CN105142561B

CN105142561B - Optical tracking system and utilize its tracking

Info

Publication number: CN105142561B
Application number: CN201480023962.7A
Authority: CN
Inventors: 李贤箕; 洪钟圭; 金珉永; 蔡有圣
Original assignee: Koh Young Technology Inc; Industry Academic Cooperation Foundation of KNU
Current assignee: Gaoying Technology Co ltd; Qingpeking University School Industry University Cooperation Foundation
Priority date: 2013-04-30
Filing date: 2014-04-29
Publication date: 2018-01-30
Anticipated expiration: 2034-04-29
Also published as: JP6800296B2; JP6272458B2; EP2992852B1; JP2016516526A; CN108236505B; US20210038323A1; JP6595574B2; EP2992852A1; EP2992852A4; WO2014178610A1; CN108236505A; US10307210B2; CN105142561A; JP2018077245A; JP2019215378A; US20160287341A1; US20190239963A1

Abstract

Disclose a kind of optical tracking system and utilize its tracking, can independently be detected with the distance for the subject matter to be measured and track the accurate locus and direction of subject matter.The optical tracking system and it can independently be detected with the distance for the subject matter to be measured using its tracking and track the accurate locus and direction of subject matter, thus it can not only significantly widen Free Region, and compared with conventional mark, the size of indexing unit can significantly be reduced so as to be made, thus with the effect that can make device miniaturization.

Description

Optical tracking system and utilize its tracking

Technical field

The present invention relates to optical tracking system and its tracking is utilized, more specifically, is related to one kind to being attached to The coordinate of multiple marks of the subject matter in such as affected part or operating theater instruments is tracked, the locus and direction of examination target thing Optical tracking system and utilize its tracking.

Background technology

Recently, in order to when carrying out laparoscopic surgery or ear-nosethroat operation, can further mitigate the pain of patient, Allow the patient to faster recover, carry out robotic surgery.

In this robotic surgery, used in order to make the more accurate operation of the minimizing risk of operation, progress Navigation, the navigation can accurately track and detect the locus and direction of the subject matter in such as affected part or operating theater instruments Afterwards, the operating theater instruments is manipulated (NAVIGATE) to the affected part of patient exactly.

In operation navigation as described above, including it can accurately track as described above and detect such as affected part or hand The locus of the subject matter of art apparatus and the tracking system in direction.

Tracking system as described above includes：Multiple marks, it is generally attached to the target in such as affected part or operating theater instruments Thing；1st, 2 imaging units, it makes the photoimaging discharged by means of the multiple mark；Processor, it is with the described 1st, 2 one-tenth As unit connection, after the three-dimensional coordinate for calculating the multiple mark, the connection mutually adjacent multiple marks stored Multiple straight lines information and the angle information that is made up of mutual adjacent pair straight line, the three-dimensional coordinate with the multiple mark Compare, calculate the locus and direction of the subject matter.

In the past common tracking system as described above is passed through using the circular diameter for the mark for imaging in imaging unit The processor, measurement and the distance of multiple marker spacings.But image in the circle of the multiple mark of the imaging unit Shape outer rim, it is opaque because of the distortion of the imaging unit lens, thus do not only exist and be difficult to the multiple mark of accurate measurement Round diameter the problem of, moreover, the multiple mark caused by distance change round diameter change it is small, when measurement with Multiple marks apart from when, because discernment is very low, exist can not the multiple marks of accurate measurement position the problem of.

The content of the invention

The technical problem of solution

It is therefore an object of the present invention to a kind of optical tracking system is provided and utilizes its tracking, can be with to survey The distance of the subject matter of amount independently detects and tracks the accurate locus and direction of subject matter.

Technical scheme

The optical tracking system of one embodiment of the invention includes：At least one indexing unit, it is attached to subject matter, is The internal drafting department image included is set to zoom into as and discharge the exiting parallel light of the drafting department；At least one imaging Unit, it receives the exiting parallel light of the drafting department from indexing unit release, is imaged the drafting department image of amplification； And processor, it utilizes the drafting department image for the amplification for imaging in the imaging unit, calculates the space bit of the indexing unit Put and direction.

If as an example, the indexing unit can include：At least one drafting department, it is formed with multiple patterns；At least one Individual light source, it is to the drafting department irradiation light；And at least one 1st lens section, it makes to irradiate from the light source and passed through described Drafting department or the light reflected by the drafting department, are discharged into the imaging unit in the form of exiting parallel light.

Wherein, preferably described drafting department is configured at the focal length of the 1st lens section.

On the other hand, the 1st lens section can be object lens.

If as an example, the light source can be configured at the inside of the indexing unit.

If by way of further example, the light source can be configured at the outside of the indexing unit.

Wherein, the light source can be LED (Light Emitting Diode).

If as an example, the imaging unit can receive the pattern from indexing unit release by lens section The exiting parallel light in portion, and the drafting department image of amplification is imaged in the shooting of sensor portion by means of the exiting parallel light Head.

On the other hand, the processor can utilize the position of the drafting department image for the amplification for imaging in the imaging unit And size variation, the locus of the indexing unit is calculated, utilizes the pattern position in each region of the drafting department of the amplification With the size variation of pattern, the direction of the indexing unit is calculated.

If as an example, the processor can the position of the drafting department image for the amplification for imaging in the imaging unit and Size, compared with the reference position of reference pattern portion image stored and size, calculate the space of the indexing unit Position, to the pattern position in each region and the size of pattern of the drafting department of the amplification, with the drafting department image that has stored The reference pattern position in each region and reference pattern size are compared, and calculate the direction of the indexing unit.

On the other hand, the indexing unit can also make from least one light source irradiation light by surface equipped with figure The globe lens in case portion and reflect, in the form of exiting parallel light discharge.Wherein, the drafting department can be provided to the globe lens Whole surface or a part of surface.

If by way of further example, the indexing unit can make to irradiate from least one light source and reflected or through institute by drafting department The light for stating drafting department passes through fish-eye lens, is discharged in the form of exiting parallel light.

The drafting department can be configured at the focal length of the fish-eye lens.

In addition, the light source can be configured at the outside of the indexing unit so that light can be reflected by the drafting department So as to pass through the fish-eye lens.Different from this place, the light source can be configured at the inside of the indexing unit so that from institute The drafting department can be passed through by stating the light of light source irradiation, and pass through the fish-eye lens.

If as another example, the indexing unit can make to irradiate from least one light source and reflected or through institute by drafting department The light for stating drafting department passes through object lens, after being discharged in the form of exiting parallel light, discharges the different exiting parallel light in visual angle by prism.

The drafting department can be configured at the focal length of the object lens.

In addition, the light source can be configured at the outside of the indexing unit so that light can be reflected by the drafting department So as to pass through the object lens.Different from this, the light source can be configured at the inside of the indexing unit so that from the light source The light of irradiation can pass through the drafting department, and pass through the object lens.

If as another example, the indexing unit can make the light from the irradiation of at least one light source, by equipped with drafting department Mirror portion and reflect, in the form of exiting parallel light discharge.

The indexing unit can also include the 1st lens, and it is configured with separating certain intervals with the mirror portion, enabling The light for making to be reflected by the mirror portion and being discharged in the form of directional light, is converted into exiting parallel light form and discharged.

In addition, the indexing unit can also include aperture, it is installed on the mirror portion, enabling institute is incided in regulation The light quantity in mirror portion is stated, so as to adjust the visual angle of the drafting department image for the amplification for imaging in the imaging unit and resolution ratio.

On the other hand, the mirror portion can be sphere or the mirror of aspherical form.

Then, one embodiment of the invention is included using the tracking of optical tracking system：Make from being attached to target The indexing unit of thing discharges the exiting parallel light of the drafting department, enabling the step of making drafting department image zoom into picture；Make Received from the exiting parallel light of the drafting department of indexing unit release by imaging unit, make the drafting department image of amplification into The step of picture；And the drafting department image using the amplification for imaging in the imaging unit, it is single that the mark is calculated by processor The step of locus and direction of member.

If the step of locus and direction for as an example, calculating the indexing unit, can include：Pass through the processing Device, using the drafting department image for the amplification for imaging in the imaging unit, the angle that the indexing unit rotates is calculated, so as to calculate The step of going out the direction of the indexing unit；And by the processor, utilize the figure for the amplification for imaging in the imaging unit The angle of the rotation of case portion image and the indexing unit, the step of so as to calculate the locus of the indexing unit.

Wherein, the step of calculating the direction of the indexing unit can include：By the processor, measurement images in institute State each region of the drafting department image of the amplification of imaging unit drafting department position and drafting department size variation the step of；It is and right The reference pattern portion position in each region of the drafting department image stored in the processor and reference pattern portion size, with The drafting department position and drafting department size variation for imaging in each region of the drafting department image of the amplification of the imaging unit are carried out Compare, the step of the angle for the rotation for calculating indexing unit.

Moreover, the step of calculating the locus of the indexing unit can include：Pass through the processor, measurement imaging In the position of the drafting department image of the amplification of the imaging unit and size the step of；And by the processor, to described The reference position of the drafting department image stored in processor and size, the figure of the amplification with imaging in the imaging unit The position of case portion image and size are compared, the step of calculating the locus of indexing unit.

If as an example, the indexing unit can make from least one light source irradiation light, by surface equipped with figure The globe lens in case portion and reflect, in the form of exiting parallel light discharge.

If another lift just like the indexing unit can make to irradiate from least one light source and reflected or through institute by drafting department The light for stating drafting department passes through fish-eye lens, is discharged in the form of exiting parallel light.

