JPWO2020109904A5

JPWO2020109904A5 -

Info

Publication number: JPWO2020109904A5
Application number: JP2021525186A
Authority: JP
Publication date: 2022-06-07
Anticipated expiration: 2039-11-14

Description

本発明の一実施形態は、再帰反射面を有するベースと；そしてベースの上に適合され、そして固定され、そして複数の開口部を備えるカバーであって、再帰反射面が開口部を介して見える、カバーと；を有することを特徴とする位置決めマーカーを提供する。
通常、開口部は直円錐形の錐台である。円錐台は、それぞれの第１の形状および第１の形状よりも小さい第２の形状で終端し得、第２の形状は、カバーがベースに固定される場合に再帰反射面に接触し、それぞれの再帰反射装置を形成する。それぞれの再帰反射装置は、平面上に配置することができる。 One embodiment of the invention is a base having a retroreflective surface; and a cover fitted and fixed on the base and having multiple openings, the retroreflective surface visible through the openings. , A cover and; provide a positioning marker characterized by having.
Usually, the opening is a straight conical frustum. The truncated cone can be terminated with a first shape and a second shape smaller than the first shape, the second shape contacting the retroreflective surface when the cover is fixed to the base, respectively. Form a retroreflective device. Each retroreflective device can be arranged on a plane.

一般的に、さらなる開口部が直円錐台である。
ベースが中央開口を含み、カバーがベースに固定された場合に、直円錐台が中央開口を貫通する。
代替的に、カバーから突出する支持体を有し、支持体は、第２のシートに適合するように構成された、第２の平面とアライメントした支持平面が存在しうる。 Generally, an additional opening is a truncated cone .
A truncated cone penetrates the central opening when the base includes a central opening and the cover is secured to the base.
Alternatively, there may be a support plane aligned with the second plane, having a support protruding from the cover, the support being configured to fit the second sheet.

（概要）
拡張現実環境や他の環境では、使用されているシステムのさまざまな要素の標準フレームを登録する必要があることがよくある。たとえば、拡張現実の場合、拡張現実システムのユーザの頭に取り付けられた組立体の標準フレームは、通常、組立体を介して見られているシーンに位置合わせされる必要がある。 (Overview)
In augmented reality and other environments, it is often necessary to register standard frames for various elements of the system used. For example, in the case of augmented reality, the standard frame of the assembly mounted on the user's head of the augmented reality system usually needs to be aligned with the scene being viewed through the assembly.

位置決めマーカーは、通常、中央空隙を備えた長方形の平面シートの形のベースを含み、シートは再帰反射面を有する。マーカーカバーがベースに取り付けられて固定されており、カバーには、ベースの再帰反射面が見える複数の開口部がある。カバーの開口部は、通常、直円錐形の錐台の形をしており、開口部の円錐形により、開口部によって再帰反射面に形成された再帰反射器は、上記の角度の大きな変化が発生した場合でも可視化される。 Positioning markers typically include a base in the form of a rectangular flat sheet with a central void , the sheet having a retroreflective surface. A marker cover is attached and secured to the base, which has multiple openings through which the retroreflective surface of the base is visible. The opening of the cover is usually in the shape of a frustum with a straight cone , and the conical shape of the opening allows the retroreflector formed on the retroreflective surface by the opening to undergo the above-mentioned large changes in angle. Even if it occurs, it will be visualized.

再帰反射器は、通常、所与の平面内にあるように構成され、マーカーによって提供される追跡を強化するために、マーカーは、所与の平面とは異なる平面に配置されたさらなる再帰反射器を含み得る。さらなる再帰反射器は、カバー内に直円錐台の形でさらなる開口部を提供することによって形成することができ、さらなる開口部の錐台は、上記の錐台の深さとは異なる深さを有する。カバーのすべての開口部を円錐台の形にすることで、角度の大きな変化が発生した場合でも、開口部によって形成された再帰反射器を可視化できる。 The retroreflector is usually configured to be in a given plane, and the marker is placed in a different plane than the given plane to enhance the tracking provided by the marker. May include. An additional retroreflector can be formed by providing an additional opening in the cover in the form of a truncated cone , the additional opening frustum having a depth different from the depth of the above-mentioned frustum. .. By making all the openings of the cover in the shape of a truncated cone, the retroreflector formed by the openings can be visualized even in the event of a large change in angle.

