Laser Irradiation System

Abstract

To acquire a laser radiation system capable of suitably setting a prohibition area where the radiation of laser is prohibited .SOLUTION: A specification part (41) specifies a building, combustibles or organisms present in the vicinity of a laser radiation device (1), an acquisition part (42) acquires additional information in regard to the building, the combustibles or the organisms input from the outside using an input device (51), and a setting part (43) sets a prohibition area where the radiation of laser is prohibited on the basis of appearance information of the building, the combustibles or the organisms specified by the specification part (41) and the additional information acquired by the acquisition part (42).SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to laser projection systems. [Background technology]

[0002] A laser irradiation system according to the background art is disclosed in the following Patent Document 1. In this laser irradiation system, in order to prevent the laser from being irradiated onto objects other than the target, the object is masked based on the three-dimensional position and dynamic behavior of the laser irradiation device and the three-dimensional position and dynamic behavior of the object. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2020 / 096296 Summary of the Invention [Problem to be solved by the invention]

[0004] In the laser irradiation system disclosed in Patent Document 1, no specific consideration is given to a method for generating mask data for masking an object. Also, there are cases where it is not possible to appropriately set a prohibited area where laser irradiation is prohibited using only information on the three-dimensional position and dynamic behavior of a target or object.

[0005] An object of the present disclosure is to provide a laser irradiation system that is capable of appropriately setting a prohibited area in which laser irradiation is prohibited. [Means for solving the problem]

[0006] A laser irradiation system according to one aspect of the present disclosure is a laser irradiation system that irradiates a target with a laser, and includes an irradiation device that irradiates the laser, and a control device that controls the irradiation device, wherein the control device has an identification unit that identifies buildings, combustible materials, or living things that are present in the vicinity of the irradiation device, an acquisition unit that acquires additional information related to the buildings, combustible materials, or living things that is input from outside, and a setting unit that sets a prohibited area in which laser irradiation is prohibited based on the external information of the buildings, combustible materials, or living things identified by the identification unit and the additional information acquired by the acquisition unit. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to appropriately set a prohibited area in which laser irradiation is prohibited based on the external shape information of buildings, combustible materials, or living things present in the vicinity of the irradiation device and additional information regarding the buildings, combustible materials, or living things input from outside. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating a schematic overall configuration of a laser irradiation system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a side view specifically showing the configuration of a laser irradiation unit and a support mechanism. [Figure 3] FIG. 2 is a perspective view specifically showing the configuration of a laser irradiation unit and a support mechanism. [Figure 4] FIG. 1 is a block diagram illustrating a functional configuration of a laser irradiation system according to an embodiment of the present disclosure. [Figure 5] 4 is a flowchart illustrating an example of a control operation executed by a controller. [Figure 6A] FIG. 10 is a diagram for explaining target tracking. [Figure 6B] FIG. 10 is a diagram for explaining target tracking. [Figure 7] 10 is a flowchart illustrating a first method for generating mask data by a controller. [Figure 8]10 is a flowchart illustrating a second method for generating mask data by the controller. [Figure 9] 10 is a flowchart illustrating a third method for generating mask data by the controller. [Figure 10] 10 is a flowchart illustrating a fourth method for generating mask data by the controller. [Figure 11] FIG. 10 is a simplified diagram showing a part of an edge image displayed on a display device. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Elements with the same reference numerals in different drawings indicate the same or corresponding elements.

[0010] [Overall system configuration] FIG. 1 is a diagram illustrating a schematic overall configuration of a laser irradiation system according to an embodiment of the present disclosure. The laser irradiation system according to this embodiment is a laser system for neutralizing a target or transmitting energy to the target by irradiating the target with a high-power laser from a laser irradiation device 1. The target may be, for example, an air vehicle or flying object, such as an aircraft having a propulsion system and fixed wings, or an aircraft having a single or multiple rotors. The target air vehicle or flying object may be an aircraft, including an unmanned aerial vehicle.

[0011] The laser irradiation system according to this embodiment is mounted on a vehicle 101, which is a moving body. The vehicle 101 includes an engine 102 as a power source, wheels 103 that are rotationally driven by the engine 102, a cabin 104 with a built-in driver's seat, a frame 105 connected to the cabin 104, and a container 106 supported by the frame 105. The laser irradiation device 1 is disposed in the container 106. Also disposed in the container 106 is a radar detector 110 that detects targets using radar.

[0012] The laser irradiation device 1 includes a laser oscillator 11, a laser irradiation unit 12, and a support mechanism 13. The laser oscillator 11 is a light source that generates a laser beam Lb. The laser irradiation unit 12 is an irradiator that irradiates the laser beam Lb generated by the laser oscillator 11 while guiding the laser beam in a desired direction. The support mechanism 13 is a mechanism that supports the laser irradiation unit 12 so that it can rotate and tilt.

[0013] The laser oscillator 11 is disposed inside a container 106, and the laser irradiation unit 12 and the support mechanism 13 are disposed on the container 106. The container 106 may be configured not only as a storage room for accommodating the laser oscillator 11, but also as, for example, an operator's room where an operator resides.