Beneficial effect

As described above, one embodiment of the invention optical tracking system and utilize its tracking, make drafting department Exiting parallel light discharges from indexing unit, and after the drafting department image of amplification is imaged in imaging unit, it is single to calculate mark using it The locus of member.That is, the position precision of the indexing unit is made not depend solely on the resolving power of imaging unit, by making The image amplification of drafting department, images in imaging unit, even if so that the distance for the subject matter to be measured also may be used away from imaging unit To calculate the locus and direction of the subject matter without accuracy.

Therefore, the optical tracking system of one embodiment of the invention and its tracking is utilized, can be with to be measured The distance of subject matter independently detects and tracks the accurate locus and direction of subject matter, thus can not only significantly widen Free Region, and compared with conventional mark, can significantly reduce the size of indexing unit so as to be made, thus have The effect of device miniaturization can be made.

Brief description of the drawings

Fig. 1 is the skeleton diagram of the tracking system of the 1st embodiment of the invention

Fig. 2 is the figure of an example of the drafting department for illustrating indexing unit

Fig. 3 is the flow for illustrating the process of the optical tracking system tracking subject matter using the 1st embodiment of the invention Figure

Fig. 4 is the figure of the process discharged for illustrating light from indexing unit

Fig. 5 is for illustrating that exiting parallel light incides the figure of the process of imaging unit

Fig. 6 is the process for illustrating the direction that subject matter is calculated using the optical tracking system of the 1st embodiment of the invention Figure

Fig. 7 a to Fig. 7 d are the spaces for illustrating to calculate subject matter using the optical tracking system of the 1st embodiment of the invention The figure of the process of position

Fig. 8 is for the locus for illustrating to calculate indexing unit and the flow chart of the process in direction

Fig. 9 is the flow chart for illustrating the process in the direction for calculating indexing unit

Figure 10 is the flow chart for illustrating the process for the locus for calculating indexing unit

Figure 11 is the skeleton diagram of the optical tracking system of the 2nd embodiment of the invention

Figure 12 is the figure for illustrating the process of the locus for calculating indexing unit of the 2nd embodiment of the invention

Figure 13 is the skeleton diagram of the optical tracking system of the 3rd embodiment of the invention

Figure 14 is for illustrating that being calculated by means of processor for the optical tracking system of the 3rd embodiment of the invention marks list The figure of the process of the locus of member

Figure 15 is the skeleton diagram of the optical tracking system of the 4th embodiment of the invention

Figure 16 is for illustrating that being calculated by means of processor for the optical tracking system of the 4th embodiment of the invention marks list The figure of the process of the locus of member

Figure 17 is the skeleton diagram of the optical tracking system of the 5th embodiment of the invention

Figure 18 is the figure of the indexing unit of diagram the 5th embodiment of the invention

Figure 19 is the flow for illustrating the process of the optical tracking system tracking subject matter using the 5th embodiment of the invention Figure

Figure 20 is for the locus for illustrating to calculate indexing unit and the flow chart of the process in direction

Figure 21 is the flow chart for illustrating the process in the direction for calculating indexing unit

Figure 22 is the process for illustrating the direction that subject matter is calculated using the optical tracking system of the 5th embodiment of the invention Figure

Figure 23 is the flow chart for illustrating the process for the locus for calculating indexing unit

Figure 24 a to Figure 24 d are the figures for illustrating the process for the locus for calculating indexing unit

Figure 25 is the skeleton diagram of the optical tracking system of the 6th embodiment of the invention

Figure 26 is the skeleton diagram of the optical tracking system of the 7th embodiment of the invention

Figure 27 is the skeleton diagram of the optical tracking system of the 8th embodiment of the invention

Figure 28 is the figure for illustrating the indexing unit of the 9th embodiment of the invention

Figure 29 is the figure for illustrating the indexing unit of the 10th embodiment of the invention

Figure 30 is the skeleton diagram of the optical tracking system of the 11st embodiment of the invention

Figure 31 is the figure of the indexing unit of diagram the 11st embodiment of the invention

Figure 32 is the stream for illustrating the process of the optical tracking system tracking subject matter using the 11st embodiment of the invention Cheng Tu

Figure 33 is for the locus for illustrating to calculate indexing unit and the flow chart of the process in direction

Figure 34 is the flow chart for illustrating the process in the direction for calculating indexing unit

Figure 35 is the mistake for illustrating the direction that subject matter is calculated using the optical tracking system of the 11st embodiment of the invention The figure of journey

Figure 36 is the flow chart for illustrating the process for the locus for calculating indexing unit

Figure 37 a to Figure 37 d are the figures for illustrating the process for the locus for calculating indexing unit

Embodiment

The present invention can have various change, can have variform, exemplarily enumerate multiple spies in the accompanying drawings Determine embodiment, describe in detail in the body of the email.But this does not really want the present invention to be defined in specifically disclosed form, it is thus understood that comprising this Having altered in the thought and technical scope of invention, equivalent or even substitute.

1st, the term such as 2nd can be used for illustrating various inscape, but the inscape must not be by the term Limit.The term is served only for a kind of inscape to be different from the purpose of other inscapes.For example, without departing from the present invention Interest field on the premise of, the 1st inscape can be named as the 2nd inscape, and similarly, the 2nd inscape can also It is named as the 1st inscape.

The term that uses in this application simply to illustrate that specific embodiment and use, do not really want to limit the present invention.Only To be not known on unity and coherence in writing and represent different, the performance of odd number includes the performance of plural number.In this application, " comprising " or " having " etc. Term is it will be appreciated that will simply specify feature, numeral, step, action, inscape, part or its group described in specification The presence of conjunction, one or the further feature more than it or numeral, step, action, inscape, part or its group are not excluded in advance The presence of conjunction or additional possibility.

As long as not defined differently, including technology or scientific terminology, all terms as used herein have with The content identical meaning that general technical staff of the technical field of the invention is commonly understood by.

With the content identical term defined in the dictionary that typically uses, it is thus understood that have with the unity and coherence in writing of correlation technique The consistent implication of possessed implication, as long as being not exactly defined in the application, it shall not be construed as preferably or exceedingly formal Implication.

With reference to the accompanying drawings, the preferred embodiments of the present invention are described in more detail.

The optical tracking system of one embodiment of the invention and its tracking is utilized, in such as affected part or operating theater instruments Subject matter on adhere at least one indexing unit after, by imaging unit receive from the indexing unit discharge exiting parallel Light, after the enlarged drawing imaging for the drafting department for making to include in the indexing unit, enabling utilize the amplification of the drafting department Image, the locus and direction of subject matter are calculated by processor, its detailed composition is illustrated referring to the drawings.

Fig. 1 is the skeleton diagram of the tracking system of the 1st embodiment of the invention, and Fig. 2 is the one of the drafting department for illustrating indexing unit The figure of individual example.

If reference picture 1 and Fig. 2, the tracking system of the 1st embodiment of the invention includes indexing unit 110, imaging unit 120 And processor 130.

The indexing unit 110 is attached to subject matter, for the internal image of drafting department 111 included is amplified and into Picture, discharge the exiting parallel light of the drafting department 111.

For example, the indexing unit 110 can include drafting department 111, the lens section 113 of light source 112 and the 1st.

For the drafting department 111, multiple drafting department 111a are formed in the form of certain with interval.For example, the figure Case portion 111 can be made in addition to the part that multiple drafting department 111a are formed, and remainder can pass through light.In another example The part that the drafting department 111 can be made to only drafting department 111a formation passes through light, and remainder can not pass through light. For another example the drafting department 111 can also be made to be reflected the light from the light source 112 irradiation.Wherein, the figure Case portion 111 can be configured at the focal length of aftermentioned 1st lens section 113.

The light source 112 is to the irradiation light of drafting department 111.For example, the light source 112 can be configured at the mark list The inside of member 110 so that positioned at the rear portion of the drafting department 111.As described above, it is configured at drafting department in the light source 112 In the case of 111 rear portion, the drafting department 111 passes through a part for the light from the light source 112 irradiation, after inciding The imaging unit 120 stated.In another example the light source 112 can also be configured at the outside of the indexing unit 110.In the light In the case that source 112 is configured at the outside of the indexing unit 110, the light irradiated from the light source 112 is by the drafting department 111 Reflection, incides imaging unit 120 described later.Wherein, the light source 112 can be LED (Light Emitting Diode).

1st lens section 113 is configured at the front part of the drafting department 111 so that from the light source 112 irradiation so as to Through the drafting department 111 or the light reflected by the drafting department 111, it can be discharged in the form of exiting parallel light and incide institute State imaging unit 120.For example, the 1st lens section 113 may be such that the image amplification of the drafting department 111 and can be into As in the object lens of imaging unit 120.

The imaging unit 120 can receive the exiting parallel of the drafting department 111 from the indexing unit 110 release Light, it is imaged the image of drafting department 111 of amplification.Wherein, the imaging unit 120 can be camera, and the camera passes through Lens section 121 receives the exiting parallel light of the drafting department 111 from the indexing unit 110 release, by means of described parallel Emergent light and the image of drafting department 111 of amplification is imaged in sensor portion 122.

The processor 130 can be connected with the imaging unit 120, using imaging in putting for the imaging unit 120 The big image of drafting department 111, calculate the locus and direction of the indexing unit 110.Wherein, the processor 130 can be with Position and size variation using the image of drafting department 111 for the amplification for imaging in the imaging unit 120, it is single to calculate the mark The locus of member 110.In addition, the processor 130 can utilize the drafting department in each region of the drafting department 111 of the amplification Position and the change of drafting department 111a sizes, calculate the direction of the indexing unit 110.

Referring to figs. 1 to Fig. 7 d, the locus of subject matter is calculated to the optical tracking system using the 1st embodiment of the invention Illustrated with the process in direction.

