Patent ID: 12253603

DETAILED DESCRIPTION

Embodiment 1

As shown inFIG.1, a threat coping system10according to an embodiment copes with coping targets30(including a first coping target30-1and a second coping target30-2) that are a threat. The threat coping system10sets a no-coping area12around a no-coping target20that is not to cope with such as a passenger plane. The threat coping system10is configured to suppress influences to the no-coping area12when coping with the coping targets30. For this reason, the threat coping system10does not cope with the first coping target30-1that exists in the no-coping area12and copes with the second coping target30-2that is outside the no-coping area12, for example. The coping target30includes an Unmanned Aerial Vehicle (UAV), a drone and the like.

As a result, the threat coping system10suppress damages to a no-coping target20when coping with coping targets30. The threat coping system10copes with the coping targets30by use of devices such as a Direct-Energy Weapon (DEW), a machine gun, an anti-aircraft missile, for example. Those devices bring damages to moving bodies that exist around the coping targets30. For example, in case of a DEW, coping energy may penetrate through a coping target30and affect a moving body that exists behind the coping target30. In case of a machine gun, a bullet that missed a coping target30may affect a moving body that exists around the coping target30. In case of an anti-aircraft missile, an explosion of a coping target30may affect a moving body that exists around. The threat coping system10suppresses influence to surroundings due to coping with coping targets30by setting a no-coping area12. It should be noted that a DEW includes a laser weapon, a High-Power Microwave (HPM) weapon, an Electromagnetic Pulse (EMP) weapon, and the like.

The threat coping system10is provided with a detection device100, a control device200and a threat coping device300. The detection device100detects a moving body around it and transmits detection data obtained by detection to the control device200. The control device200controls the threat coping device300and generates, based on the detection data, a coping signal that instructs to cope with a coping target30. The threat coping device300copes with the coping target30based on the coping signal. The control device200is electrically connected to the detection device100and the threat coping device300, wiredly or wirelessly, to transmit and receive various data.

The detection device100detects a moving body included in a preset detection area and generates detection data that indicates information of the detected moving body. The detection data include, for example, data that indicates a shape, a location, a speed, a travelling direction and the like of the moving body. The detection device100includes various sensors such as an optical camera, a Light Detection And Ranging (LIDAR), a radar device, a transponder receiver (for example, a device that receives a signal from an Air Traffic Control (ATC) transponder), an Identification Friend or Foe (IFF), for example. The optical camera, the LIDAR, the radar device and the transponder receiver detect for example a shape, a location, a speed, a travelling direction or the like of a moving body. The IFF detects for example an affiliation or the like of a moving body.

As shown inFIG.2, the control device200is provided with a communication device210, an input output device220, a storage device230and a processor240. The control device200decides a coping target30to cope with based on the detection data generated by the detection device100and instructs the threat coping device300to cope with the determined coping target30.

The communication device210is connected to the detection device100and the threat coping device300, and performs communication with the detection device100and the threat coping device300. The communication device210transfers data received from the detection device100and the threat coping device300to the processor240. In addition, the communication device210transfers signals generated by the processor240to the detection device100and the threat coping device300. The communication device210includes, for example, various interfaces such as a Network Interface Card (NIC) and a Universal Serial Bus (USB).

The input output device220receives information for the processor240to execute a process. In addition, the input output device220outputs a result of the process executed by the processor240. The input output device220includes a variety of input devices and output devices, and for example, includes a keyboard, a mouse, a microphone, a display, a speaker, a touch panel or the like.

The storage device230stores various data to control the threat coping device300such as an assignment program500and a coping list700. The storage device230is used as a non-transitory tangible storage medium that stores the assignment program500. The assignment program500may be provided as a computer program product stored in a computer-readable recording medium1, or may be provided as a computer program product downloadable from a server.

The processor240performs various data processes to control the threat coping device300. The processor240reads out the assignment program500from the storage device230and executes it to generate a coping signal to cope with the coping target30. For example, the processor240includes a Central Processing Unit (CPU) or the like.

As shown inFIG.3, the threat coping device300is provided with a communication device310, an input output device320, a storage device330, a processor340, an aiming sensor350and a coping execution device360. The threat coping device300copes with the coping target30based on the coping signal generated by the control device200.

The communication device310is connected to the control device200and performs communication with the control device200. The communication device310transfers data received from the control device200to the processor340. In addition, the communication device310transfers a signal generated by the processor340to the control device200. The communication device310includes, for example, various interfaces such as a NIC or a USB. In addition, the communication device310may be connected to the detection device100and perform communication with the detection device100.

The input output device320receives information for the processor340to execute a process. In addition, the input output device320outputs a result of a process executed by the processor340. The input output device320includes a variety of input devices and output devices, and for example includes a keyboard, a mouse, a microphone, a display, a speaker, a touch panel or the like.

The storage device330stores various data to cope with the coping target30, such as a coping program600. The storage device330is used as a non-transitory tangible storage medium that stores the coping program600. The coping program600may be provided as a computer program product stored in a computer-readable recording medium1, or may be provided as a computer program product downloadable from a server. The assignment program500and the coping program600may be stored in different recording media1.

The processor340performs various data processes to cope with the coping target30. The processor340reads out the coping program600from the storage device330and execute it. For example, the processor340includes a CPU or the like.

The aiming sensor350is used when the threat coping device300copes with the coping target30. The aiming sensor350detects a location of the coping target30when the threat coping device300copes with the coping target30. Data that indicates the detected location is transmitted to the processor340.

The coping execution device360copes with the coping target30based on an instruction from the processor340. For example, when the coping execution device360is a DEW, energy is irradiated to the coping target30. In addition, when the coping execution device360is an anti-aircraft missile system, an anti-aircraft missile is launched to the coping target30. When the coping execution device360is a machine gun, bullets are fired to the coping target30.

As shown inFIG.4, the assignment program500, that is executed in the control device200, is provided with an identification module510and a coping instruction module520. The identification module510identifies a coping target30and a no-coping target20from the detected moving bodies, based on the detected data generated by the detection device100. In addition, the identification module510sets a no-coping area12based on the detection data of the identified no-coping target20. The coping instruction module520generates a coping signal to cope with the coping target30, based on the detection data of the coping target30and the no-coping area12.