図３Ａは、本発明の一実施形態による、マーカー１８の概略上面図であり、図３Ｂは、上から見たマーカーの概略分解図であり、図３Ｃは、下から見たマーカーの概略分解図である。明確化のため、図は１組の直交ｘｙｚ軸上に描かれている。開示された実施形態では、マーカー１８は、ほぼ長方形の形状を有する平坦な平面シート８０と、シート内に形成されたほぼ長方形の空隙８４とを含む。例として、シート８０の上面８６は、ｘｙｚ軸のｘｙ平面上にあると仮定され、上面は、式（１）によって与えられる式を有すると仮定される：
ｚ＝０（１） 3A is a schematic top view of the marker 18 according to an embodiment of the present invention, FIG. 3B is a schematic exploded view of the marker viewed from above, and FIG. 3C is a schematic exploded view of the marker viewed from below. Is. For clarity, the figure is drawn on a set of orthogonal xyz axes. In the disclosed embodiments, the marker 18 comprises a flat flat sheet 80 having a substantially rectangular shape and a substantially rectangular void 84 formed within the sheet. As an example, the top surface 86 of the sheet 80 is assumed to be on the xy plane of the xyz axis, and the top surface is assumed to have the equation given by equation (1):
z = 0 (1)

カバー９０は、カバー内に、カバーの頂部面および底部面を貫通する複数の開口部９８を有する。開口部９８は互いに実質的に合同であり、各開口部は、平面の上面９４内の第１の開口部１０６、および第１の開口部１０６よりも小さく、本明細書では小さい開口部１０２と呼ばれる、平面の下面９２内の第２の開口部１０２で終了する直円錐台の形態を有する。通常、図に示され、以下の説明において明確化と単純化のために仮定されるように、開口部１０２および１０６は円形である。しかしながら、本発明の実施形態は、規則的または不規則な多角形などの開口部の他の形状を含み、そのような形状はすべて、本発明の範囲内に含まれると想定される。 The cover 90 has a plurality of openings 98 in the cover that penetrate the top and bottom surfaces of the cover. The openings 98 are substantially congruent with each other, and each opening is smaller than the first opening 106 and the first opening 106 in the top surface 94 of the plane, with the smaller openings 102 herein. It has the form of a truncated cone , called, which ends at a second opening 102 in the lower surface 92 of the plane. The openings 102 and 106 are usually circular, as shown in the figure and assumed in the following description for clarity and simplification. However, embodiments of the invention include other shapes of openings, such as regular or irregular polygons, all of which are assumed to be within the scope of the invention.

カバー９０がベース８０に固定されると、カバーの平面の下面９２はベース８０の再帰反射上面と嵌合し、小さな円形開口部１０２はベース８０と接触し、本明細書では再帰反射器９６と呼ばれる再帰反射円９６を形成する。図は、カバー９０を１２個の開口部を有するものとして示しており、そのそれぞれを通して、ベース８０の再帰反射上面が見えるが、本発明の実施形態は、１２個より少ないまたは多い開口部を有し得ることが理解される。 When the cover 90 is fixed to the base 80, the lower surface 92 of the flat surface of the cover mates with the retroreflective upper surface of the base 80, and the small circular opening 102 contacts the base 80, with the retroreflector 96 herein. Form a retroreflector circle 96 called. The figure shows the cover 90 as having 12 openings, through which the retroreflective top surface of the base 80 is visible, but embodiments of the invention have less than or more openings than 12. It is understood that it can be done.

本発明者らは、小さな円形開口部１０２によって形成された再帰反射上面の画像を使用するマーカー１８の正確な追跡は、小さな円形開口部の互いに対する正確かつ一貫した位置決めに依存することを見出した。そのような正確で一貫した位置決めは、本発明の実施形態のように、カバーに開口部を別個に作成し、次にベース再帰反射面をカバーに取り付けることによって促進される。例えば、カバーの一辺が約５４ｍｍの正方形である実施形態では、開口部１０２および１０６の寸法の公差は＋／－１５０ミクロン以下であり、開口部を形成する錐台の角度は、０．５°以下の公差を有する。 We have found that accurate tracking of markers 18 using images of retroreflective top surfaces formed by the small circular openings 102 depends on accurate and consistent positioning of the small circular openings with respect to each other. .. Such accurate and consistent positioning is facilitated by creating a separate opening in the cover and then attaching the base retroreflective surface to the cover, as in embodiments of the present invention. For example, in an embodiment where one side of the cover is a square of about 54 mm, the dimensional tolerances of the openings 102 and 106 are +/- 150 microns or less, and the angle of the frustum forming the opening is 0.5 °. It has the following tolerances.

