Laser irradiation system

Abstract

To acquire a laser radiation system capable of easily improving radiation probability of laser to a target`.SOLUTION: A laser radiation system comprises: a laser radiation device (1) having a formation part (50) forming laser (Lb); and a control device (70) controlling the laser radiation device. The control device (70) estimates a position of a target and radiates the laser formed in a dispersion shape including at least one of an annular shape, a dot-like shape and a linear shape to the position by the formation part (50).SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a laser irradiation system.

Background Art

[0002] A laser irradiation system according to the background art is disclosed in Patent Document 1 below. The laser irradiation system sets a focal point near a target and irradiates the focal point with lasers from a plurality of laser irradiation devices, thereby irradiating an electronic device of the target with an electromagnetic pulse generated from the plasma generated at the focal point.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the laser irradiation system disclosed in Patent Document 1, for example, it is not necessary to irradiate the target itself that moves with a laser, and aiming adjustment can be easily achieved. On the other hand, since a plurality of laser irradiation devices need to be arranged, the cost increases, and the synchronous control of the plurality of laser irradiation devices becomes complicated.

[0005] An object of the present disclosure is to obtain a laser irradiation system capable of easily improving the laser irradiation probability to a target in a method of directly irradiating a laser to a target.

Means for Solving the Problems

[0006] A laser irradiation system according to one aspect of the present disclosure is a laser irradiation system that estimates the position of a target and irradiates the position with a laser, comprising a laser irradiation device having a shaping unit for shaping a laser, and a control device for controlling the laser irradiation device, wherein the control device irradiates the position with a laser that has been shaped by the shaping unit into a dispersed shape including at least one of annular, scattered, and linear shapes. [Effects of the Invention]

[0007] According to this disclosure, it becomes possible to easily improve the probability of laser irradiation to a target. [Brief explanation of the drawing]

[0008] [Figure 1] This figure schematically shows the overall configuration of the laser irradiation system according to the embodiment of this disclosure. [Figure 2] This is a side view specifically illustrating the configuration of the illumination optics and support mechanism. [Figure 3] This is a perspective view specifically showing the configuration of the illumination optics and support mechanism. [Figure 4] This figure shows the functional configuration of a laser irradiation system according to an embodiment of the present disclosure. [Figure 5] This flowchart shows an example of a control operation performed by the controller. [Figure 6A] This is a diagram to explain target tracking. [Figure 6B] This is a diagram to explain target tracking. [Figure 7] This is a flowchart illustrating the first method for generating a dispersed laser using a controller. [Figure 8] This diagram shows a method for estimating the size of the target. [Figure 9] This figure shows a first example of the dispersion shape of a dispersion laser. [Figure 10] This figure shows a second example of the dispersion shape of a dispersed laser. [Figure 11] This figure shows a third example of the dispersion shape of a dispersed laser. [Figure 12] It is a diagram showing a fourth example of the dispersion pattern of a dispersed laser. [Figure 13] It is a diagram showing a fifth example of the dispersion pattern of a dispersed laser. [Figure 14] It is a flowchart for explaining a second generation method of a dispersed laser by a controller. [Figure 15] It is a diagram showing an example of the dispersion pattern of a dispersed laser. [Figure 16] It is a flowchart for explaining a third generation method of a dispersed laser by a controller. [Figure 17] It is a diagram schematically showing the scanning method of a dispersed laser in the third generation method.

Embodiments for Carrying Out the Invention

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

[0010] [Overall Configuration of the System] FIG. 1 is a diagram schematically showing the 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 making a target inoperable by irradiating the target with a high-power laser from a laser irradiation device 1. The target is, for example, a harmful object that flies or soars. Typical examples of harmful objects may be, for example, harmful birds and beasts that fly or soar. Further, the target may be an aircraft or a flying object having a propulsion device and a fixed wing, an aircraft having a single or a plurality of rotary wings, etc. The aircraft or flying object that is the target may be an aircraft including an unmanned aerial vehicle.

[0011] The laser irradiation system according to this embodiment is mounted on a vehicle 101 as a moving body. The vehicle 101 includes an engine 102 as a power source, wheels 103 rotationally driven by the engine 102, a cabin 104 incorporating a 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. Further, a radar detector 110 for detecting a target using a radar is disposed in the container 106.

