WO2018190484A1 - Image shooting training system - Google Patents

Abstract

An image shooting training system comprises: a simulated firearm for projecting laser light onto a screen; a camera apparatus for recognizing a laser image formed by the laser light on the screen; a controller terminal for configuring an image shooting training environment; a trainee terminal for configuring a virtual shooting training field on the basis of the image shooting training environment, generating image data on at least a part of the virtual shooting training field placed in an eye-gaze direction with reference to the simulated firearm, calculating a point of impact of the laser light in the shooting training field on the basis of the laser image, and generating impact image data on the basis of the point of impact; and a display apparatus for displaying a shooting training image on the screen on the basis of the image data.

Description

Video shooting training system

The present invention relates to an image shooting training system. More particularly, the present invention relates to an image shooting training system that performs shooting training by firing a laser onto an image including a target.

In a typical image shooting system, an image is displayed by using a projector on a screen installed in front of a trainer, and the trainer performs shooting toward a target appearing in the image.

Korean Patent No. 1,314,179 (registered on Sep. 26, 2013) relates to an image shooting training apparatus, comprising: a screen, a projector for projecting an image on the screen, a gun for firing a laser toward the screen, and a laser incident on the image. It includes an image photographing unit for photographing the simulated impact point, and a processing unit for calculating the hit result for the target represented in the image based on the simulated impact point, the actual distance by the range considering the trajectory trajectory on the basis of the simulated impact point by the laser The impact point is calculated to provide the same results of shooting training as the actual environment.

However, the image shooting training apparatus calculates the actual landing point using the ballistic trajectory of the bullet only considering gravity, and does not consider the change of the trajectory trajectory due to the user's posture, so the shooting result in the actual shooting environment And other simulated shooting results.

An object of the present invention is to provide an image shooting training system that can provide the same shooting training results as the actual shooting environment.

Imaging target training system according to embodiments of the present invention for achieving the above object, a simulated firearm for firing a laser on the screen; A camera device for recognizing a laser image formed by the laser on the screen; A controller terminal for setting an image shooting training environment; Configure a virtual shooting training ground based on the image shooting training environment, generate image data of at least a portion of the virtual shooting training ground positioned in a gaze direction based on the simulated firearm, and based on the laser image, the shooting training ground A trainer terminal for calculating an impact point of the laser within the laser beam and generating an impact image data based on the impact point; And a display device for displaying a shooting training image on the screen based on the image data.

According to one embodiment, the simulated firearm comprises: a gun body; A trigger module configured to generate a trigger signal according to an operation of the trigger of the gun body; A laser module generating the laser and firing the laser in the direction of the muzzle of the gun body; A reaction module for generating a reaction to the firearm main body based on the trigger signal; A switch module formed on the firearm main body and controlling at least one of a position of the simulated firearm in the virtual shooting training field and the gaze direction; And it may include a sensor module for measuring the slope of the simulated firearm.

According to an embodiment of the present disclosure, the image shooting training system may further include a motion recognition device that recognizes the location of the simulated firearm by firing sensing signals at different heights based on the bottom surface of the point where the simulated firearm is located. Can be.

According to an embodiment, the trainer terminal may calculate an actual impact point by correcting the impact point of the laser based on the slope of the simulated firearm.

According to an embodiment, the trainer terminal determines a firing direction of the bullet based on the inclination of the simulated firearm, separates the firing speed of the bullet into element speeds based on the firing direction of the bullet, Based on Equation 1, the impact correction value can be calculated.

[Equation 1]

T = X1 / Vx1-(1)

Cy = Cy0 + Vy1 * T-(2)

Cz = Cz0 + Vz1 * T-(3)

(Where X1 is the distance between the simulated firearm and the target, Cy is the second correction value in the second axis direction, Cy0 is the second initial error in the second axis direction, and Cz is in the third axis direction) The third correction value, and Cz0 is the third initial error in the third axis direction.

According to an embodiment, the trainer terminal generates a shooting training result, wherein the shooting training result includes a first time including the impact point of the laser, the actual impact point, the inclination of the simulated firearm, and a triggering time point. It may include the path of movement of the laser during.

In example embodiments, the image shooting training system may further include an auxiliary screen positioned between the simulated firearm and the screen and reflecting a portion of the laser. In this case, the camera apparatus recognizes a first laser image formed on the screen and a second laser image formed on the auxiliary screen, respectively, wherein the first laser image and the second laser image are included in the laser image. May be included. In addition, the trainer terminal may calculate the impact point based on the first laser image and the second laser image.

According to embodiments of the present invention, the image shooting training system includes a simulated firearm including a recoil module, a switching module, and a sensor module, and a posture recognition device for recognizing a posture of a user, and recoil when triggered through the recoil module. By using the switching module and the sensor module to move the position of the character in the virtual space or to switch the screen, and display an image corresponding to the change in the posture (or gaze) of the user, more realistic shooting Provide a training environment.

In addition, the image shooting training system can provide realistic shooting training results by correcting the impact point of the laser based on the tilt of the simulated firearm.

Further, the image shooting training system includes an auxiliary screen positioned between the user and the screen, and based on the first laser image formed on the screen and the second laser image formed on the auxiliary screen, the muzzle direction (or, Ballistics) to provide more realistic shooting training results.

1 is a block diagram illustrating an image shooting training system according to embodiments of the present invention.

FIG. 2 is a layout view illustrating an example of the image shooting training system of FIG. 1.

3A to 3C are diagrams illustrating an example of a simulated firearm included in the image shooting training system of FIG. 1.

FIG. 3D is a diagram illustrating an example of a shooting training image controlled by the simulated firearm of FIG. 3A.

4A is a diagram illustrating an example of a camera apparatus included in the image shooting training system of FIG. 1.

4B is a diagram illustrating an example of a motion recognition apparatus included in the image shooting training system of FIG. 1.

FIG. 5 is a block diagram illustrating an example of a trainer terminal included in the image shooting training system of FIG. 1.

6A and 6B are diagrams illustrating a process of correcting an impact point in the trainer terminal of FIG. 5.

FIG. 7 is a diagram illustrating an example of a shooting training result output from the image shooting training system of FIG. 1.

FIG. 8 is a diagram illustrating another example of the image shooting training system of FIG. 1.

