U.S. patent application number 11/581918 was filed with the patent office on 2007-07-12 for system and method for calculating a projectile impact coordinates.
This patent application is currently assigned to Laser Shot, Inc.. Invention is credited to Charles Doty, Paige Manard.
Application Number | 20070160960 11/581918 |
Document ID | / |
Family ID | 38233118 |
Filed Date | 2007-07-12 |
United States Patent
Application |
20070160960 |
Kind Code |
A1 |
Manard; Paige ; et
al. |
July 12, 2007 |
System and method for calculating a projectile impact
coordinates
Abstract
A training system and method to calculate actual coordinates of
a projectile impact at one or more screens has been disclosed. A
projectile is launched at a screen. One or more targets are
projected onto the screen. A calibrated sensor is directed at the
screen surface. The sensor continually captures thermal images of
the screen surface. The sensor comprises software to detect and
isolate thermal images of the projectile impacting the screen.
These impact images are transmitted to a computer connected to the
sensor. The computer comprises software to calculate the actual
impact coordinates relative to a projected target. The calculated
coordinates are digitally sent to feedback devices for display
purposes. The system further comprises virtual training scenarios
that are triggered upon notification of actual impact coordinates.
These training scenarios simulate real life situations.
Inventors: |
Manard; Paige; (Stafford,
TX) ; Doty; Charles; (Stafford, TX) |
Correspondence
Address: |
D'AMBROSIO & ASSOCIATES, P.L.L.C.
10260 WESTHEIMER
SUITE 465
HOUSTON
TX
77042
US
|
Assignee: |
Laser Shot, Inc.
|
Family ID: |
38233118 |
Appl. No.: |
11/581918 |
Filed: |
October 17, 2006 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
60776002 |
Oct 21, 2005 |
|
|
|
Current U.S.
Class: |
434/11 |
Current CPC
Class: |
F41J 5/10 20130101; F41J
5/08 20130101; F41A 33/00 20130101; F41J 9/14 20130101 |
Class at
Publication: |
434/011 |
International
Class: |
F41A 33/00 20060101
F41A033/00 |
Claims
1. A training system to detect impact coordinates of one or more
projectiles launched from one or more projectile launchers, the
system comprising: one or more targets displayed on one or more
screens; a sensor directed at the one or more screens, the sensor
capable of capturing thermal images of a projectile impact on the
one or more targets; means for calculating actual coordinates of
the projectile impact from the thermal images captured by the
sensor; and means for providing immediate feedback of the
projectile impact coordinates.
2. The system of claim 1, wherein the screens comprise a surface
capable of receiving one or more targets projected onto the
screen.
3. The system of claim 1, wherein the screens comprise an
elastomeric material.
4. The system of claim 1, wherein the projectiles comprise bullets,
lead bullets, copper jacketed bullets, steel jacketed bullets,
plastic bullets, frangible bullets, rockets, missiles, BB pellets,
softair pellets and arrows.
5. The system of claim 1, wherein the one or more projectile
launchers are adapted to fire one or more projectiles comprising
lasers.
6. The system of claim 5, wherein the system comprises means to
determine the location of the projectile launcher from which the
lasers were fired.
7. The system of claim 1, wherein the sensor further comprises
means to compare currently captured thermal images of the screen
with previously captured baseline thermal images of the screen to
detect deviations from the baseline due to a heat signature left by
the projectile impact.
8. The system of claim 7, wherein the sensor further comprises
software to isolate images comprising deviations from the
previously captured images.
9. The system of claim 7, wherein each image detected by the sensor
comprises a plurality of pixels.
10. The system of claim 1, wherein the sensor comprises means to
transmit thermal images of the projectile impact to a computer
connected to the sensor.
11. The system of claim 10, wherein the computer comprises software
to calculate actual pixel coordinates of the projectile impact
relative to the projected targets from the isolated impact images
transmitted by the sensor.
12. The system of claim 11, wherein the computer further comprises
software to trigger simulated training scenarios on the one or more
screens based on the calculated pixel coordinates.
13. The system of claim 1, wherein the computer comprises software
for digitally illustrating the projectile impact coordinates
relative to the one or more projected targets.
14. The system of claim 13, wherein the computer transmits digital
images of the impact coordinates to a projector or monitor for
immediate visual feedback.
15. A training system to detect impact coordinates of a projectile
launched from a projectile launching apparatus, the system
comprising: one or more targets displayed on one or more screens,
the screens comprising an elastomeric material for receiving a
projectile impact; a thermal camera facing the screens for
capturing thermal images of the screen; a computer for determining
projectile impact coordinates by calculating pixel coordinates of
the projectile impact from the thermal images captured by the
thermal camera, the computer connected to the thermal camera; and a
projector for projecting visual images of the calculated pixel
coordinates relative to the one or more targets, the projector
connected to the computer.
