EP3088836B1 - Method for detection and tracking the position of light spots on a projection surface of a weapons simulator, a weapons simulator and computing unit for carrying out the method - Google Patents

Description

The present invention relates to a method for detecting and tracking positions of points of light generated at least temporarily by a plurality (number N, where N> 1) of simulated rebuilt firearms on a projection surface of a weapon simulator. In this case, a content of the projection surface including the light points is detected optically at certain times by at least one camera.

The invention also relates to an arithmetic unit of a weapon simulator and a weapon simulator comprising a projection surface, a plurality of simulated firearms simulated therein simulating at least temporary points of light on the projection surface, and at least one camera having at certain times a content of the projection surface including the points of light optically recorded.

Due to the dangers associated with the operation of firearms, it is essential that the use of Firearms are extensively trained. Such training often involves firing blanks or real ammunition. High levels of noise, pods and other remnants of fired cartridges, harmful burned powder gases, environmental restrictions, high costs and a general danger to the shooter and bystanders are major disadvantages with regard to the use of blanks or real ammunition.

In order to overcome these disadvantages, weapons simulators have been presented in the prior art, on which the use and the use of any firearms can be trained as realistic as possible. As a weapon simulator, a kind of shooting range is referred to below, on the basis of the use of reimposed weapons for training purposes and the use of appropriate original weapons can be trained as realistic as possible without blanks or real ammunition must be fired. Such a weapon simulator is, for example, from the DE 100 42 982 A1 known. Furthermore, a weapon simulator is distributed by the applicant under the name Sagittarius®, which is used, for example, in the German Federal Armed Forces under the name AGSHP (training device shooting simulator handguns / antitank handguns). A weapon simulator can include strictly predetermined shooting lanes. But it is also conceivable that the shooters can move freely with their converted firearms in the weapon simulator.

The rebuilt firearms, which are commonly used in known weapon simulators, do not fire blanks or real ammunition. Nevertheless, in order to allow the most realistic possible training, a recoil movement is simulated when the firearms are "fired" by means of compressed air. From the US 4,302,190 is, for example, a converted firearm in the form of a rifle known in which when triggering a "shot" compressed air from downwards Openings in the gun barrel occur to force the barrel up to simulate recoil. In this case, a switch on the trigger (so-called trigger) operates an electromagnetic valve to control the flow of compressed air to the openings in the gun barrel.

Further, a recoil of a converted firearm when "firing" a shot by a triggered by compressed air movement of a movable in the firearm slide assembly or a movable shutter of the firearm can be realized. The sliding assembly or the closure is driven against a stop, which simulates recoil. In particular, when the trigger is actuated, the slide assembly or latch is pneumatically placed in a reciprocating motion (a so-called "cycle of motion") that can also simulate ejecting the "fired" cartridge and reloading a new cartridge from a magazine of the firearm. Such a converted firearm is, for example, from the WO 2004/015357 A2 known.

To supply the converted firearm with compressed air various possibilities are conceivable. On the one hand, the firearm can be connected via a pneumatic line to a compressor, which generates the compressed air. In this case, a pneumatic valve is arranged in the firearm, which controls the supply of compressed air to a pneumatic system of the firearm. The pneumatic system may include pneumatic lines or channels, pneumatic valves, a pneumatically actuated slide assembly, and / or a pneumatically actuable shutter. Upon actuation of the trigger of the firearm, the pneumatic valve disposed in the firearm is opened so that compressed air can flow into the pneumatic system of the firearm to effect the reciprocation of the sliding assembly or closure. In the example described lies during the Training on the weapon simulator constantly the full pressure on the pneumatic line, which connects the firearm with the compressor.

On the other hand, the firearm can be connected to the compressed air supply via a pneumatic line to a controlled compressed air supply unit (so-called Weapon Connection Box) of the weapon simulator, which in turn is connected to the compressor. The compressed air supply unit comprises a pneumatic valve which controls the supply of compressed air to the pneumatic line and further to the pneumatic system of the firearm. Upon actuation of the trigger of the firearm, a corresponding control signal is transmitted to the compressed air supply unit, which opens the valve and briefly allows compressed air to flow into the pneumatic line and the pneumatic system of the firearm to effect the reciprocation of the sliding assembly or the closure. Thereafter, the valve closes again and the pneumatic line is depressurized again. In this case, so only during the "firing" of a shot of the full pressure on the pneumatic line.

Further, the firearm for compressed air supply may have an internal compressed air reservoir, which can deliver controlled via a pneumatic valve compressed air to the pneumatic system of the firearm. The compressed air reservoir is either removably disposed in the weapon, so that an empty reservoir removed and a new, filled with compressed air reservoir can be used, or the reservoir has an externally accessible port on which it from time to time, eg. About a connectable pneumatic line, can be filled with compressed air. A removable compressed air reservoir is, for example, part of a reusable magazine which can be detachably inserted into a magazine receptacle of the firearm. Such a firearm is, for example, from the US 6,854,480 B2 and the US 7,306,462 B2 known. An actuation the trigger of the firearm may open the pneumatic valve and allow compressed air to flow into the pneumatic system of the firearm to effect the reciprocal movement of the sliding assembly or closure. With such a converted firearm, the shooter can move freely in the weapon simulator and is not limited by a pneumatic line in its radius of movement.

