KR101487248B1 - Optical tracking system - Google Patents

Abstract

Disclosed is an optical tracking system capable of detecting and tracking an accurate spatial position and direction of an object regardless of a distance of an object to be measured. Since the optical tracking system can detect and track the accurate spatial position and direction of the object regardless of the distance of the object to be measured, the optical tracking system not only widens the available area, but also greatly reduces the size of the marker compared to the conventional marker So that it is possible to miniaturize the equipment.

Description

[0001] OPTICAL TRACKING SYSTEM [

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an optical tracking system, and more particularly, to an optical tracking system for tracking coordinates of markers attached to an object such as a diseased part or a surgical tool to detect the spatial position and direction of the object.

In recent years, robot surgery has been underway to alleviate the suffering of the patient and to allow the patient to recover more quickly than laparoscopic or otolaryngologic surgery.

In order to minimize the risk of the surgery and to perform more precise operations during the robot operation, it is necessary to precisely track and detect the spatial position and direction of the object such as the affected part or the surgical tool, (NAVIGATE) can be used.

The surgical navigation system includes a tracking system that can accurately track and detect the spatial position and direction of an object, such as a diseased part or a surgical tool, as described above.

The tracking system may include markers normally attached to objects such as a diseased part or a surgical tool, first and second imaging units for imaging light emitted by the markers, and first and second imaging units connected to the first and second imaging units Dimensional coordinates of the markers are compared with the three-dimensional coordinates of the markers, and information of the straight lines connecting the previously stored neighboring markers with angle information of the pair of straight lines neighboring each other is calculated, And a processor for calculating a position and a direction.

The conventional general tracking system measures distances to the markers through the processor using the circular diameter of the markers formed on the image forming unit. However, there is a problem that it is difficult to accurately measure the circular diameter of the markers because the circular rim of the markers formed on the image forming unit is opaque due to the distortion of the image forming unit lens, There is a problem that the position of the markers can not be accurately measured because the discrimination power of the markers and the distance is very small.

Accordingly, an object of the present invention is to provide an optical tracking system capable of detecting and tracking an accurate spatial position and direction of an object regardless of a distance of an object to be measured.

An optical tracking system according to an embodiment of the present invention includes at least one marker that reflects light emitted from at least one light source through a ball lens having a pattern formed thereon in a form of parallel emission light, At least one image forming unit for receiving the parallel outgoing light to form an enlarged image of the pattern, and a controller for comparing the enlarged image of the pattern formed on the image forming unit with the previously stored reference pattern image, And a processor.

Here, the pattern may be provided on the entire surface or a part of the surface of the ball lens.

For example, the light source may be an LED (Light Emitting Diode).

For example, the image forming unit may be a camera that receives the parallel output light emitted from the marker through the lens unit and images an image of a pattern enlarged by the parallel output light on the sensor unit.

Here, the processor compares the position and size of the enlarged pattern image formed on the imaging unit with the reference position and size of the previously stored reference pattern image to calculate the spatial position of the marker, The direction of the marker can be calculated by comparing the size of the position and the pattern with the reference pattern position and the reference pattern size for each region of the pre-stored pattern image.

According to another aspect of the present invention, there is provided an optical tracking system comprising at least one marker which is irradiated from at least one light source and is reflected by a pattern or transmits a pattern through a fisheye lens and emits the light in a form of parallel emission light, At least one image forming unit for receiving the parallel outgoing light emitted from the marker and for forming an enlarged image of the pattern, and a controller for comparing the enlarged image of the pattern formed on the image forming unit with the previously stored reference pattern image, And a processor for calculating a spatial position and a direction of the space.

Here, it is preferable that the pattern is disposed at a focal distance of the fish-eye lens.

For example, the light source may be disposed outside the marker so that light can be reflected by the pattern and pass through the fish-eye lens.

As another example, the light source may be disposed inside the marker so that the light emitted from the light source can pass through the pattern and pass through the fish-eye lens.

Here, the light source may be a light emitting diode (LED).