[0014] The laser Lb generated by the laser oscillator 11 can be of any type as long as it is a high-power laser, but a fiber laser is suitable, for example. A fiber laser is a type of electrically driven laser that oscillates a laser using an optical fiber doped with a laser-active element, and has advantages such as highly efficient oscillation and high beam quality. When a fiber laser is used, the laser oscillator 11 can include, for example, a semiconductor laser as an excitation light source, a coupler that couples the light from the semiconductor laser to an optical fiber doped with an active element that serves as a medium, and a laser resonator that extracts laser light from the optical fiber in a state excited by the semiconductor laser.

[0015] 2 and 3 are a side view and a perspective view specifically illustrating the configuration of the laser irradiation unit 12 and the support mechanism 13. In this embodiment, for convenience, the extension direction of a Z axis (described later) which is the rotation axis of the support mechanism 13 shown in FIG. 2 and other figures is defined as the up-down direction, and the extension direction of a Y axis is defined as the left-right direction. The direction in which the container 106 of the vehicle 101 exists as viewed from the laser irradiation device 1 is defined as the downward direction of the Z axis, and the direction in which the laser irradiation unit 12 emits a laser is defined as the forward direction. However, this definition of directions can be changed as appropriate depending on the mounting orientation of the laser irradiation device 1 on the vehicle 101. The laser irradiation unit 12 includes a housing 21, an optical module 22, an irradiation window 23, a tracking camera 24, and a photographing window 25. The housing 21 is a substantially rectangular cylindrical housing that houses the optical module 22 and the tracking camera 24. The optical module 22 is a group of optical components that focus and direct the laser beam Lb output from the laser oscillator 11 in a desired direction, and is composed of optical elements including transmissive optical elements and reflective optical elements. Examples of transmissive optical elements include a focusing lens or a refractive lens, and examples of reflective optical elements include a concave mirror or a convex mirror. The irradiation window 23 is a transparent member made of a glass plate or the like that can transmit the laser beam Lb output from the optical module 22, and is attached to the front end surface 21a of the housing 21, which serves as the exit for the laser beam Lb. The tracking camera 24 is an imaging device that captures an image of a target in order to capture and track the target. The imaging window 25 is a transparent member made of a glass plate or the like that is attached to the front end surface 21a of the housing 21 to capture an image into the tracking camera 24.

[0016] The laser irradiation unit 12 irradiates a laser beam Lb from an optical module 22 through an irradiation window 23 while being attitude-controlled so as to point at a target captured by a tracking camera 24 .

[0017] The irradiation window 23 and the imaging window 25 are airtightly attached to the front end surface 21a of the housing 21. In other words, the inside of the housing 21 is sealed. Dry gas is sealed inside this sealed housing 21. The dry gas fills the inside of the housing 21 and removes air, thereby reducing the amount of water vapor or impurities remaining inside the housing 21. This prevents water vapor from absorbing the laser Lb passing through the housing 21, and ultimately prevents the refractive index of the laser Lb from changing due to a temperature rise associated with absorption of the laser.

[0018] The support mechanism 13 is a so-called two-axis gimbal mechanism. By being supported by this support mechanism 13, the laser irradiation unit 12 can rotate around the Z axis as shown by arrow A1 in Fig. 2, and can tilt around the Y axis that is perpendicular to the Z axis as shown by arrow A2 in Fig. 2.

[0019] Specifically, the support mechanism 13 includes a base 31, a revolving body 32, a pair of left and right support legs 33, and a Z-axis motor 34 and a Y-axis motor 35 shown in FIG. 4 . In this embodiment, the base 31 is a disk-shaped platform fixed to the container 106. The revolving body 32 is a disk-shaped rotating body coaxially arranged on the base 31 and is pivotally supported on the base 31 via a pivot shaft 31a extending in the Z-axis direction. The pair of support legs 33 are members protruding upward from the revolving body 32 and are arranged to sandwich the laser irradiation unit 12 from both sides in the Y-axis direction. Each support leg 33 pivotally supports the laser irradiation unit 12 via a tilt shaft 33a extending in the Y-axis direction. The Z-axis motor 34 is an electric motor that rotates the revolving body 32 around the Z-axis as indicated by arrow A1. The Y-axis motor 35 is an electric motor that rotates the laser irradiation unit 12 around the Y-axis as indicated by arrow A2.

[0020] As the rotating body 32 is driven to rotate by the Z-axis motor 34, the laser irradiation unit 12 rotates together with the support leg 33 around the Z-axis. Furthermore, as the Y-axis motor 35 is driven, the laser irradiation unit 12 tilts around the Y-axis relative to the support leg 33. The laser irradiation unit 12 is supported by the support mechanism 13 in a state in which it can rotate and tilt in this way, so that the front end surface 21a on which the irradiation window 23 and the shooting window 25 are located can be directed in all directions.

