Coordinate detection system, coordinate detection method, and coordinate detection program

Abstract

To provide a coordinate detection system, a coordinate detection method, and a coordinate detection program capable of inputting coordinates with a simple configuration.SOLUTION: A coordinate detection system 1 includes: a pen 20; a tip unit 21 provided on the pen 20; a marker 10 having at least three portions of marks 11 that are arranged so that a plane can be identified and attached to the pen 20; an imaging unit 31 for imaging the marker 10; and an operation unit 32 that operates at least one of coordinates in a space of the tip end unit 21 and a change in the coordinates using the image of the marker 10 imaged by the imaging unit 31.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a coordinate detection system, a coordinate detection method, and a coordinate detection program. [Background technology]

[0002] Patent Document 1 discloses a technique for identifying attributes (color, brush, etc.) of an input device in which an input tool is used to input to an input surface by capturing an image of a mark indicating information on the attributes of the input tool using an imaging unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-140685 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology disclosed in Patent Document 1 requires a touch panel for coordinate detection, which results in a complicated device configuration, poor portability, and difficulty in casual use.

[0005] An object of the present disclosure is to provide a coordinate detection system, a coordinate detection method, and a coordinate detection program that enable coordinate input with a simple configuration. [Means for solving the problem]

[0006] The present disclosure solves the above-mentioned problems by the following means: For ease of understanding, the following description will be given with reference numerals corresponding to the embodiments of the present disclosure, but the present disclosure is not limited to these.

[0007] The first disclosure is a coordinate detection system (1) comprising an adherend (20), a detectable portion (21) provided on the adherend (20), a marker (10) attached to the adherend (20) with at least three marks (11) arranged so as to identify a plane, an imaging unit (31) that photographs the marker (10), and a calculation unit (32) that calculates at least one of the coordinate in space of the detectable portion (21) and a change in the coordinate using an image of the marker (10) photographed by the imaging unit (31).

[0008] The second disclosure is a coordinate detection system (1) described in the first disclosure, characterized in that the adherend (20) has a writing implement-like shape with a tip (21) as the detected part (21), and the calculation unit (32) calculates drawing data based on changes in the coordinates of the tip (21) in space.

[0009] The third disclosure is a coordinate detection system (1) described in the first or second disclosure, characterized in that the marker (10) is supplied separately from the adherend (20), and a non-dedicated item can be used as the adherend (20).

[0010] The fourth disclosure is a coordinate detection system (1) described in any one of the first to third disclosures, characterized in that the marker (10) has a second mark (13) indicating the direction of the position where the detectable portion (21) is located.

[0011] The fifth disclosure is a coordinate detection system (1) described in any one of the first to fourth disclosures, characterized in that the photographing unit (31) photographs the marker (10) as calibration images at a plurality of swing positions obtained by swinging the adherend (20) with the detectable portion (21) of the adherend (20) to which the marker (10) is attached as a fulcrum, and the calculation unit (32) calibrates the positions of the marker (10) and the detectable portion (21) using the calibration images.

[0012] The sixth disclosure is a coordinate detection system (1) described in any one of the first to fourth disclosures, characterized in that the photographing unit (31) photographs the marker (10) as calibration images at a plurality of moving positions obtained by bringing the detectable portion (21) of the adherend (20) to which the marker (10) is attached into contact with a single plane and moving the detected portion (21) to different positions, and the calculation unit (32) calibrates the positions of the marker (10) and the detectable portion (21) using the calibration images.

[0013] The seventh disclosure is a coordinate detection system (1) described in any of the first to fourth disclosures, characterized in that the calculation unit (32) calibrates the positions of the marker (10) and the detectable part (21) using the position of the detectable part (21) identified by image processing or user specification in a captured image of the marker (10) and the detectable part (21) taken by the imaging unit (31).

[0014] The eighth disclosure is a coordinate detection system (1) described in any one of the first to fourth disclosures, characterized in that the calculation unit (32) calibrates the positions of the marker (10) and the detection target (21) using multiple photographing results in which the orientation of the adherend (20) is different in the photographed image of the marker (10) photographed by the photographing unit (31).

