KR20230131378A - Shooting training and drone target system having warhead trapping function - Google Patents

Abstract

The present invention is a drone target covering structure that is used in a shooting training system using a drone that has its own ballistic coordinate estimation function during live shooting training of a firearm and has a warhead recovery function, and is a target device installed in the target 401 with a bulletproof function. Targeting device 400 including (410); and a warhead recovery device (800) installed in front of the target device (410) to recover warheads that have passed through the targeting device. However, the targeting device 400 includes a target device driving device 411 that drives the target device 410 according to a shooting start command from the control room 1100, and a target device 411 so that the drone can land. It further includes a drone landing pad (412) installed on the arc (401) as spaced upward as the target plane (410), and a bulletproof wall (413) to protect the drone from a warhead installed behind the drone landing pad (412). It is characterized by

Description

Drone target cover structure with warhead recovery function and shooting training system using the same {Shooting training and drone target system having warhead trapping function}

The present invention relates to a shooting training system and method using a robot target, and in particular, a drone target covering structure capable of automatically detecting the location of a hit by analyzing the detection signal of an acoustic sensor during live shooting training of a firearm and having a warhead recovery function, and the same. This is about a shooting training system using a robot target.

In a conventional live ammunition shooting range, the identity of the shooter is confirmed, each shooter receives a target, the bullets are distributed, the target is attached at each shooting station, the target is moved to a set distance, and shots are fired at each target. Afterwards, shooting training was conducted by returning the target to the firing range, retrieving the target, and checking the point of impact and score.

However, recent smart shooting ranges sometimes use a system called Location of Miss And Hit (LOMAH) or smart target, which automatically recognizes the point of impact by sensing the shock wave generated by the warhead. For this, please refer to Republic of Korea Patent No. 10-1997387 (Method and device for estimating impact point using an acoustic sensor) and Republic of Korea Patent No. 10-1943631 (TDoA-based rifle firearm impact point estimation system).

However, in order to adopt such a system at a shooting range, expensive equipment must be installed separately for each live-fire range at each shooting range, so not only is a large initial cost invested, but also a lot of maintenance costs are required to operate these systems even after installation. do. In particular, long-distance shooting ranges are usually installed outdoors, and in a harsh weather environment such as rain or snow or typhoons, as in Korea, where seasonal temperature differences are large, it is uneconomical to leave it outdoors as it leads to premature failure of expensive equipment.

For this reason, most frontline units still have no choice but to operate long-range shooting ranges in the traditional manner by attaching target sites.

Meanwhile, recently, a shooting practice system using a moving object such as a drone or robot has been proposed, and as an example, Republic of Korea Patent No. 10-1968896 (Shooting system and method using a drone) is disclosed as the first prior art. .

When explaining this with reference to FIGS. 1 to 3, the first prior art includes a preparation step of preparing a drone 100 with set takeoff and landing and flight trajectories and a laser gun 200 that emits laser light; A flight step of flying the drone; A firing step of firing laser light with the laser gun toward the flying drone; It includes a shooting down step in which the drone receives laser light emitted by the laser gun and is shot down.

And, the drone 200 includes a main body 10; a plurality of connecting arms 30 radially connected from the side of the main body; Rotating blades 40 coupled to ends of each of the connecting arms; A support 50 at the lower part of the main body to maintain the posture of the drone when it lands on the ground; And a control unit 60 that receives take-off, landing and flight information through communication with the control unit 300 and controls the operation of the rotary blade unit, wherein the main body part includes a main body housing 20 having a cylindrical cross-section; And a cover coupled to the upper part of the main housing; a plurality of optical sensors 70 for detecting laser light on the side of the main housing excluding the rotating blades; is installed, and the rotary blade unit includes a drive motor 41 that provides rotational force by electric power; Rotating blades (42) rotatably coupled to the driving motor to provide flight power to the drone; and a rotary blade mounting unit 43 on which the drive motor and the rotary blade are fixedly mounted, and the drive motor is configured as a motor capable of controlling the rotational force so as to control the rotational force of the rotary blade.

The laser gun 200 generates a firing sound at the same time as the laser beam is fired, and vibration is generated after firing. The laser gun includes a laser pointer unit 220 that generates and fires a laser beam; A percussion vibration unit 230 that causes a portion of the laser gun to retreat when the laser light is fired and generate vibration according to shooting; It includes a firing sound generator 240 that generates a sound when the laser light is fired, and the percussion vibration part is coupled in a sliding manner to the rear upper part of the main body of the laser gun, and is pressed and retracted with the firing of the laser light, and then returns to its original state. It returns to its position, and the firing sound generator is manufactured as a module and is assembled to be attachable and detachable from the main body of the laser gun.

