JP2008267710A - Moving target system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving target system capable of arbitrarily moving a target without providing a rail in a shooting range and performing practical and advanced shooting training. <P>SOLUTION: The moving target system 1 is equipped with a target device 3 and an indication device 2. The target device 3 is equipped with a target 8, a receiving means 17 for receiving hiding/appearing timing data for indicating the hiding and appearing of the target 8 and traveling path data for indicating a path for moving in the shooting range A, a target hiding/appearing drive means 15 for driving the target 8 to hide and appear, a moving truck 9 movable in forward, rearward, right, left, and oblique directions in the shooting range A, a moving truck drive means 16 for driving the moving truck 9, and a control means 14 for controlling the target hiding/appearing drive means 15 based on the hiding/appearing timing data, calculating the traveling path in which the moving truck 9 should move based on information from a position detecting means 18 and the traveling path data, and controlling the moving truck drive means 16. The indicating device 2 is equipped with a transmission means 5 for transmitting each of the data to the target device 3. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a moving target system, and more particularly to a moving target system used for shooting training using live ammunition or laser light.

  Conventionally, in order to improve the accuracy of the shooter's hit, a moving target device or a moving target system equipped with a target for a shooter to fire an actual bullet or a laser beam from a handgun, a rifle, a laser gun, etc. has been known. Yes. In recent years, with the increasing risk of violent crimes and terrorist activities, there is an increasing need for more practical and advanced shooting training that assumes opponents who make unpredictable moves.

  Such moving target devices and moving target systems are configured such that the target moves up and down and left and right in the vicinity of a fixed point in conjunction with the movement of the shooting hand (see Patent Document 1, etc.), A rail is laid in a straight line or a curved line on the floor, basement or ceiling surface, and is configured to move while hiding the target arbitrarily along the rail (see Patent Documents 2 to 4, etc.), Proposals have been made such that the target can move in the left-right direction while moving (see Patent Document 5, etc.).

In addition, a shooting field (see Patent Document 6 etc.) constructed such that a track is laid vertically and horizontally and a plurality of types of targets move while concealed, or between a plurality of concealed walls while a plurality of targets are concealed. A shooting training system (see Patent Document 7, etc.) configured to move is also proposed.
JP-A-11-83394 JP-A-7-270100 Japanese Patent No. 2872110 JP 2006-84125 A JP 2003-65699 A Japanese Patent No. 2986727 JP 2003-343998 A

  However, in the target devices described in Patent Documents 1 to 5, even if the target moves to some extent in the vertical and horizontal directions, the position of the target is fixed or moves on the rail, and the movement is restricted. As the shooter can predict the next movement of the target relatively easily, practical and advanced shooting training has not always been possible.

  Moreover, in the shooting range described in the above-mentioned Patent Document 6, it is possible to carry out a fairly practical training for moving a plurality of targets on a track laid in the vertical and horizontal directions of the shooting range, but again, a route in which the target is determined is determined. Because it moves, the shooter can predict the next movement of the target as time passes, and sufficient shooting training cannot always be performed.

  Furthermore, in the techniques described in these Patent Documents 1 to 6, rails and the like must be laid on the floor surface and ceiling surface of the shooting range, and therefore, the floor surface and ceiling surface must be formed more firmly. There was also a problem of not becoming.

  In addition, in the shooting training system described in Patent Document 7, it is difficult for the shooter to predict the movement of the target because the target's concealment operation can be freely combined with the front / rear and left / right movements, Although more practical shooting training can be performed, there is a problem that the stability of movement of the target device is not necessarily high.

  Therefore, an object of the present invention is to provide a moving target system capable of arbitrarily moving a target without providing a rail or the like in a shooting range and capable of performing practical and advanced shooting training. . It is another object of the present invention to provide a moving target system that does not require a strong re-formation of the floor surface and ceiling surface of the shooting range.

