JP5956922B2 - Laser irradiation system using a repeater - Google Patents

Description

  The present invention relates to a laser irradiation system that can irradiate a target with a laser beam from a distance, and in particular, a laser beam repeater that can be disposed between an irradiator that irradiates a laser beam and the target. The present invention relates to a laser irradiation system that irradiates a target with a laser beam.

  Since laser beams have characteristics such as excellent directivity, excellent convergence, high energy density, and constant wavelength maintenance, they have been used for various purposes such as measurement analysis applications, medical applications, material processing applications, and information communication applications. Widely used in applications.

  Here, the excellent directivity of the laser beam is advantageous in irradiating the target, and may be disadvantageous depending on conditions. For example, if the target is out of the range where the operator (operator) of the laser beam irradiator can see, or if the target is a remotely operated laser beam irradiator, the target may be within the laser beam irradiation range. When the target is hidden behind an obstacle, the laser beam with excellent directivity cannot be appropriately irradiated with the laser beam.

  Thus, for example, Patent Document 1 discloses a laser beam irradiation system capable of irradiating a target outside the visual range with a laser beam. This system is composed of a laser beam irradiator and a laser beam repeater. The laser beam repeater communicates with the laser beam irradiator, a target tracking device that tracks a target, and a laser. A reflector with a drive mechanism for reflecting the beam toward the target, a reflector drive control device for controlling the drive of the reflector, the position information of the laser beam irradiator for driving the reflector, and the target And an information analysis device for analyzing tracking information and the like.

  The laser beam repeater analyzes the position information of the laser beam irradiator acquired from the communication device and the tracking information acquired from the target tracking device with an information analysis device and outputs it to the reflector control device. Based on the analysis information, the reflector driving mechanism is controlled to change the attitude (tilt angle) of the reflector. Thereby, the laser beam emitted from the laser beam irradiator is irradiated onto the target via the laser beam relay machine.

  In this laser beam irradiation system, the target object to be irradiated with the laser beam is a moving object, and a flying object is cited as a typical example. Further, examples of the laser beam repeater include vehicles, helicopters, airplanes, balloons, and the like, and preferable examples include drones capable of staying at a fixed position on the ground or in the air.

JP 2009-162453 A

  However, in the laser beam irradiation system disclosed in Patent Document 1, since the target is a moving object such as a flying object, a sophisticated function is required for the laser beam repeater.

  Specifically, the laser beam repeater needs to appropriately drive and control the reflector in order to reflect the irradiated laser beam toward the target. Therefore, the drive mechanism requires a configuration for driving the reflector with high accuracy, and in order to drive the drive mechanism with high accuracy, advanced information processing is also required in the information analysis device and the reflector drive control device. Become.

  Further, if the target is not a moving object such as a flying object but a “non-moving object” that is stationary on the ground, the laser beam repeater does not necessarily have such advanced functions. Moreover, in Patent Document 1, an unmanned aircraft is cited as a preferred example of a laser beam repeater. However, a manned vehicle or an aircraft other than the unmanned aircraft can be used as the laser beam repeater.

  Therefore, for example, if the target is stationary on the road from the vehicle, the laser beam irradiation system disclosed in Patent Document 1 may have excessive performance.

  The present invention has been made to solve such a problem, and provides a laser irradiation system capable of easily irradiating a stationary target with a laser beam with a simple configuration. The purpose is to do.

  In order to solve the above problems, a laser irradiation system according to the present invention is used to irradiate a stationary target with a laser beam, and performs an unmanned flight with an irradiator that emits the laser beam. An unmanned repeater that is a flying object and is flight-controlled by communicating with the irradiator and relays a laser beam emitted from the irradiator to the target, and the irradiator and the unmanned relay An optical fiber connected to the machine, and the irradiator moves the unmanned repeater to a position where the laser beam can be emitted to the target, and then the laser beam The laser beam is emitted from the unmanned repeater to the target via the optical fiber.

  According to the said structure, an optical fiber is stretched between an irradiation machine and a target object via an unmanned repeater. Thereby, the laser beam emitted from the irradiator can irradiate the target through the optical fiber. Therefore, with a simple configuration, the attenuation of the laser light between the irradiator and the unmanned repeater due to the atmosphere, and the blocking or scattering caused by an unexpected obstacle entering the optical path is substantially avoided Thus, the target can be irradiated with the laser beam appropriately and safely.

  In the laser irradiation system having the above configuration, as the unmanned repeater, an irradiation repeater that directly irradiates the target with the laser beam, and the irradiation repeater that applies the laser beam emitted from the irradiator And a fiber holding repeater for holding the optical fiber.

  Moreover, the laser irradiation system having the above-described configuration further includes a probe that is configured to acquire position information of the target and communicate with the irradiation device, and the irradiation device is acquired from the probe. The unmanned repeater may be configured to perform flight control based on the position information.

  Moreover, in the laser irradiation system having the above-described configuration, the unmanned repeater may include a position checker that checks the position of the self-machine with respect to the irradiation device and the target.

  Further, in the laser irradiation system having the above configuration, when a plurality of unmanned repeaters are provided, each unmanned repeater is configured to be able to communicate with other unmanned repeaters in addition to the irradiator. In addition, the position confirmation device may be configured to be able to confirm the position of the own device relative to another unmanned repeater.

  In the laser irradiation system having the above configuration, the irradiator is configured to emit a guide laser having a lower output than the laser beam, and irradiates the target laser to the target via the optical fiber. Thus, the laser beam may be aimed at the target from the unmanned repeater.

  In the laser irradiation system having the above configuration, the irradiation machine may be mounted on a vehicle.

  In the present invention, with the above configuration, there is an effect that it is possible to provide a laser irradiation system capable of easily irradiating a stationary target with a laser beam with a simple configuration.

(A), (b) is a schematic diagram which shows schematic structure of the laser irradiation system which concerns on Embodiment 1 of this invention. It is a block diagram which shows an example of the control structure of the irradiation machine with which the laser irradiation system shown to Fig.1 (a) and (b) is provided. (A) is a typical side view which shows an example of the external appearance structure of the irradiation repeater with which the laser irradiation system shown to FIG. 1 (a), (b) is equipped, (b) is irradiation shown to (a). It is a typical side view which shows an example of the external appearance structure of the laser head with which the relay machine is provided. (A), (b) is a typical side view which shows an example of the external appearance structure of the fiber holding repeater with which the laser irradiation system shown to FIG. 1 (a), (b) is equipped. (A) is a block diagram which shows an example of the control structure of the irradiation repeater shown to Fig.3 (a), (b) is a fiber holding repeater shown to Fig.4 (a), (b). It is a block diagram which shows an example of a control structure. It is a flowchart which shows an example of operation control of the laser irradiation system shown to Fig.1 (a), (b). It is a flowchart which shows the operation | movement control following the flowchart shown in FIG. (A), (b) is a schematic diagram which shows an example of the advantageous point of the laser irradiation system shown to Fig.1 (a), (b). (A), (b) is a schematic diagram which shows the modification of the laser irradiation system shown to Fig.1 (a), (b). (A), (b) is a schematic diagram which shows schematic structure of the laser irradiation system which concerns on Embodiment 2 of this invention. (A) is a typical side view showing an example of the appearance configuration of the spacecraft provided in the laser irradiation system shown in FIGS. 10 (a) and 10 (b), and (b) is a view of the spacecraft shown in (a). It is a block diagram which shows an example of a control structure. It is a flowchart which shows an example of operation control of the laser irradiation system shown to Fig.10 (a), (b). 13 is a flowchart showing operation control following the flowchart shown in FIG. 12. It is a flowchart which shows the operation control following the flowchart shown in FIG.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted.

