KR102077596B1 - Beam path change device, laser weapon system including the same and operation method of laser weapon system - Google Patents

Abstract

A laser weapon system according to an embodiment of the present invention includes: a beam path changing apparatus for changing a path of a laser beam generated to strike a target; and a laser weapon for remotely controlling the beam path changing apparatus and firing the laser beam toward the beam path changing apparatus. The beam path changing apparatus includes: an image acquisition unit for detecting and tracking the target; a reflection unit including a reflector reflecting the laser beam toward the target; and a main body unit for adjusting at least one of a location of the beam path changing apparatus, a position of the image acquisition unit, and a position of the reflection unit according to a control signal received from the laser weapon.

Description

BEAM PATH CHANGE DEVICE, LASER WEAPON SYSTEM INCLUDING THE SAME AND OPERATION METHOD OF LASER WEAPON SYSTEM

An embodiment of the present invention is a beam path changing device, a laser weapon system including the same, and a method of operating the laser weapon system, in particular, detecting and tracking a target based on an image according to a user's remote control, and adjusting a reflection angle of the reflector The present invention relates to a beam path changing device capable of changing a path of a laser beam emitted by a weapon, a laser weapon system including the same, and a method of operating the laser weapon system.

The laser means amplification of light by induction emission of electromagnetic waves, and means a device that converts external input energy (eg, electrical energy, chemical energy, etc.) into light energy. The three main components of the laser are composed of a laser medium that induces and emits light by external input energy, a pumping system that supplies external input energy to the laser medium, and a reflector, which induces the emitted light. There is an optical resonator that generates a laser beam by bombardment. According to the output form of the laser beam, lasers are classified into a continuous type used for laser weapon use and a pulse type used for sensor use. Depending on the laser medium, lasers are classified into gas lasers, solid-state lasers, liquid lasers, and free-electron lasers.

The laser weapon refers to a weapon that utilizes directivity (straightness) and high energy density, which are the characteristics of a laser beam, and is used as a promising anti-aircraft weapon for future warfare and RAM (Rocket, Artillery, Mortar) defense. Advantages of laser weapons include: i) low cost of launch and operation, ii) fast engagement time, iii) precision strikes and minimal secondary damage from targets. have. The disadvantages of the laser weapon include i) limitation of the line of sight of the weapon, and ii) a decrease in beam focusing ability due to the atmosphere. The core components of a laser weapon include a laser generating device that generates a laser beam, a beam control device that controls a laser beam, and a tracking aiming device that tracks and aims a target.

In the case of the conventional laser weapon, the mission area was limited to anti-aircraft defense due to the limitation of the line of sight of the weapon where the target and the laser weapon should be placed in a straight line, and the laser weapon was easy to be exposed, and operation was possible when there was an obstacle on the ground. There were difficult disadvantages.

Korean Patent Registration No. 10-1057303 'Tracking aiming device for laser weapon' (released on Aug. 16, 2011) Korean Registered Patent No. 10-0301633 'Short-range / medium-range laser defense system against chemical and biological weapons' (released on Oct. 29, 2001)

An object of the present invention is to provide a beam path changing device that can be remotely controlled by a user, a laser weapon system including the same, and a method of operating the laser weapon system.

Another object of the present invention is to provide a beam path changing device capable of detecting and tracking a target based on an image, a laser weapon system including the same, and a method of operating the laser weapon system.

Another object of the present invention is to provide a beam path changing device that can change the path of a laser beam emitted by a laser weapon by adjusting a reflection angle of a reflector, a laser weapon system including the same, and a method of operating the laser weapon system To have.

A laser weapon system according to an embodiment of the present invention includes a beam path changing device for changing a path of a laser beam generated to strike a target; And a laser weapon for remotely controlling the beam path changing device and firing the laser beam toward the beam path changing device, wherein the beam path changing device comprises: an image acquisition unit for detecting and tracking the target ; A reflector including a reflector reflecting the laser beam toward the target; And a body unit for adjusting at least one of a position of the beam path changing device, a posture of the image acquisition unit, and a posture of the reflection unit according to a control signal received from the laser weapon.

In the present invention, the image acquisition unit, a camera device for generating image information by photographing the target; And a first gimbal in which the camera device is installed and rotatable along at least two axes.

In the present invention, the reflector, the reflector is installed, a second gimbal capable of rotating along at least two or more axes; And a connecting pillar for connecting the second gimbal and the main body.

In the present invention, the main body unit, a sensing unit for generating position information and attitude information by sensing the position of the beam path changing device, the posture of the image acquisition unit and the posture of the reflection unit; A communication unit for transmitting the image information, the location information and the posture information to the laser weapon through a network, and receiving the control signal from the laser weapon; A control unit for controlling at least one of a position of the beam path changing device, a posture of the image acquisition unit, and a posture of the reflection unit based on the control signal; A power supply unit for supplying driving power to the beam path changing device; And a case for protecting the main body from external impact.

In the present invention, the laser weapon comprises: a laser device for firing the laser beam; A communication module for receiving the video information, the location information, and the posture information from the beam path changing device through the network, and transmitting the control signal to the beam path changing device; And a control module for generating the control signal based on at least one of the image information, the location information, and the posture information.

In the present invention, the beam path changing device further includes a flight unit for adjusting the position of the beam path changing device based on the control signal.

In the present invention, the flight unit, at least one propeller to rotate itself to generate lift; And at least one connecting portion for fixing the at least one propeller to the main body.