As shown inFIG.5, the identification module510is provided with a moving body identification means512, a no-coping area setting means514and a coping target registration means516. The moving body identification means512identifies a no-coping target20and a coping target30included in the moving bodies identified by the detection device100, based on the detection data generated by the detection device100. The no-coping area setting means514sets a no-coping area12for a moving body identified as a no-coping target20. The coping target registration means516registers information of a moving body, that is identified as a coping target30, as a coping target30in the coping list700.

As shown inFIG.6, the coping instruction module520is provided with a coping target selection means522, an aiming point calculation means524and a coping instruction means526. The coping target selection means522selects a coping target30to cope with from the coping list700in which coping targets30are registered. The aiming point calculation means524calculates an aiming point at a moment of coping with the selected coping target30. The aiming point indicates, when coping by use of an anti-aircraft missile for example, a meeting point of the coping target30and the anti-aircraft missile. When coping by use of a DEW, the aiming point indicates a location where the energy is irradiated. The coping instruction means526determines whether to cope with the coping target30or not based on the calculated aiming point and the no-coping area12set by the identification module510. The coping instruction means526generates, when it determined to cope with the coping target30, a coping signal to cope with the coping target30.

As shown inFIG.7, the coping program600, that is executed in the threat coping device300, is provided with a coping means610. The coping means610copes with the coping target30based on the coping signal generated by the assignment program500.

(Operation of Threat Coping System)

The identification module510makes the processor240execute processes shown inFIG.8. In a step S100, the processor240determines whether detection data generated by the detection device100are received or not. When the detection data are not received (step S100: NO), the processor240waits until the detection data are received. When the detection data are received (step S100: YES), the processor240executes a process of a step S110.

In the step S110, the processor240obtains information of a moving body detected by the detection device100from the detection data. The detection data includes information of the moving body detected by the detection device100, such as a size, a shape, a location, a speed, a travelling direction or the like. The processor240obtains those pieces of information from the detection data.

In a step S120, the processor240determines whether any no-coping target20exists or not among moving bodies detected by the detection device100. The storage device230preliminary stores information of no-coping targets20such as a size, a shape, a flying speed, a flying route, a model, an affiliation or the like. The processor240compares information of the moving bodies obtained from the detection data and information of the no-coping targets20stored in the storage device230. When information of a moving body obtained from the detection data matches information of a no-coping target20stored in the storage device230, the processor240determines that this moving body corresponds to the no-coping target20. In addition, when a portion of information of a moving body obtained from the detection data matches a portion of information of a no-coping target20, the processor240may determine that this moving body corresponds to the no-coping target20. Furthermore, a matching degree that indicates a degree of matching between information of a moving body and information of a no-coping target20may be calculated. When this matching degree is larger than a desired reference value, the processor240determines that the moving body corresponds to the no-coping target20. When any moving body corresponding to a no-coping target20exists (step S120: YES), the processor240executes a process of a step S130. When no moving body corresponding to any no-coping target20exists (step S120: NO), the processor240executes a process of a step S150.

In the step S130, the processor240sets the moving body, that is determined to correspond to a no-coping target20, as a no-coping target20. As the no-coping area12moves in accordance with a move of this moving body, a setting of the no-coping area12is facilitated by setting the moving body as a no-coping target20.

In a step S140, the processor240sets the no-coping area12based on information of the moving body that is set as a no-coping target20. The no-coping area12indicates an area where a distance from the no-coping target20is shorter than or equal to a desired distance. For example, the no-coping area12may be an area where a distance from an outer edge of the no-coping target20is shorter than a desired distance. In addition, the no-coping area12may be an area where a distance from a center of the no-coping target20is shorter than a desired distance. The desired distance may be determined in accordance with a model of the no-coping target20.

In a step S150, the processor240determines whether any coping target30exists among the moving bodies detected by the detection device100or not. The processor240determines whether a moving body, that is not set as no-coping targets20, corresponds to a coping target30or not, based on information of moving bodies obtained in the step S110. The processor240estimates a category of the moving body, such as a drone, a UAV or the like, from a size, a shape or the like of the moving body. The processor240calculates a threat level of the moving body based on the category, the speed and the travelling direction of the moving body. When the calculated threat level is higher than a desired reference value, the processor240determines that the moving body corresponds to a coping target30. When any moving body corresponding to a coping target30exists (step S150: YES), the processor240executes a process of a step S160. When no moving body corresponding to a coping target30exists (step S150: NO), the processor240returns to the step S100and repeats processes.

In the step S160, the processor240registers the moving body that corresponds to a coping target30to a coping list700shown inFIG.9. The moving body registered to the coping list700corresponds to the coping target30to cope with. The coping list700stores, for example, an ID701, an estimated category702, a location703, a speed704, a threat level705, a cope flag706and a suspend flag707of each moving body. The ID701is data to identify the moving body detected by the detection device100. The estimated category702is data that indicates a category of the moving body estimated based on information of the moving body such as a size, a shape, a speed or the like. The location703is data that indicates a location of the moving body. The speed704is data that indicates a speed of the moving body and that indicates a travelling direction and a magnitude of the speed. The threat level705is data that indicates a degree to which the moving body affects defense facilities or the like. For example, the threat level705stores the threat level calculated in the step S150. The cope flag706is data that indicates that the cope target30is to preferentially cope with. The cope flag706is set when the corresponding coping target30is determined to be preferentially coped with. The suspend flag707is data that indicates that coping with the corresponding coping target30affects the no-coping area12. For example, a desired value (for example: “1”) is registered to the cope flag706and the suspend flag707when they are set and another value (for example: “0”) is registered when the setting is canceled. In the step S160, when the coping target30is registered to the coping list700, the processor240returns to the step S100and repeats processes.