(Embodiment 1)
As shown in FIGS. 1A and 1B, a laser irradiation system 10A according to Embodiment 1 of the present invention includes an irradiation machine 11 mounted on a vehicle 12, and an irradiation relay machine 21 that is an unmanned relay machine. And a fiber holding repeater 22 and an optical fiber 30 connected between the irradiator 11 and the unmanned repeater. As will be described later, the unmanned repeater and the irradiator 11 are configured to be able to communicate with each other, and flight control is performed by a control command from the irradiator 11.

[Configuration example of irradiation equipment]
The configuration of the irradiator 11 is not particularly limited as long as it can irradiate the target 40 that is stationary on the ground or the like, but in the present embodiment, a high-power laser is emitted as the laser beam. In addition to this high-power laser, in order to aim the irradiation repeater 21 toward the target 40, a guide laser having a lower output than the high-power laser can be emitted.

  Specifically, as shown in FIG. 2, the irradiator 11 in the present embodiment includes a high-power laser irradiation unit 101, a guide laser irradiation unit 102, a communication unit 103, a sensor unit 104, an input unit 105, and a display unit 106. , And a control unit 107. The high-power laser irradiation unit 101 is a laser light source that emits the high-power laser, and the guide laser irradiation unit 102 is a laser light source that emits the guide laser.

  In FIGS. 1A and 1B, the dotted line “GL” in the drawing indicates the guide laser, and in FIG. 1B, the thin line region “HL” in the drawing is irradiated from above the target 40. (Referred to as “upper irradiation high output laser HL” for convenience). In addition, as will be described later, the display unit 106 of the irradiator 11 also illustrates a point (guide laser irradiation point) where the guide laser is irradiated together with the target 40 as “LP”.

  Specific examples of the high-power laser irradiation unit 101 include, but are not limited to, solid lasers such as Yb fiber lasers and Nd: YAG lasers. As the high-power laser irradiation unit 101, an appropriate type of laser irradiation unit is selected according to the purpose of irradiating the target 40 with the laser beam, the type of the target 40, the conditions required for the irradiator 11, and the like. The Specific examples of the guide laser irradiation unit 102 include, but are not particularly limited to, a known He—Ne laser and a semiconductor laser.

  As long as the communication unit 103 can communicate with at least an unmanned repeater, the specific configuration thereof is not particularly limited, and a known wireless communication device can be suitably used. The sensor unit 104 is composed of various sensors or measuring devices useful for irradiation of a high-power laser or guide laser by the irradiator 11. Typically, a GPS receiver or the like for acquiring position information of the irradiator 11 mounted on the vehicle 12 may be used, but it is not particularly limited.

  The input unit 105 and the display unit 106 are used to input and display various information in order to operate the irradiator 11 and to perform flight control of the unmanned repeater by the irradiator 11. Therefore, the input unit 105 and the display unit 106 may be collectively configured as one “operation unit”. Specific configurations of the input unit 105 and the display unit 106 are not particularly limited, and examples thereof include a known input device, a display device, and an input / output device (for example, a touch panel display device).

  The control unit 107 is configured to control the operation of the irradiator 11 and also to control the entire laser irradiation system 10A including the irradiator 11 and the unmanned repeater. Therefore, the unmanned repeater is flight-controlled according to the control command generated by the control unit 107 of the irradiator 11. A specific configuration of the control unit 107 is not particularly limited, and a known microprocessor or microcontroller, a personal computer, or the like can be suitably used.

  Although not shown in FIG. 2, the irradiator 11 has a configuration other than the high-power laser irradiation unit 101, the guide laser irradiation unit 102, the communication unit 103, the sensor unit 104, the input unit 105, the display unit 106, and the control unit 107. May be included, or a part of the configuration may be omitted. For example, the irradiator 11 may include an independent storage unit (storage device), or may include a light source that emits visible light or infrared light that is not a laser beam. Further, if the irradiator 11 can be operated from the vehicle 12, for example, the input unit 105 and the display unit 106 may not be provided, and if the irradiation of the guide laser is unnecessary, the high output laser irradiation unit 101 may be provided.

  In the present embodiment, the irradiator 11 is mounted on the vehicle 12. Therefore, it can be said that the irradiator 11 according to the present embodiment is a vehicle-mounted laser beam irradiation apparatus. Thereby, since the operability of the laser irradiation system 10A is improved, it is possible to irradiate the target 40 with a laser beam in a wide area.

  The specific configuration of the vehicle 12 on which the irradiator 11 is mounted is not particularly limited as long as it is a general automobile (wheeled vehicle), but it may be a tracked vehicle having an endless track instead of wheels. Good. In addition, the irradiator 11 may be mounted in an integrated state with the vehicle 12, but may be transferred to another vehicle 12, or taken down from the vehicle 12 and installed on the ground or a building. May be. In addition, the operation equipment (input unit 105, display unit 106, etc.) of irradiator 11 may be provided independently from vehicle 12, or may be integrated with the operation equipment at the driver's seat of vehicle 12.

[Configuration example of unmanned repeater]
The unmanned repeater used in the laser irradiation system 10A according to the present embodiment is an unmanned flying body (unmanned aerial vehicle, UAV). Regarding flight, a function for maintaining altitude, a function capable of hovering, and pitching And has a function to control rolling. In the present embodiment, as described above, there are two types of unmanned repeaters: the irradiation repeater 21 and the fiber holding repeater 22. These unmanned repeaters are flight-controlled by communicating with the irradiator 11 and relay the laser beam emitted from the irradiator 11 to the target 40.

  Among the unmanned repeaters, the irradiation repeater 21 is used to irradiate the target 40 with the laser beam, and has a function of acquiring and transmitting an image and a function of guiding the laser beam to the target 40. ing. On the other hand, the fiber holding relay 22 is used to hold the optical fiber 30, but may have a function of acquiring and transmitting an image in the same manner as the irradiation relay 21, as will be described later.

  First, as shown in FIG. 1B, the irradiation repeater 21 is an unmanned repeater that directly irradiates the target 40 with the laser beam, and as shown in FIG. Part 210, steering part 220, communication part 230, and laser head 240, and in addition to steering part 220, communication part 230, and laser head 240, as shown in FIG. Are provided with a propulsion unit 211, a camera unit 212, a control unit 213, and a high-precision sensor unit 214.