In the present invention, the first gimbal is a biaxial gimbal rotatable along the pitch and yaw rotation directions, and the second gimbal is a biaxial gimbal that can be foremost along the pitch and roll rotation directions.

In the present invention, the diameter of the reflector is designed to be 35cm to 45cm.

The laser weapon system according to an embodiment of the present invention remotely controls the beam path changing device and the beam path changing device for changing a path of a laser beam generated to strike a target, and directs the laser beam to the beam path It includes a laser weapon for firing toward the change device, the operation method of the laser weapon system, to detect and track the target using the image information generated by the image acquisition unit of the beam path change device, the beam path Adjusting the position and posture of the change device; On the basis of the position information and the posture information generated by the detection unit of the beam path changing device, the distance between the beam path changing device and the target is calculated, and a normal vector of the reflector of the beam path changing device is determined, Adjusting the posture of the reflector; Fine-adjusting the posture of the reflector by using an auxiliary laser of the laser weapon; And emitting the laser beam toward the reflector of the beam path changing device.

In the present invention, in the step of adjusting the position and posture of the beam path changing device, the control module of the laser weapon generates a control signal for the image acquisition unit to detect and track a target, and the control signal to the beam path Transmitting to a change device; The control unit of the beam path changing device adjusts the position and posture of the beam path changing device according to the control signal; Transmitting, by the communication unit of the beam path changing apparatus, the image information, the location information and the posture information to the laser weapon through a network; And determining whether a target is specified based on the image information by the control module of the laser weapon, and when the target is not specified, proceed to generating the control signal.

In the present invention, in adjusting the posture of the reflector, the control module determines a normal vector of the reflector included in the reflector, generates a control signal including a correction angle of the normal vector, and the control signal. Transmitting to the beam path changing device; And adjusting, by the control unit, a posture of the reflection unit according to the control signal.

In the present invention, the auxiliary laser of the laser weapon is a step of firing an auxiliary laser beam; The image acquisition unit photographing the auxiliary laser beam; Transmitting, by the communication unit, the image information, the location information, and the posture information to the laser weapon through the network; Generating, by the control module, a control signal for correcting the error based on an error representing a distance difference between the auxiliary laser beam and the target, and transmitting the control signal to the beam path changing device; And the control unit fine-adjusting the posture of the reflection unit.

An apparatus for changing a beam path according to an embodiment of the present invention includes: an image acquisition unit for detecting and tracking a target based on an image, and for generating image information; A reflector including a reflector reflecting a laser beam emitted from a laser weapon toward the target; A flight unit for adjusting the position of the beam path changing device based on the control signal received from the laser weapon; And a body part for controlling the image acquisition part, the reflection part, and the flight part based on the control signal, wherein the body part includes a position of a beam path changing device, a posture of the image acquisition part, and a posture of the reflection part. A sensing unit for sensing and generating position information and posture information; A communication unit for transmitting the image information, the location information and the posture information to the laser weapon through a network, and receiving the control signal from the laser weapon; And a control unit for controlling at least one of the position of the beam path changing device, the posture of the image acquisition unit, and the posture of the reflection unit based on the control signal.

The apparatus for changing a beam path of the present invention, a laser weapon system including the same, and a method of operating the laser weapon system are effective in detecting and tracking a target based on an image by being remotely controlled by a user.

In addition, the apparatus for changing a beam path of the present invention, a laser weapon system including the same, and a method of operating the laser weapon system have an effect of improving accuracy of tracking and hitting a target.

In addition, the apparatus for changing the beam path of the present invention, a laser weapon system including the same, and a method of operating the laser weapon system are used for defense of a land by striking a target at various angles, and have an effect of reducing the possibility of exposure of a laser weapon. .

1 is a view showing a laser weapon system according to an embodiment of the present invention.
2 is a view showing a laser weapon system according to an embodiment of the present invention.
3 is a view showing a laser weapon system according to another embodiment of the present invention.
4 is a view showing an apparatus for changing a beam path according to an embodiment of the present invention.
5 is a view showing a main body of a beam path changing device according to an embodiment of the present invention.
6 is a view showing an apparatus for changing a beam path according to an embodiment of the present invention.
7 is a view showing a reflector according to an embodiment of the present invention.
8 is a view showing the operation of the laser weapon system according to an embodiment of the present invention.
9 is a view showing the operation of the beam path changing apparatus according to an embodiment of the present invention.
10 is a flowchart illustrating a method of operating a laser weapon system according to an embodiment of the present invention.
11 is a view showing in detail the steps of adjusting the position and posture of the beam path changing apparatus according to an embodiment of the present invention.
12 is a view showing in detail the steps of adjusting the posture of the reflector according to an embodiment of the present invention.
13 is a flowchart illustrating in detail a method of operating a laser weapon system according to an embodiment of the present invention.

The present invention will be described in more detail.

Hereinafter, exemplary embodiments of the present invention and other matters necessary for those skilled in the art to easily understand the contents of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention can be implemented in a variety of different forms within the scope of the claims, so the embodiments described below are merely illustrative, regardless of whether they are expressed.

The same reference numerals refer to the same components. In addition, in the drawings, the thickness, ratio, and dimensions of the components are exaggerated for effective description of technical content. “And / or” can include any combination of one or more that the associated configurations can define.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from other components. For example, the first component may be referred to as a second component without departing from the scope of the present invention, and similarly, the second component may be referred to as a first component. Singular expressions may include plural expressions unless the context clearly indicates otherwise.

