KR100944721B1 - A Three Dimension Coordinates Appointment Equipment Using Camera and Light Source - Google Patents

Abstract

The present invention operates in three-dimensional space without needing to fix the coordinate designation device in which the camera is located on any plane, taking a reference square having an arbitrary size with the camera at an arbitrary position, and setting the coordinate system of the reference square. The present invention relates to a coordinate designation device designed to be converted.

The present invention includes a camera for capturing an image of a target plane in a three-dimensional space to achieve a coordinate designation device that can be used in three-dimensional space, the processor for processing the image data taken by the camera to extract the desired target coordinates and rotation angle And a data transmission / reception unit for sending extracted coordinate data to a computer or receiving a command of a computer, and having a plurality of operations and control buttons designed and made available to users for controlling various operations. And a coordinate designation device operating in an absolute coordinate concept having means for extracting and calculating rotational components.

According to the present invention, the target coordinates can be designated by the camera or information can be input in three or four dimensions. Therefore, the present invention has an effect that can be widely applied to games, vending machines, projector presentations, and defense industries.

Camera, Coordinate Designator, 3D, 4D, Absolute Coordinates

Description

A Three Dimension Coordinates Appointment Equipment Using Camera and Light Source}

The present invention includes a camera for acquiring an image of a target plane in a three-dimensional space to achieve a coordinate designation device that can be used in a three-dimensional space, the processor for processing the image data obtained from the camera to extract the desired target coordinates and rotation angle And a data transmission / reception unit for sending the extracted target coordinate data to a computer or receiving a command from the computer, and having a plurality of operations and control buttons designed and made available to users for controlling various operations. A coordinate designation device operating in the concept of absolute coordinates having means for extracting and calculating components and rotational components.

Conventionally, a method of determining data of coordinates to be input by a coordinate designating apparatus is (a) a method of obtaining a displacement in two orthogonal (X, Y) directions by rolling a spherical object on a plane, (b) A method of measuring a laser beam from an enclosed space and measuring the reflected light to obtain a relative change in position. (C) A method of reading a laser beam on a screen to read its position with a camera. A gyro sensor measures the angle change and converts it into a position change.

Among these, except for the method of reading the screen by the camera of (c) method, all of them obtain the relative coordinates of the displacement information, not the positional information. In the method of (c), the laser light beam launching unit capable of operating in a fixed camera and space is provided. There is a constraint that there must be. In addition, (d) of the gyro sensor method has a limitation in changing the position due to one continuous motion because the angular sensor is read, and there is a problem in that it is different from the human recognition degree because it cannot detect the parallel movement. .

In the relative coordinate input method operating in space, it is necessary to distinguish between inputting a displacement and returning to the original position without input. In the case of the coordinate designation device using the ball and (b) the coordinate designation device using the light beam, it can be solved by moving it in a state separated from the contact surface. In order to do this, there is a problem that a switch must be distinguished.

Since the laser light beam emission method (c) reads the position of the light emitting point specified on the plane, it cannot read the information about the plane in the vertical direction or the angle of rotation about the plane in the vertical direction. There is a problem that can not read the angle.

The distance measuring method using a camera developed so far is to grasp a plurality of images with a stereo camera and compare and judge them. This is difficult to secure reliability due to the incompleteness of the image according to the shooting environment and is relatively expensive. There is a problem that needs to be compensated by checking the regression time.

The problem to be solved by the present invention is to implement the absolute coordinate designation technology with a simple device to be widely applied not only to general computer programs, but also to the game field, vending machine field, projector presentation field, defense industry field, etc. .

Another problem to be solved by the present invention is to add a three-dimensional coordinates and rotation angle information in space in addition to the position on the plane to open the way to input the target coordinates that can be referred to as four-dimensional to meet the needs of the emerging 3D image era. In response to the game program, users of sports equipment (tennis rackets, golf clubs, etc.) can express movements in the three-dimensional space in a real state, analyze three-dimensional movements in the medical field and sports field, and input spatial information in the design field. To achieve the device.

Another problem to be solved by the present invention is to designate a target point with the same displacement and angle change as pointing the screen with a bar by applying the parallel movement and the change of angle to the recognition of the human being not different from the human recognition.

Another problem to be solved by the present invention is to be able to measure the distance change and the speed of the target plane or the coordinate designator using the change in the Z axis.

Solution to the problem to be solved by the present invention comprises a camera that captures the image of the target plane in the three-dimensional space to achieve a coordinate designation device that can be used in the three-dimensional space, processing the image data taken by the camera to the desired target A processor unit for extracting coordinates and rotation angles, and a data transmitter / receiver unit for sending the extracted target coordinate data to a computer or receiving a computer command, and designed and manufactured to be used by users for controlling various operations And a control button, means for extracting and calculating front and rear components and rotational components, and implementing absolute coordinate designation technology in three-dimensional space, such as general computer programs, games, vending machines, projector presentations, defense industries, etc. Be widely applied Which is to provide the coordinates specified device.