For example, the image forming unit may be a camera that receives the parallel output light emitted from the marker through the lens unit and images an image of a pattern enlarged by the parallel output light on the sensor unit.

The processor compares the position and size of the enlarged pattern image formed on the imaging unit with the reference position and size of the previously stored reference pattern image to calculate the spatial position of the marker, The direction of the marker can be calculated by comparing the size of the position and the pattern with the reference pattern position and the reference pattern size for each region of the pre-stored pattern image.

According to another aspect of the present invention, there is provided an optical tracking system comprising: an optical tracking system for emitting light, which is emitted from at least one light source, reflected by a pattern, or transmitted through a pattern through an objective lens, At least one image forming unit for receiving the parallel output light emitted from the marker to image an enlarged image of the pattern, and at least one image forming unit for forming an image on the image forming unit And a processor for comparing the enlarged image and the pre-stored reference pattern image to calculate the spatial position and direction of the marker.

Here, the pattern may be disposed at a focal length of the objective lens.

For example, the light source may be disposed outside the marker so that light can be reflected by the pattern and pass through the objective lens.

As another example, the light source may be disposed inside the marker so that light irradiated from the light source can pass through the pattern and pass through the objective lens.

Here, the light source may be a light emitting diode (LED).

For example, the image forming unit may be a camera that receives the parallel output light emitted from the marker through the lens unit and images an image of a pattern enlarged by the parallel output light on the sensor unit.

The processor compares the position and size of the enlarged pattern image formed on the imaging unit with the reference position and size of the previously stored reference pattern image to calculate the spatial position of the marker, The direction of the marker can be calculated by comparing the size of the position and the pattern with the reference pattern position and the reference pattern size for each region of the pre-stored pattern image.

As described above, the optical tracking system according to an embodiment of the present invention emits parallel outgoing light of a pattern from a marker, forms an enlarged pattern image on an image forming unit, and calculates a spatial position of the marker using the image. That is, by positioning the marker on the image forming unit by enlarging the image of the pattern without depending only on the resolving power of the imaging unit, the distance and the direction of the object are precisely measured Can be calculated without reduction.

Therefore, the optical tracking system according to an embodiment of the present invention can detect and track the accurate spatial position and direction of the object irrespective of the distance of the object to be measured, so that the available area can be greatly enlarged, The size of the marker can be greatly reduced and the device can be miniaturized.

1 is a schematic view of an optical tracking system according to a first embodiment of the present invention;
2 is a view showing a marker according to the first embodiment of the present invention
3 is a flowchart for explaining a process of tracking an object using the optical tracking system according to the first embodiment of the present invention.
4 is a flowchart for explaining the process of calculating the spatial position and direction of the marker
5 is a flowchart for explaining the process of calculating the direction of the marker
6 is a view for explaining a process of calculating the direction of an object using the optical tracking system according to the first embodiment of the present invention
7 is a flowchart for explaining the process of calculating the spatial position of the marker
8A to 8D are diagrams for explaining the process of calculating the spatial position of the marker
9 is a view for explaining a first modification of the optical tracking system according to the present embodiment
10 is a view for explaining a second modification of the optical tracking system according to the present embodiment
11 is a view for explaining a third modification of the optical tracking system according to the present embodiment
12 is a view for explaining a marker according to the second embodiment of the present invention;
13 is a view for explaining a marker according to the third embodiment of the present invention

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprising" or "having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted as ideal or overly formal in meaning unless explicitly defined in the present application Do not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

In an optical tracking system according to an embodiment of the present invention, after attaching at least one marker to an object such as a diseased part or a surgical tool, the parallel output light emitted from the marker is received through the imaging unit, And the spatial position and direction of the object can be calculated through the processor by using the enlarged image of the pattern unit. The detailed configuration thereof will be described with reference to the drawings.

≪ Example 1 >

FIG. 1 is a schematic view of an optical tracking system according to a first embodiment of the present invention, and FIG. 2 is a diagram showing a marker according to a first embodiment of the present invention.

1 and 2, an optical tracking system according to the present embodiment includes at least one light source 140, at least one marker 110, at least one imaging unit 120, and a processor 130 .