In addition, terms such as "below", "below", "above", "above", etc. are used to describe the relationship between the components shown in the drawings. The terms are relative concepts and are explained based on the directions indicated in the drawings.

The terms "include" or "have" are intended to indicate the presence of features, numbers, steps, actions, components, parts or combinations thereof described in the specification, one or more other features or numbers or steps. It should be understood that it does not preclude the existence or addition possibility of the operation, components, parts or combinations thereof.

That is, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and when a part is connected to another part in the following description, it is directly connected. In addition, it may also include a case in which other elements are electrically connected in between. In addition, it should be noted that the same components in the drawings are represented by the same reference numbers and symbols as possible, even though they are displayed on different drawings.

1 is a view showing a laser weapon system 10 according to an embodiment of the present invention. 2 is a view showing a laser weapon system 10 according to another embodiment of the present invention.

1 and 2, the laser weapon system 10 according to an embodiment of the present invention can detect and track a target based on an image. The laser weapon system 10 may adjust the posture of the reflector that will reflect the laser beam LB. Also, the laser weapon system 10 may strike the target TG using the laser beam LB.

As illustrated in FIG. 2, an obstacle OC may be positioned between the laser weapon 100 and the target TG. In such an environment, the laser weapon system 10 according to the embodiment of the present invention may strike the target TG by reflecting the laser beam LB emitted by the laser weapon 100 using the beam path changing device 200. You can. To this end, the laser weapon system 10 may include a laser weapon 100 and a beam path changing device 200.

The laser weapon 100 may fire the laser beam LB toward the beam path changing device 200. In this specification, the laser beam LB refers to a high energy laser capable of hitting the target TG. In addition, the laser weapon 100 may remotely control the beam path changing device 200. Depending on the embodiment, the laser weapon 100 may be disposed on the ground. However, the present invention is not limited thereto, and according to an embodiment, the laser weapon 100 may be selectively disposed on the ground or in the air. To this end, the laser weapon 100 may include a laser device 110, an auxiliary laser 120, a communication module 130 and a control module 140.

The laser device 110 may emit a laser beam LB. According to an embodiment, the laser device 110 may include a pumping source, a gain medium, and a tracking aiming device, and may be implemented as a solid-state laser.

The auxiliary laser 120 may emit an auxiliary laser beam for guiding the path of the laser beam LB. Details related to the auxiliary laser 120 are described in FIG. 9.

The communication module 130 may communicate with the beam path changing device 200 through a network. That is, the communication module 130 may transmit a control signal to the beam path changing device 200 through a network or receive information from the beam path changing device 200. In this specification, the network may mean a wired or wireless network. Depending on the embodiment, the network may be implemented as any type of wired or wireless network.

The control module 140 may control the overall operation of the laser weapon 100. In addition, the control module 140 may generate a control signal to remotely control the beam path changing device 200 and transmit the control signal to the beam path changing device 200 through the communication module 130.

In addition, the control module 140 calculates an incident angle and a reflection angle of the laser beam LB based on the position information and the posture information received from the beam path changing device 200, and the beam path changing device 200 and the target ( TG) can be calculated. The control module 140 determines the normal vector of the reflector 220 based on the calculated distance, and transmits a control signal including angle information for the determined normal vector to the beam path changing device 200 to the communication module 130 ).

Specifically, the control module 140 may remotely control the beam path changing device 200 using the communication module 130. In addition, the control module 140 may cause the beam path changing device 200 to detect and track a target TG based on an image. In addition, the control module 140 may adjust the posture of the reflector of the beam path changing device 200 so that the laser beam LB emitted by the reflector reaches the target TG.

The beam path changing apparatus 200 according to an embodiment of the present invention may be remotely controlled through the laser weapon 100 to a user, and may detect and track a target TG based on an image, and image information and location At least one of information and posture information may be transmitted to the laser weapon 100. In addition, the beam path changing device 200 may fly. According to an embodiment, the beam path changing device 200 may be implemented in the form of an unmanned flying device (eg, a drone). Then, the beam path changing apparatus 200 may change the path of the laser beam LB and strike the target TG by reflecting the laser beam LB generated from the laser weapon 100. To this end, the beam path changing apparatus 200 may include an image acquisition unit 210, a reflection unit 220, a body unit 230, and a flight unit 240.

The image acquisition unit 210 may photograph the front and target TG of the beam path changing device 200 and detect and track the target TG. Also, the image acquisition unit 210 may generate image information.

The reflector 220 may reflect the laser beam LB emitted by the laser device 110 toward the target TG. In addition, the reflector 220 may check the path of the laser beam LB and reflect the auxiliary laser beam emitted by the auxiliary laser 120 toward the target TG in order to accurately reflect it.

The main body 230 may control the operation of the beam path changing device 200 according to a control signal transmitted from the laser weapon 100.

For example, the main body 230 transmits the image information generated by the image acquisition unit 210 to the laser weapon 100, and the posture of the image acquisition unit 210 according to the control signal (that is, the photographing direction of the camera device) And the rotation angle of the first gimbal, etc.).

