JP2003154989A - Laser course display device and system using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a laser course display device possible to be accurately followed with the simple structure and provided with a safety function for stopping the radiation of the laser beam when a vessel enters between a light emitting buoy and a target buoy. SOLUTION: A resident buoy 6 is provided with a laser course display device 2 for radiating the laser beam as the light emitting buoy 1, and anchored to the sea bottom through a universal joint 8. A resident buoy 7 is provided with a laser reception part 4 for receiving the laser beam 5 as a target buoy 3, and fixed to the sea bottom through a universal joint 9.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser route display device and a system using the same, and more particularly, to a laser beam direction control mechanism which is mounted on a buoy floating above the sea and detects the tilt angle of the buoy and the target direction. The present invention relates to a laser route display device that irradiates a target with a laser beam and a system using the same.

[0002]

2. Description of the Related Art In recent years, due to an increase in traffic volume in sea transportation,
With the increase in leisure boats, ensuring the safety of maritime traffic routes has become an important issue. As a measure for this, a new route marker using a laser beam has been proposed and various experiments have been conducted. There are several methods for route marking using a laser beam, but in particular, a laser route display device that emits a laser beam into the atmosphere and displays the route by the scattered light of the laser beam in the atmosphere has attracted attention.

A laser route display device is mounted on a resident buoy (referred to as a light-transmitting buoy) installed in a bay or a harbor,
A laser beam is emitted toward the other party's resident buoy (referred to as a target buoy) and the route between them is displayed. Since it is necessary to accurately display the route in the laser route display device,
It is necessary to accurately hit the target buoy with the laser beam and block it so that the laser beam does not escape beyond the target buoy.

Here, the resident buoy refers to a buoy whose lower portion is fixed to the seabed via a universal joint. The sway is much smaller than that of a normal buoy, but the tilt angle of the resident buoy is always changing due to the influence of waves and wind. Fluctuations need to be corrected. Similarly, the target buoy is constantly changing due to the influence of waves and wind.

Therefore, a highly accurate tracking mechanism is indispensable in order to detect the direction of the irradiation portion of the target buoy and always irradiate the laser beam so as to hit the irradiation portion. Since the distance to the target buoy is usually 1 km to several km and the size of the irradiated portion is about 1 m ² , the tracking angle accuracy is 0.
A high angle accuracy of 1 to 0.5 mrad is required.

Generally, as an example of such a tracking device, G
Although it is also considered to use PS, it is necessary to communicate with the target buoy, which complicates the device.

A high-precision space stabilizer is commercially available. This is a device for mounting the camera on a ship and installing a camera on it to orient the camera in a fixed direction. The angle accuracy is 0.1 mrad. The following is good, but it is very expensive, and it is difficult to install a large-diameter light-transmitting part required for a laser route display device.

As an example of such a technique, Japanese Patent Laid-Open No.
"Laser route marking device" described in JP-A-1-241967
Also, "posture detection device, posture control device, and robot control device" described in JP-A-11-165287 are known.

In the publication of "Laser route marking device", a plurality of laser beams are used, and the range of spread of each laser beam is changed, so that the laser beam has a substantially constant range (width) at a short distance and a long distance. There is described a technique for confirming that the buoy or the like is located within a predetermined range by making the mark visible and making it invisible outside the range.

Further, the publication of "Attitude Detection Device, Attitude Control Device, and Robot Control Device" describes a technique of a control device for rapidly performing attitude detection by a simple system using both an inclination sensor and an image sensor. .

[0011]

The above-mentioned conventional laser route display device has a drawback that the scale of the device is large and complicated in order to perform highly accurate tracking.

In addition, when a ship or the like enters between the light-transmitting buoy and the target buoy, the laser beam is always emitted, and the occupant's retina is exposed to the laser beam, which poses a drawback that the occupant's eyes are endangered. Have

An object of the present invention is to provide highly accurate tracking with a simple device configuration and to have a safety function of stopping the emission of a laser beam when a ship or the like enters between the light transmitting buoy and the target buoy. It is to provide a laser route display device.

[0014]

A laser route display device of the present invention is a laser route display device which is mounted on a varying buoy and irradiates a laser beam to a target. The laser route display device is mounted on the laser route display device. An inclination sensor for detecting the inclination angle of the buoy, an image sensor for detecting the azimuth of the target, and a control mechanism for the laser beam direction are provided, and the inclination angle of the buoy is corrected based on the inclination angle signal from the inclination sensor. By combining a mechanism and a tracking mechanism that tracks the buoy and the target together based on an error signal from the image sensor, the laser beam can always be irradiated toward the target, and tracking of the target is impossible. In this case, the emission of the laser beam is stopped.