小さな円形開口部１０２、および開口部によって露出された再帰反射上面の区画は、式（１）によって与えられる式を有する単一の平面内にある。 The small circular opening 102 and the compartment of the retroreflection top surface exposed by the opening are in a single plane having the equation given by equation (1).

以下に説明するように、追加の開口部１３０および追加の再帰反射面１３４は、開口部１０２によって形成される式（１）で定義される再帰反射上面の区画の平面、とは異なる平面にある追加の再帰反射面の区画１３８を形成するように構成される。区画１３８は、式（１）の平面から凹んだまたは隆起したｘｙ平面にあるため、式（３）で与えられる式を有する：
ｚ＝ｎ（３）
ここで、ｎはゼロ以外の数値である。 As described below, the additional opening 130 and the additional retroreflective surface 134 are on a different plane than the plane of the retroreflective top surface section defined by equation (1) formed by the opening 102 . It is configured to form an additional retroreflective surface compartment 138. Since compartment 138 is in an xy plane recessed or raised from the plane of equation (1), it has the equation given in equation (3):
z = n (3)
Here, n is a numerical value other than zero.

図３Ａ、３Ｂ、３Ｃに示される実施形態では、区画１３８は、開口部１０２の平面から凹んでいるので、ｎは負の数である。 In the embodiments shown in FIGS. 3A, 3B and 3C, n is a negative number because the compartment 138 is recessed from the plane of the opening 102 .

追加の開口部１３０は、開口部９８と同様に、直円錐台として形成され、開口部は、カバー９０の下部の、下方に突き出た区画１４０に形成される。区画１４０では、開口部１３０は第１の円形開口部１４４を上面９４に備え、そして下方に突き出た区画１４０の下面に第２の、小さな、円形開口部１４８を備える。追加の開口部１３０によって形成された錐台は、開口部９８の錐台の深さとは異なる深さを有する。 The additional opening 130, like the opening 98, is formed as a truncated cone , the opening being formed in a downwardly protruding compartment 140 at the bottom of the cover 90. In compartment 140, the opening 130 comprises a first circular opening 144 on the top surface 94 and a second, smaller, circular opening 148 on the lower surface of the compartment 140 projecting downward. The frustum formed by the additional opening 130 has a depth different from the depth of the frustum of the opening 98.

マーカー１８が組み立てられると、区画１４０は、ベース８０の空隙８４を通って突出し、カバー保持器１１０の陥凹部分１５０に入る。追加のシート１３６は、その再帰反射面が最上部であり、陥凹部分１５０の上面に接合される。開口部１４８および陥凹部分１５０の上面は、マーカー１８が組み立てられ、その要素が所定の位置に固定されたときに、小さい円形開口部１４８が追加のシート１３６に接触し、円形区画１３８およびその再帰反射面が円形開口部によって露出され、追加の開口部１３０を通して見ることができる。円形区画１３８は、本明細書では、再帰反射器１３８とも呼ばれる。 When the marker 18 is assembled, the compartment 140 projects through the void 84 of the base 80 and enters the recess 150 of the cover cage 110. The retroreflective surface of the additional sheet 136 is the uppermost portion, and the additional sheet 136 is joined to the upper surface of the recessed portion 150. The upper surface of the opening 148 and the recess 150 is such that the small circular opening 148 contacts the additional sheet 136 when the marker 18 is assembled and its elements are fixed in place, the circular compartment 138 and its circular compartment 138 and its surface. The retroreflective surface is exposed by the circular opening and can be seen through the additional opening 130. Circular compartment 138 is also referred to herein as retroreflector 138.

凹んだ区画１３８を形成するカバー９０の追加の開口部１３０ではなく、カバー２９０は、隆起した追加の開口部２３０のための支持体２２８を備える。支持体２２８はカバー２９０より突出する。開口部９８に概略類似すると想定される開口部２３０は、第１の開口部２０２および第１の開口部よりも小さい第２の開口部２０６で終了する直円錐台である。 Instead of the additional opening 130 of the cover 90 forming the recessed compartment 138, the cover 290 comprises a support 228 for the raised additional opening 230. The support 228 projects from the cover 290. The opening 230, which is assumed to be substantially similar to the opening 98, is a truncated cone ending at a first opening 202 and a second opening 206 that is smaller than the first opening.