16. The system of claim 15, wherein the one or more projected
targets comprise live video, computer graphics, digital animation,
three-dimensional images, two dimensional images, virtual targets
and moving targets.
17. The system of claim 15, wherein the thermal camera comprises a
frame rate of at least 30 frames per second to capture thermal
images of the projectile impact.
18. The system of claim 15, wherein the thermal camera comprises a
frame rate of at least 60 frames per second to capture thermal
images of the projectile impacting the screen.
19. The system of claim 15, wherein the thermal camera is
calibrated to compensate for radial distortion and tangential
distortion in the captured images caused by the camera lens.
20. The system of claim 15, further comprising software to
compensate for screen distortion.
21. The system of claim 15, wherein the thermal camera comprises
software to detect a projectile impact by comparing current thermal
images of the screen with baseline thermal images of the
screen.
22. The system of claim 21, wherein the thermal camera further
comprises means to isolate images of the projectile impact from
other captured screen images.
23. The system of claim 22, wherein the thermal camera comprises
means to transmit the isolated projectile impact images to the
computer.
24. The system of claim 15, wherein the computer comprises software
to calculate actual pixel coordinates of the projectile impact
relative to the one or more projected targets.
25. The system of claim 24, wherein the computer comprises means to
convert the calculated projectile impact coordinates into digital
signals for transmission to one or more feedback devices.
26. A system for detecting actual coordinates of a projectile
impact, the system comprising: one or more targets, the targets
projected onto one or more elastomeric screens adapted to receive
the projectile impact; a thermal camera directed at the screen, the
thermal camera continually capturing thermal images of the one or
more screens; means for a computer to receive images captured by
the thermal camera, the computer connected to the thermal camera
means for the computer to calculate actual impact coordinates
relative to the projected targets from the images received from the
thermal camera; means for the computer to digitally illustrate the
impact coordinates; a projector for visually illustrating the
impact coordinates on the screen, the projector connected to the
computer; and one or more simulated training scenarios to be
displayed on the screen and one or more feedback devices.
27. The system of claim 26, wherein the projectiles comprise
bullets, lead bullets, copper jacketed bullets, steel jacketed
bullets, plastic bullets, frangible bullets, rockets, missiles, BB
pellets, softair pellets and arrows.
28. The system of claim 26, wherein the one or more projected
targets comprise live video, computer graphics, digital animation,
three-dimensional images, two-dimensional images, moving targets
and virtual targets.
29. The system of claim 26, wherein the computer further comprises
means to process the thermal images received from the thermal
camera to detect images of a projectile impact.
30. The system of claim 29, wherein the computer detects a
projectile impact by comparing the thermal images of the screen
with previously captured baseline thermal images of the screen
images to observe deviations from the baseline.
31. The system of claim 26, wherein the system further comprises
software to display the pixel coordinates of the projectile impact
along a virtual X-axis and a Y-axis superimposed on the screen.
32. The system of claim 26, wherein the system further comprises
means for creating one or more simulated training scenarios.
33. The system of claim 32, wherein the computer comprises software
means to select and run one or more training scenarios, the
training scenarios selected dependent upon the calculated pixel
coordinates of the projectile impact.
34. The system of claim 33, wherein the system further comprises
means to project the one or more training scenarios on the one or
more screens.
35. A method for determining the position of a live projectile
impact, the method comprising: (a) calibrating a thermal camera to
compensate for lens distortion; (b) capturing baseline thermal
images of screen coordinates; (c) launching the projectile at one
or more targets projected on a screen; (d) detecting a heat
signature left by a projectile impact on the screen using a thermal
camera; (e) calculating actual pixel coordinates of the projectile
impact; (f) displaying visual images of the pixel coordinates along
a X-axis and a Y-axis transposed on the screen; and (g) projecting
simulated training scenarios onto the screen based upon the
position of the pixel coordinates.
36. The method of claim 35, further comprising the step of the
thermal camera detecting and isolating images of the one or more
projectiles impacting the one or more screens.
37. The method of claim 36, further comprising the step of the
thermal camera transmitting the isolated projectile impact images
to an attached computer.
38. The method of claim 35, wherein the computer calculates the
actual coordinates of the projectile impact relative to the
projected targets.
39. The method of claim 38, wherein the computer creates digital
images of the calculated projectile impact coordinates relative to
the screen.
40. The method of claim 35 further comprising providing immediate
feedback of the projectile impact coordinates.
