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WO2019151182A1 - Marqueur - Google Patents

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Publication number
WO2019151182A1
WO2019151182A1 PCT/JP2019/002738 JP2019002738W WO2019151182A1 WO 2019151182 A1 WO2019151182 A1 WO 2019151182A1 JP 2019002738 W JP2019002738 W JP 2019002738W WO 2019151182 A1 WO2019151182 A1 WO 2019151182A1
Authority
WO
WIPO (PCT)
Prior art keywords
reference surface
marker
inclination detection
detection marks
inclination
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/002738
Other languages
English (en)
Japanese (ja)
Inventor
満 川上
満昭 塩田
康幸 福田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Enplas Corp
Original Assignee
Enplas Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Enplas Corp filed Critical Enplas Corp
Publication of WO2019151182A1 publication Critical patent/WO2019151182A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes

Definitions

  • the present invention relates to a marker.
  • AR augmented reality
  • visual markers are used to recognize the position and orientation of an object.
  • an AR pattern code which is a two-dimensional code is generally used.
  • the AR pattern code is generally represented by a figure (pattern) on a substrate.
  • the AR pattern code is detected by a detection device such as a camera.
  • a detection device such as a camera.
  • an image of the graphic to be detected is detected.
  • Change. Based on the changed image, an inclination angle (rotation angle) of the AR pattern code with respect to the detection device is detected.
  • the AR pattern code alone has a problem that the detection accuracy is not sufficient when the rotation angle is small.
  • VMP marker is obtained by, for example, printing a repeated pattern (for example, a line) on the back surface of a lenticular lens having a lens surface on the front surface.
  • the shape and location of the appearing image of the VMP is displaced according to the angle at which the VMP is viewed from the detection device. For this reason, by using the AR pattern code and the VMP together, it is possible to detect the inclination of the AR pattern code with higher accuracy.
  • an object of the present invention is to provide a marker that can detect the inclination with high accuracy without mounting the VMP, for example.
  • the marker of the present invention comprises: Having a body, The body has a reference surface and one or more non-reference surfaces exposed on the viewing side; At least one of the reference surface and the non-reference surface has a plurality of inclination detection marks, The plurality of inclination detection marks include four inclination detection marks located on the same virtual plane, The four inclination detection marks are located on at least two different surfaces of the reference surface and the one or more non-reference surfaces, The virtual plane is non-parallel to the reference plane.
  • the marker manufacturing method of the present invention includes: The body has a forming step for forming an inclination detection mark, The body has a reference surface and one or more non-reference surfaces exposed on the viewing side; In the forming step, a plurality of inclination detection marks are formed on at least one of the reference surface and the non-reference surface, The plurality of inclination detection marks include four inclination detection marks located on the same virtual plane, The four inclination detection marks are located on at least two different surfaces of the reference surface and the one or more non-reference surfaces, The virtual plane is non-parallel to the reference plane.
  • the marker of the present invention can detect the inclination of the marker with high accuracy by having a plurality of inclination detection marks under the above conditions without mounting the VMP.
  • the present invention does not require the VMP, so that the cost can be reduced and application to various fields is possible.
  • FIG. 1 is a schematic diagram of a marker 1 according to Embodiment 1A.
  • the middle diagram is a plan view (front view) viewed from the viewing side of the marker 1, and the periphery of the front view. 4 is a side view of the marker 1 as seen from the direction of each side, and FIG. 1 (B) is a cross-sectional view of the marker 1 of FIG. 1 (A) as seen from the II direction.
  • FIG. 1C is a development view of the marker 1.
  • FIG. 2 is a schematic diagram illustrating a virtual plane and a detection shape in the marker 1 of Embodiment 1A.
  • FIG. 3 is a schematic diagram illustrating the relationship between the non-reference surface of the marker 1 and the visual axis according to the rotation angle in the marker 1 of Embodiment 1A.
  • FIG. 4 is a schematic view of the marker 2 of Embodiment 1B.
  • the upper diagram is a front view (plan view), and the lower diagram is a cross-sectional view of the marker 2 in the upper diagram as viewed from the II-II direction.
  • FIG. 5 is a schematic diagram illustrating a virtual plane and a detected shape in the marker 2 of Embodiment 1B.
  • FIG. 6 is a schematic diagram of the marker 3 and the marker 4 of Embodiment 1C.
  • the middle diagram is a plan view (front view) viewed from the viewing side of the marker 3, and the front view.
  • the four views around the figure are side views of the marker 3 as seen from the direction of each side, and the lower figure is a cross-sectional view of the marker 3 as seen from the direction III-III.
  • FIG. I a plan view (front view) seen from the viewing side of the marker 4
  • the four views around the front view are side views of the marker 4 seen from the direction of each side
  • the marker 4 is a sectional view as seen from the IV-IV direction
  • the lower right figure is a sectional view of the marker 4 as seen from the VV direction.
  • FIG. 7 is a schematic diagram of the marker 5 of Embodiment 1D
  • the upper diagram is a plan view (front view) seen from the viewing side of the marker 5
  • the lower diagram is a side view of the marker 5
  • the lower right diagram These are side views seen from the X direction of the marker 5.
  • FIG. 8 is a schematic diagram of the marker 6 according to Embodiment 2A.
  • the right diagram is a front view (plan view), and the left diagram is a side view.
  • FIG. 9 is a schematic diagram illustrating a virtual plane and a detected shape in the marker 6 of Embodiment 2A.
