JP2019042956A - Method of producing marker unit - Google Patents

Abstract

To provide a method of producing a marker unit capable of preventing occurrence of a gap with respect to plural protruded parts in an attitude determination section and forming an apex angle part arranged symmetrically with two color resins.SOLUTION: In a marker unit that is produced by two-color molding of this invention, an upper substrate 20 is disposed above a lower substrate 10; the upper substrate includes an exposed part 21 exposing the lower substrate; an attitude determination section 30 is included in the exposed part; the attitude determination section includes consecutive plural protruded parts; and each of the protruded parts includes a ridge line parallel to other ridge lines, a first region including a first inclined plane with an apex as the ridge line on one side, and a second region including a second inclined plane with an apex as the ridge line on the other side. A method of producing the marker unit includes: a first molding step of molding the lower substrate and the first region using first resin and a first mold; and a second molding step of molding the upper substrate and the second region with respect to the lower substrate using second resin and a second mold. In the first and second molding steps, used are the first mold and the second mold that relatively narrow down a pitch of the ridge lines of the protruded parts.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a method of manufacturing a marker unit.

  In the fields of Augmented Reality (hereinafter, also referred to as “AR”) and robotics, so-called visual recognition markers are used to recognize the position, posture, and the like of an object. For example, an AR marker which is a two-dimensional code is generally used as the marker. The AR marker is generally represented graphically on the substrate. When the AR marker is detected by a detection device such as a camera, the image of the figure detected by the detection device changes depending on the inclination of the AR marker with respect to the detection device. Based on this changed image, the inclination angle (rotation angle) of the AR marker with respect to the detection device is detected. However, only the AR marker has a problem that the detection accuracy of the tilt angle is not sufficient.

  On the other hand, high accuracy markers equipped with VMP (variable moire pattern) excellent in detection accuracy have been reported. In the VMP, the shape and the position of the image that appears are displaced according to the angle viewed from the detection device. The high precision marker generally has circles serving as measurement reference at the four corners of a square substrate, and the VMP is disposed in the area surrounded by the four circles. In the high accuracy marker, first, a circle that is a measurement reference at the four corners is detected, whereby the measurement area is grasped, and subsequently, the VMP in the measurement area is detected. However, although the detection accuracy of the angle is improved by the measurement standard, the rotation angle may be missed.

  Therefore, a marker on which the AR, the VMP, and the measurement reference are mounted is also reported (Patent Document 1). However, depending on this marker, when the marker is detected by the detection device, there is a problem that the direction of the marker can not be determined only from the image.

JP, 2012-145559, A

  Then, in the marker unit which mounts the above markers, the form which provides an attitude | position determination part is examined. The posture determination unit is, for example, for determining the posture of the object on which the marker unit is disposed. In the posture determination unit, a plurality of convex portions are formed in parallel, and each convex portion has a ridge line and two inclined surfaces whose apexes are the ridge line. Then, among the plurality of convex portions, the central reference convex portion is formed of black resin, and the other convex portions are formed of white resin from the ridge line to the reference convex portion, and the ridge line to the reference convex portion The other side is made of black resin. That is, the respective convex portions are formed of a white resin on the half near the center and a black resin on the other half, and a vertex is formed by superimposing both of them. According to the marker unit, the orientation of the marker unit can be determined from the appearance of the inclined surface formed of white resin and the inclined surface formed of black resin in the posture determination unit.

  However, in the case where the posture determination unit is formed by two-color molding, the reason is that half of the convex portion is formed of the first color resin (for example, black resin) and the other half is formed of the second color resin. Although it is unclear, there is a problem that the apex of the formation portion of the second color resin (for example, white resin) does not reach the apex of the formation portion of the first color resin. Regarding the posture determination unit in the marker unit, if a convex portion in which the shape of the apex portion including the apex is aligned is formed of the resin of the first color and the resin of the second color, for example, from the one direction Only the color of the resin of the color (for example, black resin) can be confirmed, and from the other direction, only the color of the resin of the second color (for example, white resin) should be able to be confirmed. However, as described above, when the apex of the formation portion of the second color resin (for example, white resin) does not reach the apex of the formation portion of the first color resin, the one color of the resin of the first color is Even if only the color (for example, black resin) can be confirmed, not only the resin for the second color (for example, white resin) but also the color of the resin for the first color (for example, black resin) ) Will be confirmed. This leads to a reduction in accuracy in determining the orientation of the marker unit.