41. The method of claim 40 where feedback is provided through a
computer monitor.
42. A containerized training system to detect impact coordinates of
a projectile launched from a projectile launching apparatus, the
system comprising: a housing comprising a metallic surface; one or
more targets displayed on one or more screens, the screens located
within the housing; a thermal camera facing the screens for
capturing thermal images of the screens; a computer for determining
projectile impact coordinates by calculating pixel coordinates of
the projectile impact from the thermal images captured by the
thermal camera, the computer connected to the thermal camera; and a
projector for projecting visual images of the calculated pixel
coordinates relative to the one or more targets, the projector
connected to the computer.
Description
PRIORITY
[0001] This application claims the benefit of priority to U.S.
provisional patent application No. 60/776,002 filed Oct. 21,
2005.
FIELD OF INVENTION
[0002] The present invention relates to a system and method for
determining the actual coordinates of a projectile impact.
Particularly, the invention is directed to firearms and weapons
training systems.
BACKGROUND
[0003] Military personnel, police and other law enforcement
officers, hunters, sportsmen and especially ordinary citizens need
extensive training prior to handling weapons or firearms. When
training military and law enforcement personnel, in particular, it
is also important for the training systems to employ live weapons
and for the immediate conditions to mimic or simulate real life
conditions. In real-life situations, these personnel have very
little reaction time to respond to multiple stimuli. A bullet or
projectile that accurately hits its intended target may reduce, or
even eliminate, collateral civilian and property losses.
Interactive training systems, which aid in improving shot accuracy,
have become very popular. To simulate realistic conditions any such
training system must also provide multiple true-to-life scenarios
without artificially enforced interruptions to identify the impact
location.
[0004] Current training systems use a simulated weapon firing a
simulated projectile at traditional or virtual targets. The targets
are then imaged on a video projection screen. The location of a
projectile impact is determined visually or is roughly estimated.
These simulators use a beam of light to simulate the projectile and
the path of the projectile. The light beam is a narrowly focused
beam of visible light or near infrared light, such as those
wavelengths produced by low energy laser diodes, which can then be
imaged by conventional video cameras or imagers. Sometimes a filter
is used to enhance the ability of these cameras to discern the
normal reflected light and the light from the simulated projectile.
These simulators do not allow for the use of live projectiles, such
as bullets. Live projectiles can be used in shooting ranges with
virtual targets projected on the backstop or targeting screen. The
hit or impact locations can, be determined, however, the shooter
has to constantly stop to gauge shot accuracy.
[0005] Targets are typically made of paper, plastic, cardboard,
polystyrene, wood and other tangible materials. Softer materials,
such as paper, allow for easy monitoring of impact location as
shown by the hole created in the material, but the projectiles
quickly destroy these materials. Metal targets are more durable,
however, their intrinsic hardness creates difficulty in determining
the actual impact location. Self-healing elastomeric materials,
like rubber, fall somewhere in between--they are more durable than
the softer materials, but determining the exact impact coordinates
is not very easy. Training simulators were developed to simulate
continuous action and overcome some of the disadvantages associated
with shooting at traditional targets. However, these simulators
require the use of simulated weapons. Simulated weapons do not
accurately convey the feel and recoil action of firearms. Trainees,
not used to extensive target practice with live firearms, may be
disadvantaged when required to handle firearms in combat
situations. Current training simulators use technology that limits
realism and the ability for through performance measurement.
[0006] A variety of methods have been disclosed in the prior art to
detect the impact location of live projectiles. Most of these
methods require direct or visual inspection by the shooter or
trainee. Prior art methods detect holes, cold spots, spots of light
or supersonic waves. Other methods calculate trajectories or
monitor changes in electrical properties at the impact zone in
order to estimate the impact location. The impact location of a
projectile can be determined directly by locating the point of
impact or penetration visually on the target itself. For example,
paper or cardboard targets would show a hole in the target
corresponding to the location of penetration of the projectile.
Metal targets may show a hole, indentation, or surface mark where
the projectile impacted or penetrated. These methods have
limitations. They may only be used a limited number of times before
the target is destroyed. If they are impacted multiple times, it
becomes difficult to determine which shots correspond to which
hole. To observe the target holes from a distance, telescopic
optical means must be employed by the user or a spotter to detect
hit location. To directly observe the impact location, the target
must be observed up close, by approaching the target, or by
mechanically retrieving the target. This requires stopping the
training and increases the safety risk of the trainee. Furthermore,
all systems using a fixed target are limited in size and
maneuverability either in side-to-side motion or in front to back
motion. In order to get around these limitations, several
alternative methods have been suggested in the prior art to detect
impact location of a projectile on a target without having to
observe the target at close range. These methods include employing
a backlit screen which, when penetrated by a projectile, shows a
bright spot from the backlight, using acoustic sensors which detect
the shock wave from the passing projectile, or using thermal means
of heating the target to a uniform temperature and then looking for
cold holes left by the penetrating projectile.
