KR101339644B1 - An location recognizing apparatus for a dynamic object, and thereof method - Google Patents

Abstract

A position recognition device for a moving object given in the present invention includes a lamp unit which includes k (k: integer equal to or greater than 1) lamp units each of which radiates n (n: integer equal to or greater than 1) optical signals spatially divided with different patterns; a marker unit which is attached to a moving object and includes m (m: integer equal to or greater than 1) markers each of which reflects the optical signals from the lamp unit; an optical receiver unit which includes k receiving units to receive the multiple optical signals reflected from the marker unit; and a position recognition unit which recognizes the position of the object from the optical signals received by the optical receiver unit. [Reference numerals] (400) Position recognition device

Description

An location recognizing apparatus for a dynamic object, and method

The present invention relates to the recognition of the position of a moving object, and more particularly, to attach a passive marker (a marker having an optical reflector) to a moving object (for example, a person) in space, and receive an optical signal reflected from the passive marker. Apparatus and method for recognizing a location for an object. The present invention corresponds to an invention supported by a national research and development project as follows.

[Assignment number] 2N34990

[Ministry of Education] Ministry of Education, Science and Technology

[Research Management Institution] Realistic Human Interaction Solution Research Center

[Research Project Name] Source Technology Development Project (Global Frontier R & D Project)

[Project Name] Development of 4D + Mirror World Creation Technology with Object Interaction

[Organizer] Korea Institute of Science and Technology

[Research period] 2011.08.23 ~ 2012.08.31

Recently, with the development of IT devices, there is an increasing demand for technology to recognize the position of a body or a specific object in real time and use it as a means of interaction with digital information. As a representative example, KINECT, recently released by Microsoft, is a device that recognizes the user's three-dimensional motion and plays the game through interaction with digital contents. The next generation technology that manipulates the digital information in the screen through the movement of hands in the air as it was introduced in the movie Minority Report is also called by the company called Oblong Industries with a technology called G-Speak Commercialized. In the future, it is difficult to manipulate complex digital information in the screen with a conventional remote controller in addition to the development of 3D TV and IP TV, and it is becoming increasingly necessary to manipulate the information through the movement of the user from a remote place.

However, the existing technologies have limitations in terms of price and location measurement performance. For example, G-Speak uses multiple expensive infrared cameras to measure the position of freedom of the infrared photodetector attached to the hand. The measurement accuracy is high, but expensive equipment is required. . In addition, KINECT uses an inexpensive Time of Flight (TOF) 3D measurement camera, but the measurement accuracy is low in cm and the measurement performance of small objects such as hands is far worse at a long distance.

The present invention is to solve the problems of the prior art as described above, and reflects the optical signal from the passive marker having an optical reflector attached to the object, such as a body or an object, the spatially divided optical signal irradiated from the light source, Provided are an apparatus and a method for recognizing a position of a moving object for receiving an optical signal from a light receiving unit provided near a light source to recognize the position of the object in the position recognizing unit.

In order to solve the above problems, the apparatus for recognizing a position of a moving object according to the present invention includes k (k is 1) for irradiating n optical signals each of which is spatially divided into different patterns (n is a natural number greater than or equal to 1). An illumination unit having lighting units of greater than or equal to a natural number); A marker unit attached to a moving object and including m markers (m is a natural number greater than or equal to 1) reflecting the optical signals irradiated from the lighting unit; An optical receiving unit having k receiving units for receiving the plurality of optical signals reflected from the marker unit; And a location recognizing unit recognizing a location of the object from the optical signals received by the optical receiving unit.

The illumination units, characterized in that for irradiating the optical signals at the same time.

The lighting units each have n lighting elements, and the lighting elements each include a light source and a space dividing element.

The space dividing element is characterized in that it has a light transmission area and a light blocking area divided into barcode patterns at regular intervals.

The lighting units may each further include a beam splitter for refracting the optical signals reflected from the marker unit to the light receiving unit.

The markers may each include a retroreflector for reflecting the optical signals.