The main body 230 may adjust the posture of the reflector 220 (that is, the reflecting direction of the reflector and the rotation angle of the second gimbal, etc.) according to the control signal. In addition, the body unit 230 may move the beam path changing device 200 or fix it to a specific location by operating the flight unit 240 according to a control signal. To this end, the main body 230 may include a detection unit 231, a communication unit 232, a control unit 233, a power unit 234, and a case 235.

The sensing unit 231 may detect the location of the beam path changing device 200 and generate location information. According to an embodiment, the sensing unit 231 may include a Global Positioning System (GPS) device. The sensing unit 231 may detect posture of at least one of the beam path changing apparatus 200, the image acquisition unit 210, and the reflection unit 220 to generate posture information. According to an embodiment, the sensing unit 231 may include a gyro sensor. For example, the sensing unit 231 may generate and update location information and posture information in real time.

The communication unit 232 may communicate with the laser weapon 100 through a network. That is, the communication unit 232 may receive a control signal from the laser weapon 100 through a network, or transmit information (eg, at least one of image information, location information, and posture information) to the laser weapon 100 in real time. .

The controller 233 may perform a control operation of the main body 230. For example, the control unit 233 may adjust the posture of the image acquisition unit 210 by driving the first gimbal according to the control signal. In addition, the control unit 233 may adjust the posture of the reflection unit 220 by driving the second gimbal according to the control signal. The control unit 233 may drive the flight unit 240 to adjust the position of the beam path changing device 200.

The power supply unit 234 may provide a driving voltage required for the operation of the components of the beam path changing device 200. According to an embodiment, the power supply unit 234 may be implemented with at least one battery.

The case 235 seals the sensing unit 231, the communication unit 232, the control unit 233, and the power unit 234 from the outside to protect them from external impact.

The flight unit 240 may generate lift and move the beam path changing device 200 using the lift or fix it at a specific location. Details related to the flight unit 240 will be described in FIG. 6.

2, the laser weapon 100 transmits a control signal to the beam path changing device 200, and the beam path changing device 200 detects and tracks a target TG according to the control signal. You can. For example, the beam path changing apparatus 200 may search and track the target TG beyond the obstacle OC by operating based on the image of the image acquisition unit 210.

3 is a view showing a laser weapon system 10 according to another embodiment of the present invention.

In order to prevent duplication of the description, in FIG. 3, contents overlapping with those described in FIGS. 1 and 2 are omitted.

As shown in FIG. 3, according to a beam path changing plan, the laser weapon system 10 may include a first beam path changing device 200-1 and a second beam path changing device 200-2. . The laser weapon 100 may communicate with the first beam path changing device 200-1 and the second beam path changing device 200-2, respectively.

The laser weapon system 10 according to the embodiment shown in FIG. 3 may include a first beam path changing device 200-1 and a second beam path changing device according to the laser beam path determined by the control module of the laser weapon 100. Each of (200-2) can be located.

For example, the size of the reflector of the first beam path changing device 200-1 may be larger than the size of the reflector of the second beam path changing device 200-2. This is because the laser beam LB is not sufficiently focused until it reaches the first beam path changing device 200-1.

The laser weapon 100 fires the laser beam LB with the first beam path changing device 200-1, and the first beam path changing device 200-1 is the second beam path changing device 200-2. The laser beam LB may be reflected toward the. Also, the second beam path changing device 200-2 may reflect the laser beam LB toward the target TG. Accordingly, the laser weapon system 10 can accurately strike the target TG.

4 is a view showing a beam path changing apparatus 200 according to an embodiment of the present invention. 5 is a view showing a body portion 230 of the beam path changing apparatus 200 according to an embodiment of the present invention.

1, 4 and 5, the beam path changing apparatus 200 may include an image acquisition unit 210, a reflection unit 220, and a main body unit 230.

The image acquisition unit 210 may include a camera device 211 and a first gimbal 212.

The camera device 211 may generate image information by photographing a target TG located in front. For example, the camera device 211 may photograph a wavelength corresponding to the auxiliary laser beam generated by the auxiliary laser 120 so as to identify the auxiliary laser beam in the image. As illustrated, the camera device 211 may be installed in the first gimbal 212.

The first gimbal 212 can rotate along at least two or more axes. Accordingly, the first gimbal 212 may control an area to be photographed by rotating the camera device 211. According to an embodiment, the first gimbal 212 may be a two-axis gimbal rotatable along a pitch and yaw rotation direction.

Through this, the image acquisition unit 210 according to an embodiment of the present invention can easily detect and track the target TG.

The reflector 220 may include a reflector 221, a second gimbal 222, and a connecting pillar 223.

The reflector 221 may reflect the laser beam LB (see FIG. 2) emitted by the laser weapon 100 toward the target TG (see FIG. 2). For example, the size of the reflector 221 may be designed to correspond to the size of the main diameter of the beam focusing device of the tracking aiming device included in the laser device 110. Depending on the embodiment, the diameter of the reflector 221 may be designed to be 35cm to 45cm. The reflector 221 may be a mirror that has been treated on the surface to cause total reflection of the laser beam LB. As illustrated, the reflector 221 may be installed on the second gimbal 222.

The second gimbal 222 can rotate along at least two or more axes. Accordingly, the second gimbal 222 may rotate the reflector 221 to adjust the posture of the reflector 221 and control the traveling path of the laser beam LB. According to an embodiment, the second gimbal may be a two-axis gimbal rotatable along a pitch and roll rotation direction.

The connection pillar 223 may connect the second gimbal 222 and the body portion 230 to each other.

