JP5044420B2 - Laser beam irradiation system, laser beam irradiation method, and laser beam relay machine - Google Patents

Description

  The present invention relates to a laser beam irradiation system, a laser beam irradiation method, and a laser beam relay device that can irradiate a target outside the visual range.

  The laser beam has a straight traveling property and can easily irradiate a target (irradiated body) in the viewing range. Further, since the laser beam reaches the target at the speed of light, even when irradiating the moving target, it is hardly necessary to take into account the time required to reach the target.

As a technique using the characteristics of such a laser beam, there is known a laser semi-active guidance method for tracking a target by receiving reflected light of the laser beam irradiated on the target from a laser beam irradiator ( For example, see Patent Document 1).
Japanese Patent Laid-Open No. 2002-341032

  However, in the above-described prior art, when the target object to be irradiated with the laser beam is out of the viewing range, there is a problem that the irradiation cannot be performed due to the straightness of the laser beam.

  Therefore, in view of the problems of the prior art, the present invention provides a laser beam irradiation system, a laser beam irradiation method, and a laser beam relay device capable of irradiating a target outside the viewing range with a laser beam. Objective.

  A laser beam irradiation system according to the present invention includes a laser beam irradiation machine that irradiates a laser beam, and a laser beam relay machine that is disposed in an area where the laser beam irradiation machine and an object to be irradiated with the laser beam are visible. The laser beam repeater communicates with the laser beam irradiator, acquires the position information of the laser beam irradiator, and detects and tracks the irradiated object of the laser beam. Target tracking device that outputs tracking information including position information, moving speed, and moving direction, a reflector that reflects a laser beam emitted from a laser beam irradiator toward an irradiated object, and a communication device. Analyzes the position information of the laser beam irradiator and the tracking information of the irradiated object acquired from the target tracking device, and drives the reflector. And information analysis unit for outputting a drive control information, characterized by having a a reflector control unit for controlling the driving of the reflector based on the output drive control information from the information analysis device.

  In the laser beam irradiation method according to the present invention, a laser beam irradiation machine and a laser beam relay machine arranged in an area where both the laser beam irradiation object and the irradiated object of the laser beam can be seen are provided. An information acquisition step for acquiring information including the position, moving speed, and moving direction of the body, and a reflector that reflects the laser beam emitted from the laser beam irradiation machine by the laser beam relay machine analyzing the acquired information A drive control information output step for outputting the drive control information, a laser beam relay device driving the reflector based on the output drive control information, and a posture adjustment step for adjusting the posture, and a laser beam relay device, The laser beam emitted from the laser beam irradiator toward the machine is reflected by the adjusted reflector. And having a laser beam reflected step of irradiating the irradiated body, the.

  The laser beam repeater according to the present invention communicates with a laser beam irradiator that irradiates a laser beam, and detects a laser beam irradiated object and a communication device that acquires position information of the laser beam irradiator. And a target tracking device that outputs tracking information including the positional information, moving speed, and moving direction of the irradiated object, and a reflector that reflects the laser beam emitted from the laser beam irradiator toward the irradiated object And analyzing the position information of the laser beam irradiator acquired from the communication device and the tracking information of the irradiated object acquired from the target tracking device, and an information analysis device for outputting drive control information for driving the reflector, and this And a reflector control device that controls the drive of the reflector based on the drive control information output from the information analyzer.

  ADVANTAGE OF THE INVENTION According to this invention, the laser beam irradiation system which can irradiate a laser beam also to the target outside a visual range is provided.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating an example of the overall configuration of a laser beam irradiation system according to an embodiment of the present invention. As shown in the figure, the laser beam irradiation system according to the present embodiment includes a laser beam irradiation machine 1 and a laser beam relay machine 2. The number of laser beam irradiation machines 1 and laser beam relay machines 2 is not limited.

  The laser beam irradiation machine 1 is a machine body that irradiates a laser beam relay machine 2 with a laser beam.

  The laser beam repeater 2 is provided in a region on the ground or in the air where the laser beam irradiation device 1 and the irradiated object 3 are located within a range that can be confirmed by the naked eye or an infrared camera (hereinafter referred to as “viewing range”). This is a machine that reflects the laser beam emitted from the laser beam irradiator 1 toward the irradiated object 3. Specific examples of the laser beam relay device 2 include a moving vehicle in the case of deployment on the ground, and an aircraft having flying means (not shown) such as a helicopter, an airplane, and a balloon in the case of deployment in the air. It is preferable that the drone is easy to move in deployment and can remain at a fixed position on the ground or in the air as a laser beam relay point. In the present embodiment, the case where the irradiated object 3 is a flying object will be described as an example.