Each of the markers may include a polarization filter having different polarization directions from other markers.

The markers may each include a bandpass filter having a different wavelength band from the other markers.

Each of the receiving units may include n prisms to separately receive the optical signals reflected from the marker unit.

Each of the receiving units may include at least n * m or more photodiodes to sense the optical signals reflected from the marker unit.

The receiving units may each include n * m polarization filters in different polarization directions from other markers to distinguish the optical signals reflected from each of the markers.

The receiving units may each include n * m bandpass filters having different wavelengths from those of other markers to distinguish the optical signals reflected from each of the markers.

The light receiving unit is provided on one side of the lighting unit.

According to an aspect of the present invention, there is provided a method for recognizing a position of a moving object, the method comprising: irradiating a plurality of light signals spatially divided into different patterns by an illumination unit; Reflecting the optical signals irradiated from the lighting unit by the marker unit attached to the moving object; An optical receiver receiving the plurality of optical signals reflected from the marker unit; And recognizing a position of the object from the optical signals received by the optical receiver by the position recognizing unit.

According to the present invention, it is possible to recognize the three-dimensional position of the passive marker at a super fast speed relatively cheaply than the conventional technology.

That is, the present invention simultaneously irradiates different optical signals according to spatial positions, receives signals reflected from passive markers having an optical reflector, and analyzes the received optical signals, thereby providing a high-resolution position at a low cost with respect to an object. Enable recognition

1 illustrates a device for recognizing a position of a moving object according to an embodiment of the present invention.
2 is a reference view showing an example of the illumination unit shown in Fig.
FIG. 3 is a reference diagram illustrating a pattern of the spatial division elements P1, P2, ..., Pn shown in FIG.
4 is a reference diagram illustrating a polarization filter (or band pass filter) and a retro reflector provided in each of the markers.
FIG. 5 is a reference diagram for explaining a function of a beam splitter for refracting optical signals respectively reflected by markers to a light receiver.
FIG. 6 is a reference diagram for explaining a function of a prism for separately receiving optical signals reflected from markers.
FIG. 7 is a reference diagram illustrating a polarizing filter (or band pass filter) and a photodiode constituting each receiving unit.
FIG. 8 is a reference view illustrating optical signals irradiated through the space division elements P1, P2,..., Pn shown in FIG.
9 is a reference diagram illustrating the detection of an optical signal in the electronic tattoo unit E ₁ for the optical signals irradiated through the spatial division elements P1, P2, ..., Pn shown in Fig.
10 is a flowchart of an embodiment for explaining a method for recognizing a position of a moving object according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

1 is a view illustrating a position recognition device for a moving object according to an exemplary embodiment of the present invention, and includes an illumination unit 100, a marker unit 200, a light receiver 300, and a position recognition unit 400.

The lighting unit 100 includes k lighting units (k is a natural number greater than or equal to 1) for irradiating n optical signals (n is a natural number greater than or equal to 1) that are spatially divided into different patterns. In FIG. 1, the lighting unit 100 includes four lighting units I ₁ , I ₂ , I ₃ , and I ₄ corresponding to k = 4. In FIG. 1, four lighting units are provided, but one or more lighting units may be provided.

The lighting units I ₁ , I ₂ , I ₃ and I ₄ each have n (n is a natural number greater than or equal to 1) lighting elements, each of which comprises a light source and a spatial dividing element. have.

For example, the lighting unit I ₁ includes a plurality of lighting elements I ₁₁ , I ₁₂ ,..., I 1 _n that emit optical signals that are spatially divided in different patterns.

2 is a reference view showing an example of the illumination unit shown in Fig. Referring to Figure 2, the n number of illumination elements constituting the illumination unit _{(I 1) (I 11,} I 12, ..., I 1n) is, n of light sources (D1, D2, ..., Dn) and n spatial The divided elements P1, P2, ..., Pn may have a configuration in which they are arranged in pairs. The n light sources D1, D2, ..., Dn may be light emitting devices that emit light of a narrow band, for example, a light emitting diode (LED).