As described above, the identification module510identifies a no-coping target20and a coping target30and sets a no-coping area12in accordance with the no-coping target20. It should be noted that the moving body identification means512executes the process of the step S100, the process of the step S110, the process of the step S120and the process of the step S150. The no-coping area setting means514executes the process of the step S130and the process of the step S140. The coping target registration means516executes the process of the step S160.

The coping instruction module520makes the processor240execute processes shown inFIG.10. In a step S200, the processor240verifies whether any coping target30is registered to the coping list700or not. When no coping target30is registered to the coping list700(step S200: NO), the processor240waits until a coping target30is registered. When any coping target30is registered to the coping list700(step S200: YES), the processor240executes a process in a step S210.

In the step S210, the processor240selects a coping target30to cope with from the coping list700based on a desired selection condition. The selection condition may include, for example, an earliest arrival to a predetermined location (for example, a location of a protected object). In this case, the processor240predicts a movement route of a coping target30registered to the coping list700and calculates an estimated arrival time when the coping target30reaches the protected object based on the predicted movement route. A coping target30of which the calculated estimated arrival time is the earliest is selected.

The selection condition may include a closest distance from a predetermined location such as the location of the protected object. In this case, the processor240calculates a distance from the location of the coping target30to the location of the protected object based on the location of the coping target30registered to the coping list700. A coping target30of which the calculated distance is the shortest is selected.

The selection condition may include a highest threat level705registered to the coping list700. In this case, the processor240selects a coping target30of which the threat level705is the highest from the coping list700.

The selection condition may include a setting of the cope flag706registered to the coping list700. By selecting a coping target30of which the cope flag706is set, a coping target30that is determined to cope with can be preferably selected.

The selection condition may include selecting a coping target30that is currently coped with. In this case, the storage device230stores data of the coping target30that is currently coped with, such as the ID701. The processor240reads out data of the coping target30that is currently coped with from the storage device230and selects the coping target30that corresponds to the read data. The data that indicates the coping target30that is currently coped with may be included in the coping list700.

The selection condition may include a non-setting of the suspend flag707registered to the coping list700. By selecting a coping target30of which the suspend flag707is not set, a coping target30that affects the no-coping area12is excluded. In this case, the processor204may cancel the setting of the suspend flag707when a desired time has passed since it was set.

The selection condition may be an arbitrary combination of the above-described selection conditions. For example, the processor240may calculate a selection priority based on the above-described selection conditions and select a coping target30based on the calculated selection priority. For example: a first selection priority is set in accordance with an order of earlier estimated arrival time of reaching the protected object; a second selection priority is set in accordance with an order of higher threat level705; and a selection priority as a whole is calculated based on this first selection priority and this second selection priority. In addition, the processor240may calculate a third selection priority based on a distance from a predetermined location to the location of the coping target30and calculate the selection priority as a whole based on the first selection priority, the second selection priority and the third selection priority. In addition, the first selection priority may be set in accordance with a time from a current time to the estimated arrival time. The second selection priority may be set in accordance with the threat level705.

When the coping target30is selected, the processor240calculates, in a step S220, an aiming point to cope with the selected coping target30. The aiming point is calculated based on a performance of the threat coping device300and information of the coping target30such as a speed, a travelling direction or the like. The performance of the threat coping device300includes, for example, a range distance, a time from a start of coping to affecting the aiming point (for example, a time from launching an anti-aircraft missile to reaching the aiming point), or the like.

In a step S230, the processor240determines whether there is any influence to the no-coping area12by coping with the calculated aiming point or not. When there is no influence to the no-coping area12by coping with the calculated aiming point (step S230: NO), the processor240executes a process of a step S240to cope with the coping target30. When there is an influence to the no-coping area12by coping with the aiming point (step S230: YES), the processor240executes a process of a step S260to prohibit coping with the coping target30. A method of determining whether there is any influence to the no-coping area12will be described later.

In the step S240, the processor240sets a cope flag706corresponding to the selected coping target30. For example, the processor240registers a predetermined value such as “1” to the cope flag706corresponding to the selected cope flag706in the coping list700.

In a step S250, the processor240generates a coping signal to cope with the selected coping target30. The coping signal includes a signal that indicates information of the selected coping target30. For example, the coping signal includes a signal that indicates data included in the coping list700. In particular, the coping signal includes a signal that indicates the ID701, the location703, the speed704and the like corresponding to the selected coping target30. When the processor240generates the coping signal, the threat coping device300copes with the coping target30based on the coping signal. For this reason, the processor240stores data, that indicates that the threat coping device300is currently coping with the selected coping target30, in the storage device230. The processor240returns, after generating the coping signal, to the process of the step S200and repeats processes.

When there is an influence to the no-coping area12(step S230: YES), the processor240sets the suspend flag707corresponding to the selected coping target30in the step S260. For example, the processor240registers a predetermined value such as “1” to the suspend flag707corresponding to the selected coping target30in the coping list700.

In a step S270, the processor240determines whether the threat coping device300is coping with the selected coping target30or not. The processor240reads out data of the coping target30which is currently coped with from the storage device230. The processor240determines whether the threat coping device300is currently coping with the selected coping target30, based on the read data. When the threat coping device300is currently coping with the selected coping target30(step S270: YES), the processor240executes a process of a step S280to suspend the coping. When the threat coping device300is not currently coping with the selected coping target30(step S270: NO), the processor240returns to the process of the step S210and repeats processes.

In the step S280, the processor240generates a suspension signal to suspend the coping with the selected coping target30. The suspension signal may include a signal that indicates information of the selected coping target30. The processor240returns, after generating the suspension signal, to the process of the step S210and repeats processes.

As described above, the coping instruction module520determines the coping target30with which the threat coping device300copes. In addition, the coping instruction module520suspends coping with the coping target30based on the no-coping area12. It should be noted that the coping target selection means522executes the process of the step S200and the process of the step S210. The aiming point calculation means524executes the process of the step S220. The coping instruction means526executes the processes of the steps S230to S280.

The coping program600makes the processor340of the threat coping device300execute processes shown inFIG.11. In a step S300, the processor340verifies that the coping signal that indicates to cope with is received and that the suspension signal that indicates to suspend the coping is not received. When the coping signal is received and the suspension signal is not received (step S300: TRUE), the processor340executes a process of a step S310to cope with the coping target30. When the coping signal is not received or the suspension signal is received (step S300: FALSE), the processor340repeatedly executes the step S300.

