CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of provisional Application No. 61/587,899, filed Jan. 18, 2012, which is incorporated by reference herein.
BACKGROUND In order to maintain proficiency in the use of firearms, it is common for law enforcement officers, sportsmen, military personnel, and individuals to engage in target practice for valuable training to increase the individual's skills and efficiency with a firearm.
Target practice can also be used to improve group cohesion, efficiency and effectiveness when those individuals deal with situations involving firearms or other weapons. Accordingly, target practice increases the ability of an individual or group to use a firearm safely and effectively.
The use of shooting ranges for target practice provides a level of training which is difficult to duplicate in other types of target practice. Shooting ranges can provide multiple targets, moving targets, and other stimuli which may increase the effectiveness of the target practice in training the individual or group.
Target practice is categorized into basic target practice in which a trainee improves his hitting accuracy when using live bullets, and advanced target practice in which the trainee shoots while judging a suitable timing and situation for firing.
In target practice, a trainee generally shoots at a stationary, moving or bobbing target, and the trainee or a judge visually checks the impact position on the target to evaluate the hitting accuracy and the ability of the trainee to make a proper circumstantial judgment.
To automatically and safely check such an impact position, various target practice apparatuses have been proposed. However, position detection mechanisms that are disclosed in the art are not suitable for use with live bullets, or require modifications to the weapon, the shooter or the shooter's position.
There exists no method to effectively and remotely operate a moving target capable of dynamically changing the target displayed, its orientation and location while providing valuable information to the shooter, judge, or training personnel. Accordingly, there is a need for new and improved target shot placement apparatuses that allow for the use of live bullets without the need to modify the weapon, the shooter, the shooter's position or the shooter's other equipment.
SUMMARY Target shot placement apparatus embodiments and methods of use thereof are described according to the teachings of the present invention.
DESCRIPTION OF DRAWINGS FIG. 1 is a perspective front view of a first embodiment of the present invention.
FIG. 2 is a perspective top view of the embodiment of FIG. 1.
FIG. 3 is a perspective top view of a second embodiment of the present invention.
FIG. 4 is a side view of the embodiment of FIG. 1.
FIG. 5A is a front cross-section view along section 5A-5A of FIG. 4. FIG. 5B is a rear cross-section view along section 5B-5B of FIG. 4.
FIGS. 6, 7, 8, 9, 10, 11, and 12 show various alternative arrangements of the target sheets and surfaces, cameras, and projectors for use in, for example, the embodiments shown in FIG. 1 through FIG. 5.
FIG. 13A is a cross-section view along section 13A-13A of FIG. 13B and the combination of FIG. 13A and FIG. 13B display the lines of sight of the various possible cameras and projectors shown in FIGS. 6, 7, 8, 9, 10, 11, and 12.
FIG. 14A displays an alternative embodiment of the target surface shown in FIG. 1 through FIG. 5.
FIG. 14B shows a top cross-section view along section 14B-14B of the target surface and stand displayed in FIG. 14A.
FIG. 14C shows an enlarged portion circled in FIG. 14B.
FIG. 14D shows a side cross-section view along section 14D-14D of the target surface and stand displayed in FIG. 14A.
FIG. 14E shows an enlarged portion circled in FIG. 14D.
FIGS. 15A, 15B, 15C, 15D, 15E, 15F, 15G, 15H, 15I and 15J show target surfaces used in various manners in embodiments of the present invention.
FIGS. 16A, 16B and 16C display a target surface with an embodiment of interactive targeting for the invention.
FIGS. 16D, 16E, and 16F display a target surface with a second embodiment of interactive targeting for the invention.
FIG. 17 displays an embodiment of the invention at different points in time as it interacts with multiple users.
FIG. 18 displays an embodiment of the invention at different points in time as it interacts with a single user.
FIG. 19A, FIG. 19B, and FIG. 19C show a combination of video feed and target projection that may be used in conjunction with one or more embodiments of the invention.
FIG. 20A, FIG. 20B, and FIG. 20C show various embodiments of possible display and control screens for user interaction with embodiments of the invention.
FIG. 21A shows a top view of a user interacting with an embodiment of the invention, with locations labeled for equations to calculate the shooter position, as described in the detailed description below.
FIG. 21B shows a side view of the user and embodiment of FIG. 21A, with locations labeled for equations to calculate the shooter position, as described in the detailed description below.
FIG. 22 shows a top view of a user interacting with an embodiment of the target, with distance and angle variables labeled for equations to calculate the shooter position, as described in the detailed description below.
FIG. 23A shows a front view of an embodiment of a target stand.
FIG. 23B shows a side cross-sectional view along section 23B-23B of the target embodiment of FIG. 23A, with camera's field of vision, projection throw, and lighting elements illustrated therein.
FIG. 23C shows a front cross-section view along section 23C-23C of the upper portion of the target embodiment of FIG. 23B.
FIG. 23D shows a rear cross-section view along section 23B-23B of the upper portion of the target embodiment of FIG. 23B.
FIG. 24A and FIG. 24B show the interaction with a user through a rotation of the target.
FIG. 25 shows a side view of a roll system included in one or more embodiments of the invention.
DETAILED DESCRIPTION The present invention will now be described more fully with reference to the accompanying drawings in which alternate embodiments of the invention are shown and described.