[0015] The ninth disclosure is a coordinate detection method for detecting the coordinates of a detectable portion (21) provided on an adherend (20) using a marker (10) attached to the adherend (20) with at least three marks (11) arranged so as to identify a plane, the coordinate detection method comprising the steps of: an imaging unit (31) photographing the marker (10); and an arithmetic unit (32) calculating at least one of the coordinate in space of the detectable portion (21) and a change in the coordinate using the image of the marker (10) photographed by the imaging unit (31).

[0016] The tenth disclosure is a coordinate detection program for detecting the coordinates of a detectable portion (21) provided on an adherend (20) using a marker (10) attached to the adherend (20) with at least three marks (11) arranged so as to identify a plane, the coordinate detection program causing a computer (30, 32) to execute the steps of: an imaging unit (31) imaging the marker (10); and an arithmetic unit (32) calculating at least one of the coordinate in space of the detectable portion (21) and a change in the coordinate using the image of the marker (10) photographed by the imaging unit (31). [Effects of the Invention]

[0017] According to the present disclosure, it is possible to provide a coordinate detection system, a coordinate detection method, and a coordinate detection program that are capable of performing coordinate input with a simple configuration. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram showing an overview of a coordinate detection system 1 according to an embodiment. [Figure 2] 1 is a diagram showing an example of a state in which the coordinate detecting system 1 is used. [Figure 3] FIG. 2 is an enlarged view of the marker 10. [Figure 4] FIG. 10 is a diagram illustrating a calibration operation 1. [Figure 5] FIG. 10 is a diagram illustrating a calibration operation 2. [Figure 6] FIG. 10 is a diagram illustrating a calibration operation 3. [Figure 7] FIG. 10 is a diagram illustrating an example of a calibration operation 4. [Figure 8] FIG. 10 shows a pen 20 equipped with a marker 10 to which a second mark 13 has been added. [Figure 9] 10A and 10B show variations of the pen 20. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, the best mode for carrying out the present disclosure will be described with reference to the drawings and the like. In this specification and claims, taking a photograph includes taking a still image, and also includes taking a video and taking a series of still images at regular intervals like a video.

[0020] (Embodiment) FIG. 1 is a diagram showing an overview of a coordinate detection system 1 according to an embodiment. FIG. 2 is a diagram showing an example of a state in which the coordinate detection system 1 is used. FIG. 3 is an enlarged view of the marker 10. As shown in FIG. Note that the figures shown below, including Figures 1 to 3, are schematic diagrams, and the size and shape of each part are exaggerated or omitted as appropriate to make them easier to understand. In the following description, specific numerical values, shapes, materials, etc. are given, but these can be changed as appropriate.

[0021] The coordinate detection system 1 of the embodiment includes a marker 10, a pen 20, and an imaging terminal 30.

[0022] 3, the marker 10 is configured as a plate having a substantially square shape when viewed from the normal direction of the plate surface, and has a plurality of marks 11 arranged thereon. In this embodiment, the shape when viewed from the front side is formed into a substantially square shape of 10 mm x 10 mm, and a total of four circular marks 11 are arranged at intervals, one near each of the four corners of the marker 10. It is desirable that at least three marks 11 are arranged discretely so that a plane can be identified. If there are two marks 11, or if there are three or more marks 11 arranged in a straight line, the plane cannot be identified, and coordinate identification, as described below, becomes impossible. From the observation results of the marks 11, for example, from the size and relative position of the marks 11, the relative position, tilt, and attitude of the observation position (camera, etc.) and the markers 10 can be accurately detected. Furthermore, if the number of marks 11 is more than three, for example, when some marks 11 are obscured due to some obstacle, position detection is possible from the observation results of the remaining marks 11. Furthermore, by using multiple marks 11, the accuracy of position detection can be improved.

[0023] Furthermore, in this embodiment, the mark 11 is configured to have a circular shape, but is not limited to a circular shape, and may be a polygonal shape such as a triangle or a rectangle, or may be another shape. From the viewpoint of detection accuracy, the shape of the mark 11 is preferably a circle or a regular polygon, and a circle is particularly preferable. The marker 10 is used to detect the relative positional relationship between the shooting position and the marker 10 (hereinafter simply referred to as position detection) depending on how the mark 11 is observed.