According to another aspect of the present invention, there is provided a reduction ratio in which a line segment having a predetermined length appears in an image according to the characteristics of a camera, and if the distance between the corresponding target and the camera is made as a table, the reduction ratio is found in a table and converted. The Z coordinate can be obtained. Since the purpose of the Z coordinate is to target the target plane, the relative coordinates are sufficient, and the relative coordinates can be increased or decreased by storing one measurement value each time without any preparation work in the memory. The three-dimensional coordinates can be obtained by calculating the relative coordinates, so that the movement of the tools (racquets, golf clubs, etc.) of the sports event can be expressed in a real state in a 3D image game program, etc. In the field to achieve a device for inputting spatial information.

Another object of the present invention to solve the problem is to apply the parallel movement and the change of the angle to the recognition of the human not different from the human recognition to specify the target point by the same displacement and angle change as pointing the screen with a bar.

Another problem to be solved by the present invention is an extended coordinate pointing device having a camera and a light generating unit to measure the change in the Z-axis more accurate to measure the distance change and the speed of the target plane or coordinate pointing device have.

The present invention implements the absolute coordinate designation technology with only a simple device, and has an effect that can be widely applied to a general computer program, a game field, a vending machine field, a projector presentation field, a defense industry field, and the like.

Another effect of the present invention is to add a three-dimensional target coordinate and rotation angle information in space in addition to the position on the plane to open the way to input the target coordinate, which can be referred to as a four-dimensional, to meet the demands of the emerging 3D image era. In game programs, users can express the tools (racquets, golf clubs, etc.) of actual athletic events in the three-dimensional space in front of the screen, and analyze three-dimensional movements in medical and sports fields, and analyze spatial information in design fields. It is to form an input device.

Another effect of the present invention is to apply the parallel movement and the change of the angle to the recognition of the human not different from the human recognition to specify the target point with the same displacement and the change of the angle, such as pointing the screen with a bar.

Another effect of the present invention is an extended coordinate pointing device having a camera and a light generating unit to measure a more accurate Z coordinate and its change to measure the distance between the target plane and the pointing device and the speed of the target plane or the pointing device. To make it possible.

It looks at the specific content for the practice of the present invention. The present invention includes a camera for acquiring an image of a target plane in a three-dimensional space to achieve a coordinate designation device that can be used in three-dimensional space, and extracts the desired target coordinate and rotation angle by processing the image data obtained from the camera It includes a processor unit, and a data transmission and reception unit for transmitting the extracted coordinate data to a computer or receiving a command transmitted from the computer, a plurality of designed and manufactured to be used by users to input or control the data to perform various operations The present invention relates to a coordinate designation device having an operation and control button and operating in an absolute coordinate concept having means for extracting and processing the front and rear and rotational components.

Hereinafter, the configuration and operation of the embodiments of the present invention with reference to the accompanying drawings, the configuration and operation of the present invention shown and described in the drawings will be described by at least one embodiment, whereby the present invention described above The technical idea and its core composition and operation are not limited.

Look at the drawings to facilitate understanding of the present invention. 1 is a conceptual diagram showing each detailed configuration constituting the three-dimensional coordinate designation apparatus using a camera according to the present invention, Figure 2 is a block diagram of the basic and extended configuration of the three-dimensional coordinate designation apparatus according to the present invention It is shown as. 3 is a conceptual diagram illustrating a direction of a camera image and each reference point and coordinates according to the present invention, and FIG. 4 illustrates an example of an initial setting image during operation of the coordinate specifying apparatus according to the present invention. FIG. 5 is a schematic conceptual diagram of a camera image according to the present invention, and FIG. 6 is a sample photograph of boundary layers extracted by a program.

Among the target coordinates obtained through the coordinate designation apparatus according to the present invention, the two-dimensional coordinates consisting of the X coordinates indicating the horizontal direction and the Y coordinates indicating the vertical direction, the origin is set from FIG. 5 and FIG. If the maximum value of W is Y and the maximum value of Y coordinate is H, the planar coordinates (X, Y) of each vertex are S1 (0, 0); S2 (0, H); S3 (W, 0); It becomes S4 (W, H).

However, the apparent coordinates read from the camera's image are different. These apparent coordinates were respectively S1 (X1, Y1); S2 (X2, Y2); S3 (X3, Y3); The coordinates of the image center point Cp in FIG. 5 are referred to as (Xc, Yc), and as shown in FIG. 5, the projection points of Cp for each side of the reference square image are respectively S12 and S13. , S24, S34, and these coordinates are expressed as X and Y components, S12 (X12, Y12); S13 (X13, Y13); S24 (X24, Y24); S34 (X34, Y34) can be represented, and each coordinate can be calculated as follows.

(a) S12 is the point where the straight line S1S2 meets the straight line S12Cp, the straight line S1S2 passes two points S1 and S2, and the straight line S12Cp passes the point Cp and the slope is the same as the straight line S1S3. The coordinates of S12 can be obtained.

