EP2040025A1 - Schießzielsystem zur automatischen Bestimmung der Aufprallstelle - Google Patents

Schießzielsystem zur automatischen Bestimmung der Aufprallstelle Download PDF

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Publication number
EP2040025A1
EP2040025A1 EP07116964A EP07116964A EP2040025A1 EP 2040025 A1 EP2040025 A1 EP 2040025A1 EP 07116964 A EP07116964 A EP 07116964A EP 07116964 A EP07116964 A EP 07116964A EP 2040025 A1 EP2040025 A1 EP 2040025A1
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EP
European Patent Office
Prior art keywords
target
point
impact
projectile
shock
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP07116964A
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English (en)
French (fr)
Inventor
Peter Isoz
Robert Andrén
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Saab AB
Original Assignee
Saab AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Saab AB filed Critical Saab AB
Priority to EP07116964A priority Critical patent/EP2040025A1/de
Priority to US12/235,081 priority patent/US20090102129A1/en
Publication of EP2040025A1 publication Critical patent/EP2040025A1/de
Withdrawn legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J5/00—Target indicating systems; Target-hit or score detecting systems
    • F41J5/04—Electric hit-indicating systems; Detecting hits by actuation of electric contacts or switches
    • F41J5/056—Switch actuation by hit-generated mechanical vibration of the target body, e.g. using shock or vibration transducers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41J—TARGETS; TARGET RANGES; BULLET CATCHERS
    • F41J5/00—Target indicating systems; Target-hit or score detecting systems
    • F41J5/06—Acoustic hit-indicating systems, i.e. detecting of shock waves

Definitions

  • the invention relates to a shooting target system according to the preamble of claim 1, and a method for automatically retrieving information relating to the point of impact of a projectile in a target according to the preamble of claim 7.
  • One known method for automatically determining whether a shot has hit or missed a target is to attach a shock sensor to the target and monitor the output from the sensor. If the sensor detects vibrations with an amplitude bigger than a predetermined threshold value in the target material, a projectile can be assumed to have hit the target and a "hit" can be confirmed.
  • Such sensing devices for live fire as opposed to for example sensing devices for laser simulation, must be protectively mounted, usually along the bottom edge of the target.
  • the point-of-impact indication system described therein includes an array of acoustic sensors disposed in the vicinity of the target plane, not all lying on one straight line, which sensors detects the sonic booms generated by the supersonic projectiles used in the shooting exercise. Based on the outputs from the sensors, the shock wave time-delay for each sensor can be determined. This information is then used to determine the trajectory of the projectile and a point of impact in the target region can be estimated based on the determined projectile trajectory.
  • This method is associated with several drawbacks. For example, it only works when using firearms having a muzzle velocity exceeding the speed of sound since the projectiles must have a supersonic speed when approaching the target; the "point-of-impact determination" is not a determination of the actual point of impact but a point-of-impact prediction based on the projectile trajectory when approaching the target; a large number of microphones is required to be able to determine the point of impact of projectiles hitting a three dimensional (3D) target, in which case the projectiles can approach the target from a wide range, both horizontal and vertical; a lot of computational power is required to first calculate the projectile trajectory based on the sensor outputs and then calculate the presumed point of impact in the target.
  • 3D three dimensional
  • One way of determining the point of impact of a projectile in a target region utilizing the sound waves generated when the projectile hits the target is disclosed in, e.g., the background portion of the European patent application No. 1 058 083 .
  • the point of impact can be calculated using geometrical regularities.
  • One common microphone arrangement for this purpose is a T-shaped configuration having three aligned microphones arranged in parallel with the target plane, and a fourth microphone centrally arranged at a distance in front of the target.
  • EP 1 058 083 discloses a refinement of such a detection system which comprises a plurality of T-shaped microphone configurations so as to increase the accuracy of the point-of-impact determination.
  • This method also requires a large number of acoustic sensors for determining the points of impact in a 3D target of projectiles coming from a wide range of directions in both azimuth and elevation.
  • acoustic sensors for determining the points of impact in a 3D target of projectiles coming from a wide range of directions in both azimuth and elevation.
