KR20020037106A - System for three-dimensional sensing of the end portion of object including human body - Google Patents

Abstract

PURPOSE: A system for three-dimensionally sensing protruded end portions of the human body and an object handled by the human body is provided to sense the three-dimensional position, angle, velocity, angular velocity, acceleration, angular acceleration of the protruded portion to use the sensed ones as input signals of a computer input device, virtual system input device and a game system input device. CONSTITUTION: A system for three-dimensionally sensing a protruded end portion of the human body or an object handled by the human body includes a space forming portion for forming a space for sensing the protruded end portion, a video signal capturing portion(110) for capturing a video signal detected by the space forming portion, and a video processor(120) for data-processing the video signal. The system further includes an information extracting portion(130) for extracting information about the protruded end portion of the object from the data processed by the video processor, and an information correcting portion(140) for correcting the extracted information. The system also has an information outputting portion(150) for outputting the information to a related system such as a computer, and an information utilizing portion(160) for applying the information to the related system.

Description

System for three-dimensional sensing of the end portion of object including human body}

The present invention relates to a system for sensing the body and the incoming projections of the object manipulated by the body in three dimensions, and more particularly, the incoming (intrusion) projections (tip) of the body or the object manipulated by the body, for example, fingertips, A camera or a sensor forms a predetermined space that detects the front part of the body or the body that the body manipulates, such as the tip of the foot, the front of the head, the end of the tennis racket, and the three-dimensional position and angle of the intrusion or protrusion in the space. It detects speed, angular velocity, acceleration, angular acceleration, etc. and makes it an input signal so that it can be used as input device of computer, input device of virtual reality system, game system, etc. Can be performed in a smart way, and can increase game experience and input satisfaction to game operators during the game. To, and screen input device unattached contact to increase the operability of the input device and to Sikkim addition relates to a body and three-dimensional sensing system of the drawing the leading end of the object to the body is operated so as to shorten the operation preparation time.

On the other hand, the present invention replaces the mouse to implement the game, information search, kiosk control, presentation and click / drag / drop effects, boxing / kick / table tennis / It can be used as an input device for 3D action games such as soccer / fencing / golf, and it is a device for inputting existing 2D and 3D space related information into a computer and a body attachment device used as an input device in a virtual reality system. It relates to a three-dimensional sensing system of the body and the leading end of the object that the body manipulates to replace the existing operation input device in the game system in which the movement of the field and the human body is directly connected to the game content.

In general, when a man uses or manipulates a machine, a so-called input device is used, which can be regarded as a kind of man-machine interface means. For example, when using a computer, a person uses an input device such as a keyboard or a mouse, and when using a game machine, a joystick or a manipulation input means such as a handle or a button.

On the other hand, a virtual reality system, which allows a user to feel as if lying in a real world, uses an input device that detects the movement of a body or a hand.

However, in the existing input devices as described above, the keyboard direction keys, the mouse, the joystick, the touch screen, and the like are inconvenient in use when the human body must contact these input devices, and the space information and the input device to be input depending on the situation. There is a problem that the operation of is not intuitive and the input behavior of the inputter is greatly limited by the mechanical limitation of the input apparatus.

In addition, in the existing input devices, a data globe, a mouse and a joystick transformed to be attached to the body, various body attachment sensors for motion capture (e.g., an optical marker, a magnet, or a magnetic field) Body attachment devices used as input devices in virtual reality systems, such as sensors) and spatial position detection systems, must all be attached to the body, and the attachment is very inconvenient depending on the type, and reattachment work is very difficult when the operator changes. There was a troublesome problem. In addition, many people cause discomfort due to the use of the same device, the motion capture equipment has a problem that the price is very expensive.

And, in the existing input devices, computer game operations in which the movements of the human body such as electronic contact points (eg, buttons, keypads, pedals, etc.), joysticks, specific position detection optical sensors are directly connected to the game contents. The input device has a problem of pressing a predefined electronic contact that is irrelevant to the exercise contents during the character movement manipulation in the game; Intuitive and unnatural problems because the exercise content and the operator's operation content must follow only the defined manner; In case of electronic contact or joystick, the operator must contact the body; In the case of a specific position detection optical sensor, the operator performs the movement without contact, but there is a problem that only a specific action is possible without the movement or the various movement commands that are inconsistent with the actual game contents.

