Tracking device having emitter groups with different emitting directions

• US 5,834,759 A
• Filed: 05/22/1997
• Issued: 11/10/1998
• Est. Priority Date: 05/22/1997
• Status: Expired due to Term

• Current Assignee: Philips Electronics Limited (Koninklijke Philips N.V.)
• Original Assignee: Neil David Glossop
• Inventors: Glossop, Neil David
• Primary Examiner(s): LE, QUE TAN
• Application Number:
  US08/861,597
• Time in Patent Office: 537 Days
• Field of Search: 250/203.1, 250/203.2, 250/206.1, 250/206.2, 250/578.1, 356/375, 244/3.16-3.18, 128/665, 128/664, 362/18, 362/11, 362/71
• US Class Current: 250/203.1
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49

Abstract

A tracking device for use in an optical tracking system is disclosed. The tracking device has a plurality of faces, each face having at least three markers which can be tracked by the optical tracking system. The markers may be infrared emitting diodes. The tracking system can individually activate the markers on each of the faces and select the markers which can be most accurately tracked by the tracking system. Portions of the faces are adjacent to one another to form clusters of emitters. The clusters of emitters are separated by at least a predetermined distance corresponding to the tolerance of the optical tracking system. The field of view of the tracking device approximates a section of a sphere centered at the device.

Claims

1. A tracking device for use in an optical tracking system to track a position and orientation of an object, said tracking device comprising:

a tracker housing having a first side and a second side, and comprising means for rigidly fixing the device to the object;

a first face on the first side of said device, said first face comprising a first group of at least three emitters, the first group of emitters operable to emit radiation substantially in a first direction directed away from the first side; and

a second face on the first side of said device, said second face comprising a second group of at least three emitters, the second group of emitters operable to emit radiation in a second direction directed away from the first side; and

wherein the second direction is different from the first direction.

2. The device as claimed in claim 1 wherein the tracking system can track the position and orientation of the object by tracking either the first group of emitters or the second group of emitters.

3. The device as claimed in claim 1 wherein the first group of emitters emit radiation in response to control signals from the optical tracking system and the second group of emitters emit radiation in response to the control signals from the optical tracking system, and the optical tracking system can track the position and orientation of the tracking device from the first group of emitters or the second group of emitters.

4. The device as claimed in claim 2 wherein each of the emitters of the first group of emitters emit radiation within a first cone of emission;

wherein each of the emitters of the second group of emitters emit radiation within a second cone of emission;

wherein the first direction and the second direction are selected such that the first cone of emission of each of the first group of emitters and the second cone of emission of each of the second group of emitters combine to provide a field of view of the first side which is greater than the first cones alone.

5. The device as claimed in claim 2 wherein each of the emitters of the first group emit radiation within a first cone of emission;

wherein each of the emitters of the second group emit radiation within a second cone of emission;

wherein the first direction and the second direction are selected such that the first cone of emission of each emitter in the first group of emitters overlaps a portion of the second cone of emission of a corresponding emitter in the second group of emitters.

6. The device as claimed in claim 4 wherein each of the emitters of the first group is separated from each of the other emitters in the first group by at least a predetermined distance, and each of the emitters of the second group are separated from each of the other emitters in the second group by at least the predetermined distance, said predetermined distance corresponding to a tolerance of the tracking system.

7. The device as claimed in claim 6 wherein each emitter of the first group is adjacent a corresponding emitter of the second group.

8. The device as claimed in claim 6 further comprising:

a third face on the second side of said device, said third face comprising a third group of at least three emitters, the third group of emitters operable to emit radiation substantially in a third direction directed away from the second side; and

a fourth face on the second side of said device, said fourth side comprising a fourth group of at least three emitters, the fourth group of emitters operable to emit radiation in a fourth direction directed away from the second side;

wherein the third direction is different from the fourth direction; and

wherein the tracking system can track the position and orientation of the object by tracking any one of the first group, second group, third group or fourth group of emitters.

9. The device as claimed in claim 8 wherein at least one emitter from each of the first group, second group, third group and fourth group of emitters is arranged in a cluster of emitters.