9 is a diagram illustrating an image shooting training method performed in the image shooting training system of FIG. 1.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. The same reference numerals are used for the same elements in the drawings, and duplicate descriptions of the same elements are omitted.

1 is a diagram illustrating an image shooting training system according to embodiments of the present invention. FIG. 2 is a layout view illustrating an example of the image shooting training system of FIG. 1.

1 and 2, the image shooting training system 100 includes a controller terminal 110, a trainer terminal 120, a display device 130, a screen 140, a simulated firearm 150, and a camera device 160. ) May be included. The controller terminal 110, the trainer terminal 120, the display device 130, the simulated firearms 150, and the camera device 160 may be connected through a wired or wireless network. Here, the wired / wireless network may be a network formed using a communication method such as wired Internet, wireless mobile communication, WiFi, Zigbee, or Blue Boot.

The image shooting training system 100 sets up a shooting training environment (for example, a shooting scenario, etc.) through the controller terminal 110, and sets a virtual shooting training space based on the shooting training environment using the trainer terminal 120. And generate image data of at least a portion of the virtual shooting training space based on the simulated firearm, and display a shooting training image corresponding to the image data on the screen 140 using the display device 130, and simulate Recognizes a laser image fired from the gun 150 and pointing on the screen 140 through the camera 160, and the status information (for example, location information, posture / tilt information) and lazy of the simulated firearm 150. The impact point can be calculated based on the image. The image shooting training system 100 may generate and display an impact image based on the calculated impact point, and generate / store / display the shooting training result.

The controller terminal 110 may receive a control signal from the controller, and set up the shooting training environment based on the control signal. For example, the controller terminal 110 may include a shooting mode (for example, zero shooting mode, a recording shooting mode, an antiaircraft shooting mode, a squad combat (casting) mode, etc.), a type of firearm (for example, a rifle, a pistol, and the like). Can create / edit / save a shooting training environment (or training scenario), such as the number of shots (eg, five, ten, etc.), the firing mode (eg, single shot, continuous shot, etc.). For example, the controller terminal 110 may be a place (eg, training ground, urban area), the season (for example, summer, winter), the time zone (for example, daytime, nighttime), the weather situation where the shooting training is performed (Eg, snow, rain, fog, etc.), the number of targets (e.g., the number of enemy forces if the shooting mode is street fighting), and the like. The controller terminal 110 may provide the trainer terminal 120 with the set shooting training environment setting information.

The controller terminal 110 may load the user information of the user USER participating in the shooting training from the database, and update the user information based on the shooting training result information generated at the end of the shooting training.

The controller terminal 120 is implemented as a computer device, a server, and the like, an input unit such as a mouse, a keyboard, a touch screen, an output unit such as a speaker, a monitor, a printer, and the like, a center for processing various programs or data and controlling each component. It may include a processing unit (CPU), a storage unit for storing a program or data.

The trainer terminal 120 may configure a virtual shooting training ground (or a virtual space) based on the shooting training environment setting information provided from the controller terminal 110. For example, the trainer terminal 120 may load the shooting mode data based on the shooting mode and edit the shooting mode data based on setting information such as a place, a season, a time zone, a weather situation, and the like.

The trainer terminal 120 may generate image data of at least a portion of the virtual shooting training field located in the gaze direction based on the user USER (or the simulated firearm 150). Here, the gaze direction may be a gaze direction of a character located in the virtual shooting training field corresponding to the user USER. As will be described later, the trainer terminal 120 may generate image data corresponding to the posture of the user USER recognized by the gesture recognition apparatus 170. For example, when the posture of the user USER is a standing position, image data may be generated based on a character having a height of 170 cm. As another example, when the posture of the user USER is a sitting posture, image data may be generated based on a character having a height of 100 cm. Foreground (target position) recognized by the user (USER) according to the posture of the user in the actual shooting environment, ballistic of the bullet (for the trajectory of the bullet, for example, the height of the bullet launch point, the path, etc.) This may vary. Accordingly, the trainer terminal 120 (or the image shooting training system 100) changes the shooting training image (or image data corresponding to the shooting training image) according to the posture of the user USER, thereby causing the user USER to change. Can provide a more realistic shooting environment.

Trainer terminal 120 is based on the laser image acquired through the camera device 160 to be described later and the state information of the simulated firearms 150 obtained from the simulated firearms 150 and the ballistic and / or impact point (for example, virtual Calculate the trajectory and / or impact point of the laser in the shooting training site, and use the impact image data (e.g., image data including triggered images, shot images, etc.) and shooting training result information based on the trajectory and / or impact point. Can be generated. Here, the state information of the simulated firearms 150 may include position information of the simulated firearms 150 (for example, coordinates in a three-dimensional space), trigger signals, attitude information (for example, slope information), and the like. have. The structure for calculating the impact point will be described later with reference to FIGS. 6A to 6D.

The display device 130 may display the shooting training image on the screen 140 based on the image data. For example, the display device 130 is a beam projector that shines an image onto the screen 140 using light, and as illustrated in FIG. 2, the front surface of the screen 140 (or the user and the screen 140). Can be placed between)). For example, the display device 130 is not limited thereto. For example, the display device 130 may be implemented as a CRT / LCD / LED display device to be integrated with the screen 140 or may be head mounted display. Implemented as a device (HMD) can be worn by the user (USER).

The simulated firearm 150 generates and fires a laser, and may generate a trigger signal by detecting a trigger of the trigger. For example, the simulated firearms 150 may include components constituting the general firearm (for example, triggers, barrels, guns, etc.), and may also include a laser module that generates a laser, a trigger module, and the like. . A detailed configuration of the simulated firearms 150 will be described later with reference to FIG. 3.

The camera device 160 captures a laser image formed (or pointed) on the screen 140 by a laser fired from the simulated firearm 150, and coordinate information (for example, the captured laser image or the laser image). , Coordinate information of the laser image on the screen 140) may be provided to the trainer terminal 120. In this case, the trainer terminal 120 calculates the coordinate values of the trajectory and / or impact point of the laser based on the laser image, and calculates the shooting training result score based on the coordinate values of the target and the preset target point. The image of the target (or an object located on the trajectory) may be corrected to generate impact image data including the impact image. The display device 130 may display the impact image on the screen 140 based on the impact image data.