The present invention was created to solve the above problems, the body (or intrusion) protrusion of the body or the object manipulated by the body, for example, fingertips, toes, heads, tennis racket ends, such as the body and the object manipulated by the body A predetermined space for detecting the front (intrusion) portion of the projection, that is, the projection, is formed by a camera or a sensor, and the three-dimensional position, angle, speed, angular velocity, acceleration, angular acceleration, etc., of the intrusion or projection in the space. By detecting the input signal and making it an input signal, it can be used as an input device such as a computer input device, a virtual reality system input device, and a game system, so that an operator can perform the input operation in a convenient and intuitive manner. It is possible to increase game experience and input satisfaction according to the input behavior to game operators during the game. It is an object of the present invention to provide a three-dimensional sensing system of a body and a leading end of an object manipulated by the body to increase the operability of the input device and to shorten the preparation time for the operation.

Another object of the present invention is to replace the mouse to implement the game, information search, kiosk control, presentation and click / drag / drop effects, boxing / kick / table tennis It can be used as a 3D action game input device such as / soccer / fencing / golf, and it is a device for inputting existing 2D and 3D space related information into a computer and a body attachment device used as an input device in a virtual reality system. It is to provide a three-dimensional sensing system of the body and the leading end of the object that the body manipulates to replace the existing operation input device in the game system in which the movement contents of the field and the human body are directly connected to the game contents.

It is still another object of the present invention to provide a three-dimensional sensing system of a body having an effect as follows and a leading end of an object manipulated by the body.

-It is possible for the inputter to input information in a more realistic and intimate and intuitive context with the information to be input.

-The user can input spatial information directly connected to the user's will through the virtual reality system with natural and intuitive behavior without any device attached.

-Maximize the haptic effect of virtual reality according to the operator's intuitive and natural behavior.

-The operator can exercise in a form directly related to the contents of the game so that the operator can easily and conveniently enjoy the game.

-If the purpose of the movement effect of the operator through the game can be achieved naturally.

-In case of haptic game, the haptic effect can be maximized.

-The operator can perform the input action in a form that is directly related to the operator's will and the operation of the computer system.

-Achieve naturalness, directness, ease of use and ease of learning of manipulation.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram of a first embodiment of a three-dimensional sensing system of a body and a leading end of an object manipulated by the body according to the present invention.

Figure 2 is a block diagram of a second embodiment of the three-dimensional sensing system of the body and the leading end of the object according to the present invention the body manipulated.

3 is a conceptual view of a space for detecting an inlet (intrusion) tip (end) formed by two cameras.

Figure 4a is a conceptual diagram of a space for detecting the leading end formed by the two-dimensional (2D) light emission / light reception sensor array according to the present invention.

Figure 4b is an embodiment of a two-dimensional light emitting / light receiving sensor array in which the optical sensors according to the present invention in the form of an m * n matrix.

Figure 5 is a conceptual view of the application of the three-dimensional sensing system of the leading end of the present invention body and the object manipulated by the body.

6 is an algorithm flow diagram for recognizing the body and the leading end of the object manipulated by the body according to the present invention.

7 is an exemplary view of detecting the position of various leading ends of a body and an object manipulated by the body according to the present invention.

8 is an exemplary diagram when a three-dimensional sensing system according to the present invention is applied as a three-dimensional space mouse input device.

Figure 9 is an illustration of a case where the three-dimensional sensing system according to the present invention is applied as an input device of the action game.

10 is an exemplary view for obtaining the positional posture information of the object in accordance with the present invention.