  • the large number of acoustic sensors required in such a target system increases not only the size of the detection system, but also very much the complexity of the calculation algorithms needed to determine the point of impact.
  • both the above methods for determining the point of impact of a projectile in a target suffer from the following drawbacks:
  • the microphone frames or setups must be placed on the ground in front of the target making the target system delicate and cumbersome to move. In close combat training, the microphones may be stepped upon or even tripped over;
  • the microphones must be very accurately aligned and spaced, both to each other and to the target, since only a small misplacement could cause a large error in the point-of-impact determination; Acoustic sensors and the peripheral equipment required in acoustic detection systems are costly.
  • a shooting target system comprising:
  • shock sensors By utilizing shock sensors in order to retrieve information relating to the point of impact of a projectile in a target, the sensors can be attached directly to the target and the target system can thus be made very compact. Furthermore, conventional shock sensors available in the market can be used to implement the invention, thus minimizing the manufacturing cost of the target system.
  • Another advantage of the target system according to the above is that it is well suited for determining the point of impact of a projectile in three dimensional targets.
  • the target material may be any material in which shock waves arise and propagate upon an impact of a projectile but preferably the target material is some metal, some plastic compound, ceramic or fibreglass.
  • the target is "shredded" to form a comb-shaped target. That is, the target comprises at least one slit substantially dividing the target into at least two target strips which are held together by a portion connecting the substantially separated target strips, i.e. a connection portion forming the "base" of the comb.
  • the target may comprise a plurality of vertical slits extending from the bottom of the target to a distance from the top of the target, leaving a horizontal connection portion at the top of the target.
  • the shock sensor disposed at the bottom of the particular target strip hit by a projectile will be the first sensor to detect the shock wave generated by the projectile impact and propagating in the longitudinal directions of the target strip.
  • the horizontal location of the point of impact of the projectile can be determined by simply registering which one of the sensors that is the first to detect the shock wave.
  • the exactness of horizontal location determination of the point of impact is of course depending on the width of the target strips.
  • the shock wave front propagating in the opposite direction is spread to the other target strips by the connection portion.
  • the sensor located at the neighbouring target strip which sensor is located closest to the first sensor detecting the shock wave from a propagation distance point of view, will be the next sensor to detect the shock wave, and the shock wave run-time difference between the two sensors is used to calculate the vertical location of the point of impact.
  • a shredded target as described above prolongs the shock wave propagation path, i.e. the distance the shock wave have to travel in the target material, between the different sensors, thereby reducing the demands on the response time of the shock sensors and the electric circuit processing the shock sensor signals.
  • Fig. 1A illustrates a first embodiment of the shooting target system 1 according to the present invention.
  • the target system 1 comprises three shock sensors 10a-c arranged to detect a shock wave arising and propagating in the target material upon impact of a projectile (not shown) in the target 11.
  • the target system 1 further comprises calculation means 12 connected to each sensor 10a-c and arranged to receive measurement signals there from. When a shock wave in the target material is detected by the sensors 10a-c, each sensor sends a signal indicating that a shock wave has been detected to the calculation means 12.
  • the calculation means 12 is arranged to calculate the point of impact of the projectile in the target 11 based on the run-time difference of the shock wave between the different sensors 10a-c, as will be described in more detail below.
  • the target 11 is a three dimensional (3D) target comprising a uniformly curved metal sheet forming the envelope surface of a cylinder split in two pieces along its central axis, which metal sheet is painted to give the impression of an enemy soldier. It should, however, be appreciated that the principle of determining the point of impact of a projectile in a target described below is equally applicable to a flat, two dimensional target.
  • Fig. 1B illustrates how vibrations or shock waves caused by the impact of a projectile in the target 11 will propagate in the target material in a concentric pattern.
  • a projectile is here assumed to have hit the target in the point indicated by an 'X'.
  • the outermost shock wave i.e., the first shock wave arising in the target material due to the impact of the projectile, is indicated by reference numeral 13.
  • the sensor 10a is closest to the point of impact X and will hence be the first sensor to register the shock wave 13.
