WO2018056001A1 - Système d'entraînement sur cible - Google Patents

Système d'entraînement sur cible Download PDF

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Publication number
WO2018056001A1
WO2018056001A1 PCT/JP2017/031091 JP2017031091W WO2018056001A1 WO 2018056001 A1 WO2018056001 A1 WO 2018056001A1 JP 2017031091 W JP2017031091 W JP 2017031091W WO 2018056001 A1 WO2018056001 A1 WO 2018056001A1
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WIPO (PCT)
Prior art keywords
shooting
target
bullet
unit
information
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PCT/JP2017/031091
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English (en)
Japanese (ja)
Inventor
佐藤　和幸
田中　宏明
太樹 関
藤原　孝則
晋也 牧野
竜也 大川
邦子 遠藤
一茂 福嶋
利明 佐々木
伸行 猪田
Original Assignee
株式会社日立国際電気
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 株式会社日立国際電気 filed Critical 株式会社日立国際電気
Priority to JP2018540938A priority Critical patent/JP6653392B2/ja
Publication of WO2018056001A1 publication Critical patent/WO2018056001A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/26—Teaching or practice apparatus for gun-aiming or gun-laying
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J5/00—Target indicating systems; Target-hit or score detecting systems
    • F41J5/14—Apparatus for signalling hits or scores to the shooter, e.g. manually operated, or for communication between target and shooter; Apparatus for recording hits or scores

Definitions

  • the present invention relates to a shooting training system that performs shooting training using live ammunition.
  • a conventional shooting training system that performs shooting training using live ammunition, for example, when a trainee fires at a target using a firearm and a bullet hits the target, detects the target vibration and detects the target. There are those that fall down, and those that detect the impact wave (coordinates) by detecting a shock wave or the like due to the passage of a bullet with a sensor, and can display the impact position on the target on the display.
  • Patent Document 1 includes a target device 1 and a target control device 30, and the target device 1 includes an area detection sensor unit 220 that detects impact in a predetermined range wider than the target.
  • An impact position calculation unit 312 that calculates the impact coordinates and area within a predetermined range from the values of the area detection sensor unit 220, and the impact coordinates corresponding to the impact order within the coordinates corresponding to the area 410 in the display field 710
  • a shooting training system comprising an impact drawing unit 313 that displays in a mark format and displays an impact direction outside the screen display range.
  • the target device in a shooting training system including a target device and a target control device, includes a sensor that detects impact in a predetermined range wider than the target.
  • the impact position calculation means for calculating the impact coordinates and area within the predetermined range, and the impact coordinates in a list in the order of impact, are displayed in the mark format within the coordinates of the predetermined range corresponding to the impact coordinate area.
  • a ballistic drawing that displays the background color and mark of the list in a predetermined display color according to the ballistic coordinates with reference to the scoring table with the score and display color set according to the target type and the level of the trainee
  • a shooting training system comprising: means.
  • the present invention has been made in view of such a situation, and when a plurality of trainees participate and shoot randomly, who, when, shoot at which target, by the shooting, It is possible to determine whether a bullet has hit the target, and to display the result of the shooting in real time on a display that can be seen by the trainer, so that the trainer can immediately confirm the result of the fire. Therefore, it is an object to provide a shooting training system that can improve the shooting training accuracy and can improve the shooting training efficiency.
  • a shooting training system of the present invention includes a shooting device equipped by at least one trainer who performs shooting training using a firearm, at least one target device equipped with a target, and shooting.
  • a control device that analyzes the results of the training, and is a shooting training system in which the shooting device and the control device, and the target device and the control device are connected to each other via a communication line.
  • the shooting device includes a bullet firing detection unit that detects a bullet firing from the firearm, a position detection unit that detects a three-dimensional position coordinate of the firearm, and bullet firing information and bullets detected by the bullet firing detection unit.
  • a control unit that attaches an identification code of the shooting device to the firing time information and the firearm position information detected by the position detection unit, and transmits the information to the control device, and the target device
  • An area detection sensor unit that has a detection area arranged on the near side of the target between the trainee and the target, and detects a two-dimensional position coordinate of a bullet passing point in the detection area; and the target device
  • a position detection unit for detecting a three-dimensional position coordinate of the bullet, and a two-dimensional position coordinate of the bullet passage point based on a two-dimensional position coordinate of the bullet passage point in the area detection sensor unit and a three-dimensional position coordinate of the target device
  • a control unit that calculates bullet point passing point coordinate information, bullet passage time information, and target device position information, and transmits the target device identification code to the control device.
  • a control unit having trainer determination means for determining a trainee who has performed the shooting based on the bullet firing time information acquired from the shooting device and the bullet passage time information acquired from the target device.
  • the shooting training system of the present invention is the above-described shooting training system, wherein the area detection sensor unit of the target device is arranged with a predetermined gap on the near side of the target.
  • An area detection sensor unit that has two detection areas and detects two-dimensional position coordinates of a bullet passage point at two locations, wherein the control unit of the target device detects two locations detected by the area detection sensor unit.
  • a control unit that calculates a bullet approach angle based on the two-dimensional position coordinates of the bullet passage point in the detection area and the numerical value of the predetermined gap, and transmits the bullet approach angle information to the control device;
  • the trainee determination means has a firearm position of the plurality of shooting devices. Based on the information and the bullet passage point coordinate information, the approach angle for the bullet passage point of each firearm is calculated, and compared with the bullet entry angle information acquired from the target device, the trainer who performed the fire It is a trainee judging means for judging.
  • the shooting training system of the present invention is the shooting training system described above, wherein the control device is a target in the detection area of the area detection sensor unit of the target device. Based on the target impact area coordinate table in which the corresponding two-dimensional position coordinates are registered and the determination result by the trainee determination means, based on the shooting device information acquired from the shooting device and the bullet passage information acquired from the target device.
  • a training result registration table in which training result information is registered, and the control unit of the control device refers to the target impact area coordinate table of the storage unit and is acquired from the target device.
  • a target impact determination that determines whether a bullet has landed on the target based on the two-dimensional position coordinates of the bullet passage point in the detection area close to the target.
  • the training result information of the training result registration table and the coordinate data of the target impact area coordinate table the shooting result drawing data including the training details and the figure showing the bullet passing position with respect to the target is created.
  • a shooting training system of the present invention includes a shooting device equipped by at least one trainer who performs shooting training using a firearm, and at least one target device having a target.
  • a shooting training system comprising a control device for analyzing the result of the shooting training, wherein the shooting device and the control device, and the target device and the control device are connected to each other by a communication line.
  • the shooting device has a bullet firing detection unit for detecting a bullet firing from the firearm and a bullet firing signal from the bullet firing detection unit toward the target device, and A laser transmitter that transmits a laser beam including an identification code, firearm information, trainee information, and shooting information of the shooting time, and the target device is configured so that the target is between the trainer and the target.
  • An area detection sensor unit that has a detection area arranged on the near side, detects a two-dimensional position coordinate of a bullet passing point in the detection area, and receives the laser beam transmitted from the shooting device, and is included in the laser beam From a laser receiving unit for outputting shooting information, a storage unit having a shooting result registration table for registering shooting result information, and a two-dimensional position coordinate of a bullet passing point acquired from the area detection sensor unit, a predetermined two-dimensional Bullet passing coordinate calculating means for calculating position coordinates, and storing the predetermined two-dimensional position coordinates of the bullet passing points calculated by the bullet passing coordinate calculating means in the shooting result registration table in association with the bullet passing time.
  • the shooting information acquired from the laser receiving unit is stored in the shooting result registration table, and the shooting result information is read from the shooting result registration table.
  • the shooting training system of the present invention is the shooting training system described above, wherein the control device is a target in the detection area of the area detection sensor unit of the target device.
  • a storage unit having a target impact area coordinate table in which two-dimensional position coordinates in a corresponding range are registered, and a training result registration table for registering training result information; and the control unit of the control device includes: Means for registering the shooting result information acquired from the target device in the training result registration table in association with the identification code of the target device, and acquiring from the target device with reference to the target landing area coordinate table of the storage unit
  • Target impact determination means for determining whether a bullet has impacted the target based on the two-dimensional position coordinates of the bullet passage point included in the shooting result information; Based on the training result information of the training result registration table and the coordinate data of the target impact area coordinate table, the shooting result drawing data including the detailed training content and the figure showing the passing position of the bullet with respect to the target is created.
  • the shooting result drawing data is transmitted to a shooting device equipped with
  • the trainer when a plurality of trainees participate and shoot at random, who shoots at which target and when the bullet hits the target by the shooting
  • the trainer By determining whether or not and displaying the result of the shooting in real time on a display that can be seen by the trainee, the trainer can immediately check his or her own shooting results, so the training accuracy of the shooting can be improved.
  • the efficiency of shooting training can be improved.
  • Embodiment 1 a shooting training system according to Embodiment 1 of the present invention will be described.
  • the shooting training system according to Embodiment 1 of the present invention when a plurality of trainees participate and shoot at random, who shoots at which target when and when the bullet is targeted to the target by the shooting In addition to determining whether or not they have hit (hit), and displaying the results of the shooting in real time on a display that can be seen by the trainee, the trainer can immediately check his or her own shooting results.
  • the training accuracy can be improved and the efficiency of shooting training can be improved.
  • FIG. 1 is a system configuration diagram of a shooting training system according to Embodiment 1 of the present invention.