<Description of the code | symbol about the principal part of drawing>

1: Inlet end detection space 10, 20: Camera

30,40: optical sensor array 60: body (object)

70: tip (end) 100: module

110: image signal acquisition unit 115: optical transmission and reception array control unit

120: image processing unit 125: noise signal removal unit

130: tip information extraction unit 140: tip information correction unit

150: tip information output unit 160: tip information analysis unit

200: related device (computer)

In order to achieve the above object, a system for sensing a body and an incoming protrusion of an object manipulated by the body of the first embodiment in three dimensions is provided.

Space forming means for forming a predetermined space area so as to sense a body within the space area and a tip (end) of an object manipulated by the body; Image signal acquiring means for acquiring an image signal sensed by the space forming means; Image processing means for data processing the video signal acquired by the video signal obtaining means; Object tip information extracting means for extracting information on the tip of the object from data processed by the image processing means; Tip information correction means for correcting tip information of the object extracted by the object tip information extraction means; Tip information output means for outputting tip information of the object via the tip information correction means to an associated device such as a computer using the tip information; A tip information analyzing and using means installed in an associated device such as the computer so that the tip information of the object is applied to and used in the related device.

The tip information is characterized in that it is used to obtain position attitude information of the object in association with predetermined vector information of the object.

In a preferred embodiment of the first embodiment of the present invention, the space forming means includes a first camera for photographing the X-Z coordinate region forming the space region, and a second camera for photographing the Y-Z coordinate region.

And, in order to achieve the above object the system of the second embodiment according to the present invention and the system for sensing the incoming projection of the object manipulated by the body in three dimensions,

Space forming means in which a plurality of light emitting sensors and light receiving sensors have an array structure of a matrix arrangement so as to form a predetermined spatial region and detect a front end (end) of the body and the object manipulated by the body in the spatial region; Optical transmission and reception array control means for controlling the optical transmission and reception of the light emitting sensor and the light receiving sensor of the array structure; Noise signal removing means for removing a noise signal included in a signal related to the tip of the object output from the array control means; Object tip information extracting means for extracting information on a tip of the object from the signal via the noise signal removing means; Tip information correction means for correcting tip information of the object extracted by the object tip information extraction means; Tip information output means for outputting tip information of the object via the tip information correction means to an associated device such as a computer using the tip information; A tip information analyzing and using means installed in an associated device such as the computer so that the tip information of the object is applied to and used in the related device.

The tip information is characterized in that it is used to obtain position attitude information of the object in association with predetermined vector information of the object.

In a preferred embodiment of the second embodiment of the present invention, the space forming means,

A first light emitting array unit having a plurality of light emitting sensors arranged in a matrix array to form an XZ coordinate region forming the spatial region, and a first light emitting array unit facing the first light emitting array unit and having a plurality of light receiving sensors arranged in a matrix array; An XZ coordinate region forming array portion comprising one light receiving array portion; A second light emitting array unit having a plurality of light emitting sensors arranged in a matrix array to form a YZ coordinate region forming the spatial region, and a plurality of light receiving sensors arranged in a matrix array opposite to the second light emitting array unit; And a YZ coordinate region forming array portion including two light receiving array portions.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the three-dimensional sensing system of the body and the leading end of the object manipulated by the body according to the present invention.

1 is a block diagram of a first embodiment of a three-dimensional sensing system of the body and the leading end of the object manipulated by the body according to the present invention, Figure 2 is a 3 of the leading end of the body and the body manipulated in accordance with the present invention The configuration diagram of the second embodiment of the dimensional sensing system. 3 is a configuration diagram of a space for detecting an inlet (intrusion) tip (end) formed by two cameras, and FIG. 4A is a configuration of a space for detecting an inlet tip formed by a two-dimensional (2D) light emission / reception sensor array. FIG. 4B is an embodiment diagram of a two-dimensional light emission / reception sensor array in which light sensors (eg, infrared diodes) are configured in an m * n matrix.