[0007] However, these methods only estimate impact coordinates.
And, the fixed targets used in these training methods possess
limited maneuverability. Finally, the trainee does not get to
realistically experience the possible after effects of a projectile
impact.
[0008] This invention relates to a system and method for
calculating the actual pixel coordinates of a projectile launched
from a projectile launching device, such as a firearm. In one
embodiment, a sensor is used to capture images of the energy
changes, or spikes, across a planar surface. The planar surface
comprises one or more screens capable of displaying one or more
targets. In this embodiment, the screen comprises a self-healing,
elastomeric material. The targets can comprise live video, computer
graphics, digital animation, three-dimensional images,
two-dimensional images, virtual targets and moving targets. When a
projectile impacts or penetrates the one or more screens, the
sensor registers the impact by virtue of a corresponding change in
energy across the screen surface. In one embodiment, the sensor is
a thermal camera.
[0009] The sensor is connected to a computer. The system is
calibrated such that computer has enough information to translate
coordinates from a three-dimensional plane defined by the target to
logical virtual screen coordinates that can be used by the
computer's operating system. The computer further comprises
software to calculate the exact pixel coordinates of the projectile
impact from the logical virtual screen coordinates. Once the pixel
coordinates have been calculated, the computer relays this
information to the trainee using feedback mechanisms comprising a
projector, monitor or any other electronic device capable of
receiving and visually or graphically displaying this information.
The process of calculating the impact coordinates and relaying the
information back to the trainee is limited only by the computer's
processing speed, and the process is virtually instantaneous.
[0010] In another embodiment, the system comprises a device such as
a video player capable of recording and playing back true-to-life
simulated training scenarios. The computer transmits information
about the impact coordinates to the video player. The video player
selects a scenario that depicts the after-effects or outcome of a
projectile accurately hitting, nearly hitting or missing the
target. The scenarios can be projected on to a screen or displayed
on a monitor or any other feedback device.
[0011] The invention does not involve detecting holes or damage to
the target to determine impact location. Nor is the impact
estimated from a determination of the projectile trajectory.
Sensors comprising image sensors or thermal sensors are used to
detect an impact based on changes in energy at the screen surface.
In another embodiment, the sensor comprises software to isolate
thermal images of a projectile impacting the screen surface from
continually captured thermal images of the screen surface. The
isolated thermal images are sent to a computer attached to the
sensor. The computer receives these coordinates as mouse clicks.
The computer can calculate actual projectile impact coordinates,
relative to a projected target on the screen surface, from the
impact images transmitted by the sensor.
[0012] The invention can also be adapted to assist users of other
types of projectile launchers such as bows, crossbows, spears,
darts, balls, rocket launchers or other projectile launching
devices, by detecting the heat energy transferred to the target
upon impact or penetration.
[0013] This combination of accurately measuring the impact
coordinates and conveying potential outcomes using training
scenarios, aids in creating a realistic training experience. The
invention improves the effectiveness and realism for training the
military, police officers, marksmen, sportsmen or other firearm
users, in a simulated environment using real weapons with real
ammunition, by detecting the heat transferred to the target upon
impact or penetration of the target by the projectile. The
invention is effective because the training does not need to be
halted to determine the impact location. The realism is improved
because the trainee does not have to use a simulated or
demilitarized weapon in training. Since actual weapons and
ammunitions can be adapted for use with the system, the trainee
experiences the sounds, recoil and discharge associated with the
trainee's own weapon. The trainee is thus better able to handle
real-life situations. The invention allows the trainee to determine
the impact location without approaching the target. This aids in
safer training because the trainee is not required to be within the
range of fire to view where the projectile impacted a target.
BRIEF DESCRIPTION OF DRAWINGS
[0014] FIG. 1 shows a schematic of a training system to detect the
actual projectile impact coordinates.
[0015] FIG. 2 shows a schematic of the actual impact coordinates
projected onto the screen.
[0016] FIG. 3 shows a simulated training scenario.