[0021] The laser irradiation unit 12 and the laser oscillator 11 are connected via a light guide path 18, which is simply shown in Fig. 3. The light guide path 18 is a path for introducing the laser beam Lb output from the laser oscillator 11 into an optical module 22 inside the laser irradiation unit 12. When irradiating the target with the laser beam Lb, the laser beam Lb is introduced from the laser oscillator 11 into the optical module 22 through the light guide path 18. The laser beam Lb introduced into the optical module 22 is then guided to the outside through an irradiation window 23.

[0022] FIG. 4 is a block diagram showing the functional configuration of the laser irradiation system according to this embodiment. The laser irradiation system includes a controller 70 as a control device. The laser irradiation system also includes a laser irradiation device 1, a radar detector 110, an input device 51, a display device 52, a distance measurement device 61, and a visibility measurement device 62, all of which are electrically connected to the controller 70. However, not all of the input device 51, the display device 52, the distance measurement device 61, and the visibility measurement device 62 are necessarily required. Unnecessary devices can be omitted depending on which of the first to fourth generation methods described below is adopted. The input device 51 includes an operation button, a keyboard, a mouse, a touch panel, or the like that can be operated by an operator. The input device 51 also includes a communication module for inputting data received from an external communication device to the controller 70, or a data reading device for inputting data read from an external storage medium to the controller 70. The display device 52 includes an LCD or an organic EL display. The input device 51 and the display device 52 are located, for example, in an operator's room inside the container 106. The distance measurement device 61 is configured using any distance meter for measuring the distance from the laser irradiation device 1 to the object to be measured. The visibility measurement device 62 is configured using any visibility meter for measuring the visibility of the environment surrounding the laser irradiation device 1. The distance measurement device 61 and the visibility measurement device 62 may be implemented in the laser irradiation device 1. The controller 70 includes an identification unit 41, an acquisition unit 42, a setting unit 43, and a calculation unit 44. The functions of each processing unit will be described in detail later. The controller 70 controls the driving of the laser oscillator 11, tracking camera 24, Z-axis motor 34, and Y-axis motor 35 of the laser irradiation device 1.

[0023] [Example of operation] 5 is a flowchart showing an example of a control operation of the laser irradiation device 1 for irradiating a laser beam onto a target, which is executed by the controller 70. First, in step S1, the controller 70 activates the radar detector 110. For example, an operator who has received warning information indicating the possibility of a target approaching inputs an activation command for the radar detector 110 from the input device 51 to the controller 70. This causes the controller 70 to activate the radar detector 110.

[0024] When the radar detector 110 is activated, the controller 70 then determines in step S2 whether or not a target has been detected by the radar detector 110. If a target has not been detected (step S2: NO), the controller 70 repeatedly executes the processing of step S2.

[0025] If a target is detected (step S2: YES), then in step S3, the controller 70 causes the tracking camera 24 to track the target. That is, the controller 70 controls the attitude of the laser irradiation unit 12 using the Z-axis motor 34 and the Y-axis motor 35 so that the target detected by the radar detector 110 falls within the imaging angle of the tracking camera 24, and causes the tracking camera 24 to continuously image the target. Note that when the radar detector 110 detects a target, the radar detector 110 may simultaneously obtain information on the distance between the target and the laser irradiation device 1 and information on the direction of the target as seen from the laser irradiation device 1, and transmit this information to the controller 70. In this embodiment, the controller 70 estimates the position of the target based on information obtained from the radar detector 110 and the tracking camera 24.

[0026] Next, in step S4, the controller 70 determines whether or not the target tracking has converged.

[0027] 6A and 6B are diagrams for explaining target tracking and show images captured by tracking camera 24. In FIG. 6A, point X1 indicates the tracking point, and point X2 indicates the laser aim. Tracking point X1 is a reference point included in the image of the target, and laser aim X2 is the arrival point of laser Lb emitted from laser irradiation unit 12. Controller 70 controls the attitude of laser irradiation unit 12 so that tracking point X1 coincides with laser aim X2, that is, so that the state of FIG. 6A changes to the state of FIG. 6B. Then, when a stable state is obtained in which tracking point X1 approximately coincides with laser aim X2, it is determined that tracking has converged.

[0028] If it is determined that the tracking has converged (step S4: YES), then in step S5, the controller 70 irradiates the target with the laser beam Lb. That is, the controller 70 controls the laser beam 11 so that the laser beam Lb is input from the laser beam 11 to the laser irradiation unit 12. As a result, the laser beam Lb is introduced into the optical module 22, and the optical module 22 irradiates the laser beam Lb through the irradiation window 23.

[0029] If it is determined that the tracking has not converged (step S4: NO), the controller 70 repeatedly executes the processes of steps S3 and S4.

[0030] Next, in step S6, the controller 70 determines whether action on the target has been completed. The specific determination varies depending on the purpose of the laser irradiation. When the purpose is to neutralize a flying or flying target, the controller 70 determines whether the laser Lb irradiated from the laser irradiation unit 12 has hit the target and the state has continued for a certain period of time or more, thereby neutralizing the target. Examples of neutralization include when part or all of the target has been damaged, causing it to crash, or when the target is no longer able to fly stably. In this case, the controller 70 may determine whether the target has been damaged or whether the target is able to fly stably by analyzing images captured by the tracking camera 24, for example. When the purpose is to transmit energy to a flying or flying target, the controller 70 determines whether energy transmission to the target has been completed when the laser Lb irradiated from the laser irradiation unit 12 has hit the target and the state has continued for a predetermined period of time or more. The target may be equipped in advance with a sensor for determining the charge amount, a control device for determining whether the charge is sufficient, and a wireless device for wirelessly transmitting this information, and the charging status of the target may be transmitted to the laser irradiation device 1 to determine whether energy transmission to the target has been completed. If it is determined that action on the target has not been completed (step S6: NO), the controller 70 repeatedly executes the processes of steps S5 and S6.

