JP5433172B2 - Multiple wavelength laser guidance system and multiple wavelength laser guidance method - Google Patents

Description

  The present invention relates to a laser guidance system that irradiates a target with laser light and guides a moving object in a target direction.

The laser irradiation device emits pulsed laser light toward the target, the reflected light of a predetermined wavelength is received from the target by the imaging device mounted on the flying object, and the flying object is targeted based on the determination signal of this reflected light There is known a laser guidance system that guides in the direction of (see Patent Document 1, for example).
JP 2007-3079 A

  However, in the above technique, when a laser beam having a wavelength equivalent to that of the laser beam used for guidance is irradiated from the target, target detection by the guidance device becomes difficult, and the flying object is guided in the target direction. There was a problem that could not.

  Therefore, in view of the problems of the prior art, the present invention avoids confusion of reflected light to be received even when laser light having a wavelength equivalent to the laser light used for guidance is irradiated from the target, and sets the target target. An object of the present invention is to provide a multi-wavelength laser guiding system and a multi-wavelength laser guiding method capable of detection and tracking.

The multi-wavelength laser guidance system according to the present invention comprises a laser irradiation device that irradiates a target with laser light, and a guidance device that is mounted on a flying body and guides the flying body toward the target, and the laser irradiation The apparatus determines a wavelength of the laser light to be irradiated from a plurality of wavelengths based on a predetermined rule or received light information of the reflected light related to the laser light acquired from the guidance device, and the laser light to be irradiated An irradiation control unit that outputs the wavelength information of the reflected light as the wavelength selection command information of the reflected light, a laser irradiation unit that generates a laser beam having a wavelength determined by the irradiation control unit, and irradiates the target, and the guidance device, A first wireless communication unit configured to transmit the reflected light wavelength selection command information output from the irradiation control unit and receive the received light information of the reflected light. The guidance device communicates by radio signal with the laser irradiation device, receives the wavelength selection command information of the reflected light of the laser light, and transmits the received light information of the reflected light A second wireless communication unit that receives the reflected light of the laser light from the target, images the target, and guides the flying object to the position coordinates of the target by analyzing the captured image A signal processing unit that generates a guidance signal to output to the flight control device of the flying object, and corresponds to an atmospheric window until the target can be detected when the signal processing unit cannot detect the position coordinates of the target wherein the plurality of sequentially selecting a wavelength different from that of the laser light the irradiation from the wavelength, an induction control unit for transmitting a wavelength switching request to the laser irradiation device to the second wireless communication unit as the light-reception information Characterized in that it comprises a.

In the multiple wavelength laser guiding method according to the present invention, the laser irradiation device selects a wavelength of the laser beam to be irradiated to the target based on a predetermined rule from the plurality of wavelengths, and the laser beam having the selected wavelength is A first laser irradiation step for irradiating a target; and the laser irradiation device is selected in the first laser irradiation step for a guidance device that is mounted on a flying body and guides the flying body toward the target. A first wireless communication step of transmitting the wavelength information of the laser beam as a first wavelength selection command information related to the reflected light of the laser beam by a radio signal; and the guiding device includes the first wavelength selection command information. And receiving the reflected light from the target based on the first imaging step, and the guidance device analyzes the image signal output by the imaging and detects the position coordinates of the target. And when the target position coordinates can be detected in the signal processing step, the guidance device generates a guidance signal for guiding the flying object to the target position coordinates, and the flying of the flying object. When the target position coordinates cannot be detected in the guidance step to output to the control device and in the signal processing step, the guidance device is able to detect the target position coordinates by radio signal to the laser irradiation device. When a second wireless communication step for transmitting a wavelength switching request for laser light and a wavelength switching request from the guidance device are received, the laser irradiation device corresponds to the wavelength of the laser light as an atmospheric window. wherein sequentially switching to a plurality of the irradiated laser beam wavelength different from other wavelengths from the wavelength, a second laser irradiation step to the target A third wireless communication step in which the laser irradiation device transmits the other wavelength information as second wavelength selection command information to the guidance device by a radio signal; and the guidance device includes the second wavelength selection command. A second imaging step of receiving reflected light of the other wavelength from the target based on information and performing imaging.