[0012] The laser irradiation device 1 includes a laser oscillator 11, an irradiation optical device 12, and a support mechanism 13. The laser oscillator 11 is a light source that generates a laser Lb. The irradiation optical device 12 is an irradiator that guides and irradiates the laser Lb generated by the laser oscillator 11 in a desired direction. The support mechanism 13 is a mechanism that supports the irradiation optical device 12 so as to be rotatable and tiltable.

[0013] The laser oscillator 11 is disposed inside the container 106, and the irradiation optical device 12 and the support mechanism 13 are disposed on the container 106. Note that the container 106 may be configured not only as an accommodation chamber for accommodating the laser oscillator 11 but also, for example, as an operator's room where an operator stays.

[0014] The laser Lb generated by the laser oscillator 11 can be any type of high-power laser, but iodine lasers or fiber lasers are preferred. An iodine laser is a type of gas laser generated by a chemical reaction between excited oxygen and iodine. When using an iodine laser, the laser oscillator 11 can be comprised of, for example, an excited oxygen generator that generates excited oxygen, an iodine supply device that supplies iodine to react with the excited oxygen produced by the device, and a laser resonator that generates laser oscillation through the chemical reaction between excited oxygen and iodine. A fiber laser is a type of electrically driven laser that generates a laser using an optical fiber doped with laser-active elements, and has advantages such as high-efficiency oscillation and high beam quality. When using a fiber laser, the laser oscillator 11 can be comprised of, for example, a semiconductor laser that serves as an excitation light source, a coupler that connects the light from the semiconductor laser to an optical fiber doped with active elements, and a laser resonator that extracts laser light from the optical fiber excited by the semiconductor laser.

[0015] Figures 2 and 3 are side and perspective views, respectively, specifically illustrating the configuration of the illumination optics 12 and the support mechanism 13. In this embodiment, for convenience, the extension direction of the Z-axis, which is the rotation axis of the support mechanism 13 shown in Figure 2, etc., is defined as the vertical direction, and the extension direction of the Y-axis is defined as the horizontal direction. The direction in which the container 106 of the vehicle 101 is located, as viewed from the laser irradiation device 1, is defined as the downward direction of the Z-axis, and the direction in which the illumination optics 12 irradiates the laser is defined as the forward direction. However, this direction definition can be appropriately changed depending on the mounting position of the laser irradiation device 1 on the vehicle 101. The illumination optics 12 comprises a housing 21, an optical module 22, an irradiation window 23, a tracking camera 24, and a shooting window 25. The housing 21 is a roughly rectangular cylindrical housing that houses the optical module 22 and the tracking camera 24 inside. The optical module 22 is a group of optical components that focuses the laser Lb output from the laser oscillator 11 and directs it in a desired direction, and is composed of optical elements including a transmissive optical element or a reflective optical element. An example of a transmissive optical element is a focusing lens or a refractive lens, and an example of a reflective optical element is a concave mirror or a convex mirror. The optical module 22 has a laser shaping unit 50. The laser shaping unit 50 is composed of an axicon mirror or a diffractive optical element. As will be described later, the laser shaping unit 50 shapes the input point-shaped laser Lb into a dispersed laser (hereinafter referred to as "dispersed laser") based on a control signal from the controller 70 and outputs it. In this embodiment, the laser shaping unit 50 is built into the optical module 22, but these may be configured in other ways. For example, the laser shaping unit 50 may be placed between the laser oscillator 11 and the irradiation optical unit 12. In this case, the laser Lb is shaped into a dispersed laser by the laser shaping unit 50 and then introduced into the irradiation optical unit 12. The definitions of laser shapes such as point-like or dispersed shapes in this disclosure all refer to the cross-sectional shape of the laser on a plane perpendicular to the laser irradiation axis of the irradiation optics unit 12. Hereafter, expressions of laser shape and similar shapes will be based on the above definitions. The irradiation window 23 is a transparent member made of glass or the like that can transmit the dispersed laser 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 dispersed laser.The tracking camera 24 is a shooting device that photographs a target in order to acquire and track the target. The shooting window 25 is a transparent member made of glass or the like that is attached to the front end surface 21a of the housing 21 in order to capture images into the tracking camera 24.

