A mobile-target training system includes a base having independently-controlled motorized wheels coupled thereto. A target is coupled to the base and has a penetration detector coupled thereto. The penetration detector includes an open electric circuit having electrical properties. The open electric circuit exhibits a change in its electrical properties for each occurrence of an object passing through the open electric circuit. A feedback generator coupled to the penetration detector generates recognizable feedback for each occurrence of change in the electrical properties of the open electric circuit.

FIELD OF THE INVENTION

The invention relates generally to mobile-target training systems, and more particularly to a mobile-target training system that detects projectile hits of significance.

BACKGROUND OF THE INVENTION

Today's military and security forces must be prepared to operate in dynamic and ever-changing operational environments that can be populated by a combination of threat entities, friendly entities, and neutral entities. In general, military/security forces must be proficient at acquiring entities, discerning their danger status, assessing risk and potential collateral damage to personnel and property, and then appropriately engaging the various types of entities in an operational area. In terms of threat entities, engagement often means shooting at the entity. Given the variety of potential operational scenarios and entities that can be encountered, military/security forces must be able to train with inanimate mobile entities/targets that replicate dynamic operational environments and scenarios.

Ideally, effective training programs would utilize inanimate and mobile targets capable of the following:dynamic changes in direction of movement, speed of advance, and target posture;unpredictability in terms of target movement, massing, and/or scattering in direction and/or rate of advance;presenting complex operational scenarios involving multiple different types of targets (e.g., threat, friendly, and neutral) concurrently and confounding predictability of location of the real threat to the military or security force;presenting ambiguous scenarios to train for misreads between threat entities versus those that are friendly or neutral, and misreads related to threat force massing or movements; andpresenting unambiguous feedback regarding target “hits” during shooting exercises.

Previous target training systems include those using fixed-location targets (e.g., staked and/or pop-up targets), rail-mounted targets capable of movement along fixed-position rails or tracks, and individually mobile or robotic units. Fixed-location targets and rail-mounted targets are limited in value since they are incapable of addressing the requirements of an effective training program as outlined above. Further, fixed-location targets have a large operational footprint, are a logistics support challenge, and present intensive maintenance requirements due to their constant exposure to the elements. Existing mobile/robotic units are capable of less restricted movement in an operational environment, but generally use a variety of leader-follower schemes that lack unpredictability and the ability to present complex operational scenarios. Further, existing mobile/robotic units can present ambiguous target “hit” results owing to their use of inertial impact sensors for registering a target “hit”. Unfortunately, ricochets, shrapnel, and other irrelevant impact events generated in direct fire engagement of targets are frequently recognized and recorded as “hits” by impact sensors on other/nearby mobile target systems thereby skewing the engagement results and value of training exercises.

SUMMARY OF THE INVENTION

Accordingly, it is an object of the present invention to provide a hit-detecting, mobile-target training system.

Another object of the present invention is to provide a mobile-target training system that records target “hits” in a way that unambiguously indicates when a direct hit on a mobile target by a shooter has occurred.

Still another object of the present invention is to provide a mobile-target training system that can control multiple mobile targets simultaneously in a semi-autonomous fashion.

Yet another object of the present invention is to provide a mobile-target training system having mobile targets that adapt to changing environmental surface conditions to maintain a prescribed target-track direction and speed.

In accordance with the present invention, a mobile-target training system includes a base and a plurality of independently-controlled motorized wheels coupled to the base. A target is coupled to the base and has a penetration detector coupled thereto. The penetration detector includes an open electric circuit having electrical properties. The open electric circuit exhibits a change in its electrical properties for each occurrence of an object passing through the open electric circuit. A feedback generator is coupled to the penetration detector for generating at least one of a visual feedback and an audible feedback for each occurrence of change in the electrical properties of the open electric circuit.