[0024] The marker 10 may be made of any material, but it is desirable to select the material of the marker 10 depending on the required detection accuracy. In particular, when high detection accuracy is required, it is advisable to use, for example, a glass plate as the substrate, which is less susceptible to shape deformation due to heat, etc. The marker 10 can be formed using methods with high positional accuracy, such as photolithography and inkjet. Photolithography is particularly desirable from the standpoint of accuracy. The mark 11 can be formed by arranging multiple layers of different colors formed from a resist material in a pattern on the substrate.

[0025] The marker 10 also has an identification mark 12 in the center surrounded by the marks 11. The identification mark 12 is a pattern graphic (graphic for identification) that displays unique information by its pattern, with a specific meaning associated with the pattern of the mark. For example, the identification mark 12 has a unique number or alphabet associated with each different pattern. The identification mark 12 can be a two-dimensional barcode, a three-dimensional barcode, a QR code (registered trademark), ArUco, or the like. As described above, various known identification codes can be used for the identification mark 12, but by using an identification mark 12 with a reduced number of patterns and a larger pattern as in the present embodiment, it can be easily detected by a camera.

[0026] The pen (subject) 20 is in the form of a rod-shaped writing implement. In this embodiment, the pen 20 has one tip 21 that is approximately conical, and this tip 21 serves as the part to be detected. Note that the writing implement shape is not limited to a rod shape like a pen or pencil (regardless of cross-sectional shape), but may be any shape that can be held in the hand and allows the position of the tip, etc., that can serve as the part to be detected to be identified. The pen 20 may be in a form that can actually write on paper or the like, or may not actually be able to write on paper or the like. The pen 20 may be an object made exclusively for the coordinate detection system 1 (hereinafter referred to as a dedicated object), or may be, for example, various writing implements owned by the user, or objects that are not originally used as writing implements, such as disposable chopsticks or twigs (hereinafter, various writing implements are collectively referred to as non-dedicated objects). When a non-dedicated object is used instead of a dedicated object as the pen 20, the marker 10 is supplied separately from the adherend, and the user attaches the marker 10 to the non-dedicated object to use the non-dedicated object as the adherend.

[0027] The photographing terminal 30 includes a photographing unit 31 , a calculation unit 32 , and a display unit 33 . The photographing terminal 30 is configured by installing a computer program on a general-purpose communication terminal. More specifically, the photographing terminal 30 of this embodiment is a general-purpose smartphone on which an application program for the measurement system of the present invention has been downloaded and installed. The photographing terminal 30 is not limited to a smartphone, but may also be a tablet terminal, AR (Augmented Reality) glasses, VR (Virtual Reality) goggles, a laptop computer, or a device dedicated to the coordinate detection system 1. From the viewpoint of operability, AR glasses and VR goggles are superior for checking position detection results in real time.

[0028] The photographing terminal 30 is provided with a computer that controls the operation of the coordinate detection system 1. The computer referred to in the present invention refers to an information processing device equipped with a control unit, a storage device, etc., and is included in the concept of the computer of the present invention, executes the program for the coordinate detection system, and is capable of implementing the coordinate detection method of this embodiment. The control unit referred to here is a central processing unit (CPU) that controls the operation of the photographing terminal 30. The control unit provided in the photographing terminal 30 cooperates with the above-mentioned hardware to perform various functions by appropriately reading and executing an operating system (OS) and various application programs stored in the storage device, etc.

[0029] The photographing unit 31 is a camera provided in the photographing terminal 30 and photographs the marker 10 and the pen 20.

[0030] The calculation unit 32 continuously calculates at least one of the coordinates in space of the tip 21 of the pen 20 and changes in the coordinates, using images of the marker 10 captured by the photographing unit 31. Here, continuously calculating means calculating changes in coordinates by performing coordinate calculations on each of the images captured by the photographing unit 31 at multiple different points in time. The method used by the calculation unit 32 to calculate at least one of the coordinates in space of the mark 11 and the change in said coordinates using a photographed image of the mark 11 is the method described in Hideyuki Tanaka, "Fundamentals and Latest Trends in AR Marker Technology," Journal of the Institute of Electrical, Information and Communication Engineers, Vol. 97, No. 8, 2014, pp. 734-740. By using the above method, the orientation of the mark 11, i.e., the direction in which the front of the mark 11 (marker 10) faces (the attitude of the mark 11), can be expressed in terms of, for example, roll, yaw, and pitch. If the relative positional relationship between the mark 11 (marker 10) and the tip 21 can be accurately grasped, the movement of the tip 21 (change in coordinates in space) can be easily calculated from the movement of the mark 11.