Fig. 3 is the flow for illustrating the process of the optical tracking system tracking subject matter using the 1st embodiment of the invention Figure, Fig. 4 are the figures of the process discharged for illustrating light from indexing unit, and Fig. 5 is to be used to illustrate that exiting parallel light incides imaging The figure of the process of unit, Fig. 6 are the directions for illustrating to calculate subject matter using the optical tracking system of the 1st embodiment of the invention Process figure, Fig. 7 a to Fig. 7 d are for illustrating to calculate subject matter using the optical tracking system of 1st embodiment of the invention The figure of the process of locus, Fig. 8 are for the locus for illustrating to calculate indexing unit and the flow chart of the process in direction, figure 9 be the flow chart for illustrating the process in the direction for calculating indexing unit, and Figure 10 is the space for illustrating to calculate indexing unit The flow chart of the process of position.

It is if first in order to track subject matter using the optical tracking system of the 1st embodiment of the invention referring to figs. 1 to Fig. 7 d First, to enable the image of drafting department 111 to amplify and being imaged, make to discharge the pattern from the indexing unit 110 for being attached to subject matter The exiting parallel light S110 in portion 111.

If the process for discharging the exiting parallel light of drafting department 111 be described in more detail, first, start light source 112, to the irradiation light of drafting department 111 so that pass through the drafting department 111 or described from the light of the light source 112 irradiation Drafting department 111 reflects.Through the drafting department 111 or the light reflected by the drafting department 111 as shown in figure 4, through by object lens The 1st lens section 113 formed, discharged in the form of exiting parallel light.

The exiting parallel light of the drafting department 111 discharged through the 1st lens section 113 from indexing unit 110 incides Imaging unit 120, the image of drafting department 111 of amplification is set to be imaged S120.

If the process for being imaged the image of drafting department 111 of amplification be described in more detail, through the 1st lens section 113 and the exiting parallel light of drafting department 111 that is discharged from indexing unit 110 as shown in figure 5, lens through imaging unit 120 Portion 121.Through the exiting parallel light of the drafting department 111 of the lens section 121 of the imaging unit 120, make the drafting department 111 of amplification Image images in sensor portion 122.As described above, after the image of drafting department 111 of amplification images in imaging unit 120, processor 130 utilize the image of drafting department 111 of the amplification, calculate locus and the direction S130 of the indexing unit 110.

Referring to Fig. 8, the process of locus and direction to calculating the indexing unit 110 is said in more detail It is bright.

Fig. 8 is for the locus for illustrating to calculate indexing unit and the flow chart of the process in direction.

If reference picture 8, in order to calculate the locus and side of the indexing unit 110 by the processor 130 To by the processor 130, using the image of drafting department 111 for the amplification for imaging in the imaging unit 120, calculating described The angle that indexing unit 110 rotates, calculate the direction S131 of the indexing unit 110.

As described above, after the angle of the rotation of the indexing unit 110 is calculated by means of processor 130, by described Processor 130, utilize the image and the indexing unit 110 of the drafting department 111 of the amplification for imaging in the imaging unit 120 The angle of rotation, calculate the locus S132 of the indexing unit 110.

Wherein, the locus of the imaging unit 120 and directional information have been stored in the processor 130.

Referring to Fig. 6 and Fig. 9, it is described in more detail to calculating the step S131 in direction of the indexing unit 110.

Fig. 9 is the flow chart for illustrating the process in the direction for calculating indexing unit.

If reference picture 9, in order to calculate the direction of the indexing unit 110, first, pass through the processor 130, measurement Image in drafting department 111a positions and the drafting department in each region of the image of drafting department 111 of the amplification of the imaging unit 120 111a size variation S1310.

Become in the size for measuring the drafting department 111a positions in each region of the image of drafting department 111 and drafting department 111a After change, to the reference pattern portion 111a positions in each region of the image of the drafting department 111 stored in the processor 130 And reference pattern portion 111a sizes, the figure in each region of the image of drafting department 111 of the amplification with imaging in the imaging unit 120 Case portion 111a positions and drafting department 111a size variations are compared, and the angle of the rotation of indexing unit 110 are calculated, so as to calculate The direction S1311 of the indexing unit 110.

That is, if the pattern of the amplification of imaging unit 120 is imaged in as shown in fig. 6, indexing unit 110 is rotated The image I1 of portion 111 drafting department 111a positions and size also change, so as to if compared in the processor 130 The reference pattern portion 111a positions in the drafting department image I2 of storage each region and reference pattern portion 111a sizes and imaging In the drafting department 111a positions in the drafting department image I1 of the imaging unit 120 each region and drafting department 111a size variations, The angle of the rotation of the indexing unit 110 can then be calculated, it is thus possible to calculate the direction of the indexing unit 110.

Referring to Fig. 7 a to Fig. 7 d and Figure 10, carried out more to calculating the step S132 of locus of the indexing unit Describe in detail as follows.

Figure 10 is the flow chart for illustrating the process for the locus for calculating indexing unit.

If reference picture 10, in order to calculate the locus of the indexing unit 110, first, pass through the processor 130, measurement images in position and the size S1320 of the image of drafting department 111 of the amplification of the imaging unit 120.

After the position and the size that measure the image of drafting department 111, by the processor 130, compare at the place The reference position of the image of the drafting department 111 stored in reason device 130 and size are with imaging in putting for the imaging unit 120 The position of the big image of drafting department 111 and size, calculate the locus S1321 of indexing unit 110.

Fig. 7 a are illustrated when the indexing unit 110 is present in processor 130 position stored, the drafting department 111 image images in reference position and the size of imaging unit 120, as shown in Figure 7b, in indexing unit 110 and imaging unit In the case that D2 separated by a distance between 120 is shorter than reference range D1, with the figure of drafting department 111 stored in processor 130 The benchmark size A1 of picture is compared, and the image size A2 of drafting department 111 of amplification larger images in the imaging unit 120.Therefore, By processor 130, the benchmark size A1 of the image of drafting department 111 and the amplification for imaging in the imaging unit 120 The image of drafting department 111 size A2, the locus of the indexing unit 110 can be calculated.

On the other hand, although it is not shown in the diagrams, but the D2 separated by a distance between indexing unit 110 and imaging unit 120 In the case of longer than reference range D1, compared with the drafting department image benchmark size A1 stored in processor 130, amplification The size A2 of the image of drafting department 111 images in the imaging unit 120 smaller.

Moreover, as shown in Figure 7 c, in the case where indexing unit 110 is located at below the B1 of reference position, due to described Reference position C1 (reference picture 7a) of the image of drafting department 111 stored in processor 130 is compared, the drafting department of the amplification 111 images are located at top, so as to image in the imaging unit 120.Therefore, processor 130, the drafting department are passed through The reference position C1 of 111 images and image in the imaging unit 120 amplification the image of drafting department 111 position C2, can be with Calculate the locus of the indexing unit 110.

On the other hand, although it is not shown in the diagrams, but in the case where indexing unit 110 is located on the B1 of reference position, with The reference position C1 for the image of drafting department 111 that the processor 130 has stored is compared, with the image of drafting department 111 of the amplification Mode positioned at bottom images in the imaging unit 120

Moreover, the D2 separated by a distance between the indexing unit 110 and imaging unit 120 is different with reference range D1, And in the case that the indexing unit 110 is not located at reference position B1, compare the figure stored in the processor 130 The position C2 and size of the image of the amplification of the reference position C1 and size A1 of case portion image with imaging in the imaging unit 120 A2, so as to calculate the locus of indexing unit 110.

On the other hand, as shown in figure 7d, the D2 separated by a distance between the indexing unit 110 and imaging unit 120 with Reference range D1 is identical, and the indexing unit 110 is located in the state of the B1 of reference position, in only described indexing unit 110 Direction change θ in the case of, image in size A2 and the position of the image of drafting department 111 of the amplification of the imaging unit 120 The reference position C1 and size A1 for putting the drafting department 111 images of the C2 with having been stored in the processor 130 are calculated identically Go out.Therefore, the direction of the indexing unit 110 such as S1311 steps description, can the amplification drafting department The drafting department 111a positions in 111 image I1 each region and drafting department 111a size variation in processor 130 with having stored Drafting department image I2 each region reference pattern portion 111a positions and reference pattern portion 111a sizes, calculate indexing unit The angle of 110 rotation, so as to calculate the direction of the indexing unit 110.

The optical tracking system of the present embodiment in addition to the content for being configured with two imaging units, substantially with the 1st embodiment Optical tracking system it is identical, thus in addition to a part of content related to imaging unit configuration, to other inscapes and interior The detailed description of appearance is omitted.

Figure 11 is the skeleton diagram of the optical tracking system of the 2nd embodiment of the invention.

If reference picture 11, the optical tracking system of the present embodiment includes indexing unit 210, the 1st, 2 imaging units 220a, 220b and processor 230.

Described 1st, 2 imaging unit 220a, 220b are arranged to be spaced from each other certain angle centered on the indexing unit 210 Degree, receive the exiting parallel light of the drafting department 211 from the indexing unit 210 release respectively so that different amplification The image of drafting department 211 is imaged.Wherein, the described 1st, 2 imaging unit 220a, 220b are as shown in figure 11, and preferred disposition is in Y-axis.

The optical tracking system of the present embodiment utilizes the 1st, 2 imaging unit 220a, 220b, makes the drafting department of two amplifications 211 images are imaged, thus can also calculate 2 by means of processor 230, the locus coordinate of the indexing unit 210, because This, compared with the optical tracking system of the 1st embodiment, can calculate the locus and direction of more accurately indexing unit 210.

Referring to Figure 11 and Figure 12, indexing unit is calculated to the processor by the optical tracking system of the present embodiment The process of locus is illustrated.

Figure 12 is the figure for illustrating the process of the locus for the indexing unit for calculating the 2nd embodiment of the invention.

As shown in figure 12, if the coordinate of the 1st lens section 213 of indexing unit 210 is called X, Y, the 1st lens Coordinate X, the Y in portion 213 can represent as shown in mathematical expression 1.

