U.S. patent application number 14/364865 was filed with the patent office on 2014-12-04 for systems and methods for arranging firearms training scenarios.
The applicant listed for this patent is MARATHON ROBOTICS PTY LTD. Invention is credited to Alex Brooks, Tobias Kaupp, Alexei Makarenko.
Application Number | 20140356817 14/364865 |
Document ID | / |
Family ID | 49028672 |
Filed Date | 2014-12-04 |
United States Patent
Application |
20140356817 |
Kind Code |
A1 |
Brooks; Alex ; et
al. |
December 4, 2014 |
SYSTEMS AND METHODS FOR ARRANGING FIREARMS TRAINING SCENARIOS
Abstract
Systems and methods of arranging a firearms training scenario
utilising at least one robotic mobile target in a training area are
disclosed, the method including the steps of: sending commands to
at least one robotic target in a training area to cause the target
to operate in the training area; recording operations data
representative of the operations carried out by the at least one
robotic target; and subsequently conducting a training scenario in
the training area wherein the at least one robotic target bases its
actions at least partially on the previously recorded operations
data.
Inventors: |
Brooks; Alex; (Newton,
AU) ; Kaupp; Tobias; (St Peters, AU) ;
Makarenko; Alexei; (Erskineville, AU) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
MARATHON ROBOTICS PTY LTD |
Marrickville |
|
AU |
|
|
Family ID: |
49028672 |
Appl. No.: |
14/364865 |
Filed: |
January 23, 2013 |
PCT Filed: |
January 23, 2013 |
PCT NO: |
PCT/AU2013/000051 |
371 Date: |
June 12, 2014 |
Current U.S.
Class: |
434/19 |
Current CPC
Class: |
F41G 3/26 20130101; F41J
9/02 20130101; F41J 11/00 20130101; F41A 33/00 20130101; F41J 5/24
20130101 |
Class at
Publication: |
434/19 |
International
Class: |
F41G 3/26 20060101
F41G003/26; F41J 9/02 20060101 F41J009/02 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 23, 2012 |
AU |
2012900675 |
Claims
1. A method of arranging a firearms training scenario utilising at
least one robotic mobile target in a training area, the method
including the steps of: sending commands to at least one robotic
target in a training area to cause the target to operate in the
training area; recording operations data representative of the
operations carried out by the at least one robotic target; and
subsequently conducting a training scenario in the training area
wherein the at least one robotic target bases its actions at least
partially on the previously recorded operations data.
2. A method according to claim 1 wherein the operations data
includes command data representative of at least some of the
commands sent to the robotic target.
3. A method according to claim 1 wherein the operations data
includes actions data representative of at least some of the
actions carried out by the robotic target in reacting to the
commands.
4. A method according to wherein the operations data includes
outcome data representative of at least some of the outcomes of
executing the commands.
5. A method according to claim wherein the step of sending commands
to the at least one robotic target is carried out by a human
operator using a remote control input device.
6. A method according to claim 5 wherein the step of sending
commands is carried out whilst the human operator is situated at a
location in the training area where the at least one of the
trainees will be situated during the step of conducting the
training scenario.
7. A method according to claim 1 wherein the operations data is
recorded by the robotic mobile unit.
8. A method according to claim 1 wherein the operations data
includes data representative of the location, orientation or
velocity of the at least one robotic target in the training
area.
9. A method according to claim 1 wherein the operations data
includes data representative of any of sounds produced by the at
least one robotic target, raising or lowering of simulated weapons,
deployment of special effects by the at least one robotic target or
at least one robotic target remaining static.
10. A method claim 1 wherein, during the step of conducting the,
training scenario, the robotic target intentionally deviates from
the operations data.
11. A method according to claim 10 wherein the robotic target
deviates from the operations data to avoid an obstacle.
12. A method according to claim 10 wherein the robotic target
randomly deviates from the operations data.
13. A method according to claim wherein the scenario utilises more
than one robotic target and each base their operations on their own
set of operations data.
14. A method according to claim wherein the at least one robotic
target commences operations in the training elapsing of a
pre-determined interval of time, or in response to detecting
personnel in the training area, or in response to detecting
movement of another target in the training area.