Finally, the converted firearm can use compressed air cartridges for compressed air supply. These are used as conventional sharp cartridges directly into the chamber of the firearm or in a magazine, from where they are then loaded individually during operation of the firearm in the chamber. The compressed air cartridges have a compressed air reservoir which communicates with the environment via valve means integrated in the cartridge. In the compressed air reservoir compressed air is contained, which can be discharged by opening the valve means to the environment. Upon actuation of the trigger of the firearm, the valve means of the compressed air cartridge located in the chamber are opened so that the compressed air contained in the compressed air reservoir can escape into the pneumatic system of the firearm to effect a cycle of movement of the sliding assembly or the closure. As part of the movement cycle of the slide assembly or shutter, the "fired" cartridge may be ejected from the chamber and a new cartridge from the magazine loading the chamber. Such a converted firearm is, for example, from the filed by the applicant on 27.11.2013 at the German Patent and Trademark Office DE 10 2013 224 209 known. Also in the WO 2004/015357 A2 is described such a converted firearm. When using a compressed air cartridge for compressed air supply to a converted firearm, a particularly realistic simulation of the use and use of the firearm is possible.

On a projection screen of a weapon simulator, a training scenario for the shooter (s) can be shown. The training scenario may include realistic dynamic situations, eg a demonstration with some violent demonstrators or a house fight, but also static pure training situation, eg a target. The shooter keeps the gun converted for training purposes and uses it as part of the scenario shown as a conventional firearm, for example, by trying to adequately combat demonstrators or opposing fighters or to achieve as many hits on the target shown. At least during the "firing" of the simulated firearm, a laser beam can be emitted from the weapon, the direction of which essentially corresponds to the direction of departure of a fired projectile of a sharp cartridge. A light spot produced by the laser beam on the projection surface thus corresponds approximately to the point at which a projectile would strike if the weapon were an original weapon firing live ammunition. By determining the position of the light spot on the projection surface and by comparing the determined position with the training scenario shown on the projection surface at the time the shot is fired, virtual hits can be detected or calculated.

The projection surface can be a screen on which the training scenario is projected, for example, by means of a projector. The projection surface may also include at least one screen (eg, an LCD, LED, OLED or plasma flat panel display), on which the training scenario is displayed. Several screens can be added to the screen. The projection surface can be flat or curved in order to allow the most realistic possible representation of the training scenarios.

If the compressed air supply of the simulated firearms is realized via an external compressed air source, the weapon simulator can also have at least one controlled compressed air supply unit (so-called Weapon Connection Box) to which the converted firearms used in the weapon simulator can be connected via a pneumatic line. It is conceivable that always one or two firearms are connected to a compressed air supply unit, so that several compressed air supply units can be present in the weapon simulator. In addition, the weapon simulator has a central processing unit which coordinates and controls the course of the training, preferably for all shooters of the weapon simulator. In particular, the arithmetic unit selects the respective training scenario and controls the projection surface of the shooting lanes accordingly to represent the selected scenario. The arithmetic unit is also responsible for detecting the current operating status of firearms and for "firing" a shot, i. a pneumatic actuation of the slide assembly or the closure of a firearm.

In addition, the weapon simulator has at least one camera which serves to detect the position of a light spot at least at the time of actuation of the trigger of a firearm or at other times by the image taken by the at least one camera is evaluated by the arithmetic unit and, if several to each other spaced cameras are present, the various images or the corresponding evaluation results are compared and processed by the arithmetic unit. A camera can take pictures with a specific frame rate (so-called frame rate). This is currently usually in the range of about 25 to 100 Hz. Between consecutive image frames (so-called frames) are usually short pauses of about 1-5 ms. The at least one camera of the Weapon simulator is responsible for detecting the position of the points of light of several firearms. This requires that the light points of several weapon simulator gunners can be uniquely assigned to the various shooters or their firearms, so that in the event of a "firing" by a firearm, it can be timely determined from the current position of the corresponding light spot on the screen, where the "shot" in the training scenario was shot or whether a hit was scored or not.

In order to make this possible, it would theoretically be possible to switch on only the light spot of a firearm of the weapon simulator in any given frame of the at least one camera. In this case, both a determination of the position of the light spot and an unambiguous assignment of the light spot to the firearm could take place in the given frame. However, the weapon simulator is designed to handle a variety of (eg 20) firearms simultaneously. This would lead to the procedure described that, for example, only every 20 frames, the position of a light spot of a particular firearm is updated. With an exemplary assumed frame rate of about 25 Hz of a camera, this results in an update rate of the positions of the individual light spots of about 1.25 Hz (= 800 msec) with 20 firearms operated on the weapon simulator. During this time, however, it is likely that the shooter has moved his weapon and the point of light at the time of a "shot trigger" has a different position than the position detected about 500 ms ago. This is especially true for weapon simulators, in which the shooters can move freely with their firearms, so do not remain at predetermined positions in predetermined trajectories. This method would thus be too slow for weapon simulators, which can handle a large number of firearms simultaneously, and therefore not suitable.

From the US 2007/082 322 A1 is a weapons simulator for sharp firearms known to shoot real ammunition. In addition, the disclosed US 2006/073 438 A1 a weapon simulator for simulated firearms.

Based on the described prior art, the invention therefore has the object to design a weapon simulator to the effect and further that light points of several converted firearms on a screen in the simplest possible way, but still with the required speed or refresh rate and their positions with the required Accuracy can be detected.

To solve this problem, it is proposed on the basis of the method of the type mentioned above that the light points of all firearms of the weapon simulator are switched on and detected and their positions detected and corresponding position data are obtained at all odd times before detecting the content of the projection surface. At successive even times, before detecting the content of the projection surface, a light spot of each other firearm i (i = l... N) is turned on and detected, and the firearm i is assigned and corresponding mapping information is obtained until after one of the number N the number of even times corresponding to firearms operated in the weapon simulator, the position of the points of light of all the firearms operated in the weapon simulator has been detected, and the points of light of each firearm are respectively associated with one of the firearms that generated the point of light.