The at least one light source 140 is arranged to irradiate light toward the marker 110. For example, the light source 140 may be a light emitting diode (LED). Here, the at least one light source 140 may be disposed outside the marker 110.

The at least one marker 110 reflects the light emitted from the light source 140 and emits the parallel output light.

The marker 110 may include a ball lens 113 and a pattern 111 provided on the surface of the ball lens 113. Here, the pattern 111 may be provided on the entire surface of the ball lens 113. Alternatively, the pattern 111 may be provided only on a part of the surface of the ball lens 113.

The ball lens 113 reflects the light emitted from the light source 140 so as to form an enlarged image of the pattern 111 on the image forming unit 120, .

The at least one image forming unit 120 receives the parallel outgoing light emitted from the marker 110 to form an enlarged image of the pattern 111.

For example, the image forming unit 120 receives the parallel output light emitted from the marker 110 through the lens unit 121, and outputs an image of the pattern 111 enlarged by the parallel output light to a sensor unit (Not shown).

The processor 130 compares the enlarged image of the pattern 111 formed on the imaging unit 120 with the reference pattern image previously stored in the processor 130 to determine the spatial position and direction of the marker 110 .

More specifically, the processor 130 compares the position and size of the enlarged pattern 111 image formed on the imaging unit 120 with the reference position and size of the previously stored reference pattern image, And the size of the pattern 111 and the size of the reference pattern for each region of the stored pattern image and the size of the reference pattern are compared with each other, The spatial position and direction of the marker 110 may be calculated to calculate the spatial position and direction of the object.

A process of calculating the spatial position and direction of an object using the optical tracking system according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 8. FIG.

3 is a flowchart illustrating a process of tracking an object using the optical tracking system according to the first embodiment of the present invention.

1 to 3, in order to track an object using the optical tracking system according to the first embodiment of the present invention, the light source 140 is first operated so that the marker 110, that is, the pattern 111 And irradiates light toward the ball lens 113 (S110).

The light irradiated toward the marker 110 is reflected by the marker 110 provided with the pattern 111 on the surface of the ball lens 113 so that the image of the pattern 111 can be enlarged and emitted, (S120).

The parallel output light reflected by the ball lens is incident on the image forming unit 120 to form an image of the enlarged pattern 111 (S130).

The parallel emission light of the pattern 111 reflected by the ball lens and emitted from the ball lens is transmitted to the lens unit (not shown) of the image forming unit 120 And the parallel output light of the pattern 111 that has passed through the lens unit 121 of the image forming unit 120 forms an image of the enlarged pattern 111 on the sensor unit 122.

When the image of the enlarged pattern 111 is formed on the image forming unit 120 as described above, the processor 130 calculates the spatial position and direction of the marker 110 using the enlarged pattern 111 image S140).

The process of calculating the spatial position and direction of the marker 110 will be described in more detail with reference to FIG.

4 is a flowchart for explaining the process of calculating the spatial position and direction of the marker.

4, in order to calculate the spatial position and direction of the marker 110 through the processor 130, an enlarged pattern 111 formed on the imaging unit 120 through the processor 130, The angle of the marker 110 is calculated using the image and the direction of the marker 110 is calculated (S141).

When the rotated angle of the marker 110 is calculated by the processor 130 as described above, the image of the enlarged pattern 111 formed on the imaging unit 120 through the processor 130 and the image of the marker 110 110 to calculate the spatial position of the marker 110 (S142).

Here, the spatial position and direction information of the imaging unit 120 is stored in the processor 130 in advance.

Referring to FIGS. 5 and 6, the step S141 of calculating the direction of the marker 110 will be described in more detail.

FIG. 5 is a flowchart for explaining a process of calculating the direction of a marker, and FIG. 6 is a view for explaining a process of calculating the direction of an object using the optical tracking system according to the first embodiment of the present invention.

5, in order to calculate the direction of the marker 110, first, a pattern 111 of an enlarged pattern 111 image formed on the imaging unit 120 through the processor 130 And the size of the pattern 111 are measured (S1410).

