KR20230130883A - A system for a firing exercise on a tactical vehicle with motion base and the controling method thereof - Google Patents

Abstract

The present invention provides shooting training while providing the same movement as an actual tactical vehicle by using a motion base system that combines a turntable that rotates and an actuator that performs a tilting movement, allowing the actual tactical vehicle occupants or tactical vehicles to interact with each other. Rotation allows infantry participating in tactical training to receive the same training as actual outdoor training by conducting live fire training while taking into account the centrifugal force, shock, or sudden movements caused by the irregular movement of the tactical vehicle. and to provide a shooting training system and method for a tactical vehicle equipped with a motion base having a tilting function.

Description

Tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions and its control method {A system for a firing exercise on a tactical vehicle with motion base and the controling method thereof}

The present invention relates to a shooting training system for a tactical vehicle equipped with a motion base with rotation and tilting functions among simulation devices for shooting live ammunition in a virtual environment and a control method thereof.

As a technology for shooting practice or shooting simulation in a virtual environment, Republic of Korea Patent No. 10-1348196 (Virtual Reality 4D Video Shooting System Using Holograms) is disclosed, and the first prior art is as shown in Figure 1. , a main control device (100) that controls each configuration according to the mounted virtual reality hologram image shooting program, a hologram display device (200) that receives the image output signal sent from the main control device and displays the virtual reality image in space, space A shooting device 300 for shooting training or games by targeting the virtual reality image displayed in the target and outputting a laser when fired, a sub-control device 400 for performing an interface between the main control device and a plurality of shooting devices, An audio device (500) that amplifies the audio signal sent from the main control device and outputs it externally, and a reaction device (600) that is attached to the shooting participant's body and generates tremors and low-frequency vibration through the signal sent from the main control device. It is composed.

At this time, the hologram display device 200 includes a beam projector 210 that receives and outputs an image output signal sent from the main control device through an interface with the main control device, and a beam projector 210 that receives and reflects the image output screen sent from the beam projector. A surface mirror or reflective screen 220, and a reflective film 230 that is disposed at an angle to the surface mirror or reflective screen and displays the image reflected from the surface mirror or reflective screen as a holographic virtual reality image in space. It is provided with a, and the shooting device 300 includes: a shooting firearm 310; A movement detection module 320 attached to the shooting firearm and used to issue a movement command in the expressed virtual reality space; A control module 330 attached to the shooting gun and controlling the operation status and laser output of the shooting gun; a flat infrared reflector 340 that receives and reflects the laser light source sent from the control module; and an infrared detector 350 that is fixed to face one of a direction toward the flat infrared reflector and a direction toward the surface mirror or reflection screen, and is configured to detect light expressed in the fixed direction.

Therefore, according to the first prior art, since virtual reality 4D video shooting training or games are conducted using holographic images, it is possible to maximize the feeling of entering the actual battle scene, and the percussion sound generated when shooting is eliminated. Since the shooting sound effect is output, it is possible to properly embody the feeling of actual shooting, providing an effect that satisfies the needs of participants.

However, since training is done using a laser gun, no matter how realistic the video shooting training is, there are bound to be differences from the training environment using actual live ammunition and actual combat equipment or facilities, and for this reason, the actual training environment is different. In the process of fighting or suppressing terrorism, unexpected mistakes can be made. In addition, although it is said that 4D video shooting is carried out, there is no concrete technical information on how to implement 4D.

Meanwhile, in the case of Republic of Korea Patent No. 10-1617358 (Simulation system using panoramic images and its simulation method), to create a more realistic feeling, an IR laser gun is used, but detection is performed with an infrared detector, and training is conducted by boarding an actual vehicle. This technology is disclosed as the second prior art.

That is, as shown in FIG. 2, the simulation system 10 using a panoramic image according to the second prior art includes a simulation device 100, a panoramic imaging device 200, an event imaging device 400, and a targeting device ( 500), a sensing device 600, an input device 700, and a control device 900.

The simulation device 100 forms a space for simulation participants Pa to participate in the simulation, and includes a main body (not shown), a display unit 120, and an image unit 140. Here, a simulation participant (Pa) for participation in the simulation can be accommodated inside the main body (not shown), and as shown in FIG. 3, a structure such as a vehicle, such as a vehicle, on which the simulation participant (Pa) can ride and participate in the simulation can also be accommodated. You can.

Certainly, compared to the first prior art, in the second prior art, more realistic training can be achieved because training is conducted aboard an actual vehicle. However, in a situation where the vehicle has no choice but to stop, It is inevitable that there will be differences from actual combat in the field.

On the other hand, as a third prior art, Republic of Korea Patent Publication No. 10-2018-0089154 (screen shooting device for multiplayer) is disclosed. As shown in FIG. 4, the gun unit 200 is capable of shooting with live ammunition. It is explained that live ammunition firearms can be used, and at this time, live ammunition firearms can be pistols, rifles, or machine guns.

In addition, in the case of using live ammunition, a specific method is presented. Since the screen unit 100 may be damaged in a short period of time if live ammunition is repeatedly applied to the screen unit 100, this problem is solved. In order to do this, a wall shell 600 is formed so that the screen unit is made of synthetic rubber so that restoration is possible when a live bullet penetrates the screen unit 100, and the wall shell wall 600 is located at the rear of the screen unit 100 when a live bullet is fired. It is installed to recover shell casings, and when a live bullet penetrates the target of the screen unit, it is specified that a thermal imaging camera 500 is used because it is difficult to identify the point of impact with a general camera.

In the case of the third prior art, since training is conducted using actual live ammunition, it will be helpful for more realistic training. However, in the case of the third prior art, there is no mention of the actual shooting condition of the shooting trainer, and there is also a question as to how accurately and quickly the thermal imaging camera will detect the point of impact.

In other words, in both the first to third prior arts, the sense of reality experienced by actual personnel engaged in shooting training in a tactical vehicle is low. That is, in the case of a tactical vehicle, it may rattle on an unpaved road, make a sudden stop or sudden acceleration, and may make a sudden stop or acceleration when driving downhill. Even though shooting must be done in a variety of environments, such as making sharp turns on the road, it would be impossible for the prior techniques to provide sufficient practical training on such actual tactical vehicles.

Moreover, in the case of the above prior art techniques, there are bound to be limitations in accurately and instantaneously detecting the point of impact when an actual bullet targets the shooting panel.

Above all, all of the above conventional techniques have a fundamental limitation in that it is impossible to know who fired the shot in the process of conducting team shooting training with multiple people at the same time.