Mathematical expression 1

X=f_cL/u₁+u₂

Y=u₁L/u₁+u₂

Wherein, fc is the X-axis coordinate of the image of drafting department 211 for the amplification for imaging in the 1st, 2 imaging unit 220a, 220b, L It is the 2nd imaging unit 220b lens section 221b Y-axis coordinate, u₁It is the pattern for the amplification for imaging in the 1st imaging unit 220a The Y-axis coordinate of the picture centre coordinate of portion 211, u₂Be the amplification for imaging in the 2nd imaging unit 220b the image of drafting department 211 in The Y-axis coordinate of heart coordinate.

As shown in figure 12, in the state of being fixed in the position of the 1st lens section 213 of the indexing unit 210, when only When rotational value θ be present in direction, the drafting department 211 of the indexing unit 210 confirmed by means of the 1st, 2 imaging unit 220a, 220b Real space coordinate (X₁,Y₁)、(X₂,Y₂) can be represented as shown in mathematical expression 2.

Mathematical expression 2

(X₁, Y₁)=(cos θ f_b-sinθu₁'+X, sin θ f_b+cosθu₁′+Y)

(X₂, Y₂)=(cos θ f_b-sinθu₂'+X, sin θ f_b+cosθu₂′+Y)

Wherein, fb is the focal length of the 1st lens section 213 of indexing unit 210, and θ is the rotational value of indexing unit 210.

If moreover, the centre coordinate of the image of drafting department 211 for the amplification for imaging in the 1st imaging unit 220a is called X₃、Y₃, the picture centre coordinate of drafting department 211 for the amplification for imaging in the 2nd imaging unit 220b is called X₄、Y₄, then such as Figure 12 institutes Show, it has been confirmed that imaging in the centre coordinate X of the image of drafting department 211 of the 1st imaging unit 220a amplification₃,Y₃, the 1st imaging Unit 220a lens section 221a centre coordinate (0,0), the 1st lens 213 of indexing unit 210 centre coordinate (X, Y), borrow Real space coordinate (the X of the drafting department 211 for the indexing unit 210 for helping the 1st imaging unit 220a and confirming₁, Y₁), it is located at On Line1；It has been confirmed that image in the centre coordinate (X of the image of drafting department 211 of the 2nd imaging unit 220b amplification₄, Y₄)、 2nd imaging unit 220b lens section 221b centre coordinate (0, L), the center of the 1st lens section 213 of indexing unit 210 are sat Mark (X, Y), the indexing unit 210 confirmed by means of the 2nd imaging unit 220b drafting department 211 real space coordinate (X₂, Y₂), on Line2.Wherein it is possible to it is expressed as (X₃, Y₃)=(- fc' ,-u₁)、(X₄, Y₄)=(- fc, L+u₂), (X₁, Y₁) With (X₂, Y₂) can be represented as shown in mathematical expression 2.

As described above, each coordinate on Line1 and Line2 is arranged by table 1, it is as follows.

Table 1

[Table1]

Table 1 is positioned at the Line1 and Line2 coordinate sorting table shown in Figure 12, with reference to the table 1, if utilizing Line1 Two formulas are formed with three coordinates (1) on Line2, (2), (3) and calculate that it is poor, then can be represented as shown in mathematical expression 3.

Mathematical expression 3

cosθX(u₂′-u₁′)+sinθY(u₂′-u₁′)+L(cosθf_b-sinθu₂')=0

In addition, if form two formulas using three coordinates (1) on Line1, Line2, (2), (4), calculate that it is poor, It can then be represented as shown in mathematical expression 4.

Mathematical expression 4

sinθY(u₂′-U₁′)+cosθf_b(u₁+u₂)-sinθ(u₁′u₁-u₂′u₂)+r₁X(u₂′-u₁′)+cosθf_c(u₂′- u₁′)+L(cosθf_b-sinθu₂')=0

In addition, if form two formulas using three coordinates (1) on Line1, Line2, (3), (4), then can be as Represented shown in mathematical expression 5 and mathematical expression 6.

Mathematical expression 5

u₁X+f_cY+cosθ(u₁′f_c-u₁f_b)+sinθ(u₁′u₁+f_cf_b)=0

Mathematical expression 6

u₂X+f_cY+cosθ(u₂f_b+u₂′+u₂′f_c)+sinθ(f_bf_c-u₂′u₂)-Lf_c=0

Moreover, mathematical expression 3 is substituted into mathematical expression 4, both sides divided by cos θ, then can obtain tan θ, tan θ can be in full Represented shown in formula 7.

Mathematical expression 7

Tan θ=sin θ/cos θ=[- f_b(u₂-u₁)-f_c(u₂′-u₁′)]/u₁′u₁-u₂′u₂

On the other hand, in mathematical expression 5 and mathematical expression 6, if it is known that θ values, then parameter only has X, Y, therefore, if simultaneous Two formulas, then it can calculate the 1st lens section 213 coordinate X, Y of indexing unit 210, the 1st lens section 213 of the indexing unit 210 Coordinate X, Y can be represented as shown in mathematical expression 8.

Mathematical expression 8

X={ [(u₁+u₂)f_b-(u₁′-u₂′)f_c]cosθ-(u₁′u₁-u₂′u₂)sinθ-Lf_c}/(u₁-u₂)

Y={ [(u₁′u₂-u₂′u₁)f_c-2u₁u₂f_b]cosθ+[(u₁′+u₂′)u₁u₂-(u₁+u₂)f_bf_c]sinθ+Lf_cu₁}/ [(u₁-u₂)f_c]

The optical tracking system of the present embodiment is in addition to a part of content on indexing unit, the optics with the 1st embodiment Tracking system is identical, thus omits to other inscapes in addition to a part of content related to indexing unit specifically It is bright.

Figure 13 is the skeleton diagram of the optical tracking system of the 3rd embodiment of the invention.

If reference picture 13, the optical tracking system of the present embodiment includes an imaging unit of indexing unit 310 and the 1st 320 and processor 330.

The indexing unit 310 can include drafting department 311, the 1/2nd light source 312a, 312b, the 1/2nd lens 313a, 313b portions.

In the drafting department 311, at regular intervals formed with multiple drafting department (not shown)s.Wherein, the pattern Portion 311 not only can be corresponding with the described 1st, 2 lens section 313a, 313b, as shown in figure 13 formed with 2, and can be as rear State and formed shown in Figure 14 by 1.

Described 1st, 2 light source 312a, 312b are configured at the rear of the drafting department 311 with being spaced from each other certain intervals, to The irradiation light of drafting department 311.

Described 1st, 2 lens section 313a, 313b are configured at the front of the drafting department 311 with being spaced from each other certain intervals Portion, it can make to irradiate from the described 1st, 2 light source 312a, 312b and pass through the light of drafting department 311 to be released in the form of exiting parallel light It is put into imaging unit 320.

The process in the direction of the indexing unit 310 for calculating optical tracking system of the present embodiment and the optics of the 1st embodiment Tracking system is identical, thus omits to this explanation, and using Figure 14 as reference, only citing by means of processor 330 to calculating mark Remember that the process of the locus of unit 310 illustrates.

As shown in figure 14, if the image coordinate for imaging in imaging unit 320 is called u1, u2, by indexing unit 310 the 1st lens section 313a centre coordinate (X, Y) and the coordinate of point intersected with drafting department 311, i.e. the reality of drafting department 311 Border space coordinates (X₁,Y₁) can be represented as shown in mathematical expression 9.

Mathematical expression 9

(X₁, Y₁)=(cos θ f_b-sinθu₁'+X, sin θ f_b+cosθu₁′+Y)

In addition, the centre coordinate (- sin θ 1+X, cos θ 1+Y) of the 2nd lens section 313b by the indexing unit 310 and The coordinate intersected with drafting department 311, i.e. the real space coordinate (X of drafting department 311₂,Y₂) can be represented as shown in mathematical expression 10.

Mathematical expression 10

(X₂, Y₂)=(cos θ f_b-sinθ(1+u₂')+X, sin θ f_b+cosθ(1+u₂′)+Y)

On the other hand, in the same manner as in Example 2, if arranging each coordinate on Line1 and Line2 by table 2, such as Under.

Table 2

[Table2]

Table 2 is as the coordinate sorting table on the Line1 and Line2 shown in Figure 10, with reference to the table 2, if utilized Three coordinates (2), (3), (4) on Line1 and Line2 form two formulas and arranged, then X, Y can be such as mathematical expressions 11 Shown expression.

Mathematical expression 11

X=[(cos θ f_c+sinθu₂)/(u₂-u₁)] 1, Y=[(cos θ f_c+sinθu₂)/(u₂-u₁)](1u₁/f_c)

In addition, if forming two formulas using three coordinates (1) on Line1 and Line2, (2), (3), it is calculated Difference, then it can be represented as shown in mathematical expression 12.

Mathematical expression 12

cosθX(u₂′-u₁′)+sinθY(u₂′-u₁') -1f=0

In addition, if forming two formulas using three coordinates (1) on Line1 and Line2, (2), (4), it is calculated Difference, then it can be represented as shown in mathematical expression 13.

Mathematical expression 13

cosθ[f_c(u₂′-u₁′)-f_b(u₂-u₁)]+sinθ[u₂u₂′-u₁u₁′]+cosθX(u₂′-u₁′)+sinθY(u₂′- u₁') -1f=0

In addition, if form two formulas using three coordinates (1) on Line1 and Line2, (3), (4), then can be as Represented shown in mathematical expression 14 and mathematical expression 15.

Mathematical expression 14

u₁X-f_cY+cosθ(u₁f_b-u₁′f_c)-sinθ(f_bf_c+u₁u₁')=0

Mathematical expression 15

u₂X-f_cY+cosθ(u₂f_b-u₂′f_c+1f_c)-sinθ(u₂u₂′+1u₂+f_b)=0

On the other hand, if mathematical expression 12 is substituted into mathematical expression 13, both sides divided by cos θ, then tan θ can be such as mathematical expression Represented shown in 16.