  • FIG. 2 is a diagram showing a positional relationship between a firearm and a target device possessed by a trainee when the shooting training system of FIG. 1 is viewed from above.
  • the training system S according to Embodiment 1 of the present invention is equipped with trainers 80-1 and 80-2 who perform shooting by shooting training, and trainers 80-1 and 80-2, respectively.
  • FIGS. 1 is a system configuration diagram of a shooting training system according to Embodiment 1 of the present invention.
  • FIG. 2 is a diagram showing a positional relationship between a firearm and a target device possessed by a trainee when the shooting training system of FIG. 1 is viewed from above.
  • the training system S according to Embodiment 1 of the present invention is equipped with trainers 80-1 and 80-2 who perform shooting by shooting training, and trainers 80-1
  • the trainer 80-1 or the trainer 80-2 moves the target 24a-1 of the target device 20-1 or the target 24a-2 of the target device 20-2. It fires at random towards.
  • the trainer 80-1 performs the shooting indicated by the trajectory R1 on the target 24a-1
  • the trainer 80-2 performs the trajectory R2 on the target 24a-2.
  • the trainer 80-2 and the trainer 80-1 further perform the shooting indicated by the trajectory R3 and the trajectory R4.
  • the trainer 80 and the shooting devices 30-1 and 30-2 are simply distinguished from each other. 1 and 20-2 are simply referred to as the target device 20.
  • the shooting device 30 and the control device 10 and the target device 20 and the control device 10 are connected to each other, for example, by wireless communication.
  • two shooting devices 30 and two target devices 20 are configured, but one or three or more shooting devices 30 or target devices 20 are connected to one control device 10 by signal connection. It is also possible to configure so as to.
  • the shooting device 30 is used by the trainer 80 when performing shooting training.
  • the target device 20 is a device that is a target of shooting training using real bullets.
  • the target device 20 causes the target 24a to perform a concealment operation according to schedule information created in advance or an instruction from the control device 10.
  • the target 24a is a detachable target body that is driven and controlled by the control unit 21, and is a target for shooting training.
  • the area detection sensor unit 25 detects a value related to a two-dimensional position coordinate (XY coordinate) of the bullet passing point.
  • a detection area 400 is a range in which the two-dimensional position coordinates of the bullet passing point can be detected. Details of the detection area 400 and other areas will be described later.
  • the control device 10 is a controller of the target device 20 that displays a control instruction to the target device 20, display of an operation state, a result of impact on the target 24a, and the like.
  • the control device 10 acquires the operation state and bullet passage information from the target device 20.
  • the control device 10 uses the bullet passage information such as the two-dimensional and three-dimensional position coordinates of the bullet passage point acquired from the target device 20 and the bullet passage time, and the bullet entry angle, and the control method and the bullet of the target device 20.
  • the display method of the arrival result can be improved.
  • the control device 10 performs shooting based on the shooting information and firearm position information such as the bullet firing and the bullet firing time acquired from the shooting device 30, and the bullet passage information and target device position information acquired from the target device 20. While performing the determination of the trainee who performed, training result information is transmitted with respect to the shooting apparatus 30 which the trainee who performed the said shooting equips.
  • FIG. 3 is a block diagram illustrating a control configuration of the shooting apparatus according to the first embodiment of the present invention.
  • the shooting device 30 includes a control unit 31, a storage unit 32, a communication unit 33, a firearm 34, a position detection unit 35, a bullet firing detection unit 36, a display unit 37, and a power source. Part 38.
  • the control unit 31 is signal-connected to each unit constituting the shooting device 30 such as the storage unit 32, the communication unit 33, the position detection unit 35, the bullet firing detection unit 36, the display unit 37, and the power supply unit 38, thereby configuring the shooting device 30.
  • Each part and the whole shooting device 30 are controlled.
  • the firearm 34 is, for example, a rifle that is possessed by a trainee 80 who performs a shooting training and is operated by the trainer 80 to fire an actual bullet such as a bullet.
  • the position detector 35 is attached to the firearm 34 and uses GPS (Global Positioning System) or the like, and the three-dimensional position coordinate data of latitude, longitude, and altitude at the firearm position points PF1 and PF2 (see FIG. 2) of the firearm 34. Are sequentially acquired and transmitted to the control unit 31.
  • GPS Global Positioning System
  • the bullet firing detector 36 is a vibration sensor that is attached to the firearm 34 and detects the bullet firing by detecting the vibration of the firearm 34 when the trainee 80 fires a bullet from the firearm 34. When detecting the vibration of the firearm 34, the bullet firing detection unit 36 transmits a bullet firing signal to the control unit 31 based on the detected vibration data.
  • the bullet firing detection unit 36 may be a shock wave sensor that detects a shock wave caused by passage of a bullet and transmits a bullet firing signal to the control unit 31 based on the detected shock wave.
  • the display unit 37 is a monitor for displaying training result information for the target 24 a by the bullet fired from the firearm 34 owned by the trainee 80 and transmitted from the control device 10.
  • the control unit 31 has a clock function, sequentially receives the firearm position coordinate data from the position detection unit 35, associates the received firearm position coordinate data with the time information at the time of reception, and stores the firearm position information in the storage unit 32. Store in the table 32a. Further, the control unit 31 receives the bullet firing signal from the bullet firing detection unit 36, and associates the data related to the firing with the time information (that is, the firing time information) at the time of reception, and the shooting information in the storage unit 32. Store in the registration table 32b. The control unit 31 sequentially reads the firearm position information from the firearm position information table 32 a of the storage unit 32, attaches an identification code for identifying the shooting device 30, and transmits it to the control device 10 via the communication unit 33. . Further, the control unit 31 reads the shooting information from the shooting information registration table 32 b of the storage unit 32, attaches an identification code for identifying the shooting device 30, and transmits it to the control device 10 via the communication unit 33. .
  • the storage unit 32 includes a firearm position information table 32a and a shooting information registration table 32b.
  • the storage unit 32 stores the firearm position coordinate data acquired from the position detection unit 35 together with time information in the firearm position information table 32a according to an instruction from the control unit 31.
  • the storage unit 32 stores the data related to the shooting and the shooting time information in the shooting information registration table 32 b based on the bullet shooting signal acquired from the bullet shooting detection unit 36 according to the instruction from the control unit 31.
  • the shooting information registration table 32b of the storage unit 32 will be described in detail.
  • FIG. 4 is a diagram illustrating an example of a shooting information registration table of the shooting apparatus.
  • the shooting information registration table 32b includes a shooting code for identifying a shooting action, a firearm code for identifying the firearm 34 used for shooting, a trainer code for identifying the trainer 80 who performed the shooting, and a bullet from the firearm 34. It is comprised from the shooting time which shows the time when was fired.
  • the communication unit 33 performs wireless communication with the communication unit 13 of the control device 10 via the antenna 33a.
  • the power supply unit 38 supplies power to each unit constituting the shooting device 30.
  • FIG. 5 is a block diagram illustrating a control configuration of the target device according to the first embodiment of the present invention.
  • FIG. 6 is an overview diagram illustrating an example of the target device according to the first embodiment of the present invention.
  • FIG. 7 is a figure for demonstrating the impact area of the area detection sensor part of a target apparatus.
  • the target device 20 includes a control unit 21, a storage unit 22, a communication unit 23, a target drive unit 24 connected to the target 24 a, an area detection sensor unit 25, and a position detection unit 26.
  • the control unit 21 includes the storage device 22, the communication unit 23, the target drive unit 24, the area detection sensor unit 25, the position detection unit 26, the display unit 27, the cart drive unit 28, and the power supply unit 29. To control each part of the target device 20 and the entire target device 20. Further, the target device 20 can perform autonomous control by the built-in control unit 21, wireless or wired program control from the control device 10, or control by manual operation by an operator (not shown).
  • the target drive unit 24 is a part including a motor, an encoder, an electromagnetic actuator, and the like for driving the target 24a.
  • the target driving unit 24 is configured to be able to be exchanged by detaching the target 24a.
  • the target driving unit 24 performs various expressions corresponding to the physical movements of the enemy (trainer 80) using a connecting unit, a motor, and the like.
  • the target driving unit 24 responds to the target 24 a according to, for example, position coordinate information of the firearm 34 or bullet passage information from the area detection sensor unit 25 described later, as shown in FIG. 6. Moves up and down, rotates, stands or falls.
  • the area detection sensor unit 25 is provided with a predetermined interval h1 (for example, 20 cm, see FIG.
  • the area detection sensor unit 25 detects a bullet passing through a predetermined range (the detection area 400 in FIG. 7) wider than the target 24a. Therefore, even when the target 24a is not landed, a value related to the two-dimensional position coordinate (XY coordinate) of the bullet passing point can be acquired.
  • the area detection sensor unit 25 can use a sensor for detecting a shock wave, an ultrasonic sensor, or the like as a bullet passage detection unit.
  • the bullet entry angle calculation means 21b calculates the bullet entry angle.
  • the position detection unit 26 sequentially acquires the three-dimensional position coordinate data of the latitude, longitude, and altitude of the target position points PT1, PT2 (see FIG. 2) of the target device 20 using GPS or the like, and transmits it to the control unit 21. .
  • the control unit 21 includes bullet passage coordinate calculation means 21a and bullet entry angle calculation means 21b.