Republic of Korea Patent No. 10-1348196 (Virtual reality 4D video shooting system using holograms) Republic of Korea Patent No. 10-1617358 (Simulation system using panoramic images and simulation method thereof) Republic of Korea Patent Publication No. 10-2018-0089154 (Screen shooting device for multiplayer) Republic of Korea Patent No. 10-1301060 (Bulletproof panel unit that prevents bullets from bouncing using rubber blocks and a bulletproof device using the same)

The present invention is intended to solve the problems of the prior technologies above, and provides shooting training while providing the same movement as an actual tactical vehicle by using a motion base system that combines a turntable that rotates and an actuator that performs a tilting movement. By conducting this, actual tactical vehicle occupants or infantry participating in tactical training with the tactical vehicle are allowed to conduct live shooting training while taking into account the centrifugal force, shock, or sudden movement caused by the irregular movement of the tactical vehicle, in an actual outdoor setting. The purpose is to provide a shooting training system and method for a tactical vehicle equipped with a motion base with rotation and tilting functions so that the user can receive the same training as the training of.

Moreover, a tactical vehicle shooting training system and its control method equipped with a motion base with improved rotation and tilting functions so that the coordinates of the shot can be immediately confirmed due to the impact of the actual warhead and the person who fired the shot can be analyzed even during team shooting training. It is intended to provide.

The above objects and other additional objects will be clearly recognized by those skilled in the art without departing from the technical spirit of the present invention by the appended claims.

A tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the first aspect of the present invention to achieve the above object includes a motion base installed on the floor (B) of the shooting range and performing rotation and tilting movements. Device; A tactical vehicle 1330 installed on the motion base device and moving together with the motion base device; An image projection screen (410) installed on the wall opposite the motion base device and on which an image screen including a target screen is projected by an image driving device (420); and a wall projectile facility (1500) in which the image projection screen (410) is located in front; It is characterized in that shooting training is performed while viewing the target on the video projection screen 410 in a state of movement of the motion base device.

Preferably, the motion base device includes: a turntable (1310) device that is rotationally coupled to the turntable driving unit (472) to perform a rotational movement with respect to the floor (B) of the shooting range; and an actuator (1320) device that is rotationally coupled to the actuator driving unit (471) to perform a tilting movement with respect to the turntable (1319) device. It is characterized in that it further includes.

Also preferably, a coordinate analysis device 430 including a plurality of vibration sensors is further included outside the wall impact facility 1500.

Also preferably, the wall surface impact facility 1500 has a wear-resistant rubber panel 1510 on the front, a bullet-resistant steel plate 1520 on the back, and a gap (" It consists of a fixing member to form a G"), and the plurality of vibration sensors sense the vibration that occurs when a bullet is struck directly from the steel plate 1520, analyze the distance using the difference in the arrival time of the vibration, and use triangulation method. It is characterized by checking the coordinates of the projectile according to .

Also preferably, a smart device 460 with a built-in shooter information and percussion detection device; By analyzing the information sensed from the coordinate analysis device 430 to estimate the bullet coordinates of the projectile, additional correction is performed based on the shooter's location information and firing time data from the smart device 460, so that the bullet coordinate analysis An arithmetic device 450 to increase accuracy; It is characterized in that it further includes.

Also preferably, the target screen is projected on the image projection screen 410 by the image driving device 420, and the image driving device 420 projects a video beam projector 420' on the image projection screen 410. It consists of a background screen driver 421 that outputs a background screen through ) and a target screen driver 422 that outputs an object that allows the shooter to shoot, and the video signal of the target screen driver 422 is a target screen driver. It is characterized in that it is displayed through a projector (420").

Meanwhile, the shooting training range according to the second aspect of the present invention for achieving the above object is a shooting training range having a video screen including a tactical vehicle shooting training system equipped with a motion base having the rotation and tilting functions, and the rotation and tilting functions. An integrated management server (100) that manages the overall shooting range, including a tactical vehicle shooting training system equipped with a motion base with a tilting function; It further includes an arithmetic unit 450 that analyzes the sensed information from the coordinate analysis device 430 to estimate the bullet coordinates of the projectile, is located in the integrated management server 100, and performs the rotation and tilting functions. A tactical vehicle shooting training system equipped with a motion base is characterized in that the result of confirmation of estimated projectile coordinates is reflected in real time on the image projection screen 410 through the image driving device 420.

On the other hand, the control method of the shooting training system for a tactical vehicle equipped with a motion base with a rotation and tilting function according to the third aspect of the present invention to achieve the above object is to shoot a tactical vehicle equipped with a motion base with a rotation and tilting function. A control method of a training system, comprising: (a) performing motion base driving and image screen output of the operations of the image driving device 420 and the motion base driving device 470 under the control of the integrated management server 100 (S100); ; and (d) receiving the hit coordinate data of the projectile from the coordinate analysis device 430 and estimating the hit coordinates; Including, in step (a), (a1) does the motion base driving unit 470 need motion base driving in the current shooting training? (S110) to check whether or not, (a2) If, as a result of the determination in step (a1), motion base operation is not necessary, first, is there a separate background screen? A step of determining whether or not (S112), and (a3), if, as a result of the determination in step (a2), a background screen exists separately from the target screen, the background screen driver is activated to first output the background screen image (S114). ), next, operating the target screen driver, outputting the target screen as an image on the background screen (S116), and if a separate background screen is not needed, immediately outputting the target screen on the video projection screen (410) Wow, (a4) As a result of the determination in step (a1) above, if motion base driving is necessary, is driving of the tilting function necessary first? Step (S121) of determining whether or not, (a5). As a result of the determination in step (a4), if necessary, driving the actuator 1320 through the actuator driving unit 47l (S123), (a6) After step (a5) above, is rotational motion necessary? It is characterized by comprising the steps of checking whether or not (a7) and, if necessary, as a result of the determination in step (a6), driving the turntable 1310 device through the turntable driving unit 472 (S127).

According to the shooting training system and control method for a tactical vehicle equipped with a motion base with a rotation and tilting function according to the present invention, i) a motion base system combining a turntable that rotates and an actuator that performs a tilting movement, By conducting shooting training while providing the same movement as an actual tactical vehicle, actual tactical vehicle occupants or infantry participating in tactical training with the tactical vehicle take into account the centrifugal force, shock, or sudden movement caused by the irregular movement of the tactical vehicle. By conducting live shooting training while doing so, you can receive the same training as actual outdoor training. Additionally, ii) it is possible to immediately check the coordinates of the hit due to the impact of the actual warhead, and iii) it has been improved so that it is possible to analyze who fired the shot even during team-specific shooting training, making it more prepared for actual combat and terrorism suppression. It can provide useful shooting training.