  According to the present invention, even when a laser beam having a wavelength equivalent to the laser beam used for guidance is irradiated from the target, the target light can be detected and tracked by avoiding confusion of reflected light received. A wavelength laser guidance system and a multiple wavelength laser guidance method are provided.

(Embodiment 1)
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating an outline of a multiple wavelength laser guidance system according to an embodiment of the present invention. As shown in the figure, the multi-wavelength laser guidance system includes a laser irradiation device 1 that irradiates a target T with laser light, a guidance device 2 mounted on a flying object F, and a flight control device 3. . The guidance device 2 detects the position of the target T by receiving the reflected light of the laser beam from the target T, and outputs the generated guidance signal to the flight control device 3 to guide the flying object F in the direction of the target T. .

  FIG. 2 is a block diagram showing an overall configuration example of a multiple wavelength laser guidance system according to an embodiment of the present invention. As shown in the figure, the laser irradiation apparatus 1 includes an irradiation control unit 11, a laser irradiation unit 12, a wireless communication unit 13, and an input / output unit 14.

  The irradiation control unit 11 is a central processing unit that controls each unit of the laser irradiation apparatus 1, and a plurality of wavelengths of laser light irradiated to the target T based on a predetermined rule or a wavelength switching request acquired from the guidance apparatus 2. The wavelength is selected and determined from the wavelengths, and the wavelength information of the laser beam to be irradiated is transmitted to the wireless communication unit 13 as the wavelength selection command information of the reflected light with respect to the guidance device 2.

  For example, the laser irradiation unit 12 converts a laser beam having an original wavelength of 1.06 μm into a desired wavelength by an internal wavelength converter (not shown), and rotates a gimbal mechanism (not shown) to rotate the target T. This is a device that determines the direction and irradiates a laser beam. The laser irradiation timing is preferably set to 60 Hz or more or 120 Hz or more in order to set the frame interval of the acquired image in the guidance device 2 or more. As a specific example of the wavelength used, there is a case where an atmospheric window having a high infrared transmittance is used and the wavelength is selected from around 3 to 5 μm in the middle wavelength band or from 8 to 12 μm in the long wavelength band.

  The wireless communication unit 13 communicates with the guiding device 2 by a wireless signal, transmits the wavelength selection command information of the reflected light output from the irradiation control unit 11, and receives the light reception information of the reflected light from the guiding device 2. A communication device for receiving.

  The input / output unit 14 is an input device and display such as a keyboard and a mouse for an operator of the laser irradiation device 1 to input various information such as a start command for the guidance device 2, a target T designation, an initial wavelength setting, a wavelength change request, and the like. Or the like.

  The guidance device 2 includes a guidance control unit 21, an imaging unit 22, a signal processing unit 23, and a wireless communication unit 24. The guidance control unit 21 is a central processing unit that controls each unit of the guidance device 2, and causes the imaging unit 22 to select the wavelength of reflected light to be received based on the wavelength selection command information acquired from the laser irradiation device 1. .

  The imaging unit 22 switches the light reception wavelength based on the control information (wavelength selection command information) output from the guidance control unit 21, receives the reflected light of the laser beam from the target T, performs an imaging process, and outputs the image signal. It is an imaging device that outputs. The plurality of wavelengths to which the imaging unit 22 has sensitivity are synchronized with wavelengths that can be specified on the laser irradiation apparatus 1 side.

  The signal processing unit 23 analyzes the image signal output from the imaging unit 22 to detect the position coordinates of the target T, and guides the flying object F to the position coordinates of the target T (hereinafter referred to as “guidance signal”). ) And output to the flight control device 3 based on the control of the guidance control unit 21.