Through this, the reflector 220 according to the exemplary embodiment of the present invention can accurately strike the target TG by changing the path of the laser beam LB.

The body unit 230 may include a sensing unit 231, a communication unit 232, a control unit 233, a power unit 234, and a case 235.

The sensing unit 231 may detect the location of the beam path changing device 200 and generate location information. According to an embodiment, the sensing unit 231 may include a Global Positioning System (GPS) device. The sensing unit 231 may detect posture of at least one of the beam path changing apparatus 200, the image acquisition unit 210, and the reflection unit 220 to generate posture information. According to an embodiment, the sensing unit 231 may include a gyro sensor. For example, the sensing unit 231 may generate and update location information and posture information in real time.

According to an embodiment, as illustrated in FIG. 5, the sensing unit 231 may be disposed between the power units 234.

The communication unit 232 may communicate with the laser weapon 100 through a network. That is, the communication unit 232 may receive a control signal from the laser weapon 100 through a network, or transmit information (eg, at least one of image information, location information, and posture information) to the laser weapon 100 in real time. .

The controller 233 may perform a control operation of the main body 230. For example, the control unit 233 may adjust the posture of the image acquisition unit 210 by driving the first gimbal according to the control signal. In addition, the control unit 233 may adjust the posture of the reflection unit 220 by driving the second gimbal according to the control signal. The control unit 233 may drive the flight unit 240 to adjust the position of the beam path changing device 200.

The power supply unit 234 is a driving voltage required for the operation of the components of the beam path changing device 200 (eg, the image acquisition unit 210, the reflection unit 220, the body unit 230, the flight unit 240, etc.) Can provide According to an embodiment, the power supply unit 234 may be implemented with at least one battery. According to an embodiment, the main body portion 230 may include a plurality of power source portions 234.

The case 235 seals the sensing unit 231, the communication unit 232, the control unit 233, and the power unit 234 from the outside to protect them from external impact.

6 is a view showing a beam path changing apparatus 200 according to an embodiment of the present invention. 6 illustrates a beam path changing device 200 implemented as an unmanned flight device as an embodiment of the present invention. In order to prevent overlapping of descriptions, contents overlapping with those described in FIGS. 4 and 5 are omitted.

1 and 6, the flight unit 240 may include at least one propeller 241 and at least one connection unit 242.

In FIG. 6, the number of the propeller 241 and the connecting portion 242 is shown to be 6, respectively, but the present invention is not limited thereto. Within the scope of achieving the object of the present invention, the number of the propeller 241 and the connecting portion 242 may be variously designed.

At least one propeller 241 may rotate itself to generate lift.

The at least one connecting portion 242 may fix the at least one propeller 241 to the main body portion 230 and transmit lift force to the main body portion 230. Through this, the flight unit 240 according to an embodiment of the present invention can move the beam path changing device 200 in the air or fix it at a specific location.

The beam path changing device 200 illustrated in FIG. 6 may further include a posture sensor (eg, a gyro sensor or an acceleration sensor), and the main body 230 may adjust the posture of the beam path changing device 200 in various ways. I can adjust it.

7 is a view showing a reflector 221 according to an embodiment of the present invention. In FIG. 7, an embodiment in which the normal vector NV of the reflector 221 and the vertical vector CV relative to the plane are parallel is illustrated.

1 and 7, the laser weapon 100 may be fired to focus the laser beam LB at a user-defined focal length in order to focus energy of the laser beam LB. The reflector 221 may totally reflect the laser beam LB emitted by the laser weapon 100.

In this specification, the angle between the first center line C1 of the laser beam LB and the normal vector NV of the reflector 221 is defined as an incident angle IA, and the second center line of the reflected laser beam LB The angle between (C2) and the normal vector (NV) is defined as the reflection angle (RA). When the laser beam LB reaches the surface of the reflector 221, the laser beam LB is reflected according to the reflection angle RA having the same size as the incident angle IA.

The laser beam LB is reflected at the same angle as the incident angle, based on the normal vector NV, which is the vertical direction of the reflector 221.

That is, the laser weapon system and the operation method thereof according to an embodiment of the present invention may adjust the normal vector NV of the reflector 221 to change the path of the laser beam LB in a direction desired by the user.

8 is a view showing the operation of the laser weapon system 10 according to an embodiment of the present invention. In FIG. 8, an embodiment in which the normal vector NV of the reflector 221 and the vertical vector CV relative to the plane are not parallel is illustrated. Here, it is assumed that the beam path changing apparatus 200 has a horizontal posture with respect to the ground surface.

1 and 8, the laser weapon 100 may track the beam path changing device 200 and aim the reflector 221. That is, the laser weapon 100 adjusts the firing angle SA of the laser apparatus 110 according to the movement of the beam path changing apparatus 200, and fires the laser beam LB according to the determined firing angle SA can do. The laser weapon 100 may increase efficiency by focusing the laser beam LB at a user-defined focal length. In addition, the reflector 221 may specularly reflect the laser beam LB.

First, the control module 140 of the laser weapon 100 calculates the normal angle NA between the normal vector NV and the vertical vector CV of the reflector 221 to accurately strike the target TG. can do.

To this end, the control module 140 may use position information and posture information received from the beam path changing device 200. The control module 140 may calculate the vertical angle TA between the laser beam LB and the vertical vector CV using Equation 1 based on the launch angle SA.