In addition to the above objects and effects, other objects and advantages of the present invention will become apparent through a detailed description of the embodiments with reference to the attached drawings.

1 is a configuration diagram showing a virtual reality 4D video shooting system using a hologram according to the first prior art;
Figure 2 is a control block diagram of a simulation system using a panoramic image according to the second prior art;
Figure 3 is a perspective view of a simulation device of a simulation system using panoramic images according to the second prior art;
Figure 4 is a diagram showing the overall configuration of a screen shooting device for multiplayer including a live firearm according to the third prior art.
Figures 5a and 5b are a plan view and a side view, respectively, showing a marksmanship training range using the concept of a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention.
Figure 6 shows coordinates of a bulletproof wall panel and a vibration sensor illustrating the concept of projectile coordinate estimation in a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention.
7A and 7B are diagrams showing an exemplary situation of a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention.
Figure 8 is an overall configuration diagram of a shooting range employing a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention.
Figure 9 is a detailed configuration diagram of the integrated management server 100 of Figure 8.
Figure 10a is a partially cut-away configuration diagram of a turntable device in a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention.
Figure 10b is a partial enlarged view of Figure 10a.
Figures 10c and 10d are photos of the actual operation of the tilting device in the tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention.
Figure 11 is an overall perspective view of the bullet screen bulletproof wall structure to which the bullet coordinate confirmation system using a vibration sensor according to the present invention is actually applied.
Figure 12a is a partial perspective view of Figure 11.
Figure 12b is a plan cross-sectional view of Figure 12a.
Figure 13 is a block diagram of the server 100 and the targeting device 400 in the tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention.
Figure 14 is a detailed block diagram of the smart device 460 of Figure 13.
Figure 15 is a main flowchart of a control method of a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to another aspect of the present invention.
FIG. 16 is a detailed flowchart of a subroutine for the operation of the image driving device 420 and the motion base driving device 470 of the target device 400 of FIG. 15.
FIG. 17 is a detailed flowchart of a subroutine for the operation of the smart device 460 of FIG. 15.
FIG. 18 is a detailed flowchart of a subroutine for the operation of the operation unit 450 of FIG. 15.
Figures 19a and 19b are photographs showing actual scenes of tactical training using a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention.

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

However, the attached drawings are merely for explanation in order to more easily disclose the content of the present invention, and the scope of the present invention is not limited to the scope of the attached drawings. Anyone skilled in the art can easily understand this. You will find out.

(Tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the optimal embodiment of the present invention)

First, a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to an optimal embodiment of the present invention will be described with reference to FIGS. 5A to 14.

Figures 5a and 5b are a plan view and a side view, respectively, showing a marksmanship training range using the concept of a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention, and Figure 6 is a rotation and tilting function according to the present invention. The coordinates of the bulletproof wall panel and vibration sensor illustrating the concept of estimating the bullet coordinates in a tactical vehicle shooting training system equipped with a motion base with a tilting function, and Figures 7a and 7b show a motion base with a rotation and tilting function according to the present invention. This is a diagram showing an example situation of a tactical vehicle shooting training system.

Figure 8 is an overall configuration diagram of a shooting range employing a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention, and Figure 9 is a detailed configuration diagram of the integrated management server 100 of Figure 8.

Figure 10a is a partially cut-away configuration diagram of the turntable device in the tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention, Figure 10b is a partial enlarged view of Figure 10a, and Figures 10c and 10d are the present invention. This is an actual operating photo of the tilting device in the tactical vehicle shooting training system equipped with a motion base that has rotation and tilting functions according to .

Figure 11 is an overall perspective view of the shelled screen bulletproof wall structure to which the bullet coordinate confirmation system using a vibration sensor according to the present invention is actually applied, Figure 12a is a partial perspective view of Figure 11, and Figure 12b is a flat cross-sectional view of Figure 12a.

Figure 13 is a block diagram of the server 100 and the targeting device 400 in the shooting training system for a tactical vehicle equipped with a motion base with rotation and tilting functions according to the present invention, and Figure 14 is a block diagram of the smart device 460 of Figure 13. This is a detailed block diagram.

First, referring to FIGS. 8 and 9, the entire shooting training system including the shooting training system for a tactical vehicle equipped with a motion base with a rotation and tilting function of the present invention is a shooting training system for a tactical vehicle equipped with a motion base with a rotation and tilting function. Integrated management of the shooting range, including the overall system (management of gunner access to the shooting range and bullet distribution, as well as shooting management that displays digital image targets and analyzes coordinates when shooting, recovery of shell casings after shooting, and post-fire resource management) Management server (100); an access control device (200) that allows the shooter to enter and exit the shooting range in response to the control of the integrated management server (100); an ammunition supply and shell recovery device (300) that distributes live ammunition to the shooter in response to the control of the integrated management server (100) and recovers remaining ammunition or shell shells after use; And a targeting device (400) that displays a digital image target when shooting in response to the control of the integrated management server (100), analyzes the coordinates of the impact point of the warhead at the same time as shooting, and transmits it to the integrated management server (100); It is made including.

Additionally, it is desirable to display the impact point coordinates transmitted from the integrated management server 100 on a monitor, for example, and to store them in the DB 101 for statistics and follow-up management. In other words, not only can shooting results be recorded and managed, but shooting records can also be collected to analyze shooter tendencies, and big data analysis can be used to manage various units.

And, these devices are interconnected through the internal and external network 900.

Regarding the integrated management server 100, if described in more detail with reference to FIG. 9, the integrated management server 100 detects the shooter's fingerprint through the shooter's wearable ID recognition device or an NFC recognition device such as a smartphone, or directly. A gunner registration and authentication module (110) that pre-registers training subjects as gunners through biometric recognition devices such as or pupils and recognizes them when the gunner enters and exits and controls access; A motion base control module 120 that drives a motion base used in a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention; An image projection module 130 that projects an image on an image projection screen; A monitor management module 140 that controls the display of the monitor; A coordinate recognition module (150) that recognizes the coordinates of the position of the warhead launched on the bulletproof wall behind the image projection screen and determines the shooting score or hit or not; and a safety control module (190) that issues a call or alarm in case of emergency; Includes.

Continuing to describe the operation of the access control device 200 in detail, the shooter registration and authentication module 110 of the integrated management server 100 of the tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention. Using the trainer's ID card or other authentication method, the shooter selected for shooting training is registered in the system, and a unique identification code such as a QR code is given. The unique identification code can be downloaded or sent along with the shooting target's schedule through direct text messaging.