[0031] If it is determined that the action against the target has been completed (step S6: YES), then in step S7, the controller 70 determines whether or not another target exists. That is, the controller 70 determines whether or not there is a target detected by the radar detector 110 other than the target for which the action has already been completed.

[0032] If it is determined that another target exists (step S7: YES), the controller 70 tracks and deals with the other target by repeatedly executing the processes from step S3 onwards.

[0033] If it is determined that no other target exists (step S7: NO), the controller 70 ends the process.

[0034] As described above, the laser irradiation system according to this embodiment neutralizes or transmits energy to a target by irradiating the target with a laser beam Lb. However, because the laser beam Lb has strong directivity, if the laser beam Lb misses the target, there is a possibility that the laser beam Lb will be irradiated onto objects around the target. If the area around the target is an area such as the sky or the sea where the probability of the laser beam Lb irradiating a living organism is extremely low, or if there are no flammable materials, there is little risk of injury to residents, animals, or other living organisms, or of fires, etc., even if the laser beam Lb is irradiated onto the area around the target. However, if there are structures around the target, particularly buildings such as houses, public facilities, commercial facilities, or zoos where living organisms may be present, or if there are flammable materials such as plastic, piles, or trees, or living organisms (hereinafter referred to as "structures, etc."), there is a possibility that living organisms may be injured or a fire may occur if the laser beam Lb is irradiated onto the area around the target. For this reason, if there are structures, etc. around the target, it is preferable to prohibit irradiation of the laser beam Lb for safety reasons.

[0035] Therefore, in the laser irradiation system according to this embodiment, after the vehicle 101 has been deployed at a predetermined position, but before starting laser irradiation of the target, the controller 70 generates mask data in which a prohibited area in which irradiation of the laser Lb is prohibited is set. Referring to FIG. 4 , the identification unit 41 identifies structures and the like present around the laser irradiation device 1, the acquisition unit 42 acquires additional information about the structures and the like input from the outside using the input device 51, the distance measurement device 61, the visibility measurement device 62, the tracking camera 24, or another camera, and the setting unit 43 sets the prohibited area based on the external shape information of the structures and the like identified by the identification unit 41 and the additional information acquired by the acquisition unit 42. Various methods for generating mask data will be described in detail below. The following multiple generation methods can be applied in any combination.

[0036] [First generation method] FIG. 7 is a flowchart for explaining a first method for generating mask data by the controller 70. In FIG.

[0037] First, in step S11, the acquisition unit 42 acquires image data of a peripheral image showing the situation around the laser irradiation device 1. The image data is data of a captured image of the surroundings of the laser irradiation device 1 captured by the tracking camera 24 or another camera, and the image data is input to the controller 70 from the tracking camera 24 or another camera. The image data may be data of captured images of the surroundings of the laser irradiation device 1 in all directions, or may be data of captured images of the range captured by the tracking camera 24. Alternatively, the image data may be map data of a three-dimensional map created in advance, and the image data is input to the controller 70 from the input device 51 together with position information of the vehicle 101, such as GPS coordinates.

[0038] Next, in step S12, the identification unit 41 identifies one of the buildings, etc. included in the surrounding image input in step S11, and further identifies whether the identified building, etc. is a building, a combustible object, or a living thing. Identifying the building, etc. and whether it is a building, a combustible object, or a living thing may be done using any method that is a commonly known image recognition technology, such as template matching technology or image recognition technology that uses a trained predictive model through machine learning.

[0039] Next, in step S13, if the building or structure identified in step S12 is a building, the acquisition unit 42 acquires presence information indicating whether or not a living thing is present within the building as the additional information. For example, since no people are present within closed, unused buildings or unfinished buildings, map information indicating closed, unused buildings or unfinished buildings is created in advance as presence information and stored in a database. Presence information may also be acquired by obtaining location information from a GPS-equipped device such as a mobile phone or a pet collar. Data indicating the presence information is input from the input device 51 to the controller 70.

[0040] Next, in step S14, the setting unit 43 determines whether or not a living thing is present in the structure identified in step S12 based on the presence information acquired in step S13. Note that the setting unit 43 can associate the structure identified in step S12 with the structure indicated by the presence information acquired in step S13 by using location information of the vehicle 101 such as GPS coordinates.

[0041] If it is determined that a living thing is present in the building (step S14: YES), then in step S15, the setting unit 43 sets the building identified in step S12 as a prohibited area. The prohibited area may be set in a virtual three-dimensional space or on a two-dimensional plane.