[Equation 1]

TA = 90-SA, where TA is the vertical angle and SA is the firing angle.

As described above, the image acquisition unit 210 may include a first gimbal 212 (see FIG. 4). The first gimbal 212 may adjust an image photographing angle to detect and track a target TG specified by a user.

The control module 140 determines the image angle VA based on the posture (ie, the rotation angle) of the first gimbal 212 in a state where the image acquisition unit 210 accurately photographs the target TG. Can be calculated.

The control module 140 may calculate a correction angle CA between the normal vector NV and the vertical vector CV using Equation 2 based on the vertical angle TA and the image angle VA. have.

[Equation 2]

CA = (TA-VA) / 2, where CA is the correction angle, TA is the vertical angle, and VA is the image angle.

The control module 140 may transmit a control signal including the correction angle CA for the normal vector NV of the reflector 221 to the beam path changing device 200 through the communication module 130. In addition, the control unit 233 of the beam path changing apparatus 200 may correct the normal vector NV of the reflector 221 of the reflector 220 according to the correction angle CA included in the control signal. Therefore, the laser beam LB is reflected by the reflecting mirror 221 to accurately reach the target TG.

Additionally, in order for the laser beam LB to effectively strike the target TG, the laser weapon 100 must fire the laser beam LB with an appropriate intensity, and for this purpose, the control module 140 may use the laser beam The moving distance of (LB) can be calculated.

First, the control module 140 may calculate the first distance L1 using the three-dimensional coordinates of the laser weapon 100 and the three-dimensional coordinates of the beam path changing device 200 included in the location information.

Next, the control module 140 may calculate the second distance L2 using Equation 3 based on the image angle VA and the height HT of the beam path changing device 200.

[Equation 3]

L2 = HT * cos ^-1 (VA), where L2 is the second distance, HT is the height, and VA is the image angle.

The control module 140 calculates a moving distance of the laser beam LB by adding the first distance L1 and the second distance L2, and controls the laser device 110 to control the laser beam with an intensity corresponding to the moving distance (LB) can fire.

9 is a view showing the operation of the beam path changing apparatus 200 according to an embodiment of the present invention. For convenience of description, the auxiliary laser beam GL and the target TG are shown in FIG. 9.

1, 2, and 9, the auxiliary laser 120 uses the secondary laser beam GB as a reflector 221 of the beam path changing device 200 to check the path of the laser beam LB. Can fire towards you. The auxiliary laser beam GL is reflected toward the target TG and may reach the target TG.

The image acquisition unit 210 may generate image information by photographing the arrival position of the auxiliary laser beam GL in real time.

The control module 140 of the laser weapon 100 generates a control signal for correcting an error based on an error indicating a distance difference between the auxiliary laser beam GL and the target TG based on the image information. You can. Then, the control module 140 may precisely adjust the posture of the reflector 221 by transmitting a control signal to the beam path changing device. According to an embodiment, the control module 140 may adjust the position of the beam path changing device 200. Accordingly, as illustrated in FIG. 9, the arrival position of the auxiliary laser beam GB may be located on the target TG.

10 is a view showing a method of operating a laser weapon system according to an embodiment of the present invention.

1 to 10, a detailed operation method of the laser weapon system 10 according to the embodiment of the present invention will be described.

The laser weapon system 10 uses the image information generated by the image acquisition unit 210 of the beam path changing apparatus 200 to locate and track the target TG to locate and track the target TG. And the posture can be adjusted (S10). That is, the laser weapon 100 of the laser weapon system 10 may detect and track the target TG by moving the beam path changing device 200 remotely using image information.

The laser weapon system 10 calculates the distance from the beam path changing device 200 to the target TG, and determines the normal vector NV of the reflector 220 (that is, the correction angle CA), The posture of the reflector 220 may be adjusted (S20). That is, the control module 140 of the laser weapon 100 is based on the position information and the posture information received from the beam path changing device 200, the second distance from the beam path changing device 200 to the target TG Calculate (L2) and determine the correction angle (CA). Then, the beam path changing apparatus 200 may adjust the angle of the normal vector NV of the reflector 220 according to the determined correction angle CA.

The laser weapon system 10 may finely adjust the posture of the reflector 220 using the auxiliary laser 120 (S30). That is, the auxiliary laser 120 fires the auxiliary laser beam GB toward the reflector 221 of the beam path changing device 200, and the auxiliary laser beam GL may reach the target TG. The image acquisition unit 210 generates image information by photographing the arrival position of the auxiliary laser beam GL in real time, and the control module 140 can precisely adjust the posture of the reflector 221 based on the image information. have.

The laser weapon 100 of the laser weapon system 10 may fire the laser beam LB toward the reflector 220 of the beam path changing apparatus 200 (S40). That is, the laser beam LB is reflected by the reflector 220 to reach the target TG, and the laser weapon system 10 can accurately strike the target TG.

11 is a view showing in detail the step (S10) of adjusting the position and posture of the beam path changing apparatus 200 according to an embodiment of the present invention.

1 to 11, the laser weapon 100 generates a control signal CS for the image acquisition unit 210 to detect and track the target TG, and changes the control signal CS to the beam path It can be transmitted to the device 200 (S11).

The beam path changing apparatus 200 may adjust the position and posture according to the control signal CS (S12). That is, the control unit 233 of the beam path changing device 200 is remotely controlled by the laser weapon 100 to detect and track the target TG.