After the position of the pattern 111 in the image of the pattern unit 111 and the change in the size of the pattern 111 are measured, a reference pattern 111 for each region of the image of the pattern 111 previously stored in the processor 130 ) Position and the size of the reference pattern 111 and the magnitude of the pattern 111 and the size of the pattern 111 by the area of the enlarged pattern 111 image formed on the image forming unit 120, And the direction of the marker 110 is calculated by calculating the angle (S1411).

6, when the marker 110 is rotated, the position and size of the pattern 111 of the enlarged pattern 111 image I ₁ formed on the image forming unit 120 are changed, The position of the reference pattern 111 and the size of the reference pattern 111 of the pattern image I ₂ stored in the image forming unit 130 and the pattern of the pattern image I ₁ formed on the image forming unit 120 111.) When comparing the location and the pattern 111 because the size change to calculate the rotational angle θ of the marker 110, it is possible to calculate the orientation of the markers 111.

Next, the step S142 of calculating the spatial position of the marker will be described in more detail with reference to FIGS. 7 and 8. FIG.

FIG. 7 is a flowchart for explaining a process of calculating a spatial position of a marker, and FIGS. 8A to 8D are views for explaining a process of calculating a spatial position of a marker.

7 to 8D, in order to calculate the spatial position of the marker 110, the position and size of the enlarged pattern 111 image formed on the image forming unit 120 through the processor 130, (S1420).

After the position and size of the pattern image 111 are measured, the reference position and size of the image of the pattern 111 previously stored in the processor and the reference position and size of the image of the enlarged pattern 111 formed on the image forming unit 120 The position and size of the marker 110 are compared through the processor 130 to calculate the spatial position of the marker 110 (S1421).

8A shows a reference position and a size at which an image of the pattern unit 111 is imaged on the image forming unit 120 when the marker 110 is present at a position pre-stored in the processor 130. FIG. When the distance D2 between the marker 110 and the image forming unit 120 is shorter than the reference distance D1 as shown in FIG. 3B, the reference size A1 of the image of the pattern 111 previously stored in the processor 130, The image size A2 of the enlarged pattern 111 is more imaged on the image forming unit 120. [ The processor 110 compares the reference size A1 of the image of the pattern 111 and the size A2 of the enlarged pattern image 111 formed on the image forming unit 120 through the processor 130, It is possible to calculate the spatial position of the vehicle.

Although not shown in the drawing, when the distance D2 between the marker 110 and the imaging unit 120 is longer than the reference distance D1, the reference size A1 of the pattern image previously stored in the processor 130 is used, The size A2 of the image 111 of the enlarged pattern 111 is imaged on the imaging unit 120 in a small size.

8C, when the marker 110 is positioned below the reference position B1, the reference position C1 (see FIG. 8A) of the image of the pattern 111 previously stored in the processor 130, And is imaged on the image forming unit 120 so that the enlarged pattern (111) image is located at the top. The processor 110 compares the reference position C1 of the image of the pattern 111 with the position C2 of the image of the enlarged pattern 111 formed on the imaging unit 120 through the processor 130, It is possible to calculate the spatial position of the vehicle.

Although not shown in the drawing, when the marker 110 is positioned above the reference position B1, the enlarged pattern 111 is positioned at a reference position C1 of the image of the pattern 111 previously stored in the processor 130, And is imaged on the image forming unit 120 so that the image is positioned at the bottom.

If the distance D2 between the marker 110 and the imaging unit 120 is different from the reference distance D1 and the marker 110 is not positioned at the reference position B1, (C2) and the size (A2) of the enlarged pattern image formed on the image forming unit 120 by comparing the reference position (C1) and the size (A1) of the pattern image previously stored in the image forming unit The spatial position can be calculated.