  The fiber holding repeater 22 is an unmanned repeater that holds the optical fiber 30 drawn from the irradiator 11 in order to relay the laser beam emitted from the irradiator 11 to the irradiation repeater 21. 4 (a) and 4 (b), a main body part 210, a steering part 220, a communication part 230, and a fiber holding part 251 or 252 are provided. The fiber holding relay 22 is shown in FIG. As shown in b), in addition to the steering unit 220 and the communication unit 230, the main body unit 210 includes a propulsion unit 211, a camera unit 212, a control unit 213, and a sensor unit 215.

  The unmanned repeater is not particularly limited as long as both the irradiation repeater 21 and the fiber holding repeater 22 are UAVs as described above, and various known UAVs can be suitably used. In the present embodiment, for example, a duct fan type UAV as schematically shown in FIG. 3A or FIGS. 4A and 4B is used. In this duct fan type UAV, a communication unit 230 is provided above the main body 210 and a steering unit 220 is provided below the main body 210.

  The communication unit 230 of the irradiation repeater 21 or the fiber holding relay 22 enables communication with the communication unit 103 of the irradiator 11, and an unmanned repeater other than the own device (for example, the irradiation repeater 21). Can be communicated with the communication unit 230 of the fiber holding repeater 22). The specific configuration of the communication unit 230 of these unmanned repeaters is not particularly limited, and a known wireless communication device is preferably used similarly to the communication unit 103 of the irradiator 11.

  The steering unit 220 of the irradiation repeater 21 or the fiber holding relay 22 is operated by the control unit 213 to control the flight direction or attitude of the own aircraft. In the duct fan type UAV as in the present embodiment, the steering unit 220 is a plurality of steering blades provided below the main body unit 210. However, the specific configuration is not limited to this, and other known ones are known. It may be configured as follows.

  A propulsion unit 211 is provided in the main body 210 of the irradiation repeater 21 or the fiber holding repeater 22. The propulsion unit 211 is a power unit for flying the unmanned repeater, and is controlled by the control unit 213. If the propulsion unit 211 is a duct fan type UAV as in the present embodiment, it is a propeller that is rotated by a motor or a small engine. In addition, the specific structure of the propulsion part 211 is not limited to the propeller rotated with a power source, The other propulsion apparatus which can be used by UAV can also be used suitably.

  The camera unit 212 is attached below the main body unit 210 and captures a ground image from between the steering units 220 under the control of the control unit 213. The captured image is transmitted to the irradiator 11 via the communication unit 230 and displayed on the display unit 106 of the irradiator 11 (see the display unit 106 in FIGS. 1A and 1B). Further, the image captured by the camera unit 212 can also be used for flight control by the control unit 213. Note that a specific configuration of the camera unit 212 is not particularly limited, and a known digital camera or the like can be suitably used. The camera unit 212 may be configured to capture a visible image, may be configured to capture an infrared image, or may be configured to capture both images.

  Both the high-precision sensor unit 214 of the irradiation repeater 21 and the sensor unit 215 of the fiber holding relay unit 22 function as a position checker that checks the position of the own device with respect to the irradiation unit 11 and the target 40. Here, in the example shown in FIGS. 1A and 1B, as an unmanned repeater, one irradiation repeater 21 and two fiber holding repeaters 22 are provided. Thus, when there are a plurality of unmanned repeaters, the position checker such as the high-precision sensor unit 214 or the sensor unit 215 is configured to be able to check the position of the own device with respect to other unmanned repeaters. .

  The specific configurations of the high-precision sensor unit 214 and the sensor unit 215 are not particularly limited, and include a plurality of sensors that can measure various measurement values required for flight control, attitude control, or relative position control of the unmanned repeater. It only has to be done. In the present embodiment, for example, a GPS receiver, an inertial sensor, an altimeter, and the like can be given. In the following description, for convenience of explanation, controls such as flight control, attitude control, and relative position control of the unmanned repeater are collectively referred to as “operation control”.

  Here, in order to irradiate the target 40 with the high-power laser and the guide laser, the irradiation repeater 21 needs relatively high-precision operation control. On the other hand, since the fiber holding relay unit 22 basically needs to hold the optical fiber 30 and fly, unless it collides with another unmanned repeater or collides with an object existing nearby, The motion control may be relatively low accuracy. Therefore, the high-accuracy sensor unit 214 included in the irradiation relay unit 21 is configured with sensors with higher accuracy than the sensor unit 215 included in the fiber holding relay unit 22.

  In addition, the irradiation repeater 21 can use image information captured by the camera unit 212 in addition to the measurement value from the high-precision sensor unit 214 when performing relatively high-precision operation control. Thereby, while being able to grasp | ascertain the flight position etc. with respect to the target 40 with high precision, the relative position between other unmanned repeaters (fiber holding | maintenance repeater 22) can be confirmed with high precision. In other words, in the irradiation repeater 21, the camera unit 212 can be used as a position checker together with the high-precision sensor unit 214.

  On the other hand, the fiber holding relay device 22 can use the camera unit 212 as a position checker as in the irradiation relay device 21, but the camera unit 212 may not be provided. Specifically, as described above, the control of the fiber holding repeater 22 may be relatively low-precision operation control compared to the irradiation repeater 21, so that the sensor unit 215 of the fiber holding repeater 22 is used. Can be configured using sensors that are less expensive than the high-precision sensor unit 214 of the irradiation repeater 21, so that the necessity of using the captured image of the camera unit 212 for the operation control of the fiber holding relay 22 is low. Become. Therefore, if there is no necessity to capture a ground image, the fiber holding relay device 22 may not include the camera unit 212.

  The control unit 213 inputs the flight control command (transmitted from the irradiator 11) received by the communication unit 230 and the above-described position checker (the high-precision sensor unit 214 or the sensor unit 215, and the camera unit 212 as necessary). Based on the measured information, the propulsion unit 211 and the steering unit 220 are controlled to move the unmanned repeater by a desired distance in a desired direction or to control the attitude of the unmanned repeater. . In addition, the camera unit 212 is operated to photograph the ground, and the obtained ground image information is transmitted to the irradiator 11 via the communication unit 230. The specific configuration of the control unit 213 is not particularly limited, and a control board including a known microprocessor or microcontroller is preferably used.

  As shown in FIG. 3B, the laser head 240 provided by the irradiation repeater 21 is connected to the optical fiber 30 via a side optical fiber connector 243, and has a laser beam emitting portion 244 below. The main body 241 is configured. The laser head main body 241 is fixed to the side of the main body 210 by a laser head fixing arm 242. The laser beam emitted from the irradiator 11 reaches the laser head main body 241 via the optical fiber 30 held by the fiber holding relay device 22 and is irradiated downward from the laser beam emitting unit 244.