  FIG. 2 is a block diagram illustrating a configuration example of the laser beam irradiator 1. As shown in the figure, the laser beam irradiator 1 includes a control device 11, a GPS 12, a communication device 13, a tracking device 14, an aiming device 15, a laser beam generating device 16, and a cooling device 17.

  The control device 11 is a central processing device that controls each device constituting the laser beam irradiation machine 1.

  The GPS 12 is a GPS device that acquires position information of the laser beam irradiator 1 and outputs the position information to the control device 11.

  The communication device 13 is a device that communicates with one or a plurality of laser beam repeaters 2 based on control information from the control device 11. As the communication method, wireless communication or laser communication can be used, and it is preferable to select according to the confidentiality of the communication content. In addition, by communication with the laser beam repeater 2, the position information of the laser beam irradiator 1, the laser beam repeater 2, and the irradiated object 3, the control information such as the tracking command of the irradiated object 3, and the laser beam The light reception confirmation information before irradiation is transmitted / received.

  The tracking device 14 is a device that tracks the laser beam repeater 2 based on control information from the control device 11 and outputs tracking information including position information (coordinates), moving speed, moving direction, and the like.

  FIG. 3 is a block diagram illustrating a configuration example of the tracking device 14. As shown in the figure, the tracking device 14 includes an image sensor 141, a confirmation laser emitter 142, a confirmation laser sighting device 143, a confirmation laser receiver 144, and a tracking processing unit 145.

  The image sensor 141 is a device that directs an imaging device such as an infrared camera based on control information from the tracking processing unit 145, obtains position information from the captured image, and outputs the position information to the tracking processing unit 145.

  The confirmation laser emitter 142 is an apparatus that irradiates the laser beam repeater 2 with a low-power laser beam for light reception confirmation in a preparation stage for irradiating a high-power laser beam from the laser beam generator 16.

  The confirmation laser sighting device 143 is a device that directs the irradiation direction of the laser beam of the confirmation laser emitter 142 toward the laser beam repeater 2 based on the control information from the tracking processing unit 145.

  The confirmation laser receiver 144 receives the reflected light of the laser beam for confirmation of light irradiation emitted from the confirmation laser emitter 142 to acquire reflected light data. The reflected light data is used to confirm the light reception and to reach the target. This is a device for obtaining a distance and outputting it to the tracking processing unit 145.

  The tracking processing unit 145 is a program that acquires tracking information of the laser beam repeater 2 based on the position information of the laser beam repeater 2 acquired by the communication device 13 and outputs the tracking information to the control device 11.

  The aiming device 15 is a device that determines the aim with the laser beam relay device 2 as the irradiation destination of the laser beam generated by the laser beam generating device 16 based on the tracking information.

  The laser beam generation device 16 is a device that generates a laser beam based on control information from the control device 11 and irradiates the laser beam in a direction determined by the aiming device 15. The characteristics of the laser beam are determined by a medium that causes stimulated emission, and the laser beam is classified into several types depending on the medium. In this embodiment, since a high output is required, a chemical laser having a wavelength of 3.8 μm using deuterium fluoride, a chemical laser having a wavelength of 1.3 μm using iodine, and YAG (yttrium, aluminum, garnet crystal) were used. It is preferable to use a solid laser having a wavelength of about 1 μm. In consideration of atmospheric attenuation or the like, the wavelength can be converted to 3 to 5 μm or 8 to 12 μm.

  The cooling device 17 is a device that cools heat generated when the laser beam generating device 16 generates a laser beam.

  FIG. 4 is a block diagram illustrating a configuration example of the laser beam repeater 2. As shown in the figure, the laser beam repeater 2 includes a control device 21, a GPS 22, a communication device 23, a target tracking device 24, an information analysis device 25, a reflection plate control device 26, and a reflection plate 27.

  The control device 21 is a central processing device that controls each device constituting the laser beam repeater 2.

  The GPS 22 is a GPS device that acquires position information of the laser beam repeater 2 and outputs it to the control device 21.

  The communication device 23 is a device that communicates with the laser beam irradiator 1 based on control information from the control device 21. The communication method corresponds to the laser beam irradiator 1.

  The target tracking device 24 detects the irradiated object 3 (target object) related to the control information from the control device 21, and includes tracking information including position information (coordinates), moving speed, distance, and moving direction of the irradiated object 3. And the tracking information is output to the control device 21.