  • FIG. 10 is a schematic diagram of the marker 7 of the embodiment 2B. In FIG.
  • FIG. 10A the right diagram is a plan view (front view) of the marker 7A
  • the center diagram is a side view of the marker 7A
  • the left The figure is a cross-sectional view of the marker 7A viewed from the VI-VI direction.
  • FIG. 10B the right figure is a plan view (front view) of the marker 7B
  • the center figure is a side view of the marker 7B.
  • the left figure is a cross-sectional view of the marker 7B as seen from the VII-VII direction.
  • FIG. 11 is a schematic diagram of the marker 8 according to Embodiment 2C
  • FIG. 11A is a plan view (front view) of the marker 8A
  • FIG. 11B is a plan view (front view) of the marker 8B. ).
  • the plurality of inclination detection marks can form two or more virtual planes on which the four inclination detection marks are located, Each of the virtual planes is non-parallel to the other virtual planes.
  • the plurality of inclination detection marks can form four virtual planes on which the four inclination detection marks are located, and each of the virtual planes is relative to another virtual plane. Non-parallel.
  • the main body includes the reference surface and the four non-reference surfaces around the reference surface, and the four non-reference surfaces are not parallel to the reference surface. And having a plurality of inclination detection marks on the four non-reference surfaces.
  • each of the four non-reference surfaces is an inclined surface that extends from the reference surface to the side opposite to the viewing side.
  • each of the four non-reference surfaces is an inclined surface extending from the reference surface toward the viewing side.
  • the non-reference surface has an inclination angle with respect to the reference surface in the range of 5 to 40 °.
  • the reference surface is a quadrangle
  • the four non-reference surfaces are inclined surfaces connected to four sides of the reference surface, respectively.
  • the reference surface is a quadrangle
  • the four non-reference surfaces are inclined surfaces connected to four corners of the reference surface, respectively.
  • the marker of the present invention has, for example, two inclination detection marks on each of the four non-reference surfaces along a side far from the side close to the reference surface.
  • the main body has a lower portion and an upper portion,
  • the upper part is present on the lower part, Of the upper surface of the upper surface and the upper surface exposed to the viewing side of the lower part, one is the reference surface, the other is the non-reference surface,
  • the non-reference plane is parallel to the reference plane;
  • a plurality of inclination detection marks are provided on the reference surface and the non-reference surface.
  • the reference surface has four inclination detection marks
  • the non-reference surface has four inclination detection marks
  • each of the reference surface and the non-reference surface is a quadrangle, and has inclination detection marks at four corners.
  • the shape of the tilt detection mark is a perfect circle.
  • the reference surface further includes a recognition mark.
  • the main body is attached to a moving body.
  • the main body is a part of a moving body.
  • a recognition mark is further formed on the reference surface.
  • the main body is a moving body.
  • the present invention includes a configuration in which the four non-reference surfaces that are non-parallel to the reference surface are provided around the reference surface, and a configuration in which the reference surface and the non-reference surface are parallel to each other. It is done.
  • the former is also referred to as a first marker and the latter is also referred to as a second marker.
  • the present invention is not limited or restricted by the following embodiments.
  • the same portions are denoted by the same reference numerals.
  • the information that can be detected by the tilt detection mark according to the present invention can detect not only the tilt of the marker but also position information such as the distance to the marker.
  • an AR pattern code is shown as an example of a recognition mark in the drawings, but the present invention is not limited to this.
  • Embodiment 1A is an example of the first marker of the present invention. Specifically, the main body has the reference surface and the four non-reference surfaces that are non-parallel to the reference surface, and the four non-reference surfaces are continuous with four sides of the reference surface. Are arranged.
  • FIG. 1 shows a schematic diagram of the marker 1 of the present embodiment.
  • the middle figure is a plan view (front view) of the marker 1 viewed from the viewing side, and the four drawings around the front view show the marker 1 from the direction of each side.
  • FIG. 1B is a cross-sectional view of the marker 1 in FIG. 1A viewed from the II direction
  • FIG. 1C is a development view of a region exposed to the viewer side in the marker 1.
  • the arrow indicates the direction in which the marker 1 is detected, and the reference plane 11 side is the viewing side.
  • the marker 1 has a main body, and the surface exposed to the viewing side of the main body has a convex shape that protrudes to the viewing side as a whole.
  • the marker 1 has a reference surface 11 and four non-reference surfaces 12 (12A, 12B, 12C, 12D) exposed on the viewing side.
  • Each of the four non-reference surfaces 12 is located around the reference surface 11 and is non-parallel to the reference surface 11.
  • the four non-reference surfaces 12 are inclined surfaces extending from the reference surface 11 to the opposite side to the viewing side. is there.
  • the shape of the reference surface 11 is a quadrangle
  • the shapes of the four non-reference surfaces 12 are trapezoids connected to the four sides of the reference surface 11.
  • the shapes of the reference surface 11 and the non-reference surface 12 are not limited to this, and the shape of the reference surface 11 is, for example, a quadrangle.
  • the quadrangle is, for example, a shape surrounded by two pairs of line segments facing each other, and the four corners may be, for example, square or non-square, and as the latter, for example, the four corners are curved in a concave shape.
  • the shape may be a convex shape (a shape with rounded corners) (hereinafter the same).