In the flight stage, the user 201 uses the control unit 300 and the optical sensor 70 to change at least one of the number of drones flying, the flight speed of the drone, the flight altitude, and the flight path. By selecting one of the general flight trajectories, the difficulty and stage of shooting can be changed by the control unit controlling the operation of the drone according to the selected general flight trajectory.

The control unit 300 includes a control module 310 that controls the drone; and a first communication unit 320 that transmits and receives signals to and from the drone according to commands from the control module, and the control unit 60 of the drone 100 that receives the signal transmitted from the control unit is a second communication unit. By receiving a signal transmitted from the first communication unit through (110), the flight of the drone, detection and shooting down of the laser light are controlled, and in the shooting down step, when the optical sensor receives the laser light, the control unit When it is determined that the drone has been shot down, and the drone is shot down, the control unit controls the operation of the drone according to a separately set shoot-down flight trajectory in the case of being shot down, and at the same time controls the shoot-down effect generator 140 to emit sound, light, or A smoke effect is generated to implement a highly realistic shooting and shooting system, and scores according to shootdowns are added through the control unit, and the user's shooting score and ranking are output by the control unit to a smartphone app connected to the control unit, In the smartphone app, the unique code of the laser gun selected by the user is entered, and it is connected to the control module of the control unit, so that a shooting competition is possible even when the shooting location or user is different. If the drone is not shot down, , The control unit is characterized in that it controls the operation of the drone in a non-shooting flight trajectory set for the case where the drone is not shot down.

However, the above first prior art is only used for shooting practice using a laser gun, and is insufficient for actual shooting practice with live ammunition in the military and police.

As a system for more realistic shooting practice, Republic of Korea Patent No. 10-2312181 (Shooting practice system using a drone) is disclosed as a second prior art. When explaining this with reference to FIG. 4, at least one target is located at the bottom. (10) connected drone (100); A controller 200 that wirelessly controls the operation of the drone; and a shooting practice gun 300 for performing shooting practice toward the target when the drone flies, wherein the drone communicates two-way with the controller and performs flight operations according to a flight control signal received from the controller. Drone main body that performs; a target connection replacement unit installed at the lower part of the drone main unit and connected to each of the targets, and performing a target replacement operation by rotating and moving another previously connected target to the target position when replacing the target; And a target connection replacement control unit installed in the drone main body to detect the state of the target at the target location or control the target connection replacement unit to perform a target replacement operation when receiving a target replacement control signal from the controller. It includes, the target includes a target structure, and the target connection replacement part includes a rotation motor installed at the lower center of the drone main body; Target connection parts each extend from the lower center of the rotary motor to the outside and rotate according to the driving of the rotary motor; and a target position control unit that controls the rotation motor to move another previously prepared target structure to the target position when receiving a target rotation control signal from the controller.

Although the above second prior art uses a more realistic real gun and target than the first prior art described above, the gun used here is also an airsoft gun, so it is insufficient to be applied to actual military and police shooting training. The point will still be the same.

In addition, in the second prior art, in order to actually check the shooting score, the target must be checked, and although the score is given in other ways such as time or weighting, to check the score according to the hit rate, the target must be checked one by one. It is cumbersome and the time difference occurs, which can be an obstacle to shooting training.

Of course, in the first prior art, there is no target at all, so the score itself according to the hit rate is not confirmed, and it is just considered a hit if you get a rough shot like clay shooting, so it is only entertainment.

In particular, the above conventional technologies are aimed at the drone itself, and do not even have any awareness of the problem of cover structures or warhead recovery in live ammunition shooting using drones, so they are too inadequate to be applied to actual live ammunition training such as rifles or machine guns. will be.

Republic of Korea Patent No. 10-1968896 (Shooting system and method using drones) Republic of Korea Patent No. 10-2312181 (Shooting practice system using drones)

The present invention is intended to solve the problems of the above prior arts, and is used in a shooting training system using a drone that has its own ballistic coordinate estimation function when training live ammunition for firearms, and includes a drone target cover structure with a warhead recovery function and shooting using the same. It is intended to provide a training system.

Moreover, each smart device is mounted on the wrist or firearm of the shooter, and each smart device detects whether the gun has been fired and transmits the trigger signal to the calculation device, resulting in error when estimating the point of impact by the point of impact estimation system. By correcting, it is possible to use a drone target cover structure with a more accurate bullet coordinate tracking function and warhead recovery function and shooting training using it.

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.