Now, if the ID card reader 210 of the access control device 200 reads the ID card and determines that the person is subject to shooting training, it opens the door lock 230 to allow entry.

However, depending on the importance of the door, in addition to or instead of this, access may be permitted by directly scanning body information such as fingerprints or pupils using the bio scanner 220.

Optionally, primary authentication such as a password is performed when entering the gunner's waiting room, and secondary authentication is performed by reading the ID card or scanning the QR code of the person entering the gunner's waiting room when entering the firing station, and when receiving bullets from the firing station. It is also possible to use a method of performing 3rd stage biometric authentication.

In addition, the integrated management server 100 provides additional functions such as setting the level for each door and setting the access time for each door, user registration and deletion, alarm warning and display, door status display, fire interlocking and setting, and various event output. The action is performed.

Now, to describe in detail the operation of the ammunition supply and cartridge recovery device 300, the integrated management server 100 communicates with the ammunition supply device, confirms the shooter's position, broadcasts safety precautions and precautions, and then distributes ammunition. is initiated, and in response to this, the ammunition supply and cartridge recovery device 300 communicates with the integrated management server 100, checks the ammunition to be supplied to the shooter who has passed authentication, and supplies distribution ammunition to the shooter. , the target device 400 is notified that live ammunition has been supplied by communicating directly or through the server.

Moreover, after the shooting is over, the bullet supply and shell casing recovery device 300 checks the recovered shell casings. At this time, if the number of shots is less than the distributed live ammunition due to a change in circumstances, the remaining bullets are also checked, The supplied bullets, remaining bullets, and recovered shell casings are reported to the integrated management server (100).

In addition, explaining the warhead recovery and filter device 800, it prevents the spread of contamination by sucking and filtering dust generated from the projectile facility in real time and enables warhead recovery at the same time.

Figure 10 shows an example of a non-face-to-face indoor shooting range (1000) where a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to an optimal embodiment of the present invention is actually applied, and the control room (1100) is operated from the rear. ) is located, and a firing squad (1300) is located in front of it, a ceiling projectile facility is formed on the upper side, a wall projectile facility (1500) is formed around the wall, and a filter facility is formed beyond that.

Continuing with FIGS. 5 to 12, the operation of the targeting device 400 will be described in detail with primary reference to FIGS. 5 to 10D.

First, in response to the operation of the ammunition supply and cartridge recovery device 300, the targeting device 400 displays an image target or a video target, thereby enabling efficient shooting training. The image projection screen 410 is , a multi-faceted image projection screen in which several wall projectile facilities (1500) are connected in series can be used.

Now, the image driving device 420 displays the panoramic background image and target image of the video on the image projection screen 410, and on the other hand, the coordinate analysis device 430 uses a triangulation method using a vibration sensor, for example, to detect the warhead. By recognizing the coordinates of the hit point at the same time as shooting and transmitting the coordinates in real time to the integrated management server 100, it is possible to check the hit score and hit location in real time on the monitor screen of the control room as well as on the monitor.

In some cases, for example, in order to display a moving target, it may be necessary to support the use of a video beam projector 420'. In particular, if you want to practice shooting through a video target, a video beam projector (420') It is desirable that 420') outputs the background image and a separate target projector 420" that outputs only the target screen (for calculating shooting training scores) that is specifically targeted is operated separately (FIGS. 8 and 8 19).

These impact position coordinates or digital images are binarized through the converter 440, then transmitted to the computing device 450, and finally transmitted to the integrated management server 100. The calculation device 450 may be included in the targeting device 400 or may be configured as a separate device, but in the present invention, the coordinates of the point of impact must be corrected by specifically taking into account the shooter's location information and percussion time data, so the integrated management It is desirable to have it built into the server 100.

Also, preferably, in the video shooting training system of the present invention, the shooter cannot directly check a separate monitor, so when the shooter hits the subject, the integrated management server 100 sends the video driving device 420. It is desirable to immediately reflect it in the video.

In this way, by utilizing a video targeting device and a bullet coordinate confirmation system (a device that can track the position of the warhead by triangulation using multiple vibration sensors and record the coordinates in real time), a special membrane with excellent resilience is used. Since a target image is created using an image projection method such as a laser or projector and used as a target, rapid shooting is possible and various existing steps can be simplified.

In addition, explaining the warhead recovery and filter device 800, it prevents the spread of contamination by sucking and filtering dust generated from the projectile facility in real time and enables warhead recovery at the same time.

FIGS. 5A and 5B and FIGS. 7A and 7B show an example of a non-face-to-face indoor shooting range 1000 to which a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to an optimal embodiment of the present invention is actually applied. As shown, a control room (1100) is located from the rear, a video targeting device is located inside it, a shooting station (1300), which is the core of the present invention, is located in the center, and a ceiling projectile facility (not shown) is located on the upper side. is formed, and a wall shell facility (1500) that also serves as a warhead recovery device is formed on each wall, and a filter facility (1600) is formed beyond that. The shooting station 1300 is actually an area where shooting is performed, and a turntable 1310 device that performs a rotational movement is installed on the floor (B) of the shooting training range, and an actuator that performs a tilting movement on the turntable top plate 1311 of the turntable device. (1320) The device is fixedly installed, and a tactical vehicle (1330) such as an armored vehicle is mounted on the actuator top plate (1321). However, as described above, the turntable 1310 device, the actuator 1320 device, and the tactical vehicle 1330 are conceptually described separately, but it is also possible to form any two of them into one body.

Continuing, with reference to FIGS. 10A to 10D, the motion base device including the turntable 1310 and the actuator 1320 will be described in detail.

First, in the turntable 1310 device, as shown in FIGS. 10A to 10B, the turntable top plate 1311 slides a plurality of rollers 1312 fixed on the bottom plate (B) while sliding the central axis number 1313. ) is a structure that rotates around. At this time, so that the turntable top plate 1311 can smoothly slide the plurality of rollers 1312, a ring-shaped slide plate 1311a is provided on the lower side of the turntable top plate 1311, and the lower playing part of the turntable top plate 1311 has a ring-shaped slide plate 1311a on the outside. A driving slide plate (1311b) equipped with a gear train (1311c) is formed, and a pinion gear (1311d) that engages with the gear train (1311c) and rotates is connected to a servomotor, a worm reducer, and a home position detection proximity sensor (not shown). It is rotatably coupled to the turntable driving unit 472, which consists of the following.