The space division elements P1, P2, ..., Pn may be formed by printing a space division pattern on a transparent film, for example. The space dividing elements P1, P2, ..., and Pn are disposed on the light output side of the light sources D1, D2, ..., Dn and are arranged to emit light emitted from the light sources D1, Space division into different patterns.

FIG. 3 is a reference diagram illustrating a pattern of the spatial division elements P1, P2, ..., Pn shown in FIG. Referring to FIG. 3, the first space dividing element P1 has a one-dimensional barcode pattern obtained by dividing the space in one direction. At this time, the white region of the divided regions becomes the light transmitting region, and the black region becomes the light blocking region. Similarly, the second spatial division device P2 has a one-dimensional barcode pattern in which the space is divided into three directions in one direction, the third spatial division device P3 has a one-dimensional barcode pattern in which the space is divided into four directions in one direction, (Pn) has a one-dimensional barcode pattern obtained by dividing a space by n + 1 in one direction. The minimum spacing of the space dividing elements P1, P2, ..., Pn (that is, the spacing of the bar code patterns of the nth space dividing element Pn) ultimately determines the resolution of the position to be detected. Therefore, if more precise position tracking is desired, the minimum spacing of the space dividing elements P1, P2, ..., Pn can be further reduced. The one-dimensional bar code pattern of the space dividing elements P1, P2, ..., Pn is one example described for convenience of explanation, and is not limited thereto. For example, the pattern of the space dividing elements P1, P2, ..., Pn may have a two-dimensional bar code pattern obtained by space-dividing the space in two directions.

Each of the illumination elements I ₁₁ , I ₁₂ ,..., I _{1n of the} illumination unit I ₁ simultaneously irradiates the marker unit 200 with a plurality of optical signals that are spatially divided in different patterns.

The marker unit 200 is attached to a moving object, m markers (m is a natural number greater than or equal to 1) reflecting optical signals irradiated from the lighting unit 100, respectively, R ₁ , R ₂ ,... R _m ).

4 is a reference diagram illustrating a polarization filter (or band pass filter) and a retro reflector provided in each of the markers.

The markers R ₁ , R ₂ ,... R _m each include polarization filters 204 of different polarization directions from the other markers. Since the polarization filter 202 is an optical filter that passes only linearly polarized light in a specific direction, the light emitted from the illumination unit 100 is filtered with light having a specific polarization while passing through the polarization filter 204. Therefore, only optical signals of a specific polarization direction among the optical signals incident on the polarization filter 202 pass through the polarization filter to the retro reflector 204.

Meanwhile, the markers R ₁ , R ₂ ,... R _m may each include a band pass filter different from the other markers instead of the polarization filter 202 illustrated in FIG. 4. In this case, since the band pass filter is an optical filter having only a specific band as a pass band, the light emitted from the illumination unit 100 is filtered by the light of the specific wavelength band while passing through the band pass filter. Therefore, only the optical signal of a specific wavelength band among the optical signals incident on the bandpass filter passes through the bandpass filter and is transmitted to the retro reflector 204.

As shown in FIG. 4, each of the markers R ₁ , R ₂ ,... R _m each includes a retroreflector 204 for reflecting optical signals. Retroreflector is an optical element that reflects the reflected light in the direction of the incident light source by manipulating the reflection path of the incident light.

Since the optical signals reflected from the retro reflectors provided in each of the markers R ₁ , R ₂ , ... R _m may be directly reflected to the respective lighting elements of the lighting unit 100, the light receiving unit 300 may be A beam splitter is provided in each of the lighting units I ₁ , I ₂ , I ₃ , and I ₄ to receive the optical signals.

FIG. 5 is a reference diagram for explaining a function of a beam splitter for refracting an optical signal reflected from markers to an optical receiver. The beam splitter 102 reflects the respective optical signals reflected from the markers R ₁ , R ₂ ,... R _m to the light receiver 300. The beam splitter is a device in which about 50 [%] of mirror particles are coated on one surface of a plate or prism type device, reflecting about 50 [%] of incident light, and transmitting the rest. This reflection and transmission ratio depends on the specifications of the beam splitter.