[0031] Furthermore, the calculation unit 32 calculates drawing data based on the change in the spatial coordinates of the tip end 21. This drawing data refers to computer graphics data that the calculation unit 32 creates from the movement trajectory of the tip end 21 based on the action of drawing characters, figures, line drawings, etc. in the air using the pen 20. When a user draws in the air with the pen 20, letters, figures, line drawings, etc. can actually be generated as computer graphics data in response to coordinate changes in the tip 21. Figure 2 shows the drawing data obtained as a result of drawing a bottle in the air with the pen 20, displayed on the display unit 33 of the photographing terminal 30.

[0032] When calculating drawing data using the calculation unit 32, if all changes in the coordinates of the tip 21 in space were treated as drawing data, proper drawing would not be possible. In other words, when writing letters or the like on ordinary paper with a pencil or the like, lines are drawn only when the pencil is in contact with the paper, and no lines are drawn when the pencil is removed from the paper. It is also desirable to be able to use an eraser, change the line color, and change the brush (thin line, thick line, brush stroke, etc.). To achieve similar operations, a means for switching drawing ON / OFF and changing line types, etc. (hereinafter simply referred to as a "drawing switch") is required. In this embodiment, since it is possible to use a non-dedicated device, the drawing switch is switched by voice recognition. When a predetermined voice command, such as "drawing ON" or "drawing OFF," is spoken to the photographing terminal 30, the calculation unit 32 switches the drawing switch. Note that to realize the voice recognition function of this drawing switch, the microphone of the smartphone used as the photographing terminal is used. Voice recognition can also be used to activate the eraser function, change the color, or change the brush. It is also possible to use only the coordinate data of the tip 21 touching a specific surface as drawing data. By recognizing the surface of a desk or the like as a specific surface, drawing data can be created in the same way as using a pencil on a desk. This coordinate detection system may also be used to recognize the coordinates of desk surfaces or the like.

[0033] The display unit 33 is a display unit using an LCD (Liquid Crystal Display) panel or an OLED (Organic Light-Emitting Diode) panel, etc., provided on the photographing terminal 30, and is used to check the photographing range and display the drawing data calculated by the calculation unit 32.

[0034] With the above-described configuration, the coordinate detection system 1 of this embodiment calculates the movement of the tip 21 from the movement of the mark 11. That is, a coordinate detection program for the coordinate detection system of the present disclosure is installed in the photographing terminal 30 serving as a computer, making the program executable. The coordinate detection program then causes the computer to execute the steps of: photographing the marker 10 by the photographing unit 31; and calculating at least one of the coordinates and the change in coordinates of the tip 21 in space, using the image of the marker 10 photographed by the photographing unit 31 by the calculation unit 32, thereby implementing the coordinate detection method of the present disclosure.

[0035] As mentioned above, it is necessary to accurately grasp the relative positional relationship between the mark 11 (marker 10) and the tip 21. However, as described above, it is assumed that a non-dedicated product will be used, and in such cases, the relative positional relationship between the mark 11 (marker 10) and the tip 21 is unknown. Furthermore, even in the case of a dedicated product being distributed, it is conceivable that multiple sizes of pen 20 will be prepared, and new forms of pen 20 will be added one after another. In such cases, too, it is necessary for the calculation unit 32 to accurately grasp the relative positional relationship between the mark 11 (marker 10) and the tip 21. Therefore, the coordinate detection system 1 of this embodiment performs a calibration operation to calibrate the positions of the mark 11 (marker 10) and the tip 21. The coordinate detection system 1 can execute the calibration operation selected by the user from the following four types of calibration operations (calibration operation 1 to calibration operation 4).