10. The device as claimed in claim 8 wherein the emitters from the first, second, third and fourth groups are arranged in at least three clusters of emitters, each cluster comprising one emitter from each of the first, second, third and fourth groups.

11. The device as claimed in claim 10 wherein each of the emitters of the third group emit radiation within a third cone of emission;

wherein each of the emitters of the fourth group emit radiation within a fourth cone of emission;

wherein the first direction, the second direction, the third direction and the fourth direction are selected such that for each cluster of emitters, the first cone of emission of the emitter of the first group, the second cone of emission of the emitter of the second group, the third cone of emission of the emitter of the third group and the fourth cone of emission of the emitter of the fourth group combine to give a field of view of each cluster on the device approximating a half sphere.

12. In an optical tracking system to track a position and orientation of an object, a tracking device comprising:

a tracker housing having a first side and a second side, and comprising means for rigidly fixing the device to the object;

a first face comprising at least three face portions;

a first group of at least three emitters, each emitter in the first group located on a corresponding portion of the first face, the first group of emitters operable to emit radiation substantially in a first direction directed away from the first side;

a second face comprising at least three face portions;

a second group of at least three emitters, each emitter in the second group located on a corresponding portion of the second face, the second group of emitters operable to emit radiation substantially in a second direction away from the first side and different from the first direction; and

wherein each portion of the first face is adjacent a corresponding portion of the second face.

13. The device as claimed in claim 12 wherein the tracking system can track the position and orientation of the object by tracking either the first group of emitters or the second group of emitters.

14. The device as claimed in claim 13 wherein each of the emitters of the first group of emitters emit radiation within a first cone of emission;

wherein each of the emitters of the second group of emitters emit radiation within a second cone of emission;

wherein the first direction and the second direction are selected such that the first cone of emission of each of the first group of emitters and the second cone of emission of each of the second group of emitters combine to provide a field of view of the first side of the device which is greater than the first cones.

15. The device as claimed in claim 13 further comprising:

a third face comprising at least three face portions;

a third group of at least three emitters, each emitter in the third group located on a corresponding portion of the third face, the third group of emitters operable to emit radiation substantially in a third direction directed away from the second side;

a fourth face comprising at least three face portions;

a fourth group of at least three emitters, each emitter in the fourth group located on a corresponding portion of the fourth face, the fourth group of emitters operable to emit radiation substantially in a fourth direction away from the second side and different from the third direction; and

wherein each portion of the third face is adjacent a corresponding portion of the fourth face and the first face.

16. The device as claimed in claim 15 wherein the emitters from the first, second, third and fourth groups are arranged in at least three clusters of emitters, each cluster comprising one emitter from each of the first, second, third and fourth groups and each of the clusters separated from each of the other clusters by at least a predetermined distance, said predetermined distance corresponding to a tolerance of the tracking system.

17. The device as claimed in claim 16 wherein each of the emitters emit radiation in a cone of emission;

and

wherein the first direction, the second direction, the third direction and the fourth direction are selected such that, for each cluster of emitters, the cone of emission of the emitters combine to provide a field of view substantially similar to a section of a sphere centered at the corresponding cluster.

18. In an optical tracking system to track a position and orientation of an object, a tracking device comprising:

a tracker housing comprising means for rigidly fixing the tracking device to the object;

at least two groups of emitters, each group of emitters having at least three emitters emitting radiation in the same direction, and, each group of emitters emitting radiation in different directions;

wherein the optical tracking system can track the position and orientation of the object by tracking any group of emitters; and

wherein the emitters are arranged on the housing in at least three clusters, each cluster comprising one emitter from each of the groups.

19. The device as claimed in claim 18 wherein the direction of the groups of emitters are selected such that the optical tracking system has a field of view of each cluster approximating a half sphere centered at the corresponding cluster.

20. The device as claimed in claim 19 wherein there are at least three groups of emitters and each of the clusters are separated from each of the other clusters by at least a predetermined distance, said predetermined distance corresponding to a tolerance of the tracking system.