8D, if the distance D2 between the marker 110 and the image forming unit 120 is equal to the reference distance D1 and the marker 110 is positioned at the reference position B1 The size A2 and position C2 of the enlarged pattern 111 image formed on the image forming unit 120 are shifted to the processor 130 when the direction of the marker 110 is changed by? Is calculated to be equal to the reference position (C1) and the size (A1) of the stored image of the pattern (111). Therefore, the direction of the marker 110 may be changed by changing the size of the pattern 111a and the size of the pattern 111a by the area of the enlarged pattern 111 image I ₁ , It can be used to calculate the direction of the marker 110 by calculating a rotation angle of the marker 110 is compared with the reference pattern (111a) position and the reference pattern (111a) by the area size of the pre-stored pattern image (I ₂₎ .

As described above, the optical tracking system according to the embodiment of the present invention emits the parallel outgoing light of the pattern 111 from the marker 110 to image the enlarged pattern 111 on the image forming unit 120, To calculate the spatial position of the marker 110. That is, the positional accuracy of the marker 110 is enlarged in the image forming unit 120 by enlarging the image of the pattern 111 independently of the resolving power of the imaging unit 120, The spatial position and direction of the object can be calculated without decreasing the accuracy.

Therefore, the optical tracking system according to an embodiment of the present invention can detect and track the accurate spatial position and direction of the object irrespective of the distance of the object to be measured, so that the available area can be greatly enlarged, The size of the marker 110 can be greatly reduced, and thus the size of the apparatus can be reduced.

≪ Modification Example 1 &

A first modification of the optical tracking system according to the present embodiment will be described with reference to FIG.

9 is a view for explaining a first modification of the optical tracking system according to the present embodiment.

9, the optical tracking system according to the present modification includes at least one light source (not shown), a marker 210, first and second imaging units 220A and 220B, a processor 230, .

9, in the optical tracking system according to the present embodiment, the first and second imaging units 220a and 220b are arranged around a marker 210 having a pattern 211 on the surface of a ball lens 213 And the processor 230 may be connected to the first and second imaging units 220a and 220b.

Accordingly, the first and second imaging units 220a and 220b receive the parallel emission light emitted from the marker 210 to image an enlarged image of the pattern 211. For example, The units 220a and 220b receive the parallel output light emitted from the markers 210 through the lens units 221a and 221b and output the images of the pattern 211 enlarged by the parallel output light, And forms an image on the sensor units 222a and 222b of the display unit.

The processor 230 compares the enlarged image of the pattern 211 formed on each of the first and second imaging units 220a and 220b and the previously stored reference pattern image to determine the spatial position and direction of the marker 210 . Here, the spatial position and direction of the first and second imaging units 220a and 220b and the at least one light source are stored in the processor 230. [

≪ Modification Example 2 &

A second modification of the optical tracking system according to the present embodiment will be described with reference to FIG.

10 is a diagram for explaining a second modification of the optical tracking system according to the present embodiment.

10, the optical tracking system according to the present embodiment includes at least one light source (not shown), first to third markers 310a, 310b and 310c, an image forming unit 320, and a processor 330 ), And the like.

10, the optical tracking system according to the present embodiment includes first to third markers 310a, 311b, 311c provided on the surfaces of ball lenses 313a, 313b, 313c, 310b and 310c are arranged at predetermined intervals on the object so that the light emitted from the light source is reflected by the first to third markers 310a and 310b and is emitted in the form of parallel emission light, The parallel output light emitted by the first to third markers 310a, 310b and 310c is received by the image forming unit 320 to be incident on the first to third markers 310a, 310b and 310c The image of the enlarged pattern 311a, 311b, and 311c is formed.

The image forming unit 320 receives the parallel output light emitted from the first to third markers 310a, 310b and 310c through the lens unit 321 and outputs a pattern 311a ) 311b and 311c on the sensor unit 322. In this case,

The processor 330 is connected to the image forming unit 320 to form enlarged patterns 311a and 311b of the first to third markers 310a, 310b and 310c formed on the image forming unit 320, (311c) and the previously stored reference pattern image to calculate the spatial position and direction of the markers 310a, 310b and 310c. Here, the spatial position and direction of the imaging unit 320 and the at least one light source are stored in the processor 330.

In addition, the geometric information of the first to third markers 310a, 310b and 310c attached to the object is also stored in the processor 330. FIG.