The beam path changing apparatus 200 may transmit the location information PI, the attitude information AI, and the image information VI to the laser weapon 100 (S13). That is, the communication unit 232 of the beam path changing device 200 may transmit location information PI, attitude information AI, and image information VI to the laser weapon 100 through a network.

The control module 140 of the laser weapon 100 may determine whether the target TG is specified based on the image information VI (S14). Here, that the target TG is designated means that the target is accurately photographed by the image acquisition unit 210.

If the target TG is not specified (NO in S15), the control signal CS may be transmitted to the step S11 of transmitting the beam path changing device 200.

When the target TG is designated (YES in S15), the process may proceed to the next step.

12 is a view showing in detail the step (S20) of adjusting the posture of the reflector 220 according to an embodiment of the present invention.

1 to 12, the control module 140 determines a normal vector NV of the reflector 221 included in the reflector 220, and includes a correction angle CA of the normal vector NV. The control signal CS may be generated and the control signal CS may be transmitted to the beam path changing apparatus 200 (S21).

The control unit 233 may adjust the posture of the reflection unit 220 according to the control signal CS (S22).

The communication unit 232 may transmit the location information PI, the attitude information AI, and the image information VI to the laser weapon 100 through the network (S23).

13 is a view showing in detail the step (S30) of finely adjusting the posture of the reflector 220 according to an embodiment of the present invention.

1 to 13, the auxiliary laser 120 of the laser weapon 100 may emit an auxiliary laser beam GL (S31).

The image acquisition unit 210 may photograph the auxiliary laser beam GL emitted by the auxiliary laser 120 (S32).

The communication unit 232 may transmit the location information PI, the attitude information AI, and the image information VI to the laser weapon 100 through the network (S33).

The control module 140 generates a control signal CS for correcting the error based on the error representing the distance difference between the auxiliary laser beam GL and the target TG, and the control module CS to the communication module It may be transmitted to the beam path changing device 200 through 130 (S34).

The control unit 233 may finely adjust the posture of the reflection unit 220 according to the control signal CS (S35).

The apparatus for changing a beam path of the present invention, a laser weapon system including the same, and a method of operating the laser weapon system are effective in detecting and tracking a target based on an image by being remotely controlled by a user.

In addition, the apparatus for changing a beam path of the present invention, a laser weapon system including the same, and a method of operating the laser weapon system have an effect of improving accuracy of tracking and hitting a target.

In addition, the apparatus for changing the beam path of the present invention, a laser weapon system including the same, and a method of operating the laser weapon system are used for defense of a land by striking a target at various angles, and have an effect of reducing the possibility of exposure of a laser weapon. .

As described above, the functional operations described in the present specification and the embodiments related to the present subject matter are implemented in digital electronic circuits or computer software, firmware or hardware, or a combination of one or more of them, including the structures disclosed herein and their structural equivalents. It is possible.

Embodiments of the subject matter described herein may include one or more computer program products, ie, one or more computer program instructions that are encoded on a tangible program medium for execution by a data processing device or to control its operation. It can be implemented as a module. The tangible program medium may be a propagated signal or a computer-readable medium. Propagated signals are artificially generated signals, such as, for example, machine-generated electrical, optical or electromagnetic signals generated to encode information for transmission to a suitable receiver device for execution by a computer. The computer-readable medium may be a machine-readable storage device, a machine-readable storage substrate, a memory device, a combination of materials affecting a machine-readable propagated signal, or a combination of one or more of them.

A computer program (also known as a program, software, software application, script, or code) can be written in any form of a compiled or interpreted language or a programming language, including a priori or procedural language, and can be a standalone program or module, It can be deployed in any form, including components, subroutines, or other units suitable for use in a computer environment.

Computer programs do not necessarily correspond to files on file devices. A program can be in a single file provided to the requested program, or in multiple interactive files (eg, one or more files that store modules, subprograms or parts of code), or of files that hold other programs or data. It may be stored in some (eg, one or more scripts stored in a markup language document).

Computer programs may be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

Additionally, the logical flow and structural block diagrams described in this patent document describe corresponding actions and / or specific methods supported by corresponding functions and steps supported by the disclosed structural means, and corresponding It can also be used to build software structures and algorithms and their equivalents.

The processes and logic flows described herein can be performed by a programmable processor, one or more executing a computer program to perform functions by operating on input data and generating output.

Processors suitable for the execution of a computer program include, for example, both general purpose and special purpose microprocessors and any one or more processors of any type of digital computer. Generally, the processor will receive instructions and data from read-only memory or random access memory or both.

A key element of a computer is one or more memory devices for storing instructions and data, and processors for performing instructions. In addition, the computer is generally such that one or more for storing data, such as a magnetic, magnetic optical disk or optical disk, is operable to receive data from, transfer data to, or perform both of those operations from a mass storage device. Combined or will include. However, the computer need not have such a device.

The described description presents the best mode of the present invention, and provides examples for explaining the present invention and for those skilled in the art to make and use the present invention. This written specification is not intended to limit the invention to the specific terms presented.

In the above, it has been described with reference to preferred embodiments of the present invention, but those skilled in the art or those of ordinary skill in the art will depart from the spirit and technical scope of the present invention as set forth in the claims below. It will be understood that various modifications and changes may be made to the present invention without departing from the scope.

Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

10: laser weapon system 100: laser weapon
110: laser device 120: auxiliary laser
130: communication module 140: control module
200: beam path changing device 210: image acquisition unit
220: reflector 230: body portion
231: detection unit 232: communication unit
233: control unit 234: power supply
235: Case 240: Flight

Claims (14)

A beam path changing device for changing a path of a laser beam generated to strike a target; And
And a laser weapon for remotely controlling the beam path changing device and firing the laser beam toward the beam path changing device,
The beam path changing device,
An image acquisition unit for detecting and tracking the target;
A reflector including a reflector reflecting the laser beam toward the target; And
A body unit for adjusting at least one of a position of the beam path changing device, a posture of the image acquisition unit, and a posture of the reflection unit according to a control signal received from the laser weapon; And
And a flight unit for adjusting the position of the beam path changing device based on the control signal.
According to claim 1,
The image acquisition unit,
A camera device that captures the target and generates image information; And
The camera device is installed, characterized in that it further comprises a first gimbal capable of rotating along at least two axes, a laser weapon system. According to claim 2,
The reflector,
A second gimbal in which the reflector is installed and rotatable along at least two axes; And
And a connecting pillar for connecting the second gimbal and the main body. According to claim 3,
The body portion,
A detection unit for detecting the position of the beam path changing device, the posture of the image acquisition unit and the posture of the reflection unit to generate position information and posture information;
A communication unit for transmitting the image information, the location information and the posture information to the laser weapon through a network, and receiving the control signal from the laser weapon;
A control unit for controlling at least one of a position of the beam path changing device, a posture of the image acquisition unit, and a posture of the reflection unit based on the control signal;
A power supply unit for supplying driving power to the beam path changing device; And
And a case for protecting the body portion from external impact. According to claim 4,
The laser weapon,
A laser device for emitting the laser beam;
A communication module for receiving the video information, the location information, and the posture information from the beam path changing device through the network, and transmitting the control signal to the beam path changing device; And
And a control module for generating the control signal based on at least one of the image information, the location information, and the posture information. delete According to claim 1,
The flight unit,
At least one propeller that rotates itself to generate lift; And
And at least one connecting portion for fixing the at least one propeller to the body portion. According to claim 3,
The first gimbal is a two-axis gimbal rotatable along the pitch and yaw rotation directions,
The second gimbal is characterized in that the two-axis gimbal rotatable along the pitch and roll rotation direction, laser weapon system. According to claim 1,
The diameter of the reflector is characterized in that designed to 35cm to 45cm, laser weapon system. A beam path changing device for changing a path of a laser beam generated to strike a target, and a laser weapon for remotely controlling the beam path changing device and firing the laser beam toward the beam path changing device , In the laser weapon system,
Adjusting the position and posture of the beam path changing device to detect and track a target using the image information generated by the image obtaining unit of the beam path changing device;
On the basis of the position information and the posture information generated by the detection unit of the beam path changing device, the distance between the beam path changing device and the target is calculated, and a normal vector of the reflector of the beam path changing device is determined, Adjusting the posture of the reflector;
Fine-adjusting the posture of the reflector by using an auxiliary laser of the laser weapon; And
And emitting the laser beam toward the reflector of the beam path changing device. The method of claim 10,
Adjusting the position and posture of the beam path changing device,
A control module of the laser weapon generating a control signal for the image acquisition unit to detect and track a target, and transmitting the control signal to the beam path changing device;
The control unit of the beam path changing device adjusts the position and posture of the beam path changing device according to the control signal;
Transmitting, by the communication unit of the beam path changing apparatus, the image information, the location information, and the posture information to the laser weapon through a network; And
And determining whether a target is designated based on the image information by the control module of the laser weapon,
If the target is not specified, characterized in that proceeding to the step of generating the control signal, the method of operation of the laser weapon system. The method of claim 11,
Adjusting the posture of the reflector,
Determining, by the control module, a normal vector of the reflector included in the reflector, generating a control signal including a correction angle of the normal vector, and transmitting the control signal to the beam path changing device;
And controlling the posture of the reflection unit by the control unit according to the control signal. The method of claim 12,
An auxiliary laser of the laser weapon emitting an auxiliary laser beam;
The image acquisition unit photographing the auxiliary laser beam;
Transmitting, by the communication unit, the image information, the location information, and the posture information to the laser weapon through the network;
Generating, by the control module, a control signal for correcting the error based on an error representing a distance difference between the auxiliary laser beam and the target, and transmitting the control signal to the beam path changing device;
The control unit comprises the step of fine-adjusting the posture of the reflector, Method of operation of a laser weapon system. An image acquisition unit for detecting and tracking a target based on an image and generating image information;
A reflector including a reflector reflecting a laser beam emitted from a laser weapon toward the target;
A flight unit for adjusting the position of the beam path changing device based on the control signal received from the laser weapon; And
On the basis of the control signal, and includes a body portion for controlling the image acquisition unit, the reflection unit and the flight unit,
The body portion,
A detection unit for detecting the position of the beam path changing device, the posture of the image acquisition unit and the posture of the reflection unit to generate position information and posture information;
A communication unit for transmitting the image information, the location information and the posture information to the laser weapon through a network, and receiving the control signal from the laser weapon; And
And a control unit for controlling at least one of the position of the beam path changing device, the posture of the image acquisition unit, and the posture of the reflection unit based on the control signal,
The flight unit,
At least one propeller that rotates itself to generate lift; And
And at least one connecting portion for fixing the at least one propeller to the main body.

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