  • the main body of the marker 1 includes a rectangular base substrate 10, an upper substrate having a reference surface 11, and non-reference surfaces 12 (12A, 12B, 12C, 12D).
  • Each of the four peripheral substrates, and the lower substrate is connected to the four sides of the base substrate 10, and the upper substrate is connected to the upper sides of the four outer substrates.
  • the main body of the marker 1 has a hollow inside and includes a base substrate 10, but the present invention is not limited to these configurations. The same applies to the following embodiments.
  • the inclination angle of the non-reference surface 12 is not particularly limited, and examples thereof include the following conditions. That is, for example, as shown in FIG. 1B, the non-reference surface 12 has a lower limit of the inclination Q with reference to the reference surface 11, for example, 5 ° or more, 10 ° or more, 20 ° or more, 30 ° or more. The upper limit is, for example, less than 90 °, 45 ° or less, or 40 ° or less.
  • the four non-reference surfaces 12A, 12B, 12C, and 12D may have different inclination angles or the same inclination angle.
  • the sum of the inclination angles of the opposing non-reference surfaces that is, the sum of the non-reference surfaces 12A and 12C and the sum of the non-reference surfaces 12B and 12D, for example, is less than 90 °.
  • the tilt angle is more preferably, for example, 5 to 40 °, 20 to 40 °, or 10 to 20 ° from the viewpoint that the tilt of the marker 1 can be detected with high accuracy.
  • the detection accuracy is further improved.
  • the marker 1 has a plurality of inclination detection marks 13 on the non-reference surface 12. Specifically, each of the non-reference surfaces 12A, 12B, 12C, and 12D has two inclination detection marks 13, and the two inclination detection marks 13 are along the side far from the side closer to the reference surface 11, They are arranged side by side.
  • a plurality of inclination detection marks 13 are arranged so as to satisfy the following conditions (1), (2), and (3).
  • the plurality of inclination detection marks include four inclination detection marks located on the same virtual plane.
  • the four inclination detection marks include the reference plane and the one or more non-reference planes.
  • the imaginary plane that is located on at least two different planes is non-parallel to the reference plane
  • the plurality of inclination detection marks may be capable of forming one virtual plane on which the four inclination detection marks shown in the condition (1) are located, for example, two or more, three or more, Preferably four can be formed.
  • a shape of a detection target (hereinafter referred to as a detection shape) formed by connecting four inclination detection marks 13 on the virtual plane is, for example, a quadrangle, and a specific example is a trapezoid.
  • FIG. 2 is the same marker 1 as the front view of FIG.
  • the upper left of FIG. 2 is a diagram showing a quadrangular detection shape 16A in the marker 1 that connects the centers of the four inclination detection marks 13 of the non-reference surface 12A and the non-reference surface 12B.
  • the upper right of FIG. 2 is a diagram showing a quadrangular detection shape 16B connecting the centers of the four inclination detection marks 13 of the non-reference surface 12B and the non-reference surface 12C in the marker 1.
  • FIG. 2 is a diagram showing a square detection shape 16D in the marker 1 that connects the centers of the four inclination detection marks 13 of the non-reference surface 12C and the non-reference surface 12D.
  • the lower left of FIG. 2 is a diagram showing a square detection shape 16C in the marker 1 that connects the centers of the four inclination detection marks 13 of the non-reference surface 12A and the non-reference surface 12D.
  • a quadrangular detection shape 16 is formed by connecting the four inclination detection marks 13, and each of the detection shapes 16A, 16B, 16C, and 16D has four inclination detection marks 13 that constitute them. Each is located on the same virtual plane. The four virtual planes are not parallel to the reference plane 11 and are not parallel to each other.
  • the tilt detection mark 13 may be formed by printing or the like, or may be formed by attaching a seal of the tilt detection mark 13.
  • the marker 1 may have the tilt detection mark 13 formed on the non-reference surface 12 before use, or may be formed on the non-reference surface 12 during use.
  • each of the inclination detection marks 13 is a perfect circle.
  • the shape of the inclination detection mark 13 is not particularly limited, and examples thereof include a circle such as a perfect circle and an ellipse, and a polygon such as a quadrangle.
  • the inclination detection mark 13 may have the same shape or different shapes in the same plane, for example, and the sizes may be the same or different. In addition, for example, the inclination detection mark 13 may have the same or different shape and size on different surfaces.
  • the reference surface 11 has a recognition mark 15.
  • the present invention is not limited to this, and the recognition mark 15 may or may not be provided.
  • the recognition mark 15 may be formed by, for example, printing or affixing a seal of the recognition mark 15.
  • the marker 1 may be formed with the recognition mark 15 on the reference surface 11 before use, or may be formed with the recognition mark 15 on the reference surface 11 during use.
  • the recognition mark 15 is not particularly limited, and is, for example, a two-dimensional pattern code.
  • the two-dimensional pattern code include an AR pattern code and a QR pattern code.
  • the AR pattern code include ARToolKit, ARTag, CyberCode, ARToolKitPlus, and the like.
  • the tilt detection mark 13 when the tilt detection mark 13 and the recognition mark 15 are used together, the tilt detection mark 13 also plays a role for detecting the tilt of the recognition mark 15. Can do. For this reason, the inclination detection mark 13 can also be called a reference mark, for example.
  • the recognition mark 15 was illustrated in this embodiment, it is not restrict
  • the size of the marker 1 and each part thereof is not particularly limited, and examples thereof include the following sizes. These are merely examples, and the present invention is not limited at all.
