公开(公告)号：US5207003A

公开(公告)日：1993-05-04

申请号：US673195

申请日：1991-03-21

申请人： Naoshi Yamada ,  Tomoaki Takeya

发明人： Naoshi Yamada ,  Tomoaki Takeya

IPC分类号： G01C15/00 ,  B64G1/24 ,  B64G1/32 ,  B64G1/36 ,  B64G3/00 ,  G01B11/00 ,  G01B11/26 ,  G01C3/00 ,  G01C15/06 ,  G01S17/87

CPC分类号： G01C3/00 ,  B64G1/24 ,  B64G1/32 ,  B64G1/366 ,  B64G3/00 ,  G01S17/875

摘要： A target employable for three-dimensionally measuring a position and an attitude occupied by an object such as a space craft or the like while the target is attached to the object as well as a system for enabling the object to be three-dimensionally measured from a measuring point remote from the object by using the target are disclosed. The target includes a mark for indicating positions of four or more different points on a single common plane and a spherical reflector of which the center of curvature is located remote from the common plane. In addition, the system includes means for irradiating a light toward the target, image building means for building an image representing the target, image photographing means for photographing the image representing the target, means for extracting from the image representing the target an image portion representing the mark corresponding to the target and image portions each representing a bright point formed by the spherical reflector, means for detecting a coordinate value corresponding to the center of gravity of the image portion representing the mark and coordinate values corresponding to the gravity centers of the image portions each representing the bright point, and means for determining in three dimensions the position and the attitude occupied by the object via a series of calculations based on the aforementioned coordinate values.

摘要翻译： 目标可用于三维地测量目标附着到物体上的诸如太空飞船等的物体所占据的位置和姿态，以及用于使物体能够从物体被三维测量的系统 公开了通过使用目标远离对象的测量点。 目标包括用于指示单个公共平面上的四个或更多个不同点的位置的标记，以及曲率中心位于远离公共平面的球面反射器。 此外，该系统包括用于向目标照射光的装置，用于构建表示目标的图像的图像构建装置，用于拍摄表示目标的图像的图像拍摄装置，用于从表示目标的图像中提取表示目标的图像部分的装置 对应于目标的标记和各自表示由球面反射镜形成的亮点的图像部分的装置，用于检测对应于表示标记的图像部分的重心的坐标值的装置和对应于图像的重心的坐标值 分别表示亮点的部分和用于通过基于上述坐标值的一系列计算来三维确定对象所占据的位置和姿态的装置。