In embodiments, the image shooting training system 100 may further include a gesture recognition apparatus 170. The gesture recognition apparatus 170 may recognize an operation (eg, a posture) of a user USER (or a user performing image shooting training) having the simulated firearm 150. For example, the gesture recognition apparatus 170 may be implemented as a camera, and may be disposed above the screen 140 to capture a user USER, and may analyze the captured user image to recognize the user's motion. have. For another example, as shown in FIG. 2, the gesture recognition apparatus 170 may have a first side of the user USER (for example, a right direction based on the user USER looking at the screen 140). Transmitters installed at different heights to transmit sensing signals such as infrared rays and ultrasonic waves, and infrared receivers installed in correspondence with the transmitters on a second side (for example, to the left of the user) And a posture of the user USER (eg, a posture such as standing, sitting, or lying down) based on the strength of the sensing signal received at the receivers. The trainer terminal 120 may generate / correct the shooting training image based on the recognized posture (or user posture information) of the user USER, and calculate the impact point. The gesture recognition apparatus 170 will be described later with reference to FIG. 4B.

In one embodiment, the image shooting training system 100 may further include a control device 180. The control device 180 may control the operation of the simulated firearm 150. The controller 180 supplies / distributes power to the simulated firearms 150 and the like, and receives a signal from the simulated firearms 150, the motion recognition device 170, and the like. ) Can be delivered. For example, the control device 180 is connected to the simulated firearms 150 by wire / wireless to supply power for generating a laser and a reaction effect, and triggers a trigger signal (or a simulation) by triggering the simulated firearms 150. Whether the firearm 150 is fired) may be transmitted to the trainer terminal 120 and the controller terminal 110.

As described with reference to FIGS. 1 and 2, the image shooting training system 100 sets up a shooting training environment (or training scenario) through the controller terminal 110, and sets fire using the trainer terminal 120. Construct a virtual shooting training ground based on the training environment, generate image data of at least a portion of the virtual shooting training ground in a gaze direction based on the simulated firearms 150, and correspond to the image data using the display device 130. The target training training image is displayed on the screen 140, and the laser image formed on the screen 140 by the laser emitted from the simulated firearms 150 is recognized through the camera device 160, and the recognized laser image Based on the ballistics or impact points can be calculated, training results can be generated. In addition, the image shooting training system 100 recognizes the posture of the user USER, displays a shooting training image corresponding to the posture of the user USER, and corrects the impact point based on the posture of the user USER, A more realistic shooting training environment can be provided to the USER.

Hereinafter, the simulated firearms 150, the camera device 160, the motion recognition device 170, and the trainer terminal 120 will be described in detail.

3A to 3C are diagrams illustrating an example of a simulated firearm included in the image shooting training system of FIG. 1.

3A to 3C, the simulated firearm 150 may include a firearm main body 310, a trigger module 320, a laser module 330, a recoil module 340, and a switch module 350.

The firearm body 310 is substantially the same as the actual firearm, and may include, for example, a gun barrel, forearm, trigger, scale, scale, and the like. The firearm main body 310 may be a real firearm capable of real shooting, or a model firearm having such a shape and weight. For example, as shown in FIG. 3A, the gun body 310 is a K-2 rifle and may be manufactured to have characteristics such as an aluminum alloy (ABS) material and a weight of 3.26 Kg. For example, as shown in FIGS. 3B and 3C, the firearm body 310 may be a pistol or a common firearm (M-60).

The trigger module 320 generates a trigger signal according to the operation (or backward movement) of the trigger, and may be inserted into or detached from the gun body 210. For example, as shown in FIGS. 3B and 3C, the main body of the trigger module 320 is coupled to the lower end of the trigger, and the extension of the trigger module 320 protrudes from the main body of the trigger module 320 to the trigger. Can be arranged adjacently. As the trigger is pulled, the extension of the trigger module 320 moves, but when the extension reaches a specific position, a switching operation of the trigger module 320 (eg, a turn-on operation of a switch in the trigger module 210). A trigger signal can be generated. The trigger signal may be provided directly or indirectly in a wired / wireless manner (eg, BLE) to the recoil module 340, the trainer terminal 120, the camera device 160, and the like.

In one embodiment, the trigger module 320 is interlocked with the select lever to operate in a mode such as safety, single shot, and fire. For example, when the trigger is pulled in a safe mode, the trigger module 320 may not generate a trigger signal. For example, when the trigger is held in the continuous mode, the trigger module 320 may repeatedly generate a trigger signal at a specific period until the trigger is restored.

The laser module 330 generates the laser and directs the laser in the direction of the muzzle of the firearm main body 310 (ie, the direction indicated by the muzzle of the simulated firearm 150, the direction in which the bullet is fired from the simulated firearm 150). You can fire. For example, the laser module 330 is implemented substantially the same as a general laser target indicator, and can generate and launch an invisible infrared ray laser. For example, the maximum wavelength of the laser may be 850 nm, the output is 10 mW, and the diameter of the focused laser beam (eg, the diameter of the laser emitted from the laser module 230) may be 0.1 mm or less.

The laser module 330 may be detachable from the gun body 210. For example, the laser module 330 may be inserted into a barrel of the gun body 310. In this case, the direction of the laser emitted by the laser module 330 may coincide with the direction in which the actual bullet is fired. For another example, the laser module 330 may be implemented to surround the barrel of the gun body 310. In this case, the direction of the laser emitted by the laser module 330 may coincide with the direction of the eye axis of the user USER.

The recoil module 340 may generate a recoil in the simulated firearm 150. That is, the recoil module 340 may implement a recoil effect when the simulated firearm 150 is triggered. For example, the recoil module 340 may implement a recoil effect using an electronic solenoid method. The recoil module 340 supplies current to the solenoid (ie, circular coil) in response to the trigger signal generated by the trigger module 320, and the ball of the ferromagnetic material in the reaction module 340 moves to the magnetic field generated by the solenoid. Recoil can occur.

Recoil module 340 may be detachable to the gun body (310). For example, the recoil module 240 is implemented in a magazine form and is inserted into the gun body 310 in the same manner as the magazine and may have a metal (eg, a duralumin alloy, SPCC, SUM18, etc.). .