  • the length of one side of the reference surface 11 is, for example, 10 to 100 mm, 100 to 300 mm, and 300 to 1000 mm, respectively.
  • the lengths of the sides facing the sides of the reference surface 11 are, for example, 5 to 50 mm, 50 to 150 mm, and 150 to 300 mm, and the distance between the side of the reference surface 11 and the opposite side is For example, 2.5 to 25 mm, 25 to 75 mm, and 75 to 150 mm.
  • Marker 1 can be used as follows, for example. First, the marker 1 is fixed to the surface of the moving body. As shown in FIG. 1, a recognition mark 15 is arranged on the reference surface 11 of the fixed marker 1.
  • the moving body is not particularly limited, and is, for example, an automobile such as a cargo carrying vehicle, a robot, a cargo tray, a container, a pallet, or the like.
  • a detection device for detecting the marker 1 is installed so as to face the marker 1 fixed to the moving body.
  • the detection device include a camera.
  • a portion where the marker 1 is detected is hereinafter referred to as a detection position.
  • the axis that defines the detection direction of the marker 1 from the detection position of the detection device is hereinafter referred to as a visual axis (imaging axis).
  • imaging axis When the detection device is a camera, the visual axis is also referred to as an optical axis of the camera.
  • the marker 1 is not parallel to the reference surface 11 and is not parallel to each other by the combination of the four inclination detection marks 13 on the non-reference surface 12.
  • Square detection shapes 16A, 16B, 16C, and 16D are formed.
  • the marker 1 has a rotation angle of 0 ° with respect to the detection position. It can be said that it is a non-rotation state.
  • the detected images that is, the square shapes of the detection shapes 16A, 16B, 16C, and 16D are as shown in FIG.
  • the quadrangular detection shapes 16A, 16B, 16C, and 16D are respectively Since the distance and angle with the detection device are different, the detected image is a quadrilateral different from the non-rotated state.
  • the length of each side in the square detection shapes 16A, 16B, 16C, and 16D changes from the non-rotation state in the detected image. For this reason, the rotation angle of the marker 1 can be determined from the detected images (detected shapes 16A, 16B, 16C, and 16D).
  • the marker 1 of the present embodiment has four non-reference surfaces 12 having the inclination detection marks 13 and four quadrangular detection shapes 16, for example, even when the rotation angle is small, Problems can be avoided. That is, as shown in FIG. 3A, in the non-rotation state (rotation angle is 0 °), the quadrilateral detection shape 16 formed by the four inclination detection marks 13 on the non-reference surface 12 is all It can be discriminated from the visual axis (arrow in FIG. 3). On the other hand, as shown in FIG.
  • one of the non-reference planes 12 in the marker 1 is perpendicular to the visual axis T (for example, marker 1 may be substantially flat with a plane parallel to the reference plane 11 in FIG. 3A showing a state where the rotation angle of 1 is 0 °.
  • the non-reference surface 12C facing the non-reference surface 12A has a sufficient inclination angle with respect to the vertical surface T due to the rotation. Therefore, the rotation angle of the marker 1 can be determined by detecting the square detection shape 16 including the inclination detection mark 13 on the non-reference surface 12C.
  • the four tilt detection marks 13 forming the quadrangular detection shape 16 can be arranged on one non-reference plane.
  • the distance between the inclination detection marks that is, the sides of the rectangle
  • the detection precision regarding the change of the said detection shape can be improved.
  • the distance between the inclination detection marks arranged on one non-reference plane can be taken longer. This makes it difficult for the tilt detection mark to interfere with detection of other tilt detection marks located on the same non-reference plane, and detection from a wider angle is also possible.
  • the marker 1 has a convex overall shape constituted by the reference surface 11 and the non-reference surface 12, and has a shape that extends from the reference surface 11 to the side opposite to the viewing side. For this reason, even if the marker 1 rotates, for example, a shadow is hardly generated in the marker 1. For this reason, even if the rotation of the marker 1 is a rotation angle exceeding 70 °, for example, it can be accurately detected.
  • the marker 1 has a convex shape as described above, but is not limited thereto, and may be, for example, a concave shape.
  • the four non-reference surfaces may be inclined surfaces that spread from the reference surface to the viewing side.
  • the non-reference surface has an inclination angle with respect to the reference surface in the range of 5 to 40 °.
  • the reference surface 11 and the non-reference surface 12 are continuously arranged.
  • the present invention is not limited to this.
  • an arbitrary interposed surface is provided between the surfaces. May be.
  • the marker is shown as being installed on the moving body, but is not limited thereto, and may be a part of the moving body formed integrally with the moving body. .
  • Embodiment 1B is another example of the first marker of the present invention. Specifically, the main body has the reference surface and the four non-reference surfaces that are non-parallel to the reference surface, and the four non-reference surfaces are connected to four corners of the reference surface. It is a form made. This embodiment is the same as Embodiment 1A unless otherwise specified.
  • FIG. 4 shows a schematic diagram of the marker 2 of the present embodiment.
  • the upper diagram is a plan view (front view) of the marker 2 as viewed from the viewing side
  • the lower diagram is a cross-sectional view of the marker 2 as viewed from the II-II direction.
  • the arrow indicates the direction in which the marker 2 is detected
  • the reference plane 11 side is the viewing side.
