WO2006073876A2

WO2006073876A2 - Remotely controlled marker for hunting games

Info

Publication number: WO2006073876A2
Application number: PCT/US2005/046650
Authority: WO
Inventors: Edward Hensel
Original assignee: Edward Hensel
Priority date: 2004-12-30
Filing date: 2005-12-21
Publication date: 2006-07-13
Also published as: WO2006073876A3; US20080115660A1; WO2006073876B1

Abstract

A marker (24) fired by commands from a remote location for hunting games such as a paintball gun or a laser gun used in laser tag. A remote controller (30, 40, 42) may be tethered to the marker by the wire (32). The marker is controlled by a variety of control systems, both open loop and closed loop. Such control systems allow remote error detection and correction of the projectiles of the markers.

Description

REMOTELY CONTROLLED MARKER FOR HUNTING GAMES

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No. 60/640,556, filed December 30, 2004, which is hereby incorporated by reference. Reference is made to U.S. patent application serial no. 1 1/156,146, filed June 17, 2005 by Edward Hensel and Entitled "Paintball Having Reduced Drag" published as U.S. Patent Application Publication No. , and to PCT application serial no. PCT/US 05/38578, filed October 25, 2005 by Edward Hensel and entitled "Hunting Game Having Human and Electromechanical Players," both of which are hereby incorporated by reference.

TECHNICAL FIELD

The present invention relates to hunting sport games; more particularly, to paintball markers or guns that may be operated via remote control by either a human operator or an electronic controller.

BACKGROUND OF THE INVENTION

So-called "paintball guns" or "paintball markers" are integral elements of a well known mock hunting sport wherein players attempt to deliver paintballs into rupturing contact with other players. See, for example, US Patent Nos. 4,171 ,811 ; 5,001 ,880; 5,267,501 ; 5,791 ,325; 6,024,077; 6,142,137; 6,289,819; 6,302,796; 6,615,814; US Patent Publication Nos. 2001/0045978; 2002/0162391 ; and 2003/0085523, the relevant disclosures of which are hereby incorporated by reference. The prior art sport or recreational activity known as "War Games" is currently one of the fastest growing sports in North America. Typically, players are arranged into two or more teams and shoot paintballs at members of the opposing teams in a hide-and-seek or capture-the-flag setting. A paintball typically is fired from a hand-held gun employing a compressed-gas charge which can accelerate the paintball without causing it to rupture within the gun. When a paintball strikes a player of an opposing team, the paintball ruptures and releases the fill material or "paint" onto that player. Any player thus marked by a ruptured paintball is disqualified from continuing in the game. Recently, technology has been introduced as indicated by US Patent No. 6,644,296 illustrating a basic on-board feedback mechanism for controlling the firing sequence of a paintball gun based on the clearance of the paintball being fed from the paintball hopper through the feedtube and into the breach of the gun.

A limitation of all such prior art "guns" or "markers" is that they do not readily lend themselves to use by individuals having certain physical disabilities who would otherwise gain enjoyment from participation in the sport. This limitation adversely affects the number of people who may participate in and enjoy the sport.

Furthermore, the strategies currently employed in winning the game by players are limited by the constraint that the paintball gun be hand-held and operated while in direct possession of the player. This limitation reduces the ability of participants to employ advanced game strategies such as ambush, surprise, and misdirection during play. A further limitation of prior art guns is that they lack comprehensive onboard feedback control capability to provide increased performance of the gun. This limitation reduces the effectiveness of the gun to reliably project paintballs with consistent trajectory, muzzle velocity, and paintball shape upon muzzle exit; limits the maximum repetition rate for successful firing of paintballs; increases the occurrence of wasted paintballs which are damaged or broken during the loading and propagation through the barrel; and provide real-time performance information to players and spectators.

What is needed in the art of hunting sport games is a marker that can be operated remotely by either a human player or by a control unit. It is a principal object of the present invention to provide an improved marker

(such as but not limited to a paintball gun or laser-tag gun) that can be operated via remote control.