The light receiving unit 300 includes k receiving units that receive a plurality of optical signals reflected from the marker unit 200. In FIG. 1, the optical receiver 300 includes four receiving units S ₁ , S ₂ , S ₃ , and S ₄ corresponding to k = 4. Here, the number of receiving units corresponds to the number of the above-described lighting units I ₁ , I ₂ , I ₃ , and I ₄ .

Each of the receiving units S ₁ , S ₂ , S ₃ , and S ₄ includes n prisms, respectively, to separately receive the optical signals reflected from the marker unit 200. Here, the number of prisms is the number corresponding to the number of spatial division elements P1, P2, ..., Pn.

FIG. 6 is a reference diagram for explaining a function of the prism 302 to separately receive optical signals reflected from the markers. As illustrated in FIG. 6, the n prisms provided in each of the receiving units S ₁ , S ₂ , S ₃ , and S ₄ are photodiodes for light sensing of the light receiving unit 300. The light is refracted at different angles depending on the wavelength so that it is received separately.

Each of the receiving units S ₁ , S ₂ , S ₃ , and S ₄ may include polarization filters having different polarization directions from other markers or bandpass filters having different wavelength bands from other markers.

FIG. 7 is a reference diagram illustrating a polarizing filter (or band pass filter) and a photodiode constituting each receiving unit.

The polarization filter 302 is a filter having a polarization direction corresponding to the polarization direction of the polarization filter 202 provided in the marker unit, and only an optical signal of a corresponding polarization direction among the incident optical signals receives the polarization filter 304. Passed to and delivered to the photodiode 306.

A band pass filter may be provided in place of the polarization filter 304. Since the band pass filter is an optical filter having only a specific band as a pass band, only an optical signal of a corresponding wavelength band among the incident optical signals is used for the band pass filter. Passed to and delivered to the photodiode 306.

Each of the receiving units S ₁ , S ₂ , S ₃ , S ₄ is different from the other markers in order to distinguish the optical signals reflected from each of the markers R ₁ , R ₂ , ... R _m . N * m polarization filters having a polarization direction or n * m bandpass filters of different wavelength bands from other markers may be provided.

Here, the number of polarization filters (or bandpass filters) corresponds to the multiplied number of spatial division elements P1, P2, ..., Pn and the markers R ₁ , R ₂ , ... R _m . It is the number to do. For example, if the number of spatial dividing elements provided in each lighting unit is eight and the number of markers corresponds to five, the respective receiving units S ₁ , S ₂ , S ₃ , and S ₄ are provided. The number of polarizing filters (or bandpass filters) is 5 * 8 = 40.

Each of the receiving units S ₁ , S ₂ , S ₃ , and S ₄ includes photodiodes for sensing optical signals reflected from the marker unit 200. Each photodiode 306 has an optical sensor for sensing optical signals.

Each of the receiving units S ₁ , S ₂ , S ₃ , S ₄ has at least n * m or more photodiodes. Here, the number of photodiodes is a number corresponding to the multiplied number of the spatial dividing elements (P1, P2, ..., Pn) and the markers (R ₁ , R ₂ , ... R _m ). For example, if the number of spatial dividing elements provided in each lighting unit is eight and the number of markers corresponds to five, the respective receiving units S ₁ , S ₂ , S ₃ , and S ₄ are provided. The number of photodiodes becomes 5 * 8 = 40. Because each of the receiving units S ₁ , S ₂ , S ₃ , S ₄ has at least n * m or more photodiodes, at each of the m markers R ₁ , R ₂ , ... R _m Each of the n optical signals reflected may be separately received.

Each of the receiving units S ₁ , S ₂ , S ₃ , and S _{4 of the} above-described light receiving unit 300 is one side of each of the lighting units I ₁ , I ₂ , I ₃ , and I ₄ of the lighting unit 100. Is provided. Since the light receiver 300 is provided at one side of the lighting unit 100, the light receiver 300 may easily receive the optical signals reflected from the marker unit 200.