Mathematical expression 16

Tan θ=sin θ/cos θ=[f_c(u₂′-u₁′)-f_b(u₂-u₁)]/(u₂u₂′-u₁u₁′)

Moreover, in mathematical expression 14 and mathematical expression 15, if it is known that θ values, then parameter only has X, Y, therefore, if simultaneous two Formula, then the 1st lens section 313a coordinates X, Y can be represented as shown in mathematical expression 17.

Mathematical expression 17

X={ cos θ [f_c(u₂′-u₁′)-f_b(u₂-u₁)-1f_c]+sinθ(u₂u₂′-u₁u₁′+f_bf_c+1u₂+f_b)}/(u₂-u₁)

Y={ cos θ f_c(u₂u₁′-u₁u₂′+1)+sinθ[u₁u₂(u₁′-u₂′-1)+u₁f_b+u₂f_bf_c]}/[(u₁-u₂)f_c]

In addition, the 1st lens section 313a coordinate is calculated in mathematical expression 17, thus the 2nd lens section 313b coordinate (- sin θ 1+X, cos θ 1+Y) it can also calculate.

The optical tracking system of the present embodiment is real in addition to the content of two imaging units and two indexing units is configured with It is identical with the optical tracking system of the 1st embodiment in matter, thus omit to except the configuration to imaging unit and indexing unit is related A part of content outside other inscapes and content detailed description.

Figure 15 is the skeleton diagram of the optical tracking system of the 4th embodiment of the invention.

If reference picture 15, the optical tracking system of the present embodiment include the 1st, 2 indexing unit 410a, 410b, the 1st, 2 one-tenth As unit 420a, 420b and processor 430.

Described 1st, 2 indexing unit 410a, 410b separate certain intervals and are attached to subject matter, and the described 1st, 2 indexing units Locus and direction between 410a, 410b have been stored in processor 430.

Described 1st, 2 imaging unit 420a, 420b receive the pattern from each 1st, 2 indexing unit 410a, 410b releases Portion 411a, 411b exiting parallel light, it is imaged the image of amplification.That is, the 1st imaging unit 420a receives from the 1st indexing unit The drafting department 411a of 410a releases exiting parallel light, is imaged the image of amplification, and the 2nd imaging unit 420b receives from the 2nd mark Remember the drafting department 411b of unit 410b releases exiting parallel light, be imaged the image of amplification.

The processor 430 is connected with the described 1st, 2 imaging unit 420a, 420b, using imaging in the imaging unit Drafting department 411a, 411b image of 420a, 420b amplification, calculates the described 1st, 2 indexing unit 410a, 410b locus And direction.

Figure 16 is for illustrating that being calculated by means of processor for the optical tracking system of the 4th embodiment of the invention marks list The figure of the process of the locus of member.

As shown in figure 16, the optical tracking system of the present embodiment is calculated from the 1st imaging unit by means of processor 430 The vector at 420a lens section 421a centrally directed 1st indexing unit 410a the 1st lens section 413a centers, is calculated from the 2nd After the vector at the imaging unit 420b centrally directed 2nd indexing unit 410b of lens section 421b the 2nd lens section 413b centers, lead to Two vectors calculated are crossed, are formedAnd l_rTwo linear, calculates the intersection point of two straight lines, so as to calculate the 1st, 2 marks Unit 410a, 410b locus.

Figure 17 is the skeleton diagram of the optical tracking system of the 5th embodiment of the invention, and Figure 18 is diagram the 5th embodiment of the invention Indexing unit figure.

If reference picture 17 and Figure 18, the optical tracking system of the present embodiment includes at least one light source 540, at least one Indexing unit 510, at least one imaging unit 520 and processor 530.

At least one light source 540 is arranged to can be to the irradiation light of indexing unit 510.For example, the light source 540 Can be LED (Light Emitting Diode).Wherein, it is single to be configured at the mark for preferably described at least one light source 540 The outside of member 510.

At least one indexing unit 510 makes to reflect from the irradiation light of light source 540, is released in the form of exiting parallel light Put.

The indexing unit 510 can include globe lens 513 and be provided to the drafting department on the surface of the globe lens 513 511.Wherein, the drafting department 511 can be provided to the whole surface of the globe lens 513.Different from this, the drafting department 511 only can also be equipped with a part of surface of the globe lens 513.

The globe lens 513 make from the light source 540 irradiation light reflection, be discharged into the form of exiting parallel light it is described into As the side of unit 520, enabling the image of the amplification of drafting department 511 is imaged in the imaging unit 520.

At least one imaging unit 520 receives the exiting parallel light from the indexing unit 510 release, makes institute State the image imaging of the amplification of drafting department 511.

For example, the imaging unit 520 can be camera, the camera is received from the mark by lens section 521 Remember the exiting parallel light that unit 510 discharges, the image of the drafting department 511 for making amplification by means of the exiting parallel light into As in sensor portion 522.

The processor 530 is to imaging in the image of the amplification of the drafting department 511 of the imaging unit 520 and in institute State the reference pattern portion image stored in processor 530 to be compared, calculate the locus and side of the indexing unit 510 To.

If be described in more detail, the processor 530 images in the drafting department of the amplification of the imaging unit 520 The positions of 511 images and size calculate described compared with the reference position of reference pattern portion image stored and size The locus of indexing unit 510, drafting department position and drafting department 511 to each region of the drafting department 511 of the amplification Size calculates compared with the reference pattern portion position in each region of drafting department image stored and reference pattern portion size The direction of the indexing unit 510, the locus and direction of the indexing unit 510 are calculated, so as to calculate subject matter Locus and direction.

Reference picture 17 calculates the space bit of subject matter to the optical tracking system using the 5th embodiment of the invention to Figure 24 Put and illustrated with the process in direction.

Figure 19 is the flow for illustrating the process of the optical tracking system tracking subject matter using the 5th embodiment of the invention Figure.

If reference picture 17 is to Figure 19, first in order to track subject matter using the optical tracking system of the 5th embodiment of the invention First, light source 540 is started, to indexing unit 510, i.e. to the irradiation light S210 of globe lens 513 equipped with drafting department 511.

The light irradiated to the indexing unit 510, by the indexing unit on the surface of globe lens 513 equipped with drafting department 511 510 reflections, are discharged, enabling amplify the image of drafting department 511 and be imaged S220 in the form of exiting parallel light.

Imaging unit 520 is incided by the exiting parallel light that the globe lens 513 reflects and discharged, makes the drafting department of amplification 511 images are imaged S230.

If the process S230 for being imaged the image of drafting department 511 of the amplification is described in more detail, by the ball The exiting parallel light for the drafting department 511 that lens 513 reflect and discharged pass through imaging unit 520 lens section 521, through it is described into As the exiting parallel light of the drafting department 511 of the lens section 521 of unit 520, the image of drafting department 511 of amplification is set to image in sensor Portion 522.

As described above, after the image of drafting department 511 of amplification images in imaging unit 520, processor 530 utilizes the amplification The image of drafting department 511, calculate locus and the direction S240 of the indexing unit 510.

Referring to Figure 20, the process of locus and direction to calculating the indexing unit 510 is said in more detail It is bright.

Figure 20 is for the locus for illustrating to calculate indexing unit and the flow chart of the process in direction.

If reference picture 20, in order to calculate the locus and side of the indexing unit 510 by the processor 530 To by the processor 530, using the image of drafting department 511 for the amplification for imaging in the imaging unit 520, calculating described The angle that indexing unit 510 rotates, calculate the direction S241 of the indexing unit 510.

As described above, after the angle of the rotation of the indexing unit 510 is calculated by means of processor 530, by described Processor 530, utilize the image and the indexing unit 510 of the drafting department 511 of the amplification for imaging in the imaging unit 520 The angle of rotation, calculate the locus S242 of the indexing unit 510.

Wherein, the locus of the imaging unit 520 and directional information have been stored in the processor 530.

Referring to Figure 21 and Figure 22, said in more detail to calculating the step S241 in direction of the indexing unit 510 It is bright.

Figure 21 is the flow chart for illustrating the process in the direction for calculating indexing unit, and Figure 22 is to be used to illustrate to utilize this hair The optical tracking system of bright 5th embodiment calculates the figure of the process in the direction of subject matter.

If reference picture 21, in order to calculate the direction of the indexing unit 510, first, by the processor 530, survey Amount images in the position of drafting department 511 and the drafting department in each region of the image of drafting department 511 of the amplification of the imaging unit 520 511 size variation S1410.

Measure the position of drafting department 511 in each region of the image of drafting department 511 and drafting department 511 size variation it Afterwards, to the position of reference pattern portion 511 in each region of the image of the drafting department 511 that has been stored in the processor 530 and The drafting department in each region of the image of drafting department 511 of amplification of the size of reference pattern portion 511 with imaging in the imaging unit 520 511 positions and the size variation of drafting department 511 are compared, and calculate the angle of the rotation of indexing unit 510, so as to calculate the mark Remember the direction S2411 of unit 510.

I.e., as shown in figure 22, if indexing unit 510 is rotated, then image in the figure of the amplification of imaging unit 520 The image I of case portion 511₁The position of drafting department 511 and size also change, if so as to having stored in the processor 530 The drafting department image I₂Each region the position of reference pattern portion 511 and the size of reference pattern portion 511 and image in it is described into As the drafting department image I of unit 520₁Each region the position of drafting department 511 and the size variation of drafting department 511 be compared, then The angle, θ of the rotation of the indexing unit 510 can be calculated, it is thus possible to calculate the direction of the indexing unit 510.