In the step S310, the processor340performs a coping with the coping target30based on the coping signal. The processor340obtains a current location of the coping target30to perform the coping with the coping target30. As the coping signal includes a signal that indicates information of the coping target30to cope with, the processor340extracts information of the coping target30to cope with, such as a location of the coping target30, from the coping signal. The processor340obtains the current location of the coping target30by use of the aiming sensor350, based on the extracted location of the coping target30. For example, the processor340controls the aiming sensor350to detect a moving body that exists at the extracted location of the coping target30. The processor340determines whether the detected moving body matches the coping target30or not and, in case of matching, copes with the detected moving body as the coping target30. It should be noted that the current location of the coping target30may be obtained from the detection device100.

In a step S320, the processor340determines whether the coping target30exists or not. For example, while the threat coping device300is coping with the coping target30, the aiming sensor350continues detecting the coping target30. When the aiming sensor350is detecting the coping target30, the processor340determines that the coping target30exists. When it is determined that the coping target30exists (step S320: YES), the processor340returns to the process of the step S300and repeats processes. When the aiming sensor350is not detecting the coping target30, the processor340determines that the coping target30does not exist. When it is determined that the coping target30does not exist (step S320: NO), the processor340executes a process of a step S330.

In the step S330, the processor340generates a deletion signal to delete a coping target30which has been coped from the coping list700. A deletion signal includes, for example, a signal that indicates the ID701of the coping target30to delete. The control device200deletes, based on the deletion signal, the corresponding coping target30from the coping list700. The processor340after generation of the deletion signal returns to the step S300and repeats processes.

As described above, the coping program600copes with a coping target30based on a coping signal from the control device200and performs suspension of coping based on a suspension signal from the control device200. Therefore, the threat coping system10suppresses a coping with a coping target30that may affect a no-coping area12and can reduce misfiring to no-coping targets20.

(Determination Whether there is Influence to a No-Coping Area)

A determination whether there is influence to a no-coping area12is performed based on a desired influence condition. When the influence condition is satisfied, the processor240determines that there is an influence to the no-coping area12when the threat coping device300copes with the coping target30. When the influence condition is not satisfied, the processor240determines that there is no influence to the no-coping area12even if the threat coping device300copes with the coping target30.

The influence condition includes an overlapping of a range of effect of a weapon with which the threat coping device300is provided to the no-coping area12. In particular, as shown inFIG.12, a first threat coping device300-1affects a first range of effect14-1and a second threat coping device300-2affects a second range of effect14-2. As the first range of effect14-1does not overlap the no-coping area12, it is determined that there is no influence to the no-coping area12even if the first threat coping device300-1copes with the coping target30. On the other hand, as the second range of effect14-2overlaps the no-coping area12, it is determined that there is an influence to the no-coping area12when the second threat coping device300-2copes with the coping target30.

The range of effect14includes a coping route (for example: line of fire) where a coping object (for example: light energy, electromagnetic energy, a bullet, a missile or the like) passes to defeat the coping target30. This coping route is different depending on the weapon with which the threat coping device300is provided. In case of a DEW, a machine gun or the like, as shown inFIG.13, the coping route16is extended on a straight line from the threat coping device300toward the aiming point. In case of an anti-aircraft missile system or the like, as shown inFIG.14, the coping route16is not extended on a straight line but includes a curve. In addition, as shown inFIG.13, when the coping route16is extended on a straight line, the range of effect14includes a conical area with the threat coping device300as an apex. An apex angle18of this range of effect14is different depending on the weapon with which the threat coping device300is provided. For this reason, the range of effect14may include a conical area having an apex angle18in accordance with the threat coping device300.

When the threat coping device300is provided with a DEW, the influence condition may include a non-exceeding of an intensity of the irradiated energy beyond a predetermined value in the no-coping area12. For example, when the threat coping device300is provided with a laser weapon, the influence condition may include a non-exceeding of laser intensity beyond a predetermined value in the no-coping area12. In addition, when the threat coping device300is provided with a HPM weapon, the influence condition may include a non-exceeding of electric field strength beyond a predetermined value in the no-coping area12. In addition, the influence condition may include a non-exceeding of an integrated value of energy irradiated to the no-coping area12beyond a predetermined value.

When the threat coping device300is provided with a machine gun, the influence condition may include a non-exceeding of a probability in which a bullet reaches the no-coping area12beyond a predetermined value.

When the threat coping device300is provided with an anti-aircraft missile system, the influence condition may include a non-overlapping of the range of effect14, where there is an influence when an anti-aircraft missile hits the coping target30, to the no-coping area12. An anti-aircraft missile explodes and affects the surroundings when hitting the coping target30. By not overlapping the affected area to the no-coping area12, influence to the no-coping area12is reduced.

Variation Example 1 of No-Coping Area

The no-coping area12may be different depending on the no-coping target20. For example, the no-coping area12may be decided depending on a size and a speed of the no-coping target20. In particular, the no-coping area12indicates an area where a distance from the no-coping target20is shorter than or equal to a desired distance. This desired distance may be decided depending to a length, a speed or the like of the no-coping target20. For example, the desired distance may be proportional to a length of the no-coping target20. In other words, the longer the length of the no-coping target20, the wider the no-coping area12may be set. In particular, as shown in Equation (1), the desired distance may be a value in which the length of the no-coping target20is multiplied by an arbitrary coefficient. L indicates a desired distance and CLindicates a length of the no-coping target20. A1indicates a coefficient.

[Equation 1]
L=A1CL(1)

In addition, the desired distance may be proportional to a speed of the no-coping target20. In other words, the faster the speed of the no-coping target20, the wider the no-coping area12may be set. In particular, as shown in Equation (2), the desired distance may be a value in which a speed of the no-coping target20is multiplied by an arbitrary coefficient. CVindicates a speed of the no-coping target20. A2indicates a coefficient.