The drone target cover structure with a warhead recovery function according to the first aspect of the present invention to achieve the above object is a drone target cover structure with a warhead recovery function used in a shooting training system using a drone, and is equipped with a bulletproof function. A targeting device 400 including a targeting device 410 installed within the targeting device 401; and a warhead recovery device (800) installed in front of the target device (410) to recover warheads that have passed through the targeting device. However, the targeting device 400 includes a target device driving device 411 that drives the target device 410 according to a shooting start command from the control room 1100, and a target device 411 so that the drone can land. It further includes a drone landing pad (412) installed on the arc (401) as spaced upward as the target plane (410), and a bulletproof wall (413) to protect the drone from a warhead installed behind the drone landing pad (412). It is characterized by

Preferably, if a sufficient open space is formed below the drone landing field 412 so that the target device 410 installed on the target device driving device 411 is exposed from warheads in the general direction from the rear, the general A warhead passage hole (H) is formed so that the warheads in each direction are recovered from the warhead recovery device 800 after penetrating the target device 410, so that a typical warhead fired by the gunner P located on the firing station 1300 (F) passes through the space between the target 401 and the bulletproof wall 413, hits the target 410, passes through the warhead passage hole H, and is trapped in the warhead recovery device 800. It is characterized by

Also preferably, the warhead recovery device 800 includes a base member 810 installed on the floor behind the target device 410 at a live ammunition range; a warhead recovery member 820, one end of which is fixedly installed on the upper surface of the base member 810, the front of which is opened, and a warhead that has penetrated the target device 410 can be recovered; One side is fixed to the front of the warhead recovery member 820, and the other side is a ricochet prevention member ( 830).

More preferably, the warhead recovery device is installed on the upper surface of the base member 810 by being located inside the warhead recovery member 820, and the inside is filled with sand to fit the warhead recovery member 820. It is characterized in that a warhead collection box 840 is further provided to collect warheads.

A shooting training system using a drone target covering structure equipped with a warhead recovery function according to the second aspect of the present invention to achieve the above object is a shooting training system using a drone target covering structure equipped with a warhead recovery function, wherein the shooter's An integrated management server (100) that performs integrated control from entry and exit to the shooting range to post-shooting management; A drone (2000) that moves the target device (410) to a preset location in response to the control of the integrated management server (100); and a drone control device that controls the drone (2000); Includes, the drone 2000 is equipped with a lighting device 2400 that radiates a beam downward to the drone body, and a plurality of ultrasonic sensors (S1 to S4) are mounted in front of the target device 410, The plurality of ultrasonic sensors sense the shock wave generated when the target device 410 is hit, analyze the distance based on the difference in the arrival time of the shock wave, and estimate the coordinates of the hit according to the triangulation method.

Preferably, the drone 2000 includes a signal processing unit 2200 that digitizes shock wave detection sensing information detected by the plurality of ultrasonic sensors, and shock wave detection sensing data digitized by the signal processing unit 2200. A coordinate analysis device (2300) that performs primary hit coordinate analysis, a communication unit (2900) that transmits the coordinate values estimated by the coordinate analysis device (2300) from the integrated management server (100), and overall control of the drone. It is characterized by comprising a control unit 2100 that performs.

Also preferably, a smart device 460 with a built-in shooter information and percussion detection device; And the bullet coordinates of the projectile are estimated by analyzing the sensed information from the coordinate analysis device 2300, and additional correction is performed based on the shooter's location information and firing time data from the smart device 460, thereby analyzing the bullet coordinates. An arithmetic device 450 to increase the accuracy of; It is characterized in that it further includes.

According to the drone target cover structure with warhead recovery function and the shooting training system using the same according to the present invention, i) when a system capable of estimating the bullet coordinates is installed only on several moving objects such as drones or robots and moved to each target for operation; , it can be immediately applied to existing shooting ranges without having to build an expensive and fixed point of impact estimation system, and in addition, it has a warhead recovery function, so installation and operation costs are greatly reduced, making it economical, and ii) shooters who actually fired during live ammunition shooting training. By identifying and considering the location of the target, the accuracy of the impact point estimation can be improved and the accuracy of each shooter's individual performance can be improved; iii) cases of target suppression by ricochet bullets or grenades are distinguished, and safety is also guaranteed from these. The accuracy of shooting training can be improved.

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 schematic diagram showing the configuration of a shooting system using a drone according to the first prior art;
Figure 2 is a perspective view showing the appearance of a drone according to the first prior art;
Figure 3 is a block diagram for explaining the control of a shooting system using a drone according to the first prior art;
Figure 4 is a diagram showing the overall configuration and embodiment of a shooting practice system using a drone according to the second prior art.
Figure 5 is a plan view and side view showing a drone target covering structure with a warhead recovery function and a shooting training system using the same according to the present invention.
Figure 6 is a schematic diagram of the shooting station and shooter of the shooting training system using a drone target cover structure with a warhead recovery function according to the present invention.
Figure 7 is a schematic diagram of a drone target cover structure with a warhead recovery function according to the present invention and a shooting training system using the same and a warhead recovery facility.
Figure 8 is a perspective view of a drone used in a shooting training system using a drone target cover structure with a warhead recovery function according to the present invention.
Figure 9 is a state diagram in which the drone of Figure 8 performs bullet coordinate analysis.
Figure 10 is a configuration diagram of the server 100 and the drone 400 in the shooting training system using a drone target cover structure with a warhead recovery function according to the present invention.
Figure 11 is a detailed block diagram of the smart device 460 of Figure 10.
Figure 12 is the main flow chart of the shooting training method at the shooting range according to the present invention.
FIG. 13 is a detailed flowchart of a subroutine for the operation of the smart device 460 of FIG. 12.
FIG. 14 is a detailed flowchart of a subroutine for the operation of the computing device 450 of FIG. 12.
Figure 15 is a perspective view showing a warhead recovery device according to the present invention.
Figure 16 is a rear perspective view showing the warhead recovery device according to the present invention.
Figure 17 is a cross-sectional view showing the warhead recovery device 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.