  Therefore, since the start and stop of the irradiation of the laser beam from the irradiation repeater 21 is linked to the start and stop of the laser beam emission by the irradiation unit 11, the irradiation repeater 21 is switched to the irradiation of the laser beam. Such a switching means is not necessary. Therefore, in the block diagram of FIG. 5A, the arrow indicating the control command does not extend from the control unit 213 to the laser head 240, and only the block indicating the laser head 240 is illustrated independently. Yes.

  The specific configuration of the laser head main body 241 constituting the laser head 240 is not particularly limited, and a known laser optical member (optical head) corresponding to irradiation with a high-power laser can be suitably used. Further, the specific configuration of the laser head fixing arm 242 is not particularly limited as long as it is a known arm member that can satisfactorily fix the laser head main body 241 to the side of the flying repeater 21 for flight. . Similarly, a known optical connector can be suitably used for the optical fiber connector 243 as well.

  As described above, the basic configuration of the fiber holding relay 22 is the same as that of the irradiation relay 21 except that the laser head 240 is not provided. However, a fiber holding section 251 or 252 as shown in FIGS. 4A and 4B is provided on the side surface of the fiber holding relay 22. The fiber holding unit 251 or 252 is not particularly limited in its specific configuration as long as the flying fiber holding relay 22 can stably hold the optical fiber 30 without damaging it.

  In the fiber holding repeater 22 shown in FIG. 4A, the optical fiber 30 is held by a cylindrical fiber holding unit 251. The cylindrical fiber holding portion 251 is a cylindrical member having a gentle curvature so as to correspond to the curvature of the optical fiber 30. By passing the optical fiber 30 inside the cylindrical member, the fiber holding portion 251 Even when the repeater 22 is in flight, the optical fiber 30 can be satisfactorily held without being damaged. In addition, in the opening part of the both ends of the cylindrical fiber holding | maintenance part 251, in order to prevent that excessive friction arises at the time of contact with the optical fiber 30, it is preferable to chamfer and round an edge part.

  Further, in the fiber holding repeater 22 shown in FIG. 4B, the optical fiber 30 is held by a plurality of annular fiber holding portions 252. The plurality of annular fiber holding portions 252 are fixed around the body portion 210 in a positional relationship corresponding to the curvature of the optical fiber 30, similarly to the cylindrical fiber holding portion 251. Thus, by passing the optical fibers 30 through the respective annular fiber holding portions 252, even if the fiber holding relay 22 is in flight, the optical fibers 30 can be held well without being damaged.

  Here, if the optical fiber 30 connected between the irradiator 11 and the unmanned repeater can propagate the laser beam (high power laser and guide laser) irradiated by the irradiator 11 well, The specific configuration is not particularly limited. In the present embodiment, an industrial optical fiber can be suitably used. Therefore, the more specific configurations of the cylindrical fiber holding portion 251 and the annular fiber holding portion 252 are not particularly limited, and are publicly known according to the type of the optical fiber 30 used, the use conditions of the fiber holding repeater 22, and the like. A suitable configuration can be selected.

  For example, the material of the fiber holding portion 251 or 252 is not particularly limited as long as it is made of a known resin material that can be used in the field of protecting the optical fiber 30. Also, the conditions such as the inner diameter, thickness, length, number (in the case of the annular fiber holding portion 252) and the like are not particularly limited, and the fiber holding repeater 22 in flight holds the optical fiber 30 well. The inner diameter, the thickness, the length, the number, and the like of the range that can be used may be used.

[Operation example of laser irradiation system]
Next, in addition to FIGS. 1A and 1B, an example of the operation of irradiating the target 40 with the laser beam by the laser irradiation system 10A having the above-described configuration is shown in the flowcharts shown in FIGS. A specific description will be given based on this. 6 and 7 show the control flow of the irradiator 11, the irradiation repeater 21 and the fiber holding repeater 22 in two parts, and between FIG. 6 and FIG. 11 flows between the nodes A and D, the flow of the irradiation repeater 21 is connected between the nodes B, and the fiber holding relay 22 is connected between the nodes C. .

  First, if the target 40 to be irradiated with the laser beam can be confirmed, the control unit 107 of the irradiator 11 starts control by the operation of the operator, and the irradiation repeater 21 and the fiber holding relay are started from the irradiator 11. A flight start command is transmitted to 22 (step S111). The irradiation repeater 21 and the fiber holding relay 22 start flying according to the flight start command (steps S211 and S311).

  Next, the irradiator 11 transmits the position information of the target 40 to the irradiation relay device 21 (step S112). The irradiation repeater 21 receives the position information of the target 40 (step S212), and completes the movement to the approximate position of the target 40 (position near the target 40) (step S213). In this state, the irradiation repeater 21 is in a hovering state.

  Here, since the irradiating relay 21 continuously transmits image information captured by the camera unit 212 to the irradiator 11, the irradiator 11 adds the target object to the image from the camera unit 212 after the movement is completed. 40 is included (the irradiation repeater 21 has moved to a position where the camera unit 212 can capture the target 40) (step S113). This confirmation may be performed by an operator of the irradiator 11, but may be automatically performed by image processing by the control unit 107.

  In addition, the fiber holding repeater 22 that has started flying acquires the relative position information with respect to the preceding unmanned repeater by the sensor unit 215 (step S312), and the operation control of the control unit 213 controls the communication with the preceding unmanned repeater. Follow-up motion is performed so as to maintain an appropriate positional relationship (step S313).

  In the example shown in FIGS. 1A and 1B, two fiber holding relays 22 are included. First, after the irradiation relay 21 starts flying (step S211), the first fiber holding relay is used. The repeater 22 starts flying (step S311). Then, the first fiber holding repeater 22 acquires relative position information with respect to the preceding irradiation repeater 21 (step S312), and sets an interval within a preset range with the irradiation repeater 21. Follow-up movement is performed so as to maintain (step S313). Further, after the first fiber holding repeater 22 starts flying (step S311), the second fiber holding repeater 22 starts flying (step S311). Then, the second fiber holding repeater 22 acquires the relative position information with respect to the preceding first fiber holding repeater 22 (step S312), and the second fiber holding repeater 22 is in contact with the first fiber holding repeater 22. Follow-up movement is performed so as to maintain an interval within a preset range (step S313).

  After the three unmanned repeaters start flying in this way, the state where the irradiation repeater 21 has reached the vicinity of the target 40 corresponds to the state shown in FIG. Thereafter (after step S113), the irradiator 11 transmits a hovering command to the irradiation relay device 21 (step S114), and the irradiation relay device 21 maintains the hovering state based on the hovering command (step S214). .

