the visual sighting device, and the camera by a motor drive signal from the I / F processing circuit Shooting with a motor, a light receiver that receives laser light and outputs a laser reception signal to the I / F processing circuit, and a display signal from the I / F processing circuit Target unit provided with a shooting / wear indication LED that simulates a shot, and a speaker that emits a simulated simulation sound by a signal from the I / F processing circuit, and a drive mechanism unit that moves the target unit up and down, left and right A target device including the drive mechanism unit, the target unit, and a radio, a projector that is mounted on a gun and that emits laser light that simulates shooting, and a light receiver that can be mounted on a trainee and receives laser light And a detector having a wireless device.

  The simulation training apparatus for shooting training according to the present invention makes it possible to easily and easily perform the training without preparing a training trainee, and allows the target apparatus to perform complicated concealment operation functions (up / down / left / right). Can provide a more practical training environment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a system explanatory diagram showing the entire system of a simulation training apparatus for shooting training according to an embodiment of the present invention. In FIG. 1, 11 is a target device having a laser transmission / reception unit which is a simulation counter device for shooting training, 12 is a personal computer which is a control unit, 13 is a radio (normally a wireless LAN device) which is a configuration of the control unit, and 14 is A joystick (or mouse) which is a configuration of the control unit, 15 is a moving target which is a trainee with a detector, 16 is an actual or simulated gun with a projector, 17 is a laser beam, 18 is a laser beam, 19 Is the shooting start instruction and target aiming position control data, 20 is video data and bullet data, 21 is bullet data and the like.

  As shown in FIG. 1, a laser beam 17 can be emitted from a projector mounted on an actual gun or a simulated gun 16 possessed by a moving target (trainer) 15. Further, the laser beam 18 can be irradiated from a projector mounted on the target device 11. Video data 20 captured by a camera mounted in the target device 11 is always displayed on the personal computer 12 by the control unit radio 13 through a wireless system.

  The operator sees the video displayed on the personal computer 12 and operates the joystick 14 to transmit the shooting start instruction and the control data of the target aiming position to the target device 11 from the personal computer 12 via the wireless device 13 by wireless. In addition, shooting can be performed from the projector of the target device 11. With respect to one screen among a plurality of screens based on a plurality of video data from a plurality of target devices 11, target aiming and shooting can be controlled by manual operation.

  FIG. 6 is an explanatory diagram showing an example of a display / operation screen on a personal computer which is a control unit according to the embodiment of the present invention.

  Further, when the laser beam 17 emitted from the moving target (trainer) 15 hits the target device 11, the hit data 20 from the target device 11 is transmitted to the personal computer 12 via the wireless device 13 by the wireless system, The result is displayed on the screen on the personal computer 12.

  On the other hand, when the laser beam 18 from the projector of the target device 11 hits the photodetector of the detector mounted on the moving target (trainer) 15, the shot data from the detector mounted on the moving target (trainer) 15. 21 is transmitted wirelessly to the personal computer 12 via the wireless device 13 and the result is displayed on the screen on the personal computer 12.

  FIG. 2 is a configuration explanatory view showing a target device according to the embodiment of the present invention, and FIG. 3 is a perspective view of the target device according to the embodiment of the present invention.

  2 and 3, 28 is a drive signal, 29 is control data or video data or hit data, 30 is a radio, 31 is a control unit, 32 is a drive motor, 33 is a projector, 34 is a camera, 351 is an aiming direction. LED (light emitter), 352 shooting / wear indicator LED (light emitter), 36 speaker, 37 light receiver, 38 battery, 39 AC / DC converter, 40 video data, 41 laser Code, 42 drive signal, 431, 432 display signal, 44 firing simulation audio signal, 45 laser reception signal, 46 target unit, 47 I / F processing circuit, 48 visual sighting device, 49 drive signal , 50 is a drive mechanism section.

  As shown in FIGS. 2 and 3, the target unit 46 is attached to the control unit 31, which is a pedestal of the target device 11, via the drive mechanism unit 50. The drive mechanism 50 is provided with a rotatable connecting portion 503 at an intermediate portion between the arm 501 and the arm 502, and a lower end portion of the arm 501 is rotatably attached to the control unit 31 and an upper end portion of the arm 502 is attached to the target portion 46. Mounted rotatably. The drive mechanism unit 50 can receive the drive signal 28 from the control unit 31 and move the target unit 46 up and down, left and right. A projector 33, an aiming direction indication LED 351, a shooting / wear indication LED 352, a speaker 36, a light receiver 37, and a visible aiming device 48 are provided on the front surface of the target unit 46. By operating the personal computer 12 of the control unit, the control unit 31 performs the concealment operation of the target unit 46 by the drive mechanism unit 50 via the wireless devices 13 and 30.