[Equation 2]
L=A2Cv(2)

In addition, the desired distance may be decided based on a value calculated based on a length of the no-coping target20and a value calculated based on a speed of the no-coping target20. For example, the desired distance may be a value in which two values are added, as shown in Equation (3).

[Equation 3]
L=A1CL+A2Cv(3)

As described above, by setting an area in accordance with a speed and a length of the no-coping target20as the no-coping area12, misfiring to the no-coping target20is suppressed.

The no-coping area12may be decided based on a speed and a travelling direction of the no-coping target20. For example, the no-coping area12may be expanded in the travelling direction of the no-coping target20by a distance based on the speed of the no-coping target20. In particular, the no-coping area12may be expanded at a location inclined by an angle θ with respect to the travelling direction by a value in which the speed of the no-coping target20is multiplied by cos θ and an arbitrary coefficient.

The no-coping area12may be decided based on a distance corresponding to a length and a speed of the no-coping target20that are preliminarily registered. For example, the storage device230stores a distance corresponding to the length and the speed of the no-coping target20. The processor240reads out the corresponding distance from the storage device230based on the length and the speed of the no-coping target20. The processor240sets an area where a distance from the no-coping target20is shorter than or equal to the read distance as the no-coping area12. Furthermore, the storage device230may store a distance by which the no-coping area12is expanded in the travelling direction, in correspondence with the speed of the no-coping target20. The processor240reads out the distance by which the no-coping area12is expanded from the storage device230. The processor240expands the no-coping area12in accordance with the read distance.

Variation Example 2 of No-Coping Area

The no-coping area12may be different depending to the weapon with which the threat coping device300is provided. As shown inFIG.15, a first coping area12-1is set when the first threat coping device300-1copes, and a second coping area12-2is set when the second threat coping device300-2copes.

The no-coping area12may be decided based on characteristics (for example, an aiming accuracy, an apex angle18, a range of effect14when a coping object hits a coping target30, or the like) of the weapon with which the threat coping device300. In particular, the no-coping area12indicates an area where a distance from the no-coping target20is shorter than or equal to a desired distance. This desired distance may be decided depending to characteristics of the weapon with which the threat coping device300is provided. For example, as shown in Equation (4), the desired distance is decided based on a distance from the coping target30to the threat coping device300and the characteristics of the weapon with which the threat coping device300is provided. For example, the processor240adds a value in which the aiming accuracy of the weapon with which the threat coping device300is provided is multiplied by a coefficient and a value in which the apex angle18is multiplied by a coefficient. The desired distance may be a value obtained by multiplying the value obtained by the addition and a distance from the coping target30to the threat coping device300, as shown in Equation (4). D indicates the distance from the coping target30to the threat coping device300. W1indicates the aiming accuracy and W2indicates the apex angle18. B1and B2indicate the coefficients.

[Equation 4]
L=D(B1W1+B2W2)  (4)

The desired distance may be decided based on a range of effect when the coping object hits the coping target30. For example, as shown in Equation (5), the desired distance may be further added with a value in which a size of the range of effect14when the coping object hits the coping target30is multiplied by a coefficient. W3indicates the size of the range of effect14when the coping object hits the coping target30, and B3indicates the coefficient.

[Equation 5]
L=D(B1W1+B2W2)+B3W3(5)

The desired distance may be decided further based on a length of the no-coping target20. For example, as shown in Equation (6), the desired distance may be a value in which the value calculated based on the characteristics of the weapon with which the threat coping device300is provided is added with a value in which the length of the no-coping target20is multiplied by an arbitrary coefficient.

[Equation 6]
L=D(B1W1+B2W2)+B3W3+A1CL(6)

The desired distance may be decided further based on a speed of the no-coping target20. For example, as shown in Equation (7), the desired distance may be a value added with a value in which the speed of the no-coping target20is multiplied by an arbitrary coefficient.

[Equation 7]
L=D(B1W1+B2W2)+B3W3+A1CL+A2CV(7)

The no-coping area12may be decided based on a speed and a travelling direction of the no-coping target20. For example, the no-coping area12may be expanded in the travelling direction of the no-coping target20by a distance based on the speed of the no-coping target20. In particular, the no-coping area12may be expanded at a location inclined by an angle θ with respect to the travelling direction, by a value in which the speed of the no-coping target20is multiplied by cos θ and an arbitrary coefficient.

The no-coping area12may be decided based on a distance registered in accordance with the threat coping device300. The storage means230stores the distance corresponding to the threat coping device300. The processor240reads out, based on the threat coping device300to set the no-coping area12, the corresponding distance from the storage device230. The processor240sets an area where a distance from the no-coping target20is shorter than or equal to the read distance, as the no-coping area12. Furthermore, the storage device230may store a distance by which the no-coping area12is expanded in correspondence with the speed of the no-coping target20. The processor240reads out the distance to expand the no-coping area12from the storage device230. The processor240expands the no-coping area12in accordance with the read distance.

Embodiment 2

As shown inFIG.16, the threat coping system10may be provided with a plurality of threat coping devices300(a first threat coping device300-1, a second threat coping device300-2, . . . , a n-th threat coping device300-n). The threat coping system10performs coping with one of detected coping targets30, for example. Here, n is a natural number larger than or equal to 2. The configuration of the control device200and the configuration of the threat coping device300are similar to the embodiment 1 and therefore descriptions thereof will be omitted.

The assignment program500executed in the control device200is provided with the identification module510and the coping instruction module520, similarly to the embodiment 1. The identification module510is similar to the embodiment 1 and therefore descriptions thereof will be omitted.

As shown inFIG.17, the coping instruction module520is provided with the coping target selection means522, the aiming point calculation means524, the coping instruction means526and an assignment means528. The coping target selection means522, the aiming point calculation means524and the coping instruction means526function similarly to the embodiment 1. The assignment means528selects a threat coping device300to cope with the coping target30among the plurality of threat coping devices300.

The coping program600executed in the threat coping device300is similar to the embodiment 1 and therefore descriptions thereof will be omitted.