(b) The coordinates of the points S13, S24, and S34 are obtained by obtaining the coordinates of the point S12.

(c) From the above results, the theoretical target coordinates according to the present invention are obtained as follows.

X coordinate = (Xc-X12) / (X34-X12) * W

Y coordinate = (Yc-Y13) / (Y24-Y13) * H

Can be obtained.

Here, the method of obtaining the Z-axis coordinates from the X, Y bi-axial coordinates is to reduce the reduction rate that the line segment of a certain length in the image according to the characteristics of the camera, and the distance between the target and the camera corresponding to the reduction rate is You can find the Z coordinate by looking at the table and converting it using the reduction factor. Since the purpose of the Z coordinate is to target the target plane, the relative coordinates are sufficient, and the relative coordinates are memorized one time each time without preparation. The three-dimensional target coordinates can be obtained from the relative coordinates by calculating the increase and decrease of the Z value with respect to the stored values.

Next, the lengths of the line segments S1S2 and S2S3 can be calculated from the coordinates X1, Y1, ... defined in FIG. By dividing the actual length of the vertical side of the image by the length of S1S2, the cosine value, which is the vertical rotation angle with respect to the screen of the vertical side, can be obtained. A specific embodiment according to the present invention will be described.

EXAMPLES

Example 1

A first embodiment of the present invention will be described with reference to the drawings. 1 is a conceptual diagram showing each detailed configuration constituting a three-dimensional coordinate designation apparatus using a camera according to the present invention, Figure 2 is a block diagram of the configuration of the basic type and extended type of the three-dimensional coordinate designation apparatus according to the present invention It is shown. 4 is a view illustrating a concept of indicating a direction of a camera image and each reference point and coordinates according to the present invention, and FIG. 4 illustrates an example of an initial setting image during operation of the coordinate designation apparatus according to the present invention. 5 illustrates a geometrical conceptual diagram of a camera image according to the present invention.

Embodiment 1 according to the present invention relates to a basic coordinate designating apparatus in the figure shown in Figure 2, the basic coordinate designating apparatus is fixed to the front or one side of the coordinate designating apparatus as shown in Figure 5 to display the target plane image Acquisition camera is located, and a processor for processing the image data obtained from the camera to extract the desired position coordinates and rotation angle is built-in, data transmission and reception unit 130 for transmitting the processed data to a computer or receiving a command from the computer 130 And a plurality of operations and control buttons for inputting or changing commands for various operations or controls.

Coordinate designating apparatus according to the present invention is the X coordinate 210 of the horizontal component of the target coordinates calculated from the image data obtained using the camera, the Y coordinate 220 of the vertical component, the front and rear components 230 and X from the target plane It is configured to obtain coordinate data consisting of the rotation angle 240 for the, Y and Z components.

The coordinate designating apparatus according to the present invention is configured to acquire image data by photographing a reference square provided on a monitor, a projector screen, or any flat rectangular panel using a camera fixed to the front of the coordinate designating apparatus.

Look at Example 1 according to the present invention in more detail. 3 is a diagram illustrating a basic screen photographed by the camera 110 and coordinate axes and reference points to be applied to the target coordinates in order to obtain 3D data of the target coordinates according to the present invention. In Fig. 3, the quadrilateral P1P2P4P3 indicates the boundary of the screen shot by the camera, and the quadrilateral S1S2S4S3 is an image of the reference quadrangle 310 indicating the boundary of the target plane 300, and the point Cp is the quadrilateral P1P2P4P3. It is the center point and the target coordinate to find. The plane coordinate is given by the horizontal component X and the vertical component Y, and represents the rotation angles of Z and the X, Y and Z components, which are the components of the three-dimensional coordinates, to be expressed in three-dimensional coordinates in the plane coordinates representing the X and Y. It consists of A which is a component of four-dimensional coordinates. In Fig. 3, X0 is a reference direction for displaying the horizontal axis of the image screen, and point Lp is a beam of a laser, LED or other light source that reaches the target portion of the reference square in the case of the extended coordinate designating apparatus according to the present invention. Indicates the arrival point.

In Fig. 3 or Fig. 5, since the boundary quadrangular (P1P2P4P3) of the screen photographed by the camera installed on the front or one side of the coordinate designating device is the data photographed by the camera, the positional information (P1P2P4P3) is determined from the horizontal and vertical resolution from the characteristics of the camera. It can be seen that the center point Cp can also be easily obtained as the midpoint of P1 and P4.

However, in FIG. 1, since it is not easy to obtain the position S1S2S4S3 of each vertex of the reference quadrangle 310 image of the target unit, a method of determining the reference quadrangle S1S2S4S3 of the target plane will be described in detail.

First, in order to derive the target coordinates according to the present invention in the state in which the aforementioned various reference points are determined, some determination must be made in advance. The aspect ratio for determining the inclination of the target plane 300 and the length of the line segment S1S3, which is the width of the reference quadrangle 310 image for determining the reference origin of the Z coordinate, should be determined.