It is to be understood that the invention may be embodied in many different forms and should not be construed as limited to the illustrated embodiments set forth herein. Rather, these embodiments are provided so that this disclosure may be thorough and complete, and will convey the scope of the invention to those skilled in the art.
Referring to FIG. 1, embodiments of the present invention are directed to a shot placement apparatus 10 that is utilized to train individuals and/or groups in live fire exercises. Although the description herein refers to bullets and live fire, the device may be used in conjunction with other projection transmissions, for example, arrows, BB guns, lasers, paint guns, and so on.
The shot placement apparatus 10 comprises a target stand 12 and a housing 14. In one embodiment, the target stand 12 comprises a target sheet 16 and a target support structure 18 (depicted in FIG. 2).
The target sheet 16 provides a surface on which a training image 20 is displayed.
In one embodiment, the target sheet 16 is made of a material for displaying a projected image in the most life-like fashion.
In one or more embodiments, the target sheet 16 is made of, but not limited to, resilient material capable of multiple rounds of training, a disposable paper-like surface, a bullet-proof material, or combinations thereof.
In yet another embodiment, the target sheet 16 has pre-printed markings.
In one specific embodiment of the invention, the target sheet 16 is a target roll which is rolled and can be replaced automatically without human interaction or without a need to stop the training exercise.
This target sheet 16 ensures a consistent shooting surface for accuracy and reliability, provides for the best surface to display the target image 20, and may aid in the position detection of impact locations.
As illustrated in FIG. 2, the target support structure 18 may include a frame 22 and at least one leg 24. In this embodiment, the frame 22 surrounds the periphery of the target sheet 16 to provide support and stability for the target sheet 16.
The leg 24 comprises a top end 25 and a bottom end 27, and is attached to the lower surface of the support structure 18 at the top end 25, extending downward. Leg 24 may be connected to the rotatable base 40 (depicted in FIG. 3) at the bottom end 27 to provide support for the target sheet 16 and target stand 12.
With reference to FIG. 3, one embodiment of the invention as herein described by way of example, is directed to a housing 14. With reference to FIG. 5A, FIG. 5B, and FIG. 3, the housing 14 comprises a bottom wall 28, a front wall 30, a back wall 32, and two opposing sidewalls, the left sidewall 34 and the right sidewall 36, respectively.
The walls 28, 30, 32, 34 and 36 form a cavity 38 (depicted in FIG. 1) within the housing 14.
As illustrated in FIG. 3, a rotatable base 40 is fitted in the housing cavity 38 and is attached to the bottom wall 28 inside the cavity 38 through, for example, the rotary connection 58 (depicted in FIG. 5B) which allows free rotation while maintaining necessary electrical connections. A communication antenna 41 for receiving or sending, for example, projection instructions, movement instructions, or for sending, for example, target hit success, is attached to rotatable base 40 but may also be attached elsewhere on the device. This antenna 41 could allow users the capability to interact with the unit using, for example, personal electronics or computers over such communication protocols as, for example, wifi, radio, cellular telephones, or satellite communication. In another embodiment, this antenna 41 is used to receive data such as a GPS signal to keep track of its position to aid in semi or full autonomous operation.
In one or more embodiments, the rotatable base 40 is cylindrical in shape and can freely rotate on the bottom wall 28 within the cavity 38.
In one or more embodiments, the bottom end 27 of the leg 24 of the target stand 12 (depicted in FIG. 2) is connected to the rotatable base 40 to allow for the movement of the target stand 12.
In yet another embodiment, the rotatable base 40 is fixed to the bottom wall 28 and moves relative to the shot placement apparatus 10.
In one or more embodiments, the placement apparatus 10 is highly mobile and powered with autonomous or semi-autonomous operation to simulate real-life targets and situations with accurate movement of the target sheet 16.
Referring to FIG. 1, in one specific embodiment, the shot placement apparatus 10 further comprises at least one transportation device 42, which allows for the mobility of the placement apparatus 10. Non-limiting examples of the transportation device 42 include a wheel, track or pedrail. Accordingly, the apparatus 10 is highly mobile in a vast variety of terrains and conditions whether indoors or outdoors. In one specific embodiment, the apparatus operates at different speeds to simulate real-life scenarios, and may mimic vehicles, people, objects, or animals. However, the transportation device 42 is not necessary in other embodiments of the invention, and the device 10 does not necessarily need to travel during use.
As shown in FIG. 4 and FIG. 5A, in one or more embodiments, outer front, right, outer back and left controls cameras 47, 50, 51 and 52 may assist the device 10 in either automated or guided motion or detection of shooters. These control cameras 47, 50, 51, 52, or other cameras on the unit, may aid in the unit's interaction with the user by tracking the users movements so that the user's actions can be used as inputs to, for example, begin training scenarios, stop training scenarios, choose between different programs, and so on. As an alternative or in addition, an outer front rotatable controls camera 49 (depicted in FIG. 1) may be included for the same purposes.
With reference to FIG. 5A and FIG. 5B, the inside of housing 14 may include an internal cavity 54 for support electronics and propulsion mechanisms 56, with a rotary electrical connection or conduit 58 that may be used, for example, for connecting wires 60.