  Further, as a method of forming the posture determination portion, there is also a method of separately preparing a molded body of white resin and a molded body of black resin and fitting them together. However, in this method, there is a problem that a gap is generated between the molded body of white resin and the molded body of black resin at the apex of the convex portion, and as a result, in the determination of the direction of the marker unit Decreases.

  Therefore, the present invention provides, for example, a method of manufacturing a marker unit capable of preventing generation of a gap and forming symmetrically aligned apexes of two color resins with respect to a plurality of convex portions in the posture determination unit. Intended to be provided.

In order to achieve the above object, a method of manufacturing a marker unit of the present invention is:
A method of manufacturing a marker unit including a lower substrate and an upper substrate by two-color molding,
The marker unit is
The upper substrate is disposed on the lower substrate,
The upper substrate has an exposed portion to which the lower substrate is exposed,
A posture determination unit in the exposed portion;
The posture determination unit
It has a plurality of continuous projections,
Each said convex part is
It has a ridgeline parallel to each other, a first region including one first inclined surface having the ridgeline as a vertex, and a second region including the other second inclined surface having the ridgeline as a vertex,
A first forming step of forming the lower substrate and the first region using a first resin and a first mold;
Including a second forming step of forming the upper substrate and the second region on the lower substrate using a second resin and a second mold,
In the first forming step and the second forming step, the first mold and the second mold are used to relatively narrow the pitch of ridge lines of the convex portion.

  In the marker unit of the present invention, the formation of a gap is prevented for a plurality of convex portions in the posture determination unit by performing two-color molding using a mold that relatively narrows the pitch of ridge lines of the convex portions. In addition, with respect to the ridge line of the convex portion, it is possible to form symmetrically aligned apexes with a resin of two colors. Therefore, according to the marker unit of the present invention, the detection of the posture determination unit can accurately determine the direction of the marker unit.

FIG. 1A is a plan view seen from above the marker unit, and FIG. 1B is a cross-sectional view of the marker unit. FIG. 2A is a plan view of the posture determination unit in the marker unit as viewed from above, and FIGS. 2B and 2C are cross-sectional views of the posture determination unit. FIG. 3 is a cross-sectional view showing another example of the posture determination unit. FIG. 4 (A) is a cross-sectional view showing an example of the first mold in the manufacturing method of the present invention, and FIG. 4 (B) is a cross-sectional view showing an example of the second mold in the manufacturing method of the present invention is there. FIG. 5A and FIG. 5B are cross-sectional views of posture determination units with different pitches. FIG. 6 is a cross-sectional view of the posture determination unit as in FIG. 2 (C).

  In the method for manufacturing a marker unit according to the present invention, for example, any one of the plurality of convex portions is a reference convex portion, and is formed of the first resin, and the other convex portions are the reference The region on the convex portion side is the second region.

  In the method of manufacturing a marker unit according to the present invention, for example, in the first mold, the first resin is introduced into a region where the first region of the convex portion is formed per one convex portion of the posture determination unit. And a second mold for closing the upper portion of the first region of the convex portion, and It has a piece which forms a cavity in which the 2nd resin is introduced in a field used as the 2nd field of a convex part adjacent to the convex part.

  In the method of manufacturing a marker unit according to the present invention, for example, the ridge line of each convex portion in the posture determination unit is lower than the upper surface of the upper substrate.

  In the marker unit of the present invention, for convenience, the viewing side is referred to as "upper direction", and the opposite side is referred to as "down direction". For this reason, in the marker unit of the present invention, the "upper substrate" is a substrate on the viewing side, and the "lower substrate" is a substrate positioned downward with respect to the upper substrate. Also, “edges parallel” includes the meaning of being substantially parallel, and means that, for example, the angle of the other edge with respect to one edge is within ± 5 °, preferably 0 °.