  • the bullet passage coordinate calculation means 21a calculates the bullet passage point (for example, the bullet in FIG. 2) from the target device position information acquired from the position detection unit 26 and the value regarding the two-dimensional position coordinates of the bullet passage point acquired from the area detection sensor unit 25. Predetermined two-dimensional position coordinates (XY coordinates) and three-dimensional position coordinates at the passing points PS1-1 and PS1-2) are calculated and associated with time information (that is, bullet passing time) at the time of reception. Register in the passage information registration table 22b.
  • the bullet approach angle calculation means 21b is configured by the three-dimensional position coordinates of the two bullet passage points calculated by the bullet passage coordinate calculation means 21a (for example, bullet passage points PS1-1 and PS1-2 in FIG. 2) and a predetermined interval h1. Based on the above, the bullet entry angle is calculated and registered in the bullet passage information registration table 22b.
  • the control unit 21 sequentially receives the target device position coordinate data from the position detection unit 26, associates the received target device position coordinate data with the time information at the time of reception, and stores the target device position information in the storage unit 22. Store in table 22a.
  • the positional relationship is a preset value.
  • the control unit 21 sequentially reads the target device position information from the target device position information table 22 a of the storage unit 22, attaches an identification code for identifying the target device 20, and sends it to the control device 10 via the communication unit 23. Send. Further, the control unit 21 reads the bullet passage information from the bullet passage information registration table 22 b of the storage unit 22, attaches an identification code for identifying the target device 20, and sends it to the control device 10 via the communication unit 23. Send.
  • a predetermined two-dimensional at the bullet passage point is obtained from the value regarding the two-dimensional position coordinate of the bullet passage point acquired from the area detection sensor unit 25.
  • a method for calculating the position coordinates (XY coordinates) will be described.
  • the control unit 21 based on the signal from the area detection sensor unit 25, the control unit 21 has a predetermined two-dimensional position coordinate of the bullet passing point (X coordinate on the left and right and Y coordinate on the top and bottom in the direction facing the target 24 a). XY coordinates) are calculated. More specifically, the control unit 21 calculates XY coordinates on the vertical plane from the center of the area detection sensor unit 25.
  • the detection area 400 is, for example, a rectangular area of about 5 m in length and about 5 m in width, and indicates a predetermined range that can be detected by the area detection sensor unit 25.
  • the area 410 is, for example, a rectangular area of about 120 cm in length and about 120 cm in width, and shows a target 24a displayed on the display unit 14 of the control apparatus 10 described later and a predetermined range around it.
  • Area 410 is an area corresponding to the closest bullet.
  • Area 420 is a target area that substantially corresponds to the coordinates of the range of target 24a. If there is a bullet passing in this area 420, it will be hit (hit).
  • the trolley drive unit 28 is a part that moves the entire target device 20 mounted on the trolley 28a by a predetermined distance in the front-back direction or the left-right direction using a motor, wheels, and the like according to an instruction from the control unit 21 (FIG. 6). reference).
  • bogie drive part 28 may be comprised so that it may move on the rail and cable (not shown) laid in front and rear, right and left.
  • the storage unit 22 includes a target device position information table 22a and a bullet passage information registration table 22b.
  • the storage unit 22 stores the three-dimensional position coordinate data of the target device 20 acquired from the position detection unit 26 in the target device position information table 22a together with time information in accordance with an instruction from the control unit 21.
  • the storage unit 22 calculates a predetermined two-dimensional position coordinate (XY coordinate), three-dimensional position coordinate, and bullet approach angle of the bullet passage point calculated by the bullet passage coordinate calculation means 21a of the control unit 21 according to an instruction from the control unit 21.
  • the bullet approach angle calculated by the means 21b is stored in the bullet passage information registration table 22b together with the bullet passage time.
  • the bullet passage information registration table 22b includes an identification code for identifying bullet passage information and a bullet passage point in the detection area 400 (for example, the detection area 400-1-2 in FIG. 2) close to the target 24a.
  • the passing time indicating the passing time, the three-dimensional position coordinates of the bullet passing point in each of the two detection areas 400 (for example, the detection areas 400-1-1 and 400-1-2 in FIG. 2), and the target 24a
  • the two-dimensional position coordinates of the bullet passing point in the detection area 400 for example, the detection area 400-1-2 in FIG. 2 and the bullet entry angle.
  • the communication unit 23 performs wireless communication with the communication unit 13 of the control device 10 via the antenna 23a.
  • the power supply unit 29 supplies power to each unit constituting the target device 20.
  • FIG. 9 is a block diagram showing a control configuration of the control device according to the first embodiment of the present invention.
  • the control device 10 includes a control unit 11, a storage unit 12, a communication unit 13, a display unit 14, an input unit 15, and a power supply unit 16.
  • the control unit 11 is signal-connected to each unit constituting the control device 10 such as the storage unit 12, the communication unit 13, the display unit 14, the input unit 15, and the power supply unit 16, and each unit constituting the control device 10 or the entire control device 10 is connected. Control.
  • the control unit 11 is a CPU, GPU, DSP, or the like, and executes a program or the like stored in the storage unit 12 using hardware resources.
  • the control unit 11 gives an instruction to the target device 20 and controls to display various data on the display unit 14.
  • the control unit 11 sequentially acquires the firearm position information from the shooting device 30 and stores the acquired firearm position information in the firearm position registration table 124 of the storage unit 12 in association with the identification code of the shooting device 30.
  • the control unit 11 acquires shooting information from the shooting device 30 and stores the acquired shooting information in the shooting training DB 121 of the storage unit 12 in association with the identification code of the shooting device 30.
  • the control unit 11 sequentially acquires target device position information from the target device 20 and stores the acquired target device position information in the target device position registration table 125 of the storage unit 12 in association with the identification code of the target device 20. .
  • the control unit 11 also acquires bullet passage information from the target device 20 and stores the acquired bullet passage information in the shooting training DB 121 of the storage unit 12 in association with the identification code of the target device 20. Further, the control unit 11 determines the trainer who performed the shooting based on the shooting information and the firearm position information acquired from the shooting apparatus 30 and the bullet passage information and the target apparatus position information acquired from the target apparatus 20.
  • the storage unit 12 is a storage part including a RAM, a ROM, an HDD, a flash memory, and the like.
  • the storage unit 12 stores a program, data, and the like for controlling the target device 20 and analyzing the impact. Details of the program and data will be described later.
  • the storage unit 12 also stores a general-purpose OS (Operating System), firmware, and the like.
  • the display unit 14 is a part that outputs images / characters such as a general-purpose liquid crystal display, an organic EL display, a projector, an inkjet printer, or a laser printer.
  • the display unit 14 displays and outputs various types of information including training result information described later.
  • the input unit 15 is an input part such as a switch, a keyboard, a mouse, or a touch panel.
  • the input unit 15 can mainly detect an instruction from an administrator (user) of the control device 10.
  • the communication unit 13 performs wireless communication with the communication unit 33 of the shooting device 30 and the communication unit 23 of the target device 20 via the antenna 13a.
  • the power supply unit 16 supplies power to each unit constituting the control device 10.
  • control unit 11 includes a target impact determination unit 111, a trainee determination unit 112, a shooting result drawing unit 113, a target operation instruction unit 114, and a presenting operation instruction unit 115.
  • the target impact determination unit 111 refers to the target impact area coordinate table 122 of the storage unit 12 and refers to the two-dimensional of the bullet passage point of the detection area 400 close to the target 24a included in the bullet passage information acquired from the target device 20. Based on the position coordinates (two-dimensional position coordinates of the detection area 2 in FIG. 8), it is determined whether or not the bullet has hit (hit) the target 24a.
  • the trainee determination means 112 is a trainer (shooting apparatus) that has performed shooting based on the shooting information and firearm position information acquired from the shooting apparatus 30, and the bullet passage information and target apparatus position information acquired from the target apparatus 20. Judgment is made.
  • the method for determining the trainee by the trainer determining means 112 of the control unit 11 will be specifically described with reference to FIGS. 1 and 2. As shown in FIGS. 1 and 2, for example, when there is a shooting indicated by the trajectory R1 with respect to the target 24a-1 of the target device 20-1, the trainee determination means 112 first stores the storage unit 12 in the storage unit 12.
  • a shooting device that has shot within a predetermined time t1 (for example, 10 seconds) before the bullet passing time T3 at the bullet passing point PS1-2 acquired from the target device 20-1 with reference to the shooting training DB 121 Search for 30. If there is one shooting device 30 that satisfies the condition (the shooting time T1 of the shooting device 30-1 is (T3-t1) ⁇ T1 ⁇ T3), the shooting device that performed the shooting is the shooting device. 30-1 and it is determined that the trainee is trainer 80-1 (trainer code A). Note that t1 is appropriately set according to the performance of the firearm 34 to be used (bullet firing speed, etc.), the interval of the shooting training, and the like.
  • the trainee determination means 112 determines that the shooting device 30-1 (equipped with the trainer 80-1) and the target Based on the firearm position information, target device position information, and bullet passage information acquired from the device 20-1 (M1), the bullet passage point from the firearm position point PF1 (position coordinates (X1, Y1, Z1)) of the firearm 34-1 A horizontal distance L1 in the Z-axis direction to PS1-2 (position coordinates (x3, y3, z3)), and a horizontal distance H1 in the X-axis direction from the firearm position point PF1 of the firearm 34-1 to the bullet passage point PS1-2 And an approach angle ⁇ 1 from the firearm position point PF1 of the firearm 34-1 to the bullet passage point PS1-2 is calculated from L1 and H1.