SUMMARY OF THE INVENTION

Briefly described, a remotely operated marker for use in a participatory hunting sport game includes a marking element, a means for projecting the marking element using an electrical input signal, and a means for receiving a signal from a remote location and for providing the electrical input signal in response to receiving the signal from a remote location. In addition, a remote trigger for issuing commands to a remotely operated marker also for use in a participatory hunting sport game includes a trigger device at a location remote from the marker, and a means proximate and responsive to the trigger device for transmitting a signal to the marker.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated into and form a part of the specification, illustrate several embodiments of the present invention and together with the description, serve to explain the principles of the invention. The drawings are only for the purpose of illustrating a preferred embodiment of the invention and are not to be construed as limiting the invention. In the drawings:

FIG. 1 is a block diagram (transfer function) of a commercially available stock marker;

FIG. 2 is a block diagram showing a marker under open loop control;

FIG. 3 is a block diagram showing a marker under closed loop (feedback) control;

FIG. 4 is a block diagram showing a marker under multi-variable closed loop feedback control;

FIG. 5 is a reduced block diagram (transfer function) representing a marker under open loop or closed loop control;

FIG. 6 is a block diagram showing a marker under remote open loop control;

FIG. 7 is a block diagram showing a marker under remote closed loop control; FIGs. 8A and 8B illustrate actuator devices attached to a marker to simulate a human trigger-pull;

FIG. 9 shows a paintball marker under remote control;

FIGs. 10A and 10B illustrate alternate remotely positioned actuation devices;

FIG. 11 shows a remotely operated marker mounted to a wheelchair; FIGs. 12A and 12B illustrate alternative strategies that may be practiced by a game participant; and

FIG. 13 illustrates an on-board sensor which may provide information about the output of the marker to be used in feedback control of the marker. It will be appreciated that for purposes of clarity and where deemed appropriate, reference numerals have been repeated in the figures to indicate corresponding features, and that the various elements in the drawings have not necessarily been drawn to scale in order to better show the features of the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The description of this invention will be described primarily in terms of classical linear control systems theory. Numerous textbooks are available on this topic, including Modern Control Engineering by Katsuhiko Ogata, Prentice Hall,

Englewood Cliffs, NJ ©1970, ISBN 0-13-590232-0. While the description presented in the drawing shall be presented in classical terms, for a single variable control example, the controller described herein may also be implemented using modern multi-variable linear or nonlinear control algorithms and hardware. Also, some aspects of this description will be presented in the frequency domain, while other aspects of the description may be presented in the time domain, in the interest of clarity. Alternatively, state space descriptions or other control diagram representations may be used as preferred by a practitioner. Numerous textbooks describe modern multi-variable control systems and their implementation. Consider the block diagram (transfer function) shown in FIG. 1. The signal y(s) shown represents the output of the marker in the frequency domain. Shown as a scalar in FIG. 1 , it is helpful to think of this output signal as representing the Laplace transform of the time series of energy emissions or marking elements from the marker. In the case of a paintball marker, y(s) may represent the Laplace transform of the time series of paintballs emitted from the marker. In the case of a laser-tag marker, y(s) may represent the Laplace transform of the time series of electromagnetic pulses emitted by the marker. The signal u(s) represents the marker actuation command from the human player who is holding the marker, and operating it. In virtually all markers (paintball guns and laser-tag guns, for example), the actuation signal u(s) is achieved by virtue of the human operator depressing a trigger, which in turn initiates a series of events to occur in the marker. The transfer function G-ιo(s) represents the dynamic response of the marker as it receives an actuation command u(s) from a human operator, performs a variety of tasks necessary to achieve an emission, ultimately resulting in the output signal y(s). In the most simplistic dynamic model of a marker, we could simply represent the transfer function of the marker as a gain:

. where Ki₀ has appropriate units to achieve a consistent conversion from the units on the actuation signal u(s) to the units on the output signal y(s). It may be helpful to think momentarily of the actuation signal u(s) representing trigger pulls, and the output signal y(s) representing paintball rounds leaving the marker. The transfer function, Gi_O(s), for the marker can be effectively used to describe any paintball marker or laser-tag marker available today. In the case of a purely mechanical paintball marker, the transfer function Gi_O(s) describes the dynamic response of the springs, piston motion, and pneumatic expulsion from the marker. In the case of an electro-pneumatic paintball marker, such as US Patent No. 6,644,296, the transfer function G-ιo(s) describes the dynamic response of the trigger pull activating an electronic circuit, which in turn may start a complete sequence of events such as a sequence of solenoid operations which ultimately result in one or more paintballs being emitted from the gun. Depending upon the level of sophistication desired in the system being designed, it may be desirable to use a more sophisticated model of the marker dynamics, such as the first order linear transfer function suggested by