  Next, the irradiation machine 11 starts guide laser irradiation from the guide laser irradiation unit 102 (step S115). For example, in the display unit 106 in FIG. 1A, the target 40 is displayed on the screen of the camera unit 212 of the irradiation repeater 21. When the guide laser GL is emitted in this state, the target 40 It can be confirmed by the display of the irradiation point LP on the display unit 106 that the guide laser GL is irradiated at a distant position. Therefore, the irradiator 11 transmits an aiming command to the irradiation repeater 21 so that the guide laser GL coincides with the target 40 in the image of the camera unit 212 (in the screen of the display unit 106) (step). S116). The irradiation repeater 21 starts posture control based on the aiming command (step S215).

  In response to the aiming command, the control unit 213 of the irradiation repeater 21 controls the attitude of the own device based on information acquired from the high-precision sensor unit 214 and the camera unit 212 (position checker). Note that an operator may directly input a control command to the irradiation relay device 21 from the input unit 105 of the irradiation device 11. In this state, the irradiation repeater 21 finely adjusts the position and posture so that the target laser 40 is irradiated with the guide laser GL while irradiating the guide laser GL toward the ground.

  When the guide laser GL is irradiated to the target 40, the irradiation point LP of the guide laser GL and the target 40 substantially coincide on the screen as shown in the display unit 106 in FIG. . As a result, the irradiation repeater 21 has aimed the high output laser (laser beam) at the target 40. At this time, the irradiator 11 confirms that the distance from the target 40 to the irradiation point LP of the guide laser GL is within the allowable range (step S117), and the high output laser (laser) from the high output laser irradiation unit 101. Beam irradiation is started (step S118). Thereby, as shown in FIG.1 (b), the high output laser is irradiated from the upper direction with respect to the target object 40 from the laser head 240 of the irradiation repeater 21 (in the figure, upper irradiation high output laser HL). Thereafter, when irradiation with the high-power laser is completed under a predetermined condition set in advance (stop of the high-power laser irradiation unit 101), irradiation of the guide laser is also completed (stop of the guide laser irradiation unit 102), and irradiation is performed. The repeater 21 ends the attitude control (step S216).

  Note that the predetermined conditions set in advance with respect to laser beam irradiation include various conditions depending on the purpose of laser beam irradiation. For example, for the purpose of destroying (or changing the shape of) the target 40, the irradiation energy amount of the laser beam may be set in advance as a predetermined condition. It may be a condition to check. For the purpose of irradiating the target 40 with a laser beam for a predetermined time, the laser beam irradiation time may be set as a predetermined condition. For the purpose of destroying or changing the shape of the target 40, a step of confirming the destruction or shape change of the target 40 may be included before the attitude control of the irradiation relay machine 21 is finished. Good.

  Further, while the irradiation repeater 21 is controlling the attitude from hovering (steps S213 to S216), the two fiber holding relays 22 continue to follow (steps S312 and S313). ). Therefore, the first or second fiber holding repeater 22 is hovered so that an appropriate distance can be secured between the irradiation repeater 21 or the first fiber holding repeater 22. Or fly short distances.

  Thereafter, the irradiator 11 determines whether or not there is another target 40 to be irradiated with the laser beam (step S119). If it exists (YES in step S119), the process returns to the step of transmitting the position information of the target 40 to the irradiation repeater 21 (step S112), but if it does not exist (NO in step S119), the irradiator 11 transmits a flight end command to the irradiation repeater 21 and the two fiber holding relays 22 (step S120). When receiving the flight end command, the irradiation repeater 21 and the fiber holding relay 22 return to the position of the irradiator 11 (position of the vehicle 12) and end the flight (steps S217 and S314). Thus, a series of control is completed.

  As described above, according to the present embodiment, the unmanned repeater, which is a UAV, is moved to a position where the target 40 can be irradiated with the laser beam (upper irradiation high output laser HL). An optical fiber is stretched between the target object 40 via a repeater, and then a laser beam is emitted to the target object 40. As a result, the laser beam is irradiated to the target 40 from the unmanned repeater via the optical fiber 30. Therefore, it is not necessary for the unmanned repeater to perform advanced information processing for aiming at the target 40, and the configuration and flight control of the unmanned repeater can be simplified.

[Application of laser irradiation system]
The laser irradiation system 10A according to the present embodiment can be used widely and suitably for applications that can irradiate a stationary target 40 with a laser beam. Typical applications include (1) existing on the ground. Removal of foreign objects, etc. (2) Joining work, removal work (or maintenance work) in places (high places or narrow places) where human work is difficult in large structures, etc. (3) Accident sites where humans cannot enter Or the removal of debris etc. in disaster sites etc. is mentioned. In the following description, a case where the laser irradiation system 10A is applied to (1) removal of foreign matter existing on the ground will be described as an example.

  For example, in an environment where an IED (Improvised Explosive Device) exists on the ground as a foreign object, the target 40 (IED) can be removed by irradiating a laser beam with the IED as the target 40. Specifically, the IED usually has a configuration in which a substance (reactive substance) that causes a rapid chemical reaction such as gunpowder is covered with an exterior, so that the IED is irradiated with a high-power laser (laser beam). Thus, the exterior can be removed, and the reactive substance inside can be removed by reacting with a high-power laser to neutralize it.

  Therefore, the laser beam irradiation device and the operator of the irradiation device should maintain a position sufficiently away from the IED (a distance that can ensure safety) so as not to be affected by the reaction of the reactive substance. It is necessary to irradiate the IED with a laser beam from a distance.

  Here, as shown in FIG. 8 (a), when a high-power laser is directly irradiated on the ground target 40 (IED or the like) from the irradiator 11 mounted on the vehicle 12, the high-power laser is As seen from the target 40, the light travels straight from above and enters. If the high-power laser irradiated in this way is referred to as “obliquely irradiated high-power laser SL” for the sake of convenience, the obliquely irradiated high-power laser SL has an energy amount applied to the target 40 as compared with the upper-irradiated high-power laser HL. Less.

  First, since the oblique irradiation high output laser SL irradiates not only the target 40 but also the surrounding ground surface, only a part of the energy of the high output laser emitted from the irradiator 11 is given to the target 40. It will be. In addition, the energy density of the oblique irradiation high output laser SL irradiated obliquely from above is clearly smaller than that of the upward irradiation high output laser HL irradiated substantially from above. Therefore, it is necessary to neutralize the target 40 with only a part of the output irradiated to the target 40, and it is necessary to increase the output of the high-power laser irradiation unit 101.

  In contrast, in the laser irradiation system 10A according to the present embodiment, the irradiation repeater 21 shown in FIG. 8A irradiates the upper irradiation high output laser HL from above the target 40 via the optical fiber 30. can do. As a result, it is possible to efficiently irradiate the high-power laser from the irradiator 11, so that wasteful energy is not consumed as compared with the case of irradiating from obliquely above, and high energy efficiency can be achieved. it can. In addition, since it is possible to avoid an excessive increase in the output of the high-power laser irradiation unit 101, a relatively low-power and small-sized laser light source can be used as the high-power laser irradiation unit 101.