  • the sensor 10a detects the shock wave 13, it sends a signal to the calculation means 12 which starts a timer 14 upon reception of said signal.
  • the sensors 10b and 10c sends respective signals to the calculation means 12 when the shock wave 13 reaches them (illustrated in dashed lines).
  • the timer 14 is read and the value ⁇ t ab of the timer, which value ⁇ t ab is indicative of the run time difference of the shock wave 13 between sensor 10a and 10b, is stored in a memory or storage means 15 within the calculation means 12.
  • the calculation means 12 receives the signal from sensor 10c, resulting in a second timer value ⁇ t ac indicative of the run time difference of the shock wave 13 between the sensors 10a and 10c.
  • the shock wave run-time difference between the sensors 10b and 10c can be used as a second timer value.
  • the "run time difference" of the shock wave between two sensors can hence also be expressed as the time-delay between the detections of the shock wave by said two sensors. That is, the value ⁇ t ab represents the time-delay between the detection of the shock wave by the first sensor to detect the shock wave and the second sensor to detect the shock wave, while the value ⁇ t ac represents the time-delay between the detections of the shock wave by the first sensor to detect it and the third sensor to detect it.
  • a calculating unit 16 such as a CPU, calculates the point of impact X using standard physics and well-known geometry.
  • Shock wave propagation distance shall in this context be construed as the distance the shockwave has to propagate in the target material between two points.
  • the result of the calculation may be any information relating to the point from which the shock wave originates, i.e. the point of impact of the projectile, such as an angle and a distance from a reference point in the target, or the coordinates for the calculated point of impact.
  • the shooting target system 1 in Figs. 1A and 1B comprises three shock sensors, a person skilled in the art appreciates that two shock sensors are sufficient to retrieve some information about the point of impact of the projectile. If only two shock sensors are used, an exact point of impact cannot be determined since the system is under-determined (the calculation means needs two time differences in order to determine two coordinates for the point of impact). However, a shooting target system comprising only two shock sensors (yielding one shock wave run-time difference) is able to determine a line along the target 11, along which line the projectile must have hit the target. This point-of-impact information may be sufficient for certain shooting training applications.
  • the parameter values needed to calculate the point of impact except for the run-time difference of the shock wave between the sensors detecting it, such as the speed of sound in the target material and the propagation distance between the shock sensors, are preferably stored in the storage means 15 of the calculation means 12.
  • the calculation means 12 may also comprise a user interface that allows a user to change these parameter values needed to calculate the information related to the point of impact so as to allow the same calculation means 12 to be used with different targets composed by different materials and/or shaped differently, and/or to allow repositioning of the shock sensors at a target so as to optimize sensor readings.
  • the speed of sound in an aluminium or other metal target is approximately 5000 m/sec which means that the shock wave travels approximately 10 cm in 0,02 ms.
  • the shock sensors 10a-c should be separated by a distance ensuring that the electronic circuit of the calculation means 12 can distinguish the different sensor signals from each other.
  • the exactness of the point-of-impact determination depends on the accuracy of the timer value readings. For example, a timer reading accuracy of ⁇ 0,01 ms corresponds to a point-of-impact uncertainty of ⁇ 5 cm.
  • the point-of-impact uncertainty will henceforth synonymously be referred to as the "target system resolution" and a point-of-impact uncertainty of ⁇ 5 cm thus corresponds to a target system resolution of 5 cm.
  • the indication means receiving the result of the point-of-impact determination can thus be arranged to visually or aurally indicate to the marksman that a shot has hit the "left leg", the "right arm", the "head” etc. This may be achieved by associating each target coordinate or different target regions with a part of the body in a look-up table located in the calculation means 12 or the indication means of the shooting target system.
  • the calculation means is preferably arranged to compare the output signals from the chock sensors 10a-c with a predetermined threshold value and ignore signals indicative of chock waves or vibrations with amplitudes below a certain limit value.
  • the calculation means 12 may be arranged to ignore all output signals from the shock sensors that are not within a predetermined amplitude interval, which interval is characteristic of shock waves caused by a projectile impact on the target.