The inventive method can be implemented as a computer program that runs on the computing unit of the weapon simulator. In particular, the Arithmetic unit via one or more processors, which process the computer program. The computing unit may comprise a single computer or a network of multiple computers. The arithmetic unit is assigned to the weapon simulator, but it does not have to be located locally in the area of the weapon simulator. The arithmetic unit can also be part of an external data center which, for example, is connected to the other components of the weapon simulator via a data connection, for example the Internet.

An essential aspect of the present invention is that the actual position determination of the points of light takes place at a different time than the assignment of the individual points of light to the various firearms. Although this requires a kind of initialization phase initially, it allows accurate and timely evaluation of "shots" in the weapon simulator, even if a relatively large number (e.g.,> 5) of firearms are operated in the weapon simulator.

After switching on, detecting and assigning the light spot of the last of the firearms operated in the weapon simulator i = N at a straight time, the method is advantageously again run from the front and at the subsequent even point again the light point of the first firearm operated in the weapon simulator i = 1 is switched on and determined and assigned to the firearm i = 1 and corresponding assignment information is obtained. Accordingly, the described method is carried out repeatedly in the manner of a program loop, wherein at the odd times, a position determination of all points of light takes place and at the even times each an assignment of a point of light to a specific firearm, namely the firearm, which has generated the light point takes place. The firing of a firearm by a shooter during training can trigger a software interrupt as a result whose last detected the last (at the previous even time) detected position of the light spot and used as the target point when triggering the shot. The interrupt may contain information about the identity, in particular a unique identifier, of the fired firearm.

However, the triggering of a "shot" can also be detected without an interrupt if a light point is suddenly detected without the control of one of the firearms by the arithmetic unit for the purpose of determining the position or assigning the points of light on the projection surface. On the basis of a comparison of the position of the suddenly detected light spot with the positions of all light points previously detected at the previous odd time and taking advantage of the assignment information previously obtained at the previous even times, the suddenly detected light spot can be assigned to the fired firearm.

But it is also conceivable that after switching on, detecting and assigning the light point of the last operated in the weapon simulator firearm i = N at a straight time, at a subsequent even time, the point of light in the weapon simulator operated by a shooter triggered firearm switched on and determined and the firearm i = 1 is assigned and appropriate assignment information is obtained. This can be done in addition to or in addition to the above-described assignment of individual firearms to specific light points or to their positions on the projection surface at the even times.

According to a preferred embodiment, in addition to the assignment of the individual points of light to the corresponding firearms, the position of the individual is also given at the even times switched on and detected light point detected and it will be obtained corresponding position data. The position data obtained at the even times can be used to update or to check the plausibility of the position data obtained at the odd time points.

Preferably, the even and odd times are dependent on a frame rate of the at least one camera, and each time corresponds to a frame of the camera.

In the method according to the invention, therefore, a picture of the projection surface is recorded in a first odd frame of the at least one camera, whereby all converted firearms of the weapon simulator are driven so that they emit a light beam, for example a laser beam, and generate a light spot. If all the light points are on the projection surface, the images of the projection surface taken to the odd frames contain as many points of light as firearms that have been converted to a weapon simulator. The points of light are detected and their positions determined. The position data obtained in this way can be stored, for example, in a memory of the arithmetic unit so that they are available at later times. After the first odd frame after the start of the process, however, it is not yet possible to make an exact assignment of the points of light to the individual firearms. So there are still no assignment information in the arithmetic unit of the weapon simulator, which firearm has generated which light point.

This is then served by the even frames following the odd frames. During the even frames only one of the converted firearms operated in the weapon simulator is in turn driven in such a way that it generates a point of light. Of the The light spot generated in a first straight frame is detected by the at least one camera and assigned to the firearm that generated it. Since only one firearm is active in the sense of sending out a light spot and only one light spot is detected on the projection surface, a clear assignment of the light spot to the firearm is possible. The assignment information obtained in this way for the detected light point is stored, for example, in a memory of the processing unit of the weapon simulator. In addition, the position data of the assigned light spot in this even frame can be detected and used to update the position data of that light spot previously detected in the previous odd frame or to check for plausibility.

Following this, all firearms are again controlled in a second odd frame in such a way that all firearms emit points of light. These points of light are in turn detected and their positions determined. Based on the position data of the light points detected in this second odd frame, the position data of the light points previously acquired in the preceding odd frame or one of the preceding even frames can be updated. Apart from the light point assigned in the preceding first straight frame, there are still no assignment information in the arithmetic unit of the weapon simulator as to which firearm generated which light spot.

During the following second straight frame, again, one of the converted firearms operated in the weapon simulator is driven to generate a spot of light. In this case, a different firearm is preferably activated than in the preceding straight frame. In the straight frames in turn, all firearms are particularly preferably driven one after the other at least once, so that they each have one Create a point of light, which can then be assigned to the appropriate firearm. This assignment information is stored, for example, in the memory of the computing unit of the weapon simulator. In addition, the position data of the assigned light point can be detected and stored from this even frame. The position data can in turn be used to update the previously recorded in the odd frame position data of this light point or to check for plausibility.

The process is repeated until, in the even frames, all firearms operated in the weapon simulator have been driven once to create a spot of light and until all the spots of light have been assigned to a particular firearm. At this point in time, there will be position and assignment information for the light points of all firearms of the weapon simulator.

Subsequently, the method can be run through again from the beginning by again detecting position data for all points of light in the next odd frame and in the next straight frame the first firearm is again activated so that it generates a point of light, which is then assigned to the firearm and so on.