(Drone target cover structure with warhead recovery function according to the present invention and shooting training system using the same)

First, a drone target cover structure with a warhead recovery function and a shooting training system using the same according to the present invention will be described with reference to FIGS. 5 to 17.

Figure 5 is a top and side view showing a shooting training system using a drone target covering structure with a warhead recovery function according to the present invention, and Figure 6 is a shooting training system using a drone target covering structure having a warhead recovery function according to the present invention. It is a schematic diagram of the firing squad and gunner, and Figure 7 is a schematic diagram of the drone target cover structure with warhead recovery function according to the present invention and the bombardment area and warhead recovery facility of the shooting training system using the same.

Figure 8 is a perspective view of a drone used in a shooting training system using a drone target cover structure with a warhead recovery function according to the present invention, Figure 9 is a state diagram in which the drone of Figure 8 performs bullet coordinate analysis, and Figure 10 is a diagram of the present invention This is a configuration diagram of the server 100 and the drone 400 in a shooting range using the shooting training system according to the present invention, and FIG. 11 is a detailed block diagram of the smart device 460 of FIG. 10.

FIG. 12 is a main flowchart of a shooting training method at a shooting range according to the present invention, FIG. 13 is a detailed flowchart of a subroutine for the operation of the smart device 460 of FIG. 12, and FIG. 14 is a calculation device of FIG. 12. This is a detailed flowchart of the subroutine for the operation of (450).

First, referring to FIGS. 5 to 7 and 10, the overall shooting training system including the drone target cover structure with warhead recovery function of the present invention and the shooting training system using the same, the gunner's entry and exit from the shooting range and bullet distribution management Of course, an integrated management server (100) that displays digital image targets, analyzes coordinates when shooting, performs shooting management, recovers shell casings after shooting, and performs post-fire resource management; A drone (2000) that moves the target to a preset location in response to the control of the integrated management server (100); and a drone control device that controls the drone (2000); It is made including.

In addition, the integrated management server 100 is mainly located in the control room 1100 of the entire shooting range 1000, with a firing squad 1300 located right in front of the control room 1100, and a target device ( It is desirable that the targeting device 400 and the warhead recovery device 800 equipped with 410) and the image driving device 420 are located.

Additionally, the coordinates of the point of impact transmitted from the integrated management server 100 are displayed, for example, on the firing zone monitor 600 installed in the shooter's firing zone partition 500 (optionally, the firing zone partition 500 and the firing zone monitor 600) ) may be stored separately), it is desirable to store it in a separate DB 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.

In particular, the targeting device 400 and the warhead recovery device 800 form a drone target covering structure that combines the warhead recovery function, which is the first feature of the present invention. Regarding the targeting device 400, if described in detail with reference to FIG. 7, a target device 410 used for long-distance shooting is installed within a target device 401 equipped with a bulletproof function, and the target device 410 is installed in a control room. A target device driving device 411 that inverts or erects (or rotates the target device 90 degrees) according to the command to start shooting (1100), and an image driving device that outputs an image of the scoreboard when necessary to the target device 410 ( 420) may also be included.

Moreover, to describe in more detail the target device 410 as the target, it is a facility where the drone 2000 can land and has safety and bulletproof functions when fired and hit. First, the target device (410) is placed on the basic target number 401. A drone landing pad (412) is installed as far upward as 410). At the rear of the drone landing field (412), a bulletproof wall (413) is installed to protect the drone from warheads fired upward when firing bullets, at about the height of the drone, and below the drone landing field (412) is the target device driving device ( 411) A sufficient open space must be formed so that the target device 410, such as a lightweight target or dummy target installed on the top, is exposed to warheads in the general direction in front of it, and the warheads in the general direction must penetrate the lightweight target. A warhead passage hole (H) must be formed so that it can be later recovered in the warhead recovery device 800. That is, the general warheads (F) fired by the gunner (P) located at the firing station (1300) pass through the space between the target (401) and the bulletproof wall (413), hit the target machine (410), and pass through the warhead. It passes through the hole H and is trapped in the warhead recovery device 800, where it is later recovered.