[0016] The illumination optics 12, with its attitude controlled to point towards the target acquired by the tracking camera 24, emits a dispersed laser from the optical module 22 through the illumination window 23. This allows the dispersed laser to hit the target, thereby damaging it.

[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 and dispersion laser passing through the housing 21, and consequently prevents the refractive index of the laser from changing due to the temperature rise associated with the absorption of the laser.

[0018] The support mechanism 13 is a so-called two-axis gimbal mechanism. Supported by this support mechanism 13, the illumination optical unit 12 can rotate around the Z axis, as shown by arrow A1 in Figure 2, and can also tilt around the Y axis, which is perpendicular to the Z axis, as shown by arrow A2 in Figure 2.

[0019] Specifically, the support mechanism 13 comprises a base 31, a swivel body 32, a pair of left and right support legs 33, and a Z-axis motor 34 and a Y-axis motor 35 as shown in Figure 4. In this embodiment, the base 31 is a disc-shaped platform fixed to the container 106. The swivel body 32 is a disc-shaped rotating body coaxially arranged on the base 31 and is pivotally supported by the base 31 via a swivel shaft 31a extending in the Z-axis direction. The pair of support legs 33 are members that protrude upward from the swivel body 32 and are arranged to sandwich the illumination optical device 12 from both sides in the Y-axis direction. Each support leg 33 pivotally supports the illumination optical device 12 via a tilting shaft 33a extending in the Y-axis direction. The Z-axis motor 34 is an electric motor that rotates the swivel body 32 around the Z-axis as shown by arrow A1. The Y-axis motor 35 is an electric motor that rotates the illumination optical device 12 around the Y-axis as shown by arrow A2.

[0020] In response to the rotational drive of the swivel body 32 by the Z-axis motor 34, the illumination optical unit 12 rotates around the Z-axis together with the support legs 33. Also, in response to the drive of the Y-axis motor 35, the illumination optical unit 12 tilts around the Y-axis relative to the support legs 33. By being supported by the support mechanism 13 in a state that allows for such rotation and tilting, the illumination optical unit 12 can orient its front end surface 21a, which has the illumination window 23 and the imaging window 25, in all directions.

[0021] The illumination optics 12 and the laser oscillator 11 are connected via a light guide path 18, which is simplified as shown in Figure 3. The light guide path 18 is a path for introducing the laser Lb output from the laser oscillator 11 into the optical module 22 inside the illumination optics 12. When irradiating a target with a dispersed laser, the laser Lb is introduced from the laser oscillator 11 into the optical module 22 through the light guide path 18. The laser Lb introduced into the optical module 22 is formed into a dispersed shape by the laser shaping unit 50 and then led out to the outside as a dispersed laser through the irradiation window 23.

[0022] Figure 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 and a radar detector 110, both of which are electrically connected to the controller 70. The controller 70 includes an acquisition unit 41, a setting unit 42, and an output unit 43. Details of the functions of each processing unit will be described later. The controller 70 controls the driving of the laser oscillator 11, tracking camera 24, Z-axis motor 34, Y-axis motor 35, and laser shaping unit 50 of the laser irradiation device 1.

[0023] [Example of operation] Figure 5 is a flowchart showing an example of the control operation of the laser irradiation device 1 to irradiate a target with a laser, as performed 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 an approaching target inputs a command to activate the radar detector 110 to the controller 70 from the input device. As a result, the controller 70 activates the radar detector 110.

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

[0025] If a target is detected (step S2: YES), then in step S3, the controller 70 performs target tracking using the tracking camera 24. That is, the controller 70 controls the attitude of the illumination optics 12 using the Z-axis motor 34 and Y-axis motor 35 so that the target detected by the radar detector 110 is within the field of view of the tracking camera 24, and also causes the tracking camera 24 to continuously photograph the target. When the radar detector 110 detects a target, the radar detector 110 may simultaneously obtain distance information between the target and the laser illumination device 1, and direction information of the target as seen from the laser illumination device 1, and transmit this information to the controller 70. In this embodiment, the controller 70 estimates the position of the target based on the 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] Figures 6A and 6B are diagrams illustrating target tracking and show images captured by the tracking camera 24. In Figure 6A, point X1 indicates the tracking point, and point X2 indicates the laser sight. Tracking point X1 is a reference point included in the target image, and laser sight X2 is the destination of the laser Lb emitted from the illumination optics 12. The controller 70 controls the attitude of the illumination optics 12 so that tracking point X1 coincides with the laser sight X2, that is, from the state in Figure 6A to the state in Figure 6B. Then, when a state in which tracking point X1 approximately coincides with the laser sight X2 is stably obtained, the controller determines that tracking has converged.