[0036] (Calibration operation 1) FIG. 4 is a diagram illustrating the calibration operation 1. In the calibration operation 1, first, the photographing unit 31 photographs the marker 10 and the tip 21 as calibration images at a plurality of swing positions where the pen 20 is swung around the tip 21 of the pen 20 to which the marker 10 is attached as a fulcrum. When swinging the pen 20 around the tip 21 as a fulcrum, it is preferable to swing the pen 20 with the tip 21 in contact with the plane G. Next, the calculation unit 32 calibrates the positions of the marker 10 and the tip 21 using the calibration image. In the above example, a plane G is used as an example, but this calibration operation 1 may also be performed on a calibration base. In this case, for example, the calibration base may be provided with a recess of a shape that makes it easy to fit the tip 21 so that the position of the tip 21 is less likely to shift.

[0037] (Calibration operation 2) FIG. 5 is a diagram illustrating the calibration operation 2. In calibration operation 2, first, the photographing unit 31 photographs the marker 10 and the tip 21 of the pen 20 to which the marker 10 is attached as calibration images at multiple moving positions by bringing the tip 21 into contact with a single plane G and moving it to different positions. Next, the calculation unit 32 calibrates the positions of the marker 10 and the tip 21 using the calibration image. In the above example, a plane G is exemplified, but in this calibration operation 2, movement may be performed on a calibration base, as in the case of calibration operation 1. In this case, for example, the calibration base does not necessarily have to be flat, and may be configured with a groove, a curved surface, or the like that makes it easier for tip portion 21 to move. Although the calibration operations 1 and 2 have been explained separately here for ease of understanding, there is no need to configure the system so that these operations are selected separately.

[0038] (Calibration operation 3) FIG. 6 is a diagram illustrating the calibration operation 3. In the calibration operation 3, first, the photographing unit 31 photographs the pen 20 to which the marker 10 is attached. Next, the calculation unit 32 calibrates the positions of the marker 10 and the tip 21 using the position of the tip 21 identified by image processing or by user specification in the captured image captured by the imaging unit 31. Note that the tip 21 may be identified by image processing, by user specification, or by a combination of these.

[0039] (Calibration operation 4) FIG. 7 is a diagram illustrating an example of the calibration operation 4. In FIG. In the calibration operation 4, the calculation unit 32 calibrates the positions of the marker 10 and the tip 21 using a plurality of photographing results in which the orientation of the pen 20 is different in the photographed images in which the photographing unit 31 photographs the marker. In this calibration operation 4, for example, as shown in Figure 7, the calculation unit 32 can calibrate the positions of the marker 10 and the tip 21 using the results of photographing the marker 10 and the tip 21 from multiple different positions using the photographing unit 31. Furthermore, in calibration operation 4, for example, the calculation unit 32 may calibrate the positions of the marker 10 and the tip 21 using the results of taking multiple photographs while keeping the photographing position fixed and changing the orientation of the pen 20 (moving the position of the pen 20). Furthermore, in the calibration operation 4, for example, the calculation unit 32 may calibrate the positions of the marker 10 and the tip 21 using the results of taking multiple images while changing both the image capturing position and the orientation of the pen 20.

[0040] In the coordinate detection system 1 of this embodiment, one or a combination of calibration operations selected from the above calibration operations 1 to 4 is performed to calibrate the positions of the marker 10 and the tip 21. Therefore, the coordinate detection system 1 can more easily perform highly accurate coordinate detection.

[0041] In addition to the above example, the calibration operation may be modified as follows. (Calibration Operation Variation 1) For example, when the marker 10 is attached to a non-dedicated item, the above-described calibration operation may be performed once, and the positional relationship between the marker 10 and the tip 21 (detection target) obtained from the calibration operation may be printed as a two-dimensional code or the like and attached to the marker 10 as the identification mark 12. In this case, the calculation unit 32 reads the information obtained from the identification mark 12 when calculating the coordinates, and calculates the coordinates, thereby eliminating the need for a subsequent calibration operation.

[0042] (Calibration Operation Variation 2) Furthermore, if the marker 10 is distributed as a dedicated product with the marker 10 already attached to the pen 20, the positional relationship between the marker 10 and the tip 21 (detectable part) can be displayed on the identification mark 12 using a two-dimensional code or the like.