The combination of the rotatable base 40 in conjunction with the transportation device 42 may be used to present the target sheet 16 in the most effective orientation with respect to the shooter(s) in a variety of terrains and conditions. Referring to FIG. 24A and FIG. 24B, this rotatable base 40 can also be used to aid in the detection of the impact location of the projectiles. The rotatable base 40 includes a point 1040 that the target stand 26 will rotate about. This target stand 26 may include a front sheet 1020 and a back sheet 1030. A projectile traveling through line of motion 1045 will first strike the front sheet 1020 at a particular point 1050 and then continue to travel and strike the back sheet 1030 at a different point 1055. Through a rotation about the center of rotation 1040 of the target stand 26, even if a second projectile traveling along a line of motion 1046 is the same as the first projectile's line of motion 1045, the angle 1075 of the second projectile's line of motion 1046 relative to target stand 26 or front sheet 1020 will be different from the angle 1070 of the first projectile's line of motion 1045 relative to the target stand 26. This rotation will thus create unique impact points 1060 and 1065, in the front and back sheets respectively, from the original impact points 1050 and 1055. This rotation allows for optimum operation as, for example, areas of the front sheet 1020 or back sheet 1030 will not become over fatigued from repeated impacts as these impacts may be spread out increasing the lifetime and usability of the sheets in target stand 26. This rotation also allows the unit to accurately and consistently calculate the position of impacts, for example, 1050, 1055, 1060, and 1065, regardless of the projectile's line of motion 1045 or 1046 and deals with the issue of “through hole” detection where a new projectile traveling through the same location in a target as a previous projectile would not necessarily make a new marking or hole and thus becomes very difficult to discern where that projectile actually hit the target sheet 16.
Referring back to FIG. 3, in accordance to embodiments of the present invention, a projector 44 is fitted in the cavity 38 of the housing 14 and projects the image 20 onto the target sheet 16. The projected image 20 is initiated from a computer or other digital media storage devices and is projected on the target sheet 16 through the projector 44.
In one specific example, the projector 44 and target sheet 16 rotate independently of each other, and independently of the apparatus 10 to present the shooter with different angles of attack. In addition, such movement allows the apparatus 10 to move around without affecting the shooter's target as shown in FIG. 17 and FIG. 18.
In yet another embodiment, as depicted in FIG. 2, at least one anterior camera 46 is placed inside the cavity 38 and focused on the target sheet 16 to accurately calculate exact shot placement. A posterior camera 48 is placed inside the cavity 38 in addition to or in replacement of the anterior camera 46 and focused on the back of the target sheet 16.
Anterior camera 46 and posterior camera 48 collect the information relating to the exact placement of the shot and feed this information to a computer system which will store the data and transmit the necessary information back to the shooter or any other designated individual through the use of wired or wireless communication.
The combination of anterior camera 46 and posterior camera 48 may be used to calculate such information as the speed or firing rate of the projectile(s) that move through the target sheet 16 and/or rear target sheet 660 (depicted in FIG. 6).
Generally, the computer system affords access and information to individuals, including but not limited to the shooter and/or instructor, through a server, an interface and/or database. The server, the interface, and/or the database are realized by at least one processor executing program instructions stored on machine readable memory. The present invention is not necessarily limited to any particular number, type or configuration of processors, nor to any particular programming language, memory storage format or memory storage medium.
Furthermore, in implementations of the server involving multiple processors and/or storage media, the system is not limited to any particular geographical location or networking or connection of the processors and/or storage media, provided that the processors and/or storage media are able to cooperate to execute the disclosed interfaces and databases. Additionally, it is not necessarily required that the processors and/or storage be commonly owned or controlled.
In yet another embodiment, the apparatus 10 will have the capability to react dynamically to the shooter's accuracy, firing rate, and/or weapon selection.
The apparatus 10 offers the flexibility of a combination of the selection of the projected image or video, modification to the angle of the target sheet in relation to the shooter, as well as moving the system as a whole.
As depicted in FIGS. 5A and 5B, several cameras 47 (depicted in FIG. 2), 50, 51, and 52 may be positioned around the exterior of the housing 14 to provide the necessary information to the computer, the shooter, and any other designated individuals.
Such information includes, but is not limited to, the shooter's posture during different shots in correlation to shot placement, the distance from the apparatus 10 to the shooter, team formations during exercises, video feed of the surrounding terrain/area, as well as breach and room sweeping effectiveness.
In one embodiment and as depicted in FIG. 5A, FIG. 5B, and FIG. 2 by way of example, a front camera 47 is placed on the exterior of the front wall 30; a back camera 51 is placed on the exterior of the back wall 32; a left side camera 52 is placed on the exterior of the left side wall 34; and a right side camera 50 is placed on the exterior of the right side wall 36 of the housing 14.
In one specific embodiment of the invention, the cameras 47, 50, 51, and 52 may each be placed within a bullet-proof, transparent enclosed structure to avoid damage to the cameras.
In yet another embodiment, the housing 14 is comprised of armor material to be protected from bullets, ricochet, and vibrations. Housing 14 may be wrapped in an removable, impact absorbent casing (not shown) to minimize the risk of bullets ricocheting off of the housing 14.
In addition, safety measures are taken to protect the electronics, other components, and all individuals present during training exercises.
The cameras 47, 50, 51, and 52 gather information from different angles surrounding the apparatus 10 in real-time, assess the placement of the shooter and other factors which may impact on training and transmit this information to a data collection device.
This data collected from cameras 47, 50, 51, and 52 can also be used to aid navigation and movement of the system to either an operator or the onboard computer allowing for autonomous or semi-autonomous operation.