The camera is oriented vertically at a distance far enough from the target plane 300 (for example, the position of the reference quadrangle 310 image (S1S2S4S3) and the quadrilateral P1P2P4P3 almost indicating the boundary of the entire image) to face the center point of the target plane vertically. In the state where 110 is located, the S1S2 and S1S3 values are read and stored in the memory. In the case of the extended type, the CpLp value is also stored in the memory.

FIG. 5 is a geometric representation of FIG. 3 to facilitate understanding and explanation. The origin of each data is defined as the point S1 of FIG. 5, the maximum value of the X coordinate 210 is W and the maximum value of the Y coordinate H, and when the rectangular plane is formed, the target plane coordinates (X, Y) of each vertex are S1 (0, 0); S2 (0, H); S3 (W, 0); It becomes S4 (W, H).

However, the apparent coordinates read from the camera's image are different. These apparent coordinates were respectively S1 (X1, Y1); S2 (X2, Y2); S3 (X3, Y3); S4 (X4, Y4), and the coordinates of the image center point Cp in FIG. 5 are referred to as (Xc, Yc), and as shown in FIG. 5, the projection points of Cp with respect to each side of the reference square 310 image are respectively shown. S12, S13, S24, and S34, and their coordinates are S12 (X12, Y12); S13 (X13, Y13); S24 (X24, Y24); S34 (X34, Y34); can be calculated as follows.

In Fig. 5, S12 is the point where the straight line S1S2 meets the straight line S12Cp, the straight line S1S2 passes through two points S1 and S2, and the straight line S12Cp passes through the point Cp and the slope is equal to the straight line S1S3. The coordinates of point S12 can be found.

The coordinates of the points S13, S24, and S34 are obtained respectively by the same method of obtaining the point S12.

From the above results, the theoretical target coordinate Cp according to the present invention is obtained by equations (1) and (2).

X coordinate (210) = (Xc-X12) / (X34-X12) * W (1)

Y coordinate (220) = (Yc-Y13) / (Y24-Y13) * H (2)

In Equation (1), the X coordinate is the X component of the X component of the S34 coordinate from the X component of the X component of the S34 coordinates from the value of Xc, which is the X component of the target coordinate Cp, to the X component of the S12 coordinate. When the value obtained by subtracting the point S1 is determined as the origin, the absolute value of the X value of the target coordinate Cp may be obtained by multiplying the maximum value W of the X coordinate 210.

In Equation (2), the Y coordinate is obtained by subtracting Y13, the Y component of the S13 coordinate, from Yc, the Y component of the target coordinate Cp, from Y24, the Y component of the S24 coordinate, to Y13, the Y component of the S13 coordinate. When the value obtained by subtracting the point S1 is determined as the origin, the absolute value of the Y value of the target coordinate Cp may be obtained by multiplying the maximum value H of the Y coordinate 210.

The foregoing description and calculations of equations (1) and (2) ignore the shape aberration (mainly spherical aberration) of the camera lens, and do not consider the case where the quadrangular S1S2S4S3 in FIG. 5 becomes trapezoidal or crushed quadrangular. Did. Not only can they be corrected according to the CPU's ability to process the data, they can also be corrected simply by functions provided by Intel's OpenCV Library. However, even if it is not corrected, it is not a problem for practical use. This is because, if only one-to-one correspondence between the measured coordinates and the extracted coordinates of the point Cp is maintained, there is no error that can be determined by the naked eye, and the target coordinates at that time are recorded and stored in the computer. In other words, it is difficult for the human sense to determine exactly where the center of the camera direction is pointing. If only the position indication mark displayed on the screen is moved in a 1: 1 correspondence, users do not feel uncomfortable and practically sufficient coordinate designation according to the present invention. This is because the device can be used.

S1S3 is used as a straight line that is the basis of the slope in calculating the coordinates of S12 described above.However, the coordinate of the point S12 is calculated one more time by the slope of S2S4 located at the bottom and the middle of these two coordinates is calculated. You can get points and use them.

The absolute coordinates (X, Y) of the target plane described above indicate the position inside the reference quadrangle (310). As a general computer input coordinate, only the absolute coordinates (X, Y) of the target plane are sufficient. The furnace can maintain sufficient accuracy.

However, in FIG. 1, the data of the Z coordinate 230 and the rotation angle 240, which are the remaining data among the components of the target coordinate data unit 200 according to the present invention, is an approximation of relatively low accuracy and is assumed to be used for practical purposes. Shall be. Of course, an attempt to improve the accuracy is not impossible, and the extended coordinate designator shown in FIG. 2 is an example implemented to greatly improve the accuracy or to represent the absolute coordinates. In addition, since the vertical coordinates for the screen to be used in the plane will be mainly used to determine whether the brush touches or falls on the canvas, relative coordinates are more convenient than absolute coordinates. Therefore, the data of the Z coordinate and the rotation angle A are implemented using relative coordinates that take the amount of change in the data stored in the memory.