The method according to the invention thus has a kind of initialization phase, which comprises the odd frames and the even frames after a start of the method, until position data and assignment information are available for all firearms or their points of light. Preferably, the initialization phase comprises a number of 2 * N frames, where N is the number of firearms operated in the weapon simulator. After the initialization phase, in the normal case, all the light points detected during the odd frames are also unique due to the assignment information generated during the preceding even frames Assignment to a specific firearm possible. The fact is exploited that during normal operation of a firearm (with normal shooting behavior of the shooter), the position of the generated by the firearm light point between an odd and a straight frame varies only slightly, since there are only a few milliseconds. Thus, one takes advantage of the fact that the positions of the points of light detected at the odd frames are substantially identical with the positions during a subsequent straight frame except for slight deviations. As a result, the points of light can be assigned to the firearms even during the odd frames.

With the present invention, after the initialization phase has been completed, sufficiently accurate position data are thus available for all the light points, and each of the light points can be assigned to a specific firearm. Then, when a firearm "fires a shot", i. the shooter operates the trigger of the firearm, from the previous odd frame exact position data are available, which allow to determine with high accuracy where the "shot" would have gone and whether he was a hit or not.

According to an advantageous development of the invention, it is proposed that the light spots of the firearms of the weapon simulator be switched on and detected at the end of the odd times. Of course, the control of the firearms for emitting the light points must be done in time in an odd frame so that the points of light generated in the frame can still be detected by the content of the screen is detected. The position determination itself by evaluating the captured image of the screen can be done during a short break following the odd frames, or even during a subsequent even frame. Because of that Generation of the light points and their position determination takes place as late as possible in an odd frame, passes less time to the assignment of a light spot in the subsequent straight frame. Within this short time is a possible movement of the firearm and thus a change in the position of the light spot low. This allows a particularly reliable assignment of the light spot to a specific firearm.

According to another advantageous development of the invention, it is proposed that the points of light of the individual firearms of the weapon simulator be switched on and detected at the beginning of the even moments. The assignment of the detected light spot to the corresponding firearm may occur during a brief pause following the even frame or even during a subsequent odd frame. Due to the fact that the generation of the light spot and its assignment to the corresponding firearm takes place as early as possible in a straight frame, less time has passed since the position of the light points was determined in the preceding odd frame. Within this short time is a possible movement of the firearm and thus a change in the position of the light spot low. This allows a particularly reliable assignment of the light spot to a specific firearm.

According to a preferred embodiment, the light of the light spots has a frequency which lies outside the frequency range visible to the human eye. It is conceivable, for example, that it is light in the IR or UV range. It is furthermore preferred if the points of light are laser points. Thus, for example, light spots generated by an infrared (IR) laser are particularly preferred.

The object underlying the present invention is also achieved by a computing unit of the aforementioned type solved on which runs a computer program that is programmed to carry out the method according to the invention. According to an advantageous development of the invention, it is proposed that the arithmetic unit has a communication connection to the rebuilt firearms producing the light points in order to obtain them at specific times, ie during even or odd frames, in particular at specific times at the beginning or at the end of the frames Generating the light points to cause. Sensor signals from sensors of the firearms, which detect the current operating state of the firearm, can also be transmitted to the arithmetic unit via the communication connection. Such sensor signals are, for example, "trigger actuated", "firearm on triggering perverted", "shutter actuated", "weapon secured" or the like. be.
According to a preferred embodiment, it is proposed that the arithmetic unit has a communication connection to the at least one camera in order to detect the content of the latter at specific times, ie during even or odd frames, in particular at specific times at the beginning or at the end of the frames To initiate projection surface. The image data of the images taken by the camera of the projection surface can also be transmitted to the arithmetic unit for evaluation (position determination or assignment to a specific firearm) via the communication connection.
The object underlying the present invention is also achieved by a weapon simulator of the type mentioned above, on the arithmetic unit of a computer program runs, which is programmed to carry out the method according to the invention.

• Fig. 1 einen erfindungsgemäßen Waffensimulator gemäß einer bevorzugten Ausführungsform;
• Fig. 2 Signalverläufe in dem Waffensimulator aus Fig. 1;
• Fig. 3 ein Ablaufdiagramm eines erfindungsgemäßen Verfahrens gemäß einer bevorzugten Ausführungsform und
• Fig. 4 ein Ablaufdiagramm eines erfindungsgemäßen Verfahrens gemäß einer anderen bevorzugten Ausführungsform.

A preferred embodiment of the present invention will be explained in more detail with reference to FIGS. Show it:

• Fig. 1 a weapon simulator according to the invention according to a preferred embodiment;
• Fig. 2 Waveforms in the weapon simulator off Fig. 1 ;
• Fig. 3 a flowchart of a method according to the invention according to a preferred embodiment and
• Fig. 4 a flowchart of a method according to the invention according to another preferred embodiment.

In FIG. 1 an inventive weapon simulator is designated in its entirety by the reference numeral 1. A weapon simulator 1 is a kind of shooting range on which with the help of converted for training purposes firearms 2, the use and the use of appropriate original weapons can be trained as realistic as possible without blanks or real ammunition must be fired. In the illustrated weapon simulator 1, the shooters can move freely with their converted firearms 2.

The weapon simulator 1 comprises one or more projection surfaces 3 on which a training scenario for the shooter (s) is displayed. The projection surface 3 may comprise a screen or one or more screens. The training scenario can include realistic dynamic situations, such as a landscape depicting opposing positions, or multiple buildings where enemy shooters can be dynamically faded in to simulate a house fight. The shooter holds the converted for training purposes firearm 2 and uses them in the scenario shown as a conventional firearm, for example, trying to opposing positions on a displayed Landscape or enemy riflemen in or next to depicted buildings to meet.