  • the firearm 34- based on the firearm position information, the target apparatus position information and the bullet passage information acquired from the shooting apparatus 30-2 (equipped by the trainee 80-2) and the target apparatus 20-1 (M1), the firearm 34- The horizontal distance L2 in the Z-axis direction from the second firearm position point PF2 (position coordinates (X3, Y3, Z3)) to the bullet passage point PS1-2 (position coordinates (x3, y3, z3)) and the firearm 34-2
  • the horizontal distance H2 in the X-axis direction between the firearm position point PF2 and the bullet passage point PS1-2 is obtained, and the approach angle ⁇ 2 from the firearm position point RF2 of the firearm 34-2 to the bullet passage point PS1-2 is calculated from L2 and H2. calculate.
  • the trainee determination unit 112 calculates the approach angles ⁇ 1 and ⁇ 2 obtained above and the bullet approach angle ⁇ 1 (see FIG. 8) included in the bullet passage information acquired from the target device 20-1 (M1). In comparison, since the bullet approach angle ⁇ 1 matches the approach angle ⁇ 1 of the firearm 34-1, it is determined that the shooting indicated by the trajectory R1 was performed by the trainee 80-1 equipped with the shooting device 30-1. To do.
  • the control unit 11 obtains the shooting information and bullet passage information of the shooting training DB 121 and the target device position information of the target device position registration table 125 based on the determination results by the target impact determination unit 111 and the trainee determination unit 112. Reference is made and training result information is registered in the training result registration table 126.
  • the shooting result drawing means 113 based on the training result information of the training result registration table 126 and the coordinate data of the target landing area coordinate table 122, shows the shooting result drawing including the details of the shooting and the positions where the bullets pass through the target 24 a. Create data. Moreover, the shooting result drawing means 113 creates shooting result drawing data that summarizes the shooting training results at the end of shooting training based on an instruction from the input unit 15 by the administrator.
  • the target operation instruction means 114 refers to a target control instruction table 123 (to be described later) of the storage unit 12 and issues an operation instruction such as raising / falling the target 24a of the target device 20.
  • the presenting operation instruction means 115 applies to the target apparatus 20 A display instruction signal is transmitted.
  • the storage unit 12 includes a shooting training DB 121, a target impact area coordinate table 122, a target control instruction table 123, a firearm position registration table 124, a target device position registration table 125, and a training result registration table 126.
  • the shooting training DB 121 is a database such as SQL.
  • the shooting training DB 121 stores shooting information acquired from the shooting device 30 in association with the identification code of the shooting device 30. Further, the shooting training DB 121 stores the bullet passage information acquired from the target device 20 in association with the identification code of the target device 20.
  • the target impact area coordinate table 122 is a two-dimensional position coordinate of the range of the target 24a (area 420 in FIG. 7) in a predetermined range (detection area 400 in FIG. 7) that can be detected by the area detection sensor unit 25 of the target device 20. Is a table in which is registered.
  • the target control instruction table 123 is a table indicating the distance between the trainee 80 and the target device 20 and the control content of the target device 20.
  • FIG. 10 is a diagram illustrating an example of a target control instruction table of the control device.
  • the target control instruction table 123 includes a target device identification ID for identifying the target device 20, a distance between the trainee (shooting device) and the target device, and control contents corresponding to the distance.
  • the firearm position registration table 124 stores firearm position information sequentially transmitted from the shooting device 30 in association with the identification code of the shooting device 30 in accordance with an instruction from the control unit 11.
  • the target device position registration table 125 stores target device position information sequentially transmitted from the target device 20 in association with an identification code of the target device 20 according to an instruction from the control unit 11.
  • the training result registration table 126 is determined by the target impact determination unit 111 and the trainer determination unit 112, the shooting information and bullet passage information of the shooting training DB 121, and the target device position registration table 125.
  • the training result information is stored based on the target device position information.
  • the training result registration table 126 of the storage unit 12 will be described in detail.
  • the training result registration table 126 includes a trainer code for identifying the trainer 80 who performed the shooting, a shooting time when the bullet was fired from the firearm 34 (similar to the shooting time of the shooting information registration table 32b in FIG. 4), the target The passage time indicating the time when the bullet has passed through the detection area 400 of the area detection sensor unit 25 of the apparatus 20 (similar to the passage time of the bullet passage information registration table 22b in FIG.
  • the target code for identifying the device 20 and the two-dimensional XY coordinates of the bullet passage point in the detection area 400 of the area detection sensor unit 25 of the target device 20 (two-dimensional coordinates of the bullet passage point in the bullet passage information registration table 22b of FIG. 8) And the like.
  • FIG. 12 is a sequence diagram showing an operation of the shooting training system according to the first embodiment of the present invention.
  • the trainer 80-1 fires from the firearm 34-1 and, as indicated by the trajectory R1, the bullet hits the target 24a-1 of the target device 20-1. It is assumed that the trainer 80-2 fires from the firearm 34-2 and the bullet hits the target 24a-2 of the target device 20-2 as indicated by the trajectory R2. .
  • the bullet firing detector 36 detects the vibration of the firearm 34-1, and transmits a bullet firing signal to the controller 31 based on the detected vibration data (step S101).
  • the control unit 31 of the shooting device 30-1 receives the bullet firing signal from the bullet firing detection unit 36, and stores the data relating to the firing in the shooting information registration table 32b of the storage unit 32 in association with the shooting time information.
  • an identification code for identifying the shooting device 30 is attached to the shooting information and transmitted to the control device 10 via the communication unit 33 (step S102).
  • the control unit 31 of the shooting device 30-1 sequentially reads the firearm position information from the firearm position information table 32a of the storage unit 32, attaches an identification code for identifying the shooting device 30, and sets the communication unit 23. Via the control device 10.
  • the target device 20-1 two detection areas 400-1-1 and 400-1-2 are arranged side by side with a predetermined interval h1 (for example, 20 cm) on the front side of the target 24a-1.
  • the area detection sensor unit 25 detects the value related to the two-dimensional position coordinates (XY coordinates) at the bullet passing points PS1-1 and PS1-2 by the bullets fired from the firearm 34-1 and the data relating to the bullet passing is obtained. It transmits to the control part 21 (step S103).
  • the control unit 21 of the target device 20-1 uses the bullet passage coordinate calculation means 21a to calculate the target device position information acquired from the position detection unit 26 and the value regarding the two-dimensional position coordinates of the bullet passage point acquired from the area detection sensor unit 25.
  • the predetermined two-dimensional position coordinates (XY coordinates) and three-dimensional position coordinates at the bullet passage points PS1-1 and PS1-2 are calculated and associated with the time information (that is, the bullet passage time) at the time of reception. Register in the bullet passage information registration table 22b. Further, the control unit 21 uses the bullet entry angle calculation unit 21b to enter the bullet based on the three-dimensional position coordinates of the bullet passage points PS1-1 and PS1-2 calculated by the bullet passage coordinate calculation unit 21a and the predetermined interval h1. The angle is calculated and registered in the bullet passage information registration table 22b.
  • the control unit 21 reads the bullet passage information from the bullet passage information registration table 22 b of the storage unit 22, attaches an identification code for identifying the target device 20-1, and sends it to the control device 10 via the communication unit 23. Transmit (step S104).
  • the control unit 21 sequentially reads the target device position information from the target device position information table 22a of the storage unit 22, attaches an identification code for identifying the target device 20, and controls the control device via the communication unit 23. 10 is transmitted.
  • the control unit 11 of the control device 10 stores the bullet passage information transmitted from the target device 20-1 in the shooting training DB 121 of the storage unit 12 in association with the identification code of the target device 20-1. Then, the control unit 11 of the control device 10 refers to the target impact area coordinate table 122 of the storage unit 12 by the target impact determination unit 111, and the bullet passage included in the bullet passage information acquired from the target device 20-1. Based on the predetermined two-dimensional position coordinates of the point (two-dimensional coordinates of the bullet passage point in the bullet passage information registration table 22b in FIG. 8), it is determined whether or not the bullet has hit (hit) the target 24a.
  • the control unit 11 of the control device 10 uses the trainer determination means 112 to obtain the respective firearm position information acquired in advance from the shooting devices 30-1 and 30-2, the bullet firing information acquired from the shooting device 30-1, and the target. Based on the target device position information acquired in advance from the device 20-1 and the bullet passage information acquired from the target device 20-1, the trainer (shooting device) that performed the shooting is determined (step S105). That is, as shown in FIG. 1 and FIG.
  • the trainee determination means 112 first performs Referring to the shooting training DB 121 of the storage unit 12, shooting is performed within a predetermined time t1 (for example, 10 seconds) before the bullet passing time T3 at the bullet passing point PS1-2 obtained from the target device 20-1. It is searched whether there is a shooting device 30 that has performed. If there is one shooting device 30 that satisfies the condition (the shooting time T1 of the shooting device 30-1 is (T3-t1) ⁇ T1 ⁇ T3), the shooting device that performed the shooting is the shooting device. 30-1 and it is determined that the trainee is trainer 80-1 (trainer code A).
  • t1 is appropriately set according to the performance of the firearm 34 to be used (bullet firing speed, etc.), the interval of the shooting training, and the like.
  • the trainee determination means 112 is used by the shooting device 30-1 (trainer 80-1).
  • the firearm position point PF1 position coordinates (X1, Y1, Z1)) of the firearm 34-1 based on the firearm position information, the target device position information, and the bullet passage information acquired from the target device 20-1 (M1).