The shape of the reference quadrangle S1S2S4S3 of FIG. 5 should be a rectangular quadrangle in an ideal case, but is inevitably shaped by three-dimensional rotation of the camera 110. For convenience, the rotation angle around the Z axis is called A, the rotation angle along the X axis is B, and the rotation angle around the Y axis is C.

Since the three-dimensional shape is represented as a two-dimensional image, each of these rotations has a limitation that two or three can be synthesized. However, when operating the three-dimensional coordinate designation apparatus 100 using a camera according to the present invention, The shape of the reference quadrangle image is closer to the rectangular shape, and the closer to the rectangular shape, the accuracy increases. Therefore, the interpretation of the angle according to the present invention is made by the following order and definition.

It is true that the rotation angles B and C affect the rotation angle A, but B and C do not change even if A is changed without changing the camera direction while B and C are fixed. Therefore, it is not user's intention that B or C change A. In other words, the rotation intended by the user changes the angle between the straight line S1S2 and the straight line P1P2 (the angle shown in the image) or the angle between the straight line S1S3 and the straight line P1P3 equally.

Therefore, the rotation angle 240 of the data unit 200 according to the present invention is defined as the angle between the straight line S1S3 and the target surface of the straight line P1P3.

The calculation of the Z coordinate will be described in detail. The straight line in space appears in its actual length only when it is perpendicular to the observer's line of sight. By the way, in the measured plane S1S2S4S3, there exists a direction which shows an actual length. This is because a plane perpendicular to the line of sight of the camera always has a straight line that meets the plane except when the plane S1S2S4S3 appears as a straight line.

In the plane S1S2S4S3 there are six straight lines to reference. Four sides of a square and two diagonals. With respect to these six directions, the reduction ratios of the respective directions are calculated based on the S1S2 and S1S3 coordinate data stored in the memory based on the corresponding directions of the quadrilateral or the reference quadrangle of the real 300.

The direction showing the smallest value, that is, the direction in which the smallest shrinkage occurs among the six reduction ratios of the six sides, is regarded as the actual length. These are not continuous values, but because they show an average difference of 45 degrees for each step, an error is included. But only the information presented is the best choice. Each side of the reference quadrangle 310 image is calculated based on the selected reduction ratio.

Depending on the characteristics of the camera, the reduction rate at which a certain length of line segments appear in the image and the distance between the corresponding target and the camera are made into a data table or calculated by a function calculation and stored in a memory or a database. Alternatively, the Z coordinate can be obtained by calculating the function and converting it to the actual distance. Of course, the absolute coordinates can be extracted by using the S1S2 and S1S3 and S1 values stored in the memory as a reference point, but users need to do the preparation work, whereas the use of the Z coordinate targets the target plane. Relative coordinates are sufficient. Relative coordinates can be used as relative coordinates by calculating the increase or decrease of Z values by storing and storing each measured value in memory without any preparation.

The method of determining the reference quadrilateral of the target plane is determined by the boundary line obtained from the image acquired by the camera, or the other is to establish a reference point on the target plane, and the easiest method is to contrast the small LED light source or the camera to recognize it well. Create a sticker of the same size as ▣ (hereinafter referred to as “mark”) printed in color (for example, black on a white background or a background distinct from the edge color of the target plane). It is attached to the four corners of the square 310 and scans the image of the camera to recognize the position. However, in this case, there is a problem that it is impossible to estimate the entire reference square when only two or less marks out of four are recognized.

However, adding four more at the exact center of each of the four sides can compensate for this disadvantage. Because at this time, if at least four marks are not recognized, the point Cp of FIG. 2, which is the center point of the camera image, is out of the reference quadrangle and thus does not need to process data. In addition, when only four marks are recognized, it may be determined which part of the eight positions is determined by determining whether the positions of these four points are deviated to the left, right, or top and bottom of the image.

When the maximum value of the rotation angle 240 of the data portion is less than 45 degrees, four of the four corners of the reference square among the eight marks may be omitted, and it may be recognized as only four of the sides. Even if all eight are provided without omission, the maximum rotation angle should be smaller than 90 degrees.

Another method of determining the reference hexagon of the target plane 300 originates from the principle that the target plane 300 according to the present invention does not necessarily have to be a screen or a screen of a monitor. If the reference quadrilateral is too close to capture the whole image of the camera, or if it is too far or the angle is not right, it can be manufactured in the form of a square that fits the aspect ratio and installed adjacent to the user. In this case, if only the inside of the reference square is equipped with a semi-transparent plate and the outside is opaque, the camera is illuminated on the opposite side to increase the readability of the camera. In this case, it is not necessary to install the mark described above, and the boundary of the reference square can be easily obtained from the image.

The square shape of any type that fits the aspect ratio is filled with contrasting colors that can read the quadrilateral and the inside and outside of the quadrilateral on a surface or other kind of flat surface, the target plane and the reference quadrilateral. It can also replace Also in this case, the method for finding the reference square is as described above. Of course, by dividing the interior into a grid form alternate colors to replace the mark described above.