A laser for outputting a laser beam in accordance with a laser control signal; an optical fiber for transmitting the laser beam; a light transmitting section for expanding the diameter of the laser beam incident from the optical fiber for output; A CCD camera that outputs image data; an image sensor that inputs the image data and outputs displacement amount data; an inclination sensor that outputs inclination angle data; and a laser beam that is output from the light transmitting unit. A movable mirror that changes the angle of the mirror that irradiates the target; a mirror control unit that controls the angle of the movable mirror by inputting a control command and outputting a drive signal; controlling the emission and stop of the laser The laser control signal is output and the tilt angle data and the displacement amount data are input to determine the tilt angle of the entire apparatus and the displacement amount with respect to the target object. A system control section for outputting the control command to the mirror control section; a power supply section for supplying electric power to each section; a window for transmitting the laser beam; and a shelter for fixing the window and housing each section. It is characterized by having.

Further, a laser for outputting a laser beam in accordance with a laser control signal; an optical fiber for transmitting the laser beam; a light transmitting section for expanding the diameter of the laser beam incident from the optical fiber for output; A CCD camera that captures images and outputs image data; an image sensor that inputs the image data and outputs displacement amount data; an inclination sensor that outputs inclination angle data; and a laser beam that is output from the light transmitting unit. A movable bench for changing the irradiation angle for irradiating the target; a movable bench controller for controlling the angle of the movable bench by inputting a control command and outputting a drive signal; emitting and stopping the laser Output the laser control signal for controlling the tilt angle data and the displacement amount data to input the tilt angle of the entire apparatus and the target object. A system control unit that calculates the amount of the unit and outputs the control command to the movable bench control unit; a power supply unit that supplies electric power to each unit; a window that transmits the laser beam; a window that is fixed and each unit is a housing. It is characterized by having a shelter and;

The system controller determines the tilt angle of the apparatus itself and the target object based on the tilt angle data output from the tilt sensor and the displacement amount data output from the image sensor. The displacement amount is calculated, the control command is sent to the mirror control unit based on the calculated data,
It is characterized in that the irradiation angle of the laser beam is changed by controlling the movable mirror or the movable bench.

The system controller is characterized in that the laser beam is emitted and stopped according to the laser control signal.

The mirror control section is characterized in that the irradiation angle of the laser beam is changed by driving a stepping motor included in the movable mirror by the drive signal.

The light transmitting section is a Cassegrain type telescope, and is characterized in that the beam diameter of the laser beam incident from the optical fiber is enlarged and output.

The laser is an Nd-YAG laser (neodymium yag laser).

A first resident buoy which is equipped with a laser route display device, is provided with the laser route display device for emitting a laser beam as a light-transmitting buoy, and is fixed to the seabed via a first universal joint; A laser route display system including a second resident buoy in which a laser irradiating unit for injecting the laser beam and a lamp for a marker are installed as a target buoy and is fixed to the seabed through a second universal joint. There is.

The laser route display device installed on the light-transmitting buoy emits the laser beam toward the laser irradiating section, which is an irradiating portion of the target buoy, and causes a lamp fixed to the target buoy. It is characterized by a laser route display system which is detected and controlled so that the laser beam is always applied to the laser irradiation part of the target buoy.

The laser route display device is mounted on each of a plurality of resident buoys, and the first resident buoy to the second resident buoy are installed.
The laser route display system that irradiates the laser beam toward the resident buoy and irradiates the laser beam from the second resident buoy toward the third resident buoy.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing an operating mode of a system using the laser route display device of the present invention.

In the operation mode shown in FIG. 1, a laser voyage display device 2 for emitting a laser beam 5 is installed as a light transmitting buoy 1, and a resident buoy 6 fixed to the seabed via a universal joint 8 and a target buoy 3 are provided. Laser irradiation part 4 for injecting a laser beam 5 as a lamp and a lamp 1 for a marker
0, and a resident buoy 7 fixed to the seabed via a universal joint 9.

The operation will be described with reference to FIG.