In order to solve the above-mentioned problem, the invention described in claim 1
A moving target system comprising a target device for shooting training and an instruction device for instructing the target device,
The target device is
With the target,
Receiving means for receiving concealment timing data for instructing concealment of the target and travel route data for instructing a route to move in the shooting range;
Target concealment driving means for concealing and driving the target;
Mounted with the receiving means, the target concealment driving means, and a position detection means for detecting the position of itself, a movable carriage that can move in the shooting range in the front-rear direction, the left-right direction and the oblique direction
Mobile cart drive means for driving the mobile cart;
The target concealment driving means is controlled based on the concealment timing data, and a travel route on which the mobile carriage should move is calculated based on information from the position detection means and the travel route data. Control means for controlling the moving carriage drive means to move to an arbitrary position in the shooting range,
The pointing device is
A transmission means for transmitting the concealment timing data and the travel route data to the target device is provided.

  According to the first aspect of the present invention, in the moving target system, the concealment timing data and the travel route data are transmitted from the pointing device to the target device via the transmission unit, and the target device transmits them via the reception unit. The control means controls the target concealment driving means based on the concealment timing data to conceal the target, and the mobile carriage is based on the information from the position detection means and the travel route data. The travel route to be moved is calculated, the moving cart driving means is controlled to drive the wheels, and the moving cart, that is, the target device is moved back and forth, right and left, and diagonally in the shooting range.

The invention according to claim 2 is the moving target system according to claim 1,
The mobile carriage is equipped with a magnetic sensor that detects the magnetic field of a magnetic material installed on the floor of the shooting range,
The control means corrects the travel route based on information from the magnetic sensor.

  According to the second aspect of the present invention, in the moving target system, the control means of the target device detects the magnetic field of the magnetic material installed on the floor surface of the shooting range by the magnetic sensor mounted on the moving carriage, and The travel route is corrected so as to return to the original travel route by grasping the position, detecting an error between the current position of the target device in the shooting range and the calculated position.

  According to a third aspect of the present invention, in the moving target system according to the first or second aspect, the concealment timing data and the travel route data can be corrected even while the target device is moving. And when the concealment timing data and the travel route data are corrected, the control means of the target device performs each control based on the corrected data.

  According to the third aspect of the present invention, in the moving target system, when the concealment timing data and the travel route data are corrected by the pointing device and transmitted to the target device via the transmission unit, the control unit of the target device performs shooting training. Is started and stops following the original data even while moving in the shooting range, and performs each control based on the corrected data.

  According to a fourth aspect of the present invention, in the mobile target system according to any one of the first to third aspects, the control unit of the target device receives the interrupt instruction from the instruction device when the interrupt instruction is received. Predetermined control is performed based on the instruction.

  According to the fourth aspect of the present invention, in the moving target system, when there is an interrupt instruction such as an emergency stop from the instruction device, the control unit of the target device performs, for example, an emergency stop on the target device based on the instruction. Predetermined control is performed.

  According to the first aspect of the present invention, the target device does not lay rails or tracks on the floor surface or ceiling surface of the shooting range, and the target device can track the floor surface of the shooting range based on concealment timing data and travel route data. Travel and move autonomously without any restrictions. Therefore, the target device can be moved to any position in the shooting range, and the gunner can predict the movement by moving the target device with the target concealed behind the bulletproof wall. Since the target can be revealed at an arbitrary position without being able to do so, practical and advanced shooting training can be performed. Further, since there is no need to lay rails or tracks on the floor or ceiling surface of the shooting range, there is no need to newly re-form the floor or ceiling surface of the shooting range to lay the rails or the like.

  According to the second aspect of the present invention, when the target device autonomously calculates the travel route and travels autonomously as in the first aspect of the present invention, the position error may accumulate as it travels. However, it is possible to improve the stability of the movement of the target device by constantly correcting the position and correcting the travel route in this way, and the effects of the invention according to claim 1 can be exhibited more accurately. It becomes possible.