The location recognizing unit 400 recognizes the position of the object from the optical signals received by the light receiving unit 300. To this end, the location recognizing unit 400 stores in a predetermined memory (not shown) a relational expression between the pre-defined binary codes and position coordinate values or a lookup table.

Specific functions of the location recognizing unit 400 will be described with reference to FIGS. 8 and 9.

FIG. 8 is a reference diagram illustrating optical signals irradiated through the spatial dividing elements P1, P2, ..., Pn shown in FIG. 2, and FIG. 9 is a spatial dividing element P1, P2 shown in FIG. ,... Is a reference diagram illustrating the detection of an optical signal at the optical receiver S ₁ with respect to the optical signals irradiated through Pn.

For example, if m markers R ₁ , R ₂ ,..., R _m are attached to each part of the object to be tracked in real time, k lighting units I ₁ , I ₂ ,. I _k ) so that the lighting is done at different positions around the object.

Next, each of the k lighting units I ₁ , I ₂ ,..., I _k simultaneously irradiates a plurality of optical signals that are spatially divided into different patterns. For example, the first lighting unit I ₁ irradiates a plurality of optical signals L ₁₁ , L ₁₃ ,..., L _{1n that} are spatially divided into different patterns P1, P2,..., Pn. Other lighting units I ₂ ,..., I _k also irradiate light signals simultaneously. k lighting units I ₁ , I ₂ ,..., I _k are driven simultaneously.

Meanwhile, since the optical signals irradiated from each of the _k lighting units I ₁ , I ₂ ,..., And I _k are spatially divided into different patterns, the markers R ₁ , R ₂ ,. _m ) can be converted to the position coordinate value of the point where it is attached.

When Figures 8 and 9, a plurality of optical signals from the first illumination unit _{(I 1) (L 11,} L 13, ..., L 1n) is irradiated, a plurality irradiated from the first illumination unit (I ₁₎ Of the optical signals L ₁₁ , L ₁₃ ,..., L _1n are reflected at the first marker R ₁ having a specific polarization direction or a specific wavelength band, and each of the reflected optical signals is received at the receiving unit S ₁ . is received. in this case, the first light signal (L ₁₁₎ is a first space division element (P1) where a bar code for bar is irradiated with a pattern, for example, the first marker (R ₁₎ where the first optical signal (L ₁₁₎ of the That is, the first optical signal L ₁₁ will be detected as a "0" signal at the position where the first marker R ₁ is located, and also irradiated with the barcode pattern of the second spatial dividing element P2. the second light signal (L ₁₂₎ is to be detected in the position where the first marker (R ₁₎ to the "0" signal, but the third tessellation cattle (P3) the third optical signal (L ₁₃₎ emitted by the bar code pattern of a will be detected by the change of the position the first marker (R ₁₎ to "1" signal. In the same way, the first marker (R ₁₎ are different from each Simultaneously detect a plurality of optical signals L ₁₁ , L ₁₃ ,..., L _{1n that} are spatially divided into different patterns, and perform position recognition on signal values of the detected optical signals L ₁₁ , L ₁₃ ,..., L _1n . The signal values of the plurality of detected optical signals L ₁₁ , L ₁₃ ,..., L _1n have position information of the first marker R ₁ . Signal values of the plurality of optical signals L ₁₁ , L ₁₃ ,..., L _1n detected by the first marker R ₁ are processed to generate a binary code (for example, 00100), and the generated binary code is processed. The first positional coordinate value of the first marker R ₁ is calculated from the relational expression between the previously defined binary codes and the positional coordinate value or a lookup table.