1 where the marker is described by both a gain, Kio, and a time constant, Ti₀. A number of textbooks describe the processes associated with effective system modeling and identification. Using well-established practices, the engineer can effectively model the marker for a variety of effects such as time delays, dynamic response, lags, et cetera. While the description herein is presented in terms of a single variable output, for example where y(s) indicates the emission of paintballs from the marker, it must be recognized that the system being described may also be multi-variable in nature. For example, the output y(s) may represent a vector of state variables associated with relevant outputs from the marker. In the case of a paintball gun, such output state variables include but are not limited to paintballs emitted, muzzle velocity of the paintball, spin characteristics of the paintball, shape of the paintball, and initial trajectory of the paintball. In the case of a laser-tag gun, such output state variables include but are not limited to pulse frequency or wavelength, pulse duration, and pulse modulation characteristics. Note that the transfer function Gio(s), in the discussion herein, is intended to describe the dynamic response of the marker as produced by the original manufacturer and any after-market modifications implemented by the user. Specifically, the transfer function G₁₀(s) includes any integral on-board controls that are provided by the manufacturer, such as those commonly appearing on electro-pneumatic paintball guns, including but not limited to technologies introduced as US Patent Nos. 6,003,504; 6,062,208; 6,311 ,682; and 6,644,296.

Now, consider the block diagram shown in FIG. 2. The signal y(s) shown represents the output of the marker, Gio(s) represents the marker as described previously, and the signal u(s) represents the proximate signal used to actuate the marker. In FIG. 2, the command signal m(s), is assumed to be an electrical signal such as an analog voltage, an analog current, or a digital control signal, which represents the desired objective of the user, is now fed into the actuator transfer function G₉(s) in the block diagram of FIG. 2. The transfer function G₉(s) represents the on-board actuation device capable of actuating the gun and producing the actuation signal u(s) needed by the marker. In the case of a trigger operated marker (such as a paintball gun or a laser tag gun), the actuator Gg(s) could be easily achieved with a solenoid activated plunger to depress the trigger or a rotary cam as illustrated in FIG. 8. In the case of an electrically operated marker (such as an electro-pneumatic paintball gun or a laser-tag gun), the designer may preferentially bypass the mechanical trigger assembly, and produce an appropriate electrical signal to activate the marker. In this case, Gg(s) is simply a signal conditioning device to interface between a proprietary marker design, and the signal used in the balance of the system. The critical element of transfer function Gg(s) is that it represents an interface to any marker available on the market today, or anticipated in the future. FIG. 2 is an open loop block diagram, meaning that there is no feedback loop or measured value compared against a setpoint command. However, FIG. 2 specifically does not preclude the option for an on-board-the-marker feedback control system imbedded within the stock marker configuration, and represented by Gio(s). FIG. 3 represents a closed loop controller located proximate to the marker. In contrast to FIG. 2, the block diagram of FIG. 3 includes a control unit shown as transfer function Gβ(s), a comparator, and a sensor package G₇(S). The sensor G₇(s) measures all or a portion of the output signal y(s) and produces an estimate signal b(s) of the output. The comparator generates an error signal e(s) which is the deviation between the input command signal r(s) and the estimated output b(s). The control unit Gβ(s) may be a simple linear classical controller such as a proportional control law, or more likely, will be a sophisticated control law that can compensate for the overall system dynamics. When implemented on a micro-processor, for example, Gβ(s) may incorporate advanced state space control algorithms. To illustrate this feedback control, consider also FIG. 13. In this case, a sensor 20 such as a photo-electric eye is attached to the muzzle 22 of a paintball marker 24, which produces an electrical signal. When the transfer function G₇(s) is comprised of two photo-sensors separated by a distance along the length of the barrel, it may be used to measure the output y(s) and provide an estimated state vector for b(s), which would include both the number of rounds fired, and the speed of each round. The controller Gβ(s) can then dynamically modify gun parameters such as repetition rate, or supply pressure to compensate accordingly.