[0042] If it is determined that no living creatures exist within the building (step S14: NO), then in step S16, the setting unit 43 does not set the building identified in step S12 as a prohibited area.

[0043] Next, in step S17, the setting unit 43 determines whether or not other buildings and the like are included in the surrounding image input in step S11.

[0044] If it is determined that other buildings or the like are included (step S17: YES), the controller 70 repeatedly executes the processes from step S12 onwards for the other buildings or the like.

[0045] If it is determined that no other buildings or the like are included (step S17: NO), then in step S18, the setting unit 43 generates mask data including the prohibited area set in step S15, and ends the process.

[0046] In the first generation method, the presence information is acquired after identifying the building, etc., but the building, etc. may be identified after acquiring the presence information. The presence information may be acquired at any time before step S14.

[0047] If the building or the like identified in step S12 is not a building but a combustible object or a living thing, step 14 does not need to be performed. In this case, the setting unit 43 sets the building or the like identified in step S12 as a prohibited area.

[0048] In the first generation method, in step S12, the identification unit 41 identifies one building or the like included in the peripheral image input in step S11, but it may also identify all of the buildings or the like included in the image data. In this case, in step S17, the setting unit 43 determines whether or not other buildings or the like are included in the peripheral image input in step S11, and if it is determined that other buildings or the like are included (step S17: YES), the controller 70 repeatedly executes the processing from step S14 onwards for the other buildings or the like.

[0049] [Second generation method] FIG. 8 is a flowchart for explaining a second method for generating mask data by the controller 70. In FIG.

[0050] First, in step S21, the acquisition unit 42 acquires visibility information indicating the visibility of the surrounding environment of the laser irradiation device 1 from the visibility measurement device 62 as the additional information.

[0051] Next, in step S22, the calculation unit 44 calculates the reach of the laser beam Lb emitted from the laser irradiation device 1 based on the visibility information acquired in step S21. The reach of the laser beam Lb is the distance until the laser intensity, such as the power density, falls below a threshold value determined by safety standards. When the visibility is long, the aerosol concentration in the atmosphere is low and the laser beam Lb is scattered less, so the longer the visibility, the longer the reach.

[0052] Next, in step S23, the acquisition unit 42 acquires image data of the peripheral image of the laser irradiation device 1, similarly to step S11 above.

[0053] Next, in step S24, the identification unit 41 identifies one building or the like included in the surrounding image input in step S23, similarly to step S12 above.

[0054] Next, in step S25, the acquisition unit 42 acquires distance information indicating the distance from the laser irradiation device 1 to the structure or the like identified in step S24 as the additional information. The distance from the laser irradiation device 1 to the structure or the like is measured by the distance measurement device 61, and the distance information is input from the distance measurement device 61 to the controller 70.

[0055] Next, in step S26, the setting unit 43 determines whether or not the distance to the building or the like indicated by the distance information acquired in step S25 is equal to or less than the reachable distance of the laser Lb calculated in step S22.

[0056] If it is determined that the distance to the building or the like is equal to or shorter than the reach distance (step S26: YES), then in step S27, the setting unit 43 sets the building or the like identified in step S24 as a prohibited area. The prohibited area may be set in a virtual three-dimensional space or on a two-dimensional plane.

[0057] If it is determined that the distance to the building or the like is greater than the reach distance (step S26: NO), then in step S28 the setting unit 43 does not set the building or the like identified in step S24 as a prohibited area.

[0058] Next, in step S29, the setting unit 43 determines whether or not other buildings and the like are included in the surrounding image input in step S23.

[0059] If it is determined that other buildings or the like are included (step S29: YES), the controller 70 repeatedly executes the processes from step S24 onwards for the other buildings or the like.

[0060] If it is determined that no other buildings or the like are included (step S29: NO), then in step S30, the setting unit 43 generates mask data including the prohibited area set in step S27, and ends the process.

[0061] In the second generation method, image data is input, buildings, etc. are identified, and distance information is acquired after obtaining visibility information and calculating the laser's reach, but the visibility information may be acquired and the laser's reach calculated after inputting image data, identifying buildings, etc., and obtaining distance information. Also, although distance information is acquired after identifying buildings, etc., it may be acquired at any time before step S26.

[0062] In the second generation method, in step S24, the identification unit 41 identifies one building, etc. included in the peripheral image input in step S23, but it may also identify all of the buildings, etc. included in the image data. In this case, in step S29, the setting unit 43 determines whether or not other buildings, etc. are included in the peripheral image input in step S23, and if it is determined that other buildings, etc. are included (step S29: YES), the controller 70 repeatedly executes the processing from step S25 onwards for the other buildings, etc.

[0063] [Third generation method] FIG. 9 is a flowchart for explaining a third method for generating mask data by the controller 70. In FIG.

[0064] First, in step S31, the acquisition unit 42 acquires image data of the peripheral image of the laser irradiation device 1, similarly to step S11 described above.

[0065] Next, in step S32, the identification unit 41 identifies all buildings, etc. included in the surrounding image input in step S31, similar to step S12 above. Furthermore, if a building, etc. is present in the background of the target, the identification unit 41 identifies the building, etc. If no building, etc. is present in the background of the target, the setting unit 43 generates mask data without setting a prohibited area, and ends the process.