FIG. 5 is a conceptual diagram illustrating a three-dimensional sensing system of the body and the leading end of an object manipulated by the body of the present invention, and FIG. 6 is an algorithm flow diagram for recognizing the leading end of the body and the body of the body operated by the present invention. 7 is a diagram illustrating a position detection of various leading ends of a body and an object manipulated by the body according to the present invention. FIG. 8 is a conceptual diagram in which a three-dimensional sensing system according to the present invention is applied as a three-dimensional space mouse input device. 3D sensing system according to the invention is a conceptual diagram applied to the input device of the action game. 10 is an exemplary diagram for obtaining positional posture information of a corresponding object according to the present invention.

First, referring to Figures 1, 3 and 6, the system of the first embodiment of the present invention is the body 60 in the space region 1 and the object 60 (manipulated by the body and body) to be manipulated Object is abbreviated as " object ", preferably two cameras 10 forming a predetermined three-dimensional space area (ABCDEFG) 1 so as to sense the tip (end) 70 of the object 60. And 20. The cameras 10 and 20 may be anything that can detect an object 60 including a body, but preferably a CCD camera is used. Here, one of the two cameras 10 and 20 photographs and detects the XZ coordinate region of the corresponding spatial region 1 as illustrated, and the other photographs and detects the YZ coordinate region of the corresponding spatial region 1. do. The two cameras 10 and 20 are preferably arranged at right angles, but may be arranged at different angles. This is because the image information obtained by the cameras 10 and 20 is obtained through mathematical calculation according to the angle arrangement.

In addition, the system of the first embodiment of the present invention includes an image signal acquisition unit 110 for acquiring image signals sensed by two cameras 10 and 20 and the image signal acquisition unit 110. Extracts information about the front end portion 70 of the target object 60 from the image processing unit 120 and data processed by the image processing unit 120 to apply the predetermined image processing theory. An object tip information extraction unit 130, a tip information correction unit 140 for properly correcting the tip information of the target object 60 extracted by the object tip information extraction unit 130, and a tip information correction unit The tip information output unit 150 for outputting the tip information of the object via 140 to the related device 200 such as a computer system using the tip information, and the related device 200 such as a computer system The tip information of the object 60 is applied to the related device 200 It is configured to include the tip information analysis using unit 160 to be used. Here, the tip information analysis using unit 160 may preferably be a program (software) package in which a predetermined algorithm is programmed, and each unit 110..160 is integrated to form one independent module. It may be preferably composed of (100).

2, 4, and 5, the system of the second embodiment of the present invention forms a predetermined spatial region 1 and defines the tip 70 of the object 60 within the spatial region 1. A light emitting / receiving sensor matrix array 30t (40t) in which a plurality of light emitting sensors t and a light receiving sensor r each have an array structure of a matrix array (e.g., m * n matrix, m and n are integers) for sensing. 30r and 40t.

The spatial area of the first embodiment of the present invention and the spatial area of the second embodiment both have a cube (ABCDEFGH) which is an object space for measuring the object 60 and the end 70 of the object 60, that is, the inlet tip detection space 1. It is the same in terms of obtaining image information using two sides perpendicular to. That is, in the case of using the cameras 10 and 20 in the first embodiment, when the screen horizontal / vertical resolution of the cameras 10 and 20 is m, n, for example, image information of m * n screen resolution is obtained. In the case of using the optical sensor matrix arrays 30 and 40, the m / n screen is assumed when the number of horizontal and vertical arrangements of the optical sensors (infrared diodes) r and t arranged on one surface is m and n. It is to obtain the image information of the resolution.

In addition, the second embodiment of the present invention, the optical transmission and reception array control unit 115 for controlling the optical transmission and reception of the light emitting sensors (t) and the light receiving sensors (r) of the array structure; A noise signal removing unit 125 for removing a noise signal included in a signal related to the front end portion 70 of the object 60 output from the array control unit 115; An object tip information extracting unit 130 for extracting information on the tip 70 of the object 60 from the signal via the noise signal removing unit 125; A tip information correction unit 140 for correcting tip information of the object extracted by the object tip information extraction unit 130; A tip information output unit 150 for outputting tip information of the object 60 via the tip information correction unit 140 to an associated device 200 such as a computer using the tip information; And a tip information analysis using unit 160 installed in the related device 200 such as the computer so that the tip information of the object 60 is applied to and used in the related device 200.