  According to the invention described in claim 3, for example, the commander of the shooting training corrects the concealment timing data and the travel route data with the pointing device and transmits the corrected data to the target device. It becomes possible to control based on the above. Therefore, it is possible to appropriately modify the training content and perform practical training accurately, and it is also possible to modify the training content on an ad hoc basis, and the effects of the inventions described in the above claims can be more accurately achieved. It will be possible to demonstrate.

  According to the invention described in claim 4, when the target device autonomously moving within the shooting range according to the concealment timing data and the travel route data is configured to follow the instruction when receiving the interrupt instruction, For example, if the target device needs to be urgently stopped, the target device can take appropriate actions, such as stopping the target device from moving according to concealment timing data and travel route data, and then urgently stopping the target device. Thus, the effects of the invention described in the above claims can be more accurately exhibited.

  Embodiments of a moving target system according to the present invention will be described below with reference to the drawings.

  In the moving target system according to the present embodiment, for example, a command room C for commanding shooting training is provided behind the gunner B as shown in FIG. 1, and the bulletproof wall D is sandwiched in front of the gunner B. Is used for the shooting range A in which the moving space E in which the target device 3 for shooting training moves is widened.

  In the moving space E of the shooting range A, a plurality of magnetic bodies F for correcting the position of the target device 3 are installed on the floor surface at regular intervals in the front-rear direction and the left-right direction when viewed from the shooter B. In the present embodiment, the magnetic body F is disposed by sticking a magnetic tape or the like on the floor surface or by fitting it on the floor surface. The magnetic material F is not limited to a magnetic tape or the like, but can be detected by a magnetic sensor as a position detecting means described later, and may be installed on the floor surface in a manner capable of detecting the magnetism. In addition, FIG. 1 shows a case where there is only one shooter B and only one target device 3, but a plurality of target devices 3 are simultaneously moved in the movement space E, and a plurality of shooters B are moved. Training is also possible.

  As shown in FIG. 2, the moving target system 1 includes an instruction device 2 that instructs the target device 3 and a target device 3.

  The instruction device 2 includes a computer 4 in which a CPU, a ROM, a RAM, an input / output interface and the like (not shown) are connected to a bus, and a transmission unit 5. In the present embodiment, a known radio is used for the receiving means 5, and the pointing device 2 is installed in the command room C as shown in FIG. 1, and is operated by the commander. Yes.

  In the computer 4, the concealment timing data for instructing the concealment of the target to the target device 3 and the shooting range A are moved while viewing the screen of the display unit 7 such as a CRT using the input unit 6 such as a keyboard or a mouse. It is possible to create travel route data that indicates a route.

  The travel route data includes, for example, the magnetic bodies F shown in FIG. 1 with the magnetic bodies F in the rightmost column in the drawing as 11, 12, 13,... , 22, 23,... Is set as a set of data of 31, 21, 11, 12, 22,..., 43, 32, 21 and the target device 3 should pass through The travel path is represented by the symbol of the magnetic body F.

  In addition, the concealment timing data instructs the target device 3 to stand up and fall because the target device 3 can stand up and reveal the target or cause the target to fall over and conceal as described later. It is set as data and instructs to hide the target. Further, in the present embodiment, since the front surface and the back surface of the target can be displayed on the shooter B as will be described later, either the front surface or the back surface is displayed when the target is raised and exposed. It is possible to instruct whether to display.

  In the present embodiment, the concealment timing data and the travel route data are displayed on the screen of the display means 7 as shown in FIG. 3, for example, and can be easily created and corrected while viewing the display. Yes. It is also possible to configure so that the moving speed of the target device 3 can be set in accordance with the creation and correction of concealment timing data and travel route data.

  The transmission means 5 transmits the concealment timing data, travel route data, and the like that have been created, corrected, and transmitted by the computer 4 to the target device 3.