  The wireless communication unit 24 is a communication device that performs wireless signal communication with the laser irradiation device 1 to receive wavelength selection command information of reflected light of laser light and transmit received light information of reflected light. As a specific example of the light reception information of the reflected light, there is information related to the success or failure of the imaging process based on the wavelength designated on the laser irradiation apparatus 1 side. That is, when the signal processing unit 23 can detect the position coordinate of the target T by analyzing the image signal output from the imaging unit 22, this is used as light reception information, and conversely, the position coordinate of the target T cannot be detected. First, the guidance control unit 21 causes the wireless communication unit 24 to transmit a laser beam wavelength switching request to the laser irradiation device 1 as light reception information.

  Hereinafter, the operation of the multiple wavelength laser guidance system according to the present embodiment will be described in detail with reference to the drawings. FIG. 3 is a flowchart showing the interrelationship of processing in the laser irradiation device 1 and the guidance device 2.

  In step S <b> 301, the irradiation control unit 11 of the laser irradiation apparatus 1 acquires activation command information for the guidance apparatus 2 input by the operator from the input / output unit 14. In step S <b> 302, the irradiation control unit 11 of the laser irradiation apparatus 1 transmits an activation command to the guidance apparatus 2 from the wireless communication unit 13 using a wireless signal.

  In step S <b> 303, the guidance control unit 21 of the guidance device 2 activates (powers on) the entire device based on the startup command received by the wireless communication unit 24, and transmits a startup completion notification to the laser irradiation device 1.

  In S304, the irradiation control unit 11 of the laser irradiation apparatus 1 determines the wavelength of the laser light that is first irradiated to the target T based on a predetermined rule (for example, an initial setting value). In S <b> 305, the irradiation control unit 11 of the laser irradiation apparatus 1 transmits the wavelength information of the laser beam to be irradiated from the wireless communication unit 13 to the guiding apparatus 2 as wavelength selection command information of the reflected light received by the guiding apparatus 2. In S <b> 306, the guidance control unit 21 of the guidance device 2 designates the light reception wavelength in the imaging unit 22 based on the wavelength selection command information received by the wireless communication unit 24, and transmits a light reception preparation completion notification to the laser irradiation device 1.

  In step S <b> 307, the irradiation control unit 11 of the laser irradiation apparatus 1 emits laser light from the laser irradiation unit 12 toward the target T, and transmits irradiation information to the guidance device 2. In S <b> 308, the imaging unit 22 of the guidance device 2 receives reflected light from the target T with respect to the irradiated laser light, and images the target T. In S <b> 309, the signal processing unit 23 of the guidance device 2 analyzes the image signal output from the imaging unit 22, detects the position coordinates of the target T, and outputs the detection result to the guidance control unit 21.

  In S310, the guidance control unit 21 of the guidance device 2 determines whether or not the position coordinates of the target T have been detected by the signal processing in the signal processing unit 23. If the position coordinates of the target T can be detected, the process proceeds to S311. On the other hand, if the position coordinates of the target T cannot be detected, the process proceeds to S313. For example, it corresponds to a case where a laser beam having a wavelength equivalent to the laser beam used for guidance is irradiated from the target T side and imaging cannot be performed.

  In S <b> 311, the guidance control unit 21 of the guidance device 2 causes the signal processing unit 23 to generate a guidance signal based on the detected position coordinates of the target T and output the guidance signal to the flight control device 3. The flight control device 3 determines the traveling direction of the flying object F by comparing the guidance signal and the current position coordinates of the own aircraft acquired by a navigation device such as GPS.

  In S <b> 312, the guidance control unit 21 of the guidance device 2 determines whether or not the flying object F has reached the position coordinates of the target T based on the flight information acquired from the flight control device 3. If it is determined that the position coordinates of the target T have been reached, the process proceeds to S315. On the other hand, when it is determined that the position coordinates of the target T have not been reached, the process returns to S308, and the imaging process and the guidance process are repeated until the target T is reached.