  That is, the I / F processing circuit 47 is a circuit that controls the entire target device 11, and an algorithm execution circuit for image processing / automatic tracking is mounted therein. Video data 40 output from the camera 34 is always output to the I / F processing circuit 47, and is converted into image processing, target tracking information, and a motor drive signal 42 in real time by the I / F processing circuit 47. Based on the target tracking information, the current aiming direction LED 351 disposed on the front surface of the target unit 46 is lit and displayed. Further, during tracking, a visible laser is irradiated to the target by the visible sighting device 48. The motor drive signal 42 is output to the drive motor 32, and turns the projector 33, the visual sighting device 48, and the camera 34, which are integrated with the drive portion, in the target direction. Based on the shooting start information received from the wireless device 30, the I / F processing circuit 47 generates a laser code 41 and outputs it to the projector 33.

  The projector 33 transmits laser light that simulates shooting based on the laser code 41. Simultaneously with the transmission of the laser light, a display signal (flashing operation) 432 for indicating the shooting operation is output to the shooting / wear display LED 352. At the same time, a fire simulation sound signal 44 simulating a shooting sound is output to the speaker 36.

  The laser reception signal 45 output from the light receiver 37 is output to the I / F processing circuit 47, and a signal exceeding a certain threshold value is extracted by the reception circuit in the I / F processing circuit 47 to make a hit determination. The hit result is immediately sent to the control unit personal computer 12 through the radio units 30 and 13, and is output as a display signal (always lit) 432 to the shooting / wear indication LED 352 for hit indication.

  The power used inside the target device 11 is supplied by the battery 38 or the AC / DC converter 39.

  FIG. 7 is a flowchart showing an algorithm of image processing / automatic tracking processing according to the embodiment of the present invention. As shown in FIG. 7, image data (video data) is input to the algorithm execution circuit of the I / F processing circuit 47 in step S1. In step S2, the image data is binarized. In step S3, the background is removed from the binarized image data, and the target is extracted in step S4. In this case, the background is removed using the previous frame data in step S5. The target area / center of gravity extracted in step S6 is calculated. The target is determined from the target area / center of gravity calculated in step S7. If no target is detected in step S8, the process returns to step 1.

  When the target is detected in step S8, in the target position prediction in step S13, the traveling direction and speed are calculated from the target output position and the past target position, and from that value to the time until the next image input. Predict the position to move to. Next, in the predicted position test in step S14, an arbitrary test width is provided at the predicted position center calculated in step S13 to test whether the currently detected target position exists within the test width. If it is within the verification range, “target target” is set, and if it is outside the verification range, “different target” is set and tracking processing is not performed. Next, if the target predicted position is not within the prediction range in step S15, the process returns to step 1 as erroneous detection.

  If the predicted position of the target is within the prediction range in step S15, how far the moving target is from the image center (follow-up error) is calculated as the image center position error calculation in step S16. Next, as an anticipation angle calculation in step S17, an offset angle corresponding to the image processing time is calculated from the traveling direction and speed calculated in step S13. Next, in the target instruction angle calculation (azimuth / height) in step S9, the offset angle calculated in step S17 is added to the target instruction angle performed in the automatic tracking process.

  Next, in step S10, the drive motor is driven so that the calculated target instruction angle (azimuth / high / low) is obtained. If the current directivity angle (azimuth / high / low) of the drive motor driven in step S11 is detected, and the current directivity angle (azimuth / high / low) of the drive motor is not the target indication angle (azimuth / high / low) in step S12 Returning to step S10, if the current directivity angle (azimuth / high / low) of the drive motor is the target indication angle (azimuth / high / low), the flow returns to step S1.

  Steps S13 to S15 are false detection prevention processing steps, and steps S16 to S9 are shooting accuracy improvement processing steps.

  As described above, the I / F processing circuit 47 prevents the erroneous detection of another target by automatically identifying and separating the target from the video data 49 output from the camera 34, and keeps moving. A motor drive signal 42 of an indicated angle (azimuth / high / low) whose shooting accuracy is improved by performing position prediction on the target is output to the drive motor 32.

  4A and 4B are a configuration explanatory view and a perspective view showing the projector according to the embodiment of the invention. 4A and 4B, 51 is a projector, 52 is a laser drive circuit, 53 is a trigger sensor, 54 is a laser diode, 55 is an optical system, and 56 is a battery.

  As shown in FIGS. 4A and 4B, the projector 51 is mounted on the real gun or the simulated gun 16 possessed by the moving target (trainer) 15 and operates the trigger sensor 53 of the projector 51 to operate the laser. Light 17 can be irradiated.