(Operation of Threat Coping System)

The identification module510and the coping program600are similar to the embodiment 1 and therefore descriptions thereof will be omitted.

The coping instruction module520makes the processor240execute processes shown inFIG.18. The process of the step S200is similar to the embodiment 1 and therefore descriptions thereof will be omitted.

In the step S210, similarly to the embodiment 1, the processor240selects the coping target30to cope with from the coping list700, based on the desired selection condition. The selection condition may include a minimum number of the threat coping devices300that can cope with. The processor240obtains a state of the threat coping devices300such as locations and range from the threat coping devices300. A number of the threat coping devices300that can cope with the coping target30is calculated based on the location of the coping target30and the locations and range of the threat coping devices300. In other words, the processor240calculates a number of threat coping devices300of which the ranges include the location of the coping target30. The coping target30of which the calculated number is the smallest is selected.

The selection condition may include selection conditions of the embodiment 1.

In a step S215, the processor240decides a threat coping device300to which the selected coping target30is assigned based on a desired assignment condition. The assignment condition may include, for example, assigning the coping target30to the closest threat coping device300. The processor240obtains a state of the threat coping device300, such as its location, from the threat coping device300. The processor240compares distances from the location of the coping target30to the location of each threat coping device300to decide the threat coping device300to which the coping target30is assigned.

The assignment condition may include a longest time for coping with. The processor240obtains a state of the threat coping device300, such as its location and its range, from the threat coping device300. The processor240predicts a moving route of the coping target30and calculates a coping time during which the coping target30passes through an area in the range of the threat coping device300when moving along the predicted route. The processor240assigns the coping target30to the threat coping device300of which the calculated coping time is the longest.

The assignment condition may include a current assignment of the coping target30. In this case, the storage device230stores data of the threat coping device300to which the coping target30is currently assigned. The processor240reads out data of the threat coping device300to which the coping target30is currently assigned from the storage device230and assigns the coping target30to the threat coping device300corresponding to the read data. Data of the currently assigned threat coping device300may be included in the coping list700.

The assignment condition may be an arbitrary combination of the above-described assignment conditions. For example, the processor240may calculate an assignment priority based on the above-described assignment conditions and decides the threat coping device300to assign the coping target30based on the calculated assignment priority. For example: a first assignment priority is set in accordance with a distance from the location of the protected object to the location of the threat coping device300; a second assignment priority is set in accordance with the time to cope with; and an assignment priority as a whole is calculated based on this first assignment priority and this second assignment priority.

Processes from the step S220to the step S280are similar to the embodiment 1 and therefore descriptions thereof will be omitted.

As described above, the threat coping system10can be provided with a plurality of threat coping devices300.

Embodiment 3

The threat coping system10may, when provided with a plurality of threat coping devices300, cope with one of detected coping target30by use of a plurality of threat coping devices300. This case is similar to the embodiment 1 and therefore description thereof will be omitted, except the coping list700shown inFIG.9and processes of the coping instruction module520shown inFIG.10.

As shown inFIG.19, the coping list700stores, for example, the ID701, the estimated category702, the location703, the speed704, the threat level705, the suspend flag707and an assigned device708of each moving body. The assigned device708is data that indicates the threat coping device300assigned to the corresponding coping target30. A plurality of values can be registered to the assigned device708to assign a single coping target30to a plurality of threat coping devices300. The ID701, the estimated category702, the location703, the speed704, the threat level705and the suspend flag707that remain are similar to the embodiment 1 and therefore descriptions thereof will be omitted.

The coping instruction module520makes the processor240execute processes similar to the processes shown inFIG.18, except the assignment of the coping target30to a plurality of threat coping devices300. The step S200and the step S210are similar to the embodiment 2 and therefore descriptions thereof will be omitted.

In the step S215, the processor240decides a plurality of threat coping devices300assigned to a selected coping target30, based on a desired assignment condition. For example, a maximum value of a number of the threat coping devices300to decide is preliminarily decided. The assignment condition may include the assignment conditions in the embodiment 2. For example, the processor240may select a desired number of threat coping devices300in order from a shorter distance from the location of the coping target30and assign the coping target30to the selected threat coping devices300. In addition, a desired number of threat coping devices300may be selected in order from a longer time to cope with, and the coping target30may be assigned to the selected threat coping devices300. The processor240may arbitrarily combine the assignment conditions to calculate an assignment priority and assign the coping target30to a plurality of threat coping devices300based on the calculated assignment priority.

In the steps S220to S280, the processor240performs processes to each of the assigned threat coping devices300. Details thereof are similar to the embodiment 2 and therefore descriptions thereof will be omitted.

As described above, the threat coping system10can assign a single coping target30to a plurality of threat coping devices300.

Embodiment 4

The threat coping system10may, when provided with a plurality of threat coping devices300, cope with a plurality of detected coping targets30by use of a plurality of threat coping devices300. This case is similar to the embodiment 3 and therefore descriptions thereof will be omitted, except processes of the coping instruction module520.

The coping instruction module520makes the processor240execute processes shown inFIG.20. In the step S200, the processor240verifies whether any coping target30is registered to the coping list700or not. When no coping target30is registered to the coping list700(step S200: NO), the processor240waits until a coping target30is registered. When a coping target30is registered to the coping list700(step S200: YES), the processor240executes the process of the step S215.

In the step S215, the processor240decides threat coping devices300to which the coping targets30registered to the coping list700are assigned, based on a desired assignment condition. The assignment condition may include a largest number of coping targets30which can be coped with. The processor240obtains states of the threat coping devices300, such as locations and ranges, from the threat coping devices300. The processor240assigns the coping targets30to the threat coping devices300so that a number of the coping targets30that can be coped with is the largest.

With respect to the assignment condition, the coping targets30may be assigned to the threat coping devices300based on performances of the threat coping devices300so that a number of coping targets30that can be defeated becomes the largest. The storage device230preliminarily stores the performances of the threat coping devices300. The processor240reads out the performances of the threat coping devices300from the storage device230and assigns the coping targets30based on the read performances of the threat coping devices300.