In S <b> 313, the guidance control unit 21 of the guidance device 2 transmits a laser beam wavelength switching request to the laser irradiation device 1. FIG. 4 is a diagram for explaining a specific example of a method for determining a switching wavelength in the guidance control unit 21. Here, the guidance control unit 21 corresponds to a plurality of wavelengths λ _{1 to} λ _n and manages the selection status and the detection result of the target T for each wavelength. The subscript of each wavelength is a predetermined selection order. Further, the wavelength λ ₂ is selected as the wavelength of the reflected light to be received. However, since the target T cannot be detected at the same wavelength, the selection state is “unselected” and the selection order is the third wavelength λ. ₃ indicates that a wavelength switching request according to ₃ is output. The wavelength selection rule can be set arbitrarily. For example, the wavelength may be switched to an integer multiple of the wavelength being selected, or may be switched to the wavelength having the largest difference from the wavelength being selected. By increasing the difference between the wavelength range where the imaging process has failed and the switching wavelength, there is an advantage that the influence of other laser beams can be reliably avoided.

  In S314, the irradiation control unit 11 of the laser irradiation apparatus 1 switches the wavelength of the laser light irradiated from the laser irradiation unit 12 to the target T based on the wavelength switching request received by the wireless communication unit 13, to another wavelength. By returning to, imaging processing and guidance processing are performed at other wavelengths in the guidance device 2.

  In S <b> 315, the guidance control unit 21 of the guidance device 2 transmits information on reaching the target T to the laser irradiation device 1. In S316, the irradiation control unit 11 of the laser irradiation apparatus 1 stops the laser beam irradiation in the laser irradiation unit 12, and ends the guidance process.

  By configuring as described above, even if the target T is lost due to the influence of sunlight or the like, imaging can be performed by switching to another wavelength, so that the flying object F is reliably directed in the direction of the target T. Can be guided.

(Embodiment 2)
The configuration of the multiple wavelength laser guidance system according to the present embodiment is the same as that shown in FIGS. 1 and 2, but the wavelength determination method of the laser light is different. Hereinafter, the operation according to the present embodiment will be described with reference to the drawings. FIG. 5 is a flowchart showing the interrelationship of processing in the laser irradiation device 1 and the guidance device 2.

  In step S <b> 501, the irradiation control unit 11 of the laser irradiation apparatus 1 acquires activation command information for the guidance device 2 input by the operator from the input / output unit 14. In S <b> 502, the irradiation control unit 11 of the laser irradiation apparatus 1 transmits an activation command to the guidance apparatus 2 from the wireless communication unit 13 by a wireless signal.

  In step S <b> 503, the guidance control unit 21 of the guidance device 2 activates (powers on) the entire device based on the startup command received by the wireless communication unit 24, and sends a startup completion notification from the wireless communication unit 24 to the laser irradiation device 1. Send.

  In step S504, the irradiation control unit 11 of the laser irradiation apparatus 1 determines the wavelength of the laser light that is first irradiated to the target T based on a predetermined rule. In step S <b> 505, the irradiation control unit 11 of the laser irradiation apparatus 1 transmits the wavelength information of the laser light to be irradiated from the wireless communication unit 13 to the guidance device 2 as wavelength selection command information related to the reflected light of the laser light. In S <b> 506, the guidance control unit 21 of the guidance device 2 specifies the light reception wavelength in the imaging unit 22 based on the wavelength selection command information received by the wireless communication unit 24, and transmits a light reception preparation completion notification to the laser irradiation device 1.

  In step S <b> 507, the irradiation control unit 11 of the laser irradiation apparatus 1 emits laser light from the laser irradiation unit 12 toward the target T, and transmits irradiation information to the guidance apparatus 2. In step S <b> 508, the imaging unit 22 of the guidance device 2 receives reflected light from the target T with respect to the irradiated laser light, and images the target T. In step S <b> 509, the signal processing unit 23 of the guidance device 2 analyzes the image signal output from the imaging unit 22, detects the position coordinates of the target T, and outputs the detection result to the guidance control unit 21.

  In S <b> 510, the guidance control unit 21 of the guidance device 2 causes the signal processing unit 23 to generate a guidance signal based on the detected position coordinates of the target T and output the guidance signal to the flight control device 3.