In yet another embodiment, a software program is utilized that provides such real-time information in an effective and sensible data-format to the shooter and other interested parties. The interested parties have the possibility to store or print this data. Data can also be relayed to provide shooting instructions such as firing commands or sequences through the use of speakers, headphones, monitors, projected images, personal electronics such as cellular phones or tablets, or optional attachments to the shooter's body or weapon.
FIGS. 6 through 12 refer to exemplary alternative arrangements of the target, one or more cameras, and one more projectors within, for example, the housing 14 of FIG. 3. These arrangements, however, are by way of demonstration only, and one of ordinary skill in the art could conceive of virtually limitless combinations and arrangements of target(s), camera(s), and/or projector(s) that would still fall within the invention as disclosed.
Referring first to FIG. 6, a target sheet 650 is adjacent to a front frame 652. Target sheet 650 may be replaced in whole or in part by additional continuous sheets on rolls 670. In the embodiments disclosed, the rolls 670 are automated so that a user is not required to approach the target shot placement apparatus 10 in order to refresh a punctured or damaged portion of sheet 650 during a training/shooting session. However, rolls 670 could be manually rotated as well.
Back sheet 660 is adjacent and affixed in place against back frame 662. It would also be possible, for example, to have a similar set of rolls for the back sheet if it was necessary to replace a damaged or punctured portion of back sheet 660.
Projector 610 may project a targeting image 612 onto, for example, the front surface of target sheet 650. A front camera 620 is positioned so that its line of sight 622 will include the front surface of target sheet 650. A rear camera 630 is positioned so that its line of sight 632 will include the back surface of back sheet 660.
Referring now to FIG. 25, in one or more embodiments the rolls 670 may be fabricated in a unique manner to create a different type of target roll system 1105. This target roll system 1105 allows for a multitude of target sheets, for example, 1080, 1085, 1090, and 1095 to be connected together at junctions 1100 to be selected by either the user or the onboard computer by simply rolling/unrolling the target roll 1105 to a different location. These different target sheets 1080, 1085, 1090, and 1095 may vary, for example, by material composition, surface treatments, colors, or thicknesses. In one or more embodiments, one of the different target sheets 1080, 1085, 1090, or 1095 may have preprinted markings while the others are more suitable to display projected images. This target roll system 1105 would allow the unit to operate in a variety of weather, lighting, and training conditions/scenarios to present an optimal target sheet to the user and aid in the detection of the impacts. This can be useful as a particular target sheet 1080, 1085, 1090, or 1095, can, for example, substantially change the manner in which an image is displayed or projected. For example, depending on ambient lighting conditions and a user's preference, the target surface gain, the measure of the reflectivity of light incident on the surface, and target surface treatments can vary from surface to surface so that the necessary and desired resolution, contrast, color shift, luminance, and viewing angle can be obtained. Another advantage of these different surfaces, 1080, 1085, 1090, or 1095, would be properties such as flame retardation, mildew resistance, or tear resistance can be changed real time as training scenarios or training conditions change. This target roll 1105 may also allow the user to selectively change out portions of the target sheets as necessary.
Referring now to FIG. 7, the arrangements of projector 610, front camera 620, and back camera 630 are similar to those in FIG. 6. However, roll 670 is omitted. This omission may be optimal in situations where target sheet 650 is, for example, not flexible enough to be rolled, or where sheet 650 is a particular type of target not available in roll format, or where sheet 650 is not subject to damage (e.g., live fire is not being used) and therefore does not need to be replaced.
Referring now to FIG. 8, an alternative arrangement is shown where cameras 720, 724, 730, and 734 are arranged between/above and between/below target sheet 650 and back sheet 660. The line of sight 712 of projector 710 includes the front surface of target sheet 650. The line of sight 722 of inside top front camera 720 includes the back surface of target sheet 650. The line of sight 732 of inside top back camera 730 includes the front surface of back sheet 660. The line of sight 726 of inside bottom front camera 724 includes the back surface of target sheet 650. The line of sight 736 of inside bottom back camera 734 includes the front surface of back sheet 660. Similar to FIG. 6, a roll 770 of additional sheet may be included in order to replace target sheet 650 when necessary. FIG. 9 shows an embodiment similar to FIG. 8, only without the rolls 770.
The use of internal cameras 720, 724, 730, 734, particularly when the internal cameras are protected by camera enclosures 777 (see FIG. 14E), is advantageous because, for example, the interior detection method will be less susceptible to dirt or debris from outdoor use that may affect external cameras or the front of the target sheet 750 or the back of the back sheet 762 (see FIG. 3). In addition, any lighting 782, 783 (see, e.g., FIG. 14C and FIG. 14D) used in between an enclosed area of the target sheet and back sheet will be subject to greater control by the user, than for example, external lighting, particularly if the device 10 is in motion. Moreover, an optimal target surface for projecting a target image (e.g., the front of the target sheet 750) may not be the optimal surface for projectile impact detection.
Referring now to FIG. 10, an alternative arrangement is shown with only one frame 752, with the target sheet 750 affixed thereto. Projector 710 has a line of sight 712 that includes the front of target sheet 750. Only two cameras 720, 724 are used in this embodiment, and both cameras' lines of sight 722, 726 include the back of target sheet 750.