If the conditions are correct, laser light can be emitted in the same direction as the camera to illuminate at the mark position of the reference square of the target plane and replace the mark with the reflected light, or install a separate light source at a certain distance from the target plane. It can also replace the mark. In this way, several methods can be selected, and if the scan method or the positioning calculation method is modified according to the situation, the position of the reference quadrilateral of the target plane can be extracted.

In another embodiment, when the outside is processed in a color distinct from the inside of the reference quadrilateral of the screen or the monitor, the screen itself may be scanned without installing a mark. In addition, when the target plane 300 and the camera 110 are too close to have a problem in recognizing the reference quadrangle as in the case of replacing the touch screen method, the lens of the camera may be changed and applied to the wide angle.

That is, the reference square according to the present invention may be configured by attaching a mark, a lamp using a sticker, and a display composed of colors contrasting with the surroundings in order to increase the recognition of the reference square when the image is acquired by the camera.

Example 2

Embodiment 1 relates to a basic coordinate designation apparatus 112 using a camera, and Embodiment 2 relates to an extended coordinate designation apparatus 115 to which a laser or a light ray generator 111 having various wavelengths is added.

That is, Embodiment 1 relates to the basic coordinate designation apparatus 112 in FIG. 2, and Embodiment 2 relates to the extended coordinate designation apparatus 115 shown in FIG. The basic coordinate pointing device is composed of a CCD or CMOS camera for obtaining absolute coordinates. However, the extended coordinate pointing device 115 operates the camera by using a light source selected from among a laser, an LED, and a general light source having a wavelength that can be distinguished by the camera by reaching the target plane in the basic coordinate pointing device 112. In this case, the light emitting part which generates one or more light beams can be added so that one or more light beams can be emitted to the target plane. The light emitting part may be divided into a case where the light beam emitted is parallel to the direction of the lens (a straight line connecting the lens and the point Cp in FIG. 3) and a case where the angle is maintained, but the parallel line has an angle of 0. This can be regarded as one.

The light emitting unit is installed so that the center line is fixed to maintain a constant distance and an angle from the center line of the camera, or it is installed to adjust the distance and angle, and has a wavelength that can be distinguished by the camera by reaching the target plane. And a general light source.

The Z coordinate correction function of the extended coordinate pointing device 115 manufactured according to the second embodiment will be described. The image of the point of arrival of the ray, which maintains a constant relative position and angle with respect to the line of sight of the lens, depends on the distance to the target plane, but is independent of the direction or rotation of the camera. In other words, the measured coordinate of the point Lp in FIG. 3 means that neither the X coordinate nor the Y coordinate is changed unless the Z coordinate is changed. Therefore, if we know the distance between point Lp and point Cp, we can know the Z coordinate of point Lp by simple proportional calculation. In this case, since the accuracy is so high that it cannot be compared with the basic type coordinate designating device, it is sufficient as absolute coordinates rather than relative coordinates.

One thing to consider, however, is that the Z-coordinate cannot fit if the point Lp is off the surface of the target. In this case, find the point where the sides of the reference quadrangle 310 between the straight line LpCp and the two points meet and use it as a reference position or compensate by adjusting the angle between the lens direction and the light beam unless the number of light beams is increased. It's the best way.

The rotation angle correction function of the extended coordinate pointing device 115 manufactured according to the second embodiment will be described. As described in the Z coordinate correction function of the extended coordinate pointing device 115, when the Z coordinate is calculated, the actual length of the horizontal and vertical sides of the reference square image may be calculated. Meanwhile, the lengths of the line segments S1S2 and the line segments S2S3 may also be calculated from the coordinates X1, Y1, ... defined above. Dividing the actual length of the vertical side of the image by the length of S1S2 gives the cosine value of the vertical rotation angle with respect to the vertical side of the screen, so that the angle can be calculated. This is because the rotation angle 240 of the data portion is independent of the length of these two cases. In the same way, the rotation angle of the horizontal side can also be obtained. If necessary, these angles may also be transmitted to the PC through the data transceiver 130.

As described above, the angles of inclination of the X and Y axes with respect to the target plane 300 may be calculated, and thus, the shape of the non-tilted rectangular shape having the actual length may be found, but the reference angle of the rotation angle 240 may be calculated. Since no additional information is available, the rotation angle itself cannot be compensated for. Therefore, in the case of the extended coordinate pointing device, the rotation angle 240 is the same as that of the basic coordinate pointing device.

The distance measurement function using the coordinate designation apparatus according to the present invention will be described. The above-described Z coordinate correction function may be implemented independently without using the reference quadrangle 310 if the distance between the camera and the light beam is determined at the time of installation and only the target plane 300 is used. That is, if only the target plane 300 is included in the coordinate designation apparatus 100 including the extended coordinate designation apparatus, the processor 120, the operation and control buttons 140, the Z coordinate without the data of the X coordinate, the Y coordinate, and the rotation angle Data 200 composed of only 230 can be obtained.