  Next, an embodiment of the present invention will be described using the drawings. The present invention is not limited or limited at all by the following embodiments. In each figure, the same reference numerals are given to the same parts. In the drawings, for convenience of explanation, the structure of each part may be appropriately simplified and shown, and the dimensional ratio etc. of each part is not limited to the conditions of the drawing. Hereinafter, in the laminate including the lower substrate and the upper substrate, the lower substrate side is referred to as the downward direction, and the upper substrate side is referred to as the upward direction.

  First, an example of the basic configuration of a marker unit manufactured by the method of manufacturing a marker unit of the present invention is shown in FIG. FIG. 1A is a plan view of the marker unit 1 viewed from the top side, and FIG. 1B is a cross-sectional view of the marker unit 1 viewed from the I-I direction. The marker unit 1 is a laminate including a lower substrate 10 formed of a first resin and an upper substrate 20 formed of a second resin, and the upper substrate 20 is disposed on the lower substrate 10 by integral molding. .

  The marker unit 1 has four detection reference parts 12 at four corner parts as detected parts that can be detected from the upper surface side. The upper substrate 20 has a through hole 22 to which the lower substrate 10 is exposed. The detection reference portion 12 is a region on the upper surface side of the lower substrate 10, and is exposed to the upper surface side of the marker unit 1 in the through hole 22 of the upper substrate 20. For example, as shown in FIG. 1, the lower substrate 10 has a circular convex portion protruding upward at a position to be the detection reference portion 12, and the convex portion is in the through hole 22 of the upper substrate 20. It may be located, and the upper surface of the convex part may be the detection reference part 12.

  The marker unit 1 has an exposed portion 21 (also referred to as a through hole) to which the lower substrate 10 is exposed, and has a posture determination portion 30 in the exposed portion 21 as a detected portion that can be detected from the upper surface side. The posture determination unit 30 is located between the detection reference units 12. The posture determination unit 30 has a plurality of continuous convex portions 31.

  FIG. 2 shows an enlarged view of the posture determination unit 30 in the marker unit 1. FIG. 2A is a plan view seen from the upper surface side of the posture determination unit 30 in the marker unit 1, and FIG. 2B is a cross-sectional view seen from the II-II direction of FIG. FIG. 2 (C) is a cross-sectional view showing a part (X region) of the posture determination unit 30 in FIG. 2 (B). The posture determination unit 30 is formed on the upper surface side of the lower substrate 10 and has a plurality of continuous convex portions 31. Each convex portion 31 has a ridge line 313 parallel to each other, and a first region 311 including one inclined surface (first inclined surface) 3111 having the ridge line 313 as a vertex, and the other inclined surface having the ridge line 313 as a vertex And a second region 312 including a (second inclined surface) 3121. The plurality of convex portions 31 have convex portions 31A spreading in the A direction and convex portions 31B spreading in the B direction with reference to the central convex portion 31C. In the convex portion 31A and the convex portion 31B, with the ridge line 311 as the vertex, the convex portion 31C side serving as a reference is the second region 312 including the second inclined surface 3121 and the opposite inclined surface is the first inclined surface 3111. The first region 311 includes the The convex portion 31A and the convex portion 31B have the same configuration except that the directions of the first region 311 and the second region 312 are opposite. The convex portion 31C as a reference is not particularly limited, and for example, is formed integrally with the lower substrate 10 by the first resin.

  As shown in FIG. 2C, the convex portion 31 includes a first region 311 including a first inclined surface 3111 having a ridge line 313 as a vertex, and a first region including a second inclined surface 3121 having a ridge line 313 as a vertex. And 312. The convex portion 31 may be formed directly on the lower substrate 10, or may be formed on the lower substrate 10 via the connecting portion 32, as shown in FIG. 2 (C). Specifically, as shown in FIG. 2C, the lower substrate 10, the portion 321 of the connecting portion 32, and the first region 311 of the convex portion 31 are integrally formed of the first resin. The second region 312 of the convex portion 31 and the part 322 of the connecting portion 32 are integrally formed by the second resin.