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

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

[0030] Next, in step S6, the controller 70 determines whether or not the countermeasure against the target has been completed. That is, the controller 70 determines whether or not the target has been neutralized because the dispersed laser emitted from the illumination optics 12 hit the target and that state continued for a certain period of time or longer. Typical examples of neutralization include, if the target is a harmful bird or animal, the target moving out of the detection range of the radar detector 110 because it dislikes the laser irradiation. If the target is an artificial object, examples include, if part or all of the target is damaged and crashes, or if the target becomes unable to fly stably. In this case, the controller 70 may also determine whether or not the target has been damaged, or whether or not the target is able to fly stably, by analyzing images captured by the tracking camera 24. If it is determined that the countermeasure against the target has not been completed (step S6: NO), the controller 70 repeats the process in steps S5 and S6.

[0031] If it is determined that the target has been dealt with (step S6: YES), then in step S7, the controller 70 determines whether or not other targets exist. That is, the controller 70 determines whether or not there are any targets detected by the radar detector 110 in addition to the targets that have already been dealt with.

[0032] If it is determined that another target exists (Step S7: YES), the controller 70 tracks and takes action against that other target by repeatedly executing the processes from Step S3 onward.

[0033] If it determines that no other targets exist (step S7: NO), the controller 70 terminates the process.

[0034] As described above, the laser irradiation system according to this embodiment neutralizes a target by continuously irradiating it with a laser. However, continuously hitting a target with a laser Lb focused to a single point is not easy, especially when the target is moving at high speed. Furthermore, if the target is a winged bird or animal, it is sufficient to hit a part of the target, such as its wings, with the laser to drive it away. Also, if the target is an aircraft or flying object with multiple rotors, it is not necessary to completely destroy the target; it is sufficient to damage a part of the target to the extent that it is unable to fly stably. For this reason, to solve the problems in this disclosure, a dispersed laser shape, which allows for a wider laser irradiation range at a given moment, is more suitable than a single-point focused shape, which allows for a relatively high laser intensity but is difficult to hit the target.

[0035] Therefore, in the laser irradiation system according to this embodiment, the position of the target is estimated, and a dispersed laser, formed into a dispersed shape by the laser shaping unit 50, is irradiated onto that position. As will be described later, the dispersed shape includes annular, scattered, linear, or a combination thereof. Various methods for generating dispersed lasers will be described in detail below. The multiple generation methods described below can be applied in any combination.

[0036] [First generation method] Figure 7 is a flowchart illustrating the first method of generating a dispersed laser using the controller 70.

[0037] First, in step S11, the acquisition unit 41 acquires image data of the target captured by the tracking camera 24. This image data is input from the tracking camera 24 to the controller 70.

[0038] Next, in step S12, the setting unit 42 estimates the size of the target by analyzing the image data input in step S11. Figure 8 shows the method for estimating the size of the target. For example, the setting unit 42 sets the smallest circumscribed circle R that can enclose the target in the image data. The setting unit 42 corrects the diameter L0' of the circumscribed circle R, which is a numerical value in the image data, to a diameter L0, which is a numerical value obtained, for example, based on the distance value between the laser irradiation device 1 and the target acquired by the radar detector 110, and sets this as the estimated size of the target. Note that the geometric shape used to determine L0 is not limited to a circular shape. For example, a square may be applied to the outline of the target in the image data, and L0' may be determined by finding the dimensions of the square such that at least two opposite sides of the square touch each other, and L0 may be determined based on this using the same method as described above.

[0039] Next, in step S13, the setting unit 42 sets the dispersion shape of the dispersion laser based on the target size estimated in step S12.