FIG. 4 illustrates a multi-variable control system, wherein each transfer function is now a matrix of relationships, and each signal is a state vector. The intent of this figure further illustrates that the system may be described as single-variable or multi-variable, and in the frequency domain, in time domain, as a state space representation, or any other format convenient to the system designer. Using block diagram algebra we can interpret the transfer function presented in FIG. 3 as follows. e(s) = r(s)-b(s) m(s) = G_se(s) = G₈[φ)-b(s)]

y(s) = G₁₀H(S) = G_l0G₉G,[r(s)- Ks)] where the feedback signal b(s) = G₇ y(s) can be substituted into the equation to arrive at y(s) = G_lou(s) = G₁₀G₉G₈ [φ) - G,y(s)]

Now, we can collect like terms algebraically and arrive at a relationship between the input command and the output _y(_s)[\ + G_i0G₉G,G₇] = [G₁₀G₉GMs)

When the system is a single variable system, then it is convenient to represent the reduced block diagram resulting from the closed loop control algorithm represented by FIG. 3 as G (_s) = ^l = ^{GOG9 G8} r(s) 1 + G₁₀G₉G₈G₇ where we have defined a new transfer function G3 (s) for convenience. In the case of an open loop control law, such as that shown in FIG. 2, the reduced block diagram transfer function may be alternatively expressed as

G₃ (,_{) ≡} Z^l = G₁₀G₉G₈ . r(s)

When considering a multi-variable control environment, such as that shown in FIG. 4, the reduced transfer function may be expressed in matrix notation as

G₃(S) ≡ [1 + G₁₀G₉G₈G₇F¹G₁₀G₉G₈ . As a result, we can now represent a marker with the ability to receive an electrical command signal, and emit a desired sequence of outputs. This is illustrated in FIG. 5. The marker, its actuator, optional sensors, and controller, are contained within the definition of transfer function G₃(s).

Consider FIG. 6. The transfer function G₃(s) represents the marker, actuator, optional sensors, and controller. The signal y(s) represents the output sequence of emissions, and the command r(s) represents the commands received by the controlled marker from a receiver unit. Transfer function G_∑Cs) is a receiver unit. The receiver unit responds to an input signal denoted v(s), and produces an output signal r(s), which is appropriate to drive the marker as described in the preceding paragraphs. The receiver may be comprised of a wired connection such as an internet based data communications port, a serial communications port (such as RS- 232 or USB), a current loop interface, an analog voltage meter, or a digital communications device such as a TTL or CMOS device to name just a few; or it may support a wireless communications protocol such as a radio-frequency (AM or FM) receiver, infra-red detector, acoustic coupler, or cellular phone receiver, etc. Transfer function Gi(s) represents the transmitter unit which can convert a command c(s) from a remotely positioned operator (which may be a human or computer) into an appropriate signal v(s). The transmitter Gi(s) and the received G₂(s) should be compatible technologies.

FIG. 7 illustrates a marker under closed loop remote control. In addition to the elements indicated in FIG. 6, this embodiment also includes a sensor transceiver G5(s)which measures some or all of the output variables y(s) on the marker, and transmits the information to a remote location, which is received as signal b(s) for a remotely performed comparison relative to a command c(s). In this embodiment, the remote transmitter Gi(s) further incorporates a control algorithm to operate on the error signal e(s) to determining what signal v(s) should be transmitted to the receiver G₂(S).

FIGs. 8A and 8B illustrate actuator devices attached to the marker 24 to simulate a human trigger-pull or other appropriate means of activating the marker. Virtually any marker available in the market place today may be converted into a remotely operated device through the addition of an electromechanical device to simulate the human action of pressing a trigger. While not shown explicitly in the figure, the actuator may interface to the marker in any convenient manner. For example, it may be convenient to directly communicate a voltage transition or a binary signal to an electronically operated marker such as an electro-pneumatic paintball gun or a laser-tag gun. FIG. 9 shows the paintball marker 24 under remote control, wherein the remote trigger 30 is an arbitrary distance remote from the marker. The remote trigger 30 need look nothing like a traditional trigger. The communication link 32 may be wired or wireless, although a wired connection is shown in FIG. 9 for the sake of illustration. FIGs. 10A and 10B illustrate alternate remotely positioned actuation devices shown as a push-button switch 40 which may operate as a dead-man switch or a push button switch (FIG. 10A), and a mouth-operated switch 42 (FIG. 10B). The remote actuation devices may be customized to fit the needs of a disabled participant. For example, the mouth operated switch 42 may be preferred for a person having limited use of their hands. The hand-held push-button switch 40 may be desirable to another participant. A so called dead-man switch may be desirable to support certain strategies, such as a booby-trap.