DETAILED DESCRIPTION OF THE INVENTION

Referring now to the drawings and more particularly toFIG. 1, a schematic view of a hit-detecting mobile-target training system in accordance with an embodiment of the present invention is shown and is referenced generally by numeral10. Briefly, system10is a mobile unit designed to travel over a ground surface environment in accordance with a control scheme, while providing unambiguous feedback to only indicate a “hit” when a target portion of system10is penetrated by a shooter's bullet traveling along its original aimed path. One or more of system10can be used in a training scenario as will be described further below.

System10includes a base12supported by a number of wheels14that engage a ground surface (not shown). Each of wheels14is rotated forward or backward on its corresponding axle16that is driven by a dedicated reversible motor18. Motors18are powered and controlled independently by instructions from a system controller20. Each of motors18can include an onboard motor controller (not shown) for implementing the instructions received from system controller20. In some embodiments of the present invention, system controller20can be programmed with a path/speed plan governing rotation direction and rotation speed of each of wheels14to thereby dictate precise movements of system10over a ground surface. In other embodiments of the present invention, system controller20is provided with waypoint navigation data or manual control data over a wireless communications link as will be described later herein.

System10also includes a target30coupled to base12such that target30moves with base12. Target30has one or more penetration detectors32coupled thereto. Briefly, each penetration detector32is an electrical circuit having electrical properties that undergo a change only when a bullet (not shown) on its original aimed path penetrates the detector. That is, each penetration detector's electrical properties are not changed by slower-paced impact events such as bullet ricochets, bullet shrapnel, and other impact events not associated with a bullet's original aimed path. Each time a bullet penetrates one of detectors32to cause a change in the detector's electrical properties, a “hit” signal indicative of such electrical property change is provided to a feedback generator34. In response to receiving a “hit” signal, feedback generator34generates one or more of visual feedback and audible feedback that can be recognized by trainees and training personnel. Feedback generator34can include a dedicated processor governing its operations, or the processing aspects of feedback generator34could be provided by system controller20without departing form the scope of the present invention.

Referring additionally now toFIG. 2, a schematic plan view is shown of an exemplary motorized wheel and control system. In the illustrated embodiment, four wheels14A-14D are used, with wheels14A/14B being disposed on the left side of base12and wheels14C/14D being disposed on the right side of base12. Each of wheels14A-14D is independently controlled/rotated forward or backward by the corresponding combination of motor and axle (e.g., motor18A/axle16A rotate wheel14A, etc.). Control signals and power governing each motor's operation are provided by system controller20. As mentioned above, a predetermined or manually-entered path directed and managed by system controller20provides the basis for the generation of control signals that cause the path to be traversed via independent control of wheels14A-14D via respective ones of motors18A-18D.

A variety of environmental surface obstacles (e.g., rocks, roots, holes, man-made trash, ground undulations, standing water, mud, ice, etc.) can cause system10to deviate from a desired path and/or speed of travel. To minimize the effects caused by ground surface obstacles, some embodiments of the present invention can employ a unique wheel control scheme to keep system10on its intended path and at its intended speed. Since each planned path dictates rotation speed and direction for each of wheels14A-14D, system controller20can be programmed to continuously monitor differential torque between pairs of wheels14A-14D, and compare the differential torque with what should be present for the execution of the planned path. When differences occur, system controller20directs and manages motors18A-18B to modify the rotation speed/direction of the appropriate ones of wheels14A-14D to minimize error between what the differential torque is and what is should be for each pair of wheels. For the illustrated four-wheel embodiment, differential torque for six pairs of wheels is monitored, i.e.,14A/14B,14A/14C,14A/14D,14C/14D,14B/14C and14B/14D.