[0066] Next, in step S33, the acquisition unit 42 acquires, as the additional information, first distance information indicating a first distance, which is a distance from the laser irradiation device 1 to the target. The first distance from the laser irradiation device 1 to the target is measured by the distance measurement device 61, and the first distance information is input from the distance measurement device 61 to the controller 70.

[0067] Next, in step S34, the acquisition unit 42 acquires, as the additional information, second distance information indicating a second distance, which is the distance from the laser irradiation device 1 to a building or the like that exists in the background of the target. The second distance from the laser irradiation device 1 to the building or the like is measured by the distance measurement device 61, and the second distance information is input from the distance measurement device 61 to the controller 70.

[0068] Next, in step S35, the calculation unit 44 calculates the laser intensity of the laser Lb irradiated onto buildings and the like in the background of the target when the laser Lb irradiated from the laser irradiation device 1 toward the target does not hit the target, based on the first distance indicated by the first distance information acquired in step S34 and the second distance indicated by the second distance information acquired in step S35. The focal length of the laser Lb irradiated from the laser irradiation device 1 is controlled by the laser irradiation unit 12 so that the laser intensity is maximized at the first distance to the target. Therefore, the greater the difference between the first distance and the second distance, the smaller the laser intensity of the laser Lb irradiated onto buildings and the like in the background of the target when the laser Lb does not hit the target.

[0069] Next, in step S36, the setting unit 43 determines whether the laser intensity calculated in step S35 is equal to or greater than a threshold value determined by safety standards.

[0070] If it is determined that the laser intensity is equal to or greater than the threshold value (step S36: YES), then in step S37, the setting unit 43 sets buildings and the like present in the background of the target as a prohibited area. The prohibited area may be set in a virtual three-dimensional space or on a two-dimensional plane.

[0071] If it is determined that the laser intensity is less than the threshold value (step S36: NO), then in step S38, the setting unit 43 does not set buildings and the like present in the background of the target as prohibited areas.

[0072] Next, in step S39, the setting unit 43 generates mask data including the prohibited area set in step S37, and ends the process. Every time the background structure or the like changes as the target moves, the controller 70 generates new mask data by executing the same process as above.

[0073] In the third generation method, the second distance information is acquired after the first distance information is acquired, but the first distance information may be acquired after the second distance information is acquired.

[0074] [Fourth generation method] FIG. 10 is a flowchart for explaining a fourth method for generating mask data by the controller 70. In FIG.

[0075] First, in step S41, the controller 70 acquires a peripheral image of the surroundings of the laser irradiation device 1 taken by the tracking camera 24 or another camera, similar to step S12 above.

[0076] Next, in step S42, the controller 70 identifies buildings and the like included in the surrounding image acquired in step S41 using well-known image processing techniques such as template matching technology or image recognition technology using a predictive model trained by machine learning.

[0077] Next, in step S43, the controller 70 detects the outline of the building or the like using binarization processing, edge extraction processing, etc., and creates an edge image showing a boundary line that follows the outline of the building or the like. The binarization processing, edge extraction processing, etc., are performed multiple times while changing parameters, and multiple edge images showing a boundary line that follows the outline of the building or the like are created. The edge image includes the confirmed boundary line and multiple boundary candidates that connect to the endpoint P of the boundary line. The controller 70 compares these multiple edge images and sets multiple boundary candidates for parts of the outline of the building or the like that could not be identified as a clear boundary line by the edge extraction processing.

[0078] Next, in step S44, the controller 70 outputs image data of the created edge image. The image data is input to the display device 52, which then displays the edge image.

[0079] FIG. 11 is a simplified diagram showing a portion of the edge image displayed on the display device 52. The edge image includes a confirmed boundary line K1 and multiple boundary candidates K2A and K2B that connect to an end point P of the boundary line K1. The controller 70 displays the boundary candidates K2A and K2B in a display format that allows the operator to easily recognize that they are boundary candidates that are ambiguous boundaries rather than confirmed boundaries. In the example shown in FIG. 11, the confirmed boundary line K1 is displayed as a solid line, and the boundary candidates K2A and K2B are displayed as dashed lines or dashed-dotted lines. The confirmed boundary line K1 and the boundary candidates K2A and K2B may be displayed in a virtual three-dimensional space, or may be displayed as a two-dimensional plane as in the example shown in FIG. 11.

[0080] The operator selects one boundary candidate from the plurality of boundary candidates K2A and K2B by operating a mouse or touching a touch panel, etc. Information on the boundary candidate selection by the operator is input from the input device 51 to the controller 70 as correction information for correcting the ambiguous boundary line.

[0081] Next, in step S45, the acquisition unit 42 acquires the selection information input from the input device 51 as the additional information.

[0082] Next, in step S46, the setting unit 43 determines the boundary of the building, etc. based on the acquired selection information, and sets the building, etc. whose outline has been determined as a prohibited area. The setting unit 43 also generates mask data including the prohibited area, and ends the process.