The switch module 350 is a location of a character (or simulated firearm 150) corresponding to the user USER in a virtual space (ie, a virtual shooting training field, for example, a virtual shooting training place where street fighting is performed). And the at least one of a line of sight of the character, the switch module 350 may include a movement switch 351 and a line of sight switch 352.

The movement switch 351 may generate a movement signal for moving the character in the virtual space generated by the trainer terminal 120. That is, the character in the virtual space may move according to the movement of the movement switch 351. For example, the movement switch 351 may be implemented as a joystick and may be attached to the left side (or the right side) of the barrel cover of the gun body 210. In this case, the user USER may operate the movement switch 351 using the thumb of the left hand (or the right hand) holding the barrel cover. Similar to the general joystick, the movement signal in the forward / backward / left / right direction may be generated according to the movement of the front / rear / left / right direction of the movement switch 351. The trainer terminal 120 may receive a movement signal through a wired or wireless communication scheme and move the character in the virtual space in response to the movement signal.

The gaze switch 352 may control the gaze direction of the character in the virtual space. For example, the gaze switch 352 may operate in a button manner and may be attached to the right side (or left side) of the barrel cover of the gun body 210. In this case, the user USER can operate the gaze switching switch 352 using the index finger of the left hand (or the right hand) holding the barrel cover. For example, the first switch 352-1 generates a first gaze switching signal for moving the gaze of the character to the left with respect to the character, and the second switch 352-2 refers to the character with the gaze of the character. The second gaze switching signal may be generated to move to the front, and the third switch 352-3 may generate a third gaze switching signal to move the gaze of the character to the right based on the character. The trainer terminal 120 receives the gaze switching signals through wire / wireless communication, generates image data corresponding to the gaze of the character in response to the gaze switching signals, and displays the shooting training image through the display device 130. Can be.

The switch module 350 is used in a training scenario in which a character moves, such as a street fighting mode, and in a training scenario in which a movement of a character is not required, such as a zero shooting mode and a recording shooting mode, by setting the switch module 120. Operation of 350 may be limited.

In one embodiment, the switch module 350 may further include a moving speed change switch (not shown) (or an acceleration switch). The movement speed change switch may accelerate / decelerate the movement speed of the character and, for example, may switch the walking motion and the running motion of the character. For example, the movement speed changeover switch operates in a button manner and can be attached above the trigger of the gun body 310. In this case, the user USER may operate the movement speed change switch by using the thumb of the right hand (or the left hand) that grasps the handle of the gun body 310.

In one embodiment, the switch module 350 may be composed of one module. For example, the movement switch 351 and the gaze switch 352 may be implemented to cover the barrel of the firearm main body 310 (for example, to surround the barrel cover of FIG. 2C), and may be provided in the switch body. The mobile terminal and the gaze switching signals may be provided to the trainer terminal 120 through one communication module.

In embodiments, the simulated firearms 150 may further include a sensor module that measures the slope of the simulated firearms 150. For example, the sensor module may include a multi-axis sensor (for example, a 9-axis sensor), and may detect a state of a firearm (or a posture of a user) using the multi-axis sensor. For example, the multi-axis sensor is implemented integrally with the switch module 350, disposed in the upper part of the barrel parallel to the barrel of the gun body 310, using an accelerometer, an angometer, a geomagnetic machine and the like In addition, the tilt of the firearm main body 310 (for example, the tilt in the left / right direction as well as the front / rear direction (or the up / down direction)) may be measured. The direction of the muzzle measured by the sensor module, the inclination of the main body of the gun is changed by the user's gaze (for example, when the direction of the gun moves to the left over a certain distance or a certain angle, the character's gaze moves to the left), It can be used to calculate and correct the impact point.

Meanwhile, the sensor module has been described as being provided in the switch module 350, but the sensor module is not limited thereto. For example, the sensor module may be included in the laser module 330 shown in FIGS. 3B and 3C.

As described above with reference to FIGS. 3A to 3C, the simulated firearm 150 may fire a laser through the laser module 330 and generate recoil based on a trigger signal generated through the trigger module 320. . In addition, the triggering module 210, the laser module 330 and the like can be implemented in a form detachable to the gun body 210, it is possible to enable the firing training using the actual firearm. In addition, the simulated firearm 150 may include a switch module 250 and a sensor module to control the movement (movement, gaze switching, etc.) of the character in the virtual space.

FIG. 3D is a diagram illustrating an example of a shooting training image controlled by the simulated firearm of FIG. 3A.

Referring to FIG. 3D, the image shooting training system 100 captures a shooting training image displayed on the screen 140 based on at least one of a laser emitted from the simulated firearm 100 and movement information of the simulated firearm 100. Can be controlled.

The screen 140 may include a first area A1. When the laser image is located in the first area A1 or the laser image is moved in the first area A1, the image shooting training system 100 changes the shooting training image regardless of the position / movement of the laser image. You can't let that happen.

When the laser image is out of the first area A1, for example, when the laser image is moved from the center of the screen 140 to the first point P1 as illustrated in FIG. 3D, an image shooting training system ( 100 may display the shooting training image based on the first point P1. That is, the shooting training image may slide to the left. The sliding speed may be determined based on a distance (eg, the first distance L1) from which the laser image deviates from the first area A1, a rotation speed of the simulated firearm 150, and the like in response to the movement of the laser image.

That is, the image shooting training system 100 is not only a switch module 350 included in the simulated firearm 150, but also a laser image formed by a laser emitted from the simulated firearm 150, a moving speed of the simulated firearm 150, and the like. It is possible to control the shooting training video based on. Accordingly, the user USER may control the shooting training image through various intuitive methods as well as the switch module 350.

4A is a diagram illustrating an example of a camera apparatus included in the image shooting training system of FIG. 1, and FIG. 4B is a diagram illustrating an example of a motion recognition apparatus included in the image shooting training system of FIG. 1.

Referring to FIG. 4A, the camera device 160 sets (and corrects) a coordinate system based on a test image (for example, an image including a grid pattern) displayed on the screen 140, and adjusts the coordinate system to the coordinate system. Based on the coordinates of the laser image formed on the screen 140 by the laser emitted from the simulated firearms 150 may be calculated.