The assignment condition may include the assignment conditions of the embodiment 3. In addition, the processor240may arbitrarily combine assignment conditions to calculate assignment priorities and assign coping targets30to the plurality of threat coping devices300based on the calculated assignment priorities.

In the steps S220to S280, the processor240performs processes to each of the assigned threat coping devices300. Details thereof are similar to the embodiment 2 and therefore descriptions thereof will be omitted.

As described above, the threat coping system10can assign a plurality of threat coping devices300to a plurality of coping targets30.

Embodiment 5

The threat coping system10may, when provided with a plurality of threat coping devices300, assign the detected coping target30to the threat coping devices300based on the no-coping area12. This case is similar to the embodiment 2 and therefore descriptions thereof will be omitted, except processes of the coping instruction module520.

The coping instruction module520makes the processor240execute processes shown inFIG.21. The processes in steps S200to S210are similar to the embodiment 2 and therefore descriptions thereof will be omitted.

In the step S220, similarly to the embodiment 2, the processor240calculates the aiming point to cope with the selected coping target30. The aiming point is calculated based on the performance of the threat coping devices300and information of the coping target30such as a speed, a travelling direction or the like. The performance of the threat coping devices300includes, for example, a range distance, a time from starting a coping to affecting the aiming point (for example, a time from firing of an anti-aircraft missile to reaching the aiming point) or the like.

In the step S215, the processor240decides a plurality of threat coping devices300to which the selected coping target30is assigned, based on the no-coping area12and the desired assigning condition. The processor240extracts threat coping devices300that do not affect the no-coping area12even if they cope with the aiming point calculated in the step S220. Based on desired assignment condition, a threat coping device300to which the coping target30is assigned is selected among the extracted threat coping devices300. The assignment condition is similar to the embodiment 2 and therefore descriptions thereof will be omitted.

The processes in the steps S230to S280are similar to the embodiment 3 and therefore descriptions thereof will be omitted.

As described above, the threat coping system10can assign the coping target30to the threat coping devices300based on the no-coping area12.

Variation Examples

When the detection device100includes a transponder receiver or an IFF, the processor240may change detection data of a moving body detected by the transponder receiver or the IFF. For example, the processor240may delete an affiliation detected by the IFF and change the affiliation to unknown. The processor240outputs the detection data of the moving body detected by the detection device100to the input output device220. A user verifies the detection data outputted to the input output device220, selects the moving body by using the input output device220and performs operation of deleting the affiliation data registered to the selected moving body. The processor240deletes the affiliation data registered to the selected moving body based on the deletion operation inputted to the input output device220. By doing so, the threat coping system10can cope with moving body that has spoofed a transponder signal or an IFF signal.

In the step S150shown inFIG.8, the processor240may determine whether any coping target30exists or not based on a feature of the moving body that the threat coping device300can cope with. The storage device230stores the feature of the moving body that the threat coping device300can cope with, such as a size, a shape, a category or the like. In the step S150, the processor240reads out the feature of the moving body that the threat coping device300can cope with from the storage device230. The detection data of the moving body detected by the detection device100is compared to the feature of the moving body which is read out. The processor240determines, when the detected moving body is included in the moving bodies registered to the storage device230, that this moving body corresponds to a coping target30. As described above, it is determined whether any coping target30exists or not based on a feature of the moving body registered to the storage device230. By comparing a feature of the moving body which the threat coping device300can cope with and a feature of the detected moving body, it is reduce to erroneously determine that a moving body that is not to be coped with corresponds to a coping target30.

A no-coping area12may include a fixed area. For example, a no-coping area12may include a travelling route of a no-coping target20which is predetermined. A misfiring can be suppressed because an area where the threat coping device300copes with a coping target30is limited. In this case, processes in the steps S120to S140shown inFIG.8may be omitted when coping with a moving body in an area except a fixed area set as a no-coping area12.

In addition, an arbitrary body may be set as a no-coping target20. For example, a fixed body such as air facilities, private facilities or the like may be set as a no-coping target20. A satellite orbiting on an orbit may be set as a no-coping target20.

In the step S215(for example, the step S215shown inFIG.18) of the coping instruction module520, the processor240may output information that indicates a location and a category of the coping target30to the input output device220. In addition, the processor240may output information that indicates a no-coping area12that is set and locations of the threat coping devices300to the input output device220. For example, the input output device220may be provided with a display device that displays information to output. A user verifies the location of the coping target30, the locations of the threat coping devices300and the no-coping area12that are outputted and uses the input output device220to select the threat coping device300to which the coping target30is to be assigned. When data that indicates the threat coping device300to which the coping target30is to be assigned is inputted to the input output device220, the processor240assigns the coping target30to the threat coping device300based on the inputted data. As described above, the coping target30may be assigned in accordance with an input from a user. In addition, the processor240may calculate the threat coping device300to which a coping target30is to be assigned and output the calculation result as a recommended threat coping device300to the input output device220.

In the step S250(for example, the step S250shown inFIG.10) of the coping instruction module520, the processor240may wait for an input from the user before generating a coping signal. In the step S250, the processor240outputs verification information to verify whether coping with the coping target30can be performed, to the input output device220. The user inputs a response to the verification information to the input output device220. The processor240generates a coping signal based on the response inputted to the input output device220. When the response inputted to the input output device220indicates an approval to the coping, the processor240generates a coping signal to perform the process of the step S200. When the response inputted to the input output device220indicates an interdiction to the coping, the processor240performs the process of the step S200without generating any coping signal. As a result, it can be decided whether the threat coping device300copes with the coping target30or not in accordance with the input from the user. It should be noted that a coping by a plurality of threat coping device300may be approved and a coping by a single threat coping device300may be approved by a single input to the input output device220.

The threat coping system10may obtain data of a coping target30from an external device via a network. For example, the communication device210of the control device200is wiredly or wirelessly connected to the external device that has data of the coping target30and obtains the data of the coping target30from the external device. In the step S150shown inFIG.8, the processor240of the control device200may use the data of the coping target30obtained from the external device to determine whether the moving body corresponds to the coping target30or not.