FIG. 11 shows the remotely operated marker 24 mounted to a wheelchair 50, and being actuated by a player 52 having limited mobility. The player 52 may have the marker 24 mounted to a fixture 54 on the wheelchair, and use the motion of the wheel chair 50 itself to achieve directional control of the marker 20. When the player 52 has aimed the marker 24 in the desired direction, he or she may actuate the marker 24 using the remote triggering device 40. FIGs. 12A and 12B illustrate alternative strategies that may be practiced by a game participant 60, given the technology of the remotely operated marker 24. In FIG. 12A the participant 60 holds the marker 24 above a barrier 62 to protect himself or herself. In FIG. 12B, the participant 60 positions the marker 24 somewhere in the field of play, and then moves to a safe haven, to operate the marker 24 remotely and unattended.

The embodiments described are chosen to provide an illustration of principles of the invention and its practical application to enable thereby one of ordinary skill in the art to utilize the invention in various embodiments and with various modifications as are suited to the particular use contemplated. Therefore, the foregoing description is to be considered exemplary, rather than limiting, and the true scope of the invention is that described in the following claims.

Claims

CLAIMSWhat is claimed is:

1. A remotely operated marker for use in a participatory hunting sport game comprising: a) a marking element; b) a means for projecting said marking element using an electrical input signal; and c) a means for receiving a signal from a remote location and for providing said electrical input signal in response to receiving said signal from a remote location.

2. A remotely operated marker in accordance with claim 1 wherein said marker is a paintball gun.

3. A remotely operated marker in accordance with claim 1 wherein said marker is a laser-tag gun.

4. A remote trigger for issuing firing commands to a remotely operated marker, comprising: a) a trigger device at a location remote from said marker; and b) a means proximate and responsive to said trigger device for transmitting a signal to said marker.

5. An apparatus for remote feedback control of a hunting game marker, comprising: a) said remotely operated marker of claim 1 ; and b) said remotely operated trigger of claim 4.

6. A remotely operated marker in accordance with claim 1 wherein said marker is mounted to a mobility assistance device.

7. A remotely operated marker in accordance with claim 6 wherein said mobility assistance device is a wheelchair.

8. A remote trigger in accordance with claim 4 wherein said trigger device is held in the mouth of a participant.

9. A remotely operated marker in accordance with claim 6 wherein said mobility assistance device is used by a person with a physical disability.

10. A remotely operated marker for use in a participatory hunting sport game comprising: a) a marking element; b) a means for projecting said marking element using an electrical input signal applied to said remotely operated marker and generated in response to a command; c) a means for receiving a first data signal indicative of a characteristic of said marking element at a first location remote from said remotely operated marker; and d) a means for electronically comparing said command to a second data signal derived from said first data signal at said first remote location and for altering said electrical input signal in response to said comparison.

11. A remotely operated marker in accordance with claim 10 wherein said marker is a paintball gun.

12. A remotely operated marker in accordance with claim 10 wherein said marker is a laser-tag gun.

13. A remotely operated marker in accordance with claim 10 wherein said first and second data signals are the same.

14. A remotely operated marker in accordance with claim 10 wherein said first and second data signals are different.

15. A remotely operated marker in accordance with claim 10 wherein said characteristic of said marking element is generated by said remotely operated marker.

16. A remotely operated marker in accordance with claim 10 wherein said command is generated at a second remote location.

17. A remotely operated marker in accordance with claim 11 wherein said characteristic is the muzzle velocity of said marking element.

18. A remotely operated marker in accordance with claim 11 wherein said characteristic is the number of said marking elements emitted.

19. A remotely operated marker in accordance with claim 11 wherein said characteristic is the shape of said marking element.

20. A remotely operated marker in accordance with claim 11 wherein said characteristic is the initial trajectory of said marking element.

21. A remotely operated marker in accordance with claim 12 wherein said marker is mounted to a mobility assistance device.

22. A remotely operated marker in accordance with claim 21 wherein said mobility assistance device is a wheelchair.

23. A remote trigger in accordance with claim 10 wherein said command is in response to a trigger device held in the mouth of a participant.

24. A remotely operated marker in accordance with claim 21 wherein said mobility assistance device is used by a person with a physical disability.

25. A method for remotely operating a marker in a participatory hunting fame comprising: a) projecting a marking element from said marker by an electrical input signal applied to said marker and generated in response to a command; b) sending a first data signal indicative of a characteristic of said marking element to a location remote from said marker; c) comparing said command to a second data signal derived from said first data signal; and d) altering said electrical input signal in response to said comparison.