[0083] In the fourth generation method, multiple boundary candidates K2A, K2B are displayed as ambiguous boundary lines, and the operator selects one of them. Alternatively, the ambiguous boundary line may be displayed in a manner that allows the operator to easily recognize that it is an undetermined boundary line, and the operator may redraw the ambiguous boundary line by operating a mouse, a touch pen, or the like.

[0084] In the above embodiment, an example in which the laser irradiation system is mounted on the vehicle 101 has been described, but the laser irradiation system may be mounted on a moving body other than a vehicle, such as a ship or an aircraft. Furthermore, the laser irradiation system is not limited to a moving body, and may be fixedly installed in a facility such as a building.

[0085] In the above embodiment, an example in which the radar detector 110 is provided has been described, but it does not have to be provided.

[0086] In the above embodiment, an example has been described in which a prohibited area is set based on the external shape information of a building or the like identified by the identification unit 41 and the additional information acquired by the acquisition unit 42. However, after a prohibited area is set based on the external shape information of a building or the like identified by the identification unit 41, the setting of the prohibited area may be modified based on the additional information acquired by the acquisition unit 42.

[0087] The functions of each element, including the controller 70, disclosed in this disclosure can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. In the case of a processor, where hardware is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0088] [Action and effect] In the laser irradiation system according to this embodiment, the identification unit 41 identifies buildings, combustible materials, or living things that exist in the vicinity of the laser irradiation device 1, the acquisition unit 42 acquires additional information about the buildings, combustible materials, or living things that is input from the outside using the input device 51, and the setting unit 43 sets a prohibited area based on the external information of the buildings, combustible materials, or living things identified by the identification unit 41 and the additional information acquired by the acquisition unit 42. In this way, by setting a prohibited area based on the external information and additional information of the buildings, combustible materials, or living things that exist in the vicinity of the laser irradiation device 1, the prohibited area can be set appropriately, and as a result, appropriate mask data can be generated.

[0089] Summary of this disclosure The above-described embodiments of the present disclosure can be summarized as follows.

[0090] A laser irradiation system according to one aspect of the present disclosure is a laser irradiation system that irradiates a target with a laser, and includes an irradiation device that irradiates the laser, and a control device that controls the irradiation device, wherein the control device has an identification unit that identifies buildings, combustible materials, or living things that are present in the vicinity of the irradiation device, an acquisition unit that acquires additional information about the buildings, combustible materials, or living things that is input from outside, and a setting unit that sets a prohibited area in which laser irradiation is prohibited based on the external information of the buildings, combustible materials, or living things identified by the identification unit and the additional information acquired by the acquisition unit.

[0091] According to this aspect, by setting a prohibited area based on the external information of a building, flammable material, or living thing and additional information about the building, flammable material, or living thing, it is possible to appropriately set a prohibited area in which laser irradiation is prohibited, and as a result, it is possible to generate appropriate mask data.

[0092] In the above aspect, the additional information includes presence information indicating whether or not a living organism is present within the building, and the setting unit sets the building as the prohibited area if a living organism is present within the building, and excludes the building from the prohibited area if no living organism is present within the building.

[0093] According to this aspect, by setting a structure in which living things exist as a prohibited area, it is possible to appropriately set the prohibited area.

[0094] In the above aspect, the system further includes a distance measuring device that measures the distance from the irradiation device to the object to be measured, and a visibility measuring device that measures the visibility of the surrounding environment of the irradiation device, wherein the additional information includes distance information that indicates the distance from the irradiation device to the building, the combustible material, or the living thing, measured by the distance measuring device, and visibility information that indicates the visibility of the surrounding environment of the irradiation device, measured by the visibility measuring device, and the control device further has a calculation unit that calculates the reach distance of the laser based on the visibility information, and when the distance from the irradiation device to the building, the combustible material, or the living thing is less than or equal to the reach distance, the setting unit sets the building, the combustible material, or the living thing as the prohibited area, and when the distance from the irradiation device to the building, the combustible material, or the living thing is greater than the reach distance, the system excludes the building, the combustible material, or the living thing from the prohibited area.

[0095] According to this aspect, by setting as the prohibited area a structure, flammable material, or living thing whose distance from the irradiation device is less than the laser's reach based on visibility, it is possible to appropriately set the prohibited area.

[0096] In the above aspect, the control device further includes a distance measuring device that measures the distance from the irradiation device to the object to be measured, and the additional information includes first distance information indicating the distance from the irradiation device to the target, measured by the distance measuring device, and second distance information indicating the distance from the irradiation device to the building, the combustible material, or the living thing, and the control device further includes a calculation unit that calculates the laser intensity at a position where the laser reaches the building, the combustible material, or the living thing based on the first distance information and the second distance information, and the setting unit sets the building, the combustible material, or the living thing as the prohibited area when the laser intensity is equal to or greater than a threshold, and excludes the building, the combustible material, or the living thing from the prohibited area when the laser intensity is less than the threshold.

[0097] According to this aspect, by setting as the prohibited area a structure, a flammable object, or a living thing where the laser intensity of the irradiated laser is equal to or greater than a threshold value, it becomes possible to appropriately set the prohibited area.