15. A system for use in conducting a firearms training scenario
utilising at least one robotic mobile target in a training area,
the system including: sending means for sending commands to at
least one robotic target in a training area to cause the target to
operate in the training area; recording means for recording
operations data representative of the operations carded out by the
at east one robotic target; the at least one robotic target is
arranged to participate in a firearms training scenario in the
training area; and wherein the at least one robotic target is
arranged to base its actions at least partially on recorded
operations data.
16. A system according to claim 15 wherein the operations data
includes command data representative of commands sent to the
robotic target.
17. A system according to claim 15 wherein the operations data
includes actions data representative of actions carried out by the
robotic target in reacting to commands.
18. A system according to claim 15 wherein the operations data
includes outcome data representative of outcomes of executing the
commands.
19. A system according to claim 16 wherein the sending means
includes a remote control input device.
20. A system according to claim 15 wherein the recording means is
embodied in the robotic mobile unit.
21. A system according to claim 16 wherein the operations data
includes data representative of the location, orientation or
velocity of the at least one robotic target in the training
area.
22. A system according to claim 16 wherein the operations data
includes data representative of any of sounds produced by the at
least one robotic target, raising or lowering of simulated weapons,
deployment of special effects by the at least one robotic target or
at least one robotic target remaining static.
23. A system according to claim 16 wherein the robotic target is
arranged to intentionally deviate from the operations data.
24. A system according to claim 23 wherein the robotic target is
arranged to deviate from the operations data to avoid an
obstacle.
25. A system according to claim 23 wherein the robotic target is
arranged to randomly deviate from the operation data.
26. A system according to claim 16 including more than one robotic
target.
27. A system according to claim 16 wherein the at least one robotic
target is arranged to commence actions following the elapsing of a
predetermined interval of time, or in response to detecting
personnel in the training area, or in response to detecting
movement of another target in the training area.
Description
TECHNICAL FIELD
[0001] The present invention relates to systems and methods for
arranging firearms training scenarios and particularly relates to
firearms scenarios utilising robotic mobile targets.
BACKGROUND TO THE INVENTION
[0002] Armed personnel such as soldiers typically receive training
to assist them in dealing with armed combat situations that they
might encounter during their active duties. Such training can
include training exercises using live ammunition such as practice
in shooting at targets. Such training is crucial to the personnel's
performance and safety in real life situations. There remains a
need for improved systems and methods for training armed
personnel.
[0003] To date, such training has involved the use of static
shooting targets, pop-up targets, and targets moved on tracks. For
targets on tracks, the routes are defined by the tracks and the
motion along those routes is controlled directly in real-time or is
pre-defined on a computer screen.
[0004] In some cases, mobile targets have been used in the form of
a mannequin or the like mounted on a moveable platform on wheels.
These may be directly radio-controlled by a human operator during a
training exercise. This adds a significant workload to training
exercises, particularly when multiple moving targets are required,
and it is difficult to present multiple trainees with identical
training scenarios.
[0005] In some cases, these mobile targets have been programmed to
move along a pre-programmed route in a training area to simulate
persons moving about, and the personnel being trained must attempt
to hit the mannequins. Route definition is performed on a computer
screen. In other cases, the mobile targets are autonomous and the
target's onboard computer generates the route for the target to
follow according to constraints pre-defined on the computer screen.
An example of such a system is described in the present applicant's
International Patent application no PCT/AU2010/001165 (published as
WO/2011/035363), the contents of which are incorporated herein by
reference.
[0006] In all cases, the intended outcome is to present targets to
a trainee in some desired fashion. When presenting moving targets
along tracks, considerable thought should be put into the routes of
the tracks, since they are difficult to move subsequently. With the
advent of trackless targets that can move along any route, novel
methods of defining the routes are required to facilitate quick,
easy, and intuitive generation of new routes.