At least during the "firing" of the simulated firearms 2, a laser beam 4 can be emitted from the weapon 2, the course of which essentially corresponds to the trajectory of a fired projectile of a sharp cartridge. A light spot 5 generated by the laser beam 4 on the projection surface 3 thus corresponds approximately to the point at which a projectile would strike if the simulated firearm 2 were an original weapon firing live ammunition. By determining the position of the light spot 5 on the projection surface 3 and by comparing the position determined with the training scenario shown on the projection surface 3 at the time of the "shot firing", virtual hits can be detected. If the position of the light spot 5 generated in a "shot triggering" coincides with the position of an enemy position or an enemy shooter on the projection surface 3 at the time the shot is fired within certain limits, a hit can be said. In order to determine which of the shooters has landed the hit, it is necessary to assign the various light points 5 shown on the projection surface 3 to the corresponding firearms 2. This is necessary in order to be able to evaluate the training and the individual performances of the shooters in hindsight.

The weapon simulator 1 also has at least one camera 6, the receiving area of which comprises the at least one projection surface 3. When using multiple cameras 6 their receiving areas may include different areas of the screen 3. The camera 6 serves to optically detect the content of the projection surface 3 including the light spots 5 at specific times. The camera 3 is, for example, designed as a CCD camera or as a CMOS camera, which in particular by the frame rate of Camera 3 predetermined frame 10 (see. FIG. 2 ) detected. The duration of a frame 10 is for example in the range of approximately 10 to 50 ms. Between successive frames 10 are usually short pauses 13 of about 1 to 5 ms, which can be used for preprocessing of the recorded image data and / or for transmitting the image data to the arithmetic unit 8.

The at least one image taken by the camera 6 of the projection surface 3 is transmitted for evaluation via a data transmission connection 7 to a computing unit 8 of the weapon simulator 1. In the illustrated example, the data transmission connection 7 is realized by means of a cable. But it can also be wireless, eg. Via radio, be realized. In the arithmetic unit 8, the light spots 5 are extracted from the image by suitable image processing and the position of the light spots 5 on the projection surface 3 is calculated. The arithmetic unit 8 is also responsible for coordinating the course of the training and displaying the corresponding images of the training scenario on the projection surface 3. For this purpose, the arithmetic unit 8 also has a suitable data transmission connection (not shown) to a projector or to the projection surface 3 itself.

The at least one camera 6 of the weapon simulator 1 is responsible for the detection of the position of the light spots 5 of several firearms 2. This necessitates that the points of light 5 of several firearms 2 of the weapon simulator 1 can be unambiguously assigned to the various shooters or their firearms 2, thus in the case of a "firing" by one of the firearms 2 on the basis of the current position of the corresponding light point 5 the projection surface 3 can be determined in a timely manner, where the "shot" went or whether a hit was achieved or not.

In order to allow the fastest possible assignment of one of the light spots 5 to the fired firearm 2 and a position determination of the associated light spot 5 on the projection surface 3 in the case of a "shot triggering", the method according to the invention is proposed. This has particular advantages when a relatively large number of shooters and a corresponding number of firearms 2 are present in the weapon simulator 1 and if the shooter in the area of the weapon simulator 1 can move freely, that is, the positions of the shooter not on shooting lanes or other fixed positions are limited, so that the positions of the converted firearms 2 in the weapon simulator 1 in a "shot triggering" are not known.

For the sequence control of the training as well as for the position determination of the light spots 5 and the assignment of the light spots 5 to the firearms 2, at least one computer program runs on the arithmetic unit 8. This computer program also serves to carry out the method according to the invention.

The inventive method is described below with reference to FIGS. 2a to 2c explained in more detail. It is assumed that a weapon simulator 1 in which, for example, six shooters with their converted firearms 2 can train at the same time. Of course, the inventive method can also be used in weapon simulators 1, in which more than six, for example, twenty or thirty shooters can train at the same time. The greater the number of shooters who can train in the weapon simulator 1 at the same time, the greater the advantages of the method according to the invention over the methods known from the prior art.

In the FIGS. 2a to 2c each three waveforms are shown. The uppermost signal curve identifies the successive frames 10 of the camera 6, wherein the individual frames 10 in the FIGS. 2a to 2c are numbered from 10.1 ... 10.18. For the present method, a distinction is made between two consecutive, different types of frames 10. The invention speaks in this context of odd frames 10 (frames 10.1, 10.3, 10.5, ..., 10.17) and even frames 10 (frames 10.2, 10.4, 10.6, ..., 10.18). Important to the present invention is the distinction between two types of frames 10 in which different actions are taken. However, the designation of the different types of frames 10 is irrelevant. Furthermore, it is conceivable to carry out those actions which are carried out according to the invention in the odd frames 10.1, 10.3,..., Instead in the even frames 10.2, 10.4,..., And then in the even ones according to the invention Frames 10.2, 10.4, ... to perform corresponding actions in the odd frames 10.1, 10.3, .... In addition, it is conceivable to choose the designation of the different types of frames 10 differently, for example frames A and frames B.