For reference, the drone control device will almost always use a remote controller (3000), but in some cases, if only the target is designated in the control room, it will automatically fly the optimal route and land on the drone landing site (412) at the target. An automatic navigation device may be used, and an automatic navigation device is also not outside the scope of the present invention.

Details of the warhead recovery device 800 will be described later with reference to FIGS. 15 to 17.

Now, with reference to FIGS. 9 and 10, the drone 2000 used in the shooting training system using the drone target cover structure with a warhead recovery function of the present invention will be described in detail.

The drone (2000) used in the shooting training system using the drone target cover structure with the warhead recovery function of the present invention, like a general drone, has a drone main body (2001), a drone wing (2002), a drone antenna (2003) upward, and A drone support 2004 is provided downward, and in particular, in the present invention, a lighting device 2400 is provided to illuminate the target device 410 downward and to irradiate a beam downward. Furthermore, ultrasonic sensors (S1 to S4) are mounted in front of the target device 410. The ultrasonic sensors (S1 to S4) may be mounted directly on the drone support 2004, but preferably the sensors are arranged in a row. Since an additional sensor (S4) for speed detection that is spaced forward or rearward from the array (S1 to S3) must be provided, and therefore there is a safety problem, the first sensor array forming the sensor array is installed on a separate sensor support (2005). It is preferable that the to third sensors (S1 to S3) are mounted, and the fourth sensor (S4) is mounted behind them.

Therefore, the speed of the warhead (F) is measured using the detection time difference of the shock wave (W) by the first sensor (S1) and the second sensor (S4), and then the sensor array such as the first sensor (S1) in the center By using the second and third sensors (S2, S3) that make up, the relative distance is measured using the time difference of the shock wave reaching these sensors, and ultimately the coordinates of the warhead can be estimated by triangulation. In addition, a temperature/humidity sensor (not shown) is added to the drone 2000, so that the carbon coordinate analysis varies depending on the temperature/humidity, so that the other coordinate analysis can be corrected.

More preferably, a second sensor support 2005' is installed on the opposite side of the first sensor support 2005 on which the first to fourth sensors S1 to S4 are mounted, and the fifth to eighth sensors are installed here. (S1' to S4') are installed symmetrically with the first to fourth sensors (S1 to S4) to increase the accuracy of coordinate estimates, and also to prevent problems with the first set of sensors (S1 to S4). It is good to be able to easily estimate the coordinates of the warhead trajectory (T) even when the drone's direction is in the opposite direction. In addition, the ultrasonic sensing data of these sensors is processed so that the signal processing unit 2200 provided in the drone main body 2001 performs coordinate value estimation calculation in the digitization and coordinate analysis device 2300.

Now, referring to FIG. 10, a more preferred embodiment of the drone target cover structure with warhead recovery function of the present invention and the shooting training system using the same will be described. First, in addition to the signal processing unit 2200 and the coordinate analysis device 2300 described above, , the lighting device 2400 and the camera 2500 of the drone 2000, and a control unit 2100 that controls them all. Finally, the communication unit 2900 provides flight data transmitted from the drone and target coordinate data. etc. are transmitted to the integrated management server (100).

Additionally, for more accurate estimation of projectile coordinates, and when multiple shooters are shooting at the shooting range 1300, a smart device 460 is added to the shooter or firearm to confirm which shooter fired the shot. It is desirable.

In addition, the coordinate analysis device 2300, which is mainly located within the drone 2000, recognizes the coordinates of the strike point of the warhead at the same time as shooting by triangulation using ultrasonic waves, for example, and sends the coordinate values to the integrated management server 100 in real time. By transmitting, it is possible to check the hit score and hit location in real time not only on the monitor screen of the control room but also on the firing squad monitor (600).

These impact position coordinates or digital images are binarized and analyzed through the signal processing unit 2200 and the coordinate analysis device 2300, and then transmitted to the computing device 450 located mainly in the integrated management server 100. Ultimately, it is finally transmitted to the integrated management server (100). The computing device 450 may be included in the drone 2000 or may be configured as an independent device completely separate from the drone 2000 or the server 100, but in the present invention, the location of the shooter is specifically determined in the smart device 460. Since information and firing time data must be secured and sent to the integrated management server 100 to correct the coordinates of the point of impact by taking these shooting data into account, it is desirable to have it built into the integrated management server 100.

In addition, when describing the warhead recovery 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.

Now, with reference to FIGS. 5 to 7B, 10, and 11, a shooting training system using a drone target cover structure with a warhead recovery function of the present invention will be described in detail.