  Although each opposing surface of the 1st field 311 and the 2nd field 312 has become a field perpendicular to ridgeline 313, convex part 31 in Drawing 2 is an example, and the present invention is not restricted to this. . As a specific example, as shown in FIG. 3, the respective opposing surfaces may be inclined toward the second inclined surface 3121 of the second region 312.

  The marker unit 1 is installed, for example, on a mounted body such as a robot, a construction device, an article of clothing, and a mount attached to them.

  Next, a method of manufacturing the marker unit 1 shown in FIG. 1 will be described as an example of the manufacturing method of the present invention.

  First, a first molding process using a first resin and a first mold is performed. The first molding step includes molding the lower substrate 10 by using the first resin and the first mold, and also includes a first inclined surface 3111 of the convex portion 31 on the upper surface side of the lower substrate 10. The region 311 is a step of forming.

  In the first molding step, the first mold can be set to form a cavity into which the first resin is introduced in a region formed by the first resin in the marker unit 1. The first mold may be, for example, in a form as shown in FIG. 4 (A). FIG. 4A is a cross-sectional view showing an outline of a first mold corresponding to the posture determination unit 30 in the marker unit 1 shown in FIG. 2B. As shown in FIG. 4A, the first mold has a piece set 41 corresponding to the convex portion 31 of the posture determination unit 30. The piece set 41 includes a piece forming a cavity into which the first resin 50 is introduced in the first region 311 of the convex portion 31 per one convex portion 31, and a region which becomes the second region 312 of the convex portion 31. It is a set with the block 412 to block. By arranging the first mold and introducing the first resin 50 into the cavity in the first mold, the lower substrate 10, the part 321 of the connecting part 32, and the first part of the convex part 31 can be obtained. The region 311 is integrally formed. At this time, it is possible to degas the gas generated at the time of molding of the first resin 50 from between the pieces 411 and 412 in the piece set 41.

  Next, after the first molding step, a second molding step using the second resin and the second mold is performed. In the second molding step, the second region 312 including the upper substrate 20 and the second inclined surface 3121 of the convex portion 31 with respect to the lower substrate 10 by using the second resin and the second mold. And molding.

  In the second molding step, the second mold can be set to form a cavity into which the second resin is introduced in a region formed by the second resin in the marker unit 1. The second mold may have, for example, a form as shown in FIG. 4 (B). FIG. 4B is a cross-sectional view showing an outline of a second mold corresponding to the posture determination unit 30 in the marker unit 1 shown in FIG. 2B. As shown in FIG. 4B, the second mold has a piece 42 corresponding to the convex portion 31 of the posture determination unit 30. The piece 42 closes the upper side of the first region 311 of the convex portion 31 and forms a cavity into which the second resin 60 is introduced in the region to be the second region 312 of the convex portion 31 adjacent to the convex portion 31. It is. By arranging the second mold and introducing the second resin 60 into the cavity in the second mold, the upper substrate 20 and a portion 322 of the connecting portion 32 with respect to the lower substrate 10 are provided. , And the second region 312 of the convex portion 31 are simultaneously formed. The portion 322 of the connecting portion 32 and the second region 312 of the convex portion 31 are integrally molded. At this time, it is possible to degas the gas generated at the time of molding of the second resin 60 from between the adjacent pieces 42 and as shown by the arrows in FIG. 4B.

  And in the manufacturing method of the present invention, by setting the first mold and the second mold so that the pitch of the ridge lines 313 becomes relatively narrow with respect to the convex portion 31, the convex portion 31 can be obtained by It is possible to prevent the occurrence of a gap, and to form apexes that are symmetrically aligned between the first resin and the second resin with respect to the ridge line 311 of the convex portion 31. “The pitch becomes relatively narrow” means, for example, that the posture determination unit of an arbitrary pitch is made narrower than the arbitrary pitch, whereby a more uniform apex of the convex portion is obtained. Corners can be formed. As a specific example, FIG. 5 is given. In FIG. 5, (A) and (B) are cross-sectional views of the posture determination unit. The posture determination unit 30 shown in FIG. 5B is a cross-sectional view of the same posture determination unit 30 as in FIG. 2B, and the pitch P1 thereof is compared with the pitch P0 of the posture determination unit 30 in FIG. The angles of the apexes forming the ridge line 313 of the convex portion 31 are the same except for the narrowing. Therefore, the posture determination unit 30 in FIG. 5B can increase the number of piece sets in the first mold and the number of pieces in the second mold for forming the convex portions 31. As a result, the number of gaps between the pieces increases, so that more efficient gas removal becomes possible. By more efficiently degassing, the first resin and the second resin can be more efficiently filled in the area to be the apex of the convex portion 31. In particular, the fillability of the second resin can be improved.