  • the firearm 34- based on the firearm position information, the target apparatus position information and the bullet passage information acquired from the shooting apparatus 30-2 (equipped by the trainee 80-2) and the target apparatus 20-1 (M1), the firearm 34- The horizontal distance L2 in the Z-axis direction from the second firearm position point PF2 (position coordinates (X3, Y3, Z3)) to the bullet passage point PS1-2 (position coordinates (x3, y3, z3)) and the firearm 34-2
  • the horizontal distance H2 in the X-axis direction between the firearm position point PF2 and the bullet passage point PS1-2 is obtained, and the approach angle ⁇ 2 from the firearm position point RF2 of the firearm 34-2 to the bullet passage point PS1-2 is calculated from L2 and H2. calculate.
  • the trainee determination means 112 uses the approach angles ⁇ 1 and ⁇ 2 obtained above and the bullet approach angle ⁇ 1 included in the bullet passage information acquired from the target device 20-1 (M1) (see FIG. 8), and the bullet approach angle ⁇ 1 coincides with the approach angle ⁇ 1 of the firearm 34-1; therefore, the trainer 80-1 equipped with the shooting device 30-1 performed the shooting shown by the trajectory R1. Judge that it is.
  • the control unit 11 obtains the shooting information and bullet passage information of the shooting training DB 121 and the target device position information of the target device position registration table 125 based on the determination results by the target impact determination unit 111 and the trainee determination unit 112. Reference is made and training result information is registered in the training result registration table 126.
  • the shooting result drawing means 113 is based on the training result information in the training result registration table 126 and the coordinate data in the target landing area coordinate table 122, and details the shooting details and bullets for the target 24 a-1.
  • Shooting result drawing data including a figure showing the passing position of the camera is created (step S106).
  • the control unit 11 of the control device 10 transmits the shooting result drawing data created by the shooting result drawing unit 113 to the shooting device 30-1 specified by the trainee determination unit 112 (step S107).
  • the control unit 31 of the shooting device 30-1 displays the shooting result for the target 24a-1 on the display unit 37 based on the shooting result drawing data transmitted from the control device 10 (step S108).
  • FIG. 13 is a diagram illustrating a display screen example of a shooting result displayed on the display unit of the shooting apparatus according to the first embodiment of the present invention.
  • the control unit 31 of the shooting device 30-1 arranges and displays display elements such as a button group 600 and display fields 700 and 710 in a dedicated window of the program of the display unit 37 as in the display screen example 500. To do.
  • the control unit 31 can detect an instruction from the trainee 80 through an OS GUI (Graphical User Interface) using an input unit (not shown).
  • OS GUI Graphic User Interface
  • the button group 600 is a user interface button for changing / ending the contents of the screen displayed in the display screen example 500. Here, a state in which a button for displaying a result of landing on the target 24a of the target device 20 or a shooting result related to analysis is selected. In addition, the button group 600 can select buttons for displaying training information, ending a program, and the like.
  • the display field 700 is a part for displaying detailed shooting details. Based on the shooting result drawing data transmitted from the control device 10, the control unit 31 of the shooting device 30-1 performs predetermined two-dimensional X of the trainee, the landing time, the landing result, the target, and the bullet passing point. Coordinates and Y coordinates are displayed in tabular form.
  • the display column 710 is a part for drawing a region corresponding to the above-described area 410 (see FIG. 7) in the XY coordinates where the bullet detection point can be detected by the area detection sensor unit 25 of the target device 20, and the target 24a-1
  • the bullet passing point for the area 420 is displayed.
  • the control unit 31 draws the area 420 as an image diagram corresponding to the shape and size of the actual target 24a around the XY coordinate position base point 450 in the display field 710. After that, the control unit 31 displays the mark format 801 in the XY coordinate of the bullet passing point on the screen based on the information of the predetermined two-dimensional XY coordinate of the bullet passing point in the display field 710. Display the shooting result with.
  • control unit 11 of the control device 10 displays the shooting result for the target 24a-1 on the display unit 14 based on the shooting result drawing data created by the shooting result drawing unit 113 (step S109). ).
  • the trainer 80-2 fires a bullet as shown by the trajectory R2 from the firearm 34-2 of the shooting device 30-2 toward the target 24a-2 of the target device 20-2.
  • the bullet firing detector 36 detects the vibration of the firearm 34-2, and transmits a bullet firing signal to the controller 31 based on the detected vibration data (step S110).
  • the control unit 31 of the shooting device 30-2 receives the bullet firing signal from the bullet firing detection unit 36, and stores the data related to the firing in the firing information registration table 32b of the storage unit 32 in association with the firing time information.
  • an identification code for identifying the shooting device 30 is attached to the shooting information and transmitted to the control device 10 via the communication unit 33 (step S111).
  • the control unit 31 of the shooting device 30-2 sequentially reads the firearm position information from the firearm position information table 32a of the storage unit 22, attaches an identification code for identifying the shooting device 30, and sets the communication unit 23. Via the control device 10.
  • the target device 20-2 an area in which two detection areas 400-2-1 and 400-2-2 are arranged side by side with a predetermined interval h1 (for example, 20 cm) on the front side of the target 24a-2.
  • the detection sensor unit 25 detects the value related to the two-dimensional position coordinates (XY coordinates) at the bullet passing points PS2-1 and PS2-2 by the bullets fired from the firearm 34-2, and controls the data relating to the bullet passing. It transmits to the part 21 (step S112).
  • the control unit 21 of the target device 20-2 uses the bullet passage coordinate calculation means 21 a based on the target device position information acquired from the position detection unit 26 and the value regarding the two-dimensional position coordinates of the bullet passage point acquired from the area detection sensor unit 25.
  • the predetermined two-dimensional position coordinates (XY coordinates) and three-dimensional position coordinates at the bullet passage points PS2-1 and PS2-2 are calculated and associated with the time information (that is, the bullet passage time) at the time of reception, Register in the bullet passage information registration table 22b. Further, the control unit 21 uses the bullet entry angle calculation unit 21b to enter the bullet based on the three-dimensional position coordinates of the bullet passage points PS2-1 and PS2-2 calculated by the bullet passage coordinate calculation unit 21a and a predetermined interval h1. The angle is calculated and registered in the bullet passage information registration table 22b.
  • the control unit 21 reads the bullet passage information from the bullet passage information registration table 22b of the storage unit 22 and attaches an identification code for identifying the target device 20-2 to the control device 10 via the communication unit 23. Transmit (step S113).
  • the control unit 21 sequentially reads the target device position information from the target device position information table 22a of the storage unit 22, attaches an identification code for identifying the target device 20, and controls the control device via the communication unit 23. 10 is
  • the control unit 11 of the control device 10 stores the bullet passage information transmitted from the target device 20-2 in the shooting training DB 121 of the storage unit 12 in association with the identification code of the target device 20-2. Then, the control unit 11 of the control device 10 refers to the target impact area coordinate table 122 of the storage unit 12 by the target impact determination unit 111, and the bullet passage included in the bullet passage information acquired from the target device 20-2. Based on the predetermined two-dimensional position coordinates of the point (two-dimensional coordinates of the bullet passage point in the bullet passage information registration table 22b in FIG. 8), it is determined whether or not the bullet has hit (hit) the target 24a.
  • the control unit 11 of the control device 10 uses the trainer determination means 112 to obtain the respective firearm position information acquired in advance from the shooting devices 30-1 and 30-2, the bullet firing information acquired from the shooting device 30-2, the target Based on the target device position information acquired in advance from the device 20-2 and the bullet passage information acquired from the target device 20-2, the trainer (shooting device) that performed the shooting is determined (step S114). That is, as shown in FIGS.
  • the trainee determination means 112 first performs Referring to the shooting training DB 121 of the storage unit 12, shooting is performed within a predetermined time t1 (for example, 10 seconds) before the bullet passing time T6 at the bullet passing point PS2-2 acquired from the target device 20-2. It is searched whether there is a shooting device 30 that has performed. If there is one shooting device 30 that satisfies the condition (the shooting time T4 of the shooting device 30-2 is (T6-t1) ⁇ T4 ⁇ T6), the shooting device that performed the shooting is the shooting device. 30-2 and it is determined that the trainee is the trainer 80-2 (trainer code B).
  • t1 is appropriately set according to the performance of the firearm 34 to be used (bullet firing speed, etc.), the interval of the shooting training, and the like.
  • the trainee determination means 112 is used by the shooting device 30-1 (trainer 80-1).
  • the firearm position point PF1 position coordinates (X1, Y1, Z1) of the firearm 34-1 based on the firearm position information, the target apparatus position information, and the bullet passage information acquired from the target device 20-2 (M2).
  • the firearm 34- based on the firearm position information, target apparatus position information, and bullet passage information acquired from the shooting apparatus 30-2 (equipped by the trainee 80-2) and the target apparatus 20-2 (M2), the firearm 34- The horizontal distance L4 in the Z-axis direction from the second firearm position point PF2 (position coordinates (X3, Y3, Z3)) to the bullet passage point PS2-2 (position coordinates (x5, y5, z5)) and the firearm 34-2
  • the horizontal distance H4 in the X-axis direction from the firearm position point PF2 to the bullet passage point PS2-2 is obtained, and the entry angle ⁇ 4 from the firearm position point RF2 of the firearm 34-2 to the bullet passage point PS2-2 is calculated from L4 and H4. calculate.