Next, the actuator 1320 device, as shown in FIGS. 10C to 10D, has a base 1322f fixedly supported on the actuator lower plate 1324, and a plurality of (preferably) bases 1322f coupled to the actuator upper plate 1321 with a ball bearing structure. consists of (three) drive shafts 1322, and the drive shafts 1322 are installed on the base in a crank arm manner. That is, the rotation shaft 1322d, which is rotationally coupled to the actuator drive unit 472, is coupled to the upper plate 1321 through the arm 1322c, the link section 1322b, and the yoke-type link 1322a. Therefore, the servo motor and the worm As the actuator driving unit 472, which consists of a reducer and a home position detection proximity sensor (not shown), rotates, for example, the three-axis drive shaft 1322 moves up and down, ultimately enabling tilting of the actuator.

The unexplained code '1323' is a 'shock absorber' to smooth the movement.

Now, with reference to FIGS. 5 to 7B and FIGS. 13 and 14, the shooting training system for a tactical vehicle equipped with a motion base with rotation and tilting functions of the present invention will be described in detail.

The shooting training system for a tactical vehicle equipped with a motion base with a rotation and tilting function of the present invention includes an integrated management server (100) mainly placed in the control room (1100) to control shooting training; An image projection screen 410 on which a target screen is projected by an image driving device 420; A coordinate analysis device 430 that analyzes the coordinates of the impact point using vibration sensors; A smart device 460, which is a wearable device such as a smart watch with a built-in trigger detection device; and a motion base drive unit 470 that performs motion base drive by controlling tilting and rotation of the tactical vehicle. It includes, and the integrated management server 100 analyzes the sensed information from the coordinate analysis device 430 to estimate the bullet coordinates of the point where the warhead collided with the bulletproof wall, and calculates the coordinates from the smart device 460. It is characterized by including an arithmetic device 450 that improves the accuracy of bullet coordinate analysis by performing additional corrections based on the shooter's location information and percussion time data. However, the calculation device 450 does not necessarily have to be located within the integrated management server 100, and may be provided as a separate device, or may even be installed as a built-in device in the coordinate analysis device 430. .

In particular, the smart device 460 is most preferably a smart watch mounted on the wrist of the shooter (P), but it does not necessarily have to be worn on the wrist of the shooter. It detects the percussion signal generated when shooting and transmits it to the calculation device. Any device that can transmit to (450) is sufficient, and it is more desirable to additionally transmit location information data of the firearm so that the firing angle and position of the bullet can be detected.

At this time, the bullet fired from the shooter's firearm passes through the wear-resistant rubber plate 1510 of the wall ballistic facility 1500, then collides with the bulletproof wall of the ballistic steel plate 1520, fragments, and falls into the empty space between them to be recovered. As such, the vibration caused by the impact is transmitted from the impact point of the bullet steel plate 1520 of the warhead using the steel plate as a medium, and the vibration sensors (S1 to S6) attached to a certain point (for example, at the corner) of the bullet steel plate. By sensing the vibration transmitted over time, accuracy can be increased by generating a large amount of comparative data during calculation using the triangulation method.

In addition, the ultrasonic sensors convert their respective sensitivities into digital data by the converter 440 and transmit it to the operation unit 450. At this time, the temperature and humidity variables generated by the temperature and humidity sensor (S5 in FIG. 7b) are applied and transmitted. do.

As an example, the mathematical algorithm for confirming the coordinates of a projectile by the vibration sensors (S1 to S6) is briefly described with reference to FIG. 6. A total of six vibration sensors are installed at the vertex, which is the intersection of each corner, and the middle of the vertical edge. Assuming that is attached, the coordinate value of each sensor is called (xi, yi). For simplicity, if the coordinate value of S1 is called (0,0), the coordinate value of S2 can be called (a, 0). The coordinate values of S2 can be said to be (0, b), and the coordinate values of S3 can be said to be (a, b).

Accordingly, if the coordinate value of the hit point "F" is (x, y), the distances L1, L2, and L3 from the first to third sensors (S1 to S3) to the hit point, respectively, can be expressed as follows. .

At this time, for convenience of explanation, assuming that S1 detects vibration first and that L1 < L2 < L3,

d1 = L2 - L1

d2 = L3 - L1

It becomes,

Here, the product of the vibration wave speed according to the time difference (t1) between the vibration arrival times of the second sensor S2 and S1 is d1,

The product of the vibration wave speed according to the time difference (t1) between the vibration arrival times of the third sensor S3 and S1 is d2,

In the end, it is not difficult to find the two unknowns, x and y, from two simultaneous equations.

Moreover, the trajectory data of the projectile is analyzed by the computing device 450 of the integrated management server 100 to estimate the impact position of the bullet on the target, and additional correction is performed by taking into account the diaphragm sensing time difference of other vibration sensors. , the accuracy of coordinate analysis can be further improved.

Finally, the estimated bullet coordinates are displayed in real time on the monitor so that the controller and gunner (P) can immediately check them.

Continuing with reference to FIGS. 13 and 14 , the configuration of the target device 400 and the smart device 460 will be described in more detail.

First, the detailed configuration of the targeting device 400 will be described in detail with reference to FIG. 13. It is basically a conventional image projection screen 410, an image driving device 420, and a coordinate analysis device 430. To the target device, a motion base driver 470 and a smart device 460 are added.

More specifically, the motion base driving unit 470, in response to a control signal from the motion base control module 120 of the integrated management server 100, operates the turntable driving unit 472 when rotational driving of the tactical vehicle is necessary. The turntable is rotated as shown in FIGS. 10A and 10B, and when tilting driving of the tactical vehicle is required, the tilting movement as shown in FIGS. 10C and 10D is performed through the actuator drive unit 471, so that these two When motion-based movements are combined, almost all tactical vehicle movements except for crashes can be reproduced, making it possible to create a field-like environment indoors.

In addition, the image projection screen 410 is provided in the form of a panoramic screen in front of the wall shot facility 1500 of the indoor shooting range, and the image driving device 420 mainly displays the background image and target image of the panoramic video. Make sure it is displayed. That is, a background screen driving unit 421 that mainly outputs a panoramic background screen on the video projection screen 410, preferably through a video beam projector 420', and an object that allows the actual shooter to shoot (FIG. 19b) It is efficient to divide the target screen into a target screen driver 422 that outputs (see red arrow in ), and at this time, the image signal of the target screen driver 422 is displayed through the target projector 420".

Afterwards, each sensor (S1 to S6) mounted on the wall impact facility 1500 of the coordinate analysis device 430 digitizes the vibration sensing information and temperature and humidity information through the converter 440, and then digitizes the vibration sensing information and temperature and humidity information through the server 100. It is transmitted to the computing device 450.