  • the calculation means 12 may comprise logic that, by studying the amplitude of a plurality of consecutive shock waves, is able to distinguish shock waves or vibrations originating from a projectile impact from other non-projectile generated shock waves.
  • Fig. 2A illustrates another embodiment of the shooting target system according to the invention.
  • the shooting target system 2 comprises the same components as the target system 1 described above with reference made to Figs. 1A and 1B and similar components are denoted by reference numerals having the same units digits.
  • the target 21 is "shredded" to form a comb-shaped target. That is, the target 21 comprises a plurality of slits 27 substantially dividing the target into a plurality of elongated target portions 28a-f.
  • the slits are vertically arranged and extend from the bottom of the target 21 to a distance from the top of the target, thereby forming a plurality of vertically elongated target portions 28a-f, henceforth referred to as target strips, that are held together by a horizontal "connection portion" 29.
  • a shock sensor 20a-f arranged to detect shock waves/vibrations in the target material is disposed at each target strip 28a-f.
  • the sensors 20a-f are disposed at or close to the ends of the target strips 28a-f.
  • the target strips 28a-f and the sensors 20a-f have been provided with reference numerals. The same is valid for all the figures referred to hereinafter.
  • the target 21 is illustrated as a bended metal sheet.
  • the principle of determining the point of impact in a "shredded" target, as will be further described below, is, however, equally applicable to a flat shooting target.
  • Fig. 2B illustrates how vibrations or shock waves caused by the impact of a projectile on the shredded target 21 are propagating in the target material.
  • an imagined point of impact of a projectile in the target 21 is illustrated by the symbol 'X'.
  • a target strip in this case target strip 28b
  • shock waves arise and propagate in the longitudinal directions of the target strip. This is illustrated by a concentric pattern close to the point of impact and dashed lines illustrating the continued propagation path of the shock wave further away from the point of impact.
  • the outermost shock wave i.e. the first shock wave arising in the target material due to the impact of the projectile, reaches the sensor located closest to the point of impact, which in this particular case is sensor 20b, the sensor transmits a signal to the calculation means 22 whereupon a timer 24 is started.
  • shockwave front propagating in the opposite direction reaches the connection portion 29 through which the vibrations/shock waves are further spread to all target strips 28a-f.
  • the shock sensors neighbouring the shock sensor disposed on the target strip hit by the projectile in this case shock sensors 20a and 20c, will be the next sensors to detect the shock wave since the propagation distance from the point of impact to these sensors is shorter than the propagation distance to the other sensors (except for sensor 20b).
  • a signal indicating that the shock wave has been detected by a second sensor is sent to the calculation means 22 whereupon the timer 24 is stopped and a timer value ⁇ t, indicating the run time difference of the shock wave between the first sensor to detect it and the second sensor to detect it, is obtained.
  • the point of impact X is then calculated by the calculation unit 26 by utilizing the value ⁇ t and known physical and geometrical parameters, such as the speed of sound in the target material, and the shock wave propagation distance between the sensors for which the run time difference of the shock wave has been determined.
  • the shock wave propagation path between the different shock sensors is prolonged, reducing the demands on the response time of the shock sensors and the electronic circuit processing the sensor signals. It also reduces the demands on the computational power of the calculation means since only one target coordinate needs to be calculated in order to establish the point of impact of the projectile.
  • the horizontal location for the point of impact is automatically given since the calculation means "knows" that the projectile must have hit the target somewhere along the vertical strip on which the sensor that was the first to detect the shock wave is disposed (given that the calculation means is arranged so as to be able to distinguish signals from different sensors).
  • a shredded shooting target eliminates one dimension from the geometrical environment of the target and the calculation means 22 only needs to calculate the vertical coordinate for the point of impact based on the run time difference of the shock wave between the different sensors.
  • the width of the vertical strips may vary in dependence of the demand on the target system resolution. In high precision shooting exercises finely shredded targets may be used while roughly shredded targets may be sufficient for other applications. If wide target strips are used and a more exact determination of the horizontal coordinate for the point of impact than the width of the strips is desired, it is possible to make use of the run-time difference of the shock wave to a third shock sensor. For example, as illustrated by the dashed lines in Fig.