  • the marker 2 has a main body, and the surface exposed to the viewing side of the main body has a convex shape protruding to the viewing side as a whole.
  • the marker 2 has a reference surface 11, four non-reference surfaces 22 (22A, 22B, 22C, 22D), and four interposition surfaces 23 (23A, 23B, 23C, 23D) exposed on the viewing side.
  • the shape of the reference plane 11 is a quadrangle with four corners missing.
  • Each of the four non-reference surfaces 22 is located at a corner of the reference surface 11 and is non-parallel to the reference surface 11, specifically, an inclined surface that extends from the reference surface 11 to the side opposite to the viewing side. It is.
  • the four interposition surfaces 23 are connected to the four sides of the reference surface 11 and are positioned between the non-reference surfaces 22.
  • FIG. 5 is the same marker 2 as the front view of FIG.
  • the upper left of FIG. 5 is a diagram showing a square detection shape 26A in the marker 2 that connects the centers of the four inclination detection marks 13 of the non-reference surface 22A and the non-reference surface 22D.
  • the upper right of FIG. 5 is a diagram showing a quadrangular detection shape 26 ⁇ / b> B connecting the centers of the four inclination detection marks 13 of the non-reference surface 22 ⁇ / b> A and the non-reference surface 22 ⁇ / b> B in the marker 2.
  • FIG. 5 is a diagram showing a square detection shape 26D in the marker 2 that connects the centers of the four inclination detection marks 13 of the non-reference surface 22B and the non-reference surface 22C.
  • the lower left of FIG. 5 is a diagram showing a quadrangular detection shape 26C in the marker 2 that connects the centers of the four inclination detection marks 13 of the non-reference surface 22C and the non-reference surface 22D.
  • a quadrangular detection shape 26 is formed by linking the four inclination detection marks 13, and each of the detection shapes 26A, 26B, 26C, and 26D has four inclination detection marks 13 constituting them. Each is located on the same virtual plane. The four virtual planes are not parallel to the reference plane 11 and are not parallel to each other.
  • the size of the marker 2 and each part thereof is not particularly limited, and is similar to, for example, the embodiment 1A unless otherwise indicated.
  • Examples of the size of the non-reference surface 22 include the following sizes.
  • the marker 2 can be used, for example, in the same manner as in the first embodiment, and has the same effect as in the first embodiment. Further, according to the present embodiment, for example, the following effects are further obtained.
  • the non-reference surface 22 is an inclined surface connected to a corner of the reference surface 11.
  • the detection shape 26 formed from the inclination detection mark 13 positioned on the non-reference surface 22 has the same length as that of the marker 1 of the embodiment 1A, for example. It can be longer than the detection shape 16 of the marker 1.
  • the rotation angle of the marker 2 is determined by detecting the displacement of the length of each side of the detection shape 26 due to the rotation of the marker 2.
  • the marker 2 can take the distance of the inclination detection marks 13 arrange
  • Embodiment 1C is another example of the first marker of the present invention. Specifically, the four non-reference surfaces are inclined surfaces that extend to the viewing side. In this embodiment, the description of the above-described embodiment can be used unless otherwise specified.
  • FIG. 6A shows a schematic diagram of the marker 3 of the present embodiment.
  • the middle figure is a plan view (front view) of the marker 3 as seen from the viewing side, and the four figures around the front view are side views as seen from the direction of each side.
  • the lower figure is a cross-sectional view of the marker 3 as viewed from the III-III direction.
  • the marker 3 of the present embodiment is a marker in which the four non-reference surfaces correspond to the marker 1 of the embodiment 1A spreading on the opposite side to the viewing side, and the four non-reference surfaces spread on the viewing side.
  • the marker 3 includes a main body 30, and the main body 30 has an exposed surface on the viewing side, a back surface 301 (also referred to as a bottom surface) opposite to the viewing side, and a side surface 302.
  • the surface on the viewing side of the main body 30 has a concave shape that is recessed toward the back surface 301 side of the main body 30.
  • the marker 3 has a reference surface 31 and four non-reference surfaces 32 (32A, 32B, 32C, 32D) exposed on the viewing side.
  • Each of the four non-reference surfaces 32 is located around the reference surface 31 and is non-parallel to the reference surface 31. Specifically, the four non-reference surfaces 32 are inclined surfaces extending from the reference surface 31 to the viewing side.
  • the inclination angle of the non-reference surface 32 is not particularly limited, and examples thereof include the following conditions. That is, for the non-reference surface 32, for example, the lower limit of the inclination with respect to the reference surface 31 is, for example, 5 ° or more, 10 ° or more, 20 ° or more, 30 ° or more, and the upper limit is, for example, less than 90 °. 45 degrees or less and 40 degrees or less.
  • the four non-reference surfaces 32A, 32B, 32C, and 32D may have different inclination angles or the same inclination angle.
  • the sum of the inclination angles of the opposing non-reference surfaces that is, for example, the sum of the non-reference surfaces 32A and 32C and the sum of the non-reference surfaces 32B and 32D is, for example, less than 90 °.
  • the tilt angle is more preferably 5 to 40 °, 20 to 40 °, or 10 to 20 ° from the viewpoint that the tilt of the marker 3 can be accurately detected.
  • the detection accuracy is further improved.
  • the conditions, usage methods, and the like of the plurality of inclination detection marks 13 are not particularly limited, and are the same as those in the first embodiment.