Lastly, if the operation of the smart device 460 is described in more detail with reference to FIG. 14, a control unit 461 that controls all operations of the smart device 460, various sensors 464 to 468, and , a position detection unit 462 that detects the current location based on the sensing information of the sensors, and a percussion detection unit 463 that detects the firing of the firearm and obtains the detected firing time, and sends this information to the server through wired and wireless communication. It is configured to include a communication unit 469 that transmits data (or directly to the computing device 450).

For reference, the various sensors 464 to 468 include an acceleration sensor 464, a gyro sensor 465, a sound detection sensor 466, a BLE search sensor 467, and a mmWave sensor 468. However, these are only examples, and other sensors can be added or replaced with other sensors as long as they are suitable for the purpose of detecting the location and trigger time of the smart device.

For example, when a smart watch worn on the wrist of the shooter (P) uses an acceleration sensor to detect acceleration above a certain standard, or detects an explosion sound above a certain level, or both of these requirements are met. In this case, the trigger detection unit 463 can transmit to the calculation device 450 that a gun shot was fired at that time. Similarly, by the gyro sensor 465 and the BLE search sensor 465, the position detection unit 462 will be able to recognize the current location and height, that is, the BLE search sensor 465 or mmWave By recognizing beacon tags placed throughout the shooting range by sensors 468, the position of the shooter currently wearing the smartwatch can be detected with an accuracy of within a few centimeters, and the gyro sensor 465 can detect the position of the shooter on the wrist. By recognizing the angle of the wrist of the smartwatch worn, the height can be recognized by recognizing whether the shooter's current shooting posture is "shooting while standing" or "shooting prone." Additionally, in the present invention, a rifle gunner (P) and a machine gunner (P') mounted on an armored vehicle can train to perform joint combat together. In this case, it is worn on the wrist of each gunner (P, P'). The smart device 460 transmits this information to the server 100 or the computing device 450, thereby enabling supplementation when estimating the coordinates of the impact point.

Therefore, in the case of shooting at a stationary target, the calculation device 450 of the coordinate analysis device 430 is operated when the shooter's shooting position is significantly deviated from the normal direction, or when there is no firing within a certain period of time considering the speed at which the warhead flies. In cases where it is determined that the shot was not fired by the shooter at the designated range, even if the location of the point of impact is accurate, it is invalidated in the final shot score, allowing for more accurate shooting score management. In the case of video targets, the position of the shooter who fired the shot is taken into consideration. By resolving the trigonometric equation, a more accurate impact point can be estimated.

Now, additionally, with reference to FIGS. 10 to 12, the bulletproof wall of the wall hitting facility 1500 among the tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions of the present invention will be described in detail.

First, as shown in FIG. 11, the basic structure of the wall impact facility 1500 is that the front wear-resistant rubber plate 1510 and the rear impact steel plate 1520 are fixed with fixing members, and these assemblies are connected to the concrete wall 1560. It is a structure that is supported again. The wear-resistant rubber plate is also referred to as a bulletproof rubber panel. It can pass through high-speed warheads fired from firearms, but it does not pass through warhead fragments whose kinetic energy fragmented after hitting the steel plate falls below a certain level, ultimately It is a bulletproof rubber plate that allows warhead fragments to be recovered in the gap (“G”) between the wear-resistant rubber plate 1510 and the bullet steel plate 1520.

Meanwhile, the bulletproof wall in the present invention forms a multi-faceted image projection screen in which several panels are continuous (see Figure 11 (a)), and each unit assembly is shown in Figure 11 (b) and (c). As can be seen, a straight wear-resistant rubber plate piece 1511 and a 'Y' shaped wear-resistant rubber plate piece 1513 are placed between adjacent wear-resistant rubber plates 1510 and connected by bonding (1512).

In addition, the fixation between the wear-resistant rubber plate 1510 on the front and the bullet steel plate 1520 on the rear is through a rubber plate fixing bracket 1530' or a rubber block 1530", separated by a certain gap ("G"). while fixing it (see Figures 11 (c) and (d)).

Continuing, the fixation between the wear-resistant rubber plate 1510 and the ballistic steel plate 1520 assembly and the concrete wall 1560 is performed by attaching the upper cover steel plate 1521 and the concrete wall ( 1560) is fixed with a bullet iron plate fixing plate 1540, and as shown in Figure 11 (a) and Figure 12a (c), a wear-resistant rubber plate fixing device 1514 is attached to the bottom of the concrete wall at the bottom, and at the top. As shown in (b) of Figure 12a, it is also fixed through the wear-resistant rubber plate fixing device 1514. It is preferable that the space between the wear-resistant rubber plate 1510 and the ballistic steel plate 1520 assembly and the concrete wall 1560 be sealed, and the upper cover steel plate 1521 at the top, the base plate 1550 at the bottom, and the cover plate (not shown) on the side. It is desirable to seal it with (shown).

Finally, referring to FIG. 12b, a flat cross-sectional view shows that a gap (“G”) exists between the wear-resistant rubber plate 1510 and the bullet-pierced steel plate 1520, and below the upper cover steel plate 1521. Because it is located, it is shown as a dotted line.

'Abrasion resistance' means maintaining the properties of a rubber plate without losing its properties even if it is hit by a warhead below a certain number of times, and is used in this specification as the same concept as bulletproof.

The important point in this embodiment is that, in the case of the above (Patent Document 3), the rubber plate and the iron plate were fixed with a plurality of pins in the center of the panel, but in the embodiment of the present invention, the fixing device is installed along the edge of the panel where the possibility of being hit is low. It is important that it is placed.

(Control method for a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the optimal embodiment of the present invention)

Finally, a control method of a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to an optimal embodiment of the present invention will be described with reference to FIGS. 15 to 19B.

FIG. 15 is a main flowchart of a control method of a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to another aspect of the present invention, and FIG. 16 shows the image driving device 420 of the targeting device 400 of FIG. 15. ) and a detailed flowchart of the subroutine for the operation of the motion base driving device 470, FIG. 17 is a detailed flowchart of the subroutine for the operation of the smart device 460 of FIG. 15, and FIG. 18 is a detailed flowchart of the operation device of FIG. 15. This is a detailed flowchart of the subroutine for the operation of (450).

Figures 19a and 19b are photos showing actual scenes of tactical training using a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to the present invention. Figure 19a is a panoramic picture of a general training screen, and Figure 19b is a full panoramic picture. (a) is a scene while driving on a curved road, and (b) in Figure 19b is an actual scene of tactical training assuming the night.