In general, each penetration detector's electrical circuit is an open circuit having electrical properties characterized by a zero voltage/current. When a bullet penetrates a detector's open electrical circuit, the electrical properties thereof are momentarily changed. A sequence of events associated with a bullet penetration of a penetration detector's open circuit is presented inFIGS. 3A-3C. Prior to being penetrated by a bullet100traveling along its original aimed path102, a penetration detector32has open circuit properties as shown inFIG. 3A. When bullet100is in the process of penetrating detector32as shown inFIG. 3B, the detector's circuit briefly or momentarily exhibits penetrated circuit properties that are different from the detector's open circuit properties to thereby indicate a target “hit”. After bullet100has passed through detector32as shown inFIG. 3C, the detector's electrical circuit once again exhibits its pre “hit” open circuit properties such that penetration detector32is again ready to detect a “hit”.

Some embodiments of the present invention can utilize a unique layered arrangement of electrically-conductive plates and electrical insulator material for a penetration detector's electrical circuit. By way of an illustrative example, one such layered electrical circuit of a penetration detector32is illustrated in its pre “hit” state inFIG. 4, and during a penetration thereof by a bullet100inFIG. 5. In the illustrated embodiment, the layered arrangement has three electrically-conductive plates320/322/324and two layers of electrical insulator material326/328. More specifically, plates320/322are spaced apart from one another by insulator layer326, and plates322/324are spaced apart from one another by insulator layer328. Spacing between plates320/322and plates322/324is less than the length of a bullet expected to pass there through. It is to be understood that the present invention could be practiced with a layered arrangement using only two electrically-conductive plates or more than three such plates without departing from the scope of the present invention. As will be explained further below, the use of three electrically-conductive plates provides advantageous performance without excess cost associated with additional layers.

Plates320/322/324are electrically charged in accordance with an alternating polarity scheme between adjacent plates. In the illustrated embodiment, plates320and324are positively charged (“+”) and plate322is negatively charged (“−”). It is to be understood that the polarities on the plates could be reversed without departing from the scope of the present invention. Electric charging of the plates can be provided by a power source330coupled thereto. As a result of this structure, open electrical circuits are defined by plates320/322and plates322/324. The above-described layered arrangement can be made from flexible materials and be less than one inch in thickness thereby allowing the layered arrangement to be sized/shaped for coupling to contoured, three-dimensional surfaces. The spacing between adjacent electrically-conductive plates is generally less than the length of any bullet that the system will be used with.

Prior to being penetrated by a bullet (FIG. 4), the electrical properties of the open circuits defined by the layered arrangement are monitored by a processor40. More specifically, processor40incorporates a voltage/current monitor42. When in the pre-penetration state, voltage/current monitor42will measure a zero voltage/current state for one circuit incorporating plates320/322and for the other circuit incorporating plates322/324. When both circuits are open circuits to indicate a non “hit” state, processor40is programmed to output a logical “0” to feedback generator34that, in turn, is configured not to generate any visual or audible feedback when supplied with a logical “0”.

Referring now toFIG. 5where a bullet100traveling along its original aimed path102penetrates the layered arrangement of penetration detector32, the electrical properties of the layered arrangement undergo a brief and reversible change. For an electrically-conductive bullet100, the bullet's passage will briefly or momentarily cause a closed electrical circuit condition as it simultaneously spans and makes contact with plates320/322(as shown), plates322/324, or all of plates320/322/324, depending on the length of bullet100. The resulting and brief closed electric circuit condition(s) cause voltage/current monitor42to measure a momentary positive or negative voltage/current (i.e., a non-zero value). The detection of any momentary non-zero voltage/current causes a logical “1” to be provided to feedback generator34that, in turn, generates a visual and/or audible feedback to indicate that a “hit” has occurred. The use of three electrically conductive plates is advantageous because it is provides sensitivity to a “hit” caused by a bullet that initially engages plate324as opposed to plate320as illustrated. This allows the present invention's target to receive a “hit” originating from a shooter that is in front of, behind, or at an angle to the target. Accordingly, processor40implements a logical “OR” operation to assure registration of a bullet “hit” regardless of the incoming direction of the bullet. Once bullet100exits the layered arrangement, penetration detector32reverts back to its open circuit state illustrated inFIG. 4.