DETAILED DESCRIPTION
[0017] The invention comprises a training system and a method to
detect actual coordinates of a projectile launched at one or more
targets projected onto one or more screens. The one or more targets
comprise virtual targets, live video, computer graphics, digital
animation, three-dimensional images, two-dimensional images and
moving targets for receiving the projectile impact. FIG. 1 shows
the system comprising a calibrated sensor 4 capable of detecting
energy changes at the point of impact on a screen when the
projectile 2 impacts the screen 3. The sensor 4 captures images of
the energy spikes on the surface 3a of the screen and relays it to
an attached computer 5. The computer 5 comprises software to
calculate the actual coordinates of a projectile impact 10 based on
the images transmitted by the sensor 4. FIG. 1 further depicts one
or more feedback devices. The feedback devices can comprise a
projector 6 for displaying the coordinates onto the one or more
screens, a monitor connected to the computer 7, a printer connected
to the computer 8, or any other electronic device capable of
receiving digital signals from the computer. Feedback devices such
as the monitor, the projector and printer, immediately translate
the digital signals into visual or graphical representations of the
calculated projectile impact coordinates. FIG. 2 depicts the impact
coordinates 10 of the projectile impact along a virtual X-axis 9
and a Y-axis 11 projected onto the screen 3. The system further
comprises software that can display simulated training scenarios 12
on the screen 3, as depicted in FIG. 3. The training scenarios
depend upon the calculated impact coordinates. For example, where
the impact coordinates 10 reflect that a moving target was missed,
the training scenario 12 would then show the target as continuing
to move rather than immobilized. The training scenarios 12 are
selected according to further actions required. The system is
portable and it and can be used in indoor shooting ranges or in
limited spaces where the ambient lighting is not easily reflected.
Alternatively, the system can comprise a portable shooting range
comprising a housing comprising a container. The containerized
housing further comprises a screen for displaying projected
targets, a thermal camera, a computer, a projector, and a monitor
for providing immediate feedback. Advantageously, the containerized
system can be transported for on-site training. The system finds
application in various law enforcement training situations like
sniper, artillery, weapons and sharpshooter training.
[0018] Any projectile launching device 1 can be adapted for use
with the invention. These devices include chemical or explosive
powered devices such as firearms, pneumatic or compressed gas or
spring-piston powered devices, elastic or spring tension powered
devices, laser guns and bows, and any other device capable of
launching projectiles.
[0019] Various types of projectiles 2 may be deployed with this
invention. The type of projectile used depends on the training
requirements. The projectiles comprise bullets, including lead
bullets, copper jacketed bullets, steel jacketed bullets, tracer
bullets, frangible bullets, plastic bullets, shotgun shot of
various sizes and materials, and shotgun slugs. Softair pellets,
metal or plastic pellets, metal or plastic BBs, frangible pellets,
arrows, spears, darts, stones, balls and hockey pucks, lasers,
rockets, missiles, grenades and other objects, now known or later
developed, that can leave a heat signature upon impact may be used
as projectiles.
[0020] The projectiles 2 are launched at one or more screens 3. The
screens 3 can be constructed from any of several materials
comprising paper, cloth, plastic, metal or rubber. In its preferred
embodiment, the screen comprises an elastomeric material such as
rubber, vinyl, silicone or plastic. The flexible nature of
elastomeric materials allows for various projectile types to impact
the material and either bounce off or penetrate the screen while
doing minimal damage to the screen. Upon impact 10 or penetration
by a projectile 2, certain types of elastomeric materials such as
rubber will allow the projectile 2 to open a hole the size of the
projectile 2, allow the projectile 2 to pass through the material,
and then close back up due to the elastic nature of the material.
While the hole is still present in the material, it still presents
a relatively smooth surface on the front surface of the screen 3.
The front surface 3a of the one or more screens 3 is coated with a
white or light colored reflective coating to allow one or more
targets to be projected upon it. The back surface of the screen is
preferably set up against a bullet trap or ballistic material. The
screens 3 are compact and they can be hung on the walls of a
shooting range, or inside a containerized shooting range, for
instance. The screens 3 may comprise spring roller pull-down
models, electrically operated types or the portable models. The
screens 3 may be operated with remote controls or may be manually
controlled. The screen sizes depend upon the distance between the
screen and the projector. In an alternative embodiment, any planar
surface that can receive one or more projected images can act as a
"screen." Examples of such surfaces are rock walls, concrete walls,
etc.
[0021] The projectiles 2 are launched at targets projected on to
the screen surface 3a. These projected targets can comprise digital
animation, live videos, computer graphics, three-dimensional
images, two-dimensional images, moving targets and other pictorial
representations. The projected targets further comprise one or more
virtual targets for receiving the projectile impact.