The drone target cover structure with warhead recovery function of the present invention and the shooting training system using the same include an integrated management server (100) that is mainly placed in the control room (1100) and controls shooting training; A drone (2000) that carries a target device (410) and includes a coordinate analysis device (2300) equipped with an ultrasonic sensor and a temperature/humidity sensor; A smart device 460, which is a wearable device such as a smart watch with a built-in trigger detection device; It includes, and the integrated management server 100 analyzes the sensed information from the coordinate analysis device 2300 to estimate the bullet coordinates of the projectile, and the shooter's location information and firing time from the smart device 460 It is characterized by including a calculation device 450 that improves the accuracy of bullet coordinate analysis by performing additional corrections based on 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 2300. .

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, since the bullet fired from the shooter's firearm moves at a speed higher than supersonic speed, it generates a shock wave and flies, and an ultrasonic sensor (S1 to S4 in FIG. 7) that measures the ultrasonic intensity of the bullet is located in the front lower part of the target 410. It is installed to measure ultrasonic waves generated from incoming bullets. In addition, several ultrasonic sensors (S1 to S4) mounted on the sensor support (2005) of the coordinate analysis device are mounted asymmetrically to increase accuracy 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 in the signal processing unit 2200 and transmit it to the coordinate analysis device 2300. At this time, the temperature and humidity variables generated by the temperature/humidity sensor (not shown) are converted to digital data. Apply and transmit.

Therefore, the sensitivity data transmitted from several ultrasonic sensors is calculated more than n times per second by triangulation with the value of the relative sensor for each ultrasonic sensor, and the trajectory data of the bullet is calculated by the coordinate analysis device 2300 and/or the calculation device 450. It is calculated through .

Furthermore, the trajectory data of the projectile is analyzed by the computing device 450 of the integrated management server 100 to estimate the impact location of the projectile on the target, and additional correction is performed taking into account the data from the smart device 460. By doing so, the accuracy of coordinate analysis can be further improved.

Finally, the estimated bullet coordinates are displayed in real time on the monitor 600 of the shooting station, so that the shooter (P) can immediately check them.

Continuing, with reference to FIGS. 10 and 11 , the configuration of the drone 2000 and the smart device 460 will be described in more detail.

First, if the detailed configuration of the target device 400 is described with reference to FIG. 10, a smart device 460 is basically added to a general system.

Afterwards, each sensor (S1 to S4) mounted on the sensor support 2005 of the coordinate analysis device 2300 digitizes the shock wave detection sensing information and temperature and humidity information through the signal processing unit 2200, and then digitizes the shock wave detection sensing information and temperature and humidity information through the signal processing unit 2200. ) is transmitted to the computing device 450.

Lastly, since the operation of the smart device 460 is a technical core matter in the present invention, if explained in more detail with reference to FIG. 11, the control unit 461 that controls all operations of the smart device 460, and various Sensors 464 to 468, 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 percussion of the firearm and obtains the detected percussion time, and these It is configured to include a communication unit 469 that transmits information to the server (or directly to the computing device 450) through wired or wireless communication.

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."

Therefore, in the case of shooting at a stationary target, the calculation device 450 of the coordinate analysis device 2300 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.

(Warhead recovery device among drone target cover structures with warhead recovery function according to the present invention)

Now, the warhead recovery device among the drone target covering structures with a warhead recovery function according to the present invention will be described in detail with reference to FIGS. 15 to 17.

Figure 15 is a perspective view showing the warhead recovery device according to the present invention, Figure 16 is a rear perspective view showing the warhead recovery device according to the present invention, and Figure 17 is a cross-sectional view showing the warhead recovery device according to the present invention.

The warhead recovery device 810 according to the present invention has a base member 810 installed on the floor behind the target device 410 at a live ammunition shooting range, and one end is fixedly installed on the upper surface of the base member 810. The warhead recovery member 820 is open and is provided to recover a warhead that has penetrated the target device 410, and one side is fixed to the front of the warhead recovery member 820, and the other side has a warhead that has escaped the target device 410. It includes a ricochet-prevention member 830 that allows recovery and prevention of ricochet bullets and is provided so that damaged parts can be easily replaced.

In addition, a warhead is installed on the upper surface of the base member 810 by being located inside the warhead recovery member 820, and the inside is filled with sand to enable capture of warheads that hit the warhead recovery member 820. A collection box 840 is further provided.

In addition, a sound-absorbing member (not shown) is further provided on the surface of the warhead recovery member 820 to absorb noise generated when a warhead hits the warhead recovery member 820.

First, the base member 810 of the warhead recovery device according to the present invention described above is installed on the floor behind the target device 410 of a live ammunition shooting range, and has a warhead recovery member 820 and a ricochet prevention member 830 on the upper surface. ) is provided so that it can be installed.

In other words, the base member 810 is installed on the floor behind the target device 410 at a live ammunition shooting range and is poured with concrete so that the warhead recovery member 820 and the ricochet prevention member 830 can be installed on the upper surface. It is provided.