  In the present embodiment, the concealment timing data and the travel route data are transmitted and stored in advance before the target device 3 starts moving. Moreover, even if the target device 3 is already moving, it is possible to correct the concealment timing data and the travel route data stored in the target device 3 by correcting those data and transmitting them to the target device 3. It is like that.

  As shown in FIG. 2, the target device 3 includes a target 8, a moving carriage 9, and a body unit 10. The target 8 is a plate-like member, and on the front and back surfaces thereof, for example, a representation that is to be shot and a representation that is not to be shot are displayed.

  A rod-like target shaft 11 is attached to the lower end of the center of the target 8 so that one end side extends downward, and the other end side of the target shaft 11 is a motor, a gear, or the like disposed inside the body portion 10. It is attached to the target concealment drive means provided with the target drive device which is not shown and comprises the target 8 and concealment drive.

  The target concealment driving means can stand or fall the target shaft 11, and when the target 8 stands up by rotating the target shaft 11 about the axis by 180 °. The front and back surfaces are oriented in the Y-axis direction shown in FIG. The target concealment driving means can be rotated around the axis even when the target shaft 11 is standing or falling.

  The movable carriage 9 moves forward and backward when the inside of the moving space E of the shooting range A is viewed from the shooting hand B with the front or back surface of the target 8 facing the shooting hand B without rotating the target shaft 11 around the axis. There is provided a moving cart driving means having a driving device (not shown) provided with a motor and gears for driving the wheels 12 so as to move in the direction, left and right directions and diagonal directions, and a turning device for changing the direction of the wheels 12. In addition, a plurality of magnetic sensors 13 are mounted in front and rear of the movable carriage 9, and the magnetic sensor 13 detects the magnetic field of the magnetic body F installed on the floor surface of the shooting range A described above. ing.

  Further, a body 10 is mounted on the movable carriage 9, and the body 10 is not shown in FIG. 2, but in addition to the above-described target concealment driving means and the moving carriage driving means, The receiving means for receiving the concealment timing data and the travel route data transmitted from the transmitting means 5, the position detecting means for detecting the current position of the mobile carriage itself, and the control means for controlling them are stored. They are protected from flow bullets by the side wall of the body portion 10 and the like.

  In this embodiment, a known wireless device is used as the receiving means. Further, a gyro sensor and a rotary encoder are used as the position detection means. The gyro sensor detects an angle and an angular velocity with respect to the front of the movable carriage 9, that is, the shooter B side, and controls the information as attitude angle data. The rotary encoder detects the rotational speed of the wheel and outputs the information as travel distance data to the control means.

  FIG. 4 is a block diagram showing a control configuration by the control means according to the present embodiment. In the present embodiment, the control means 14 is constituted by a microcomputer provided with a CPU, ROM, RAM, etc. (not shown). The control means 14 includes the target concealment drive means 15 including the target drive apparatus 15a described above, the moving carriage drive means 16 including the drive apparatus 16a for driving the wheels 12 and the conversion apparatus 16b for changing the direction thereof, the magnetic sensor 13, In addition to the receiving means 17, the position detecting means 18 including the gyro sensor 18a and the rotary encoder 18b, a storage means 19 and the like are connected.

  The storage unit 19 stores a map of the shooting range A, that is, a moving space E of the shooting range A when the left-right direction is the x direction and the front-rear direction is the y direction as seen from the shooting hand B as shown in FIG. The shape and the position of the magnetic body F are stored in advance.

  The control unit 14 stores the concealment timing data and the travel route data received by the receiving unit 17 in the storage unit 19. As described above, in this embodiment, the concealment timing data and the travel route data are transmitted in advance before the start of the movement of the target device 3, so that the control unit 14 stores the data in the storage unit 19. It has become. Note that the concealment timing data and the initial data of the travel route data stored in the storage unit 19 may be directly input to the storage unit 19 of the target device 3 instead of being transmitted from the instruction device 2.

  In addition, when corrected data is transmitted even if the target apparatus 3 is already moving, the control means 14 stores the corrected data in the storage means 19 so that the concealment timing data and the travel route are stored. The data is rewritten with the corrected data.