Next, referring to Figure 23 to Figure 24 d, carried out to calculating the step S242 of locus of the indexing unit It is described in more detail.

Figure 23 is the flow chart for illustrating the process for the locus for calculating indexing unit, and Figure 24 a to Figure 24 d are to be used for Illustrate the figure of the process for the locus for calculating indexing unit.

If reference picture 23, in order to calculate the locus of the indexing unit 510, first, passes through the place to Figure 24 d Device 530 is managed, measurement images in position and the size S2420 of the image of drafting department 511 of the amplification of the imaging unit 520.

After the position of the image of drafting department 511 and size is measured, by the processor 530, at the place The reference position of the image of the drafting department 511 stored in reason device 530 and size are with imaging in putting for the imaging unit 520 The position of the big image of drafting department 511 and size are compared, and calculate the locus S2421 of indexing unit 510.

Figure 24 a are illustrated when the indexing unit 510 is present in processor 530 position stored, the figure The image in case portion 511 images in reference position and the size of imaging unit 520, as shown in Figure 24 b, indexing unit 510 with into As the D2 separated by a distance between unit 520 it is shorter than reference range D1 in the case of, with the drafting department stored in processor 530 The benchmark size A1 of 511 images is compared, and the image size A2 of drafting department 511 of amplification larger images in the imaging unit 520. Therefore, by processor 530, the benchmark size A1 of the image of drafting department 511 is with imaging in the imaging unit 520 The size A2 of the image of drafting department 511 of amplification, the locus of the indexing unit 510 can be calculated.

On the other hand, although it is not shown in the diagrams, ratios of D2 separated by a distance between indexing unit 510 and imaging unit 520 In the case that reference range D1 grows, compared with the benchmark size A1 of the drafting department image stored in processor 530, amplification The size A2 of the image of drafting department 511 images in the imaging unit 520 smaller.

Moreover, as shown in Figure 24 c, in the case where indexing unit 510 is located at below the B1 of reference position, due to described Reference position C1 (reference picture 24a) of the image of drafting department 511 stored in processor 530 is compared, the drafting department of the amplification 511 images are located at top, so as to image in the imaging unit 520.Therefore, processor 530, the drafting department are passed through The reference position C1 of 511 images and image in the imaging unit 520 amplification the image of drafting department 511 position C2, can be with Calculate the locus of the indexing unit 510.

On the other hand, although it is not shown in the diagrams, in the case where indexing unit 510 is located at than reference position B1 more top, Compared with the reference position C1 of the image of drafting department 511 stored in the processor 530, with the drafting department of the amplification The mode that 511 images are located at bottom images in the imaging unit 520.

Moreover, the D2 separated by a distance between the indexing unit 510 and imaging unit 520 is different with reference range D1, And in the case that the indexing unit 510 is not located at reference position B1, compare the figure stored in the processor 530 The position C2 and size of the image of the amplification of the reference position C1 and size A1 of case portion image with imaging in the imaging unit 120 A2, so as to calculate the locus of indexing unit 510.

On the other hand, as shown in Figure 24 d, D2 separated by a distance between the indexing unit 510 and imaging unit 520 with Reference range D1 is identical, and the indexing unit 510 is located in the state of the B1 of reference position, in only described indexing unit 510 Direction change θ in the case of, image in size A2 and the position of the image of drafting department 511 of the amplification of the imaging unit 520 The reference position C1 and size A1 for putting the drafting department 511 images of the C2 with having been stored in the processor 530 are calculated identically Go out.Therefore, the direction of the indexing unit 510 such as S2411 steps description, the figure of drafting department 511 of the amplification As I₁The drafting department 511a positions in each region and drafting department 511a size variation and the pattern that has been stored in processor 530 Portion image I₂Each region reference pattern portion 511a positions and reference pattern portion 511a sizes, calculate the rotation of indexing unit 510 The angle turned, so as to calculate the direction of the indexing unit 510.

As described above, the optical tracking system of one embodiment of the invention to discharge drafting department 511 from indexing unit 510 Exiting parallel light, after the image of drafting department 511 of amplification is imaged in imaging unit 520, indexing unit 510 is calculated using it Locus.That is, the position precision of the indexing unit 510 is not depended solely on the resolving power of imaging unit 520, pass through Amplify the image of drafting department 511, image in imaging unit 520, even if so as to the remote imaging of the distance for the subject matter to be measured Unit 520, it can also calculate the locus and direction of the subject matter without accuracy.

Therefore, the optical tracking system of one embodiment of the invention can independently be examined with the distance for the subject matter to be measured The accurate locus and direction for surveying subject matter simultaneously track, thus can not only significantly widen Free Region, and with it is conventional Indexing unit compare, can significantly reduce the size of indexing unit 510 so as to be made, it is thus possible to make equipment small-sized Change.

Referring to Figure 25, the optical tracking system of the 6th embodiment of the invention is illustrated.

Figure 25 is the figure for illustrating the optical tracking system of the 6th embodiment of the invention.

If reference picture 25, the optical tracking system of the present embodiment can include at least one light source (not shown), Indexing unit 610, the 1st, 2 imaging unit 620A, 620B and processor 630 etc..

As shown in figure 25, the optical tracking system of the present embodiment can with the surface of globe lens 613 equipped with drafting department 611 Indexing unit 610 centered on be configured with the 1st, 2 imaging unit 620a, 620b, the processor 630 and the described 1st, 2 imagings Unit 620a, 620b are connected and composed.

Therefore, the described 1st, 2 imaging unit 620a, 620b receive respectively from the indexing unit 610 release it is parallel go out Light is penetrated, makes the image imaging of the amplification of the drafting department 611, for example, described imaging unit 620a, 620b can be cameras, The exiting parallel light that the camera receives to discharge from the indexing unit 610 by each lens section 621a, 621b, by Each sensor portion 622a, 622b is imaged in the image for the drafting department 611 that the exiting parallel light makes amplification.

The processor 630 to imaging in the amplification of the described 1st, 2 imaging unit 620a, 620b drafting department 611 respectively Image compared with the reference pattern portion image stored, calculate the locus and direction of the indexing unit 610.Its In, the described 1st, 2 imaging unit 620a, 620b and the locus of at least one light source and direction are in the processor Stored in 630.

Referring to Figure 26, the optical tracking system of the 7th embodiment of the invention is illustrated.

Figure 26 is the figure for illustrating the optical tracking system of the 7th embodiment of the invention.

If reference picture 26, the optical tracking system of the present embodiment can include at least one light source (not shown), 1st to the 3rd indexing unit 710a, 710b, 710c, imaging unit 720 and processor 730 etc..

As shown in figure 26, for the optical tracking system of the present embodiment, match somebody with somebody on globe lens 713a, 713b, 713c surfaces The the 1st to the 3rd indexing unit 710a, 710b, the 710c for having drafting department 711a, 711b, 711c is configured at target at predetermined intervals Thing, reflected from the light of light source irradiation by described 1st to the 3rd indexing unit 710a, 710b, 710c, with exiting parallel light shape State discharges, and the exiting parallel light discharged by means of the described 1st to the 3rd indexing unit 710a, 710b, 710c is single by the imaging Member 720 receive, make the 1st to the 3rd indexing unit 710a, 710b, 710c amplification drafting department 711a, 711b, 711c image into Picture.

Imaging unit 720 receives to discharge from described 1st to the 3rd indexing unit 710a, 710b, 710c by lens section 721 The exiting parallel light, amplification can be made by means of the exiting parallel light drafting department 711a, 711b, 711c image Image in sensor portion 722.

On the other hand, processor 730 is connected with the imaging unit 720, and the to imaging in the imaging unit 720 the 1st Drafting department 711a, 711b, 711c image and the reference pattern that has stored to the 3rd indexing unit 710a, 710b, 710c amplification Portion's image is compared, and calculates described indexing unit 710a, 710b, 710c locus and direction.Wherein, the imaging is single Member 720 has stored with the locus of at least one light source and direction in the processor 730.

In addition, the geometry information for being attached to the 1st to the 3rd indexing unit 710a, 710b, 710c of the subject matter also exists Stored in the processor 730.

Wherein, described 1st to the 3rd indexing unit 710a, 710b, 710c geometry information, can be virtual link phase Mutually adjacent indexing unit 710a, 710b, 710c straight line L1, L2, L3 length information with it is described mutually adjacent virtual The angle, θ 1 of a pair of straight line L1, L2, L3 compositions, θ 2, the information of θ 3.

Referring to Figure 27, the optical tracking system of the 8th embodiment of the invention is illustrated.

Figure 27 is the figure for illustrating the optical tracking system of the 8th embodiment of the invention.

If reference picture 27, the present embodiment is substantially implemented in addition to being also added with the 2nd imaging unit 820b with the 7th Example is identical.

I.e., as shown in figure 27, in the optical tracking system of the present embodiment, match somebody with somebody on globe lens 813a, 813b, 813c surfaces The the 1st to the 3rd indexing unit 810a, 810b, the 810c for having drafting department 811a, 811b, 811c is attached to target at predetermined intervals Thing, centered on the 1st to the 3rd indexing unit 810a, 810b, 810c, the 1st, 2 imaging unit 820a, 820b are configured with, described 1st, 2 imaging unit 820a, 820b are connected with processor 830.

Therefore, from light source irradiation light reflected by described 1st to the 3rd indexing unit 810a, 810b, 810c, with it is parallel go out Penetrate light form by imaging unit 820a, 820b to be received, be imaged drafting department 811a, 811b, 811c image of amplification.

Imaging unit 820a, 820b can be received from the 1st to the 3rd indexing unit by lens section 821a, 821b 810a, 810b, 810c release the exiting parallel light, made by means of the exiting parallel light amplification drafting department 811a, 811b, 811c image are imaged by sensor portion 822a, 822b.