The threat coping system10may obtain data of a no-coping target20from an external device via a network. For example, the communication device210of the control device200is wiredly or wirelessly connected to the external device that has data of the no-coping target20and obtains the data of the no-coping target20from the external device. In the step S120shown inFIG.8, the processor240of the control device200may use the data of the no-coping target20obtained from the external device to determine whether a moving body corresponds to the no-coping target20or not. In addition, in the step S140, the processor240may set the no-coping area12based on the data of the no-coping target20obtained from the external device.

The embodiments and variation examples described above are examples and may be modified within a range that does not inhibit functions. In addition, the described configurations of each of embodiments and variation examples may be modified withing a range that does not inhibit functions and/or may be arbitrarily combined. For example, the aiming point calculation means524and the coping instruction means526of the coping instruction module520may be included in the coping program600. In this case, when performing the processes shown inFIG.10, the coping instruction module520executed by the control device200generates, in the step S210, a selection signal that indicates a selected coping target30. The coping program600executed by the threat coping device300calculates, in the step S220among the processes shown inFIG.10, the aiming point based on the selection signal. Then the coping program600executes the processes in the steps S230and later. In addition, the assignment program500may be executed by a plurality of processors240and a part or all of the assignment program500may be executed by the threat coping device300. In addition, the threat coping system10may obtain information of the no-coping target20and information of the coping target30from outside. In this case, the control device200can cope with the coping target30by executing the no-coping area setting means514and the coping instruction means526. If the detection device100and the threat coping device300are connected to the threat coping system10, the detection device100and the threat coping device300may not be included in the threat coping system10.

A threat coping system described in each embodiment is understood for example as follows.

A threat coping system according to a first aspect is provided with a threat coping device (300) and a control device (200). The control device (200) is provided with a no-coping area setting means (514) and a coping instruction means (526). The no-coping area setting means (514) sets a no-coping area (12) based on information of a no-coping target which is not to cope with. The coping instruction means (526) generates an instruction signal that instructs the threat coping device to cope with the coping target, based on the no-coping area.

By setting a no-coping area by a no-coping area setting means, a misfiring to a no-coping target is suppressed.

A threat coping system according to a second aspect is the threat coping system according to the first aspect and the no-coping area setting means (514) sets the no-coping area around a moving body identified as the no-coping target.

The no-coping area may be an area of which a distance from the no-coping target is shorter than or equal to a desired distance.

A threat coping system according to a third aspect is the threat coping system according to the first aspect and is configured so that the no-coping area setting means (514) sets the no-coping area based on a length of the no-coping target.

The threat coping system according to a fourth aspect is the threat coping system according to the first aspect and the no-coping area setting means (514) is configured to set the no-coping area based on a speed of the no-coping target.

By setting a no-coping area based on a speed of a no-coping target, an area in accordance with the speed is set and misfiring to the no-coping target is suppressed. In addition, the faster the speed of the no-coping target, the wider the no-coping area may be set. The no-coping area may be set to an area of which a distance from the no-coping target is shorter than or equal to a distance proportional to the speed of the no-coping target. In addition, the longer the length of the no-coping target, the wider the no-coping area may be set. The no-coping area may be set to an area of which a distance from the no-coping target is shorter than or equal to a distance proportional to the length of the no-coping target.

A threat coping system according to a fifth aspect is the threat coping system according to the first aspect and is configured so that the no-coping area setting means (514) sets the no-coping area based on a travelling direction of the no-coping target (20).

In addition, the no-coping area may be expanded in the travelling direction of the no-coping target based on the speed of the coping target.

A threat coping system according to a sixth aspect is the threat coping system according to the first aspect and is configured so that the no-coping area setting means (514) sets the no-coping area based on a feature of a weapon with which a threat coping device (300) is provided.

By setting the no-coping area based on a feature of a weapon with which the threat coping device is provided, the threat coping system can cope with the coping target in accordance to the feature of the weapon and therefore can perform the coping with the coping target with suppressing misfiring to the no-coping target.

A threat coping system according to a seventh aspect is the threat coping system according to the sixth aspect and is configure so that the feature of the weapon with which the threat coping device is provided includes an aiming accuracy and an apex angle (18).

By setting the no-coping area based on the aiming accuracy and the apex angle of the weapon, the no-coping area is set in accordance to a size of an area where the threat coping devices affects when coping with the coping target. For this reason, influence to the no-coping target may be suppressed.

A threat coping system according to an eighth aspect is the threat coping system according to the sixth aspect and is configured so that the feature of the weapon with which the threat coping device is provided includes a range of effect obtained when the weapon hits the moving body.

A threat coping system according to a ninth aspect is the threat coping system according to the first aspect and is configured so that the coping instruction means (526) generates a coping signal that instructs the threat coping device to cope when the threat coping device (300) does not affect the no-coping area by coping with the coping target (30).

A threat coping system according to a tenth aspect is the threat coping system according to the first aspect and is configured so that the coping instruction means (526) generates a suspension signal that instructs the threat coping device (300) to suspend coping when the threat coping device (300) affects the no-coping area (12) by coping with the coping target (30).

As the threat coping device suspends coping with the coping target, an influence to the no-coping area may be reduced.

A threat coping system according to an eleventh aspect is the threat coping system according to the ninth aspect and is configured so that the coping instruction means (526) determines that the threat coping device (300) affects the no-coping area (12) by coping with the coping target (30) when a range of effect (14) of coping by the threat coping device (300) overlaps the no-coping area (12).

A threat coping system according to a twelfth aspect is the threat coping system according to the eleventh aspect and is configured so that the range of effect (14) includes a coping route (16) where a coping object for a weapon with which the threat coping device (300) is provided to destroy the coping target (30), passes.

A threat coping system according to the thirteenth aspect is the threat coping system according to the eleventh aspect and is configured so that the range of effect (14) includes a conical area having an apex angle (18) in accordance with a weapon with which the threat coping device is provided when the coping route (16) is linearly extended.

The present application claims priority based on Japanese Patent Application No. 2019-130595 filed on Jul. 12, 2019 and herein incorporates all disclosure thereof.