Similarly, an alternative embodiment at FIG. 11 shows only one frame 652 to which target sheet 650 is affixed. Front camera 620 has a line of sight 622 that includes the front surface of target sheet 650. Back camera 630 has a line of sight 632 that includes the back surface of target sheet 650.
Another alternative arrangement is shown in FIG. 12, which includes a mirror or reflective material 680. Camera and/or projector 682 may be placed directly beneath (or above) target frame 650. Camera and/or projector 682 has a line of sight/image 684 that reflects off of mirror 680 to create a new line of sight/image 686 that thereby includes the front surface of target sheet 650. As with other embodiments, this arrangement may include one or more sheet rolls, additional cameras, additional projectors, and so on.
FIG. 13A shows the various cross-hatching designs and overlap to demonstrate combined example lines of sight and projected images discussed in above in reference to FIGS. 6-12, with respect to projector 610/710, front camera 620, back camera 630, inside top front camera 720, inside top back camera 730, inside bottom front camera 724, inside bottom back camera 734, and camera and/or projector 682. The hatching marked as 712 represents the images projected from the projector 610/710 that can be used for displaying targets or providing user feedback. The hatching marked as 713 represents the primary line of sight 713 of the front camera 620 and can be seen to overlap with the projected image 712 in FIG. 13B. Hatching 714 refers to the primary line of sight for the back camera 630. Hatching 715 refers to the primary line of sight of the top front camera 720. Hatching 716 refers to the primary line of sight of the inside top back camera 730. Hatching 717 refers to the primary line of sight of the inside bottom back camera 734. Hatching 718 refers to the primary line of sight of the inside bottom front camera 724. Hatching 719 refers to the primary line of sight of the camera/projector 682. These lines of sight are referred to as primary lines of sight because a selection of camera lens can substantially modify the line of sight.
Referring to FIGS. 14A-14C, a target stand 26 may include internal cameras 724, 734, as, for example, shown in the arrangement of FIG. 9. FIG. 14C shows enlarged circled portion 780 of FIG. 14B. In addition, the target stand 26 may include internal lights 782 that project light onto and between the back surface of target sheet 650 and the front surface of back sheet 660. FIG. 14D shows a side cross-section of target stand 26. FIG. 14E shows an enlarged circled portion 784 of FIG. 14D. Leg 24/main support 702 includes a conduit 704 for control and power wires (not shown) that may be connected to internal cameras 724, 730, roll 770, lighting 782, 783 and so on.
Internal cameras 724, 730 are protected from live fire by camera enclosure 777, which may be made of a bullet-proof material. Cameras 724, 730 are held in position by various camera support structures 778 as well as other internal support structures 740, which are well-known to those of ordinary skill in the art. Said camera support structures 778 may also include conduits (not shown) for power or control wires (not shown).
Each roll 770 includes support bar 776. This support bar 776 also acts as the center of rotation for roll 770 and provides for a shaft to apply powered rotation from a motor (not shown) in order to automatically rotate the roll 770. When an exchange of target sheet 750 is desired, additional sheet may be taken from roll 770 and would leave protective camera enclosure 777 at 774. The used target sheet 750 is then wound into to the top roll 770 at 772. Of course, the functions of the top and bottom rolls may be reversed so that the top roll unspools the sheet and the bottom roll takes in the sheet.
FIGS. 15A-15J represent various images or scans projected onto, for example, the front or back of target sheet 750. The hatching of FIG. 15A represents a target surface where the projector 710 is off. FIG. 15B displays a hatching representing where a target is ready for use by a user, where an image from, for example, a projector 710 is placed onto the target sheet 750, or where the target sheet 750 is otherwise marked. FIG. 15C shows an impact area 800 causing, for example, a hole or other marking on the target sheet 750.
Referring now to FIGS. 23A-23D in conjunction with FIGS. 15A-15C referenced above, the impact hole 800 is shown at 2301. In addition, a second hole is created at 2302 as the projectile travels through the inside of target stand 26 and exits through the back sheet 762.
The position of projectile impact holes 800 at 2301 and 2302 will create a distinct light pattern, as shown by light projections 2351, 2352, 2353, 2354, and 2356.
First, projector 610 light source 2355 originating at projector 610 will come through the hole at 2301, creating an extension of the light 2356 that projects onto the front of back sheet 762 at 2303. In this embodiment, the projector 710 and target stand 26 are in fixed positions relative to one another, so that light projection at 2356 remains consistent and allows cameras 720, 724, 730, and 734 to consistently record the location of the light at the front sheet and back sheet at 2301 and 2303, respectively. Thus, the fixed relative positions of the projector and target stand assist in avoiding the problem of changing light patterns at, for example, 2356, when, for example, the entire device 10 is in motion and may be subject to changing light angles from various external lighting sources. The light 2355 coming from the projector 710 comes from a known location and angle relative to the target sheet 750. There can be only point of origin 2301 where the hole 800 would allow light 2353 to pass through and create the particular light pattern at 2303. By examining the orientation and geometry of the light 2356 at 2303 the characteristics of the impact hole at 2301 may be determined by considering the angle at which the projected light 2355 hits the target sheet 750 along with other characteristics such as the distance between 2301 and 2303.
It should be noted that the same angle calculations apply even where the shooting device does not necessarily create a hole 800 such as shown at 2301 or 2302, as long as the target sheet 750 or back sheet 762 is transparent enough to allow light to pass through. By way of example only, a laser could impact a transparent front sheet at 2301, and travel through to impact the back sheet 762 at 2302. The illuminated points at 2301 and 2302 would thus be detected by internal or external cameras.