  • FIG. 6B shows a schematic diagram of the marker 4 of the present embodiment.
  • the middle figure is a plan view (front view) of the marker 4 as seen from the viewing side, and the four figures around the front view are side views as seen from the direction of each side.
  • the lower figure is a sectional view of the marker 4 viewed from the IV-IV direction
  • the lower right figure is a sectional view of the marker 4 viewed from the VV direction.
  • the marker 4 of the present embodiment is a marker in which the four non-reference surfaces correspond to the marker 2 of the embodiment 1B spreading on the opposite side to the viewing side, and the four non-reference surfaces spread on the viewing side.
  • the marker 4 includes a main body 40, and the main body 40 has an exposed surface on the viewing side, a back surface 401 (also referred to as a bottom surface) opposite to the viewing side, and a side surface 402.
  • the surface on the viewing side of the main body 40 has a concave shape that is recessed toward the back surface 401 side of the main body 40.
  • the marker 4 has a reference surface 41, four non-reference surfaces 42 (42A, 42B, 42C, 42D), and four interposition surfaces 43 (43A, 43B, 43C, 43D) exposed on the viewing side.
  • Each of the four non-reference surfaces 42 is located at a corner of the reference surface 41 and is not parallel to the reference surface 41.
  • the four non-reference surfaces 42 are inclined surfaces extending from the reference surface 41 to the viewing side.
  • the four interposition surfaces 43 are connected to the four sides of the reference surface 41 and are positioned between the non-reference surfaces 42.
  • the inclination angle of the non-reference plane 42 is the same as that of the marker 3, for example.
  • conditions, usage methods, and the like of the plurality of inclination detection marks 13 are not particularly limited, and are the same as those in the first embodiment.
  • Embodiment 1D is another example of the first marker of the present invention. Specifically, as in Embodiments 1A and 1B, the four non-reference surfaces spread on the side opposite to the viewing side. It is a form which is an inclined surface. In this embodiment, the description of the above-described embodiment can be used unless otherwise specified.
  • FIG. 7 shows a schematic diagram of the marker 5 of the present embodiment.
  • the upper diagram is a plan view (front view) viewed from the viewing side of the marker 5, the lower diagram is a side view of the marker 5, and the lower right diagram is a side view of the marker 5 viewed from the X direction.
  • the non-reference surface 22 is provided on the diagonal line of the marker 2 that is a square as a whole, so that the length of the side of the detection shape 26 detected from the inclination detection mark 13 can be determined. It is possible to take longer than the marker 1.
  • the marker 5 of the present embodiment is provided with the non-reference surface 52 (52A, 52B, 52C, 52D) on the diagonal line, and further, the rectangular reference surface 51 is provided with the two pairs of sides.
  • the detection accuracy can be further improved.
  • Embodiment 2A is an example of the second marker of the present invention. Specifically, the main body has a lower portion and an upper portion, the upper portion is present on the lower portion, the upper surface of the upper portion serves as the reference surface, and the upper surface exposed on the viewer side of the lower portion, It is a form which becomes the non-reference plane.
  • This embodiment is the same as the above-described embodiment unless otherwise specified.
  • FIG. 8 shows a schematic diagram of the marker 6 of the present embodiment.
  • the right figure is a plan view (front view) of the marker 6 as viewed from the viewing side
  • the left figure is a side view of the marker 6.
  • the reference surface side of the marker 6 is the viewing side.
  • the marker 6 includes a main body 60 having a lower portion 60A and an upper portion 60B.
  • An upper portion 60B exists above the lower portion 60A (the center of the upper surface), the upper surface of the upper portion 60B is the reference surface 61, and a region exposed to the viewing side on the upper surface of the lower portion 60A is the non-reference surface 62,
  • the non-reference surface 62 is parallel to the reference surface 61.
  • the reference surface 61 and the non-reference surface 62 have a plurality of inclination detection marks 13.
  • the lower portion 60A and the upper portion 60B need only have the above-described relationship between the reference surface 61 and the non-reference surface 62.
  • the main body 60 is separated from the lower portion 60A and the upper portion 60B. It is a member, and the other member may be laminated and fixed, or the lower portion 60A and the upper portion 60B may be integrally formed.
  • the reference surface 61 and the non-reference surface 62 are quadrangular, but are not limited thereto.
  • the marker 6 has a plurality of inclination detection marks 13 on each of the reference surface 61 and the non-reference surface 62. Specifically, four inclination detection marks 13 are provided at the four corners of the reference surface 61, and four inclination detection marks 13 are provided at the four corners of the non-reference surface 62.
  • FIG. 9 is the same marker 6 as the front view of FIG.
  • FIG. 6 is a diagram illustrating four quadrangular detection shapes 66A, 66B, 66C, and 66D.
  • a quadrangular detection shape 66 is formed by connecting the four inclination detection marks 13, and each of the detection shapes 66A, 66B, 66C, and 66D has four inclination detection marks 13 constituting them.
  • Each is located on the same virtual plane.
  • the four virtual planes are not parallel to the reference plane 61 and are not parallel to each other.
  • the marker 6 is preferably set so that the virtual plane on which the detection shape 66 formed by connecting the four tilt detection marks 13 is placed has the following tilt angle with respect to the reference plane 61. .
  • the lower limit of the tilt angle is 5 ° or more, 10 ° or more, 20 ° or more, 30 ° or more
  • the upper limit is, for example, less than 90 °.