  Moreover, the high-power laser emitted from the irradiator 11 reaches the laser head 240 via the optical fiber 30 and is irradiated from above the target 40 as the upper-irradiated high-power laser HL. Therefore, the influence of scattering or attenuation by the atmosphere is reduced as compared with the oblique irradiation high output laser SL directly irradiated from the irradiator 11. Therefore, the energy efficiency of the high-power laser emitted from the irradiator 11 can be further improved.

  Next, for example, when processing the target 40 on complicated terrain or the like, the operator of the irradiator 11 may not be able to directly confirm the target 40 directly. For example, as schematically shown in FIG. 8B, when an obstacle 50 exists between the irradiator 11 and the target 40, the line of sight of the operator of the irradiator 11 (getting on the vehicle 12). The VC is blocked by the obstacle 50. In addition, even if the target 40 hidden behind the obstacle 50 is irradiated with the oblique irradiation high-power laser SL directly from the irradiator 11, the obstacle 50 is blocked by the straightness of the laser beam. The target 40 cannot be processed.

  On the other hand, in the laser irradiation system 10A according to the present embodiment, the irradiation repeater 21 shown in FIG. 8B images the ground with the camera unit 212 and transmits the obtained image data to the irradiation unit 11. Therefore, the operator of the irradiator 11 can sequentially confirm the images of the target 40 photographed from the irradiation repeater 21 that is hovering. Therefore, even if there is a target 40 that cannot be directly visually confirmed in an environment where visibility is not good, it can be appropriately processed.

  Furthermore, the operator of the irradiator 11 may not be able to confirm the target 40 not only in complicated terrain but also in an urban area with many buildings. In the laser irradiation system 10A according to the present embodiment, since the high-power laser beam is guided by the optical fiber 30, almost all of the laser beam emitted from the irradiator 11 is from the irradiation repeater 21. The laser head 240 is reached. Therefore, it is possible to effectively suppress the possibility that the high-power laser affects the surroundings, so that it can be used in urban areas.

  Moreover, the fact that the high-power laser is guided to the laser head 240 by the optical fiber 30 means that the aiming on the target 40 needs to be considered only between the irradiation repeater 21 and the target 40. . Therefore, since it can be considered that the irradiator 11 is mounted on the UAV, it is possible to simplify the operation of the laser irradiation system 10A including aiming of the laser beam.

[Modification]
As shown in FIGS. 1 (a) and 1 (b) or FIGS. 8 (a) and 8 (b), the laser irradiation system 10A having the above-described configuration includes one irradiation repeater 21 and two as unmanned repeaters. However, the present invention is not limited to this. For example, as shown in the laser irradiation system 10A-1 shown in FIG. Only the irradiation repeater 21 may be used. In other words, depending on the use environment, there may be a situation in which the fiber holding relay 22 is not required to hold the optical fiber 30 that extends from the irradiation machine 11 to the irradiation relay 21. In such a case, the fiber holding relay 22 may not be used.

  Further, the fiber holding relay 22 provided in the laser irradiation system 10A is not limited to two as shown in FIGS. 1A and 1B or FIGS. 8A and 8B. However, it may be three or more. Further, two or more irradiation repeaters 21 may be used as long as a plurality of optical fibers 30 can be extended from the irradiation unit 11.

  Further, when the length of the optical fiber 30 becomes insufficient because the distance between the irradiator 11 and the target 40 is long or the height difference is large, for example, laser irradiation shown in FIG. A plurality of optical fibers 30 may be connected (coupled) with a fiber connector 31 as in the system 10A-2. The specific configuration of the fiber connector 31 used at this time is not particularly limited, and a fiber connector known in the field of industrial optical fiber may be used.

  Moreover, the irradiation machine 11 does not need to have a function of emitting a guide laser as long as it can appropriately irradiate the target 40 with the laser beam from the irradiation repeater 21. However, if a guide laser can be emitted from the irradiator 11, an image captured by the camera unit 212 of the irradiation repeater 21 as shown in the screen of the display unit 106 shown in FIGS. Since the irradiation point LP of the guide laser GL as well as the object 40 can be displayed, the optical path of the high-power laser (laser beam) can be clearly shown on the image.

  In the present embodiment, as shown in the flowcharts of FIGS. 6 and 7, in the irradiator 11, the case where the approximate position of the target 40 is known in advance is taken as an example. If the position of the object 40 is unknown, the irradiation repeater 21 may be used as a UAV for exploration to fly ahead of the laser beam irradiation. At this time, the optical fiber 30 may be removed from the laser head 240 of the irradiation repeater 21 for flight. Since the irradiation repeater 21 includes the camera unit 212, the operator of the irradiator 11 searches for the unknown target 40 by flying ahead for exploration and photographing the ground with the camera unit 212. can do.

  In the flowcharts of FIGS. 6 and 7, the irradiation repeater 21 and the fiber holding relay 22 start or end the flight based on the command transmitted from the irradiator 11, but the present invention is not limited to this. Instead, the unmanned repeater may start or end the flight by an operator's operation or the like, or may separately use a controller that controls only the unmanned repeater flight.

(Embodiment 2)
As shown in FIGS. 10A and 10B, the laser irradiation system 10B according to the second embodiment has substantially the same configuration as the laser irradiation system 10A according to the first embodiment. The difference is that the probe 23 is provided in addition to the irradiation repeater 21 and the fiber holding repeater 22 which are unmanned repeaters. The probe 23 is a UAV configured to acquire position information of the target 40 and communicate with the irradiator 11.

[Configuration example of spacecraft]
As shown in FIG. 11 (a), the probe 23 used in the present embodiment basically has the same external configuration as the irradiation repeater 21 or the fiber holding repeater 22. As shown in FIG. 11B, the control configuration is the same as that of the fiber holding relay 22. Specifically, the spacecraft 23 includes a main body unit 210, a steering unit 220, and a communication unit 230, and in the main body unit 210, a propulsion unit 211, a camera unit 212, a control unit 213, and a sensor unit 216. Etc. are provided.

  The configuration of the main body unit 210, the steering unit 220, the communication unit 230, the propulsion unit 211, the camera unit 212, the control unit 213, the sensor unit 216, and the like included in the spacecraft 23 is the same as the irradiation repeater 21 in the first embodiment. Since it is the same as each structure demonstrated regarding the fiber holding | maintenance repeater 22, the specific description is abbreviate | omitted.

  However, the sensor unit 216 can be configured with sensors that are less expensive than the sensor unit 215 of the fiber holding relay 22. In order to hold the optical fiber 30, the fiber holding repeater 22 needs to perform attitude control with a certain degree of accuracy, although not as much as the irradiation repeater 21. On the other hand, the probe 23 may be any posture control that does not interfere with the photographing by the camera unit 212. Therefore, the sensor unit 216 of the probe 23 may be composed of inexpensive sensors because the sensor unit 216 of the fiber holding relay device 22 may be a sensor having a lower level than the sensors used in the sensor unit 215. Can do.