Referring to FIG. 4B, the gesture recognition apparatus 170 may include a plurality of sensors positioned at different heights in a specific direction (for example, left / right directions based on the user USER). It may include. For example, the gesture recognition apparatus 170 may include a first sensor 411 located at a first height H1 (eg, 20 cm in height) from a floor on which a user USER (or a simulated firearm 150) is located. ), A second sensor 421 located at a second height H2 (eg, height 80 cm) from the bottom surface, a third sensor located at a third height H3 (eg, height 150 cm) from the bottom surface 431 may be included. Here, the first to third sensors 411, 421, and 431 are positioned on the same axis in the third direction Z3 perpendicular to the bottom surface, and the first to third sensors 411, 421, and 431 are positioned on the same axis. The sensing signal (eg, ultrasonic waves, infrared rays, etc.) may be transmitted at a specific angle toward the user USER (eg, in the second direction D2) at a direction parallel to the bottom surface. Similarly, the gesture recognition apparatus 170 may include a first reception sensor 412 located at a first height H1 of the user USER, a second reception sensor 422 located at a second height H2, and a third height ( And a third receiving sensor 432 located at H3), and may receive sensing signals transmitted from the first to third sensors 411, 421, and 431, respectively.

For example, the first to third sensors 411, 421, and 431 have an operating frequency of 40 Hz, and locate an object (or a user) located within a 15 degree angle range in a range of 0.02 to 4 m. It can be recognized with an accuracy of 0.3 cm.

When the user USER takes a standing position, the first to third sensors 411, 421, and 431 are of a specific size reflected (or transmitted, blocked) by the user USER. The sensor 100 may receive a sensing signal (for example, an ultrasonic signal), and based on this, the gesture recognition apparatus 170 may recognize a line attitude of the user USER. Similarly, when the user USER is in a prone position, only the first sensor 411 receives an ultrasonic signal of a specific size reflected from the user USER, and based on this, the gesture recognition apparatus 170 may determine the user USER. Can recognize the prone position.

The image shooting training system 100 recognizes a posture of the user USER through the gesture recognition apparatus 170, generates / displays a shooting training image corresponding to the posture of the user USER, and Fire control can be performed. For example, when the user USER is sitting or standing in a recording shooting mode such as prone shooting, the image shooting training system 100 may simulate the firearm 150 based on the posture of the user USER. ) Can be triggered. In addition, the image shooting training system 100 may correct the impact point to be described later based on the posture of the user USER.

FIG. 5 is a block diagram illustrating an example of a trainer terminal included in the image shooting training system of FIG. 1.

Referring to FIG. 4, the trainer terminal 120 may include a first processing device 510 and a second processing device 520.

The first processing device 510 configures the virtual shooting training ground based on the shooting training environment information provided from the controller terminal 110, and based on the USER (or a character in the virtual shooting training ground) of the virtual shooting training ground. Image data for at least a portion may be generated, and impact image data may be generated based on the impact point of the laser emitted from the simulated firearm 150. The first processing apparatus 510 may include a scenario editor 511, an image processor 512, and an impact processor 513.

The scenario editing unit 511 may edit a specific scenario based on the shooting training environment information. For example, the scenario editing unit 511 may load / edit the corresponding scenario from the scenario DB included in the database 530 based on the shooting mode, the number of bullets, the type of firearm, the firing mode, the shooting information, and the like.

The image processor 513 loads the virtual shooting training field data corresponding to the scenario from the image database, loads a gun model, etc. from the 3D model database included in the database 530, and configures the virtual shooting training ground, and the user (USER) ( Alternatively, image data may be generated based on a character). The image processor 510 may be implemented as a 3D engine (eg, an image program for generating a 3D image).

In one embodiment, the image processor 513 determines the viewpoint (eg, height of the gaze) of the character based on the posture of the user (eg, the line attitude) recognized by the motion recognition sensor 170. The image data corresponding to the viewpoint may be generated.

The impact correction unit 512 may calculate the actual impact point by correcting the impact point of the laser based on the laser image pointed to the screen 140. For example, the impact correction unit 512 may calculate the actual impact point by correcting the impact point of the laser using a ballistic equation set in consideration of gravity, air resistance, and the like. The configuration of calculating the actual impact point will be described later with reference to FIGS. 6A and 6B.

Meanwhile, the first processing device 510 may further include a training analyzer. The training analyzer may generate the firing training result based on the actual impact point. For example, the training analyzer may determine whether to hit or calculate a shooting score based on the position information (eg, coordinate information) of the actual impact point and the coordinate information of the target. In addition, the training analyzer generates a shooting training result including the impact point of the laser, the actual impact point, and the posture information (for example, the tilt information) of the simulated firearm 150, and the user (USER) through the display device 130. ) Can give the result of fire training. Shooting training results will be described later with reference to FIG.

In one embodiment, the training analyzer may track the movement path of the laser during the first time period including the triggering time point, and output the movement path of the laser together with the shooting training result. For example, a fire start signal is transmitted from the controller terminal 120 at a first time point (for example, 0 seconds), and a fire stop signal from the controller terminal 120 at a second time point (for example, 10 seconds). Is transmitted, the camera device 160 may sense the laser image pointed on the screen 140 periodically (eg, at 1/60 second intervals) during the first period between the first time point and the second time point. Can be. In this case, the training analyzer may generate the movement path data of the laser based on the sensed laser images and the sensed time point. The movement path data of the laser may be visually output through the image processing unit 512 and the display device 130, and the user USER recognizes the movement of the laser (ie, the shaking of the shooting posture) before the triggering or the triggering time. can do.

The second processing device 520 may control the display device 130, the simulated firearms 150, and the camera device 160. The second processing apparatus 520 may include a camera controller 521, a communication unit 522, an image corrector 523, an image capture unit 524, and a controller 525.

The camera controller 521 may control an operation of the camera device 160 and process a laser image provided from the camera device 160. For example, the camera controller 521 controls the camera device 160 to capture (or sense) the laser image based on the trigger signal generated by the simulated firearm 150, and from the captured laser image, the laser image. The coordinate of can be calculated. For example, as described with reference to FIG. 4A, the camera controller 521 may convert a coordinate system (eg, based on a test image displayed on the screen 140 and an image sensed by the camera device 160). A coordinate system for converting the coordinates on the screen 140 into the coordinates in the virtual space may be set (and corrected), and the coordinate values of the laser image may be calculated based on the converted coordinate system.