[0007] Problems with definition of routes on a computer screen
include:
[0008] 1. When looking at the computer screen, the operator has to
imagine what the trainee will see from their perspective, what
angles and openings will be visible from a certain vantage point,
etc. This is especially difficult when there are elevation changes
within the training range, so the operator has to think in three
dimensions while plotting target trajectories on a two-dimensional
screen. As a result, creating a route for a mobile target may
involve iterating between defining the route on the screen,
watching the target move from the trainee's intended vantage point,
modifying the route on the screen, etc (a potentially cumbersome
process).
[0009] 2. Defining a route on a computer screen requires that the
route be defined relative to something meaningful that can be
displayed on the screen, i.e. a map of some kind This mandates an
extra step before a mobile trackless target can be used in a new
training range: that map must first be generated. Even if the map
is very simple, e.g. an aerial photograph of the training range
geo-referenced in a GPS coordinate system, it is still an extra
step and may require additional resources such as an internet
connection to download the aerial photograph.
SUMMARY OF THE INVENTION
[0010] In a first aspect the present invention provides a method of
arranging a firearms training scenario utilising at least one
robotic mobile target in a training area, the method including the
steps of: sending commands to at least one robotic target in a
training area to cause the target to operate in the training area;
recording operations data representative of the operations carried
out by the at least one robotic target; and subsequently conducting
a training scenario in the training area wherein the at least one
robotic target bases its actions at least partially on the
previously recorded operations data.
[0011] The operations data may include command data representative
of at least some of the commands sent to the robotic target.
[0012] The operations data may include actions data representative
of at least some of the actions carried out by the robotic target
in reacting to the commands.
[0013] The operations data may include outcome data representative
of at least some of the outcomes of executing the commands.
[0014] The step of sending commands to the at least one robotic
target may be carried out by a human operator using a remote
control input device.
[0015] The step of sending commands may be carried out whilst the
human operator is situated at a location in the training area where
the at least one of the trainees will be situated during the step
of conducting the training scenario.
[0016] The operations data may be recorded by the robotic mobile
unit.
[0017] The operations data may include data representative of the
location, orientation or velocity of the at least one robotic
target in the training area.
[0018] The operations data may include data representative of any
of sounds produced by the at least one robotic target, raising or
lowering of simulated weapons, deployment of special effects by the
at least one robotic target or at least one robotic target
remaining static.
[0019] During the step of conducting the training scenario, the
robotic target may intentionally deviate from the operations
data.
[0020] The robotic target may deviate from the operations data to
avoid an obstacle.
[0021] The robotic target may randomly deviate from the operations
data.
[0022] The scenario may utilise more than one robotic target and
each base their operations on their own set of operations data.
[0023] The at least one robotic target may commence operations in
the training scenario following the elapsing of a pre-determined
interval of time, or in response to detecting personnel in the
training area, or in response to detecting movement of another
target in the training area.
[0024] In a second aspect the present invention provides a system
for use in conducting a firearms training scenario utilising at
least one robotic mobile target in a training area, the system
including: sending means for sending commands to at least one
robotic target in a training area to cause the target to operate in
the training area; recording means for recording operations data
representative of the operations carried out by the at least one
robotic target; the at least one robotic target is arranged to
participate in a firearms training scenario in the training area;
and wherein the at least one robotic target is arranged to base its
actions at least partially on recorded operations data.
[0025] The operations data may include command data representative
of commands sent to the robotic target.
[0026] The operations data may include actions data representative
of actions carried out by the robotic target in reacting to
commands.
[0027] The operations data may include outcome data representative
of outcomes of executing the commands.
[0028] The sending means may include a remote control input
device.
[0029] The recording means may be embodied in the robotic mobile
unit.
[0030] The operations data may include data representative of the
location, orientation or velocity of the at least one robotic
target in the training area.
[0031] The operations data may include data representative of any
of sounds produced by the at least one robotic target, raising or
lowering of simulated weapons, deployment of special effects by the
at least one robotic target or at least one robotic target
remaining static.
[0032] The robotic target may be arranged to intentionally deviate
from the operations data.
[0033] The robotic target may be arranged to deviate from the
operations data to avoid an obstacle.
[0034] The robotic target may be arranged to randomly deviate from
the operations data.
[0035] The system may include more than one robotic target.