  The search method of the target 40 by the probe 23 (information acquisition method regarding the target 40) is not particularly limited. For example, the operator flies on a predetermined flight path (predetermined path) and the operator moves the target 40. There can be mentioned a method in which candidates are confirmed, various information relating to the candidates is made into a database, a predetermined route is again flew, and the operator (and automatic determination by the control unit 107 of the irradiator 11) confirms again.

  Specifically, first, when the probe 23 first flies on a predetermined route, the probe 23 takes an image (visible image or infrared image) with the camera unit 212 and transmits it to the irradiator 11. The display unit 106 of the irradiator 11 superimposes and displays the image from the camera unit 212 and the shape of radio waves such as millimeter waves. The operator confirms the display on the display unit 106 and selects a candidate for the target 40. Next, by operating the input unit 105, the operator operates the input unit 105 with respect to each of the candidates for the target 40 (position information (GPS information) on the predetermined route, road surface shape of the position, information such as the type of candidate object) (Candidate information) is converted into a database and stored in the storage unit of the control unit 107.

  Next, when the probe 23 flies for the second time or later, the probe 23 takes an image with the camera unit 212 and transmits it to the irradiator 11 as in the first time. In the irradiator 11, an image is displayed on the display unit 106 as in the first time, but the operator compares (or collates) the image from the probe 23 with the acquired candidate information stored in the database.

  As a result of this comparison, if it is confirmed that there is a high possibility that an arbitrary candidate is the target 40, the probe 23 is caused to fly to that candidate, and the operator confirms the candidate again. In this manner, the accuracy of the database is improved by performing confirmation about the candidate for the target 40 a plurality of times. Also, if it is clear from the comparison results that all of the objects selected as candidates for the target object 40 are those that do not need to be suspected as the target object 40, the operator can determine that the target object 40 is an area that has already been explored. It can be determined as an “absent area” that does not exist.

  If the exploration method by the exploration device 23 is configured as described above, the first exploration (and the first exploration) and the most likely candidates will require detailed confirmation by the operator. Regarding the comparison (or collation) with the database and the determination of the “absent area”, at least a part of the work can be automated by the control unit 107 of the irradiator 11. Therefore, it is possible to improve the discovery probability of the target object 40 by performing the search by combining the manual work and the work by the control of the irradiator 11, and also improve the processing speed related to the search. It becomes possible.

[Operation example of laser irradiation system]
Next, an example of the operation of irradiating the target 40 with the laser beam by the laser irradiation system 10B including the probe 23 is shown in FIGS. 12 to 14 in addition to FIGS. 10 (a) and 10 (b). A specific description will be given based on the flowchart.

  12 to 14 show the control flow of the irradiation machine 11, the irradiation relay machine 21, the fiber holding relay machine 22 and the exploration machine 23 in three parts. Then, the flow of the irradiator 11 is connected between the nodes A, the flow of the irradiation repeater 21 is connected between the nodes C, and the fiber holding relay 22 is connected between the nodes D. Also, between FIG. 12 and FIG. 14, the flow of the probe 23 is connected between the B nodes, and the flow of the irradiator 11 is connected between the I nodes. Further, between FIGS. 13 and 14, the flow of the irradiator 11 is connected between the nodes of E and the nodes of H, and the flow of the relay device for irradiation 21 is connected between the nodes of F, and the fiber is held. The relay 22 is connected between the G nodes.

  First, since the control unit 107 of the irradiator 11 starts control by the operator's operation, a flight start command is transmitted from the irradiator 11 to the irradiation repeater 21, the fiber holding repeater 22, and the probe 23. (Step S411). The irradiation repeater 21, the fiber holding repeater 22, and the probe 23 start flying according to the flight start command (steps S511, S611, and S711).

  Next, the irradiator 11 transmits an exploration command to the exploration device 23 (step S412). The explorer 23 receives the exploration command and performs the exploration by flying on the predetermined route described above (step S512). The predetermined route may be fixed as a fixed flight route in the above-described exploration method, but may be changed by an operator of the irradiator 11 as necessary. Instead of a predetermined flight path, the operator may fly a free flight path by operating the irradiator 11. As described above, the probe 23 captures an image of the ground with the camera unit 212 while flying on a predetermined route, so that the operator visually observes the captured image with the display unit 106, as described above. The presence or absence of the target 40 may be confirmed.

  Next, as illustrated in FIG. 10A, if the camera unit 212 of the probe 23 can capture the target 40, the probe 23 acquires position information of the target 40 using the camera unit 212 and the sensor unit 216. (Step S513), this position information is transmitted to the irradiator 11 (step S514). When receiving the position information of the target 40 (step S413), the irradiator 11 transmits the position information of the target 40 to the irradiation repeater 21 (step S414).

  The irradiation relay 21 receives the position information of the target 40 (step S612), completes the movement to the approximate position of the target 40 (position near the target 40) (step S613), and enters the hovering state. . The irradiator 11 confirms that the target 40 is included in the image from the camera unit 212 of the irradiation repeater 21 (step S415). Further, the fiber holding relay 22 acquires relative position information with respect to the preceding unmanned repeater (irradiation relay 21 or other fiber holding relay 22) by the sensor unit 215 (step S712), and the control unit 213. By following the operation control, a follow-up motion is performed so as to maintain an appropriate positional relationship with the preceding unmanned repeater (step S713).

  Next, the irradiation device 11 transmits a hovering command to the irradiation relay device 21 (step S416), and the irradiation relay device 21 maintains the hovering state based on the hovering command (step S614). The irradiator 11 starts irradiation of the guide laser from the guide laser irradiation unit 102 (step S417), and the irradiation point of the guide laser GL on the target 40 in the image of the camera unit 212 (in the screen of the display unit 106). An aiming command is transmitted to the irradiation repeater 21 so that the LPs match (step S418). The irradiation repeater 21 starts posture control based on the aiming command (step S615).

  In response to the aiming command, the control unit 213 of the irradiation repeater 21 controls the attitude of the own device based on information acquired from the high-precision sensor unit 214 and the camera unit 212 (position checker). Note that an operator may directly input a control command to the irradiation relay device 21 from the input unit 105 of the irradiation device 11. In this state, the irradiation repeater 21 finely adjusts the position and posture so that the target laser 40 is irradiated with the guide laser GL while irradiating the guide laser GL toward the ground.

  If the guide laser GL is irradiated onto the target 40, the irradiation point LP of the guide laser GL and the target 40 substantially coincide on the screen as shown in the display unit 106 in FIG. Then, the irradiation repeater 21 completes the aiming of the high-power laser. Therefore, the irradiator 11 confirms that the distance from the target 40 to the irradiation point LP of the guide laser GL is within an allowable range (step S419), and the high-power laser irradiation unit 101 outputs a high-power laser (laser beam). ) Is started (step S420).