[0098] In the above aspect, the system further includes an input device operable by an operator, wherein the contour information includes an ambiguous boundary line where the contour of the structure, the flammable material, or the living thing has not been determined, and the additional information includes correction information input from the input device for correcting the ambiguous boundary line.

[0099] According to this aspect, the outer shape of the building is determined based on the correction information for correcting the ambiguous boundary line, thereby making it possible to appropriately set the prohibited area.

[0100] In the above aspect, the laser irradiation system is mounted on a moving body.

[0101] According to this aspect, by mounting the laser irradiation system on the mobile body, it becomes possible to generate appropriate mask data for each location where the mobile body is moved and deployed. [Explanation of symbols]

[0102] 1. Laser irradiation device 41 Specific part 42 Acquisition Department 43 Setting section 44 Calculation section 51 Input Device 61 Distance measuring device 62 Visibility measuring device 70 Controller

Claims

1. A laser illumination system for illuminating a target with a laser, comprising: an irradiation device that irradiates a laser; a control device that controls the irradiation device; Equipped with The control device an identification unit that identifies a structure, a combustible material, or a living thing present in the vicinity of the irradiation device; an acquisition unit that acquires additional information regarding the structure, the combustible material, or the living thing input from outside; a setting unit that sets a prohibited area in which laser irradiation is prohibited based on the external shape information of the structure, the combustible material, or the living thing identified by the identifying unit and the additional information acquired by the acquiring unit; and and, the additional information includes presence information indicating whether the living thing is present in the structure, The setting unit sets the building as the prohibited area if the living organism is present within the building, and excludes the building from the prohibited area if the living organism is not present within the building.

2. A laser illumination system for irradiating a target with a laser, comprising: an irradiation device that irradiates a laser; a control device that controls the irradiation device; a distance measuring device for measuring a distance from the irradiation device to a measurement object; a visibility measuring device for measuring the visibility of the surrounding environment of the irradiation device; Equipped with The control device an identification unit that identifies a structure, a combustible material, or a living thing present in the vicinity of the irradiation device; an acquisition unit that acquires additional information regarding the structure, the combustible material, or the living thing input from outside; a setting unit that sets a prohibited area in which laser irradiation is prohibited based on the external shape information of the structure, the combustible material, or the living thing identified by the identifying unit and the additional information acquired by the acquiring unit; and and, the additional information includes distance information indicating a distance from the irradiation device to the structure, the combustible material, or the living thing, measured by the distance measurement device, and visibility information indicating a visibility of a surrounding environment of the irradiation device, measured by the visibility measurement device; the control device further includes a calculation unit that calculates a laser reach distance based on the visibility information, A laser irradiation system in which the setting unit sets the building, the flammable material, or the living thing as the prohibited area when the distance from the irradiation device to the building, the flammable material, or the living thing is less than the reach distance, and excludes the building, the flammable material, or the living thing from the prohibited area when the distance from the irradiation device to the building, the flammable material, or the living thing is greater than the reach distance.

3. A laser irradiation system for irradiating a target with a laser, comprising: an irradiation device that irradiates a laser; a control device that controls the irradiation device; a distance measuring device for measuring a distance from the irradiation device to a measurement object; Equipped with The control device an identification unit that identifies a structure, a combustible material, or a living thing present in the vicinity of the irradiation device; an acquisition unit that acquires additional information regarding the structure, the combustible material, or the living thing input from outside; a setting unit that sets a prohibited area in which laser irradiation is prohibited based on the external shape information of the structure, the combustible material, or the living thing identified by the identifying unit and the additional information acquired by the acquiring unit; and and, the additional information includes first distance information indicating a distance from the irradiation device to the target, measured by the distance measurement device, and second distance information indicating a distance from the irradiation device to the structure, the combustible material, or the living thing, the control device further includes a calculation unit that calculates a laser intensity at a position where the laser reaches the structure, the combustible material, or the living thing based on the first distance information and the second distance information; A laser irradiation system in which the setting unit sets the building, the flammable material, or the living thing as the prohibited area when the laser intensity is above a threshold value, and excludes the building, the flammable material, or the living thing from the prohibited area when the laser intensity is below the threshold value.

4. A laser irradiation system for irradiating a target with a laser, comprising: an irradiation device that irradiates a laser; a control device that controls the irradiation device; an input device operable by an operator; Equipped with The control device an identification unit that identifies a structure, a combustible material, or a living thing present in the vicinity of the irradiation device; an acquisition unit that acquires additional information regarding the structure, the combustible material, or the living thing input from outside; a setting unit that sets a prohibited area in which laser irradiation is prohibited based on the external shape information of the structure, the combustible material, or the living thing identified by the identifying unit and the additional information acquired by the acquiring unit; and and, the external shape information includes an ambiguous boundary line along which the external shape of the building, the combustible material, or the living thing is not determined; A laser irradiation system, wherein the additional information includes correction information for correcting the ambiguous boundary line, which is input from the input device.

5. A laser irradiation system described in any one of claims 1 to 4, mounted on a moving body.

Images