[0040] Figure 9 shows a first example of the dispersion shape of a dispersion laser, and corresponds to a cross-sectional view with respect to the direction of propagation of the dispersion laser. The dispersion shape of the dispersion laser 61 is annular, and the diameter L1 of the annulus is set to, for example, 50-80% of the diameter L0. The line width of the annulus is set to be sufficiently thin in order to increase the laser intensity. The laser intensity at each point constituting the annulus is set to be above a predetermined threshold corresponding to the lower limit intensity that can neutralize the target. With a solid circular dispersion laser having the same diameter L1, it is difficult to ensure a laser intensity above the above threshold at all points within the circle. Also, for the reasons mentioned above, it is not necessary to hit the entire target evenly with the laser, and it is sufficient to hit a localized area of ​​the irradiated object with a laser of sufficient intensity to cause some damage, so it is effective to make it annular, as in the dispersion laser 61 of this embodiment. Note that the shape of the ring of the dispersion laser 61 is not limited to annular, but may be an annular shape of any polygon.

[0041] As mentioned above, the dispersion shape of a dispersion laser can be appropriately selected from various shapes depending on the characteristics of the target, such as its shape, size, movement speed, and possible movement trajectory. Figure 10 shows a second example of the dispersion shape of a dispersion laser. A point laser 62 is added to the center of the annular dispersion laser 61 shown in Figure 9. The laser intensity of the point laser 62 is set to be above the threshold value mentioned above.

[0042] Figure 11 shows a third example of the dispersion shape of a dispersed laser. A scattered dispersed laser 63 is set up by arranging point lasers at each vertex and center point of a square whose side length corresponds to the diameter L1. The laser intensity of each point laser is set to be above the threshold value. Note that the configuration of the scattered lasers is not limited to the example in Figure 11, and the number and placement of the point lasers are arbitrary.

[0043] Figure 12 shows a fourth example of the dispersion shape of a dispersion laser. A linear dispersion laser 64 with a length corresponding to the diameter L0 is set up. The laser intensity at each point constituting the line of the dispersion laser 64 is set to be above the threshold value mentioned above. Note that the shape of the line of the dispersion laser 64 is not limited to a straight line; it may also be a curve.

[0044] Figure 13 shows a fifth example of the dispersion shape of a dispersion laser. A cross-shaped dispersion shape is set by adding a linear dispersion laser 65, whose length corresponds to the diameter L0, perpendicular to the linear dispersion laser 64 shown in Figure 12. The laser intensity at each point constituting the line of the dispersion laser 65 is set to be above the threshold value mentioned above. Note that the shape of the line of the dispersion laser 65 is not limited to a straight line; it may also be a curve.

[0045] Referring to Figure 7, in step S14, the output unit 43 outputs the dispersion laser setting information set in step S13. The setting information is input to the laser shaping unit 50. Based on the input setting information, the laser shaping unit 50 shapes the single-point laser Lb into a dispersion laser having a desired dispersion shape and outputs it. Note that the dispersion shapes shown in Figures 9 to 13 can be arbitrarily selected, and it is also possible to apply a combination of multiple dispersion shapes. Therefore, the laser shaping unit 50 outputs a dispersion laser shaped into a dispersion shape that includes at least one of annular, scattered, and linear shapes.

[0046] [Second generation method] Figure 14 is a flowchart illustrating the second method of generating a dispersed laser by the controller 70.

[0047] First, in step S11, the acquisition unit 41 acquires image data of the target captured by the tracking camera 24.

[0048] Next, in step S12, the setting unit 42 analyzes the image data input in step S11 and estimates the size of the target in the same procedure as the first generation method.

[0049] Next, in step S21, the setting unit 42 estimates the future direction of movement of the target by analyzing the multiple image data input in chronological order in step S11.

[0050] Next, in step S13, the setting unit 42 sets the dispersion shape of the dispersion laser based on the size of the target estimated in step S12 and the direction of movement of the target estimated in step S21.