  In S <b> 511, the guidance control unit 21 of the guidance device 2 determines whether or not the flying object F has reached the position coordinates of the target T based on the flight information acquired from the flight control device 3. If it is determined that the position coordinates of the target T have been reached, the process proceeds to S514. On the other hand, if it is determined that the position coordinates of the target T have not been reached, the process returns to S508, and the imaging process and the guidance process are repeated until the target T is reached.

While the processing of S508 to S511 is performed on the guidance device 2 side, the irradiation control unit 11 of the laser irradiation device 1 irradiates the current time based on predetermined rules or operator input information (such as switching instructions). It is determined whether or not the laser wavelength switching time is satisfied (S512). FIG. 6 is a diagram for explaining a specific example of a method for determining the switching wavelength in the irradiation controller 11. Here, the irradiation control part 11 respond | corresponds to several wavelength (lambda) _1- lambda _n , and manages the irradiation start time of the laser beam of each wavelength. Further, the wavelength λ ₂ is selected as the wavelength of the laser beam to be irradiated, but when 20 seconds have elapsed from the irradiation of the first laser beam (wavelength λ ₁ ), a wavelength switching command to the wavelength λ ₃ is output. It has been shown. The wavelength switching timing can be arbitrarily changed.

  If it is determined that the current time corresponds to the wavelength switching time, the process proceeds to S513. On the other hand, if it is determined that the current time does not correspond to the wavelength switching time, the process returns to S507 and the laser light irradiation with the same wavelength is continued.

  In S513, the irradiation control unit 11 of the laser irradiation apparatus 1 switches the wavelength of the laser light irradiated from the laser irradiation unit 12 to the target T to another wavelength based on a predetermined rule or the like, and returns to S505 to return the guidance apparatus. In 2, imaging processing and guidance processing are performed using other wavelengths.

  In S <b> 514, the guidance control unit 21 of the guidance device 2 transmits arrival information on the target T to the laser irradiation device 1. In S515, the irradiation control unit 11 of the laser irradiation apparatus 1 stops the irradiation of the laser beam in the laser irradiation unit 12, and ends the guidance process.

  As described above, the multi-wavelength laser guidance system according to the present embodiment is different from the first embodiment in that the laser irradiation apparatus 1 side takes the lead in changing the laser light to be irradiated, so that the target T cannot be detected. Although there is a possibility that wavelength switching is performed more frequently than in the case where wavelength switching is performed, the advantage that the probability that the laser beam irradiated from the target T and the wavelength of the laser beam irradiated from the laser irradiation apparatus 1 overlap may be reduced. There is.

  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.

  In the above embodiment, the guidance device 2 analyzes the reflected light of the laser light irradiated on the target T, and applies the semi-active laser guidance system that guides the flying object F by outputting a guidance signal. The present invention can also be applied to a beam lidar system that receives scattered light of irradiated laser light as detected light. For example, when the wavelength of the scattered light is not appropriate and the guidance device 2 cannot generate a guidance signal, the laser irradiation device 1 may be configured to request wavelength switching. The selection can be made in consideration of the advantages of the semi-active method and the beam rider method.

  Further, the guided object is not limited to the flying object F. In other words, the present invention can be applied to the case of guiding a vehicle traveling on the ground or a ship navigating on the water.

The figure explaining the structure of the multiple wavelength laser guidance system which concerns on one Embodiment of this invention. 1 is a block diagram showing an example of the overall configuration of a multiple wavelength laser guidance system according to an embodiment of the present invention. The flowchart which shows the mutual relationship of the process in the laser irradiation apparatus 1 and the guidance apparatus 2. FIG. The figure explaining the specific example of the determination method of the switching wavelength in the guidance control part. The flowchart which shows the mutual relationship of the process in the laser irradiation apparatus 1 and the guidance apparatus 2. FIG. The figure explaining the specific example of the determination method of the switching wavelength in the irradiation control part 11. FIG.