[0022] As illustrated in FIG. 1, the training system comprises a
sensor 4, preferably a thermal imaging sensor for capturing thermal
images of the screen surface 3a. The sensor 4 is directed at the
front surface of the screen 3a. However, the sensor 4 may be placed
at an angle to the screen 3, that is, to the left of the front of
the screen 3 and directly in front of the screen 3, looking down at
the screen 3 or positions other than perpendicular to the front of
the screen. The sensor 4 does not have to be able to see the entire
projected target. In one aspect of this invention, the sensor 4
continually captures thermal images of the screen 3. In one
embodiment, the sensor comprises software that can detect a
projectile impact 10 on the screen 3 by comparing current thermal
images of the screen surface 3a with previously captured baseline
thermal images of the screen surface 3a. The sensor 4 registers an
impact 10 when the current thermal images of the screen show a
deviation from the baseline images. The deviation from the baseline
is caused by the energy transferred to the screens during the
projectile impacting 10 or penetrating the screens. The sensor 4
transmits only the impact images to the computer 5 for processing.
Since the sensor 5 does not transmit multiple thermal image frames
to the computer for analysis of impact 10 coordinates, the
efficiency of the system is enhanced.
[0023] In another embodiment, the sensor 4 comprises a thermal
camera. The thermal camera 4 comprises an infrared core that can
detect heat across the energy spectrum, including the infrared
region of the energy spectrum. In one embodiment the thermal camera
4 comprises a frame rate of at least 30 frames per second to
capture images of the energy spike due to the projectile impact. In
another embodiment, the thermal camera 4 further comprises a frame
rate of at least 60 frames per second. There are several
commercially available examples of thermal cameras 4 that can be
used with the training system. One such commercial example is the
M3000 Thermal Imaging Module manufactured by DRS Nytech Imaging
Systems, Inc. The thermal camera 4 contains a software interface
manufactured by Lumenera, Inc.
[0024] The system further comprises a computer 5 to interpret and
analyze the thermal images detected by the sensor. Preferably, the
computer comprises 512 MB DDR, 40 GB hard drive capacity and a
processing speed of 3 GHz. The computer 5 is connected to the
sensor 4 through an USB2 or comparable interface. The computer 5
comprises software to receive the images captured by the sensor 4
by clicking the mouse or as mouse clicks. The computer 4 further
comprises distortion calculation software libraries to calculate
the actual pixel coordinates 9 of a projectile impact 10. Once the
computer calculates the actual pixel coordinates 9, its software
programs can digitally illustrate the impact coordinates. These
illustrations are digitally transmitted to one or more feedback
devices comprising a projector, monitor, printer or any other
device capable of receiving digital signals. The computer further
comprises software programs that trigger virtual training scenarios
12.
[0025] The sensor 4 is calibrated so that the computer 5 connected
to the sensor 4 uses only the images relayed by the sensor 4 to
determine impact coordinates 9. Calibration also compensates for
the distortions produced by the sensor 4 lens and extrinsic factors
such as the placement of the sensor 4 relative to the screen 3. The
computer 5 can relate the pixel coordinates from a projected target
9 to calibrated logical virtual screen coordinates that can then be
used by the computer's 5 operating system to determine actual
impact coordinates 9.
[0026] The sensor 4 may be placed at an angle to the screen 3, that
is, in front of the screen 3 and to the left, directly in front of
the screen 3, looking down at the screen 3, etc. The sensor 4 does
not have to be able to see the entire projected target. The
computer 5 can actually define its own viewable area within the
area defined by the screen 3. If the entire projected target is not
viewable, then only the viewable areas of the screen 3 are
calibrated. But, for instance, if the projected target is on a
screen 3 that has borders containing materials that do not reflect
light well, a projectile impact 10 in that border space may
nevertheless be detected by the sensor 4.
[0027] The calculation software can also calculate and compensate
for the radial and tangential distortions caused by the sensor
lens. To find the coordinates to be used in the distortion
calculation software library, the system projects onto the screen 3
an arbitrary number of evenly spaced vertical lines and horizontal
lines, one at a time. The system attempts to create these lines so
that they encompass the entire projected area. This ensures
accuracy in calculating the impact coordinates. If the coordinates
cannot be found, then the system adjusts the size, position, and
pixel width of the lines until an arbitrary accuracy error
percentage threshold is reached.
[0028] The system next projects a "black" image onto the screen.
The pixel values from the black projected image are subtracted from
the pixel values of the vertical projected image and the horizontal
projected image. If both images produced by the subtraction contain
pixels at the same place and their values are greater than an
experimental threshold, their intersection defines one pixel
coordinate. After all coordinates have been calculated in this
manner, they are stored and processed in the one or more distortion
calculation software libraries. The system also captures and stores
thermal images comprising information on the baseline temperatures
of each logical screen coordinate. When a projectile impacts the
screen, energy is transferred to the screen. Thermal images of the
screen are continually captured by the sensor and processed against
the stored baseline screen images. If the current thermal images
show a deviation from the captured thermal images, a projectile
impact is registered.