In the same manner, a plurality of optical signals L ₁₁ , L ₁₃ ,..., L _1n are irradiated in the first lighting unit I ₁ , and each optical signal reflected by the second marker R ₂ and reflected Are received at the receiving unit S ₁ . Then, the location recognition unit 400 calculates a second position coordinate values of the second markers (R ₂₎ from the light signal reflected by the second marker (R ₂₎ (L _21, L _23, ..., L _2n) . In this way, a plurality of optical signals L ₁₁ , L ₁₃ ,..., L _1n are irradiated from the first lighting unit I ₁ , and each of the reflected and reflected light is reflected by the m th marker R _m . When the optical signals are received at the receiving unit S ₁ , the position recognizing unit 400 receives the m th marker from the optical signals L ₂₁ , L ₂₃ ,..., L _2n reflected by the m th marker R _m . The m th position coordinate value of R _m ) is calculated.

Receive the optical signals reflected from each of the markers R ₁ , R ₂ ,..., And R _m with respect to the optical signals irradiated from each of the remaining lighting units I ₂ ,..., I _k in the manner described above. By receiving the units S ₁ , S ₂ , S ₃ ,... S _k , the position recognizing unit 400 binarizes the received optical signal and compares it with a reference table of position coordinate values, thereby marking each marker. The positions of the R ₁ , R ₂ ,..., R _m can be recognized.

As the degree of freedom of the position of the object increases, the number of illumination units I ₁ , I ₂ , ..., I _k increases. According to this embodiment, since the lighting units I ₁ , I ₂ ,..., I _k are driven simultaneously, the lighting units I ₁ , I _{2 ,.} Since the time required for illumination is not increased, it is easy for real-time recognition of the multiple degree of freedom of the object.

10 is a flowchart of an embodiment for explaining a method for recognizing a position of a moving object according to the present invention.

First, the illumination unit irradiates a plurality of optical signals that are spatially divided into different patterns (operation 400). In the lighting unit having k lighting units I ₁ , I ₂ ,..., I _k , each of the lighting units irradiates a plurality of optical signals that are spatially divided in different patterns. For example, the first lighting unit I ₁ irradiates a plurality of optical signals L ₁₁ , L ₁₃ ,..., L _{1n that} are spatially divided into different patterns P1, P2,..., Pn. The other lighting units I ₂ ,..., I _k also irradiate n optical signals, respectively.

After operation 400, the marker unit attached to the moving object reflects the optical signals irradiated from the lighting unit (operation 402). Each of the markers R ₁ , R ₂ ,... R _m provided in the marker unit includes polarizers having different polarization directions or bandpass filters having different wavelength bands, respectively. Since the polarization filter is an optical filter that passes only linearly polarized light in a specific direction, the light emitted from the illumination unit is filtered to light having a specific polarization while passing through the polarization filter. Therefore, only optical signals of a specific polarization direction among the optical signals incident on the polarizing filter are transmitted to the retro reflector through the polarizing filter. In addition, since the band pass filter is an optical filter having only a specific band as a pass band, the light emitted from the illumination unit is filtered by the light of a specific wavelength band while passing through the band pass filter. Therefore, only the optical signal of a specific wavelength band among the optical signals incident on the bandpass filter passes through the bandpass filter and is transmitted to the retro reflector.

Each of the markers R ₁ , R ₂ , ... R _m includes a retroreflector 204 for reflecting optical signals, thereby receiving the optical signals received through the polarization filter or the band pass filter. To reflect.

After operation 402, the optical receiver receives a plurality of optical signals reflected by the marker unit (operation 404). The light receiving unit includes k receiving units that receive a plurality of optical signals reflected from the marker unit. Each of the receiving units has n * m polarization filters having different polarization directions from other markers or n * m bandpasses of different wavelength bands from other markers to distinguish the optical signals reflected from each of the markers. With filters. The polarization filter is a filter having a polarization direction corresponding to the polarization direction of the polarization filter provided in the marker unit, and only an optical signal of a corresponding polarization direction among the incident optical signals passes through the polarization filter to the photodiode. Meanwhile, a band pass filter may be provided instead of the polarization filter. Since the band pass filter is an optical filter having only a specific wavelength band, only an optical signal of a corresponding wavelength band among the incident optical signals passes through the band pass filter. Is delivered to the photodiode.