  FIG. 5 is a block diagram illustrating a configuration example of the target tracking device 24. As shown in the figure, the target tracking device 24 includes a light wave sensor 241, an image sensor 242, a confirmation laser emitter 243, a confirmation laser sighting device 244, a confirmation laser receiver 245, and a target tracking processing unit 246. .

  The light wave sensor 241 detects a light wave emitted by the approaching irradiated object 3 and outputs the arrival direction to the target tracking processing unit 246.

  The image sensor 242 points to an imaging device such as an infrared camera based on the control information from the target tracking processing unit 246, obtains position information of the irradiated object 3 approaching from the captured image, and uses this position information for target tracking processing. This is an apparatus for outputting to the unit 246.

  The confirmation laser emitter 243 is a device that irradiates the laser beam relay device 2 with a laser beam for confirming reception of light on the irradiated object 3.

  The confirmation laser sighting device 244 is a device that directs the irradiation direction of the laser beam in the confirmation laser emitter 243 to the laser beam repeater 2 based on the control information from the target tracking processing unit 246.

  The confirmation laser receiver 245 receives the reflected light of the laser beam for confirmation of light emitted from the confirmation laser emitter 243 to acquire reflected light data. The reflected light data is used to confirm the light reception and the irradiated object 3 Is a device that calculates the distance to the target tracking processing unit 246 and outputs it to the target tracking processing unit 246.

  The target tracking processing unit 246 is a program that acquires tracking information of the irradiated object 3 and outputs this tracking information to the control device 21.

  The information analysis device 25 analyzes the position information of the laser beam irradiator 1 acquired from the communication device 23 and the tracking information of the irradiated object 3 acquired from the target tracking device 24 to obtain the reflection angle on the reflector 27, It is a device that outputs drive control information based on this reflection angle to the control device 21.

  The reflection plate control device 26 is a device that controls the drive mechanism (not shown) of the reflection plate 27 based on the drive control information acquired via the control device 21 and changes the posture (tilt angle) of the reflection plate 27. It is.

  The reflector 27 is a device that receives the laser beam emitted from the laser beam irradiator 1 and reflects the converged laser beam toward the irradiated object 3. In the reflection of the laser beam, the deformable mirror whose surface shape is variable is used to collect the laser beam and irradiate the irradiated object 3.

  Hereinafter, the operation of the laser beam irradiation system will be described in detail with reference to the drawings. FIG. 6 is a sequence diagram showing a specific example of processing in the laser beam irradiation system.

  First, the laser beam irradiation machine 1 acquires the position information of the own machine at the current time by the GPS 12 (S601).

  Next, the laser beam irradiation machine 1 wirelessly transmits its own position information to the laser beam relay machine 2 by the communication device 13 (S602).

  Next, the laser beam relay machine 2 acquires the position information of the own machine at the current time by the GPS 12 (S603).

  Next, the laser beam repeater 2 wirelessly transmits its own position information to the laser beam irradiator 1 through the communication device 23 (S604).

  Next, the laser beam irradiation machine 1 operates the tracking device 14 based on the position information acquired by the communication device 13 from the laser beam relay device 2, and the laser beam relay device 2 is controlled based on the control by the tracking processing unit 145. Tracking / capturing (S605). At this time, the tracking device 14 outputs tracking information including position information (coordinates), moving speed, moving direction, and the like of the laser beam repeater 2. The same applies when the laser beam repeater 2 remains in a certain area.

  Next, the laser beam irradiator 1 drives the aiming device 15 based on the tracking information output from the tracking device 14, and sets the irradiation destination of the laser beam generated by the laser beam generating device 16 as the laser beam relay device 2. Aiming is determined (S606).

  Next, the laser beam irradiation machine 1 acquires the approach information of the irradiated object 3 (flying object) detected by the radar device (not shown) by the communication device 13 (S607). This approach information includes the number of irradiated objects 3, position information, moving direction, moving speed, and the like.

  Next, the laser beam irradiator 1 issues a tracking command for the irradiated object 3 to the laser beam repeater 2 by the communication device 13 based on the approach information (S608). At this time, the approach information of the irradiated object 3 is also transmitted to the laser beam repeater 2 together with the tracking command, and the search range of the irradiated object 3 is narrowed down.

  Next, the laser beam relay machine 2 operates the target tracking device 24 based on the approach information of the irradiated object 3 acquired from the laser beam irradiation machine 1 by the communication device 23, and the irradiated object 3 related to the tracking command is operated. Detection is performed by the built-in light wave sensor 241 and image sensor 242, and tracking / capturing is performed based on control by the target tracking processing unit 246, and tracking such as position information (coordinates), moving speed, and moving direction of the irradiated object 3 is performed. Information is acquired (S609).