[0051] Figure 15 shows an example of the dispersion shape of a dispersion laser, and corresponds to a cross-sectional view with respect to the direction of propagation of the dispersion laser. The dispersion shape of the dispersion laser is an elliptical ring. Arrow 80 indicates the direction of movement of the target estimated in step S21. The size L1 in the minor axis direction of the ellipse is set to, for example, 50-80% of the diameter L0 of the circumscribed circle R of the target. The size L2 in the major axis direction of the ellipse is set to a value greater than the diameter L0. In other words, the setting unit 42 sets the outer shape of the dispersion shape such that the size L2 of the dispersion shape in the direction parallel to the direction of movement is greater than the size L1 of the dispersion shape in the direction perpendicular to the direction of movement. The laser intensity at each point constituting the elliptical ring is set to be greater than or equal to the above threshold. Note that the form of the dispersion shape of the dispersion laser is not limited to the example in Figure 15, and may be annular, scattered, linear, or a combination thereof.

[0052] Referring to Figure 14, in step S14, the output unit 43 outputs the dispersion laser setting information set in step S13. Based on the input setting information, the laser shaping unit 50 shapes the point-shaped laser Lb into a dispersion laser having the desired dispersion shape and outputs it.

[0053] The first and second generation methods described above may be performed, for example, immediately before or simultaneously with step S3 or step S4 in the control operation flow of laser irradiation of a target by the laser irradiation device 1 as explained using Figure 5, to determine the shape of the dispersed laser. Also, if steps S5 and S6 are repeated in Figure 5, either generation method may be performed each time the loop is completed. This makes it possible to change the shape of the dispersed laser actually irradiated in accordance with the changes, even when the appropriate dispersion shape changes moment by moment depending on the relative distance or relative position between the target and the laser irradiation device 1 when continuously irradiating a single moving target with a laser while rotating the laser irradiation device 1.

[0054] Figure 16 is a flowchart illustrating the method of defining the presence region 90, described later, by the controller 70, and scanning within that range with a dispersed laser. Figure 17 is a schematic diagram showing the scanning method of the dispersed laser.

[0055] First, in step S11, the acquisition unit 41 acquires image data of the target captured by the tracking camera 24.

[0056] Next, in step S12, the setting unit 42 analyzes the image data input in step S11 and estimates the size of the target using the same procedure as the first generation method. Here, it is assumed that a group of targets consisting of multiple targets is included in the image captured by the tracking camera 24. The setting unit 42 estimates the size of a representative target among the target group, for example, the largest target.

[0057] Next, in step S31, the setting unit defines the area 90 in which the target group exists within the captured image. The area 90 is the region in which the outer shapes of all targets in the captured image are contained. The shape is not particularly limited as long as it satisfies the aforementioned definition.

[0058] Next, in step S13, the setting unit 42 sets the dispersion shape of the dispersion laser based on the target size estimated in step S12. In the example shown in Figure 17, an annular dispersion laser 61 is set. However, the form of the dispersion shape of the dispersion laser is not limited to the example in Figure 17, and may be annular, scattered, linear, or a combination thereof.

[0059] Next, in step S32, the setting unit 42 sets the scanning method of the dispersed laser 61 within the presence region 90. In the example shown in Figure 17, as indicated by arrow 91, a back-and-forth scanning path is set starting from the upper left corner of the presence region 90, and this path is scanned by dispersive laser irradiation. That is, the laser irradiation position is scanned to the right starting from the upper left corner of the presence region 90, and when the irradiation position reaches the right edge of the presence region 90, the irradiation position is moved downward by the vertical size of the dispersed laser 61, and then scanned to the left. Thereafter, each time the laser irradiation position reaches the right edge and left edge of the presence region 90, it is moved downward by the vertical size of the dispersed laser 61, and this is repeated until the entire presence region 90 is scanned. However, the starting point of the scan is not limited to the upper left corner of the presence region 90, but may also be the location within the presence region 90 where the target presence density is highest. Furthermore, the scanning direction in which the dispersed laser 61 folds back as described above is arbitrary. For example, a method in which the operation is performed to fold back vertically starting from the upper left corner of the presence region 90 is also included in this method. Furthermore, the scanning of the dispersed laser 61 may be a continuous scan in which the laser irradiation device 1 does not interrupt the output of the dispersed laser 61, or it may be a discontinuous or intermittent scan in which the laser irradiation device 1 outputs the dispersed laser 61 at regular time intervals. In the example shown in Figure 17, discontinuous scanning is set.