  The control means 14 reads the concealment timing data stored in the storage means 19, that is, the concealment timing data stored in advance or the modified concealment timing data, and drives the target concealment based on the read concealment timing data. The driving of the target driving device 15a and the like of the means 15 is controlled.

  The control unit 14 reads the travel route data stored in the storage unit 19, that is, the travel route data stored in advance or the corrected travel route data, and the read travel route data and the position detection unit 18 detect it. Movement of the shooting range A on the map based on the angle and angular velocity with respect to the shooting hand B side of the movable carriage 9, that is, the Y axis direction in FIG. 1 and the travel distance calculated from the wheel rotation speed detected by the rotary encoder 18b. The current position of the carriage 9, that is, the target device 3, and the travel route on which the moving carriage 9 should be moved are calculated, and the driving of the moving carriage drive means 16 is controlled based on the calculation result.

  At that time, the control means 14 adjusts the orientation of the target device 3 so that the front and back surfaces thereof face the Y-axis direction shown in FIG.

  In the present embodiment, the control unit 14 calculates an error in the position of the target device 3 based on the amount of deviation before and after the front and rear magnetic sensors 13 detect the magnetic field of the magnetic substance F, and stores the error in the storage unit 19. The deviation of the travel route is corrected by comparing with the position information of the magnetic body F. The control means 14 transmits the data of the route traveled by the target device 3 to the instruction device 2 via the receiving means 17. In addition, it is possible to configure to detect a deviation of the travel route by using, for example, an optical method or a method using radio waves instead of or in combination with the magnetic sensor or the magnetic body.

  Furthermore, when there is an interrupt instruction from the instruction device 2, the control means 14 performs predetermined control based on the interrupt instruction. Specifically, for example, when an emergency stop interrupt instruction is transmitted from the instruction device 2 via the transmission unit 5, the control unit 14 may be configured such as the driving device 16a of the movable carriage driving unit 16 or the conversion device 16b. The drive is stopped and the movement of the target device 3 is stopped.

  Next, the operation of the moving target system 1 according to this embodiment will be described.

  In the storage unit 19 of the target device 3, the concealment timing data and the initial data of the travel route data are transmitted from the instruction device 2 or directly input and stored before the start of the shooting training. In addition, the control unit 14 of the target device 3 stores the corrected data when the corrected data is transmitted from the pointing device 2 even if the target device 3 is already moving after the start of the shooting training. 19, the concealment timing data and the travel route data are rewritten with the corrected data.

  The control means 14 reads the concealment timing data stored in the storage means 19, that is, the preliminarily stored concealment timing data or the modified concealment timing data, and based on the read concealment timing data, the target concealment drive means 15, the target shaft 11 is erected or overturned, and the target shaft 11 is rotated about its axis so that the front and back surfaces of the target 8 are erected as shown in FIG. Make it point in the axial direction.

  At the same time, the control unit 14 reads the travel route data stored in the storage unit 19, that is, the travel route data stored in advance or the corrected travel route data, and the read travel route data and the movement detected by the position detection unit 18. Based on the angle and angular velocity of the carriage 9 and the travel distance, the current position of the target device 3 and the travel route on which the mobile carriage 9 should be moved are calculated, and the driving of the moving carriage drive means 16 is controlled based on the calculation result. Then, the movable carriage 9 is moved.

  At that time, the concealment timing data and the travel route data are appropriately created, for example, the target shaft 11 is raised up to a certain point in the moving space E, and the target 8 is revealed to the shooter B. The target shaft 11 is turned over to conceal the target 8, the target device 3 is moved to another point while the target 8 is concealed, and the target shaft 11 is stood up again at that point to target the gunner B Reveal 8

  By doing so, the target 8 can appear at a position different from the position where the target 8 is hidden behind the bullet pier D when viewed from the shooting hand B.