A laser irradiation unit 4 which is an irradiation portion of the target buoy 3 from the laser route display device 2 installed on the light transmitting buoy 1.
The laser beam 5 is emitted toward. A lamp 10 is fixed to the target buoy 3. The lamp 10 uses an infrared LED that can be easily distinguished from other lights even at night. The laser route display device 2 detects the lamp 10 of the target buoy 3 so that the laser beam 5 constantly emits the laser irradiation part 4 of the target buoy 3.
It is controlled so that it is irradiated to. Usually laser beam 5
Are fired with a specific firing pattern (eg, a single 0.25 second wide pulse for 2 seconds).

Next, the operating mode of the laser route display device 2 and the resident buoys 6 and 7 will be described.

When the laser route display device 2 is used as a route sign, the laser route display device 2 is mounted on each of the plurality of resident buoys 6 and 7, and the first resident buoy 6 is installed.
To the second resident buoy 7 from the laser beam 5
Is irradiated and a laser beam is irradiated from the second resident buoy 7 toward the third resident buoy (not shown).

The distance to the target buoy 3 of the target resident buoy 7 on the other side is about 1 km to several km. The laser beam 5 with which the target buoy 3 is irradiated needs to be blocked at that point so as not to come out first. Therefore,
The laser irradiation part 4 as an irradiation part is set on the side surface of the target buoy 3.

Resident buoys 6 and 7 are buoys whose bottoms are fixed to the seabed using universal joints 8 and 9, respectively. It does not cause large fluctuations like ordinary buoys, and there is almost no fluctuation in the rotation direction along the vertical axis of the resident buoy or fluctuations in the vertical direction. The angle of inclination with respect to the vertical axis changes due to the influence of waves and wind, but the angle of inclination changes only up to about 5 degrees except in special cases such as strong winds caused by typhoons.

Therefore, the inclination angle variation of the laser route display device 2 mounted on the light transmitting buoy 1 is about 5 degrees at maximum.

Since the target buoy 3 irradiated with the laser beam 5 is also fixed to the seabed, the fluctuation is only the tilt angle fluctuation with respect to the vertical axis. The length of the underwater portion of the resident buoys 6 and 7 is about 20 to 30 m, depending on the water depth of the installed sea area, and the length above the sea is about 10 m. The laser route display device 2 is installed at a position of several meters to 10 meters from the sea surface. In the target buoy 3, assuming that the laser irradiation unit 4 (area is about 1 m × 1 m) that irradiates the laser beam at a position 30 m from the sea bottom is set, and the inclination of the target buoy 3 is 5 degrees at the maximum, the laser irradiation unit 4 The maximum horizontal displacement is 2.6 m. When this is viewed from the laser route display device 2 1 km away, the angle variation of the laser irradiation unit 4 is a minute angle of 2.6 mrad at maximum.

In the resident buoys 6 and 7, the laser route display device 2 mounted on the light-transmitting buoy 1 requires a tracking mechanism with high angular accuracy, but the tilt angle fluctuations of the laser route display device 2 itself are compared. It is relatively small (about 5 degrees), and the tracking angle range can be narrowed.

In the present invention, such a resident buoy 6,
A laser route display device 2 having a tilt correction and tracking mechanism in which a commercially available inexpensive tilt sensor and an image sensor are combined is provided by making use of the characteristics of 7.

FIG. 2 is a block diagram showing an embodiment of the laser route display device of FIG.

Referring to FIG. 2, the laser route display device 2 is shown.
Is a laser 11 that emits a laser beam according to a laser control signal 25, and an optical fiber 12 that transmits the laser beam.
And a light transmitting unit 13 that expands and outputs the incident laser beam diameter, and a CC that images a target object and outputs image data 26.
D camera 16, image sensor 15 that inputs image data 26 and outputs displacement amount data 27, and tilt angle data 24
, A movable mirror 18 for changing a mirror angle for irradiating a laser beam output from the light transmitting unit 13 toward a target, and a movable mirror by inputting a control command 23 and outputting a drive signal 29. The mirror control unit 17 that changes the angle of 18 and the laser control signal 25 that controls the oscillation stop of the laser 11 are output, and the tilt angle data 24 is output.
And the displacement amount data 27 to calculate the inclination angle of the entire device and the displacement amount with respect to the target object, and the control command 23 is output to the mirror control unit 17 to control the entire device. Power supply unit 22 that supplies electric power 28 to each unit
A window 20 for transmitting the laser beam, and a shelter 21 for fixing the window 20 and housing each part.

Next, the operation will be described with reference to FIG.

