公开(公告)号：US20160063730A1

公开(公告)日：2016-03-03

申请号：US14833764

申请日：2015-08-24

Applicant: THALES

Inventor： Bruno BARBIER ,  Laurent POTIN ,  Siegfried ROUZES

IPC: G06T7/20 ,  G02B5/126 ,  G06T17/20 ,  G06K9/32 ,  G06F3/03

CPC classification number: G06T7/215 ,  G01S5/163 ,  G01S17/46 ,  G02B5/124 ,  G02B5/126 ,  G02B27/32 ,  G06F3/0325 ,  G06K9/3241 ,  G06T17/20 ,  G06T2207/10016

Abstract: The general field of the invention is that of systems for detecting the posture of a moving object. The system may include a fixed electro-optical device of known orientation comprising an emission source, an image sensor and image analysis means, and an optical assembly comprising an optical retroreflector arranged on the moving object. The optical retroreflector of the system is an optical sphere of variable index comprising a transparent hemisphere and a reflecting hemisphere. It comprises a meshing comprising at least three opaque wires, of small thickness and known geometrical arrangement. The image of the retroreflector lit by the source forms a reflection the image sensor, said reflection comprising at least the two images of the shadow of one of the three wires. The image analysis means detect the orientation of the leak line given by said images, said orientation being representative of one of the parameters of the posture of the moving object.

Abstract translation: 本发明的一般领域是用于检测移动物体的姿势的系统。 该系统可以包括具有发射源，图像传感器和图像分析装置的已知取向的固定电光装置，以及包括布置在移动物体上的光学后向反射器的光学组件。 系统的光学后向反射器是包括透明半球和反射半球的可变折射率的光学球体。 它包括具有小至少三根不透明线的啮合，其厚度小，已知几何布置。 由源点亮的后向反射器的图像形成图像传感器的反射，所述反射至少包括三条线之一的阴影的两个图像。 图像分析装置检测由所述图像给出的泄漏线的取向，所述取向表示移动物体的姿势的参数之一。

公开(公告)号：US20140362386A1

公开(公告)日：2014-12-11

申请号：US14298821

申请日：2014-06-06

Applicant: THALES

Inventor： Bruno BARBIER ,  Laurent POTIN ,  Siegfried ROUZES

IPC: G01B11/00

CPC classification number: G01B11/002 ,  F41G3/225 ,  G01S5/16 ,  G01S17/875

Abstract: The general field of the invention is that of systems for detecting the posture of a mobile object. The systems according to the invention comprise a fixed electro-optical device comprising an emission source and a photosensitive sensor. The optical corner cube is arranged on the mobile object. The entry face of the corner cube has a predetermined geometry, the light coming from the source and reflected back by the corner cube forming a luminous contour on the matrix sensor. The fixed electro-optical device comprises an optical element with a known shape and location, which is placed in the vicinity of the said source and is arranged so as to form a dark zone in the central part of the luminous contour. The detection system comprises analysis means determining the position and the orientation of the mobile object from knowledge of the vanishing points of the luminous contour and the position and shape of the dark zone.

Abstract translation: 本发明的一般领域是用于检测移动物体的姿势的系统。 根据本发明的系统包括固定电光装置，其包括发射源和感光传感器。 光学角立方体布置在移动物体上。 拐角立方体的入射面具有预定的几何形状，来自源的光并由角立方体反射回来，在矩阵传感器上形成发光轮廓。 固定电光装置包括具有已知形状和位置的光学元件，其被放置在所述源的附近并且被布置成在发光轮廓的中心部分中形成暗区。 所述检测系统包括分析装置，根据所述发光轮廓的消失点以及所述暗区的位置和形状的知识来确定所述移动体的位置和姿态。

公开(公告)号：US20140320640A1

公开(公告)日：2014-10-30

申请号：US14261383

申请日：2014-04-24

Applicant: THALES

Inventor： Bruno BARBIER ,  Laurent POTIN ,  Siegfried ROUZES

IPC: G01B11/26 ,  G06T7/00 ,  G01B11/14

CPC classification number: G01B11/26 ,  G02B5/122 ,  G02B27/0093 ,  G06T7/73

Abstract: The general field of the invention is that of systems for optically detecting the posture of an object which is mobile in space. The system according to the invention comprises an optical assembly comprising a plurality of optical corner cubes arranged on the mobile object. The entry face of the corner cubes is divided into three separate coloured regions having a spectral transmission filter transmitting only a predetermined spectral band different from those of the other filters, each side of the said coloured regions has a specific marking making it possible to identify this said side, and the spectrum of the emission source has a spectral width equal to the sum of the spectral bands of the said filters. The associated fixed electro-optical device of known orientation comprises at least one colour matrix sensor and the image analysis means comprise means for determining shapes and geometrical characteristics in the images received by the colour matrix sensor or sensors.

Abstract translation: 本发明的一般领域是用于光学地检测在空间中移动的物体的姿势的系统。 根据本发明的系统包括光学组件，其包括布置在移动物体上的多个光学角立方体。 角立方体的入射面被分成三个独立的着色区域，其具有仅传输与其它滤光片不同的预定光谱带的光谱透射滤光器，所述着色区域的每一侧具有特定标记，使得可以识别该 并且发射源的光谱具有等于所述滤光器的光谱带的总和的光谱宽度。 已知取向的相关联的固定电光装置包括至少一个彩色矩阵传感器，并且图像分析装置包括用于确定由彩色矩阵传感器或传感器接收的图像中的形状和几何特征的装置。

公开(公告)号：US20150103359A1

公开(公告)日：2015-04-16

申请号：US14512327

申请日：2014-10-10

Applicant: THALES

Inventor： Bruno BARBIER ,  Laurent Potin ,  Siegfried Rouzes

IPC: G01B11/14 ,  A42B3/00

CPC classification number: G01B11/14 ,  A42B3/00 ,  G01S17/46 ,  G01S17/74

Abstract: The general field of the invention is that of systems for detecting the posture of a mobile object in space. The system according to the invention comprises an electro-optical device comprising a light source, a photoreceptor and means of analysis, and a retro-reflecting cube corner disposed on the mobile object. The cube corner comprises a mask disposed on its entry face. The source emits a parallel or almost-parallel pencil beam. The electro-optical device comprises means for deviating, about a fixed point, the said pencil beam of light by an angle varying as a function of time. The photoreceptor is configured for receiving the pencil beam of light retro-reflected by the cube corner. The means of analysis are configured in such a manner as to determine, based on the signal coming from the photoreceptor, the position of a number of points representative of the borders of the mask and, using this positional information, the posture of the cube corner in space.

Abstract translation: 本发明的一般领域是用于检测空间中的移动物体的姿势的系统。 根据本发明的系统包括一种包括光源，感光体和分析装置的电光装置，以及设置在移动物体上的后向反射立体角。 立体角包括设置在其入口面上的掩模。 源发出平行或几乎平行的笔形光束。 电光装置包括用于以一个随时间变化的角度偏离所述笔尖光束的固定点的装置。 感光体被构造成用于接收由立体角反射的笔形光束。 分析方式被配置为基于来自感光体的信号来确定代表掩模的边界的多个点的位置，并且使用该位置信息来确定立方角的姿势 在太空。

公开(公告)号：US20140016138A1

公开(公告)日：2014-01-16

申请号：US13941421

申请日：2013-07-12

Applicant: Thales

Inventor： Bruno BARBIER ,  Laurent Potin ,  Siegfried Rouzes

IPC: G01B11/14

CPC classification number: G01B11/14 ,  G01S17/875

Abstract: The general field of the invention is that of systems for the optical detection of the orientation and the position of a mobile object in space. The system comprises a fixed electro-optical device comprising a transmission point source, image analysis means and an optical cube corner disposed on the mobile object. The input surface of the cube corner comprises a polygonal-shaped mask, the sides of which comprise a geometric marking to identify them. The fixed electro-optical device comprises photosensitive means close to the point source and disposed in two different recording planes and recording two luminous shapes in perspective of the mask obtained by reflection on the surfaces of the cube corner. The image analysis means comprise means for determining the vanishing points of the two luminous shapes in the two recording planes, the knowledge of the four vanishing points enabling the determination of the position and orientation of the optical cube corner in relation to the fixed electro-optical device.

Abstract translation: 本发明的一般领域是用于光学检测空间中的移动物体的取向和位置的系统。 该系统包括固定电光装置，其包括传输点源，图像分析装置和设置在移动物体上的光学立体角。 立体角的输入表面包括多边形形状的掩模，其侧面包括用于识别它们的几何标记。 固定电光装置包括靠近点源并且设置在两个不同记录平面中的感光装置，并且在通过在立方角的表面上的反射获得的掩模的透视图中记录两个发光形状。 图像分析装置包括用于确定两个记录平面中的两个发光形状的消失点的装置，四个消失点的知识使得能够确定光学立方角相对于固定电光学的位置和取向 设备。