  • the range is 45 ° or less and 40 ° or less, and the range is more preferably, for example, 5 to 40 °, 20 to 40 °, or 10 to 20 °.
  • the size of the marker 6 and each part thereof is not particularly limited, and is similar to, for example, the embodiment 1A unless otherwise indicated.
  • Examples of the size of the non-reference surface 62 include the following sizes.
  • the length of one side on the outer periphery of the non-reference surface 62 is, for example, 10 to 100 mm, 100 to 300 mm, and 300 to 1000 mm.
  • the length of one side on the inner periphery of the non-reference surface 62 is, for example, one side of the reference surface 61
  • the distance between the outer periphery and the inner periphery of the non-reference surface 62 facing each other is, for example, 6 to 60 mm, 60 to 180 mm, or 180 to 600 mm.
  • the marker 6 can be used, for example, in the same manner as in the embodiment 1A, and has the same effect as in the embodiments 1A and 1B, for example. Further, according to the present embodiment, for example, the following effects are further obtained.
  • the tilt detection mark is arranged not in parallel to the reference plane but in a non-parallel position relative to the reference plane, when the tilt detection mark is detected in a non-rotating state, the image is detected by the tilt detection. It is detected in a shape slightly different from the actual image of the mark. As a specific example, when the actual shape of the tilt detection mark is a perfect circle, the detected image has a shape close to an ellipse.
  • the target inclination detection mark when analyzing the detected image, for example, a circle that is not strictly a perfect circle (for example, an ellipse) is also determined to be the target inclination detection mark. Set and image analysis is performed.
  • the value of ⁇ ⁇ is set to be relatively large, an image other than the target tilt detection mark is likely to be detected, which may lead to erroneous detection, loss of detection time, and the like.
  • the inclination detection mark arranged on the marker has, for example, an image detected in a non-rotation state as close as possible to the shape of the actual mark arranged on the marker.
  • the virtual plane on which the detection shape 66 formed by the tilt detection mark 13 rides is not parallel to the reference surface 61, but each tilt detection mark 13 is not parallel to the parallel reference surface 61. It is arranged on the reference plane 62. For this reason, in the detection of the non-rotation state, the detection shape 66 itself is detected as a state that is not parallel to the reference surface 61, that is, a shape that is inclined with respect to the reference surface 61. The same shape as that arranged on the reference surface 61 and the non-reference surface 62 is detected. For this reason, according to this embodiment, the above-mentioned problems can be avoided, erroneous detection can be further prevented, and loss of detection time can be suppressed.
  • Embodiment 2B is another example of the second marker of the present invention. Specifically, the main body has a lower portion and an upper portion, the upper portion is present on the lower portion, an upper surface exposed to the viewing side of the lower portion serves as the reference surface, and an upper surface of the upper portion is the This is a non-reference plane. This embodiment is the same as the above-described embodiment unless otherwise specified.
  • FIG. 10 shows a schematic diagram of the marker 7 (7A, 7B) of the present embodiment 2B.
  • the right view is a plan view (front view) of the marker 7A
  • the center view is a side view of the marker 7A
  • the left view is a cross section of the marker 7A viewed from the VI-VI direction.
  • the right figure is a plan view (front view) of the marker 7B
  • the center figure is a side view of the marker 7B
  • the left figure is the marker 7B viewed from the VII-VII direction. It is sectional drawing.
  • the upper portion 60B exists on the upper surface of the lower portion 60A and on the center side, the exposed surface of the lower portion 60A is the non-reference surface 62, and the upper surface of the upper portion 60B is the reference surface 61.
  • each of the markers 7A and 7B of the present embodiment has an upper part 70B on the outer peripheral side on the upper surface of the lower part 70A, and the exposed surface of the lower part 70A is the reference plane 71.
  • the upper surface of the upper part 70 ⁇ / b> B is a non-reference surface 72.
  • Each of the markers 7A and 7B includes a main body 70 having a lower portion 70A and an upper portion 70B.
  • an upper portion 70B exists on the upper surface of the lower portion 70A and on the outer peripheral side.
  • the exposed area of the upper surface of the lower portion 70A is the reference surface 71
  • the upper surface of the upper portion 70A is the non-reference surface 72
  • the non-reference surface 72 is parallel to the reference surface 71.
  • the reference surface 71 and the non-reference surface 72 have a plurality of inclination detection marks 13.
  • the marker 7B is the same as the marker 7A, except that the exposed surface of the upper portion 70B has surfaces with different heights on the outer peripheral side.
  • the marker 7 of the present embodiment is different from the embodiment 2A only in whether the reference surface 71 and the non-reference surface 72 are present in the lower portion 70B or the upper portion 70A.
  • the description of Embodiment 2A can be incorporated.
  • Embodiment 2C The present embodiment is a modification of the embodiment 2A, and is the same as the embodiment 2A unless otherwise specified.
  • FIG. 11 shows a schematic diagram of the marker of the present embodiment.
  • FIG. 11A is a plan view (front view) of the marker 8A viewed from the viewing side
  • FIG. 11B is a plan view (front view) of the marker 8B viewed from the viewing side.
  • the reference surface side is the viewing side, as in the above-described embodiment.
  • the marker 8A has a reference surface 81A in which a rectangular recognition mark 15 is arranged along the diagonal line of the reference surface 81A, as in Embodiment 1A.