The laser 11 is Nd: Y having a wavelength of 532 nm.
I am using an AG laser. The laser output is 2 W, and the laser emission pattern (e.g., emission of one 0.25-second pulse for 2 seconds) is controlled by the system controller 19.

The laser beam emitted from the laser 11 is
The light enters the light transmitting unit 13 via the optical fiber 12. Light transmitter 13
Is a Cassegrain telescope, which expands the beam diameter of the laser beam incident from the optical fiber 12 and outputs it. Light transmitter 1
The beam diameter output from 3 is about 250 mm, and the beam divergence angle is 0.2 mrad. By enlarging the beam diameter in the light transmitting unit 13, the laser beam can be easily seen on the route and the safety to the eyes when the laser beam is directly seen is increased. Also, the beam divergence angle is reduced to limit the beam diameter in the distance.

In addition to the Cassegrain type telescope, for example, an ordinary lens can be used as the beam expander.

The tilt sensor 14 is, for example, a liquid surface capacitance type biaxial inclinometer, and outputs the tilt angle data 24 to the system control unit 19 through the RS232C interface. The angle accuracy is ± 0.2 degrees.

The image sensor 15 is an image processing device and is used in combination with a CCD camera 16 having a telephoto lens. The image sensor 15 detects the position on the screen of the target imaged within the angle of view of the CCD camera 16, and outputs displacement amount data 27 from the predetermined position. The lamp 10 is used as a marker installed on the resident buoy on the other side as a target.

The angle of view of the CCD camera 16 is 2.degree.
8 degrees, the number of pixels is 512 in the horizontal direction and 480 in the vertical direction. The angle per pixel (angular resolution) is about 0.004 degrees (0.
07 mrad). The optical axis of the CCD camera 16 is adjusted to be parallel to the optical axis of the light transmitting unit 13, that is, the irradiation direction of the laser beam is adjusted to the center of the angle of view of the CCD camera 16. The image sensor 15 outputs the displacement amount data 27 to the system control unit 19 through the RS232C interface.

The movable mirror 18 reflects the laser beam output from the light transmitting section 13 and irradiates the laser beam in the direction of the resident buoy on the other side. The movable mirror 18 is
It has a control mechanism that independently changes the angle of the mirror with respect to two orthogonal axis directions by a stepping motor.

The mirror control section 17 outputs a drive signal 29, and a stepping motor (not shown) for the movable mirror 18 is provided.
To drive.

The system controller 19 is a small computer and controls the entire laser route display device 2. Specifically, the inclination angle data 24 output from the inclination sensor 14 and the displacement amount data 2 output from the image sensor 15
7, the tilt angle of the laser route display device 2 itself and the displacement amount of the partner resident buoy are calculated. Based on this calculated data, the control command 23 is sent to the mirror control unit 17,
The movable mirror 18 is controlled to change the irradiation angle of the laser beam.

That is, the laser route display device 2 has an inclination sensor 14 for detecting the inclination angle of the mounted resident buoy.
And an image sensor 15 for detecting the azimuth of the resident buoy on the other side, and a laser beam direction control mechanism. From the inclination angle correction mechanism and the image sensor 15 of the resident buoy based on the inclination angle data 24 from the inclination sensor 14. By combining the resident buoy based on the displacement amount data 27, which is the error signal of the target, and the tracking mechanism that tracks the opponent's resident buoy that is the target together, the laser beam can always be radiated toward the target. It has a function to stop the emission of the laser beam when it is impossible to track.

Further, the laser 1 is controlled by the laser control signal 25.
The laser beam of No. 1 is emitted and stopped.

The power supply unit 22 supplies electric power 28 to each unit of the laser route display device 2.

The shelter 21 houses the above-mentioned device in each part. A laser beam is output to the outside through a window 20 provided in the shelter 21. Since it is installed on the sea, the laser route display device 2 has an airtight structure.

FIG. 3 is a flow chart showing a control sequence incorporated in the system control section of FIG.

Next, the operation of the present embodiment will be described in more detail with reference to FIGS. 1, 2 and 3.