Since the base member 810 is constructed by pouring concrete as described above, not only is it not lost due to heavy rain, but the warhead recovery member 820 and the ricochet prevention member 830 can be firmly installed.

The warhead recovery member 820 has one end fixed to the upper surface of the base member 810, so that the front is opened and the warhead that has penetrated the target device 410 can be recovered.

That is, the above-described warhead recovery member 820 is made of wear-resistant steel plate and is formed in the shape of a right-angled triangular plate having a horizontal plane, a vertical plane, and an inclined plane with a fixing flange portion (not shown) formed on the lower surface to enable the warhead to be recovered. A pair of warhead recovery side plates 821 and 822 provided to be spaced apart from each other by fixing a fixing flange portion (not shown) on the upper surface of the member 810 via a fixing bolt or anchor bolt, and the warhead recovery side plate 821 and 822. It consists of a cover plate 823 for warhead recovery provided with a coupling piece (reference numerals omitted) bent at both ends so that it can be fixed to the inclined surfaces of the side plates 821 and 822 via a plurality of bolts and nuts.

Since the warhead recovery member 820 is configured as described above, warhead recovery can be facilitated, and the impact of heavy metal hazardous substances caused by the warhead can be minimized to prevent the surrounding environment from being polluted.

One side of the ricochet prevention member 830 is fixed to the front of the warhead recovery member 820, and the other side is provided to recover warheads that have escaped the target and prevent ricochet bullets, and to easily replace damaged parts. do.

That is, the above-mentioned ricochet bullet prevention member 830 is used for warhead recovery of the warhead recovery member 820 by having one side fixed to the front end of the warhead recovery side plates 821 and 822 of the warhead recovery member 820 by welding. A projectile blocking plate 831 provided with an “n” shaped cross section with an open central portion to expose the cover plate 823, and a fixing means 832 on the front of the projectile blocking plate 831. It is composed of a plurality of rubber blocks 833 provided in a square shape to block stray bullets by individually fixing and separating them and stacking them.

Here, the above-mentioned fixing means 832 includes a fixing piece 832a, one end of which is fixed by welding or a fixing screw at regular intervals on the front of the dovetail blocking plate 831, and a hinge pin (see drawing) at the other end of the fixing piece. A rotating fixing piece (832b) is rotatably connected at one end via a (reference symbol omitted) and has a plurality of fixing holes (reference numerals omitted) at the other end, and the rubber hit through the fixing hole formed in the rotating fixing piece (832b). It consists of a plurality of fixing members 833c that are screwed into the block 833 and are provided to fix the hit rubber block 833.

Since the ricochet prevention member 830 is configured as described above, it is possible to recover warheads that escape the target device 410 and prevent ricochet bullets, preventing accidents caused by ricochet bullets in advance, and the bullet rubber block 833 ) are individually fixed and separated from the bullet blocking plate 831 via the fixing means 832, so the damaged bullet rubber block 833 can be replaced quickly and easily, reducing the cost of after-care. You can.

(Shooting training method of the shooting training system according to the present invention)

Finally, the shooting training method at the shooting range according to the present invention will be described with reference to FIGS. 12 to 14.

FIG. 12 is a main flowchart of a shooting training method at a shooting range according to the present invention, FIG. 13 is a detailed flowchart of a subroutine for the operation of the smart device 460 of FIG. 12, and FIG. 14 is a calculation device of FIG. 12. This is a detailed flowchart of the subroutine for the operation of (450).

A shooting training method at a shooting range according to the present invention includes the steps of controlling the integrated management server 100 and operating the remote control 3000 to drive the drone 200 and related devices (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 2300 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 judgment 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 shooting training scores for each shooter (S700) ; and storing the above shooting training scores for each shooter in dB (S800); It consists of

Regarding the S200 step (smart device operation step), if described in detail with reference to FIG. 13, is it first 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. 14. First, the data sensed from the ultrasonic sensors (S1 to S4) is first converted to a predetermined value 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 shooter (S2300), the process returns to step S500 of FIG. 12.

As discussed above, according to the drone target cover structure with warhead recovery function of the present invention and the shooting training system using the same, (1) only a few drones are equipped with a system capable of estimating bullet coordinates and are moved to each target for operation. It can be immediately applied to existing shooting ranges without having to build an expensive and fixed point of impact estimation system, and it also has a warhead recovery function, so installation and operation costs are greatly reduced, making it economical, and (2) actual shooting during live ammunition shooting training. By identifying and considering the shooter and his location, the accuracy of the point of impact estimation can be improved and the accuracy of each shooter's individual performance can be improved. (3) Cases of target suppression by ricochet bullets or grenades can be distinguished, and safety is also guaranteed from these. By doing so, you can also increase the accuracy of shooting training.