  • the shock wave propagation distance from the point of impact X to the sensor 20c is slightly shorter than the propagation distance from the point of impact to the sensor 20a. Therefore, the sensor 20c will detect the shock wave slightly before sensor 20a.
  • This time-delay indicates that the projectile has hit the right-hand side of the target strip 28b and, based on the magnitude of the time-delay, the calculation means can calculate the horizontal coordinate for the point of impact.
  • the shock wave will reach two sensors at substantially the same time.
  • the signal from the third sensor detecting the shock wave can be used to obtain a timer value indicative of the run time difference of the shock wave between the first two sensors and the third sensor, and hence used to calculate the point of impact of the projectile on the target.
  • two sensors are however sufficient to retrieve some information related to the point of impact even in such an event.
  • the calculation means can establish that a projectile has hit the target somewhere along a vertical line right between the two sensors, i.e. in the middle of the slit or in the middle of the connection portion.
  • Fig. 3 illustrates another embodiment 3 of the shooting target system according to the invention in which the target 31 is not only painted but also shaped to resemble an enemy soldier.
  • the contour of the target 31 is shaped to resemble the silhouette of a human being and the target material is curved in three dimensions to form a realistic "front half" of an imagined enemy solider having a 180° target area.
  • Such 3D shooting targets are commonly used in military shooting training exercises.
  • the target 31 comprises a plurality of vertical slits 37 dividing the target 31 into a plurality of target strips 37a-d, connected through a common connection portion 39.
  • a shock sensor 30a-d is disposed at or near the lower end of each target strip.
  • the point of impact of a projectile can be calculated by the calculation means 32 as explained above.
  • the calculation means 32 comprises at least a timer 34 for determining the run-time difference(s) of the shock waves between the shock sensors 30a-d, storage means 35 for storing the read timer values, and a calculation unit 36 for performing the calculations needed to determine the point of impact of an incident projectile based on the measured run-time difference(s).
  • shredded targets 21, 31 illustrated herein also could be horizontally or otherwise "shredded", and that the different target portions 28a-f, 29, 38a-d, 39 could have any conceivable shape and size.
  • one of the purposes of the slits 27, 37 is to prolong the propagation distance of the shock wave between the sensors 20a-f, 30a-d.
  • a person skilled in the art would appreciate that this purpose can be achieved in many other ways and that the particular solution employing slits, shown herein, is just one possible way of doing so.
  • a target of a shooting target system can comprise a combination of several separate targets 11, 21, 31.
  • one roughly shredded target with, e.g., only two target strips with associated sensors may represent the "head" of a target depicting an enemy soldier, while a finely shredded target with many more target strips may constitute the upper body of the combined target, and yet another separate roughly shredded target may constitute the legs.
  • the sensors arranged to detect the shock waves propagating in the different targets may either be connected to separate calculation means or common calculation means.
  • Figs. 1-5 all illustrate targets 11, 21, 31 with a 180° target area. This implies that, theoretically, a projectile can hit the outermost part of the side of the target from an angle of 90°, pass through the target, and hit the outermost part of the other side of the target. This scenario would yield two shock wave propagation centres in the target which erroneously could be regarded as two projectile impacts by the detection system.
  • the calculation means can comprise logic capable of detecting such events and arranged to ignore shock waves caused by a projectile hitting the target a second time.
  • parameter values and other known or obtainable parameter values needed to determine the point of impact of a projectile in a target, or needed to optimize the method of determining the point of impact according to the invention can be stored in the calculation means to which they may be inputted through a user interface.
  • the shock sensors 10a-c, 20a-f, 30a-d are preferably piezoelectric accelerometers and they are preferably mounted onto the targets 11, 21, 31 in a way that protects them from being hit by incident projectiles.
  • the shock sensors may be disposed at the bottom of the targets, as illustrated in the figures, and the targets may be located behind a bullet-proof bank or wall extending over the bottom part of the targets, sheltering the shock sensors from incident projectiles.
  • Piezoelectric accelerometers suitable to use as shock sensors when implementing the present invention is easily obtainable in the market, making it easy to replace one or several sensors in the shooting target system if they should brake.