The communication unit 522 may perform data communication with the controller terminal 110, the first processing device 510, and the like. For example, a fire control signal (for example, a fire start signal, a fire stop signal, etc.) may be received from the controller terminal 110, and the coordinate values of the laser image may be provided to the first processing device 510.

The image corrector 523 may determine whether the shooting training image output on the screen 140 is distorted, and allow the first processing device 510 to correct the shooting training image.

The image capturing unit 524 captures the shooting training image based on a specific signal (for example, a trigger signal), and the control unit 525 includes a camera control unit 521, a communication unit 522, an image correcting unit 523, and The operation of the image capture unit 524 may be controlled.

The database 530 may include a user database, a shooting database, a reservation database, and the like. The user database may store user information (eg, group number, name, etc.) of a user USER participating in shooting training. Here, the user USER may be a regular army, a reserve army, or the like. The shooting database may store the shooting training result provided through the controller terminal 110 from the first processing device 510. The shooting training result may be stored in response to the user information, or may be stored in response to the shooting schedule. The reservation DB may store information on shooting training schedules, participants, participants.

As described with reference to FIG. 5, the trainer terminal 120 configures a virtual shooting training ground (or a virtual space) based on shooting training environment setting information provided from the controller terminal 110, and a user (or, Character) to generate image data of at least a portion of the virtual shooting training field located in the gaze direction, and calculates the impact point based on the laser image acquired through the camera device 160.

On the other hand, the first processing unit 510 and the second processing unit 520 is an example of dividing the trainer terminal 120 based on the image processing function and the control function, the first processing device 510 and the second The processing device 520 is not limited to this. For example, the second processing apparatus 520 may include an impact correcting unit 513.

6A and 6B are diagrams illustrating a process of correcting an impact point in the trainer terminal of FIG. 5.

Referring to FIG. 6A, the first axis X represents the first direction (or the direction of the character's gaze in the virtual space) from the simulated firearms 150 to the screen 140, and the second axis Y represents the first axis. The horizontal direction perpendicular to the first axis X is shown, and the third axis Z indicates the vertical direction perpendicular to the first axis X and the second axis Y.

The reference point B0 is a starting point of the line of sight of the line of sight or the user USER, and may intersect a line passing through the scope of sight and the scope of the simulated firearm 150. The firing point SO indicates the starting point at which the bullet is fired and may be determined based on the separation distance between the extension line of the muzzle and the visual axis (or the shortest distance therebetween). For example, when the laser module 330 is inserted into the muzzle, the line of sight and the extension line of the muzzle coincide, and the firing point S0 coincides with the reference point B0. For another example, when the laser module 230 is installed in a form surrounding the muzzle, the firing point S0 may be spaced apart by a specific value z0 based on the reference point B0.

The first curve G1 represents the trajectory of the laser emitted from the simulated firearm 150 and may coincide with the line of sight of the simulated firearm 150 (or the eye axis of the user USER). The first curve G1 may be substantially parallel to the first axis X. The first impact point P1 is an impact point (or aiming point) of the laser to the target, and may be a reference for calculating the actual impact point (that is, the point where the actual bullet hits).

On the other hand, the second curve G2 is fired from the simulated firearm 150 when the posture of the user USER is not considered (that is, when the simulated firearm 150 is not inclined and is assumed to be parallel to the visual axis). It can indicate the trajectory of the shot. That is, when it is assumed that the bullet is fired from the simulated firearm 150, the trajectory of the bullet is displayed, and the second curve G2 may be represented in a parabolic form by gravity, air resistance, or the like (particularly, gravity).

The third curve G3 may represent the trajectory of bullets emitted from the simulated firearm 150 when the posture of the user USER is taken into consideration (that is, when the posture or the slope of the simulated firearm 150 is taken into account). The third curve G3 appears in a parabolic form similar to the second curve G2, but since the firing point S0 varies according to the posture of the user USER, the path of the third curve G3 is the second. May vary from curve G2.

In embodiments, the trainer terminal 120 may calculate the actual impact point by correcting the impact point of the laser based on the tilt (or tilt information) of the simulated firearm 150.

First, the trainer terminal 120 may calculate the first impact point P1, which is the impact point of the laser, based on the laser image pointed to the screen 140. For example, the camera device 160 recognizes the first coordinates of the laser image pointing on the screen 140, and the trainer terminal 120 determines a second point in the virtual space based on the first coordinates of the laser image. And a first trajectory (that is, a straight line corresponding to the first curve G1) connecting the first point and the second point at which the simulated firearm 150 is located, and the object located on the first trajectory. The point where the first trajectory meets (ie, the impact point) may be calculated. For another example, the trainer terminal 120 determines a second point in the virtual space based on the first coordinates of the laser image, and passes the first trajectory through the second point based on the tilt information of the simulated firearm 150. And calculate a point where the object located on the first trajectory meets the first trajectory (that is, an impact point).

Thereafter, the trainer terminal 120 may determine the firing direction of the bullet based on the inclination and the initial escape angle of the simulated firearm 150, and separate the firing speed of the bullet into the element speeds based on the firing direction of the bullet. . Here, the initial escape angle is an acute angle in which the firing direction of the bullet is formed with the visual direction (for example, the laser firing direction) so that the actual bullet trajectory coincides with the line of sight (or the line of sight) at a distance of 50 m away from the firearm. Can be. The initial escape angle and firing speed may be preset for each type of firearm (eg, rifle, pistol, firearm, etc.). The element velocities may be vector components parallel to the first to third axes.

For example, the trainer terminal 120 divides the firing direction of the bullet into element angles Θ1 and Θ2 with respect to the first to third axes X, Y, and Z on the coordinate system shown in FIG. 6A. The bullet velocity V1 of the bullet may be divided into a first velocity Vx1, a second velocity Vx2, and a third velocity Vx3 based on the element angles.

Thereafter, the trainer terminal 120 may calculate the impact correction value using the ballistic equation. For example, the trainer terminal 120 calculates the moving time T1 of the bullet based on the first speed Vx1 as shown in Equation 1 below, and the impact correction value based on the moving time T1 of the bullet. (Cy, Cz) can be calculated.