  • the trainee determination means 112 uses the approach angles ⁇ 3 and ⁇ 4 obtained above and the bullet approach angle ⁇ 2 included in the bullet passage information acquired from the target device 20-2 (M2) (see FIG. 8), the bullet approach angle ⁇ 2 matches the approach angle ⁇ 4 of the firearm 34-2, so that the training shown by the trajectory R2 was performed by the trainer 80-2 equipped with the shooting device 30-2. Judge that it is.
  • the control unit 11 obtains the shooting information and bullet passage information of the shooting training DB 121 and the target device position information of the target device position registration table 125 based on the determination results by the target impact determination unit 111 and the trainee determination unit 112. Reference is made and training result information is registered in the training result registration table 126.
  • the shooting result drawing means 113 is based on the training result information in the training result registration table 126 and the coordinate data in the target landing area coordinate table 122, and details the shooting details and bullets for the target 24 a-2.
  • Shooting result drawing data including a figure showing the passing position of the is created (step S115).
  • the control unit 11 of the control device 10 transmits the shooting result drawing data created by the shooting result drawing unit 113 to the shooting device 30-2 specified by the trainee determination unit 112 (step S116).
  • the control unit 31 of the shooting device 30-2 displays the shooting result for the target 24a-2 on the display unit 37 based on the shooting result drawing data transmitted from the control device 10 (step S117). .
  • control unit 11 of the control device 10 displays the shooting result for the target 24a-2 on the display unit 14 based on the shooting result drawing data created by the shooting result drawing unit 113 (step S118). ).
  • FIG. 14 is a diagram illustrating a list display screen example of shooting results displayed on the display unit of the control device according to the first embodiment of the present invention.
  • the control unit 11 of the control device 10 arranges and displays display elements such as button groups 610 and 620 and display fields 730 to 760 in a dedicated window of the program of the display unit 14 as in the display screen example 510, for example. To do.
  • the control unit 11 can detect user instructions for these display elements by means of an OS GUI (Graphical User Interface) using the input unit 15.
  • OS GUI Graphical User Interface
  • the button group 610 is a user interface button for controlling the target device 20 and the shooting device 30 to call various processes. Here, a result of landing on the target 24a by the shooting training and a “result display” button relating to the analysis are selected.
  • the button group 610 includes monitoring of raw data of the target device 20, setting of a schedule such as standing / falling, control processing divided into groups, display of training information, detection of impact position, and calling of maintenance functions You can select buttons for printing results, exiting programs, and so on.
  • the button group 620 is an operation button for selecting whether or not to draw the shooting result information of the entire list displayed in the display column 750, which will be described later, in the display column 760 and clearing the drawing contents in the display column 760.
  • the display field 730 is a button for selecting a trainer who displays the name of the trainer performing the shooting training and displaying the shooting results in a list.
  • the display column 740 is a button for selecting the target to be used when displaying the name of the target to be used and displaying the shooting results in a list.
  • the display field 750 is a part for displaying only information regarding impact from data registered in the training result registration table 126 of the storage unit 12 in a list format.
  • the control unit 11 of the control apparatus 10 displays the order of shooting (No.), the trainer who performed the shooting, the time of impact (passing bullet), the result of impact on the target, the impacted target in the list in the display field 750.
  • Information such as a name and a predetermined two-dimensional XY coordinate of a bullet passing point in the detection area 400 of the area detection sensor unit 25 of the target device 20 is displayed.
  • the display field 760 is a part for drawing a region corresponding to the above-described area 410 (see FIG. 7) among the coordinates at which the area detection sensor unit 25 of the target device 20 can detect bullet passage.
  • the control unit 11 draws the area 420 as an image diagram or the like corresponding to the shape and size of the actual target 24a around the XY coordinate position base point 450 in the display field 760. After that, the control unit 11 displays, in the display field 760, marks 802, 803, etc., in the XY coordinates of the corresponding bullet passage points on the screen based on the information of the predetermined two-dimensional XY coordinates of the bullet passage points. In this way, multiple shooting results are displayed in mark format.
  • the shooting result by the trainee 80-1 is displayed in black, for example, and the shooting result by the trainer 80-2 is displayed in a color other than black, so that It is possible to easily compare the results of the shooting of the person 80-2.
  • the control unit 11 draws the shooting order of the list display in the display field 750 next to the circles at the marks 802, 803, and the like. As a result, it is possible to easily know the position of the landing position.
  • the shooting training system when a plurality of trainees participate and perform shooting randomly, who performs shooting at which target and when, By determining whether or not a bullet has hit the target by shooting, the result of the shooting is displayed in real time on a display that can be seen by the trainer, allowing the trainer to immediately display his or her own fire result. Therefore, it is possible to improve the accuracy of shooting training and to improve the efficiency of shooting training.
  • Embodiment 2 a shooting training system according to Embodiment 2 of the present invention will be described.
  • the shooting training system Q according to the second embodiment of the present invention when a plurality of trainees participate and perform shooting randomly, who shoots at which target when and when the bullet is targeted by the shooting In addition to determining whether or not you have hit (hit), and displaying the result of the shooting in real time on a display that can be seen by the trainee, the trainer can immediately confirm his or her shooting result, so shooting Training accuracy can be improved, and the efficiency of shooting training can be improved.
  • the shooting training system Q according to the second embodiment of the present invention differs from the shooting training system S according to the first embodiment in a method for specifying a trainee who performed shooting.
  • FIG. 15 is a system configuration diagram of a shooting training system according to the second embodiment of the present invention.
  • the shooting training system Q according to the second embodiment of the present invention is equipped with trainers 80-1 and 80-2 who perform shooting by shooting training and trainers 80-1 and 80-2, respectively.
  • the trainer 80-1 or the trainer 80-2 randomly moves toward the target 24a-1 of the target device 60-1 or the target 24a-2 of the target device 60-2.
  • the trainer 80-1 performs the shooting indicated by the trajectory R1 on the target 24a-1, and then the trainer 80-2 performs the trajectory R2 on the target 24a-2. Further, it is assumed that the trainer 80-2 performs the shooting indicated by the trajectory R3. If the trainees 80-1 and 80-2 are not distinguished from each other, the trainer 80 and the shooting devices 70-1 and 70-2 are simply distinguished from each other. 1 and 60-2 are simply referred to as target devices 60.
  • the shooting device 70 and the control device 50 and the target device 60 and the control device 50 are connected to each other, for example, by wireless communication.
  • each of the two shooting devices 70 and the target devices 60 is configured. However, one or three or more shooting devices 70 or target devices 60 are connected to one control device 50 by signal connection. It is also possible to configure so as to.
  • the shooting device 70 is used by the trainee 80 when performing shooting training. Further, the shooting device 70 transmits shooting information (firearm information, trainee information, shooting time, etc.) from the laser beam transmission unit 75 to the target device 60 with a laser.
  • the target device 60 is a device that is a target of shooting training using real bullets.
  • the target device 60 causes the target 24a to perform a concealment operation according to schedule information created in advance or an instruction from the control device 50.
  • the target 24a is a detachable target body that is driven and controlled by the control unit 61, and is a target for shooting training.
  • the area detection sensor unit 65 detects a value related to a two-dimensional position coordinate (XY coordinate) of the bullet passing point. In the area detection sensor unit 65, a detection area 400 is a range in which the two-dimensional position coordinates of the bullet passing point can be detected.
  • the control device 50 is a controller of the target device 60 that displays a control instruction to the target device 60, display of an operation state, a result of landing on the target 24a, and the like.
  • the control device 50 acquires the operation state and bullet passage information from the target device 60.
  • the control device 50 uses bullet passage information such as a predetermined two-dimensional position coordinate (XY coordinate) and bullet passage time of the bullet passage point acquired from the target device 60 to control the target device 60 and the impact result.
  • the display method can be improved.
  • the control device 50 determines the trainer who performed the shooting based on the shooting information such as the bullet firing and the bullet firing time acquired from the target device 60 and the bullet passing information, and the trainer who performed the shooting.
  • the training result information is transmitted to the shooting device 70 equipped with.
  • FIG. 16 is a block diagram illustrating a control configuration of the shooting apparatus according to the second embodiment of the present invention.
  • the shooting device 70 includes a control unit 71, a storage unit 72, a communication unit 33, a firearm 34, a laser transmission unit 75, a bullet firing detection unit 36, a display unit 37, and a power source. Part 38.
  • the control unit 71 is signal-connected to each unit constituting the shooting device 70 such as the storage unit 72, the communication unit 33, the laser transmission unit 75, the bullet firing detection unit 36, the display unit 37, and the power supply unit 38, thereby configuring the shooting device 70. Each part and the entire shooting device 70 are controlled. Based on the bullet firing signal from the bullet firing detector 36, the laser transmitter 75 is directed to the target device 60 as indicated by the laser pattern LP1 in accordance with an instruction from the controller 71. Laser light including firearm information, trainee information, shooting time, etc.) is transmitted.
  • the control unit 71 receives the bullet firing signal from the bullet firing detection unit 36, associates the data related to the firing with the time information (that is, the firing time information) at the time of reception, and stores the transmission information registration table in the storage unit 72. 72a is stored. Further, the control unit 71 reads out transmission information related to shooting from the transmission information registration table 72 a of the storage unit 72, attaches an identification code for identifying the shooting device 70, and outputs it to the laser transmission unit 75. To the target device 60 is caused to transmit laser light including transmission information related to shooting.