When the tracking start is started (step 1: S
1) First, the tilt sensor 14 acquires the tilt angle data 24 of the laser route display device 2 itself to detect the tilt angle (step 2: S2). Based on the tilt angle data 24, the system control unit 19 feeds back the movable mirror 18 through the mirror control unit 17 to detune the laser beam irradiation direction, and thereby the laser route display device 2
The angle variation of the laser beam due to the inclination variation of itself is corrected (step 3: S3). Since the accurate tracking (fine adjustment) of the target is performed based on the highly accurate displacement amount data 27 obtained from the image sensor 15 which will be described later, the accuracy of the correction angle at this time is comparatively about 0.5 degree. Coarse accuracy is sufficient.
Therefore, the inexpensive tilt sensor 14 can be used.

Next, fine adjustment using the highly accurate displacement data of the image sensor 15 is performed. First, the image data 26 of the marker is acquired by the CCD camera 16 (step 4: S
4).

The marker is the lamp 10 installed on the side surface of the target buoy 3. The CCD camera 16 is provided with a telephoto lens in order to increase the angular resolution, and therefore the angle of view for shooting is narrowed. However, since the tilt angle correction mechanism using the tilt sensor 14 operates, the CCD camera 16 can always capture the marker within the angle of view even when the light transmitting buoy 1 tilts. Here, it is determined whether or not the target image is detected, and if the target image cannot be detected, the process returns to step 2 if a fixed time has elapsed, and if the fixed time has not elapsed, the process returns to step 4 again and the target image If it is detected, the process proceeds to the next step of finely adjusting the beam direction (step 5: S5).

The displacement between the position of the lamp 10 captured within the angle of view and the position of the laser irradiation unit 4 which is a preset irradiation portion is output to the system control unit 19 as displacement amount data 27. In the system control unit 19, this displacement amount data 2
The correction angle is calculated based on 7. Feedback is given to the movable mirror 18 via the mirror control unit 17 based on the calculated data to finely adjust the irradiation direction of the laser beam, and the laser irradiation unit 4 which is the irradiation portion of the target buoy 3 is accurately irradiated with the laser beam. (Step 6: S6). In addition,
The positions of the laser irradiation unit 4 and the lamp 10 may be displaced.

Next, it is determined whether or not the beam direction is within the error range. If it is not within the error range, the process returns to step 4, and if it is within the error range, the process proceeds to the next step (step 7: S).
7).

The laser beam is emitted in a specific emission pattern (for example, a pulse having a width of 0.25 seconds is emitted once in 2 seconds), and the process returns to step 4 to repeat the operation (step 8: S8). On the other hand, the response speed of the tracking function described above is 0.1 second or less.

In the laser route display device 2 of the present invention, tracking is performed while the laser emission is stopped, and the light emitting buoy 1
When a ship or the like enters between the target buoy 3 and the tracking by the image sensor 15 is disturbed, a safety function is provided to prevent the laser beam from being emitted. This safety function is realized by the system control unit 19.

In the above-described embodiment, the target is a resident buoy, but it is also effective when the target is a buoy whose variation amount is larger than that of a resident buoy. Even in the case of a buoy with a larger amount of fluctuation, the distance that it fluctuates is at most tens of meters
It is the following. Distance from the light buoy 1 to the target is usually 1k
Since it is about m or more, the target displacement angle viewed from the light transmitting buoy 1 is 2 degrees or less. Therefore, if the angle of view of the CCD camera 16 is appropriately adjusted, it is also effective in the case of a normal buoy. Of course, even if the target is a fixed object, it can be used.

However, depending on the size and distance of the target, CC
It is necessary to adjust the angle of view of the D camera 16. The marker to be used does not necessarily have to be the infrared LED type lamp 10 and may be any target as long as it can be accurately captured by the CCD camera 16 at night and edge detection is easy.

The laser safety measure is realized by the function of not emitting the laser when the image sensor 15 cannot perform tracking. More specifically, the laser route display device 2 incorporates a control flow that does not perform laser emission when the position of the lamp 10 of the target buoy 3 cannot be detected.

It is also effective to install a plurality of lamps 10 on the target buoy 3 in order to further enhance the safety with respect to the laser. A plurality of lamps 10 are arranged on both sides or around the laser irradiation unit 4, and some of the lamps 1 are
Even if 0 cannot be detected, a control flow that does not emit a laser beam is incorporated in the system control unit 19. As a result, when a ship or the like enters between the light-transmitting buoy 1 and the target buoy 3, some of the plurality of lamps 10 cannot be detected, so that the laser emission can be prohibited or stopped in a shorter time.

FIG. 4 is a block diagram showing a second embodiment of the laser route display device.