The tip information extracting unit 130, the tip information correcting unit 140, the tip information output unit 150, and the tip information analysis using unit 160 are the same in both the first and second embodiments of the present system. Apply.

In the light emitting / light receiving sensor matrix array of the second embodiment of the present invention, the first light emitting array unit 30t having a plurality of light emitting sensors t formed in a matrix array to form an XZ coordinate region forming the leading end sensing space 1. And an XZ coordinate region forming array portion 30 which is provided to face the first light emitting array portion 30t and includes a first light receiving array portion 30r in which a plurality of light receiving sensors r are arranged in a matrix arrangement; In order to form the YZ coordinate region that forms the leading end sensing space 1, the plurality of light emitting sensors t are arranged to face the second light emitting array unit 40t and the second light emitting array unit 40t in a matrix arrangement. And a YZ coordinate region forming array unit 40 having a plurality of light receiving sensors r formed of a second light receiving array unit 40 formed in a matrix array.

Reference numeral 210, which is not described in FIG. 1 and FIG. 2, is a peripheral device of the related device 200 used in connection with the present invention, such as a computer system or a game machine, and 220 is a display unit of the related device 200 such as a monitor. 230 is a head mounted display (HMD) that can be worn to experience virtual reality.

The operation of the three-dimensional sensing system of the present invention configured as described above and the leading end of the object manipulated by the body will be described with reference to FIGS. 1 to 9.

First, referring to FIG. 5, when a person (m) puts a body part such as a finger into the leading edge detecting space 1 formed by the present invention, the camera 10 forms the leading edge detecting space 1 at the moment of inserting the body portion. 20 or the corresponding part of the body 60 that is intruded into the sensing space 1 area by the optical sensor array 30 or 40 or in the sensing space 1, that is, the protruding portion Is detected.

In the first embodiment, the image or the signal of the corresponding part of the body 60 detected as described above is acquired by the image signal acquisition unit 110 and processed by the image processing unit 120. In the example, the noise signal included in the signal is controlled by the optical transmission / reception array controller 115 to remove the noise signal included in the signal.

Information on the corresponding part of the body 60 processed by the image processor 120 of the first embodiment and the corresponding part of the body 60 from which the noise signal is removed by the noise signal removing unit 125 of the second embodiment. For each piece of information about the tip, the tip information extraction unit 130 extracts tip information of the corresponding body part.

Referring to FIG. 6, the corresponding part of the body 60 entering the leading end sensing space 1 as shown in FIG. 6 is preferably divided into a plane XZ and a side YZ, and according to the image processing theory, Px, Py, Pz) is found.

The tip information and the tip position information extracted by the tip information extractor 130 are input to the tip information corrector 140 for more accurate information processing. The tip information inputted to the tip information correcting unit 140 is obtained through the view angle correction calculation of the cameras 10 and 20 or the position correction calculation of the optical sensor arrays 30 and 40. ) Is entered.

The calibrated tip information input to the tip information output unit 150 is calculated as tip information (Qx, Qy, Qz; FIG. 6) corresponding to a three-dimensional space and input to the tip information analysis using unit 160.

It will be apparent to those skilled in the art that the above-described angle calculation of the tip information Qx, Qy, and Qz can be obtained by tracing two tip information, obtaining two vectors, and then taking an average of them.

Tip information analysis, which is processed in the tip information output unit 150 as described above, is embedded in a related device 200 such as a computer that normally uses the system of the present invention as an input device. When input to the use unit 160, the tip information analysis using unit 160 is processed so that it can be used as the input device of the three-dimensional space mouse or game machine in the associated device 200, as shown in Figs. .

That is, referring to FIG. 8, when the system of the present invention is used as a three-dimensional space mouse, the user moves the fingertip 70 by inserting the hand 60 as shown in the inlet sensing space 1. (cursor move) If you put it down (button down; click) and button up, it becomes the same as moving the cursor, clicking and releasing the click state when using the actual mouse. In addition, when the fingertip 70 is moved in a button down (click) state and then dragged out (button up; drop), it is possible to click and drag the mouse when using a real mouse. It's like dropping.