  • the storage unit 72 includes a transmission information registration table 72a. Based on the bullet firing signal acquired from the bullet firing detection unit 36 according to the instruction from the control unit 71, the storage unit 72 stores the data related to the firing and the firing time information in association with each other in the transmission information registration table 72a.
  • the transmission information registration table 72a of the storage unit 72 will be described in detail.
  • FIG. 17 is a diagram illustrating an example of a transmission information registration table of the shooting apparatus.
  • the transmission information registration table 72a includes a shooting code for identifying a shooting action, a firearm code for identifying the firearm 34 used for shooting, a trainer code for identifying the trainer 80 who performed the shooting, and a bullet from the firearm 34. It is comprised from the shooting time which shows the time when was fired.
  • FIG. 18 is a block diagram illustrating a control configuration of the target device according to the second embodiment of the present invention.
  • FIG. 19 is an overview diagram showing an example of the target device according to Embodiment 2 of the present invention. 18 and FIG. 19, the same components as those in FIG. 5 and FIG.
  • the target device 60 includes a control unit 61, a storage unit 62, a communication unit 23, a target driving unit 24 connected to the target 24a, an area detection sensor unit 65, and a laser receiving unit 66.
  • the control unit 61 includes the storage unit 62, the communication unit 23, the target drive unit 24, the area detection sensor unit 65, the laser reception unit 66, the display unit 27, the cart drive unit 28, and the power supply unit 29. To control each part of the target device 60 and the entire target device 60.
  • the target device 60 can perform autonomous control by the built-in control unit 61, wireless or wired program control from the control device 50, or control by manual operation by an operator (not shown).
  • the target drive unit 24 is a part including a motor, an encoder, an electromagnetic actuator, and the like for driving the target 24a.
  • the target driving unit 24 is configured to be able to be exchanged by detaching the target 24a.
  • the target driving unit 24 performs various expressions corresponding to the physical movements of the enemy (trainer 80) using a connecting unit, a motor, and the like.
  • the target drive unit 24 moves up and down, rotates, stands up, or falls on the target 24 a as shown in FIG. 19 according to bullet passage information from the area detection sensor unit 65 described later, for example. The operation is performed.
  • the area detection sensor unit 65 arranges the detection area 400 on the front side of the target 24a to be driven, and calculates a value related to the two-dimensional position coordinate (XY coordinate) of the bullet passing point fired from the firearm 34 possessed by the trainee 80. Detecting and transmitting data related to bullet passage to the control unit 61.
  • the area detection sensor unit 65 detects a bullet passing through a predetermined range (the detection area 400 in FIG. 7) wider than the target 24a. Therefore, even when the target 24a is not landed, a value related to the two-dimensional position coordinate (XY coordinate) of the bullet passing point can be acquired.
  • the area detection sensor unit 65 can use a shock wave detection sensor, an ultrasonic sensor, or the like as a bullet passage detection unit.
  • the laser receiving unit 66 receives the laser beam transmitted from the shooting device 70 and outputs transmission information regarding the shooting included in the laser beam to the control unit 61.
  • the controller 61 includes bullet passage coordinate calculation means 61a.
  • the bullet passage coordinate calculation means 61a calculates a predetermined two-dimensional position coordinate (XY coordinate) from the value related to the two-dimensional position coordinate of the bullet passage point acquired from the area detection sensor unit 65, and receives the time information at the time of reception (that is, , The bullet passing time) is registered in the shooting result registration table 62b.
  • the control unit 61 stores the transmission information regarding the shooting acquired from the laser receiving unit 66 in the shooting device information registration table 62 a of the storage unit 62 together with the identification code of the shooting device 70.
  • the control unit 61 reads the shooting result information from the shooting result registration table 62 b of the storage unit 62, attaches an identification code for identifying the target device 60, and transmits it to the control device 50 via the communication unit 23.
  • the storage unit 62 includes a shooting device information registration table 62a and a shooting result registration table 62b.
  • the storage unit 62 stores the transmission information regarding the shooting acquired from the laser receiving unit 66 in accordance with an instruction from the control unit 61 together with the identification code of the shooting device 70 in the shooting device information registration table 62a.
  • the storage unit 62 in response to an instruction from the control unit 61, the predetermined two-dimensional position coordinates (XY coordinates) of the bullet passage point calculated by the bullet passage coordinate calculation means 61a, the bullet passage time, and the target device information registration table 62a.
  • the information is stored in the shooting result registration table 62b in association with the transmission information related to shooting.
  • FIG. 20 is a diagram illustrating an example of a shooting device information registration table of the target device.
  • FIG. 21 is a diagram illustrating an example of a shooting result registration table of the target device.
  • the shooting device information registration table 22a includes a shooting device code for identifying the shooting device 70, a shooting code for identifying shooting action, and a firearm code for identifying the firearm 34 used for shooting. And a trainer code for identifying the trainer 80 who performed the shooting, and a shooting time indicating the time when the bullet was fired from the firearm 34. Further, as shown in FIG.
  • the shooting result registration table 62b includes a shooting device code for identifying the shooting device 70, a shooting code for identifying shooting action, and a firearm for identifying the firearm 34 used for shooting.
  • a code a trainer code for identifying the trainer 80 who performed the shooting, a shooting time indicating a time when the bullet was fired from the firearm 34, a passing time indicating a time when the bullet passed, and a bullet passing through the detection area 400 It is composed of predetermined two-dimensional position coordinates of points.
  • FIG. 22 is a block diagram showing a control configuration of the control device according to the second embodiment of the present invention.
  • the control device 50 includes a control unit 51, a storage unit 52, a communication unit 13, a display unit 14, an input unit 15, and a power supply unit 16.
  • the control unit 51 is signal-connected to the components constituting the control device 50 such as the storage unit 52, the communication unit 13, the display unit 14, the input unit 15, and the power supply unit 16. Control.
  • FIG. 22 the same components as those in FIG.
  • the control unit 51 is a CPU, GPU, DSP, or the like, and executes a program or the like stored in the storage unit 52 using hardware resources.
  • the control unit 51 gives an instruction to the target device 60 and controls to display various data on the display unit 14. Further, the control unit 51 acquires shooting result information from the target device 60 and stores the acquired shooting result information in the training result information registration table 52 a of the storage unit 52 in association with the target code of the target device 60. Further, the control unit 51 refers to the shooting result information acquired from the target device 60, identifies the trainer who performed the shooting, and transmits the shooting result drawing data to the shooting device 70 equipped by the trainer. To do.
  • the storage unit 52 is a storage part including a RAM, a ROM, an HDD, a flash memory, and the like.
  • the storage unit 52 stores a program, data, and the like for controlling the target device 60 and analyzing the impact. Details of the program and data will be described later.
  • the storage unit 52 also stores a general-purpose OS (Operating System), firmware, and the like.
  • control unit 51 includes a target impact determination unit 51a, a trainee determination unit 51b, a shooting result drawing unit 51c, a target operation instruction unit 114, and a presenting operation instruction unit 115.
  • the target impact determination means 51a refers to the target impact area coordinate table 122 of the storage unit 52, and the two-dimensional position coordinates of the bullet passing point of the detection area 400 included in the shooting result information acquired from the target device 60 (FIG. 15). On the basis of the two-dimensional position coordinates of the detection area 400), it is determined whether or not the bullet has hit (hit) the target 24a.
  • the trainee determination means 52b refers to the shooting result information acquired from the target device 60, and determines the trainer (shooting device) who performed the shooting.
  • the control part 51 registers the determination result by the target impact determination means 51a in the training result information registration table 52a.
  • the shooting result drawing means 51c includes the shooting result information including the figure showing the shooting details and the passing position of the bullet with respect to the target 24a based on the training result information of the training result information registration table 52a and the coordinate data of the target landing area coordinate table 122. Create drawing data. Moreover, the shooting result drawing means 51c creates shooting result drawing data that summarizes the shooting training results at the end of shooting training based on an instruction from the input unit 15 by the administrator.
  • the storage unit 52 includes a shooting training DB 121, a target landing area coordinate table 122, a target control instruction table 123, and a training result information registration table 52a.
  • the training result information registration table 52 a stores the determination result by the target impact determination means 51 a and the shooting result information acquired from the target device 60 according to an instruction from the control unit 51.
  • the training result information registration table 52a of the storage unit 52 will be described in detail with reference to FIG.
  • FIG. 23 is a diagram illustrating an example of a training result information registration table of the control device.
  • the training result information registration table 52a includes a trainer code for identifying the trainer 80 who performed the shooting, a shooting time when the bullet was fired from the firearm 34 (similar to the shooting time of the shooting result registration table 62b in FIG.
  • the passing time (similar to the passing time of the shooting result registration table 62b in FIG. 21) indicating the time when the bullet has passed through the detection area 400 of the area detection sensor unit 65 of the target device 60, the result of the impact on the target 24a, the target
  • the target code for identifying the device 60 and the two-dimensional XY coordinates of the bullet passage point in the detection area 400 of the area detection sensor unit 65 of the target device 60 (the two-dimensional coordinates of the bullet passage point in the shooting result registration table 62b in FIG. 21) The same).
  • FIG. 24 is a sequence diagram showing an operation of the shooting training system according to the second embodiment of the present invention.
  • the trainer 80-1 shoots from the firearm 34-1 and, as indicated by the trajectory R1, the bullet hits the target 24a-1 of the target device 60-1, Further, it is assumed that the trainer 80-2 shoots from the firearm 34-2 and the bullet hits the target 24a-2 of the target device 60-2 as indicated by the trajectory R2.