The optical tracking system of the present embodiment in addition to a part of content of indexing unit, with the optics of the 5th embodiment with It is identical on track system parenchyma, thus omit to other inscapes in addition to a part of content related to indexing unit and interior The detailed description of appearance.

Figure 28 is the figure for illustrating the indexing unit of the 9th embodiment of the invention.

If reference picture 28, the indexing unit 910 of the optical tracking system of the present embodiment can include drafting department 911, fish Eyelens 913.

The drafting department 911 can make the light reflection or transmission from the irradiation of at least one light source (not shown).That is, exist In the case that the light source is configured at the outside of indexing unit 910, preferably described drafting department 911 is made to make from the light The light reflection of source irradiation, is located at the inside of the indexing unit 910 in the light source and causes after the drafting department 911 In the case of square portion, preferably described drafting department 911 is made to pass through the light from light source irradiation.

The fish-eye lens 913 is configured at the front part of the drafting department 911, so as to make from least one light Source is irradiated and is reflected or made by the drafting department 911 light of the drafting department 911 of transmission to pass through, and is released in the form of exiting parallel light It is put into imaging unit (not shown) side.

Wherein, preferably described drafting department 911 is configured at the focal length of the fish-eye lens 913.

The optical tracking system of the present embodiment in addition to a part of content of indexing unit, with the optics of the 1st embodiment with It is identical on track system parenchyma, thus omit to other inscapes in addition to a part of content related to indexing unit and interior The detailed description of appearance.

Figure 29 is the figure for illustrating the indexing unit of the 10th embodiment of the invention.

If reference picture 29, the indexing unit 1010 of the optical tracking system of the present embodiment can include drafting department 1011, Object lens 1013 and prism 1014 etc..

The drafting department 1011 can make the light reflection or transmission from the irradiation of at least one light source (not shown).That is, In the case where the light source is configured at the outside of indexing unit 1010, preferably described drafting department 1011 is made to make from institute The light reflection of light source irradiation is stated, the inside of the indexing unit 1010 is configured in the light source and to be located at the drafting department In the case of 1011 rears portion, preferably described drafting department 1011 is made to pass through the light from light source irradiation.

The object lens 1013 are configured at the front part of the drafting department 1011, so as to make from least one light source Irradiate and reflected or made by the drafting department 1011 light of the drafting department 1011 of transmission to pass through, released in the form of exiting parallel light It is put into imaging unit (not shown) side.

Wherein, preferably described drafting department 1011 is configured at the focal length of the object lens 1013.

The prism 1014 passes through the exiting parallel light through the object lens 1013, so as to widen the exiting parallel light Visual angle after, incide imaging unit.Wherein, preferably described prism 1014 is formed with pyramidal morphology.

Figure 30 is the skeleton diagram of the optical tracking system of the 11st embodiment of the invention, and Figure 31 is that the diagram present invention the 11st is implemented The figure of the indexing unit of example.

If reference picture 30 and Figure 31, the optical tracking system of the present embodiment includes at least one light source 1140, at least one Individual indexing unit 1110, at least one imaging unit 1120 and processor 1130.

At least one light source 1140 is arranged to can be to the irradiation light of indexing unit 1110.For example, the light source 1140 can be LED (Light Emitting Diode).Wherein, preferably described at least one light source 1140 is configured at the mark Remember the outside of unit 1110.

At least one indexing unit 1110 can make the light reflection from the light source 1140 irradiation, with exiting parallel light Form discharges, and the image of the amplification of drafting department 1111 is imaged in the imaging unit 1120.

The indexing unit 1110 can include mirror portion 1113 and drafting department 1111 etc..

The light that the mirror portion 1113 makes to irradiate to the indexing unit 1110 from least one light source 1140 reflexes to pattern Behind the side of portion 1111, make to be reflected again by the light that the drafting department 1111 reflects, it is single at least one imaging in the form of directional light First 1120 sides release.Wherein, the mirror portion 1113 can be sphere or the mirror of aspherical form.For example, as the mirror portion 1113, the concave mirror that reflection can be used to allow light to be pooled to a bit.

The drafting department 1111 is configured at the focal length in the mirror portion 1113, makes from the mirror portion 1113 reflection and incident light It is re-reflected into the side of mirror portion 1113.

On the other hand, the indexing unit 1110 can also include the 1st lens 1112.

1st lens 1112 can be arranged to separate focal length with the mirror portion 1113.That is, described 1st lens 1112 are separatedly configured with the mirror portion 1113 by the focal length of the 1st lens 1112, make to be reflected by the mirror portion 1113 And the light discharged in the form of exiting parallel light is transformed into exiting parallel light form again, and at least one imaging unit 1120 sides discharge.

On the other hand, the indexing unit 1110 can also include the aperture 1114 for being installed on the mirror portion 1113.It is described Aperture 1114 can adjust the light quantity that the mirror portion 1113 is irradiated and incided from the light source 1140, regulation image in it is described into Visual angle and resolution ratio as the image of drafting department 1111 of the amplification of unit 1120.

At least one imaging unit 1120 receives the exiting parallel light from the indexing unit 1110 release, makes The image imaging of the amplification of the drafting department 1111.

For example, the imaging unit 1120 can be camera, the camera is received from described by lens section 1121 The exiting parallel light that indexing unit 1110 discharges, makes the image of drafting department 1111 of amplification by means of the exiting parallel light Image in sensor portion 1122.

The processor 1130 to the image of the amplification of the drafting department 1111 that is imaged in the imaging unit 1120 with The fiducial pattern image stored in the processor 1130 is compared, and calculates the locus of the indexing unit 1110 And direction.

If be described in more detail, the processor 1130 images in the figure of the amplification of the imaging unit 1120 The position of the image of case portion 1111 and size calculate institute compared with the reference position of fiducial pattern image stored and size The locus of indexing unit 1110 is stated, to the pattern position and drafting department 1111 in each region of the drafting department 1111 of the amplification Size compared with the reference pattern position in each region of pattern image stored and reference pattern size, calculate described The direction of indexing unit 1110, the locus and direction of the indexing unit 1110 are calculated, so as to calculate subject matter Locus and direction.

Reference picture 30 calculates the space bit of subject matter to the optical tracking system using the 11st embodiment of the invention to Figure 37 Put and illustrated with the process in direction.

Figure 32 is the stream for illustrating the process of the optical tracking system tracking subject matter using the 11st embodiment of the invention Cheng Tu.

If reference picture 30 is to Figure 32, in order to track subject matter using the optical tracking system of the 11st embodiment of the invention, First, light source 1140 is started, to indexing unit 1110, i.e. to the irradiation light S310 of mirror portion 1113 equipped with drafting department 1111.

To the indexing unit 1110 irradiate light by mirror portion 1113 focal length equipped with drafting department 1111 mark list Member 1110 reflects, and is discharged in the form of exiting parallel light, enabling amplify the image of drafting department 1111 and be imaged S320.

If be described in more detail, the light irradiated to the indexing unit 1110 is reflected by the mirror portion 1113, is pooled to On drafting department 1111 a little after, by the drafting department 1111 and mirror portion 1113 secondary reflection again, discharged in the form of directional light, by In the mirror portion 1113 and in the form of exiting parallel light discharge light, by the 1st lens 1112 be converted into it is parallel go out Penetrate light form and discharge.

Imaging unit 1120 is incided by the exiting parallel light that the indexing unit 1110 reflects and discharged, makes the figure of amplification The image imaging of case portion 1111 S330.

If the process S330 for being imaged the image of drafting department 1111 of the amplification is described in more detail, by the mark The exiting parallel light for the drafting department 1111 that note unit 1110 reflects and discharged passes through the lens section 1121 of imaging unit 1120, passes through The exiting parallel light of the drafting department 1111 of the lens section 1121 of the imaging unit 1120 make the image of drafting department 1111 of amplification into As in sensor portion 1122.

If the image of drafting department 1111 of amplification images in the imaging unit 1120, confirm in the imaging unit After the image of drafting department 1111 of the amplification of 1120 imagings, operate aperture 1114, the light quantity in the mirror portion 1113 is incided in regulation, So as to adjust the visual angle of the image of drafting department 1111 for the amplification for imaging in the imaging unit 1120 and resolution ratio S340.

By means of the aperture 1114, the light quantity in mirror portion 1113, the amplification that visual angle and resolution ratio are conditioned are incided in regulation The image of drafting department 1111 image in the imaging unit 1120 after, processor 1130 is conditioned using the visual angle and resolution ratio Amplification the image of drafting department 1111, calculate locus and the direction S350 of the indexing unit 1110.

It is more detailed to calculating the process S150 progress of locus and direction of the indexing unit 1110 referring to Figure 33 Describe in detail bright.

Figure 33 is for the locus for illustrating to calculate indexing unit and the flow chart of the process in direction.

If reference picture 33, in order to calculated by the processor 1130 locus of the indexing unit 1110 and Direction, by the processor 1130, using the image of drafting department 1111 for the amplification for imaging in the imaging unit 1120, calculate The angle that the indexing unit 1110 rotates, calculate the direction S351 of the indexing unit 1110.

As described above, calculating the angle of the rotation of the indexing unit 1110 if by processor 1130, then lead to The processor 1130 is crossed, image and the mark using the drafting department 1111 for the amplification for imaging in the imaging unit 1120 The angle of the rotation of unit 1110, calculate the locus S352 of the indexing unit 1110.

Wherein, the locus of the imaging unit 1120 and directional information have stored in the processor 1130.

Referring to Figure 34 and Figure 35, said in more detail to calculating the step S351 in direction of the indexing unit 1110 It is bright.

Figure 34 is the flow chart for illustrating the process in the direction for calculating indexing unit, and Figure 35 is to be used to illustrate to utilize this hair The optical tracking system of bright 11st embodiment calculates the figure of the process in the direction of subject matter.