[0036] The at least one robotic targets may be arranged to commence
actions following the elapsing of a pre-determined interval of
time, or in response to detecting personnel in the training area,
or in response to detecting movement of another target in the
training area.
[0037] In this specification the following terms have the following
intended meanings: [0038] "commands": instructions sent by an
operator to a robot during the recording session. [0039]
"outcomes": all aspects of target's performance which, when taken
in aggregate, define how the target is presented to the trainees.
[0040] "operations data": the persistent record created during the
recording session which may include a combination of commands,
actions and outcomes. [0041] "actions": operation steps planned and
executed by the robot. During the recording session, the actions
are generated in response to the operator commands. During the
replay session, the actions are generated based on the operations
data and real time sensor data with the objective to recreate the
operations carried out during the recording session as faithfully
as possible.
[0042] In embodiments of the invention, a human operator manually
controls the operations of one target in a recording session. This
can be achieved through the use of a remote user interface. The
target records its operations. The operator later commands the
target to replay the operations any number of times, for the
benefit of the same or different trainees.
[0043] The operations of the mobile units may include any of:
sounds produced by the mobile units, movements of the mobile units,
raising or lowering of simulated weapons, deployment of special
effects by the mobile units, changes in velocity or direction of
the mobile units or mobile units remaining static.
[0044] The target may be unable to faithfully replay the previously
recorded operations. It may happen for example if it encounters an
obstacle which was not in the training area at the time of the
recording. In this case the target may use its sensors to detect
the obstacle and navigate safely around it while attempting to
return to the original path as soon as practicable.
[0045] Instead of faithfully replaying the original sequence of
operations, the target may be instructed to alter some of the
parameters during replay. The change in the parameters may be
random or repeatable, or a combination of the two. Random changes
make the actions of the robots more unpredictable, and therefore,
more challenging for the trainees. Repeatable changes allow the
instructor to fine-tune the scenario to the training needs of a
particular trainee. Repeatable changes are also well-suited for
firearms training courses where it is desirable that each trainee
faces essentially the same training scenario.
[0046] The replay of recorded operations may be triggered manually
by the instructor or automatically, based on a timer, or actions of
other targets, or sensed actions of human participants in the
exercise.
[0047] Operations of multiple targets may also be recorded and
replayed using the described approach. The recording can be
achieved by multiple instructors controlling multiple targets
simultaneously, or by one instructor controlling one target at a
time.
BRIEF DESCRIPTION OF THE DRAWINGS
[0048] An embodiment of the present invention will now be
described, by way of example only, with reference to the
accompanying drawings, in which:
[0049] FIG. 1 is a schematic representation of a human-shaped robot
used in embodiments of the invention;
[0050] FIG. 2 is a schematic bird's eye view of a training area in
which recording of a training exercise is taking place using a
robot according to FIG. 1;
[0051] FIG. 3 shows the training area of FIG. 2 in which a replay
of the training exercise of FIG. 2 is taking place;
[0052] FIG. 4 shows the training area of FIG. 2 in which another
replay of the training exercise of FIG. 2 is taking place;
[0053] FIG. 5 shows the training area of FIG. 2 in which yet
another replay of the training exercise of FIG. 2 is taking
place;
[0054] FIG. 6 shows the training area of FIG. 2 in which recording
of another training exercise is taking place;
[0055] FIG. 7 shows the training area of FIG. 2 in which a replay
of the training exercise of FIG. 6 is taking place; and
[0056] FIG. 8 is a flow chart illustrating the steps of collecting
and using operations data in the recording and replay sessions of a
training scenario.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0057] Referring to FIG. 1, an embodiment of a robotic mobile
target is shown in the form of human-shaped robot 100. Robot 100
has a motorised wheeled base 1. On the base 1 is mounted a
mannequin 6 shaped like a human torso. Robot 100 is controlled by
an on board computer 2, configured with software, which is mounted
on the base 1 and protected by an armoured cover 3 from bullet
strikes. Robot 100 includes wireless communication means 4 such as
wifi to enable sending and receiving of information to and from a
human operator (not shown), or to and from other robots, or to and
from a control base station (not shown). Robot 100 includes a GPS
receiver 12 to determine its own position.