Explanation of symbols

T ... Target,
F ... Flying object,
1 ... Laser irradiation device,
2 ... guidance device,
3 ... Flight control device,
11 ... Irradiation control unit,
12 ... laser irradiation part,
13 ... wireless communication part,
14: Input / output unit,
21 ... Guidance control unit,
22 ... Imaging unit,
23 ... Signal processing unit,
24: Wireless communication unit.

Claims (4)

A laser irradiation device for irradiating a target with laser light;
A guidance device mounted on the flying object and guiding the flying object toward the target;
The laser irradiation apparatus is
The wavelength of the laser beam to be irradiated is determined from a plurality of wavelengths based on a predetermined rule or received light information of the reflected light related to the laser beam acquired from the guidance device, and the wavelength information of the laser beam to be irradiated An irradiation control unit that outputs the wavelength selection command information of the reflected light,
A laser irradiation unit that generates laser light having a wavelength determined by the irradiation control unit and irradiates the target; and
A first wireless communication unit that performs wireless signal communication with the guidance device, transmits wavelength selection command information of the reflected light output from the irradiation control unit, and receives light reception information of the reflected light And comprising
The guidance device includes:
A second wireless communication unit that performs communication with the laser irradiation device by a wireless signal, receives wavelength selection command information of the reflected light of the laser light, and transmits light reception information of the reflected light;
An imaging unit that receives reflected light of the laser beam from the target and images the target;
A signal processing unit that generates a guidance signal for guiding the flying object to the target position coordinates by analyzing the captured image and outputs the guidance signal to a flight control device of the flying object;
When the signal processing unit cannot detect the position coordinates of the target, sequentially select a wavelength different from the wavelength of the irradiated laser light from the plurality of wavelengths corresponding to the atmospheric window until the target can be detected, A guidance control unit that causes the laser irradiation device to transmit a wavelength switching request to the second wireless communication unit as the light reception information;
A multi-wavelength laser guidance system comprising: The guidance control unit further, multi-wavelength laser guidance system of claim 1, wherein the performing other wavelength switching request to switch the wavelength of the laser beam at a preset period, or any. A first laser irradiation step in which a laser irradiation device selects a wavelength of laser light to be irradiated to a target from a plurality of wavelengths based on a predetermined rule, and irradiates the target with laser light of the selected wavelength; ,
The laser irradiation device is mounted on the flying object, and the guidance information for guiding the flying object toward the target is obtained by using the wavelength information of the laser light selected in the first laser irradiation step. A first wireless communication step of transmitting by a wireless signal as first wavelength selection command information relating to the reflected light;
A first imaging step in which the guidance device receives reflected light from the target based on the first wavelength selection command information and performs imaging;
A signal processing step in which the guidance device analyzes an image signal output by the imaging and detects a position coordinate of the target;
When the position coordinates of the target can be detected in this signal processing step, the guidance device generates a guidance signal for guiding the flying object to the position coordinates of the target and outputs the guidance signal to the flight control device of the flying object Steps,
When the target position coordinates cannot be detected in the signal processing step, the guidance device transmits a wavelength switching request of the laser beam by radio signal to the laser irradiation device until the target position coordinates can be detected. A second wireless communication step;
When a wavelength switching request is received from the guidance device, the laser irradiation device is configured such that the wavelength of the laser light is different from the wavelength of the irradiated laser light from among the plurality of wavelengths corresponding to an atmospheric window. A second laser irradiation step of sequentially switching to a wavelength of
A third wireless communication step in which the laser irradiation device transmits the other wavelength information as second wavelength selection command information to the guidance device by a wireless signal;
A second imaging step in which the guidance device receives reflected light of the other wavelength from the target based on the second wavelength selection command information, and performs imaging;
A multi-wavelength laser guiding method comprising: 4. The multi-wavelength laser guiding method according to claim 3 , wherein the guiding device further makes another wavelength switching request for switching the wavelength of the laser beam at a preset period or at an arbitrary time point.

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