It may be the case that the external lighting is not consistent due to, for example, the motion of the device 10 or a changing projector image 2355, and therefore any light source that may enter at 2301 or 2302 may not create consistent light beams measurable by internal cameras 720, 724, 730, and 734. Therefore, an alternative method of measurement may include internal cameras 720, 724, 730, 734 scanning the back of the target sheet 750 and the front of the back sheet 762 for holes 800. When impact holes 2301 and 2302 are created by a projectile, the cameras 720, 724, 730, 734 will scan only for holes 2301 and 2302 and not for any beams of light created thereby.
If internal lighting is utilized, by, for example, lighting 782, 783 inside camera enclosure 777 both above and below target sheet 750, then additional light projections 2351, 2352, 2353, and 2354 are created. For example, if lighting 783 is present in the lower camera enclosure 777, then the light emanating therefrom will enter the hole at 2301 and create light projection 2351, and enter the hole at 2302 and create light projection 2353. Likewise, if lighting 782 is present in the upper camera enclosure 777, then the light emanating therefrom will enter the hole at 2301 and create light projection 2352, and enter the hole at 2302 and create light projection 2354. As with the external projector 710 being in fixed relative position to the target stand 26, a similar advantage is created here wherein the fixed relative positions of the lighting 782, 783 and target and back sheets 750, 762 will create consistent light projections 2351, 2352, 2353, 2354 for given impact points 2301 and 2302, By examining the differences in diameter of the impact points at 2301 and 2302, 2371 and 2372, respectively, the system would be able to gain valuable information from the entry and exit characteristics of the projectile. This information gained from the diameter analysis would be similar to the information calculated by topographical analysis explained below and may include, for example, projectile diameter or projectile composition. The difference in the height of between 2301 and 2302 would help to determine the projectile's rate of travel if the location of the shooter is known as the system could apply kinematic equations of motion familiar to those skilled in the art.
In the event that light projections 2351, 2352, 2353, 2354 are not interfered with too greatly by external lighting sources, an alternative detection system will be for outside front camera 620 and outside back camera 630 to scan the outer surfaces, i.e., the front of target sheet 650 and the back of back sheet 660, for holes to detect light 2351, 2352, 2353, 2354 emanating therefrom.
FIG. 15D represents a target sheet 750 (or back sheet 762) without an image projection. Thus, the detecting system would be comparing the original surface of the target sheet 750 at FIG. 15A against what the surface of the target sheet 750 looks like after impact 800.
FIG. 15E represents a target sheet 750 (or back sheet 762) with an image projection or preprinted marking. Thus, a detection system would compare the target image at FIG. 15B with the target image after impact at 800, as shown in FIG. 15E. Thus, the device 10 could continue unhampered with a projected image when an impact point 800 is being detected.
FIG. 15F shows a mark detection system, where permanent or projected markings on a surface of target sheet 750 or back sheet 762, thereby allowing the user or detection system to determine where impact point 800 is specifically located relative to the markings. If the markings were placed on the visible portion of a sheet, for example the front of target sheet 750 or the back of back sheet 762, the detection marking pattern could be invisible to the human eye by the use of, for example, infrared reflective paint, ultraviolet paint, and so on. On the “internal” surfaces (e.g., the back of target sheet 750 or the front of back sheet 762), however, the markings would not need to be invisible as these markings would not interfere with the user's view of any target.
If a projected marking of a visible surface, e.g, the front of target sheet 750, is desired, this may be accomplished without interfering with the target image by imposing the detection pattern at intervals faster than could be detected than the human eye. By way of example only, if the projector 710 projects an image at “X” Hz, the detection pattern is shown at (1/Y)*X Hz, e.g., if the projector projects a target image at 120 Hz and it was desired that the detection pattern was displayed 1 out of every 10 times then the detection pattern would display at 12 Hz. The controlling computer would cause a camera, for example, outside front camera 620, to take a snapshot only when the detection pattern is active. The detection pattern frequency could be adjusted based upon, for example, the user's rate of fire.
FIG. 15G is an example of a projectile interacting with a reactive target surface, where the surface changes color, texture, and so when impacted by a projectile. By way of example only, a sheet side may be coated with a thin layer of paint overlaying a colored target surface, and when the target is struck a portion of the paint is removed and the colored surface below is seen. If it were desired that the reactive target surface were not to be visible to the human eye, the paint overlay or the underlying color could be made of, for example, infrared or ultraviolet paint, and any projected image or other visible targeting could be unaffected by the reactive coating that is detectable by a camera but unseen by the user.
An alternative means of projected detection pattern marking is shown in FIG. 15H. In this embodiment, projected marker 804 would move across the target surface in a “scanning” type method and compare the target surface/image at the location of the projection marker. This detection would occur relative to the target image. In this type “scanning” detection the use of the device 10 would not have to stop because only a portion of the targeting image would be affected.
An alternative means of impact detection is shown in FIG. 15I. Here, a hole 800 is detected from the resulting light 805 that is able to pass from one side of the sheet through to the other side. Depending upon the positioning of light sources and cameras, this detection method is applicable for, for example, either side of both the target sheet 750 and back sheet 650.