The control method of a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to another aspect of the present invention includes the image driving device 420 of the targeting device 400 under the control of the integrated management server 100. and performing motion base driving and image screen output of the motion base driving device 470 (S100); Acquiring and transmitting location and firing time data of the smart device 460 when the shooter fires a gun (S200); A step in which the coordinate analysis device 430 collects sensing data from various sensors and receives the transmitted coordinate analysis device data (S300); A step (S400) where the calculation device 450 calculates the coordinates of the point of impact by taking into account data from the smart device; Has the shooting ended? A step of determining (S500); As a result of the determination in step S500, if it is not yet over, the coordinates of the current impact point are output to the shooter monitor 600, and the return is made to step S100. If shooting is over, a step of calculating a shooting training score for each shooter (S700) ); and storing the above shooting training scores for each shooter in dB (101) (S800); It consists of

The step S100 will be described in more detail with reference to FIG. 16. First, does the motion base driving unit 470 of the targeting device require motion base driving in the current shooting training? Check (S110), and if motion base operation is not necessary, first, is there a separate background screen? By determining whether a background screen exists separately from the target screen (S112), the background screen driver (421 in FIG. 13) is operated to first output the background screen image (S114), and then the target screen driver (FIG. By operating 422 of 13, the target screen is output as an image on the background screen (S116). If a separate background screen is not needed, the target screen can be immediately output on the video projection screen 410.

Meanwhile, as a result of the determination in step S110, if motion base driving is necessary in the current shooting training, is driving of the tilting function necessary first? It is determined (S121), and if necessary, the actuator 1320 is driven through the motion base control module (120 in FIG. 9) and the actuator driver (47l in FIG. 13) (S123). If not, Is rotational motion necessary immediately without step S123? Step S125 is performed to check whether or not.

In other words, is it necessary to drive the rotational motion of the tactical vehicle in step S125? It is determined (S125), and if necessary, the turntable 1310 device is driven through the motion base control module (120 in FIG. 9) and the turntable driver (472 in FIG. 13) (S127). In this case, the video output step (S112 to S116) proceeds directly without step S127.

Afterwards, the process proceeds to step S200 (smart device operation step) of FIG. 15. This will be described in detail with reference to FIG. 17. First, is it a stationary shot performed while stationary in one's own path, such as a zero-point shot? (S210), and if it is not a stationary shooting, since this is training for shooting while moving, the current location is determined (S212). Otherwise, the current location is omitted (even in this case, when entering and exiting the shooting range). Since the identity of the trainee has already been identified and pre-registered, it is assumed that the server knows which shooter is conducting shooting training in which shooting range) and checks whether the gun was fired (S214). Whether or not a gun is fired can be determined by an acceleration sensor or an impact sensor, and there may also be a method of determining it by a sound detection sensor.

As a result of the determination in step S214, if the trigger action is not detected, the check is continued, and if the trigger action is detected, the current location and trigger time data are collected and transmitted to the server 100 or the computing device 450 (S216) , proceeds to the next step, the coordinate analysis device data reception step (S300) and the impact point coordinate calculation step (S400).

Continuing, the impact point coordinate calculation step (S400) will be described in detail with reference to FIG. 18. First, the data sensed from the ultrasonic sensors (S1 to S4) is primary as predetermined according to the temperature and humidity measured by the temperature and humidity sensor (S5). It is corrected (S410), and from this, the coordinates of the impact point of the projectile are calculated (S412 to S416). For example, the speed of the projectile is calculated from the shock wave sensing time of the first and fourth ultrasonic sensors (S1 and S4) (S412), and the shock wave detection delay of the first to third ultrasonic sensors (S1 to S3) forming the sensor array is calculated. The distance from the impact point for each sensor is calculated over time (S414), and from this, the coordinates of the impact point are estimated (S416).

Afterwards, was there a smart device for the shooter who fired within a certain period of time considering the distance from the firing point to the point of attack? Check whether it exists (S418), and if it does not exist, it is treated as an error because it is an ultrasonic detection caused by a stray bullet or grenade or for other reasons, and conversely, as a result of the judgment in step S418, the trigger is fired within the above-mentioned certain time. If the smart device 460 of the shooter existed, is the location of the shooter who fired the gun in the correct position? It is checked (S422) whether this is a shot by the gunner at a given range in the case of zero point shooting or stationary target shooting. And in the case of video target shooting training, this is to correct the coordinates of the point of impact.

First, as a result of the judgment in step S422, if the shooter's position is at the correct position, the next step (S426) is performed immediately. Otherwise, the impact point coordinates are calculated by solving the trigonometric equation by the angle deflected according to the shooter's position. After correcting the coordinates (S424), the process proceeds to the next step (S426).

In other words, at step S426, is the shooter with legitimate authority? This is determined (S426). For example, in the case of fixed-position shooting, did the gunner in question fire? Or did the gunner in the next lane fire? In the case of team shooting training, is it a team member's shooting? It is to determine whether or not.

In any case, as a result of the judgment in step S426, if the shot is not made by a shooter with legitimate authority, an error is displayed and the impact point is ignored (S428). Conversely, if the shot is made by a shooter with legitimate authority, the impact point coordinates are After the score is reflected in the shooting score of the corresponding shooter (S430), it returns to step S500 of FIG. 15.

As discussed above, according to the shooting training system for a tactical vehicle equipped with a motion base with rotation and tilting functions and its control method of the present invention, (1) almost all movements of an actual tactical vehicle can be reproduced, so that it can be used in various environments (2) It is possible to conduct close shooting training and tactical training, and (2) ensures safety by providing a bulletproof wall that doubles as a warhead recovery during live-fire shooting training. When a bullet impacts the bulletproof steel panel at the rear, the vibration is directly absorbed. Since the coordinates of the projectile are confirmed by sensing with two vibration sensors, it is possible to check the coordinates of the projectile using a more accurate vibration sensor in a wider range with less influence from the environment. (3) During live-fire shooting training, the shooter who actually fired the shot and his By identifying and taking into account the location, the accuracy of the impact point estimation can be improved and the accuracy of each shooter's individual performance can be improved. (4) It is possible to estimate the impact point more accurately even during team training using multi-faceted image targets, and the image impact point can be estimated more accurately. The effectiveness and practicality of training can be increased.

Although the present invention has been described above according to an embodiment of the present invention, changes and modifications made by those skilled in the art without departing from the technical spirit of the present invention do not fall within the scope of the present invention. Of course.