  • the recognition mark 15 larger than the recognition mark 15 arranged in parallel with the outer peripheral side of 11 is arranged.
  • detection accuracy can be further improved by setting the recognition mark 15 larger.
  • the marker 8B has a rounded corner on the reference surface 81B, and the rectangular recognition mark 15 is arranged along the diagonal of the reference surface 81B on the reference surface 81B.
  • the recognition mark 15 larger than the recognition mark 15 arranged in parallel with the outer peripheral side of the reference surface 11 is arranged. Thus, detection accuracy can be further improved by setting the recognition mark 15 larger.
  • the marker 8 has a rectangular recognition mark 15 arranged on the reference surface 81 along the diagonal line of the reference surface 81.
  • the inclination detection marks 13 are arranged in parallel to the outer peripheral sides, the inclination detection marks 13 arranged at the four corners of the reference surface 81 and the corners of the recognition marks 15 can be arranged at a greater distance. Thereby, when detecting the recognition mark 15, it becomes difficult to be influenced by the inclination detection mark 13, for example, and detection with higher accuracy is possible.
  • the marker 8 is arranged such that, for example, the marker 8 is rotated by arranging the inclination detection marks 13 arranged at the four corners of the non-reference surface 62 at a distance from the corner of the reference surface 81. In this case, the detection of the tilt detection mark 13 is less affected by the shadow formed by the corner of the reference surface 81, and more accurate detection is possible.
  • the manufacturing method of the marker of the present invention is not particularly limited.
  • the marker of the present invention may be manufactured as a single unit and fixed to the moving body before use.
  • the marker of the present invention can also be manufactured by integrally molding the moving body and the marker when the moving body is formed.
  • the marker of the present invention can also be manufactured by forming the tilt detection mark and optionally the recognition mark on the moving body.
  • the manufacturing method of the present invention includes the step of forming the tilt detection mark on the main body and the step of forming the recognition mark optionally.
  • the main body is, for example, a moving body as described above.
  • the formation method of the said inclination detection mark and the said recognition mark is not restrict
  • the inclination of the recognition mark such as the AR can be accurately detected by having the plurality of inclination detection marks under the conditions without mounting the VMP. be able to.
  • the present invention does not require the VMP, so that the cost can be reduced and application to various fields is possible.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'objectif de la présente invention est de réaliser un nouveau marqueur dont l'inclinaison peut être détectée avec un degré élevé de précision sans installer un VMP. Un marqueur (1) selon la présente invention comprend un corps principal et est caractérisé en ce que : le corps principal comprend une surface de référence (11) exposée sur un côté de reconnaissance visuelle, et au moins une surface de non-référence (12); une pluralité de marques de détection d'inclinaison (13) sont disposées sur la surface de référence (11) et/ou les surfaces de non référence (12); la pluralité de marques de détection d'inclinaison (13) comprennent quatre marques de détection d'inclinaison (13) positionnées sur le même plan virtuel; les quatre marques de détection d'inclinaison (13) sont positionnées sur au moins deux surfaces mutuellement différentes parmi la surface de référence (11) et ladite au moins une surface de non référence (12); et le plan virtuel est non parallèle par rapport à la surface de référence (11).
PCT/JP2019/002738 2018-02-02 2019-01-28 Marqueur Ceased WO2019151182A1 (fr)

Applications Claiming Priority (2)

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JP2018-017355 2018-02-02
JP2018017355A JP2019132805A (ja) 2018-02-02 2018-02-02 マーカ

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WO2019151182A1 true WO2019151182A1 (fr) 2019-08-08

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02264804A (ja) * 1989-04-06 1990-10-29 Nec Corp 位置決めマーク
JPH1163952A (ja) * 1997-08-21 1999-03-05 Nippon Steel Corp 三次元形状計測用ターゲットおよび視準面の傾き測定方法
JP2003042726A (ja) * 2001-08-03 2003-02-13 Topcon Corp 校正用被写体
US20060184013A1 (en) * 2004-12-14 2006-08-17 Sky-Trax Incorporated Method and apparatus for determining position and rotational orientation of an object
JP2014035340A (ja) * 2012-08-10 2014-02-24 Ohbayashi Corp 建設部材の設置精度の測定システム及び方法
JP2014199189A (ja) * 2013-03-29 2014-10-23 ダンロップスポーツ株式会社 マーカーが固着された移動体
JP2016224485A (ja) * 2015-05-26 2016-12-28 国立大学法人 千葉大学 マーカーの解析方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02264804A (ja) * 1989-04-06 1990-10-29 Nec Corp 位置決めマーク
JPH1163952A (ja) * 1997-08-21 1999-03-05 Nippon Steel Corp 三次元形状計測用ターゲットおよび視準面の傾き測定方法
JP2003042726A (ja) * 2001-08-03 2003-02-13 Topcon Corp 校正用被写体
US20060184013A1 (en) * 2004-12-14 2006-08-17 Sky-Trax Incorporated Method and apparatus for determining position and rotational orientation of an object
JP2014035340A (ja) * 2012-08-10 2014-02-24 Ohbayashi Corp 建設部材の設置精度の測定システム及び方法
JP2014199189A (ja) * 2013-03-29 2014-10-23 ダンロップスポーツ株式会社 マーカーが固着された移動体
JP2016224485A (ja) * 2015-05-26 2016-12-28 国立大学法人 千葉大学 マーカーの解析方法

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