FIG. 15J represents a sheet used in conjunction with light beam 806 for “blocked light” detection. In this detection embodiment, impact 800 creates a three-dimensional “hole” where, for the example, the sheet is made of a material such as thin metal or stiff paper such that the edges of the impacted hole 800 will stick out, for example, at 808 and interfere with light source 806, thereby creating a shadow or distortion at 810 that may be detected by internal or external cameras. Although FIG. 15J shows the light beam 806 emanating from above, a second light beam could come from below when the first beam is off, thereby creating a second shadow or distortion that may be detected by internal or external cameras. Moreover, each light may reflect off of the protruding part 808 of hole 800, thereby aiding in detection by external cameras.
The detection of “three-dimensional” holes such as the one shown in FIG. 15J may be useful, for example, in topographical detection of entry and exit holes of various bullet calibers, for analysis, for example, of caliber (i.e., hole size), bullet composition (e.g., by how the bullet broke up), depending on the material of the target sheet 750 and back sheet 762.
Referring now to FIGS. 16A-16C, a projected target 900 is displayed on a sheet surface, e.g., the front surface of front sheet 750. In FIG. 16A, the target is projected on a surface that has not been impacted by a projectile, either because the shooter has not yet fired or has simply been unsuccessful in hitting the target. In FIG. 16B, the area where the target 900 is projected has received multiple impacts 904. One or more cameras, e.g., front camera 620, detects the successful hitting of target 900, transmits this information to the control computer, and in reaction a projector projects the target 900 to a new location through motion 908, as shown in FIG. 16C. This type of moving target has the advantage of spreading shots over a sheet, thereby increasing the useful lifespan of the sheet.
FIGS. 16D-16F show a similar system where the difficulty of the target is increased after a successful round of shooting. FIG. 16D is similar to FIG. 15A where the target 900 projected on the surface has not been impacted yet by a projectile. FIG. 16E shows an extremely successful round of projectiles creating a tight set of impacts 906. In reaction to the expert shooting, the target may increase in difficulty by moving in an erratic pattern 910 and decreasing in size 902. Other dynamic responses that the system would be capable of performing include, for example, changing the color of the target shown, strobing the target image or moving the unit itself quicker or slower. The factors such as, for example, the speed that the unit moves at or the changing size of the target would then be able to be tied to accuracy and communicated to the appropriate and interested parties.
FIGS. 19A-19C show an alternative targeting embodiment, by combining a virtual reality with a target. FIG. 19A shows the feed 903 from one of the cameras, for example, cameras 47, 49, 50, 51, or 52 focused on the unit's 10 surroundings. FIG. 19B shows a target 900 in motion 910. FIG. 19C shows FIGS. 19A and 19B combined, where the projected target 900 is superimposed on the video feed 903 of the surrounding area creating the “virtual reality” that the target is actually in the environment, thereby enhancing the training experience for the user.
FIGS. 20A-20C refer to various examples of user computer interaction with the device 10 and its projectors, cameras, transportation means, and so on. For example, in FIG. 20A, a user would be able to choose between a target 900 that is static or in motion. Also in FIG. 20A, a user could select various training scenarios, e.g., where the device 10 moves at different speeds, or where various images or virtual realities (e.g., FIG. 19C) can be chosen.
FIG. 20B shows an example of a user screen that assists a shooter in determining in how to change and improve the shooter's aim as well as locate where different shots hit the target. Various data is collected from the device's 10 cameras to determine, for example, the number of hits on a target 900 and where exactly the hits occurred, and the target distance. As seen in FIG. 20B, particular impact locations can be singled out with, for example, the use of the projector to show arrows or shade the region around a particular impact to “highlight” a particular impact. This “highlighting” could serve as a training aid if, for example, the user is too far away from the unit to accurately judge where the impact occurred unaided.
FIG. 20C shows the shooter's physical actions either simultaneously with the resulting impacts on the target 900 or a playback relating a particular shot to the shooter's posture and movements during said shot. For example, outer front rotatable controls camera 49 may record the shooter's actions at the same time outside front camera 620 records the target 900 being impacted by the shooter's projectiles. When the unit 10 has found an impact location it could, for example, create a time stamp so that all the data tracked by the unit 10, for example, unit speed, direction of travel, program in use, etc. can be correlated to the exact time of a particular shot. The two recorded events may then be simultaneously replayed on a split screen, as shown in FIG. 20C, in order to increase the shooter's self-awareness of the shooter's actions and physical posture during shooting or to provide a judge or training personal with valuable information.
By way of example, one way for a computer to interpret the user's interaction with the unit would be as if the user's identified shot placement acted as computer mouse “click” at the particular location on the projection screen. Thus, for example, any program or interaction typically reserved for a computer with a visual interface where a user must select a location on that interface and “click” a computer mouse would be analogous to a the user using the unit 10. With additional interaction hardware, such as a keyboard, the possibilities for different programming on the unit 10 are only limited by what any other computer could run. Some non-limiting examples of programming and the user's interactions include: playing any computer game or even surfing the internet. Due to the capability for wireless communication through the antenna 41, the unit would be able to interact, for example, with other units, locally or not. This communication allows users to interact with each other although they may be physically separated, allowing, for example, users to compete real-time with each other in a video game or training situation.