The size of the posture determination unit 30 is not particularly limited, and for example, the following sizes can be exemplified in FIG. FIG. 6 is a cross-sectional view showing a part of the same posture determination unit 30 as FIG. 2C.
Pitch of P1 attitude judgment part: 1.2mm
Q Height from bottom of lower substrate 10 to top of convex part 31: 2.4 mm
R Thickness of lower substrate 10: 0.8 mm
S Height of convex part 31: 0.6 mm

  The combination of the first resin and the second resin is not particularly limited, and in order to function as the posture determination unit, it is preferable that the combination be a member that can distinguish both. It is preferable that, for example, the two colors are different, that is, the color in which the contrast difference occurs is preferable. As a specific example, the first resin forming the lower substrate is, for example, black, and the second resin forming the upper substrate is, for example, white. The first resin and the second resin may be, for example, a colored resin containing a coloring agent (for example, a master batch, a dry color, etc.) in a base resin. The base resin is, for example, polycarbonate, acrylic resin such as polymethyl methacrylate (PMMA), cycloolefin polymer (COP), cycloolefin copolymer (COC), acrylonitrile-butadiene-styrene copolymer resin (ABS), Polyethylene terephthalate (PET) and the like can be mentioned.

  Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. The configurations and details of the present invention can be modified in various ways that can be understood by those skilled in the art within the scope of the present invention.

  As described above, the marker unit of the present invention performs two-color molding using a mold that relatively narrows the pitch of ridge lines of the convex portion, thereby forming a plurality of convex portions in the posture determination unit. It is possible to prevent the occurrence of a gap and to form symmetrically aligned apexes with a two-color resin. Therefore, according to the marker unit of the present invention, the detection of the posture determination unit can accurately determine the direction of the marker unit.

Reference Signs List 1 marker unit 10 lower substrate 12 detection reference unit 20 upper substrate 22 through hole 30 posture determination unit 31 convex portion 311 first region 3111 first inclined surface 312 second region 3121 second inclined surface 313 ridge line 32 connecting portion

Claims (4)

A method of manufacturing a marker unit including a lower substrate and an upper substrate by two-color molding,
The marker unit is
The upper substrate is disposed on the lower substrate,
The upper substrate has an exposed portion to which the lower substrate is exposed,
A posture determination unit in the exposed portion;
The posture determination unit
It has a plurality of continuous projections,
Each said convex part is
It has a ridgeline parallel to each other, a first region including one first inclined surface having the ridgeline as a vertex, and a second region including the other second inclined surface having the ridgeline as a vertex,
A first forming step of forming the lower substrate and the first region using a first resin and a first mold;
Including a second forming step of forming the upper substrate and the second region on the lower substrate using a second resin and a second mold,
A marker unit characterized by using the first mold and the second mold which relatively narrows the pitch of ridge lines of the convex portions in the first forming step and the second forming step. Production method. Of the plurality of convex portions,
Any one convex portion is a reference convex portion, and is formed of the first resin,
The method according to claim 1, wherein in the other convex portion, the region on the reference convex portion side is the second region. The first mold includes a piece for forming a cavity into which the first resin is introduced in a region where the first region of the convex portion is formed per one convex portion of the posture determination portion, and the convex portion A set of pieces that block the area to be the second area of the
The second mold closes the upper side of the first region of the convex portion and forms a cavity into which the second resin is introduced in the region to be the second region of the convex portion adjacent to the convex portion The manufacturing method of Claim 1 or 2 which has these. The manufacturing method according to any one of claims 1 to 3 in which the ridgeline of said each convex part in said posture judgment part is lower than the upper surface of said upper substrate.

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