[0043] (Calibration Operation Variation 3) Furthermore, when the marker 10 is distributed as a dedicated product with the marker 10 attached to the pen 20 in advance, a unique ID is displayed on the identification mark 12. A database may be prepared in which the positional relationship between the marker 10 and the tip 21 (detectable portion) is recorded for each ID, and the positional relationship between the marker 10 and the tip 21 (detectable portion) may be ascertained by referring to the database. In this case, the database may be stored in the memory of the photographing terminal 30, or may be provided on an external server.

[0044] (Calibration Operation Variation 4) In addition to the mark 11, a second mark indicating the direction in which the tip 21 (detection target portion) is located, such as up, down, left, or right, may be added to the marker 10. FIG. 8 shows a pen 20 to which a marker 10 with a second mark 13 added is attached. In the example of FIG. 8, the tip 21 is provided in the direction indicated by the vertex of the triangle that faces inward of the marker 10. By providing a second mark as shown in FIG. 8, it becomes easier to determine in which direction the tip 21 of the pen 20 is located when only the mark 11 is present. In this modified embodiment, instead of providing the second mark as an independent mark, the identification mark 12 may be given a function similar to that of the second mark, so that the identification mark 12 also serves as the second mark.

[0045] As described above, according to this embodiment, drawing data can be generated by using the marker 10 to treat the air as a notepad, canvas, etc. Furthermore, since the marker 10 is provided with a calibration function, non-dedicated products can be used, resulting in high versatility and high accuracy.

[0046] (Variations) The present disclosure is not limited to the above-described embodiments, and various modifications and variations are possible, and these are also within the scope of the present disclosure.

[0047] (1) In the embodiment, an example has been described in which the drawing switch is switched by voice recognition. However, the present invention is not limited to this, and the drawing switch may be switched by operating the pen 20, for example. FIG. 9 shows a modified version of the pen 20. In the example of Fig. 9, the marker 10 is placed in a position close to the tip 21 of the pen 20. With this configuration, the marker 10 can be easily hidden or exposed with the finger operating the pen 20. When the marker 10 is hidden by the finger, drawing is turned OFF, and when the marker 10 is exposed, drawing is turned ON. In this case, when the pen 20 is swung once in the vertical direction (the axial direction of the pen 20), it is used as an eraser, and when the pen 20 is swung twice in the vertical direction, it is used as a color change. The thickness of the line may be changed when the pen 20 is swung vertically once in the horizontal direction (a direction substantially perpendicular to the axial direction of the pen 20). Furthermore, when the pen 20 is distributed as a dedicated product, the pen 20 may be provided with a power source, a communication unit, and a switch.

[0048] (2) In an embodiment, various pieces of information about the marker 10 may be recorded on the identification mark 12, or a unique ID may be displayed on the identification mark 12, and a database may be provided that stores various pieces of information about the marker 10 for each ID, and this information may be referenced. With this configuration, for example, when the system is operated with a mixture of multiple types of markers 10 with different sizes or positional relationships of the marks 11, the calculation unit 32 can acquire the necessary information about the marker 10. Furthermore, when the accuracy of the marker 10 is not sufficiently high, the above configuration allows the calculation unit to acquire information about the marker 10 and perform appropriate calculations, enabling highly accurate coordinate detection.

[0049] (3) In the embodiment, an example has been described in which drawing data is generated by a drawing operation in the air. However, the operation of calibrating the position of the marker and the detected part can also be applied to other uses. For example, when a marker is attached to an object such as a pallet, the calibration operation described in the embodiment can be used to accurately determine the position of the marker on the pallet.

[0050] (4) In the embodiment, an example has been described in which the calculation unit 32 is provided in the photographing terminal 30. However, the present invention is not limited to this, and for example, a configuration in which a part or all of the calculation processing of the calculation unit 32 is performed by a computer device separate from the photographing terminal 30 may be used. Here, the computer device separate from the photographing terminal 30 may be, for example, a server device that is provided so as to be able to communicate with the photographing terminal 30. Furthermore, the photographing terminal 30 may be a device that only has a photographing function and a communication function, and the calculation unit may be provided in a terminal device such as a smartphone.