The geometrical information of the first to third markers 310a, 310b and 310c includes straight lines L1 and L2 (see FIG. 3) connecting the neighboring markers 310a, 310b and 310c L3 and the angle? 1,? 2,? 3 formed by a pair of imaginary straight lines L1, L2, and L3 adjacent to each other.

≪ Modification 3 &

A third modification of the optical tracking system according to the present embodiment will be described with reference to FIG.

11 is a view for explaining a third modification of the optical tracking system according to the present embodiment.

Referring to Fig. 11, the third modification is substantially the same as the second modification except that the second imaging unit 420b is further added.

11, in the third modification of the optical tracking system according to the present embodiment, the first lens group 413a, the second lens group 413b, and the fourth lens group 413c are provided with patterns 411a, 411b, The third marker 410a 410b and the third marker 410c are attached to the object at predetermined intervals and the first and second markers 410a, 410b and 410c are positioned around the first and second imaging units 420a and 420b And the processor 430 is connected to the first and second imaging units 420a and 420b.

The light irradiated from the light source is reflected by the first to third markers 410a, 410b and 410c and is received by the image forming units 420a and 420b in the form of parallel output light, (411b) and (411c) images.

The image forming units 420a and 420b receive the parallel output light emitted from the first through third markers 410a, 410b and 410c through the lens units 421a and 421b, The images of the patterns 411a, 411b, and 411c magnified by the sensor units 422a and 422b can be imaged by the sensor units 422a and 422b.

≪ Example 2 >

The optical tracking system according to the present embodiment is substantially the same as the optical tracking system according to the first embodiment except for a part of the markers. Therefore, detailed description of other components and contents except for some contents related to the markers will be omitted .

12 is a view for explaining a marker according to the second embodiment of the present invention.

Referring to FIG. 12, the marker 510 of the optical tracking system according to the present embodiment may include a pattern 511 and a fish-eye lens 513. FIG.

The pattern 511 may reflect or transmit light emitted from at least one light source (not shown). That is, when the light source is disposed outside the marker 510, the pattern 511 is preferably formed so as to reflect the light emitted from the light source, It is preferable that the pattern 511 is formed so as to transmit light emitted from the light source.

The fisheye lens 513 is irradiated from the at least one light source and is reflected by the pattern 511 or passes through the pattern 511 and is emitted toward the image forming unit (not shown) The pattern 511 is formed on the front side of the pattern 511.

Here, it is preferable that the pattern 511 is disposed at a focal distance of the fish-eye lens 513.

≪ Example 3 >

Since the optical tracking system according to the present embodiment is substantially the same as the optical tracking system according to the first embodiment except for a part of the marker 610, A detailed description thereof will be omitted.

13 is a view for explaining a marker according to the third embodiment of the present invention.

13, the marker 610 of the optical tracking system according to the present embodiment may include a pattern 611, an objective lens 613, a prism 614, and the like.

The pattern 611 may reflect or transmit light emitted from at least one light source (not shown). That is, when the light source is disposed outside the marker 610, the pattern 611 is preferably formed so as to reflect the light emitted from the light source, The pattern 611 may be formed so as to transmit the light emitted from the light source.

The objective lens 613 is irradiated from the at least one light source and is reflected by the pattern 611 or passes through the pattern 611 and is emitted toward the image forming unit (not shown) The pattern 611 is provided on the front side of the pattern 611.

Here, the pattern 611 is preferably disposed at a focal distance of the objective lens 613.

The prism 614 allows the parallel output light passing through the objective lens 613 to pass therethrough so as to widen the angle of view of the parallel output light, and then enters the imaging unit. Here, the prism 614 is preferably formed in a pyramid shape.