[0058] Robot 100 includes a laser rangefinder 13 to enable it to
detect features in the local environment to thereby see around.
Fixed and moving obstacles are detected by analysing each laser
scan. When an obstacle is detected in the robot's intended motion
path, the motion plan is modified to safely navigate around it.
[0059] FIGS. 2 to 7 depict preparation and execution of firearms
training exercises carried out in a training area using one or
several robots 100 of FIG. 1.
[0060] Referring to FIG. 2, a training area is shown 10 in which
are located high walls 15, 16, 17 and a barrel 18. At the south
edge of the training area is a firearms instructor 41 arranging a
firearms training exercise. In the training area is a mobile unit
in the form of human-shaped robot 31. This robot 31 is of the type
of robot 100 shown in FIG. 1. The robot is arranged to execute and
record operations based on remote commands of the human instructor
as will now be described.
[0061] Firearms instructor 41 positions himself at the south edge
of the exercise area to observe the area from the position of where
the trainee(s) will be later situated. The instructor sends a
sequence of remote commands 51 to the target 31 using a specialised
remote control hand-held device. The device includes a joystick for
inputting directional commands along with other buttons for sending
commands to carry out other types of operations, such as deploy
special effects as will be later described. Desired speed of
movement of the target in any direction is indicated by the
instructor by the degree of deflection applied to the joystick. The
remote control device communicates with the target 31 by radio
communication.
[0062] The instructor can issue the following commands to the
target:
[0063] 1. Motion control commands by joystick input, i.e. turn
left, turn right, straight, move faster, slower, reverse direction,
or stop moving.
[0064] 2. Raise or lower arms holding objects or simulated
weapons;
[0065] 3. Create audio effects from an onboard speaker;
[0066] 4. Create light effects to illuminate the target itself or
the ground around it;
[0067] 5. Create other effects such as simulated gunfire,
pyrotechnics, explosions, or smoke.
[0068] The target 31 operates in the training area in response to
the commands it receives. The target also records operations data
representative of the operations that are carried out. The
operations data recorded includes data representative of the
commands issued and also data indicative of the operation steps
carried out in response to the commands.
[0069] For example, if the target reacts to directional commands to
move between certain positions in the training area, then it
records these operations in the form of positional outcomes of
executing these commands by storing GPS coordinate data of the
points that it moved between in the form of waypoints. This ensures
that the movements made subsequently by the target during the
replay of a training scenario are a faithful reproduction of the
movements witnessed by the instructor at the time of recording the
scenario. The recorded operations data enables compensation for
variations in conditions such as increased wheel slippage of
targets in wet weather or other minor variations in conditions.
[0070] Target 31 may record the following outcomes resulting from
executing operator commands:
1. Positional outcomes such as target's coordinates and orientation
2. Movement outcomes such as target's linear and rotational
velocities, as well as linear and angular accelerations; 3. Raising
or lowering arms holding objects or simulated weapons; 4. Creation
of audio effects from an onboard speaker; 5. Creation of light
effects to illuminate the target itself or the ground around it; 6.
Creation of other effects such as simulated gunfire, pyrotechnics,
explosions, or smoke.
[0071] The instructor commands the target to move along the path 36
from position 71 behind the wall 15, out into the open area, in
front of and around the barrel 18, and to its final position 72
behind the wall 17. Target 31 operates in the training area by
executing the commands received from the instructor. The target 31
records its operations in the form of operations data which
includes data representative of the commands and also data
representative of the actions taken in reacting to the
commands.
[0072] The instructor also provides information to the target as to
the future intended location of trainees in the training exercise.
The remote control device includes its own GPS positioning
capability and a button which indicates "I'm at the Trainee
Location".
[0073] The remote localises itself and sends the location to the
robotic target which saves it for future use. Alternatively, the
instructor drives the target to the intended trainee location by
way of joystick control and pushes a button which indicates "You're
at the Trainee Location". The robot uses its own GPS positioning
system to determine the location and saves it for future use.