[0029] Once the intrinsic parameters of the sensor are known, the
extrinsic parameters of the system can be determined. Two vertical
lines and two horizontal lines are projected onto the one or more
screens, with each line in each set of lines being as far apart as
possible. The same process described above is used to determine the
intersection between the set of lines. These coordinates are then
undistorted using the distortion calculation software library with
the parameters found above. This process results in the
determination of four undistorted corner coordinates of the
projected image.
[0030] The corner coordinates and the coordinates contained in the
quadrilateral defined by the four corners must also be related to
coordinates within the surface area of the screen. A matrix capable
of translating each coordinate to satisfy the above condition is
created. The matrix is created as follows: The variables required
consist of the captured corner coordinates determined above and the
"ideal" coordinates defined by the surface area of the screen.
Starting with the ideal coordinates, the two-dimensional
perspective matrix defined by those coordinates is calculated. The
matrix is used to transform the captured coordinates. Next, the
deviation between each transformed captured coordinate and the
relative ideal coordinate is calculated. This deviation is the
absolute value of the difference between each relative X and Y
coordinate. Each deviation is added to the appropriate component of
the last set of coordinates used to find the perspective matrix.
Those coordinates are then used in the next calculation of the
perspective matrix, and this process is carried out until an
arbitrary combined deviation is reached or a maximum number of
iterations have been run.
[0031] The logical screen position for each coordinate from a
captured image may be determined by "undistorting" it using the
distortion calculation software library, and then transforming the
undistorted coordinate by the matrix found above. The undistorted
and transformed coordinate may be out of bounds of the virtual
screen space.
[0032] The system further comprises an image-generating device
comprising a liquid crystal display (LCD) projector, a digital
projector, a digital light processing projector, a rear projection
device, or a front projection device. In one embodiment, the system
comprises a LCD projector 6. An image is formed on the liquid
crystal panel of the LCD projector from a digital signal from the
computer 5, for instance. This formed image is then displayed onto
the screen 3.
[0033] The system further comprises a plurality of training
scenarios 12 that aid in skills training. These training scenarios
12 comprise video scenarios, digital animation, two- and
three-dimensional pictures and other electronic representations
that may be projected onto the one or more screens 3. Depending on
the projectile impact coordinates 9, the training scenarios 12 can
lead or branch into several possible outcomes beginning from one
initial scene. The trainees may pause or replay the completed scene
to show the precise impact time and projectile impact coordinates 9
and thereby allow for detailed discussion of the trainee's actions.
The training scenarios comprise anticipated real-life situations
comprising arrests by law enforcement personnel, investigative
scenarios, courthouse scenarios, hostage scenarios and traffic
stops. The training scenarios also aid in judging when the use of
force may be justified and/or necessary by showing the expected
outcomes from a projectile impact 10.
[0034] In one embodiment, one or more targets are projected onto
the one or more screens 3 or display surfaces using a projection
device such as a projector 6 or any another graphics generating
device that can project a target or scenario. The targets can
comprise virtual targets. A projectile 2 launched from a projectile
launching device 1 penetrates or impacts 10 the targets. A
calibrated sensor 4 is directed at the one or more screens 3. When
a projectile 2 impacts 10 the front surface of the screen 3, an
energy spike or change in temperature is detected at the screen
surface 3a. The sensor 4 continually captures thermal images of the
one or more screens 3. The sensor 4 processes these thermal images
against baseline thermal images of the screen surface. The sensor
registers an impact when a deviation from the baseline is observed.
The sensor 4 then isolates the impact images from the other
captured screen images. The isolated impact images are transmitted
to the computer 5 connected to the sensor 4. Since the computer 5
only receives images of the actual impact 10, it does not have to
process superfluous thermal images of the screen surface in order
to detect an impact 10. This greatly improves processing speed. The
sensor 4 is calibrated so that the computer 5 is able to detect
actual pixel coordinates 9 of the projectile impact 10 relative to
the projected target. The computer 5 further comprises software to
digitally illustrate the impact coordinates 9. Feedback devices
comprising monitors 7, printers 8 or other electronic devices
capable of receiving a digital signal from the computer may be used
to visually or graphically depict the impact coordinates 9. The
impact coordinates 9 may also be projected, using the projector 6
onto the one or more screens 3.