  • the targets 11, 21, 31 may be composed by any material in which shock waves/vibrations arise and propagate when hit by a projectile.
  • the material does not absorb the vibrations to such a big extent that the amplitude of a shock wave is too small to be detectable when reaching the sensors.
  • the targets may be composed by metal, plastic, ceramic or fibreglass. It is also important that the target surface does not comprise too many sharp edges since sharp edges tend to convey the vibrational energy out from the target. Otherwise, the targets in the shooting target system according to the invention may have any conceivable size and shape. It should also be appreciated that any weapon and any ammunition can be used with the shooting target system according to the invention, as long as the projectiles fired by the weapon creates detectable shock waves in the target material when hitting the target.
  • the shooting target system 1, 2, 3 preferably comprises hit indication means (not shown) for indicating the point of impact, or the information relating to the point of impact, in the target 11, 21, 31 to the user shooting at it.
  • the hit indication means may be arranged to receive the result of the point-of-impact calculation from the calculation means 12, 22, 32 and visually or aurally indicate to the user if, and/or where, he or she has hit the target.
  • the indication means may be a separate device arranged to receive the point-of-impact result from the calculation means, or form an integral part of the calculation means.
  • the storage means 15, 25, 35 or additional storage means may also be arranged to receive the results of the point-of-impact calculations from the calculation means and store the results for later evaluation of shooting exercises. This may be achieved by e.g. providing the calculation means with a communication interface, such as a USB or WiFi interface, allowing information to be transferred from the calculation means to, e.g., a portable computer device.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
EP07116964A 2007-09-21 2007-09-21 Schießzielsystem zur automatischen Bestimmung der Aufprallstelle Withdrawn EP2040025A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP07116964A EP2040025A1 (de) 2007-09-21 2007-09-21 Schießzielsystem zur automatischen Bestimmung der Aufprallstelle
US12/235,081 US20090102129A1 (en) 2007-09-21 2008-09-22 Shooting target system for automatic determination of the point of impact

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07116964A EP2040025A1 (de) 2007-09-21 2007-09-21 Schießzielsystem zur automatischen Bestimmung der Aufprallstelle

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WO2018060752A1 (en) * 2016-09-27 2018-04-05 Tacticaltrim E.K. Target
RU190955U1 (ru) * 2019-03-12 2019-07-17 ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ КАЗЕННОЕ ВОЕННОЕ ОБРАЗОВАТЕЛЬНОЕ УЧРЕЖДЕНИЕ ВЫСШЕГО ОБРАЗОВАНИЯ Военная академия Ракетных войск стратегического назначения имени Петра Великого МИНИСТЕРСТВА ОБОРОНЫ РОССИЙСКОЙ ФЕДЕРАЦИИ Регистрирующая мишень
WO2021249065A1 (zh) * 2020-06-10 2021-12-16 南京润景丰创信息技术有限公司 一种封闭式u型布阵超声自动报靶系统
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JP6482114B2 (ja) * 2014-12-16 2019-03-13 忠 上代 エアガン用の標的及び着弾検知装置
US11293725B2 (en) * 2017-07-11 2022-04-05 Advanced Target Technologies Ip Holdings Inc. Method, system and apparatus for illuminating targets using fixed, disposable, self-healing reflective light diffusion systems
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US20200284558A1 (en) * 2018-07-03 2020-09-10 Mordechai Tessel Hit-scoring apparatus and target panel for shooting practice
CN110470183B (zh) * 2019-07-22 2022-02-18 中国人民解放军总参谋部第六十研究所 一种基于时差计算的立体靶标部位检测方法及其检测装置
US11994358B2 (en) 2021-07-09 2024-05-28 Gel Blaster, Inc. Toy projectile shooter firing mode assembly and system
US11986739B2 (en) 2021-07-09 2024-05-21 Gel Blaster, Inc. Smart target co-witnessing hit attribution system and method
US11813537B2 (en) * 2021-07-09 2023-11-14 Gel Blaster, Inc. Smart target co-witnessing hit attribution system and method
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