  Next, the laser beam repeater 2 analyzes the position information and tracking information of the laser beam irradiator 1 and the irradiated object 3 by the information analysis device 25 and reflects the reflected laser beam toward the irradiated object 3. The angle is calculated, and drive control information for adjusting the posture of the reflecting plate 27 so as to satisfy the reflection angle is output (S610).

FIG. 7 is a diagram illustrating a specific example of information analysis processing in the information analysis device 25. Here, for the sake of brevity, it is assumed that only the irradiated object 3 is moving during preparation for laser beam irradiation. First, the information analysis device 25 determines the coordinates at the current time T ₁ from the position information acquired by the communication device 23 and the target tracking device 24. Here, the coordinates of the laser beam repeater 2 are point A (0, 0, 0), the coordinates of the laser beam irradiator 1 are point B (x ₁ , y ₁ , z ₁ ), and the coordinates of the irradiated object 3 are points. C (x ₂ , y ₂ , z ₂ ). Next, the information analysis device 25, based on the moving speed and moving direction included in the tracking information, points D (x ₃₎ that are the coordinates of the irradiated object 3 at time T _{2 when} Δt [seconds] have elapsed from the current time T _1. , y ₃ , z ₃ ). Then, the information analyzer 25 is reflected by the laser beam irradiation unit 1 (point B) reflector 27 mounted to irradiated laser beam to a laser beam relay unit 2 (point A) from at time T _2, the irradiated A reflection angle for irradiating the body 3 (point D) is calculated, and drive control information for adjusting the posture of the reflecting plate 27 based on the reflection angle is output to the control device 21. For example, when the rotation mechanism of the drive mechanism (not shown) of the reflecting plate 27 has three axes of x-axis, y-axis, and z-axis, the angle of rotation about each axis is output as drive control information.

  Next, the laser beam repeater 2 operates the reflector control device 26 based on the drive control information output from the information analysis device 25 to adjust the posture of the reflector 27 (S611).

  Next, the laser beam repeater 2 notifies the laser beam irradiator 1 that the posture adjustment of the reflector 27 has been completed by the communication device 23 (S612).

  Next, the laser beam irradiator 1 determines the aim of the confirmation laser sighting device 143 at the laser beam relay device 2 and then irradiates the laser beam relay device 2 with a laser beam for light reception confirmation from the confirmation laser emitter 142. (S613). Here, when the reflected light can be received by the confirmation laser receiver 144, the reflected light data is output to the control device 11, thereby confirming the light reception with respect to the laser beam repeater 2.

  Next, the laser beam repeater 2 sets the aim of the confirmation laser sighting device 244 to the irradiated body 3 and then irradiates the irradiated body 3 with a laser beam for light reception confirmation from the confirmation laser emitter 243 ( S614). The irradiation direction is the same as the direction of reflection. Here, when the reflected light can be received by the confirmation laser receiver 245, the reflected light data is output to the control device 21, thereby confirming light reception with respect to the irradiated object 3.

  Next, the laser beam relay device 2 notifies the laser beam irradiation device 1 that the preparation for receiving the laser beam is completed by the communication device 23 (S615). By confirming light reception with a low-power laser beam before irradiation with a high-power laser beam, the laser beam can be reliably irradiated.

  Next, the laser beam irradiator 1 irradiates the laser beam relay device 2 with a high-power laser beam from the laser beam generator 16 (S616).

  Then, the laser beam relay machine 2 reflects the laser beam emitted from the laser beam irradiator 1 by the reflection plate 27 (S617), and irradiates the irradiated object 3.

  As described above, when the irradiated object 3 does not exist in the visual range at the deployment point of the laser beam irradiation machine 1, there is an obstacle such as a forest between the laser beam irradiation machine 1 and the irradiation object 3, and the laser Even if it is not possible to directly irradiate the laser beam from the beam irradiator 1, it becomes possible to irradiate the irradiated object 3 with the laser beam via the laser beam relay device 2.

  Further, since the laser beam repeater 2 does not need to include the laser beam generator 16 that generates a high-power laser beam, it is possible to reduce the size of the machine body and reduce the manufacturing cost.

  Further, since the laser beam irradiator 1 is arranged on the ground, it is possible to increase the size of the body in order to generate a high-power laser beam.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

  For example, the position information of the laser beam irradiation machine 1 may be obtained by various sensors on the laser beam relay machine 2 side as with the irradiated object 3. In this case, since the time required for transmitting / receiving position information to / from the laser beam irradiator 1 is eliminated, the estimation accuracy of the coordinates of the irradiated object 3 in the information analysis device 25 can be increased.