As mentioned above, the training system of the present invention provides one or more of visual feedback and audible feedback when a target “hit” is caused by a bullet passing through a penetration detector coupled to the system's target. The implementation of such feedback is carried out by the system's feedback generator. Referring now toFIG. 6, feedback generator34(coupled to base12) can include a target manipulator340coupled to base12and target30. When penetration detector32detects a “hit” as described above, feedback generator34activates manipulator340to reposition target30so that its new position presents a clear visual indication to the shooter and trainer that target30has been hit by a bullet. For example, manipulator340could reposition target30from a pre “hit” upright position to a post “hit” horizontal position. Simultaneous with the repositioning of target30, feedback generator34could also activate an audio device342(e.g., to produce a scream noise) and/or light(s)344to provide audible feedback and an additional visual feedback, respectively.

In some embodiments of the present invention, the above-described training system can further include a remote control for transmitting wireless control signals governing path traversal for one or more of the training system's mobile target units where each path is implemented by the respective mobile target unit's system controller20as described above. A system of the present invention that includes a remote control is illustrated inFIG. 7where remote control50transmits wireless control signals200for receipt by an antenna60mounted on base12and coupled to system controller20. System controller20also receives own location data from an onboard GPS receiver62. At a minimum, remote control50includes an onboard processor51, one or more input devices52, a display53, a memory54, and a wireless transmitter/transceiver55.

Processor51is programmed to carry out the various functions of remote control50which can include a unique communications scheme that will be described further below. Input devices52can include a keyboard and/or individual-function keys, voice recognition, port(s) for accepting external memory storage devices, etc. Display53, memory54, and transmitter/transceiver55can be any of a variety of known types of devices without departing from the scope of the present invention.

Ideally, training scenarios should present trainees with a number of moving targets traversing a ground environment along multiple and varied paths/speeds in order to replicate dynamic, unpredictable, and complex operational scenarios. In some embodiments of the present invention, these goals can be achieved using a single remote control50as will now be explained with reference toFIG. 7. Remote control50is capable of independent operational control of a plurality of the above-described mobile target units. The path to be traversed along with path speed for each mobile target unit can be input manually at remote control50, could be selected from a number of routes stored on memory54, could be input to memory54from an external storage device (not shown) coupled to remote control50, or could be supplied wirelessly to remote control50for storage on memory54or immediate re-transmission via transmitter/transceiver55. A route plan can be in the form of waypoint navigation data that identifies a plurality of waypoints along a planned route. The waypoint navigation data can be in the form of GPS coordinates that power/controller20uses in conjunction with its own GPS location data to control the mobile target unit's wheels. Power/controller20can also use the above-described differential torque between pairs of a mobile target unit's wheels to continuously update wheel control data to keep the associated mobile target unit on its planned route/speed.

For operational scenarios involving a plurality of mobile target units, remote control50can implement a unique communications scheme requiring no signal repeaters over communications distances of up to one mile, while also eliminating communication errors that can lead to errors in paths traversed by the mobile target units. To achieve a communications range of up to one mile, the communications scheme implemented by remote control50is carried out in the FCC-approved 900 MHz communications band. To assure error free transmission-receipt results, the present invention assigns a unique time window to each communications “node” in the operational scenario. For example, if four mobile target units were to be deployed and controlled by remote control50, five nodes are defined. Thus, five time windows are used with one time window being assigned to remote control50and each of the other four time windows being assigned to a respective one of the mobile target units. The sequence of time windows is continuously repeated with each communications node being responsive only to signals/data appearing within its assigned time window.