In FIG. 4, the components corresponding to those shown in FIG. 2 are designated by the same reference numerals or symbols, and the description thereof will be omitted.

Referring to FIG. 4, the laser route display device 3
Reference numeral 0 denotes a laser 11 that emits a laser beam according to a laser control signal 25 and an optical fiber 1 that transmits the laser beam.
2, a light transmitting unit 13 that expands and outputs the incident laser beam diameter, and C that images a target object and outputs image data 26.
CD camera 16, image sensor 15 that inputs image data 26 and outputs displacement amount data 27, tilt angle data 2
4, a tilt sensor 14 that outputs 4, a movable bench 33 that changes the irradiation angle for irradiating the laser beam output from the light transmitting unit 13 toward a target object, and a control command 23 that is input to output a drive signal 34 to move The movable bench control unit 32 that changes the angle of the bench 33 and the laser control signal 25 that controls the oscillation stop of the laser 11 are output, and the tilt angle data 24 and the displacement amount data 27 are input to input the tilt angle and the target of the entire device. A system control unit 19 that controls the entire apparatus by calculating a displacement amount with respect to an object and outputs a control command 23 to the movable bench control unit 32, a power supply unit 22 that supplies electric power 28 to each unit, and a laser beam. The window 20 is made transparent, and the shelter 31 is fixed to the window 20 and houses each part.

The difference from FIG. 2 is that a movable bench controller 32 and a movable bench 33 are used instead of the mirror controller 17 and the movable mirror 18 of the laser route display device 2.

That is, the light transmitting unit 13 and the CCD camera 16 are installed on the movable bench 33, and the light transmitting unit 13 and the CCD camera 16 are moved as a whole. Like the movable mirror 18, the movable bench 33 also has a mechanism for changing the inclination by using a biaxial stepping motor. The stepping motor of the movable bench 33 is controlled by controlling the drive signal 34 from the movable bench controller 32. The use of the tilt sensor 14, the image sensor 15, and the lamp 10 installed on the target buoy 3 for the tilt correction and tracking mechanism is the same as in FIG.

As described above, the resident buoy installed on the resident buoy (the lower part is a buoy fixed to the seabed via a universal joint and has less shaking than the ordinary buoy) It is a laser route display device that displays the route up to the buoy) with a laser beam. A tilt sensor and an image sensor are combined to correct the tilt of the resident buoy (referred to as a light-transmitting buoy) equipped with a laser route display device and the displacement of the target buoy, and the laser beam is always accurately projected to a predetermined part of the target buoy. It is equipped with a simple angle correction and tracking mechanism for irradiation.

Further, the present apparatus has a safety function of not emitting a laser beam if a vessel or the like intrudes between the light-transmitting buoy and the target buoy and the tracking by the image sensor is disturbed.

[0074]

As described above, the laser route display device of the present invention can be mounted on a resident buoy whose inclination angle is constantly changing, and irradiates a laser beam toward a changing target several km away. Therefore, it is possible to perform a highly accurate tracking with a simple device configuration, and a laser route display device with a safety function that stops the emission of a laser beam when a ship or the like enters between the light transmitting buoy and the target buoy. It has the effect that it can be realized.

[Brief description of drawings]

FIG. 1 is a diagram showing an operating mode of a system using a laser route display device of the present invention.

2 is a block diagram showing an embodiment of the laser route display device of FIG. 1. FIG.

FIG. 3 is a flowchart showing a control sequence incorporated in the system control unit of FIG.

FIG. 4 is a block diagram showing a second embodiment of a laser route display device.

[Explanation of symbols]

1 Light-transmitting buoy 2 Laser route display 3 target buoys 4 Laser irradiation part 5 laser beam 6,7 Resident buoy 8,9 Universal joint 10 lamps 11 laser 12 optical fiber 13 Light transmitter 14 Tilt sensor 15 Image sensor 16 CCD camera 17 Mirror controller 18 Movable mirror 19 System control unit 20 windows 21 shelter 22 power supply 23 Control command 24 Tilt angle data 25 Laser control signal 26 image data 27 Displacement amount data 28 Electricity 29 Drive signal 30 Laser route display 31 shelter 32 Movable bench controller 33 movable bench 34 Drive signal

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Tsutomu Fujii             3-18-2 Shibaura, Minato-ku, Tokyo NEC Corporation             Engineering Co., Ltd. F term (reference) 2F065 AA01 BB29 CC00 GG04 HH04                       JJ03 JJ26 LL02 LL13                 2H041 AA12 AB14 AC01 AZ06                 5H180 AA25 CC03 CC04 HH12 HH24