5 and 9, when the present system is used in connection with an associated device 200 such as a game machine, when a game player (operator) m makes a fist in the leading end detection space 1, The virtual fist displayed on the monitor 7 screen of the game machine moves in conjunction with the fist-tip position input signal of the operator m, so that a game such as boxing can be realized. 5 and 9, the virtual fist displayed on the monitor screen of the game machine in conjunction with the fist position of the operator (m), and the opponent character can be easily made during the production of the game machine using a well-known and publicly known technology. It will be apparent to those skilled in the art, which is beyond the scope of the present invention and a detailed description thereof will be omitted.

On the other hand, the system of the present invention can be used realistically even in a game machine such as football by detecting the tip 70 and the tip of the head 60, as shown in Figure 7, the end of the tennis racket 60 ( 70) can be preferably applied to a tennis game machine.

Further, according to the present invention, the posture and the position of the object can be measured based on the leading edge information of the object described so far, which will be described below.

Referring to FIG. 10, the information of the tip A (70) of the object (70) is obtained as described above, and then the information of the tip A of the object is used or otherwise shown through a separate calculation process. The vectors B and C of a predetermined length (constant length) corresponding to the outer portion of the object 60 are obtained. In obtaining the vectors B and C corresponding to the outer portion of the object 60, it is preferable to obtain two vectors as shown in the figure. One vector may be obtained for the sake of simplicity and speed.

The reason for obtaining a constant length vector instead of the full length vector corresponding to the outer portion of the corresponding object 60 in FIG. 10 is that the length (or size) of the corresponding object 60 is information already known when setting up the system of the present invention. Because. That is, since the object 60 is an object to be used in connection with the system of the present invention, or the statistical average value of the objects can be set, the total length of the object 60 accompanying the complexity of the calculation and the low processing speed ( Size does not need to be detected.

As described above, the tip A and the outline vectors B and C of the object 60 are obtained, and then the direction vector D is obtained through them, and the direction vector D is the outline vector B. , C) is taken or obtained using the tip (A) information and the vector (B or C). When the size (length) information of the corresponding object 60 is known to the vector D obtained in this way, the position and the angle of the object in the three-dimensional space are determined, as well as the information of the object Calculate the velocity, angular velocity, acceleration, and angular acceleration information of the object, not just the tip A, and ultimately obtain the positional position of the object in three-dimensional space.

For reference, the reason for obtaining the posture position information of the object based on the tip A information of the object and the vectors B, C, and D according to the present invention is as shown in FIG. 10. Etc.) can be used to detect and use parts such as the body part (P), because objects such as knives and baseball bats have tip information and length / direction information (posture and position of the object, not the end point). Information may be required).

Although preferred embodiments of the present invention have been described in detail above, those of ordinary skill in the art will appreciate that the present invention may be made without departing from the spirit and scope of the invention as defined in the appended claims. It will be appreciated that various modifications or changes can be made. Therefore, changes in the future embodiments of the present invention will not be able to escape the technology of the present invention.

As described above, according to the present invention, the body (entrance) protrusion of the body and the object manipulated by the body, for example, the front part of the body or the object manipulated by the body or the body such as the fingertips, toes, the front of the head, the end of the tennis racket ( A predetermined space for detecting a protrusion) is formed by a camera or a sensor, and the input signal is detected by detecting the three-dimensional position, angle, speed, angular velocity, acceleration, angular acceleration, etc. of the intrusion portion or the protrusion in the space. By inputting it into a computer input device, a virtual reality system input device, and a game system input device, so that the operator can perform the input operation in a convenient and intuitive manner, and input it to the game operator during the game. It is possible to increase the sensation of experience and input satisfaction according to the behavior. In addition to increasing the preparation time, the preparation time for the operation can be shortened.