[0074] Referring to FIG. 3, a training exercise is being carried
out in the training area. The actions of the robot 31 are based on
the operations data that was previously recorded in FIG. 2. For the
purpose of the training exercise, the armed personnel 21 is the
"blue" force (friendly), and the robot 31 is the "red" force
(enemy). In this exercise, it is imagined that the red force has
occupied the training area; the blue force must clear the area of
red force. The armed personnel 21 is entering the training area
from the south. The firearms instructor 41 initiates the previously
recorded exercise causing the target 31 to start moving along the
path 36. Armed person 21 takes note of target 31, takes aim and
shoots.
[0075] Referring to FIG. 4, the exercise proceeds as in FIG. 3 but
there is now a barrel 19 which was not there at the time when the
exercise was recorded. Based on the continuous analysis of the
output of the laser rangefinder mounted on robot 31, the onboard
computer determines that there is an obstacle which prevents it
from following the pre-recorded path 36. The onboard computer
calculates a new path 37 which allows it to navigate safely around
the obstacle and return to the pre-recorded path 36 as soon it is
practical.
[0076] In FIG. 5 the instructor 41 commanded the target to execute
the scenario recorded in FIG. 2 with an increased level of
difficulty for armed personnel 21. Based on the analysis of the
training area, the shape of pre-recorded path 36, and the location
of personnel 21, the onboard computer calculated a new path 38
which takes it behind the barrel 18. The barrel partially obscures
the target making it more difficult to observe and to shoot.
[0077] In FIG. 6, two firearms instructors 41 and 42 are recording
another firearms training exercise. The instructors position
themselves inside the training area in order to better observe the
targets 31, 32 and the high walls 15, 17. Instructor 41 sends a
sequence of remote commands 51 to target 31 while instructor 42
sends a sequence of remote commands 52 to target 32. Target 31 is
commanded to move along path 38, from position 73, around the
western end of high wall 15; simulate loud human speech when it
reaches position 74; and proceed south to position 75. Target 32 is
commanded to move along path 39 from position 76, around the
western end of high wall 17; simulate multiple shots 77; and
proceed south to position 78.
[0078] Referring to FIG. 7, the training exercise recorded in FIG.
6 is being replayed. The armed personnel 21 again is entering the
training area from the south. The firearms instructor 42 initiates
the previously recorded exercise causing the targets 31 and 32 to
start moving along the paths 38 and 39. The timing of the two
targets' actions is arranged such that target 32 waits until target
31 has produced simulated speech as a trigger for emerging from
behind wall 17. Therefore, the simulated speech occurs before
target 32 exposes itself from behind high wall 17. Armed person 21
is challenged to shoot and hit target 32 before it simulates firing
shots, despite the distraction from target 31.
[0079] The record of changes in the target's position over time
forms the target's trajectory. The record of other operations, e.g.
audio effects, may be correlated to the recorded trajectory. This
type of geo-referencing enables more faithful reproduction of the
original target presentation. For example, the audio effect was
intended to be played by target 31 at position 74 and not simply 15
seconds after the start of motion.
[0080] Referring to FIG. 8, the steps in a recording session and
replay session are illustrated. In the recording session an
operator issues commands to a robotic target. The robot peforms
actions by way of utilising its various actuators. The results of
its actions are referred to as outcomes. During the recording
session data relating to commands, actions and outcomes is recorded
and referred to as operations data.
[0081] In the replay session, the robotic target uses the
previously recorded operations data to plan and carry out actions
by way of its various actuators in an attempt to reproduce the
outcomes of the recording session.
[0082] The ability of the robots to maintain estimates of their own
positions within the training area is important for their ability
to repeat the operations that they took in response to the
commands. In the embodiments described above, the robots 100
carried GPS receivers to localise themselves within the training
range. In other embodiments the robots may localise themselves by
way of any of many methods described in the literature, e.g.
tracking range and bearing to laser reflecting beacons, measuring
signal strength of radio beacons, or detecting buried magnets.
[0083] In the embodiments described above, the robots 100 carried
laser rangefinders to sense objects and movements of objects in
front of them. In other embodiments the robots may sense objects
and movements of objects by way of other sensors such as cameras,
radars or sonars. After the obstacles in the robot's vicinity are
detected, one of many well-known obstacle avoidance algorithms may
be employed to calculate a safe motion plan which avoids collision
with the obstacles.