In order to facilitate understanding, we will look more specifically. The intrinsic characteristics of the camera and the output resolution determine the actual length of one pixel appearing in the image, depending on the distance from the camera to the target plane. The correlation can be stored in memory or in a database as a relational formula or table. . Simply firing the beam in a direction parallel to the camera's centerline direction, the number of pixels between the line segments LpCp shown in the camera's image should correspond to the vertical distance of the beam's launch point to the lens' centerline. Therefore, the actual length represented by one pixel can be calculated, and the distance from the above equation or table to the target plane, that is, Z coordinate, can be found and read.

However, the problem to consider here is the accuracy of the Z coordinate. Larger Z values will significantly reduce accuracy. A supplementary solution is to fire the rays at the appropriate angle instead of the parallel rays above. If the Z value (measurement range) changes within a certain range, such as a tool position in machining, adjust the angle so that the camera's centerline meets the ray near its representative value, and adjust the distance between the camera and the ray. Can be obtained.

Next, a description will be given of the speed measurement function using the extended coordinate designating apparatus according to the present invention. In the means for measuring the Z coordinate (distance), the Z coordinate is obtained by photographing two or more consecutive images using the light beams of the camera 110 and the light generator 111 included in the extended coordinate designation apparatus, and the processor 120 By measuring the position coordinates and time of each photographing point in conjunction with the clock (microprocessor has a built-in clock), the moving speed of the target plane can be obtained by equation (3).

Movement speed of target plane = (change of Z coordinate) / (different shooting time) (3)

In the basic type and the extended coordinate designating apparatus, the processor 120 is a computer program designed and built in a memory of a circuit board or a chip for mathematical calculation and logical operation according to the present invention described above, and the data transmitting and receiving unit 130 Is a device configured to transmit the extracted data to the computer main body by wire or wirelessly, or to receive the basic data stored in the computer, the operation and control button 140 is the operation and control of the coordinate designating apparatus according to the present invention. It can be operated in detail for the purpose.

The processor unit of the basic and extended coordinate designator described above was fixedly installed on one side of the coordinate designator, but the processor unit may be located on the computer or the target screen side as needed, and in this case, the data transceiver is a camera instead of the extracted data. Is configured to transmit video data. That is, the processor unit may be configured separately from the coordinate designation apparatus in consideration of the volume, data processing speed, and efficient data processing of the coordinate designation apparatus, and may be designed and manufactured to transmit and receive image data by the data transmission / reception unit.

Coordinate designating apparatus according to the present invention can be represented on the screen by inputting these movements when the user moves a tennis racket and a fist, etc. in front of the screen for the tennis and boxing game, in entering a line on the monitor Since the thickness of the line from the start to the end point can be variously input, for example, a calligraphic form having a different line thickness can be input at a time.

The present invention includes a camera that captures a target plane image in three-dimensional space to achieve a coordinate designation device that can be used in three-dimensional space, and has a processor unit for processing the image data taken by the camera to extract the desired coordinates and rotation angles. And a data transmitting / receiving unit for sending the extracted coordinate data to a computer or receiving a command of a computer, and having a plurality of buttons designed and manufactured to be used by users for controlling various operations, and extracting front and rear components and rotational components. The industrial applicability is very high because it is widely applicable to general computer program, game field, vending machine field, projector presentation field, defense industry field, etc. by providing a means for calculating and implementing absolute coordinate designation technology in three-dimensional space.

In particular, the secondary function of measuring distance and speed at the same time with simple coordinate pointing device will show great utility in machining field, construction field, and obstacle access detection function. It is expected to be able to play a role.

1; Conceptual diagram showing each detailed configuration of the three-dimensional coordinate designation apparatus using a camera according to the present invention

2; Block diagram of the configuration of the basic type and extended type of the three-dimensional coordinate designator according to the present invention

3; Conceptual view showing the direction of the camera image and each reference point and coordinates according to the present invention

4; Exemplary view of the initial setting image during the operation of the coordinate specifying device according to the present invention

5; Geometric conceptual diagram of the camera image according to the present invention

6; Sample photo of each layer boundary extracted by program

<Short description of drawing symbols>

100; Coordinate pointing device 110; camera

111; A light ray generator 112; Basic coordinate pointing device

115; Extended coordinate pointing device

120; Processor unit 130; Data transmission and reception department

140; Operation and control button 200; Target coordinate data

210; X coordinate 220; Y coordinate

230; Z coordinate 240; Rotation angle

Claims (12)