On the other hand, the present invention replaces the mouse to implement the game, information search, kiosk control, presentation and click / drag / drop effects, boxing / kick / table tennis / It can be used as a 3D action game input device such as soccer / fencing / golf, and it is a device for inputting existing 2D and 3D space related information to a computer and body attachment devices used as an input device in a virtual reality system. And it provides an advantage that can replace the existing operation input device in the game system that the motion content of the human body is directly connected to the game content, and has various other effects as follows.

1. The inputter can enter the information in a more realistic and intimate and intuitive context.

2. The user can input spatial information directly connected to the user's will through the virtual reality system with natural and intuitive behavior without any device attached.

3. Maximize the haptic effect of virtual reality according to the operator's intuitive and natural behavior.

4. The operator can exercise in the form directly connected to the game content, the operator can easily and conveniently enjoy the game.

5. If the purpose of the movement effect of the operator through the game can be achieved naturally.

6. In the case of haptic games, the haptic effect can be maximized.

7. Operators can perform input actions in a way that is directly linked to the operator's will and the operational status of the computer system.

8. Achieve naturalness, directness, convenience, and ease of learning of manipulation.

Claims (5)

In the system for sensing the incoming projections of the body and the object manipulated by the body in three dimensions, Space forming means for forming a predetermined space area so as to sense a body within the space area and a tip (end) of an object manipulated by the body; Image signal acquiring means for acquiring an image signal sensed by the space forming means; Image processing means for data processing the video signal acquired by the video signal obtaining means; Object tip information extracting means for extracting information on the tip of the object from the data processed by the image processing means; Tip information correction means for correcting tip information of the object extracted by the object tip information extraction means; Tip information output means for outputting tip information of an object via the tip information correction means to an associated device such as a computer using the tip information; A tip information analysis using means installed in an associated device such as the computer so that the tip information of the object is applied to and used in the related device. And the tip information is used to obtain position posture information of the corresponding object in association with predetermined vector information of the corresponding object. The method of claim 1, wherein the space forming means, And a first camera for photographing an X-Z coordinate region forming the spatial region, and a second camera for photographing a Y-Z coordinate region. The method of claim 1 or 2, wherein the tip information analyzing and using means is a program package in which a predetermined algorithm is programmed, The three-dimensional sensing system of the leading end of the body and the object manipulated by the body, characterized in that each means except the space forming means is integrated to be configured as one independent module. In the system for sensing the incoming projections of the body and the object manipulated by the body in three dimensions, Space forming means in which a plurality of light emitting sensors and light receiving sensors are arranged in an array structure in a matrix arrangement so as to form a predetermined spatial region and detect a front end portion (end) of the body and the object manipulated by the body in the spatial region; Optical transmission and reception array control means for controlling the optical transmission and reception of the light emitting sensor and the light receiving sensor of the array structure; Noise signal removing means for removing a noise signal included in a signal related to the tip of the object output from the array control means; Object tip information extracting means for extracting information on a tip of the object from the signal via the noise signal removing means; Tip information correction means for correcting tip information of the object extracted by the object tip information extraction means; Tip information output means for outputting tip information of an object via the tip information correction means to an associated device such as a computer using the tip information; A tip information analysis using means installed in an associated device such as the computer so that the tip information of the object is applied to and used in the related device. And the tip information is used to obtain position posture information of the corresponding object in association with predetermined vector information of the corresponding object. The method of claim 3, wherein the space forming means, A first light emitting array unit having a plurality of light emitting sensors arranged in a matrix array to form an XZ coordinate region forming the spatial region, and a first light emitting array unit facing the first light emitting array unit and having a plurality of light receiving sensors arranged in a matrix array; An XZ coordinate region forming array portion comprising one light receiving array portion; A second light emitting array unit having a plurality of light emitting sensors arranged in a matrix array to form a YZ coordinate region forming the spatial region, and a plurality of light receiving sensors arranged in a matrix array opposite to the second light emitting array unit; YZ coordinate region forming array unit consisting of two light-receiving array unit; 3D detection system of the leading end portion of the body and the object manipulated by the body.