[0084] In various scenarios, the robots might perform the following
variations to the previously recorded operations, or a combination
of these variations:
[0085] 1. Deviate from the recorded velocity profile, i.e. faster,
slower, pause, skip a pause, change pause duration;
[0086] 2. Make small deviations from the recorded path, i.e. to the
left or to the right;
[0087] 3. Make significant deviations from the recorded path in
order to use the cover of natural or man-made obstacles;
[0088] 4. Make more or fewer sound-effects or other actions.
[0089] In the embodiments described above, the replay of recorded
operations was triggered manually by the instructor. In other
embodiments it may be triggered automatically, based on a timer, or
actions of other targets, or sensed actions of human participants
in the exercise. With a user interface, the operator may also want
to pause the replay somewhere in the middle, or to begin replay
part-way through the activity sequence.
[0090] Operations of multiple targets may also be recorded and
replayed. In the embodiments described above, the operations of
multiple targets were recorded in parallel, i.e. multiple operators
control multiple targets simultaneously. With this approach, the
timing of the targets' actions relative to one-another is also
captured. In other embodiments the operations of multiple targets
may be recorded in series, i.e. a single operator controls the
targets one after another, and then assembles the individual
activities into a coordinated scenario.
[0091] During replay of multi-target recordings, the targets begin
their activities on one of the triggers listed above (the two
simplest approaches being that all activities begin simultaneously,
or each activity is triggered independently by the operator). Some
form of dynamic obstacle avoidance may be needed when multiple
robots operate in close proximity to one-another.
[0092] The operator can stand anywhere while recording the target's
activity, but there are two advantageous locations:
[0093] 1. The operator can follow along behind the target. This
addresses two general problems encountered when controlling a robot
from a distance: [0094] obstacles are difficult to avoid due to
poor depth perception at long range; and [0095] when a robot passes
behind an obstacle and line-of-sight is lost, situation awareness
suffers.
[0096] 2. The operator can stand exactly where the trainees will be
when they are conducting the training scenario. This eliminates the
problems associated with defining routes via the abstraction of a
computer screen: the operator can see exactly what the trainees
will see, and can define the route accordingly. Providing feedback
to the operator, e.g. in the form of a live video feed, can
mitigate the problems associated with controlling a robot at a
distance or out of line-of-sight.
[0097] In the embodiments described above, the remote commands are
sent to the robot using a specialised hand-held device. In other
embodiments the remote commands could be sent using a computer,
phone, gaming device, etc.
[0098] In the embodiments described above, the remote commands are
sent to the robot using a wifi connection. In other embodiments the
remote commands could be sent using any radio or a wired link.
[0099] In the embodiments described above, the firearms training
exercises were carried out using live ammunition. In other
embodiments the ammunition used could be simunition (simulated
ammunition) or the firearms may be replaced by or augmented with
lasers and laser targets to simulate ammunition.
[0100] In the embodiment described above, the armed personnel
taking part in the training exercise were soldiers. Similarly,
embodiments of the invention have application in training other
types of people such as security guards, members of private
military companies, law enforcement officers, and private citizens
who may be members of a gun club or shooting academy.
[0101] It can be seen that embodiments of the invention have at
least one of the following advantages: [0102] saving labour by
allowing to record the scenario once and replay it many times
later, possibly with programmed or random variations. In the case
of multi-target recording, a single instructor can operate multiple
targets. [0103] eliminating requirement for a pre-existing map of
the training range. The routes are defined relative to what the
operator sees, and may be stored e.g. as a path in a GPS coordinate
system. [0104] providing an intuitive,
"what-you-see-is-what-you-get" interface for describing the
scenario without at any point needing an abstract visual
representation of the training range that can be shown to an
operator on a computer screen.
[0105] Any reference to prior art contained herein is not to be
taken as an admission that the information is common general
knowledge, unless otherwise indicated.
[0106] Finally, it is to be appreciated that various alterations or
additions may be made to the parts previously described without
departing from the spirit or ambit of the present invention.
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