According to the present invention, a position determination for the light spots 5 of all firearms 2 operated in the weapon simulator 1 is therefore carried out in the first type of frames 10. An assignment of the individual points of light 5 to the individual firearms 2 is not yet made. The assignment of the points of light 5 to the individual firearms 2 is then carried out in the other type of frames 10. The middle waveform 11 in the FIGS. 2a to 2c respectively indicates the point in time at which the positions of all light spots 5 of all firearms 2 of the weapon simulator 1 are determined in the method described by way of example. It can be seen that always in the odd frames 10.1, 10.3,... A position determination for the points of light 5 of all in the Weapon simulator 1 powered firearms 2 is made. Advantageously, this is always done at the end of the odd frames 10.1, 10.3, .... The lowest signal waveform 12 in the FIGS. 2a to 2c in each case indicates the times at which an assignment of a light spot 5 to one of the firearms 2 used in the weapon simulator 1 takes place. It can be seen that the assignment of the points of light 5 to the individual firearms 2 always takes place in even frames 10. 2, 10. 4,. Advantageously, this always takes place at the beginning of the even frames 10.2, 10.4, .... This has the advantage that between the position determinations of all points of light 5 in the odd frames 10.1, 10.3,... And the assignment of the individual points of light 5 to the corresponding Firearms 2 in the even frames 10.2, 10.4, ... a shortest possible time passes, so that at the time of assigning a light spot 5 in a straight frame 10.2, 10.4, ... it can be assumed that the light point 5 nor the previously in an odd frame 10.1, 10.3, ... has detected position.

A flow diagram of a method according to the invention according to a preferred embodiment is shown in FIG FIG. 3 shown. In the weapon simulator 1, a number N of firearms 2 are used. A counter is used which is incremented from 1 to N and then reset to 1. The method begins in a function block 20, with the counter i set to 1. The counter i stands for the firearm 2 which is to be controlled in the current straight frame 10.2, 10.4 ... in order to be able to assign the light spot 5 generated by it. In a first function block 21, the light points 5 of all firearms 2 operated in the weapon simulator 1 are detected in a first odd frame 10.1 and their position detected. The position data generated in this way for all light points 5 can be stored in a memory 30, which may be part of the arithmetic unit 8, for example. However, the memory 30 may be an external memory to which the arithmetic unit 8 Has access to store and download data. In order to switch on all light points 5 of all firearms 2 used in the weapon simulator 1, the arithmetic unit 8 transmits corresponding control signals to the firearms 2 via suitable communication connections 9. In the example of FIG FIG. 1 the communication link 9 is realized as a wireless connection, so that the shooters can move freely with their firearms 2 in the area of the weapon simulator 1. Preferably, the communication links 9 between the computing unit 8 and the firearms 2 are designed as radio links. The transmission of the control signals from the arithmetic unit 8 to the converted firearms 2 can be carried out according to any protocol.

Coming back to the flowchart of FIG. 3 In a subsequent functional block 22, the light spot 5 of the first (i = 1) firearm 2 is switched on in a first straight frame 10. 2, detected and assigned to the first firearm 2. The corresponding assignment information can also be stored in the memory 30. Furthermore, a position determination of the light spot 5 can take place in the function block 22. The position data for the one light spot 5 acquired in this way can be used for updating or for a plausibility check of the previously acquired position data for this light spot 5. The position data detected for this light spot 5 can also be stored in the memory 30.

Subsequently, the counter i is increased by 1 in a function block 23, so that in the subsequent pass in the straight frame 10 the light point 5 of the second (i = 2) firearm 2 can be assigned and if necessary the position of the light point 5 can be determined. In a query block 24, it is checked whether all firearms 2 operated in the weapon simulator 1 are already in a straight frame 10.2, 10.4,... Of them generated light point 5 have been assigned.

If not all firearms 2 operated in the weapon simulator 1 have been assigned to their light point 5 in a straight frame 10, the method branches back to function block 21 and is traversed again. With reference to FIG. 2a Then, in the next odd frame 10.3, the positions of all the light spots 5 of all firearms 2 operated in the weapon simulator 1 would be detected again. Subsequently, the second firearm 2 would be assigned to the light spot 5 generated by it in the functional block 22 in the subsequent straight frame 10.4. After this passage of the function blocks 21 and 22, the positions of all points of light 5 of all firearms 2 were determined or updated in the odd frame 10.3. In addition, in the even frame 10.4 the light spot 5 has been assigned to another firearm 2. Thus, up-to-the-minute position data are available for all the light spots 5, with two of the light spots 5 now being assigned to the corresponding firearms 2.

In the function block 23, the counter i is again increased by 1 so that it now amounts to i = 3. In the query block 24, in turn, it is queried whether all the firearms 2 used in the weapon simulator 1 have already been assigned to their light point 5 at least once in a straight frame 10.2, 10.4,. The program loop comprising the functional blocks 21 to 24 is run through until all the light spots 5 have been assigned to one of the firearms 2. At the end of the last run, in turn, up-to-the-minute position data are available for all light points 5 of all firearms 2 (from the previous odd frame 10) and all light points 5 from all N firearms 2 used in the weapon simulator 1 are assigned to the corresponding firearms 2.

This completes a type of initialization phase 31. The initialization phase 31 thus comprises N passes through the functional blocks 21 to 24. In an example with N = 6 firearms 2 in the weapon simulator 2, a frame length of 25 ms and pauses 13 of 2 ms between the frames 10, the passage through the initialization phase would be 31 about 324 ms (6 odd frames x 25 ms + 6 even frames x 25 ms + 12 x 2 ms = 324 ms). Although this is relatively long, but for the initialization phase must be run only once immediately after the start of the procedure. Thereafter, the desired position data and assignment information for the fired "shots" or the corresponding points of light 5 within a very short time (a few 10 ms) are available. The method thus enables rapid and highly accurate tracking and detection of the light spots 5 on the projection surface 3.

Following the initialization phase 31, the method can be continued in different ways. In the subsequent frames 10, the position of the individual points of light 5 due to the frequent frequent determination of the positions of all points of light 5 in the odd frames 10 can be easily tracked and the assignment of all points of light 5 to certain firearms 2 are easily maintained.