[0051] The embodiments and modifications may be used in combination as appropriate, but detailed description thereof will be omitted. The present disclosure is not limited to the embodiments described above. [Explanation of symbols]

[0052] 1. Coordinate detection system 10 Markers 11 marks 12 Identification Mark 13 Second Mark 20 pens 21 Tip 30 Photographic device 31 Photography Department 32 Arithmetic section 33 Display section

Claims

1. An adherend; a detection part provided on the adherend; a marker attached to the adherend, the marker having at least three marks arranged so as to identify a plane; an imaging unit that images the marker; a calculation unit that calculates at least one of the coordinates in space of the detection target part and a change in the coordinates using the image of the marker captured by the image capturing unit; Equipped with the photographing unit photographs the marker as calibration images at a plurality of swing positions obtained by swinging the adherend around the detection portion of the adherend to which the marker is attached as a fulcrum; The calculation unit is a coordinate detection system that calibrates the positions of the marker and the detection target using the calibration image.

2. An adherend; a detection part provided on the adherend; a marker attached to the adherend, the marker having at least three marks arranged so as to identify a plane; an imaging unit that images the marker; a calculation unit that calculates at least one of the coordinates in space of the detection target part and a change in the coordinates using the image of the marker captured by the image capturing unit; Equipped with the photographing unit photographs the marker as calibration images at a plurality of positions obtained by bringing the detection portion of the adherend, to which the marker is attached, into contact with a plane and moving the detection portion to different positions, and The calculation unit is a coordinate detection system that calibrates the positions of the marker and the detection target using the calibration image.

3. 3. The coordinate detection system according to claim 1, the adherend has a writing implement-like shape and includes a tip portion as the detection portion, the calculation unit calculates drawing data based on a change in coordinates of the tip in space; A coordinate detection system comprising:

4. 4. The coordinate detection system according to claim 1, The marker is supplied separately from the adherend, and a non-dedicated product can be used as the adherend; A coordinate detection system comprising:

5. 5. The coordinate detection system according to claim 1, the marker has a second mark indicating a direction to a position where the detection part is present; A coordinate detection system comprising:

6. 6. The coordinate detection system according to claim 1, the calculation unit calibrates the positions of the marker and the detection target part using the position of the detection target part identified by image processing or by user designation in a captured image obtained by capturing an image of the marker and the detection target part by the imaging unit; A coordinate detection system comprising:

7. 7. The coordinate detection system according to claim 1, the calculation unit calibrates the positions of the marker and the detection part using a plurality of photographing results in which the orientation of the adherend is different in the photographed images obtained by photographing the marker by the photographing unit; A coordinate detection system comprising:

8. A coordinate detection method for detecting coordinates of a detection part provided on an adherend using a marker attached to the adherend, the marker having at least three marks arranged so as to identify a plane, the method comprising: a step of an imaging unit imaging the marker; a calculation unit calculating at least one of the coordinates in space of the detection target portion and a change in the coordinates using the image of the marker captured by the image capturing unit; The imaging unit, The marker is photographed as a calibration image at a plurality of swing positions obtained by swinging the adherend with the detection portion of the adherend to which the marker is attached as a fulcrum, or the detection portion of the adherend to which the marker is attached is brought into contact with a plane and moved to different positions, and the marker is photographed at a plurality of positions as calibration images; Steps and a step in which the calculation unit calibrates the positions of the marker and the detection target portion using the calibration image; A coordinate detection method comprising:

9. A coordinate detection program for detecting coordinates of a detection part provided on an adherend using a marker attached to the adherend, the marker having at least three marks arranged so as to be able to identify a plane, the program comprising: On the computer, a step of an imaging unit imaging the marker; a calculation unit calculating at least one of the coordinates in space of the detection target portion and a change in the coordinates using the image of the marker captured by the image capturing unit; The imaging unit, The marker is photographed as a calibration image at a plurality of swing positions obtained by swinging the adherend with the detection portion of the adherend to which the marker is attached as a fulcrum, or the detection portion of the adherend to which the marker is attached is brought into contact with a plane and moved to different positions, and the marker is photographed at a plurality of positions as calibration images; Steps and a step in which the calculation unit calibrates the positions of the marker and the detection target portion using the calibration image; Coordinate detection program for executing the above.

Images