  At that time, on the front and back surfaces of the target 8, the representations that are the targets of the shooting and the representations that are not the targets of the shooting are respectively displayed, and the timing of which side of the front and back of the target 8 is determined by the concealment timing data. By setting whether or not to display the target 8, when the target 8 is revealed, the shooter B must immediately determine whether or not the target 8 should be shot, and training to improve the speed of the determination Can be performed.

  Further, the control means 14 accumulates position errors of the target device 3 that continues to travel, and the current position of the target device 3 is calculated based on information obtained by the magnetic sensor 13 detecting the magnetic field of the magnetic material F. If it is different from that, the error is detected and the deviation of the travel route is corrected so as to return to the original travel route. Thus, in the present embodiment, the target device 3 autonomously corrects the deviation of its travel route.

  As described above, according to the moving target system 1 according to the present embodiment, the target device 3 can move the floor of the moving space E of the shooting range A without laying rails or tracks on the floor or ceiling surface of the shooting range A. The surface travels autonomously without being restricted by rails or the like based on the concealment timing data and the travel route data.

  Therefore, the target device 3 can move to an arbitrary position in the moving space E, and the target device 3 can be moved in a state where the target shaft 11 is overturned and the target 8 is hidden behind the bullet pier D. By moving the shooter B, the target 8 can be revealed at an arbitrary position in a state where the movement of the shooter B cannot be predicted in advance, so that practical and advanced shooting training can be performed.

  Moreover, since there is no need to lay rails or tracks on the floor or ceiling surface of the shooting range A, it is also necessary to re-form the floor surface or ceiling surface of the shooting range A for the installation of rails or the like. Disappear.

It is a plane schematic diagram which shows the example of the shooting range where the movement target system which concerns on this embodiment is used. It is the schematic which shows the structure of the movement target system which concerns on this embodiment. It is a figure which shows the example of concealment timing data and driving route data. It is a block diagram which shows the control structure by the control means which concerns on this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Moving target system 2 Indicating device 3 Target apparatus 5 Transmitting means 8 Target 9 Moving carriage 13 Magnetic sensor 14 Control means 15 Target hidden drive means 16 Moving carriage drive means 17 Receiving means 18 Position detecting means 19 Storage means A Shooting field F Magnetism body

Claims (4)

A moving target system comprising a target device for shooting training and an instruction device for instructing the target device,
The target device is
With the target,
Receiving means for receiving concealment timing data for instructing concealment of the target and travel route data for instructing a route to move in the shooting range;
Target concealment driving means for concealing and driving the target;
Mounted with position detection means for detecting its own position, a movable carriage that can move in the shooting range in the front-rear direction, the left-right direction and the oblique direction,
Mobile cart drive means for driving the mobile cart;
The target concealment driving means is controlled based on the concealment timing data, and a travel route on which the mobile carriage should move is calculated based on information from the position detection means and the travel route data. Control means for controlling the moving carriage drive means to move to an arbitrary position in the shooting range; storage means for storing the shape of the moving space of the shooting range;
With
The pointing device is
A moving target system comprising: transmission means for transmitting the concealment timing data and the travel route data to the target device. The mobile carriage is equipped with a magnetic sensor that detects the magnetic field of a magnetic material installed on the floor of the shooting range,
In addition to the shape of the moving space of the shooting range, the storage means stores positional information of the magnetic body,
2. The moving target system according to claim 1, wherein the control unit corrects a deviation of the travel route based on information from the magnetic sensor and position information of the magnetic body stored in the storage unit. .   The concealment timing data and the travel route data can be corrected even while the target device is moving, and the control means of the target device corrects the concealment timing data and the travel route data. Then, each said control is performed based on the corrected data, The movement target system of Claim 1 or Claim 2 characterized by the above-mentioned.   The said control means of the said target apparatus will perform predetermined | prescribed control based on the said interruption instruction | indication, if there exists an interruption instruction | indication from the said instruction | indication apparatus. Mobile target system.

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