[0035] The system further comprises simulated training scenarios 12
that are triggered by the computer 5 upon the calculation of the
actual projectile impact coordinates 9. These training scenarios 12
comprise video, digital animation or other virtual compilations of
one or more situations that simulate real-life conditions. These
situations comprise hostage scenarios, courthouse encounters,
traffic stops and terrorist attacks. Each scenario comprises a
compilation of one or more scenes. The scenes are compiled in such
a manner that any given scene may further branch into one or more
scenes based on input from the computer regarding the calculated
impact coordinates. The branching simulates expected outcomes in
similar real life situations. The impact coordinates 9 may further
be superimposed against, say, a graphic of a target's body, and the
coordinates "frozen" for the trainee to visually inspect the extent
of any deviation from the expected shot location. The training
scenarios 12 may also be used to display collateral damage that may
be expected in real life situations.
[0036] The system further comprises a one or more projectile
launching devices comprising laser-triggering devices. These
laser-triggering devices may be used to fire one or more
projectiles comprising lasers at the screens 3. The system further
comprises software to detect the location of the laser device that
launched a particular laser at the screens 3.
[0037] In yet another embodiment, the system comprises a thermal
sensor 4 comprising a thermal camera directed at the one or more
screens 3. The thermal camera 4 comprises software to detect and
isolate thermal images of the one or more projectile impacting 10
the one or more screens 3. The thermal camera 4 transmits the
impact images to a connected computer 5. The computer 5 is
connected to the thermal camera 4 through an USB2 or comparable
interface. The thermal camera 4 is calibrated so that the attached
computer 5 can compute impact coordinates 9 relative to
predetermined logical screen coordinates. The impact coordinates 9
are sent to feedback devices comprising projectors 6, printers 8,
monitors 7 or other electronic devices capable of receiving a
digital signal from the computer 5. The feedback devices can
visually or graphically illustrate the impact coordinates. The
system further comprises training scenarios 12 that comprise a
compilation of imagery comprising video and animation figures. The
scenes are compiled to simulate real-life incidents, such as
hostage situations and traffic stops, which are encountered by the
law enforcement and military personnel. The system comprises
software that upon notification of the impact coordinates further
branches into one or more possible outcome based scenarios. These
outcome-based scenarios simulate real life responses. The system
further comprises a video editor. The trainee can film their own
video clips and import them into the editor. The imported video is
converted into MPEG-4 or comparable format. The trainee can then
create scenarios comprising branching points as desired. Branching
conditions that are correlated to the coordinates of the projectile
impact may also be defined. The trainee may ultimately group
multiple scenarios together to present diverse training situations
in a single training session.
[0038] In another embodiment, the thermal camera 4 continually
captures current thermal images of the screen surface 3. The
computer 5 connected to the thermal camera 4 receives these thermal
images as mouse clicks. The computer 5 processes these images
against baseline thermal images of the screen surface. If the
computer 5 detects a deviation from the baseline, an impact is
registered. The computer 5 further comprises software to calculate
the projectile impact coordinates 9 from the impact images. Once
the coordinates have been calculated, they are sent to feedback
devices connected to the computer 5.
[0039] During the method for calculating the actual projectile
impact coordinates 9, one or more projectiles 2 are launched at one
or more projected targets. A thermal camera 4 is directed at one or
more screens 3 comprising the projected targets. The thermal camera
4 continually detects and captures thermal images of the screen
surface. The thermal camera 4 registers a projectile impact 10, by
comparing current thermal images of the screen surface with
previously captured baseline thermal images of the screen. Any
deviation from the baseline is attributable to the energy change
caused by the projectile impact. The thermal camera 4 isolates the
impact images and transmits them to a computer 5. The computer 5 is
connected to the thermal camera 4 through a USB2 or comparable
interface. The thermal camera 4 is calibrated so that the computer
5 can calculate the actual impact coordinates 9 relative to the
projected target. The computer 5 further comprises software to
convert the impact coordinates 9 into digital signals. Feedback
devices comprising a monitor 7, printer 8 or any other electronic
device that can receive a digital signal from the computer 5 can be
used to visually or graphically depict the impact coordinates. The
impact coordinates can be displayed along a virtual X-axis 10 and a
Y-axis 11 projected on the screen surface. A projector 6 may be
used to project the impact coordinates images onto the screens 3
for immediate visual feedback to the trainee. Upon notification of
the calculated projectile impact coordinates 9 by the computer 5,
the software comprising outcome based training scenarios is
triggered. These scenarios comprise a compilation of scenes that
simulate real life responses or outcomes to a projectile impact. A
projector 6 or monitor may further be used to project these
scenarios onto the screen 3.
[0040] The foregoing description is illustrative and explanatory of
several embodiments of the invention, it will by understood by
those skilled in the art that various changes and modifications in
form, materials and detail may be made therein without departing
from the spirit and scope of the invention.
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