Claims (11)

[Claims] 1. A laser route display device mounted on a varying buoy for irradiating a laser beam to a target, wherein the laser route display device includes a tilt sensor for detecting a tilt angle of the mounted buoy, and the target. Of the buoy inclination angle correction mechanism based on the inclination angle signal from the inclination sensor and the error signal from the image sensor. By combining a buoy and a tracking mechanism for tracking the target together, it is possible to always irradiate the laser beam toward the target, and to stop the emission of the laser beam when the target cannot be tracked. Characteristic laser route display device. 2. A laser for outputting a laser beam according to a laser control signal; an optical fiber for transmitting the laser beam; a light-transmitting section for expanding the diameter of the laser beam incident from the optical fiber for output; A CCD camera for taking an image and outputting image data; inputting the image data,
An image sensor that outputs displacement amount data; an inclination sensor that outputs inclination angle data; a movable mirror that changes a mirror angle for irradiating the laser beam output from the light transmitting unit toward the target object; a control command And a mirror control unit that controls the angle of the movable mirror by outputting a drive signal; outputs the laser control signal that controls the emission and stop of the laser, and outputs the tilt angle data and the displacement amount data. To calculate the tilt angle of the entire apparatus and the amount of displacement with respect to the target object, and output the control command to the mirror control unit; a power supply unit for supplying power to each unit; the laser beam And a shelter for fixing the window and housing each part; 3. A laser for outputting a laser beam according to a laser control signal; an optical fiber for transmitting the laser beam; a light transmitting section for expanding the diameter of the laser beam incident from the optical fiber for output; A CCD camera for taking an image and outputting image data; inputting the image data,
An image sensor that outputs displacement amount data; an inclination sensor that outputs inclination angle data; a movable bench that changes an irradiation angle for irradiating the laser beam output from the light transmitting unit toward the target object; a control command And a movable bench control unit for controlling the angle of the movable bench by outputting a drive signal; outputting the laser control signal for controlling the start and stop of the laser, the tilt angle data and the displacement amount. A system control unit that inputs data to calculate an inclination angle of the entire apparatus and a displacement amount with respect to the target object, and outputs the control command to the movable bench control unit; a power supply unit that supplies electric power to each unit; A window for transmitting a laser beam; a shelter for fixing this window and housing each part;
A laser route display device comprising: 4. The system control unit, based on the tilt angle data output from the tilt sensor and the displacement amount data output from the image sensor, the tilt angle of the apparatus itself and the target object. Is calculated, and the control command is sent to the mirror control unit based on the calculated data to control the movable mirror or the movable bench to change the irradiation angle of the laser beam. The laser route display device according to claim 2 or 3. 5. The laser route display device according to claim 2, wherein the system control unit emits and stops the laser beam according to the laser control signal. 6. The laser route display apparatus according to claim 2, wherein the mirror control unit changes the irradiation angle of the laser beam by driving a stepping motor included in the movable mirror according to the drive signal. . 7. The light-transmitting unit is a Cassegrain telescope, which enlarges the beam diameter of the laser beam incident from the optical fiber and outputs it. Alternatively, the laser route display device according to item 6. 8. The laser route display device according to claim 2, wherein the laser is an Nd-YAG laser (neodymium-yag laser). 9. The laser route display device according to claim 1, wherein the laser route display device emitting a laser beam as a light-transmitting buoy is installed, and a first universal joint is provided. A first resident buoy fixed to the seabed via a second resident; a laser irradiation unit for injecting the laser beam as a target buoy and a lamp for a marker are installed, and a second resident fixed to the seabed via a second universal joint. A laser route display system comprising a buoy; 10. The laser route display device installed on the light-transmitting buoy emits the laser beam toward the laser irradiating portion, which is an irradiating portion of the target buoy, and is fixed to the target buoy. 10. The laser route display system according to claim 9, wherein a lamp is detected, and the laser beam is controlled so that the laser beam is always applied to the laser irradiation unit of the target buoy. 11. The laser route display device is mounted on each of a plurality of resident buoys, the laser beam is emitted from a first resident buoy toward a second resident buoy, and a second resident buoy is radiated from the second resident buoy. The laser route display system according to claim 9 or 10, wherein the laser beam is directed toward the resident buoy 3 of claim 3.