The communications scheme can also employ Frequency Hopping Spread Spectrum (FHSS) technology and “packet” technology to improve the robustness of the wireless communications. Briefly, FHSS means that remote control50and each mobile target unit share a code indicating what frequency and when FHSS will “hop” randomly (e.g., approximately every 20 milliseconds) to randomly selected frequencies. The “packet” processing breaks a message into a series of packets where each packet has the following set of “tags”:a tag identifying the packet's place in the flow (i.e., what packet precedes and what packet follows),a tag identifying the size of data that the packet contains, anda tag identifying the time that the packet is transmitted.
The communications application assembles the packets in sequence, checks each to ensure it matches the time and size required, and then releases the message for transmission and implementation by system10.

To further enhance the realistic training experience provided by the present invention, target30can be configured in three dimensions to resemble a human torso and head in both shape and size. In such embodiments, the target shape will necessarily have curved contours to present a realistic appearance. Accordingly, the above-described layered and flexible penetration detector (FIG. 4) is well-suited for coupling to such a target. By way of an illustrative example, each ofFIGS. 8A-8Cillustrates a three-dimensional human-like head/torso target30having multiple penetration detectors coupled thereto to provide lethal and non-lethal “hit” indications.

Target30is coupled to base12by target manipulator340(e.g., mechanized control arms as illustrated). In each ofFIGS. 8A-8C, target30has four penetration detectors32coupled thereto. Detectors32can be placed on outside or inside surfaces of target30without departing from the scope of the present invention. In some embodiments of the present invention, the entire outer surface of target30comprises a puncture “self-healing” material (not shown). It is to be understood that the number, size, shape, and/or placement of detectors32can be different than that shown without departing from the scope of the present invention. In the illustrated embodiment, detector32A is located at the target's head region, detector32B is located at the target's right shoulder region, target32C is located at the target's heart region, and target32D is located at the lower right side of the target's abdomen region. For this arrangement of penetration detectors, a mobile target unit's feedback generator (not shown inFIGS. 8A-8C) can be programmed to recognize “hits” at detectors32A and32C as being lethal, while “hits” at detectors32B and32D are recognized as being non-lethal.

The present invention can utilize the concept of lethal and non-lethal indicating penetration detectors in the following manner. Prior to penetration of any of detectors32A-32D, manipulator340positions target30in an upright (or standing) position as shown inFIG. 8A. A penetration of either detector32B or32D can be used to generate a non-lethal “hit” feedback response. For example, a non-lethal “hit” feedback response could be the manipulation or repositioning of target30by manipulator340to a position rotated backwards by an acute angle a (e.g., 15-30 degrees) from theFIG. 8Aupright position to the position illustrated inFIG. 8B. In general, angle a should be selected such that theFIG. 8Bposition is distinguishable from theFIG. 8A and 8Bpositions. A penetration of either detector32A or32C can be used to generate a lethal “hit” feedback response. For example, a lethal feedback response could be the manipulation or repositioning of target30by manipulator340to a position rotated approximately 90° backward from theFIG. 8Aupright position as illustrated inFIG. 8C. As mentioned above, the lethal feedback position of target30could be supplemented with audible feedback and/or additional visual feedback.

The advantages of the present invention are numerous. The hit-detecting mobile-target training system includes a mobile target unit that provides unambiguous indications of target “hits” caused by a bullet on its original aimed path. A remote control can be included with the system to provide for control of multiple mobile target units in accordance with a robust communications scheme requiring no signal repeaters even when relatively large training environments are utilized. Each mobile target unit can include a wheel control scheme that adapts to changing environmental surface conditions in order to keep the mobile target unit on its prescribed route.

Although the invention has been described relative to a specific embodiment thereof, there are numerous variations and modifications that will be readily apparent to those skilled in the art in light of the above teachings. For example, each mobile target unit of the present invention can be configured to transmit data (e.g., each lethal and/or non-lethal “hit”) back to the system's remote control where such data can be collected/stored for later evaluation. The target could also replicate the three-dimensional and contoured body (or body portions) of an animal (e.g., deer) such that the present invention can be incorporated into an entertainment venue for hunters. It is therefore to be understood that, within the scope of the appended claims, the invention may be practiced other than as specifically described.