100: Integrated management server
101 : DB
110: Gunner registration and certification module
120: Motion base control module
130: Image projection module
140: Monitor management module
150: Coordinate recognition module
190: Safety control module
200: Access control device
210: ID card reader
220: Bio scanner
230: door lock
300: Ammunition supply and shell recovery device
400: Targeting device
410: Video projection screen
420: Image driving device
420': Beam projector
420": Target projector
421: Background screen output unit
422: Target screen output unit
430: Coordinate analysis device
430': Camera
440: converter
450: Operation device
460: Smart device
461: Control unit
462: Position detection unit
463: Shock detection unit
464: Acceleration sensor
465: Gyro sensor
466: Sound detection sensor
467: BLE search sensor
468: mmWave sensor
469: Department of Communications
470: Motion base driving unit
471: Actuator driving part
472: Turntable driving part
800: Warhead recovery and filter device
900: Network
1000: Indoor shooting range
1100: Control room
1200: Waiting room
1300: Four generations
1310: turntable
1311: Turntable top
1311a: Ring-type slide plate
1311b: Driven slide plate
1311c: gear train
1311d: pinion gear
1312: roller
1313: Axle
1320: Actuator
1321: Actuator top plate
1322: Drive shaft
1322a: Yoke-type link
1322b: Link clause
1322c: arm
1322d: rotation axis
1322f: Expect drive shaft
1323: Shock absorber
1324: Actuator lower plate
1330: Tactical vehicle
1500: Bullet facility
1510: Wear-resistant rubber plate
1511: Piece of wear-resistant rubber plate
1512: Bond adhesive surface
1513: Piece of wear-resistant rubber plate
1514: Wear-resistant rubber plate fixture
1520: Bullet steel plate
1521: Top cover steel plate
1530: Fixing member
1530': Rubber plate fixing bracket
1530": Rubber block
1540: Bullet steel plate fixing plate
1550: base plate
1560: Concrete wall
1700: Vibration sensor
B: Shooting range floor
F: warhead
G: Gap between the rubber plate and the bullet steel plate
P, P': Shooter
S1 ~ S6: Vibration sensor

Claims (8)

A tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions,
A motion base device installed on the floor (B) of the shooting range to perform rotational and tilting movements;
A tactical vehicle 1330 installed on the motion base device and moving together with the motion base device;
An image projection screen (410) installed on the wall opposite the motion base device and on which an image screen including a target screen is projected by an image driving device (420); and
A wall impact facility (1500) in which the image projection screen (410) is located in front;
Includes,
A shooting training system for a tactical vehicle equipped with a motion base with a rotation and tilting function, characterized in that shooting training is performed while viewing the target on the video projection screen 410 in a state of movement of the motion base device. According to claim 1,
The motion base device,
A turntable (1310) device that is rotationally coupled to the turntable driving unit (472) and performs a rotational movement with respect to the floor (B) of the shooting range; and
An actuator (1320) device that is rotationally coupled to the actuator driving unit (471) to perform a tilting movement with respect to the turntable (1319) device;
A tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions, further comprising: According to claim 1,
A tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions, characterized in that it additionally includes a coordinate analysis device 430 including a plurality of vibration sensors outside the wall projectile facility 1500. According to claim 3,
The wall projectile facility 1500 forms a wear-resistant rubber panel 1510 on the front, a projectile iron plate 1520 on the rear, and a gap (“G”) between the wear-resistant rubber panel 1510 and the projectile iron plate 1520. It is made up of a fixing member that allows
Rotation and rotation, characterized in that the plurality of vibration sensors sense the vibration generated when a bullet is struck directly from the bullet steel plate 1520, analyze the distance using the difference in the arrival time of the vibration, and confirm the coordinates of the bullet according to the triangulation method. Tactical vehicle shooting training system equipped with a motion base with tilting function. According to claim 3,
A smart device (460) with a built-in shooter information and percussion detection device;
By analyzing the information sensed from the coordinate analysis device 430 to estimate the bullet coordinates of the projectile, additional correction is performed based on the shooter's location information and firing time data from the smart device 460, so that the bullet coordinate analysis An arithmetic device 450 to increase accuracy;
A tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions, further comprising: According to claim 1,
A target screen is projected on the image projection screen 410 by the image driving device 420,
The image driving device 420 includes a background screen driving unit 421 that outputs a background image on the image projection screen 410 through a video beam projector 420', and an object that allows the shooter to shoot. It consists of a target screen driving unit 422, and the image signal of the target screen driving unit 422 is displayed through a target projector 420". A tactical vehicle shooting equipped with a motion base with rotation and tilting functions. training system. A shooting training range having a video screen including a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions according to claim 1,
An integrated management server (100) for overall integrated management of the shooting range, including the tactical vehicle shooting training system equipped with the motion base having the rotation and tilting functions;
It further includes,
An arithmetic unit 450 that analyzes the sensed information from the coordinate analysis device 430 and estimates the bullet coordinates of the projectile is located in the integrated management server 100,
A shooting training range characterized in that the result of confirming the coordinates of a ballistic missile estimated from the tactical vehicle shooting training system equipped with a motion base having the rotation and tilting functions is reflected in real time on the image projection screen 410 through the image driving device 420. . A control method for a tactical vehicle shooting training system equipped with a motion base having the rotation and tilting functions of claim 1, comprising:
(a) a step (S100) of driving the motion base of the operations of the image driving device 420 and the motion base driving device 470 under the control of the integrated management server 100 and outputting the video screen; and
(d) receiving the hit coordinate data of the projectile from the coordinate analysis device 430 and estimating the hit coordinates;
Including,
In step (a),
(a1) Does the motion base driving unit 470 require motion base driving in the current shooting training? A step (S110) of checking whether
(a2) If, as a result of the determination in step (a1) above, motion base operation is not necessary, is there a separate background screen? A step of determining whether or not (S112),
(a3) As a result of the determination in step (a2), if a background screen exists separately from the target screen, the background screen driver is activated to first output the background screen image (S114), and then the target screen driver is activated. , outputting the target screen as an image on the background screen (S116), and if a separate background screen is not needed, outputting the target screen immediately on the video projection screen (410);
(a4) As a result of the determination in step (a1) above, if motion base driving is necessary, is it necessary to drive the tilting function first? A step (S121) of determining whether or not
(a5) As a result of the determination in step (a4), if necessary, driving the actuator 1320 through the actuator driving unit 47l (S123),
(a6) Is rotational motion necessary after step (a5) above? Steps to check whether
(a7) As a result of the determination in step (a6), if necessary, driving the turntable 1310 device through the turntable driving unit 472 (S127)
A control method for a tactical vehicle shooting training system equipped with a motion base with rotation and tilting functions, characterized in that:

Images