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    • 1. 发明授权
    • Structure measurement system
    • 结构测量系统
    • US5983166A
    • 1999-11-09
    • US945322
    • 1997-10-22
    • Makoto MatsumotoTakayuki Kataoka
    • Makoto MatsumotoTakayuki Kataoka
    • G01C15/00G01B11/00G01B11/03G01B21/00G01B11/24
    • G01B11/002
    • An inexpensive structure measurement system without use of large-sized fixed equipment and large installation space, which is capable of reducing a burden imposed on the workman by minimizing a work of affixing target marks etc. The system comprises a robot 5 that has an arm 11 for carrying a three-dimensional visual sensor 12 for measuring a measuring object 1 and that is movable in desired directions; a distance meter 6 for measuring the position of the arm 11 and the installation position of the measuring object 1; and control operation terminals 7, 8, 9 for prestoring design data (CAD data) associated with the configuration of the measuring object 1 and calculating the position of a measuring point measured by the three-dimensional visual sensor 12, based on the design data and positional data obtained by the distance meter 6.
    • PCT No.PCT / JP96 / 02755 Sec。 371日期1997年10月22日第 102(e)日期1997年10月22日PCT 1996年9月24日PCT公布。 公开号WO97 / 12202 PCT 日期1997年04月3日一种廉价的结构测量系统,不使用大型固定设备和大型安装空间,能够通过最小化固定目标标记等的工作来减轻施工人员的负担。该系统包括机器人5 具有用于承载三维视觉传感器12的臂11,用于测量测量对象1并且可在期望方向上移动; 用于测量臂11的位置的距离计6和测量对象1的安装位置; 以及用于预设与测量对象1的配置相关联的设计数据(CAD数据)并且基于设计数据计算由三维视觉传感器12测量的测量点的位置的控制操作终端7,8,9,以及 由距离计6获得的位置数据。
    • 4. 发明授权
    • Method for automatic recognition of a concavity or convexity
    • 自动识别凹凸的方法
    • US5966472A
    • 1999-10-12
    • US906172
    • 1997-08-05
    • Takayuki KataokaKen'ichiro Matsumoto
    • Takayuki KataokaKen'ichiro Matsumoto
    • G01B11/00G06K9/46G06T7/60G06K9/36G06K9/00G06K9/56
    • G06K9/4604
    • An automatic recognition method capable of accurately determining edges of a concavity or convexity in order to achieve an improved measuring accuracy in recognition of a concavity or convexity. This method comprises the steps of: converting a photographic image of an object having a concavity or convexity defined therein into data in a specified feature space; obtaining a plurality of points that exist outside a virtual circle determined by a virtual center of the concavity or convexity, the virtual center being established for each elementary area of the image converted into the feature space data; obtaining the equation of a plane that passes through the plurality of points; detecting symmetric pairs of pixels in each elementary area of the feature space data with respect to the corresponding virtual concavity or convexity center; and recognizing the position of the concavity or convexity of the object when the symmetric pixels satisfy the equation of the plane.
    • 一种能够精确地确定凹凸的边缘的自动识别方法,以便在识别凹凸时获得提高的测量精度。 该方法包括以下步骤:将其中定义的具有凹凸的物体的摄影图像转换成指定特征空间中的数据; 获得存在于由所述凹凸的虚拟中心确定的虚拟圆之外的多个点,为被转换为所述特征空间数据的图像的每个基本区域建立所述虚拟中心; 获得通过所述多个点的平面的方程; 相对于相应的虚拟凹凸中心检测特征空间数据的每个基本区域中的对称对像对; 并且当对称像素满足平面的方程时,识别对象的凹凸的位置。