[0060] Referring to Figure 16, in step S14, the output unit 43 outputs setting information regarding the shape and scanning method of the dispersed laser set in steps S13 and S32. Based on the input setting information, the laser shaping unit 50 shapes the point-shaped laser Lb into a dispersed laser having the desired dispersion shape and scans the dispersed laser over the area 90 where the target group exists.

[0061] 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, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), 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 circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0062] [Effects and Effects] According to the laser irradiation system of this embodiment, the controller 70 estimates the position of the target and irradiates that position with a dispersed laser formed by the laser shaping unit 50 into a dispersed shape including at least one of annular, scattered, and linear shapes. As a result, it becomes possible to easily improve the probability of laser irradiation to the target.

[0063] [Summary of this disclosure] The embodiments of this disclosure described above can be summarized as follows:

[0064] A laser irradiation system according to one aspect of the present disclosure is a laser irradiation system for estimating the position of a target and irradiating the position with a laser, comprising: a laser irradiation device having a shaping unit for shaping a laser; and a control device for controlling the laser irradiation device, wherein the control device irradiates the position with a laser that has been shaped by the shaping unit into a dispersed shape including at least one of annular, scattered, and linear shapes.

[0065] According to this embodiment, it is possible to easily improve the probability of laser irradiation to a target.

[0066] In the above embodiment, the system further comprises a photographing device for photographing the target, and the control device sets the size of the dispersion shape according to the size of the target based on the image of the target taken by the photographing device.

[0067] According to this embodiment, it becomes possible to appropriately set the size of the laser dispersion shape according to the estimated size of the target.

[0068] In the above embodiment, the control device estimates the direction of movement of the target and sets the external shape of the dispersed shape based on that direction of movement.

[0069] According to this embodiment, it becomes possible to appropriately set the outer shape of the laser dispersion based on the estimated direction of movement of the target.

[0070] In the above embodiment, the control device sets the external shape of the dispersion shape such that the size of the dispersion shape in the direction parallel to the direction of movement is larger than the size of the dispersion shape in the direction perpendicular to the direction of movement.

[0071] According to this embodiment, by setting a dispersion shape with longitudinal directions in the same direction based on the estimated movement direction of the target, it becomes possible to further improve the probability of laser irradiation to the target without significantly reducing the laser intensity.

[0072] In the above embodiment, if the target of the attack is a group of targets including multiple targets, the control device defines the area in which the group of targets exist and irradiates the area in which the laser, which is shaped to the dispersed form, is continuously or discontinuously scanned.

[0073] According to this embodiment, it is possible to effectively irradiate a group of targets, including multiple targets, with a laser shaped into a dispersed form. [Explanation of Symbols]

[0074] 1. Laser irradiation device 41 Acquisition Department 42 Setting section 43 Output section 50 Laser molding section 70 Controllers

Claims

1. A laser irradiation system that estimates the position of a target and irradiates the said position with a laser, A laser irradiation device having a molding section for shaping the laser, A control device for controlling the laser irradiation device, Equipped with, The control device is a laser irradiation system that irradiates the position with a laser that has been formed by the molding unit into a dispersed shape including annular and cross shapes set to a predetermined line width.

2. The device further comprises a photographing device for photographing the aforementioned target, The control device is The laser irradiation system according to claim 1, wherein the size of the dispersion shape is set according to the size of the target based on the image of the target captured by the imaging device.

3. The control device is The direction of movement of the aforementioned target is estimated, The laser irradiation system according to claim 1 or 2, wherein the external shape of the dispersion is set based on the direction of movement.

4. The laser irradiation system according to claim 3, wherein the control device sets the outer shape of the dispersion shape such that, when the direction of movement is perpendicular to the direction of laser irradiation, the size of the dispersion shape in the direction parallel to the direction of movement is larger than the size of the dispersion shape in the direction perpendicular to the direction of movement.

5. If the target of the attack is a group of targets including multiple targets, the control device will The region in which the aforementioned group of targets exists is defined, A laser irradiation system according to any one of claims 1 to 4, wherein the laser formed into the dispersed shape is irradiated onto the said region by scanning it continuously or discontinuously.

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