[Equation 1]

T = X1 / Vx1-(1)

Cy = Cy0 + Vy1 * T-(2)

Cz = Cz0 + Vz1 * T-(3)

Here, X1 is the distance between the simulated firearms 150 (or the character) and the target in the virtual space, Cy represents a second correction value in the direction of the second axis Y, and Cy0 represents the second axis Y. The second initial error in the direction, Cz may indicate a third correction value in the third axis Z direction, and Cz0 may be a third initial error in the third axis Z direction. The second initial error Cy0 is the second component Y0 in the direction of the second axis Y of the firing point S0, and the third initial error Cz0 is the third axis of the reference starting point S0 ( It may be a third component Z0 in the Z) direction.

Thereafter, the trainer terminal 120 calculates the second impact point P2 (that is, the actual impact point) by correcting the first impact point P1 (that is, the impact point of the laser) based on the impact correction values Cy and Cz. Can be. For example, the second impact point P2 may be represented by (X1, Y1-Cy, Z1-Cz).

The calculated first impact point P1 and the second impact point P2 are included in the shooting result information together with the inclination information of the simulated firearm 150, and the shooting result information includes the controller terminal 110, the trainer terminal 120, and the like. Can be provided to the user (USER) through.

That is, the image shooting training system 100 corrects the impact point of the laser (that is, the first impact point P1) by using the trajectory (or ballistic equation) of the actual bullet, thereby correcting the actual impact point (that is, the second impact point P2). ) Can be calculated and displayed. Accordingly, the image shooting training system 100 may improve the shooting ability of the user USER by causing the user USER to visually recognize the accuracy of the shooting posture to induce the correction of the shooting posture.

In one embodiment, the trainer terminal 120 may calculate the actual impact point by correcting the impact point of the laser by using a lookup table including the impact correction value for the element angle constituting the firing direction of the bullet.

Referring to FIG. 6B, the first lookup table 621 may include a second correction value Cy for the first element angle Θ1 illustrated in FIG. 6A. For example, when the element angle Θ1 is located between the first angular section A1 (for example, 0 to 1 degree), in the first distance section L1 (for example, 0 to 10m) The second correction value Cy may be C11 (eg, 1 cm). For example, when the element angle Θ1 is located between the second angular sections A2 (eg, 1 degree to 2 degrees), the second distance section L2 (eg, 10 to 20 m) The second correction value Cy may be C22 (for example, 2 cm). The second correction value Cy may be set differently according to the type of firearm.

The second lookup table 622 may include a third correction value Cz for the second element angle Θ2 illustrated in FIG. 6A. Since the second lookup table 622 is substantially the same as or similar to the first lookup table 621, the overlapping description will not be repeated.

In this case, the trainer terminal 120 may calculate the actual impact point (ie, the second impact point P2) by correcting the impact point of the laser (that is, the first impact point P1) more quickly.

As described with reference to FIGS. 6A and 6B, the trainer terminal 120 (or the image shooting training system 100) may calculate the actual impact point by correcting the impact point of the laser based on the slope of the simulated firearm 150. Can be. In addition, the trainer terminal 120 provides the user USER with a shooting training result including the impact point of the lazy, the actual impact point, and the posture information of the user (or the tilt information of the simulated firearm 150). It is possible to induce correction of the shooting posture and to enable more accurate shooting.

For reference, the general ballistic equation assumes that the user's posture is correct (for example, the simulated firearm 150 is vertically positioned on the floor), and the ballistic ( For example, a ballistic in the form of a parabola) is derived. However, depending on the posture of the user during the actual shooting, the firearm may not be perpendicular to the floor surface, and the actual bullet may be fired to the left / right relative to the aiming direction. Therefore, the image shooting training system 100 may provide a more realistic shooting training result by performing the impact point correction due to the posture of the user.

FIG. 7 is a diagram illustrating an example of a shooting training result output from the image shooting training system of FIG. 1.

Referring to FIG. 7, the first point P1 may represent the impact point of the laser sensed at the time when the trigger signal is generated, and the second point P2 may represent the actual impact point generated by correcting the impact point of the laser. The inclination vector G represents the inclination of the simulated firearm 150, the direction of the inclination vector G based on the center of the circle represents the inclination direction of the simulated firearm 150, and the magnitude of the inclination vector G is It may indicate the degree of inclination (size) of the simulated firearms (150). Accordingly, the user USER may have a problem in shooting posture based on the second point P2 located on the left side and the inclination vector G relative to the first point P1 which is the impact point of the laser (for example, a simulated firearm). 150) to the left side) can be recognized.

The path R may represent a movement path of the laser impact point for a time from when the shooting start signal is generated to when the shooting end signal is generated. For example, the path R may move toward the center from the starting point of shooting to the target and then move toward the upper direction of the target at the time of triggering. Based on this, the user USER may recognize a problem in which the muzzle of the simulated firearm 150 is heard at the time of triggering.

FIG. 8 is a diagram illustrating another example of the image shooting training system of FIG. 1.

1 and 8, the image shooting training system 100 may further include an auxiliary screen 141 in addition to the screen 140.

The screen 140 is positioned to be spaced apart by the first distance L1 in the first direction D1 based on the simulated firearm 150 (or the user USER), and the auxiliary screen 141 is the simulated firearm 150. It may be spaced apart by a second distance (L2) relative to. Here, the second distance L2 may be shorter than the first distance L1.

The screen 140 is made of a material that reflects light (visible light, infrared light), and may display an image provided from the display device 130. The auxiliary screen 141 may be implemented as an infrared filter (eg, a filter that reflects only infrared light) to transmit visible light and to reflect a portion of the laser emitted from the simulated firearm 150.

When the laser is fired from the simulated gun 150, a portion of the laser is reflected (or pointed) on the secondary screen 141 to form a second laser image LI2, with the remainder of the laser on the screen 140. May be pointed at to form the first laser image LI1.

In this case, the camera device 160 recognizes the first and second laser images LI1 and LI2, respectively, and the trainer terminal 120 performs the laser based on the first and second laser images LI1 and LI2. The trajectory of can be calculated.