One way in which the method can be continued after the initialization phase 31 is in FIG FIG. 3 shown. Accordingly, the initialization phase described above with reference to the functional blocks 21 to 24 is simply carried out once again, the light point 5 of the first (i = 1) firearm 2 being assigned again in the first straight frame 10 following the initialization phase 31 and possibly its position the projection surface 3 is determined. In a query block 25 it is checked whether the training session is over or not. If the training session is not finished, will be in a Function block 26 of the counter i back to 1, that is set to the first firearm 2. If the training session is over, the procedure in function block 27 is ended.

In FIG. 4 another possibility is shown how the method according to the invention can be carried out after the initialization phase 31. The method begins in a function block 40 and initially executes the initialization phase 31, as described above with reference to FIG FIG. 3 is described in detail. Then, in a function block 41, in the odd frame 10 following the initialization phase 31, the positions of all the light spots 5 of all firearms used in the weapon simulator 1 are turned on and detected, and their positions are detected. The obtained position data can be stored in the memory 30. In this respect, the functional step 40 essentially corresponds to the previously described functional step 21 FIG. 3 , Assuming a weapon simulator 1 with N = 6 firearms 2, the odd frame 10 from function block 41 would be frame 10.13 in FIG Figure 2c ,

Subsequently, in a functional block 42 in a subsequent straight frame 10 (for example the frame 10.16), a light spot 5 of a firearm 2 operated by the weapon simulator 1 and triggered by a shooter is switched on and its position detected. As soon as a "shot" is triggered, in the following straight frame 10, the light spot 5 of the triggered firearm 2 is switched on and detected and its position detected. At the same time, a reassignment of the light spot 5 to the firearm 2 can take place. The obtained position data can also be stored in the memory 30. Based on the position data, the arithmetic unit 8 can determine whether a hit has been achieved or not. In the described option for the continuation of the method is thus following the initialization phase 31 in the straight frames 10 only the light point 5 of a firearm 2 is turned on and detected and detects its position, which has previously been triggered by a shooter. In this case, an assignment of the light spot 5 to the corresponding firearm 2 can take place and at the same time the quality of a "shot" can be evaluated, in particular whether it represents a hit or not.

In the process off FIG. 4 There may well be frames 10, in which previously no "shot" of a firearm 2 has been triggered. Consequently, in these straight frames 10, no light point 5 is also shown on the projection surface 3, whose position is determined and which could be assigned to a specific firearm 2. In such a case, in the straight frame 10 (for example the frame 10.14), no action, neither a position determination of a light spot 5 nor an assignment of a light spot 5 to a specific firearm 2, can be made. The same applies to the straight frame 10.18 in Figure 2c where no action is taken. In these straight frames 10, it is conceivable to carry out the step from function block 22 in order to carry out an assignment of individual light spots 5 to specific firearms 2 and to update them.

Coming back to the flowchart of FIG. 4 is then checked in a query block 43, if the training session is over. If not, the function block 41 is branched again and the function blocks 41 through 43 are run through again. If the training session is over, the procedure in function block 44 is ended.

This completes a type of initialization phase 31. The initialization phase 31 thus comprises N passes through the functional blocks 21 to 24. In an example with N = 6 firearms 2 in the weapon simulator 2, a frame length of 25 ms and pauses 13 of 2 ms between the frames 10, the passage through the initialization phase would be 31 about 324 ms (6 odd frames x 25 ms + 6 even frames x 25 ms + 12 x 2 ms = 324 ms). Although this is relatively long, but for the initialization phase must be run only once immediately after the start of the procedure. Thereafter, the desired position data and assignment information for the fired "shots" or the corresponding points of light 5 within a very short time (a few 10 ms) are available. The method thus enables rapid and highly accurate tracking and detection of the light spots 5 on the projection surface 3.

Following the initialization phase 31, the method can be continued in different ways. In the subsequent frames 10, the position of the individual points of light 5 due to the frequent frequent determination of the positions of all points of light 5 in the odd frames 10 can be easily tracked and the assignment of all points of light 5 to certain firearms 2 are easily maintained.

One way in which the method can be continued after the initialization phase 31 is in FIG FIG. 3 shown. Accordingly, the initialization phase described above with reference to the functional blocks 21 to 24 is simply carried out once again, the light point 5 of the first (i = 1) firearm 2 being assigned again in the first straight frame 10 following the initialization phase 31 and possibly its position the projection surface 3 is determined. In a query block 25 it is checked whether the training session is over or not. If the training unit has not yet ended, in a function block 26 the counter i is set to 1 again, that is, to the first firearm 2. If the training session is over, the procedure in function block 27 is ended.

In FIG. 4 another possibility is shown how the method according to the invention can be carried out after the initialization phase 31. The method begins in a function block 40 and initially executes the initialization phase 31, as described above with reference to FIG FIG. 3 is described in detail. Then, in a function block 41, in the odd frame 10 following the initialization phase 31, the positions of all the light spots 5 of all firearms used in the weapon simulator 1 are turned on and detected, and their positions are detected. The obtained position data can be stored in the memory 30. In this respect, the functional step 40 essentially corresponds to the previously described functional step 21 FIG. 3 , Assuming a weapon simulator 1 with N = 6 firearms 2, the odd frame 10 from function block 41 would be frame 10.13 in FIG Figure 2c ,

Subsequently, in a functional block 42 in a subsequent straight frame 10 (for example the frame 10.16), a light spot 5 of a firearm 2 operated by the weapon simulator 1 and triggered by a shooter is switched on and its position detected. As soon as a "shot" is triggered, in the following straight frame 10, the light spot 5 of the fired firearm 2 is switched on and detected and his position detected. At the same time, a reassignment of the light spot 5 to the firearm 2 can take place. The obtained position data can also be stored in the memory 30. Based on the position data, the arithmetic unit 8 can determine whether a hit has been achieved or not. In the described possibility for continuing the method, therefore, only the light spot 5 is switched on and determined by a firearm 2 after the initialization phase 31 in the straight frames 10 and detects its position, which has previously been triggered by a shooter. In this case, an assignment of the light spot 5 to the corresponding firearm 2 can take place and at the same time the quality of a "shot" can be evaluated, in particular whether it represents a hit or not.