  • the trajectory R1 the trajectory of the target device 60-1
  • the trainer 80-2 shoots from the firearm 34-2 and the bullet hits the target 24a-2 of the target device 60-2 as indicated by the trajectory R2.
  • the shooting device 70- 1 detects the vibration of the firearm 34-1 and transmits a bullet firing signal to the control unit 71 based on the detected vibration data (step S201).
  • the control unit 71 of the shooting device 70-1 receives the bullet firing signal from the bullet firing detection unit 36, and stores the data related to the firing in the transmission information registration table 72a of the storage unit 72 in association with the firing time information.
  • an identification code for identifying the shooting device 70-1 is attached to the information relating to the shooting and output to the laser transmission unit 75.
  • the laser transmission unit 75 transmits the information to the target device 60-1.
  • a laser beam including transmission information related to shooting is transmitted (step S202).
  • the area detection sensor unit 65-1 having the detection area 400-1 provided on the near side of the target 24a-1 is used at the bullet passing point by the bullet fired from the firearm 34-1.
  • a value relating to the two-dimensional position coordinate (XY coordinate) is detected, and data relating to bullet passage is transmitted to the control unit 61 (step S203).
  • the control unit 61 of the target device 60-1 uses a bullet passage coordinate calculation unit 61a to calculate a predetermined two-dimensional position coordinate (XY coordinate) from a value regarding the two-dimensional position coordinate of the bullet passage point acquired from the area detection sensor unit 65-1. ) And is registered in the shooting result registration table 62b in association with time information (that is, bullet passage time) at the time of reception.
  • control unit 61 registers the transmission information regarding the shooting acquired from the laser receiving unit 66 in the shooting device information registration table 62a and the shooting result registration table 62b of the storage unit 62 together with the identification code of the shooting device 70-1 (Step S204). Then, the control unit 61 reads the shooting result information from the shooting result registration table 62b of the storage unit 62, attaches an identification code for identifying the target device 60-1, and controls the control device 50 via the communication unit 23. (Step S205).
  • the control unit 51 of the control device 50 stores the shooting result information transmitted from the target device 60-1 in the training result information registration table 52a of the storage unit 52 in association with the identification code of the target device 60-1. Then, the control unit 51 of the control device 50 refers to the target impact area coordinate table 122 of the storage unit 52 by the target impact determination means 51a, and passes the bullets included in the shooting result information acquired from the target device 60-1. Based on the predetermined two-dimensional position coordinates of the point (the bullet passing XY coordinates of the detection area 400-1 in FIG. 15), it is determined whether or not the bullet has hit (hit) the target 24a, and the determination result is trained. Register in the result information registration table 52a.
  • control unit 51 of the control device 50 is the shooting result drawing means 51c, based on the training result information in the training result information registration table 52a and the coordinate data in the target landing area coordinate table 122, and the detailed shooting details and the target 24a- Shooting result drawing data including a figure showing a bullet passing position for 1 is created (step S206). Then, the control unit 51 of the control device 50 transmits the shooting result drawing data created by the shooting result drawing unit 51c to the shooting device 70-1 specified by the trainee determination unit 52b (step S207).
  • the control unit 71 of the shooting device 70-1 displays the shooting result for the target 24a-1 on the display unit 37 as in FIG. 13 (step S208).
  • the control unit 51 of the control device 50 displays the shooting result for the target 24a-1 on the display unit 14 based on the shooting result drawing data created by the shooting result drawing means 51c (step S209). ).
  • the bullet firing detector 36 detects the vibration of the firearm 34-2, and transmits a bullet firing signal to the controller 71 based on the detected vibration data (step S210).
  • the control unit 71 of the shooting device 70-2 receives the bullet firing signal from the bullet firing detection unit 36, and stores the data related to the firing in the transmission information registration table 72a of the storage unit 72 in association with the firing time information.
  • an identification code for identifying the shooting device 70-2 is attached to the information relating to the shooting and output to the laser transmission unit 75, and the laser transmission unit 75 sends a laser pattern (not shown) to the target device 60-2.
  • a laser beam including transmission information related to shooting is transmitted (step S211).
  • an area detection sensor unit 65-2 having a detection area 400-2 provided on the front side of the target 24a-2 is a bullet passing point by a bullet fired from the firearm 34-2.
  • a value relating to the two-dimensional position coordinate (XY coordinate) is detected, and data relating to bullet passage is transmitted to the control unit 61 (step S212).
  • the control unit 61 of the target device 60-2 uses a bullet passage coordinate calculation unit 61a to calculate a predetermined two-dimensional position coordinate (XY coordinate) from a value regarding the two-dimensional position coordinate of the bullet passage point acquired from the area detection sensor unit 65-2. ) And is registered in the shooting result registration table 62b in association with time information (that is, bullet passage time) at the time of reception.
  • control unit 61 registers the transmission information related to the shooting acquired from the laser receiving unit 66 in the shooting device information registration table 62a and the shooting result registration table 62b of the storage unit 62 together with the identification code of the shooting device 70-2 (Step S213). Then, the control unit 61 reads the shooting result information from the shooting result registration table 62b of the storage unit 62, attaches an identification code for identifying the target device 60-2, and controls the control device 50 via the communication unit 23. (Step S214).
  • the control unit 51 of the control device 50 stores the shooting result information transmitted from the target device 60-2 in the training result information registration table 52a of the storage unit 52 in association with the identification code of the target device 60-2. Then, the control unit 51 of the control device 50 refers to the target impact area coordinate table 122 of the storage unit 52 by the target impact determination means 51a, and passes the bullets included in the shooting result information acquired from the target device 60-2. Based on the predetermined two-dimensional position coordinates of the point (the bullet passing XY coordinates of the detection area 400-1 in FIG. 15), it is determined whether or not the bullet has hit (hit) the target 24a, and the determination result is trained. Register in the result information registration table 52a.
  • control unit 51 of the control device 50 is the shooting result drawing means 51c, based on the training result information in the training result information registration table 52a and the coordinate data in the target landing area coordinate table 122, and the detailed shooting details and the target 24a- Shooting result drawing data including a figure showing a bullet passing position with respect to 2 is created (step S215). Then, the control unit 51 of the control device 50 transmits the shooting result drawing data created by the shooting result drawing unit 51c to the shooting device 70-2 specified by the trainee determination unit 52b (step S216).
  • the control unit 71 of the shooting device 70-2 displays the shooting result for the target 24a-2 on the display unit 37 based on the shooting result drawing data transmitted from the control device 50 (step S217).
  • the control unit 51 of the control device 50 displays the shooting result for the target 24a-2 on the display unit 14 based on the shooting result drawing data created by the shooting result drawing means 51c (step S218). ).
  • the control device 50 creates shooting result drawing data reflecting all the results of the shooting training by the shooting result drawing means 51c of the control unit 51 according to an instruction from the input unit 15 by the administrator. Can be displayed on the display unit 14 (see FIG. 14).
  • the shooting training system when a plurality of trainees participate and perform shooting randomly, who performs shooting at which target and when, By determining whether or not a bullet has hit the target by shooting, the result of the shooting is displayed in real time on a display that can be seen by the trainer, allowing the trainer to immediately display his or her own fire result. Therefore, it is possible to improve the accuracy of shooting training and to improve the efficiency of shooting training.
  • the present invention is used in an industry for constructing a shooting training system that performs shooting training using live ammunition.
  • This application claims the benefit of priority based on Japanese Patent Application No. 2016-182765 filed on Sep. 20, 2016, the entire disclosure of which is incorporated herein by reference.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)

Abstract

La présente invention concerne un système d'entraînement sur cible dans lequel, lorsqu'une pluralité d'individus en formation participent et réalisent des tirs au hasard, qui ont fait des tirs, lorsque les tirs ont été effectués, et dont les cibles reçoivent les tirs des individus en formation, et de plus, si des balles qui ont atterri sur des cibles (heurtées) sont déterminées, et les résultats des tirs sont affichés en temps réel sur un dispositif d'affichage qui peut être visualisé par les individus en formation, ce qui permet aux individus en formation de vérifier immédiatement leurs résultats de tir, de sorte que la précision d'entraînement sur cible peut être augmentée et que l'entraînement sur cible peut être rendu efficace. Le système d'entraînement sur cible comprend : un dispositif de tir à porter par au moins un individu en formation qui fait un entraînement sur cible en utilisant une arme à feu ; au moins un dispositif formant cible comprenant une cible ; et un dispositif de commande permettant d'analyser les résultats de l'entraînement sur cible. Le dispositif de tir et le dispositif de commande sont raccordés l'un à l'autre par l'intermédiaire d'une ligne de communication, et le dispositif formant cible et le dispositif de commande sont raccordés l'un à l'autre par l'intermédiaire de la ligne de communication.
PCT/JP2017/031091 2016-09-20 2017-08-30 Système d'entraînement sur cible WO2018056001A1 (fr)

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CN108398058A (zh) * 2018-03-30 2018-08-14 歌尔科技有限公司 射靶系统、数据处理方法及环靶图像显示方法
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CN112309194A (zh) * 2020-10-28 2021-02-02 合肥君信电子科技有限公司 基于rtk的车载枪炮通用射击训练考核与成绩评定系统
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CN114857992A (zh) * 2022-05-26 2022-08-05 西安航天动力研究所 一种战术训练中大数量轻武器靶机的自由射击匹配方法及系统
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