For example, the camera device 160 includes the second sub-camera device 162 located within the second distance in the first direction D1 from the simulated firearm 150 and the first direction D1 from the simulated firearm 150. ) And a first sub-camera device 161 positioned in a range between the first and second distances, and using the first and second sub-camera devices 161 and 162. The images LI1 and LI2 may be sensed respectively. In this case, the trainer terminal 120 may calculate the heading direction of the laser or the muzzle direction of the simulated firearm 150 based on the coordinates of each of the first and second laser images LI1 and LI2. More accurate impact point correction can be performed based on this. Since the configuration of correcting the impact point based on the muzzle direction (or the laser advancing direction) is substantially the same as the impact point correction described with reference to 6a, the overlapping description will not be repeated.

That is, the image shooting training system 100 may accurately measure the tilt of the simulated firearm 150 even if it does not have a separate sensing module for sensing the slope of the simulated firearm 150. In addition, as the simulated firearm 150 is positioned on a straight line passing through the first and second laser images LI1 and LI2, the position (eg, height) of the simulated firearm 150 may be measured more accurately. Can be. Accordingly, the image shooting training system 100 may more accurately perform the impact point correction based on the more accurately measured inclination of the simulated firearm 150 and / or the position of the simulated firearm 150.

9 is a diagram illustrating an image shooting training method performed in the image shooting training system of FIG. 1.

1 and 9, the method of FIG. 9 may be performed in the image shooting training system 100 of FIG. 1.

The method of FIG. 9 may set an image shooting training environment (S910). As described with reference to FIG. 1, the method of FIG. 9 may set an image shooting training environment such as a shooting mode through the controller terminal 110.

The method of FIG. 9 configures the virtual shooting training ground based on the image shooting training environment through the trainer terminal 120 (S920), and at least a portion of the virtual shooting training ground positioned in the gaze direction based on the simulated firearm 150. Image data may be generated (S930). In addition, the method of FIG. 9 may display the shooting training image on the screen 140 based on the image data through the display device 130 (S940).

Thereafter, shooting training is started through the controller, and according to the shooting operation (or triggering operation) of the user USER, the simulated firearm 150 generates / fires a laser, and the laser image is displayed on the screen 140 by the laser. Can be formed.

The method of FIG. 9 may recognize the laser image on the screen 140 through the camera device 160 (S950).

The method of FIG. 9 calculates the impact point of the laser in the virtual shooting training ground based on the recognized laser image when the trigger signal generated in the simulated firearm 150 is generated (i.e., the point in time at which the trigger signal is generated) ( In operation S960, impact image data may be generated based on the impact point.

As described with reference to FIGS. 6A and 6B, the method of FIG. 9 is based on the inclination and initial escape angle of the simulated firearm 150 through the trainer terminal 120 (ie, the firing angle of the bullet relative to the simulated firearm 150). Determine the firing direction within the virtual shooting training ground and calculate the actual impact point (i.e. the point where the actual bullet is expected to hit) using the bullet's firing direction, bullet velocity, ballistic equation, etc. Can be. Subsequently, the method of FIG. 9 may generate impact image data for the impact point through the trainer terminal 120 and display the impact image through the display device 130.

On the other hand, when the shooting training is finished, the method of FIG. 9 generates a shooting training result based on the impact point through the trainer terminal 120, displays the shooting training result through the display device 130, and the controller terminal 120. ) Allows you to store the results of your shot training in a database.

The present invention can be applied to a virtual shooting training system and a shooting training method for firing a laser on a screen.

As described above, although described with reference to the embodiments of the present invention, those of ordinary skill in the art variously modified the present invention without departing from the spirit and scope of the present invention described in the claims below. It will be understood that modifications and variations can be made.

Claims (7)

Simulated firearms that fire a laser on the screen; A camera device for recognizing a laser image formed by the laser on the screen; A controller terminal for setting an image shooting training environment; Configure a virtual shooting training ground based on the image shooting training environment, generate image data of at least a portion of the virtual shooting training ground positioned in a gaze direction based on the simulated firearm, and based on the laser image, the shooting training ground A trainer terminal for calculating an impact point of the laser within the laser beam and generating an impact image data based on the impact point; And And a display device for displaying a shooting training image on the screen based on the image data. The method of claim 1, wherein the simulated firearm, Gun body; A trigger module configured to generate a trigger signal according to an operation of the trigger of the gun body; A laser module generating the laser and firing the laser in the direction of the muzzle of the gun body; A reaction module for generating a reaction to the firearm main body based on the trigger signal; A switch module formed on the firearm main body and controlling at least one of a position of the simulated firearm in the virtual shooting training field and the gaze direction; And And a sensor module for measuring an inclination of the simulated firearm. The method of claim 2, And a motion recognition apparatus for recognizing the position of the simulated firearm by firing sensing signals at different heights with respect to the bottom surface of the point where the simulated firearm is located. The image shooting training system of claim 2, wherein the trainer terminal calculates an actual impact point by correcting the impact point of the laser based on the inclination of the simulated firearm. The method according to claim 4, wherein the trainer terminal determines the firing direction of the bullet based on the inclination of the simulated firearm, and separates the firing speed of the bullet into element speeds based on the firing direction of the bullet. An image shooting training system comprising calculating an impact correction value based on Equation 1. [Equation 1] T = X1 / Vx1-(1) Cy = Cy0 + Vy1 * T-(2) Cz = Cz0 + Vz1 * T-(3) (Where X1 is the distance between the simulated firearm and the target, Cy is the second correction value in the second axis direction, Cy0 is the second initial error in the second axis direction, and Cz is in the third axis direction) The third correction value, and Cz0 is the third initial error in the third axis direction. The method of claim 4, wherein the trainer terminal generates a shooting training result, The shooting training result includes the movement point of the laser for a first time including the impact point of the laser, the actual impact point, the inclination of the simulated firearm, and the triggering time point. . The method of claim 1, Further comprising an auxiliary screen positioned between the simulated firearm and the screen and reflecting a portion of the laser, The camera apparatus recognizes a first laser image formed on the screen and a second laser image formed on the auxiliary screen, respectively, wherein the first laser image and the second laser image are included in the laser image. And the trainer terminal calculates the impact point based on the first laser image and the second laser image.

Images