Although the present invention has been described above according to the embodiments 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
400: Targeting device
401: target number
410: target machine
411: Target driver device
412: Drone landing pad
413: bulletproof wall
420: Image driving device
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
500: partition between four units
600: Four unit monitor
800: Warhead recovery device
810 ; base member
820 ; Warhead recovery member
830 ; Bullet prevention member
840 ; Warhead collection box
1000: Shooting range
1100: Control room
1300: Four generations
2000: Drones
2001: Drone body
2002: Drone Wings
2003: Drone antenna
2004: Drone support stand
2005: Sensor support
2006: Lightweight Target
2100: Control unit
2200: signal processing unit
2300: Coordinate analysis device
2400: lighting device
2500: Camera
2900: Department of Communications
3000: remote control
F: warhead
H: Warhead passage hole
P: shooter
S1 ~ S4, S1' ~ S4': Ultrasonic sensor
T: warhead trajectory
W: shock wave

Claims (7)

It is a drone target covering structure with a warhead recovery function used in a shooting training system using drones,
A targeting device (400) including a targeting device (410) installed within a bulletproof target (401); and
A warhead recovery device (800) installed in front of the target device (410) to recover warheads that have passed through the targeting device (800);
Including,
The targeting device 400,
a target device driving device 411 that drives the target device 410 according to a command to start shooting from the control room 1100;
A drone landing pad (412) installed on the target lake (401) as far upward as the target plane (410) so that the drone can land,
Bulletproof wall (413) to protect drones from warheads installed at the rear of the drone landing pad (412)
A drone target cover structure with a warhead recovery function, further comprising: According to claim 1,
When a sufficient open space is formed below the drone landing field 412 so that the target device 410 installed on the target device driving device 411 is exposed from the warheads in the general direction from the rear, the warheads in the general direction are A warhead passage hole (H) is formed so that it can be recovered from the warhead recovery device 800 after penetrating the target device 410, so that the general warheads (F) fired by the gunner (P) located on the firing station (1300) are , Passing through the space between the target 401 and the bulletproof wall 413, hitting the target 410, passing through the warhead passage hole (H), and being trapped in the warhead recovery device 800. A drone target covering structure with a warhead recovery function. According to claim 1,
The warhead recovery device 800,
A base member 810 installed on the floor behind the target device 410 at a live ammunition range;
a warhead recovery member 820, one end of which is fixedly installed on the upper surface of the base member 810, the front of which is opened, and a warhead that has penetrated the target device 410 can be recovered;
One side is fixed to the front of the warhead recovery member 820, and the other side is a ricochet prevention member ( 830)
A drone target cover structure with a warhead recovery function, characterized in that it includes a. According to claim 3,
The warhead recovery device,
A warhead collection box (which is installed on the upper surface of the base member 810 by being located inside the warhead recovery member 820 and filled with sand inside to enable collection of warheads that hit the warhead recovery member 820). A drone target cover structure with a warhead recovery function, characterized in that it is further equipped with 840). A shooting training system using a drone target cover structure with the warhead recovery function of paragraph 1,
An integrated management server (100) that performs integrated control from the shooter's entry and exit from the shooting range to post-shooting management;
A drone (2000) that moves the target device (410) to a preset location in response to the control of the integrated management server (100); and
A drone control device that controls the drone (2000);
Includes,
The drone (2000) is equipped with a lighting device (2400) that radiates a beam downward to the drone body,
A plurality of ultrasonic sensors (S1 to S4) are mounted in front of the target device 410,
A warhead recovery function characterized in that the plurality of ultrasonic sensors sense the shock wave generated when a target is hit by the target device 410, analyze the distance using the difference in the arrival time of the shock wave, and estimate the coordinates of the hit according to the triangulation method. A shooting training system using a drone target cover structure equipped with a. According to claim 5,
The drone 2000 includes a signal processing unit 2200 that digitizes shock wave sensing information detected by the plurality of ultrasonic sensors,
A coordinate analysis device (2300) that performs primary projectile coordinate analysis based on the shock wave detection and sensing data digitized by the signal processing unit (2200);
A communication unit 2900 that transmits the coordinate value estimated by the coordinate analysis device 2300 from the integrated management server 100,
A shooting training system using a drone target cover structure with a warhead recovery function, comprising a control unit 2100 that performs overall control of the drone. According to claim 5,
A smart device (460) with a built-in shooter information and percussion detection device; and
By analyzing the sensed information from the coordinate analysis device 2300, the bullet coordinates of the projectile are estimated, but additional correction is made based on the shooter's location information and firing time data from the smart device 460, so that the bullet coordinate analysis is performed. An arithmetic device 450 to increase accuracy;
A shooting training system using a drone target cover structure with a warhead recovery function, further comprising:

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