Each of the receiving units includes photodiodes for sensing optical signals reflected from the marker unit. Each photodiode has an optical sensor for sensing optical signals. Each of the receiving units has at least n * m or more photodiodes. Here, the number of photodiodes is a number corresponding to the multiplied number of the spatial dividing elements (P1, P2, ..., Pn) and the markers (R ₁ , R ₂ , ... R _m ). Receiving units due by each having at least n * m or more photodiodes, m markers of _{(R 1, R 2, ...} R m) to be received by each other distinguish between each of n optical signal reflected from each Can be.

After the step 404, the location recognizer recognizes the location of the object from the optical signals received by the light receiver (step 406). In order to recognize the position of the object from the optical signals received by the optical receiver, the position recognizer stores information about relational expressions or reference tables between the pre-defined binary codes and the position coordinate values in a predetermined memory (not shown). have. For example, when each of the k lighting units I ₁ , I ₂ ,..., I _k simultaneously irradiates a plurality of optical signals that are spatially divided in different patterns, k lighting units I ₁ , I ₂ ,…, I _k ) Since the optical signals irradiated from each other are spatially divided into different patterns, the positional coordinate values of the points where the markers R ₁ , R ₂ ,…, R _m are attached can be converted by detecting them. Can be. When Figures 8 and 9, a plurality of optical signals from the first illumination unit _{(I 1) (L 11,} L 13, ..., L 1n) is irradiated, a plurality irradiated from the first illumination unit (I ₁₎ Of the optical signals L ₁₁ , L ₁₃ ,..., L _1n are reflected at the first marker R ₁ having a specific polarization direction or a specific wavelength band, and each of the reflected optical signals is received at the receiving unit S ₁ . is received. in this case, the first light signal (L ₁₁₎ is a first space division element (P1) where a bar code for bar is irradiated with a pattern, for example, the first marker (R ₁₎ where the first optical signal (L ₁₁₎ of the That is, the first optical signal L ₁₁ will be detected as a "0" signal at the position where the first marker R ₁ is located, and also irradiated with the barcode pattern of the second spatial dividing element P2. the second light signal (L ₁₂₎ is to be detected in the position where the first marker (R ₁₎ to the "0" signal, but the third tessellation cattle (P3) the third optical signal (L ₁₃₎ emitted by the bar code pattern of a will be detected by the change of the position the first marker (R ₁₎ to "1" signal. In the same way, the first marker (R ₁₎ are different from each Simultaneously detect a plurality of optical signals L ₁₁ , L ₁₃ ,..., L _{1n that} are spatially divided into different patterns, and perform position recognition on signal values of the detected optical signals L ₁₁ , L ₁₃ ,..., L _1n . The signal values of the plurality of detected optical signals L ₁₁ , L ₁₃ ,..., L _1n have position information of the first marker R ₁ . Signal values of the plurality of optical signals L ₁₁ , L ₁₃ ,..., L _1n detected by the first marker R ₁ are processed to generate a binary code (for example, 00100), and the generated binary code is processed. The first positional coordinate value of the first marker R ₁ is calculated from the relational expression between the previously defined binary codes and the positional coordinate value or a lookup table.

In the same manner, a plurality of optical signals L ₁₁ , L ₁₃ ,..., L _1n are irradiated in the first lighting unit I ₁ , and each optical signal reflected by the second marker R ₂ and reflected Are received at the receiving unit S ₁ . Then, the location recognition unit 400 calculates a second position coordinate values of the second markers (R ₂₎ from the light signal reflected by the second marker (R ₂₎ (L _21, L _23, ..., L _2n) . In this way, a plurality of optical signals L ₁₁ , L ₁₃ ,..., L _1n are irradiated from the first lighting unit I ₁ , and each of the reflected and reflected light is reflected by the m th marker R _m . When the optical signals are received at the receiving unit S ₁ , the position recognizing unit 400 receives the m th marker from the optical signals L ₂₁ , L ₂₃ ,..., L _2n reflected by the m th marker R _m . The m th position coordinate value of R _m ) is calculated.