Referring now to FIGS. 21A, 21B and 22, a means for the device 10 (or accompanying computer system) to determine the location of the user 1010 is shown. In order to keep track of both its own position and that of different users, a global coordinate system is utilized. After any impact, the system will be able to detect the angle of the shot origin is P1 at 1015 relative to the unit itself. This angle is denoted in FIG. 22 as ∠A0. Once this angle is known, alternative range finding methods can be used to determine the exact location of the user with respect to the global coordinate system, for example, by using the cameras mounted on the outside of the device 10. Any additional impacts occurring in other locations on the target surface, originating from the same location, regardless of the unit's 10 motion, will allow the unit to determine the exact position of that user relative to itself and the global coordinate frame. In one embodiment the device 10 will rotate the target surface 1020, 1030 so that no successive impacts can pass through the same points (P2, P3, P5, and P6) for one user who is not moving, as seen also in FIG. 24.
Although the system tracks the following variables as three dimensional vectors, only two dimensions are necessary for these equations so the third dimension is left out for explanation simplicity, but can be easily calculated by those with ordinary skill in the art based upon the illustrations herein. The line extending from F1 to F2 represents the front target surface of target sheet 1020. The line extending from B1 to B2 represents the back target surface of back sheet 1030. The center of rotation of the target is P0 at 1040. The unit tracks the center of rotation as it will not change relative to the unit itself and therefore unit movement/orientation can be factored out of the equations. The projectile starting point 1015 of user 1010 is represented by P1. The line from P1 to P11 represents a parallel line to the global “x” axis through the user. The line from P1 to P3 represents the first projectile's trajectory 1045 where P2 is the impact location 1050 for the front target surface and P3 is the impact location 1055 for the back surface. The line from P10 to P4 represents a perpendicular line to the target surface. The location of P2 and P3 are calculated from the detection algorithms. The distance from P2 to P4, D24, remains constant and is therefore a known value. Equation 1 below calculates the distance from P2 to P3, denoted as D23, where P2 to P3 are broken up into their x and y components, namely P2=(x2,y2) and P3=(x3,y3). Utilizing D24 and D23 along with trigonometric ratios evident for right triangles, the incident angle A0 can be calculated. In order to calculate the incident angle relative to the coordinate frame, ∠P10P1P2, ∠B0 is calculated in equation 3 below and then used in equation 4 below where angle D refers to the known rotation of the target surface itself relative to the global coordinate system.
The same math and logic holds for any shot. For example, for a second shot 1046 the equations 5-8 below operate just as equations 1 through 4 where the following have similar roles applicable for the respective impact: P2 at 1050 and P5 at 1060, P3 at 1055 and P6 at 1065, P4 and P7, P5 and P2, P8 and P9, P10 and P11, ∠A0 and ∠A1, ∠B0 and ∠B1, and φP10P1P2 and ∠P11P1P5. ∠P1P2P8=∠P4P2P3 and ∠P1P5P9=∠P7P8P6 as they are vertical angles created by their respective transversals. ∠P13P1P2=∠P1P2P8, ∠P13P1P9=∠P1P5P9, ∠P8P1P2=∠P2P3P4, and ∠P9P1P6=∠P7P6P5 as they are alternate interior angles created by their respective transversals and parallel lines.
Once two different impacts locations are identified the system can now calculate the position of the user relative to the global coordinate frame. Equation 9 below calculates the distance between the two impact locations P2 and P5, denoted as D25, where P2 to P5 are broken up into their x and y components, namely P2=(x2, y2) and P5=(x5, y5) Equation 10 below relies on fundamental geometric principals for triangles and intersecting lines. Equation 11 below utilizes the Law of Sines to calculate the two remaining sides, the side formed from P1 to P5 and the side formed from P1 to P2, the distances to the projectile starting point 1015, as a function of ratios with respect to the known distances and angles.
Impact 0:
After Impact 1:
Referring now to FIG. 18, an embodiment of the device in motion is shown at particular points in time 960a-f. One or more optimal embodiments of the device will have the target sheets 750, 762 (and/or the target stand 26 in general), for example, perpendicular to the shooter 965 to increase the effectiveness of, for example, the image projection. Thus, the rotatable base 40 will allow the target sheets 750, 762 to continually face the user 965 regardless of where the device is in motion in, for example, programmed path of travel 970.
Referring now to FIG. 17, the device 10 of FIG. 18 is shown interacting with multiple shooters/users 930, 932, 934. In order to maintain an optimal target surface orientation relative to a shooter, the device moving along a preprogrammed path of travel 952 will alternate orientations by, for example, facing user 930 at time 950a, user 932 at times 950b and 950d, and user 934 at times 950c, 950e, and 950f. Rotation to display the target to different users as shown in FIG. 17, or for one user as in FIG. 18, replicates the common training method where an individual or group must track a target while maintaining readiness to fire on that target when the situation calls for it. The equations explained to determine the position of a shooter could apply to as many shooters as were using the unit; the unit would simply allocate memory to each new shooter as they were found to store the appropriate distances, angles, etc. so they could be used for later use. In another embodiment, different users could, for example, wear or use identifying markers/electronics that the system would be able to detect. By way of example only, if the different users wore different colors, the system would be able to use the cameras focused towards those users to differentiate between them.
Various changes, alternatives, and modifications to the above embodiments will become apparent to a person of ordinary skill in the art after a reading of the foregoing specification. It is intended that all such changes, alternatives, and modifications as fall within the scope of the appended claims be considered part of the present invention.