If reference picture 34, in order to calculate the direction of the indexing unit 1110, first, by the processor 1130, Measurement images in the position of drafting department 1111 and the figure in each region of the image of drafting department 1111 of the amplification of the imaging unit 1120 The size variation S3510 in case portion 1111.

After the pattern position in each region and the size variation of pattern that measure the image of drafting department 1111, to described The reference pattern position in each region of the image of the drafting department 1111 stored in processor 1130 and reference pattern size with Image in pattern position and the pattern magnitude change in each region of the image of drafting department 1111 of the amplification of the imaging unit 1120 It is compared, calculates the angle of the rotation of indexing unit 1110, so as to calculates the direction S3511 of the indexing unit 1110.

I.e., as shown in figure 35, if indexing unit 1110 is rotated, the figure of the amplification of imaging unit 1120 is imaged in The image I of case portion 1111₁The position of drafting department 1111 and size also change, if so as to having been stored in the processor 1130 The pattern image I₂Each region reference pattern position and reference pattern size with being imaged in the imaging unit 1120 Pattern image I₁Each region pattern position and pattern magnitude change be compared, then can calculate the indexing unit The angle of 1110 rotation, so as to calculate the direction of the indexing unit 111.

Next, referring to Figure 36 and Figure 37, carried out to calculating the step S352 of locus of the indexing unit It is described in more detail.

Figure 36 is the flow chart for illustrating the process for the locus for calculating indexing unit, and Figure 37 a to Figure 37 d are to be used for Illustrate the figure of the process for the locus for calculating indexing unit.

If reference picture 36 is to Figure 37 d, in order to calculate the locus of the indexing unit 1110, first, by described Processor 1130, measurement image in position and the size S3520 of the image of drafting department 1111 of the amplification of the imaging unit 1120.

After the position of the image of drafting department 1111 and size is measured, by the processor 1130, to described The reference position of the image of the drafting department 1111 stored in processor and size are with imaging in the imaging unit 1120 The position of the image of drafting department 1111 of amplification and size are compared, and calculate the locus S3521 of indexing unit 1110.

Figure 37 a are illustrated when the indexing unit 1110 is present in processor 1130 position stored, described The image of drafting department 1111 images in reference position and the size of imaging unit 1120, as shown in Figure 37 b, in indexing unit 1110 In the case that D2 separated by a distance between imaging unit 1120 is shorter than reference range D1, with having been stored in processor 1130 The benchmark size A1 of the image of drafting department 1111 is compared, and the image size A2 of drafting department 1111 of amplification larger images in the imaging Unit 1120.Therefore, by processor 1130, the benchmark size A1 of the image of drafting department 1111 described with being imaged list The size A2 of the image of drafting department 1111 of the amplification of the imaging of member 1120, the locus of the indexing unit 1110 can be calculated.

On the other hand, although it is not shown in the diagrams, D2 separated by a distance between indexing unit 1110 and imaging unit 1120 In the case of longer than reference range D1, compared with the benchmark size A1 of the drafting department image stored in processor 1130, put The size A2 of the big image of drafting department 1111 images in the imaging unit 1120 smaller.

Moreover, as shown in Figure 37 c, in the case where indexing unit 1110 is located at below the B1 of reference position, and at the place Reference position C1 (reference picture 37a) of the image of drafting department 1111 stored in reason device 1130 is compared, due to the figure of the amplification The image of case portion 1111 is located at top, so as to image in the imaging unit 1120.Therefore, by processor 1130, relatively described in The reference position C1 of the image of drafting department 1111 and the image of drafting department 1111 of the amplification in the imaging unit 1120 imaging position C2 is put, the locus of the indexing unit 1110 can be calculated.

On the other hand, although it is not shown in the diagrams, in the case where indexing unit 1110 is located at than reference position B1 more top, Compared with the reference position C1 of the image of drafting department 1111 stored in the processor 1130, due to the pattern of the amplification The image of portion 1111 is located at bottom, so as to image in the imaging unit 1120.

Moreover, the D2 separated by a distance and reference range D1 between the indexing unit 1110 and imaging unit 1120 is not Together, and the indexing unit 1110 not be located at reference position B1 in the case of, compare what is stored in the processor 1130 The reference position C1 and size A1 of the drafting department image and the image of the amplification in the imaging unit 1120 imaging position C2 and size A2, the locus of indexing unit 1110 can be calculated.

On the other hand, as shown in Figure 37 d, the D2 separated by a distance between the indexing unit 1110 and imaging unit 1120 It is identical with reference range D1, and the indexing unit 1110 is located in the state of the B1 of reference position, in only described indexing unit In the case that 1110 direction changes θ, the size of the image of drafting department 1111 of the amplification of the imaging unit 1120 is imaged in A2 and position C2 and the image of the drafting department 1111 stored in the processor 1130 reference position C1 and size A1 Calculate in the same manner.Therefore, the direction of the indexing unit 1110 can be such as S3511 step descriptions, the amplification The image I of drafting department 1111₁Each region drafting department 1111a positions and drafting department 1111a size variation with processor The drafting department image I stored in 1130₂Each region reference pattern portion 1111a positions and reference pattern portion 1111a sizes, The angle of the rotation of indexing unit 1110 is calculated, so as to calculate the direction of the indexing unit 1110.

As described above, the optical tracking system of one embodiment of the invention to discharge drafting department from indexing unit 1110 1111 exiting parallel light, after the image of drafting department 1111 of amplification is imaged in imaging unit 1120, it is single to calculate mark using it The locus of member 1110.That is, the position precision of the indexing unit 1110 is made not depend solely on imaging unit 1120 Resolving power, by amplifying the image of drafting department 1111, imaging unit 1120 is imaged in, even if so as to the subject matter to be measured The remote imaging unit 1120 of distance, it can also calculate the locus and direction of the subject matter without accuracy.

Therefore, the optical tracking system of one embodiment of the invention can independently be examined with the distance for the subject matter to be measured The accurate locus and direction for surveying subject matter simultaneously track, thus can not only significantly widen Free Region, and with it is conventional Indexing unit compare, can significantly reduce the size of indexing unit 1110 so as to be made, it is thus possible to make equipment small-sized Change.

On the other hand, the light quantity in the mirror portion 1113 that indexing unit 1110 is irradiated and incided from light source 1140 can be adjusted, Regulation by the mirror portion 1113 reflect and image in the image of drafting department 1111 of the amplification of the imaging unit 1120 visual angle and Resolution ratio, thus with the advantages of can detecting the more accurately locus of subject matter and direction and tracking.

In detailed description of the invention described above, although being illustrated with reference to the preferred embodiments of the present invention, But as long as it is that the skilled practitioner in relevant art field or the those of ordinary skill in relevant art field are just appreciated that In the range of the thought and technical field of the invention described in following claims book, diversely it can change and become It is more of the invention.

Claims

1. a kind of optical tracking system, wherein, including：

At least one indexing unit, it is attached to subject matter, to enable the internal drafting department image included to zoom into as making The exiting parallel light release of the drafting department；

At least one imaging unit, it receives the exiting parallel light of the drafting department from indexing unit release, makes amplification Drafting department image imaging；And

Processor, it utilizes the drafting department image for the amplification for imaging in the imaging unit, calculates the space of the indexing unit Position and direction.

2. optical tracking system according to claim 1, wherein,

The indexing unit includes：

At least one drafting department, it is formed with multiple patterns；

At least one light source, it is to the drafting department irradiation light；And

At least one 1st lens section, it makes to irradiate from the light source and passes through the drafting department or reflected by the drafting department Light, the imaging unit is discharged into the form of exiting parallel light.

3. optical tracking system according to claim 1, wherein,

Position and size variation of the processor using the drafting department image for the amplification for imaging in the imaging unit, calculate institute The locus of indexing unit is stated, is changed using the pattern position and pattern magnitude in each region of the drafting department of the amplification, calculated Go out the direction of the indexing unit.

4. optical tracking system according to claim 3, wherein,

Position and size of the processor the drafting department image for the amplification for imaging in the imaging unit, with the base stored The reference position of quasi- drafting department image and size are compared, and calculate the locus of the indexing unit,

It is each with the drafting department image that has stored to the pattern position in each region and the size of pattern of the drafting department of the amplification The reference pattern position in region and reference pattern size are compared, and calculate the direction of the indexing unit.

5. optical tracking system according to claim 1, wherein,

The indexing unit make from least one light source irradiation light, by whole or a part of surface equipped with drafting department Globe lens and reflect, in the form of exiting parallel light discharge.

6. optical tracking system according to claim 1, wherein,

The indexing unit makes to irradiate from least one light source and the light by drafting department reflection or through the drafting department, through fish Eyelens, discharged in the form of exiting parallel light.

7. optical tracking system according to claim 1, wherein,

The indexing unit makes to irradiate from least one light source and is reflected by drafting department or passed through the light of the drafting department, through thing Mirror, after being discharged in the form of exiting parallel light, the different exiting parallel light in visual angle is discharged by prism.

8. optical tracking system according to claim 1, wherein,

The indexing unit makes the light from the irradiation of at least one light source, is reflected by being configured with the mirror portion of drafting department, with parallel Emergent light form discharges.

9. optical tracking system according to claim 8, wherein,

The indexing unit also includes the 1st lens, and it is configured with separating certain intervals with the mirror portion, enabling is made described The light that mirror portion is reflected and discharged in the form of directional light, is converted into exiting parallel light form and discharges.

10. optical tracking system according to claim 9, wherein,

The indexing unit also includes aperture, and it is installed on the mirror portion, enabling and the light quantity in the mirror portion is incided in regulation, So as to adjust the visual angle of the drafting department image for the amplification for imaging in the imaging unit and resolution ratio.

11. optical tracking system according to claim 8, wherein,

The mirror portion is sphere or the mirror of aspherical form.