Receive the optical signals reflected from each of the markers R ₁ , R ₂ ,..., And R _m with respect to the optical signals irradiated from each of the remaining lighting units I ₂ ,..., I _k in the manner described above. By receiving the units S ₁ , S ₂ , S ₃ ,... S _k , the position recognizing unit 400 binarizes the received optical signal and compares it with a reference table of position coordinate values, thereby marking each marker. The positions of the R ₁ , R ₂ ,..., R _m can be recognized.

Meanwhile, the method inventions of the present invention described above can be implemented in computer-readable code / instructions / programs. For example, it may be implemented in a general-purpose digital computer that operates the code / instructions / program using a computer-readable recording medium. The computer-readable recording medium includes a storage medium such as a magnetic storage medium (e.g., a ROM, a floppy disk, a hard disk, a magnetic tape, etc.), an optical reading medium (e.g., a CD-ROM, a DVD, .

The above-described apparatus and method for recognizing the position of a moving object of the present invention has been described with reference to the embodiments shown in the drawings for clarity, but this is merely an example, and those skilled in the art can variously modify and It will be appreciated that other equivalent embodiments are possible. Accordingly, the true scope of the present invention should be determined by the appended claims.

100: lighting unit
200: marker portion
300: light receiver
400: location recognition unit
I ₁ , I ₂ , ... , I ₄ : Lighting unit
R ₁ , R ₂ ,. , R _m : marker
S ₁ , S ₂ , ... , S ₄ : receiving unit

Claims (14)

An illumination unit including k lighting units (k being a natural number greater than or equal to 1) irradiating n optical signals each of which is spatially divided into different patterns (n being a natural number greater than or equal to 1);
A marker unit attached to a moving object and including m markers (m is a natural number greater than or equal to 1) reflecting the optical signals irradiated from the lighting unit;
An optical receiving unit having k receiving units for receiving the plurality of optical signals reflected from the marker unit; And
And a position recognizing unit for recognizing the position of the object from the optical signals received by the light receiving unit. The method of claim 1, wherein the lighting unit
Recognizing position of the moving object, characterized in that for irradiating the optical signals at the same time. The method of claim 1, wherein the lighting unit
And n illumination elements, each of the illumination elements comprising a light source and a space dividing element, respectively. The method of claim 3, wherein the space dividing element
An apparatus for recognizing position of a moving object, comprising a light transmission area and a light blocking area divided into bar code patterns at regular intervals. The method of claim 3, wherein the lighting unit
And a beam splitter for refracting the optical signals reflected from the marker unit to the optical receiver, respectively. The method of claim 1, wherein the markers
And a retroreflector for reflecting the optical signals, respectively. The method of claim 1, wherein the markers
Positioning apparatus for a moving object, characterized in that each of the other markers and the polarization filter in a different polarization direction. The method of claim 1, wherein the markers
An apparatus for recognizing a moving object, comprising a bandpass filter having a different wavelength band from each other. The method of claim 1, wherein the receiving unit
And n prisms to separately receive the optical signals reflected from the marker unit, respectively. The method of claim 1, wherein the receiving unit
And at least n * m photodiodes, respectively, for detecting the optical signals reflected from the marker unit. The method of claim 1, wherein the receiving unit
And n * m polarization filters in different polarization directions from other markers to distinguish the optical signals reflected from each of the markers, respectively. The method of claim 1, wherein the receiving unit
And n * m bandpass filters having different wavelengths from those of the other markers to distinguish the optical signals reflected from each of the markers, respectively. The method of claim 1, wherein the light receiving unit
Positioning device of the moving object, characterized in that provided on one side of the lighting unit. Irradiating a plurality of optical signals each of which is divided by an illumination unit into different patterns;
Reflecting the optical signals irradiated from the lighting unit by the marker unit attached to the moving object;
An optical receiver receiving the plurality of optical signals reflected from the marker unit; And
And a position recognizing unit recognizing a position of the object from the optical signals received by the light receiving unit.

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