  Further, the position information or the like may be analyzed on the laser beam irradiator 1 side, and the laser beam relay unit 2 may change the posture of the reflector 27 based on the control information from the laser beam irradiator 1. In this case, the function of the laser beam repeater 2 is reduced, but the design can be arbitrarily changed in consideration of the manufacturing cost and processing capability of each machine.

1 is a block diagram illustrating an overall configuration example of a laser beam irradiation system according to an embodiment of the present invention. The block diagram which shows the structural example of the laser beam irradiation machine 1 which concerns on one Embodiment of this invention. The block diagram which shows the structural example of the tracking apparatus 14 which concerns on one Embodiment of this invention. The block diagram which shows the structural example of the laser beam repeater 2 which concerns on one Embodiment of this invention. The block diagram which shows the structural example of the target tracking apparatus 24 which concerns on one Embodiment of this invention. The sequence diagram which shows the specific example of the process in the laser beam irradiation system which concerns on one Embodiment of this invention. The figure explaining the specific example of the information analysis process in the information analysis apparatus 25 which concerns on one Embodiment of this invention.

Explanation of symbols

1 ... Laser beam irradiation machine,
2 ... Laser beam repeater,
3 ... Subject,
11 ... Control device,
12 ... GPS,
13: Communication device,
14 ... tracking device,
15 ... Aiming device,
16 ... Laser beam generator,
17 ... cooling device,
21 ... Control device,
22 ... GPS,
23. Communication device,
24. Target tracking device,
25 ... Information analysis device,
26: Reflector control device,
27 ... reflector,
141: Image sensor,
142 ... confirmation laser emitter,
143 ... Confirmation laser sight,
144 ... Confirmation laser receiver,
145 ... Tracking processing unit,
241: Light wave sensor,
242 ... an image sensor,
243 ... Confirmation laser emitter,
244 ... Confirmation laser sight,
245 ... Confirmation laser receiver,
246: Target tracking processing unit.

Claims (5)

A laser beam irradiation machine for irradiating a laser beam;
A laser beam relay machine arranged in an area where the laser beam irradiation machine and the irradiated object of the laser beam are visible, and
Consists of
The laser beam repeater is
A communication device that communicates with the laser beam irradiator and acquires position information of the laser beam irradiator;
A target tracking device that detects and tracks the irradiated object of the laser beam and outputs tracking information including position information, moving speed, and moving direction of the irradiated object;
A reflector that reflects the laser beam emitted from the laser beam irradiator toward the irradiated object;
An information analysis device that analyzes the position information of the laser beam irradiator acquired from the communication device and the tracking information of the irradiated object acquired from the target tracking device and outputs drive control information for driving the reflector When,
A reflector control device for controlling the drive of the reflector based on the drive control information output from the information analysis device;
A laser beam irradiation system comprising:   2. The laser beam irradiation system according to claim 1, wherein the laser beam repeater is an unmanned aerial vehicle or a ground unmanned aircraft.   The laser beam irradiation system according to claim 1 or 2, wherein the irradiated object that the laser beam relay machine irradiates the laser beam with the reflecting plate is a flying object. A laser beam relay machine arranged in a region where both a laser beam irradiation machine for irradiating a laser beam and an object to be irradiated with the laser beam are visible, the position, moving speed of the laser beam irradiation apparatus and the object to be irradiated, And an information acquisition step for acquiring information including the moving direction;
The laser beam relay machine analyzes the acquired information, and outputs a drive control information output step for outputting drive control information of a reflector that reflects the laser beam emitted from the laser beam irradiator;
An attitude adjustment step in which the laser beam repeater drives the reflector based on the output drive control information and adjusts the attitude;
The laser beam relay machine reflects the laser beam emitted from the laser beam irradiator toward the own apparatus by the adjusted reflector and irradiates the irradiated object with a laser beam reflecting step;
A laser beam irradiation method comprising: A communication device that communicates with a laser beam irradiator that irradiates a laser beam, and acquires position information of the laser beam irradiator;
A target tracking device that detects and tracks the irradiated object of the laser beam and outputs tracking information including position information, moving speed, and moving direction of the irradiated object;
A reflector that reflects the laser beam emitted from the laser beam irradiator toward the irradiated object;
An information analysis device that analyzes the position information of the laser beam irradiator acquired from the communication device and the tracking information of the irradiated object acquired from the target tracking device and outputs drive control information for driving the reflector When,
A reflector control device for controlling the drive of the reflector based on the drive control information output from the information analysis device;
A laser beam repeater characterized by comprising: