MARK FOR TWO-DIMENSIONAL POSITION ATTITUDE MEASUREMENT METHOD AND DEVICE FOR TWO-DIMENSIONAL POSITION ATTITUDE MEASUREMENT, CONTROL DEVICE FOR IMAGE RECORDING DEVICE, AND CONTROL DEVICE FOR MANIPULATOR

摘要

PROBLEM TO BE SOLVED: To prevent the deterioration of measuring precision while simplifying constitution, cost down and improving handling characteristics. ;SOLUTION: Two intersection points P₁ and P₂ are provided between the first and second straight lines L₁ and L₂, and between the second and third straight lines L₂ and L₃, on an object surface 2 of a measuring object 1, and a known mark 3 is provided at an angle α made by the first and second straight lines L₁ and L₂, an angle β made by the second and third straight lines L₂ and L₃ and distance g between P₁ and P₂, and the mark 3 is imaged on at least a single one-dimensional photosensor 6. When the sensor signal containing distribution of light intensity in the longitudinal direction is outputted from the primary photosensor 6, a calculation unit 9 calculates the positions of the straight lines L₁-L₃ of a mark image 3' on the primary photosensor 6 based on the sensor signal. And, based on the calculation results, the position of at least one of the two intersection points P₁ and P₂ and the inclination of at least one of the straight lines L₁-L₃ are calculated. For example, the calculation results are made a reference point of position measurement and a reference line of attitude measurement of the to-be-measured object 1.;COPYRIGHT: (C)1997,JPO