In the coordinate designation apparatus using a camera, A camera for obtaining an image of a target plane; A reference rectangle 310 in which an aspect ratio for determining an inclination of the target plane 300 and a length of a line segment connecting S1 and S3 for determining a reference origin of the Z coordinate are set; A processor configured to process image data acquired by the camera to extract absolute values of horizontal (X) and vertical (Y) coordinates representing a target coordinate on a target plane and Z values, which are three-dimensional coordinates; A data transmission / reception unit for transmitting the extracted target coordinates to a computer or receiving a computer command; And Consists of operation and control buttons for inputting operation and control signals through the data transmission and reception unit, The X component of the target coordinate is a value obtained by subtracting X12, which is the X component of S12, from Xc which is the X component of the target coordinate Cp, X12 of the X component of the S12 coordinate, and subtracting X12, which is the X component of the S12 coordinate. When the point S1 is set as the origin, the value divided by is multiplied by the maximum value W of the X coordinate to obtain the absolute value of the X value of the target coordinate Cp. The Y component of the target coordinate is a value obtained by subtracting Y13, the Y component of the S13 coordinate, from Yc, the Y component of the S13 coordinate, from Yc, the Y component of the target coordinate Cp, from Y24, the Y component of the S24 coordinate, and Y13, the Y component of the S13 coordinate. 3. The three-dimensional coordinate designation apparatus using a camera, wherein the absolute value of the Y value of the target coordinate Cp is obtained by multiplying the maximum value H of the Y coordinate when the point S1 is determined as the origin. (X coordinate = (Xc-X12) / (X34-X12) * W) (Y coordinate = (Yc-Y13) / (Y24-Y13) * H) delete In the coordinate designation apparatus using a camera, A camera for obtaining an image of a target plane; A reference rectangle 310 in which an aspect ratio for determining an inclination of the target plane 300 and a length of a line segment connecting S1 and S3 for determining a reference origin of the Z coordinate are set; A light generation unit for emitting one or more light rays to the target plane to increase the accuracy of the Z component and the rotation angle component when the image of the target plane is acquired by the camera; A processor configured to process the calculation data acquired by the camera to extract the absolute values of the horizontal (X) and vertical (Y) coordinates representing the target coordinates on the target plane and the Z values that are three-dimensional coordinates; A data transmission / reception unit for transmitting the extracted target coordinates to a computer or receiving a computer command; And Consists of operation and control buttons for inputting operation and control signals through the data transmission and reception unit, The X component of the target coordinate is a value obtained by subtracting X12, which is the X component of S12, from Xc which is the X component of the target coordinate Cp, X12 of the X component of the S12 coordinate, and subtracting X12, which is the X component of the S12 coordinate. When the point S1 is set as the origin, the value divided by is multiplied by the maximum value W of the X coordinate to obtain the absolute value of the X value of the target coordinate Cp. The Y component of the target coordinate is a value obtained by subtracting Y13, the Y component of the S13 coordinate, from Yc, the Y component of the S13 coordinate, from Yc, the Y component of the target coordinate Cp, from Y24, the Y component of the S24 coordinate, and Y13, the Y component of the S13 coordinate. 3. The three-dimensional coordinate designation apparatus using a camera, wherein the absolute value of the Y value of the target coordinate Cp is obtained by multiplying the maximum value H of the Y coordinate when the point S1 is determined as the origin. (X coordinate = (Xc-X12) / (X34-X12) * W) (Y coordinate = (Yc-Y13) / (Y24-Y13) * H) delete The method according to claim 3, The laser beam generator is fixed to the center line to maintain a constant distance and a certain angle with the center line of the camera or installed to adjust the distance and angle, the laser having a wavelength that can be distinguished by the camera to reach the target plane, 3D coordinate designation device using a camera, characterized in that the configuration by selecting one of the LED and the general light source. The method according to claim 1 or 3, Depending on the characteristics of the camera, the reduction rate in which a certain length of the line segment appears in the image and the distance between the target and the camera in accordance with the reduction rate are obtained in a data table or a function calculation and stored in a memory or a database. A three-dimensional coordinate designation apparatus using a camera, characterized in that the Z-coordinate is obtained by calculating or converting a reduction ratio based on a data table or a function calculation stored in a memory based on image data of a target plane photographed by a camera. delete The method according to claim 1 or 3, 3D coordinate designating apparatus using a camera that is further attached to the outer edge of the reference rectangle to increase the recognition when acquiring the target plane or reference square image by the camera. The method according to claim 1 or 3, If the reference square is too close to obtain the entire image with the camera, or if it is too far or the angle is not correct, it is designed and manufactured so that it can be used to make a square shape that matches the reference square with the aspect ratio as the paper surface. 3D coordinate designator using a camera. The method according to claim 3, The coordinate designating apparatus configures target coordinate data using only Z coordinates without data of X coordinates, Y coordinates, and rotation angles when a fixed shape or a reference point cannot be placed on a target plane, and the direction of the camera and the direction of the light rays. 3D coordinate designation apparatus using a camera, characterized in that for measuring the Z coordinate from the distance information between the generator and the camera. The method according to claim 10, The coordinate designator measures the Z coordinate by taking two or more consecutive images using a camera and a ray of a light generating unit, and measures the position coordinates and time of each photographing point by interlocking with a clock built in the processor. Or three-dimensional coordinate pointing device using a camera, characterized in that for measuring the moving speed of the coordinate pointing device. delete

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