While the present invention has been described in connection with what is presently considered to be practical and exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

(110): marker (111): pattern
(113): Ball lens (120): Image forming unit
(121): Lens part (122): Sensor part
(130): Processor (140): Light source

Claims (19)

At least one marker for reflecting light emitted from at least one light source through a ball lens provided with a pattern on a surface thereof and emitting the light in a form of parallel emitted light;
At least one imaging unit that receives the parallel outgoing light emitted from the marker and images an enlarged image of the pattern; And
And a processor for calculating a spatial position and a direction of the marker by comparing an enlarged image of the pattern formed on the imaging unit with a previously stored reference pattern image. The method according to claim 1,
The pattern may be,
Wherein the optical lens is provided on the entire surface or a part of the surface of the ball lens. The method according to claim 1,
Wherein the light source is an LED (Light Emitting Diode). The method according to claim 1,
The image-
And a camera for receiving the parallel output light emitted from the marker through the lens unit and for forming an image of a pattern enlarged by the parallel output light on a sensor unit. The method according to claim 1,
The processor comprising:
A spatial position of the marker is calculated by comparing the position and size of an enlarged pattern image formed on the imaging unit with a reference position and size of a previously stored reference pattern image,
Wherein the direction of the marker is calculated by comparing a pattern position of each of the enlarged patterns with a size of the pattern, a reference pattern position of each region of the stored pattern image, and a reference pattern size. At least one marker which is irradiated from at least one light source and is reflected by the pattern or transmits the pattern through the fisheye lens and emits the light in the form of parallel emission light;
At least one imaging unit that receives the parallel outgoing light emitted from the marker and images an enlarged image of the pattern; And
And a processor for calculating a spatial position and a direction of the marker by comparing an enlarged image of the pattern formed on the imaging unit with a previously stored reference pattern image. The method according to claim 6,
Wherein the pattern is disposed at a focal distance of the fish-eye lens. The method according to claim 6,
The light source includes:
Wherein the marker is disposed outside the marker so that light is reflected by the pattern and passes through the fish-eye lens. The method according to claim 6,
The light source includes:
Wherein the marker is disposed inside the marker so that light irradiated from the light source can pass through the pattern and pass through the fish-eye lens. The method according to claim 6,
Wherein the light source is an LED (Light Emitting Diode). The method according to claim 6,
The image-
And a camera for receiving the parallel output light emitted from the marker through the lens unit and for forming an image of a pattern enlarged by the parallel output light on a sensor unit. The method according to claim 6,
The processor comprising:
A spatial position of the marker is calculated by comparing the position and size of an enlarged pattern image formed on the imaging unit with a reference position and size of a previously stored reference pattern image,
Wherein the direction of the marker is calculated by comparing a pattern position of each of the enlarged patterns with a size of the pattern, a reference pattern position of each region of the stored pattern image, and a reference pattern size. At least one marker which is irradiated from at least one light source and is reflected by a pattern or passes through a pattern, passes through an objective lens to emit parallel emission light and then emits parallel emission light having a different angle of view through a prism;
At least one imaging unit that receives the parallel outgoing light emitted from the marker and images an enlarged image of the pattern; And
And a processor for calculating a spatial position and a direction of the marker by comparing an enlarged image of the pattern formed on the imaging unit with a previously stored reference pattern image. 14. The method of claim 13,
Wherein the pattern is disposed at a focal length of the objective lens. 14. The method of claim 13,
The light source includes:
Wherein the marker is disposed outside the marker so that light is reflected by the pattern and passes through the objective lens. 14. The method of claim 13,
The light source includes:
Wherein the marker is disposed inside the marker so that light irradiated from the light source can pass through the pattern and pass through the objective lens. 14. The method of claim 13,
Wherein the light source is an LED (Light Emitting Diode). 14. The method of claim 13,
The image-
And a camera for receiving the parallel output light emitted from the marker through the lens unit and for forming an image of a pattern enlarged by the parallel output light on a sensor unit. 14. The method of claim 13,
The processor comprising:
A spatial position of the marker is calculated by comparing the position and size of an enlarged pattern image formed on the imaging unit with a reference position and size of a previously stored reference pattern image,
Wherein the direction of the marker is calculated by comparing a pattern position of each of the enlarged patterns with a size of the pattern, a reference pattern position of each region of the stored pattern image, and a reference pattern size.

Images