In the process off FIG. 4 There may well be frames 10, in which previously no "shot" of a firearm 2 has been triggered. Consequently, in these straight frames 10, no light point 5 is also shown on the projection surface 3, whose position is determined and which could be assigned to a specific firearm 2. In such a case, in the straight frame 10 (for example the frame 10.14), no action, neither a position determination of a light spot 5 nor an assignment of a light spot 5 to a specific firearm 2, can be made. The same applies to the straight frame 10.18 in Figure 2c where no action is taken. In these straight frames 10, it is conceivable to carry out the step from function block 22 in order to carry out an assignment of individual light spots 5 to specific firearms 2 and to update them. Coming back to the flowchart of FIG. 4 is then checked in a query block 43, if the training session is over. If not, the function block 41 is branched again and the function blocks 41 through 43 are run through again. If the training session is over, the procedure in function block 44 is ended.

Claims (14)

1. Method for tracking and detecting positions of light spots (5), which are at least temporarily produced by a number N, where N > 1, of firearms (2) that are adapted for simulation purposes, on a projection surface (3) of a weapon simulator (1), the content of the projection surface (3), including the light spots (5), being optically recorded by at least one camera (6) at specific time points, characterized in that at all the odd time points (11) before the content of the projection surface (3) is recorded, the light spots (5) of all the firearms (2) of the weapon simulator (1) are activated and recorded and the positions thereof are detected and corresponding position data is obtained, and in that at successive even time points (12) before the content of the projection surface (3) is recorded, a light spot (5) in each case of another firearm i (2), where i = 1 ... N, is activated and recorded and allocated to the firearm i (2) and corresponding allocation information is obtained, until after a number of even time points (12) that corresponds to the number N of firearms (2) operated in the weapon simulator (1), the position of the light spots (5) of all the firearms (2) operated in the weapon simulator (1) has been detected and the light spots (5) of all the firearms (2) are each allocated to one of the firearms (2) that has produced the light spot (5).
2. Method according to claim 1, characterized in that after the light spot (5) of the last firearm i = N (2) to be operated in the weapon simulator (1) has been activated, recorded and allocated at an even time point (12), the method is carried out again from the beginning and, at the following even time point (12), the light spot (5) of the first firearm i = 1 (2) to be operated in the weapon simulator (1) is activated and recorded and allocated to the firearm i = 1 (2) and corresponding allocation information is obtained.
3. Method according to claim 1 or claim 2, characterized in that after the light spot (5) of the last firearm i = N (2) to be operated in the weapon simulator (1) has been activated, recorded and allocated at an even time point (12), the light spot (5) of a firearm (2) that is operated in the weapon simulator (1) and is triggered by a shooter is, at a following even time point (12), activated and recorded and allocated to the firearm i = 1 (2) and corresponding allocation information is obtained.
4. Method according to any of claims 1 to 3, characterized in that at the even time points (12), the position of the activated and recorded light spot (5) is detected and corresponding position data is obtained in each case.
5. Method according to any of claims 1 to 4, characterized in that at the odd time points (11), the detected light spots (5) are allocated to the individual firearms (2) that are operated in the weapon simulator (1) on the basis of the allocation information obtained at the even time points (12).
6. Method according to any of claims 1 to 5, characterized in that the light spots (5) of the firearms (2) of the weapon simulator (1) are activated and recorded at the end of the odd time points (11).
7. Method according to any of claims 1 to 6, characterized in that the light spots (5) of the individual firearms (2) of the weapon simulator (1) are each activated and recorded at the start of the even time points (12).
8. Method according to any of claims 1 to 7, characterized in that the even and odd time points (10) depend on a frame rate of the at least one camera (6) and each time point corresponds to a frame of the camera (6).
9. Method according to any of claims 1 to 8, characterized in that the light of the light spots (5) has a frequency that is above the frequency range visible to the human eye.
10. Method according to any of claims 1 to 9, characterized in that the light spots (5) are laser spots.
11. Processor (8) of a weapon simulator (1) that comprises a projection surface (3), a number N, where N > 1, of firearms (2), which are adapted for simulation purposes, are operated in said simulator and produce light spots (5) on the projection surface at least temporarily, and at least one camera (6), which optically records the content of the projection surface (3), including the light spots (5), at specific time points, characterized in that a computer program is executed on the processor (8) that is programmed to carry out the method according to the invention in accordance with any of claims 1 to 8.
12. Processor (8) according to claim 11, characterized in that the processor (8) comprises a communication link (9) to the adapted firearms (2) that produce the light spots (5), in order to cause said firearms to produce the light spots (5) at specific time points.
13. Processor (8) according to claim 11 or claim 12, characterized in that the processor (8) comprises a communication link (7) to the at least one camera (6), in order to cause said camera to record the content of the projection surface (3) at specific time points.
14. Weapon simulator (1), which comprises a processor (8) according to any of claims 11 to 13, a projection surface (3), a number N, where N > 1, of firearms (2), which are adapted for simulation purposes, are operated in said simulator and produce light spots (5) on the projection surface (3) at least temporarily, and at least one camera (6), which optically records the content of the projection surface (3), including the light spots (5), at specific time points, characterized in that a computer program is executed on the processor (8) that is programmed to carry out the method according to the invention in accordance with any of claims 1 to 8.

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