  In the laser drive circuit 52 of the projector 51, the individual number (ID) is initially set by an initial setting signal based on an internal switch or communication from the outside (light or radio wave). The ID data is given to the laser code generated by the laser drive circuit 52.

  When the trigger sensor 53 detects that the trigger is pulled, a detection signal is output to the laser drive circuit 52.

  The laser code generated in the laser drive circuit 52 is output to the laser diode 54 as a laser drive signal. The laser output light output from the laser diode 54 upon receiving the laser drive signal is condensed by the optical lens of the optical system 55 and emitted to the outside. The power necessary for the internal circuit of the projector 51 is supplied from the battery 56.

  FIGS. 5A and 5B are a configuration explanatory view, a front view, and a rear view showing the detector according to the embodiment of the present invention. 5A and 5B, 61 is a light receiver, 62 is a laser light receiving circuit, 63 is a control circuit, 64 is a radio, 65 is a buzzer, 66 is a light emitter, 67 is a battery, and 68 is initial setting data. It is.

  As shown in FIGS. 5 (a) and 5 (b), a plurality of light receivers 61 are attached to the front and rear surfaces of the training clothes worn on the body of the moving target (trainer) 15 and the head helmet. Are attached to the front and rear of each. A laser receiving circuit 62, a control circuit 63, a radio 64, a buzzer 65, a light emitter 66, and a battery 67 are attached to training clothes worn on the body of the moving target (trainer) 15.

  The light receiver 61 receives the laser light emitted from the target device 11. The light receiver 61 outputs a laser light reception signal to the laser light reception circuit 62 based on the received laser light. The laser light receiving circuit 62 extracts a signal exceeding a certain threshold with respect to the input laser light receiving signal, and performs a hit determination. The hit result is output to the control circuit 63.

  In the control circuit 63, the hit data 21 as a result of the hit is immediately transmitted to the personal computer 12 which is the control unit by radio system via the radio 64, and a buzzer sounding signal is output to the buzzer 65 for the hit indication. At the same time, a light emission (lighting) signal is output to the light emitter 66 to emit light. The battery 67 supplies power necessary for the internal circuit of the detector.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.

BRIEF DESCRIPTION OF THE DRAWINGS It is system | strain explanatory drawing which shows the whole system of the simulation opposing apparatus for shooting training which concerns on embodiment of this invention. It is composition explanatory drawing which shows the target apparatus which concerns on embodiment of this invention. It is a perspective view of the target device concerning the embodiment of the present invention. (A), (b) is the structure explanatory drawing and perspective view which show the projector which concerns on embodiment of this invention. (A), (b) is composition explanatory drawing, a front view, and a rear view showing a detector concerning an embodiment of the present invention. It is explanatory drawing which shows the example of a display / operation screen on the personal computer which is the control part which concerns on embodiment of this invention. It is a flowchart which shows the algorithm of the image process and automatic tracking process which concerns on embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11 ... Target apparatus, 12 ... Personal computer which is control part, 13 ... Radio | wireless machine (normally wireless LAN apparatus) which is the structure of control part, 14 ... Joystick (or mouse) which is the structure of control part, 15 ... Detector 16 ... Real gun or simulated gun equipped with a projector, 30 ... Radio device, 31 ... Control unit, 32 ... Drive motor, 33 ... Projector, 34 ... Camera, 351 ... Aiming direction indication Indicator LED (light emitter), 352 ... Shooting / wear indicator LED (light emitter), 36 ... speaker, 37 ... receiver, 38 ... battery, 39 ... AC / DC converter, 46 ... target part, 47 ... I / F processing circuit, 48... Visible sight, 50.

Claims (1)

An I / F processing circuit that receives video data output from the camera, performs image processing, and outputs target tracking information and a motor drive signal;
And aiming direction current-LED indicating the aiming direction by target tracking information from the I / F processing circuit,
A visual sighting device for irradiating a target with a visible laser according to target tracking information from the I / F processing circuit;
A projector that emits laser light that simulates shooting with a laser code from the I / F processing circuit;
A drive motor that moves the projector, the visual sighting device, and the camera in accordance with a motor drive signal from the I / F processing circuit;
A light receiver that receives laser light and outputs a laser reception signal to the I / F processing circuit;
A shooting / wear indication LED for simulating shooting and hit by a display signal from the I / F processing circuit;
A loudspeaker that emits a simulated firing sound in response to a signal from the I / F processing circuit;
A target portion comprising:
A drive mechanism for moving the target portion up and down, left and right; and
A target device comprising the drive mechanism unit, the target unit and a wireless device;
A projector that is mounted on a gun and emits laser light that simulates shooting;
A simulation training apparatus for shooting training, which is equipped with a photodetector that can be attached to a trainee and that receives a laser beam and a radio.

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