  As a result, as shown in FIG. 10B, the target 40 is irradiated with the upper irradiation high output laser HL from the laser head 240 of the irradiation repeater 21. Thereafter, when the irradiation with the high-power laser is completed under the predetermined condition set in advance and the irradiation with the guide laser is also completed, the irradiation repeater 21 ends the posture control (step S616). As described in the first embodiment, when the purpose of the laser beam irradiation is, for example, to destroy or change the shape of the target 40, the posture control of the irradiation repeater 21 is terminated. A step of confirming destruction or shape change of the target 40 may be included.

  Further, while the irradiation repeater 21 is controlling the attitude from hovering (steps S613 to S616), the fiber holding repeater 22 continues the following motion (steps S712 and S713).

  Thereafter, the irradiator 11 determines whether or not there is another target 40 to be irradiated with the laser beam (step S421). If it exists (YES in step S421), the process returns to the step of transmitting the position information of the target 40 to the irradiation relay 21 (step S414), but if it does not exist (NO in step S422), otherwise It is determined whether or not the target 40 to be irradiated with the laser beam is to be searched (step S422). If the search is to be performed (YES in step S422), the process returns to the step of transmitting a search command to the probe 23 (step S412).

  Here, when the exploration device 23 has completed the exploration of the predetermined route, the irradiator 11 has all the positional information of the plurality of target objects 40. The probe 23 is caused to make an exploration flight. On the other hand, if the exploration of the predetermined route is not completed, the probe 23 is caused to explore and fly so as to repeat the flight of the predetermined route and the exploration of the candidate of the target 40 (acquisition of position information).

  On the other hand, if the target 40 is not searched (NO in step S422), the irradiator 11 transmits a flight end command to the irradiation repeater 21, the fiber holding relay 22 and the searcher 23 (step S423). Upon receiving the flight end command, the irradiation repeater 21, the fiber holding relay 22 and the probe 23 return to the position of the irradiator 11 (the position of the vehicle 12) and end the flight (step S617, Step S714 and Step S515), thereby completing a series of controls.

  As described above, according to the present embodiment, the irradiator 11 is based on the position information of the target 40 acquired from the spacecraft 23 that is a UAV, and is an unmanned repeater (irradiation repeater 21 and fiber) that is also a UAV. The holding relay 22) is flight-controlled to extend the optical fiber 30 to the target 40, and then a laser beam is emitted to the target 40. Thereby, even when the position of the target 40 is not known in advance or when it is not known whether or not the target 40 is in the area to be searched, the target 40 can be found and processed.

  Further, since the UAV having the same configuration as the irradiation repeater 21 and the fiber holding repeater 22 that are substantially unmanned repeaters can be used as the explorer 23, the explorer 23 has a simple configuration. And simple flight control can be realized. Therefore, the target 40 can be appropriately irradiated with the laser beam with a simple configuration.

  Further, by comparing the exploration results by flying the spacecraft 23 a plurality of times, the accuracy of recognizing the target object 40 (or its candidate) can be improved, and a new target object 40 can be used during the exploration flight. Even if (or the candidate) is installed (or has occurred), it can be properly recognized. In addition, if there is no suspicious target object 40 in the area that has been explored and flying based on a plurality of exploration results, the area that has been explored can be determined as the “absent area”. Moreover, the installation determination of the new target 40 (or its candidate) or the determination of the “absence area” can be automated by the control unit 107 of the irradiator 11.

  Here, in the flowcharts of FIGS. 12 to 14, as in the flowcharts of FIGS. 6 and 7 in the first embodiment, the irradiation repeater 21, the fiber holding relay 22, and the probe 23 are the irradiation units. However, the present invention is not limited to this, and the unmanned repeater and the explorer may start or end the flight by the operation of the operator or the like. A controller for controlling only the flight of the unmanned repeater and the spacecraft may be used separately.

  It should be noted that the present invention is not limited to the description of the above-described embodiment, and various modifications are possible within the scope shown in the scope of the claims, and are disclosed in different embodiments and a plurality of modifications. Embodiments obtained by appropriately combining the technical means are also included in the technical scope of the present invention.

  The present invention can be used to irradiate a stationary target with a laser beam, such as removal of foreign matter existing on the ground, joining work or removal work in a place where human work is difficult, or human entry. It can be used widely and suitably for applications such as removal of debris at accident sites or disaster sites that cannot be accommodated.

10A Laser irradiation system 10B Laser irradiation system 11 Irradiator 12 Vehicle 21 Irradiation repeater (unmanned repeater)
22 Fiber holding repeater (unmanned repeater)
23 probe 30 optical fiber 40 target 101 high power laser irradiation unit 102 guide laser irradiation unit 103 communication unit 104 sensor unit 107 (irradiator) control unit 212 camera unit (position checker)
213 (Unmanned repeater, explorer) control unit 214 High-precision sensor unit (position checker)
215 Sensor unit (position checker)
216 Sensor unit (position checker)
230 Communication unit 240 Laser head 251 Cylindrical fiber holder 252 Annular fiber holder HL High power laser (laser beam)
GL guide laser

Claims (7)

Used to irradiate a stationary target with a laser beam,
An irradiator for emitting the laser beam;
An unmanned flying vehicle that is flight-controlled by communicating with the irradiator, and an unmanned repeater that relays a laser beam emitted from the irradiator to the target;
An optical fiber connected between the irradiator and the unmanned repeater;
With
The unattended repeater includes a laser head connected to the optical fiber, and includes an irradiation repeater that directly irradiates the target with the laser beam,
The irradiation machine moves the irradiation relay machine to a position where the target can be irradiated with the laser beam, and then emits the laser beam, thereby irradiating the laser beam with the optical fiber. The laser beam is guided to the laser head of the relay machine, and the target is irradiated with the laser beam from the laser head .
Laser irradiation system. As the unmanned repeater,
Furthermore, in order to relay the laser beam irradiated from the irradiation machine to the irradiation relay machine, a fiber holding relay machine that holds the optical fiber is included ,
The laser irradiation system according to claim 1. And further comprising a spacecraft configured to obtain position information of the target and communicate with the irradiator,
The irradiator controls flight of the unmanned repeater based on the position information acquired from the spacecraft,
The laser irradiation system according to claim 1 or 2. The unmanned repeater is equipped with a position checker for checking the position of the self-machine with respect to the irradiator and the target,
The laser irradiation system according to any one of claims 1 to 3. In the case where a plurality of unmanned repeaters are provided, each unmanned repeater is
It is configured to be able to communicate with other unmanned repeaters in addition to the irradiator, and is configured to be able to confirm the position of the own device with respect to other unmanned repeaters by the position checker. And
The laser irradiation system according to claim 4. The irradiator is configured to emit a guide laser having a lower output than the laser beam,
By irradiating the target laser to the target through the optical fiber, the laser beam is aimed at the target from the unmanned repeater,
The laser irradiation system according to any one of claims 1 to 5. The irradiator is mounted on a vehicle,
The laser irradiation system according to any one of claims 1 to 6.

Images