カバー９０は、例えば、型から製造され得る。カバーを製造するための他の方法は当業者には明らかであるが、方法は、小さな円形開口部１０２および１４８の互いに対する正確かつ一貫した位置決めを確実にするように選択すべきである。カバーの材料は、通常、ポリイミドなどの柔軟性のないプラスチックである。 The cover 90 can be manufactured, for example, from a mold. Other methods for manufacturing covers are apparent to those of skill in the art, but the method should be chosen to ensure accurate and consistent positioning of the small circular openings 102 and 148 relative to each other. The material of the cover is usually an inflexible plastic such as polyimide.

Claims

It is a positioning marker:
A base including a flat sheet configured on a first plane, wherein the flat sheet has a retroreflective surface;
A cover that is mounted and fixed on the base and has a plurality of openings, wherein the retroreflective surface is visible through the openings, the plurality of openings, the cover being the base. With a cover, which, when fixed, creates each retroreflector from the retroreflective surface in the first plane;
With one additional opening in the cover;
With one compartment supported by the cover and placed beneath the flat sheet;
The addition if the cover is secured to the base with one additional retroreflective surface configured in a second plane parallel to the first plane and separate from the first plane. With one additional sheet supported by said one compartment , where one retroreflective surface is visible through said one additional opening;
A positioning marker characterized by having.

The base has one opening formed in the sheet.
The additional opening of the base extends through the compartment supported by the cover and extends.
When the cover is secured to the base, the compartment supported by the cover projects through the opening of the base and one additional retroreflective surface contacts the protruding compartment.
The positioning marker according to claim 1.

The positioning marker according to claim 1, wherein the plurality of openings of the cover are truncated cones .

The truncated cone is terminated by a first surface opening and a second surface opening smaller than the first surface opening, the second surface opening having the cover fixed to the base. The positioning marker according to claim 3 , wherein when the retroreflector surface is contacted, each retroreflector is formed.

The positioning marker according to claim 3, wherein the additional opening of the cover is a truncated cone having a depth deeper than the depth of the plurality of truncated cones of the cover.

The positioning marker according to claim 1 , wherein each of the retroreflectors is arranged on a flat plane.

The retroreflective surface has a base flat surface, the cover having a cover flat surface that fits into the base flat surface when the cover is secured to the base, thereby each compartment of the opening. The positioning marker according to claim 1, wherein the cover is in contact with the retroreflective surface.

It is characterized by having a cover cage that is fixedly connected to the cover and configured to hold the base in fixed contact with the cover in order to secure the base to the cover. The positioning marker according to claim 1.

The base has one opening formed in the base, the cover has a first connecting element, and the cover cage is fitted with the first connecting element, thereby. It has a second connecting element that secures the cover to the cover cage and the base, and at least one of the connecting elements projects through the one opening of the base . The positioning marker according to claim 8 .

The positioning marker according to claim 8, wherein the additional sheet is mounted as an adhesive retroreflective tape that adheres to the internal surface of the cover holder.

The positioning marker according to claim 1, wherein the retroreflective surface has at least one of a retroreflective tape and a retroreflective paint.

The positioning marker according to claim 1, wherein each retroreflector has a center, and the center is formed on a square.

12. The aspect of claim 12, wherein when the cover is secured to the base, the additional retroreflective surface visible through the additional opening is symmetrical to the square. Positioning marker.

12. The positioning marker according to claim 12, wherein the distance between the retroreflectors on the square is asymmetric.

The positioning marker according to claim 1, wherein the second plane is recessed from the first plane.

A method for creating positioning markers:
A step of forming a retroreflective surface on a base including a flat sheet configured on a first plane; and a step of attaching a cover to the base and fixing the cover to the base, wherein the cover is: It has a plurality of the openings in which the retroreflective surface is visible through the openings, and the plurality of openings are respective retroreflectors from the retroreflective surface when the cover is fixed to the base. In the first plane, with the step;
With the step of providing one additional opening in the cover; and
With the step of placing one compartment supported by the cover and placed beneath the flat sheet;
If there is one additional retroreflective surface configured in a second plane parallel to the first plane and separate from the first plane, thereby fixing the cover to the base. With the step of providing an additional sheet supported by the one compartment, wherein the additional one retroreflective surface is visible through the additional one opening;
A method characterized by having.

The base has one opening formed in the sheet.
The additional opening in the cover extends through the compartment supported by the cover and extends.
When the cover is secured to the base, the compartment supported by the cover projects through the opening of the base and one additional retroreflective surface contacts the protruding compartment.
16. The method of claim 16.

The plurality of openings of the cover are right conical frustums .
The truncated cone is terminated at a first surface opening and a second surface opening that is smaller than the first surface opening, respectively, and the second surface opening is such that the cover is fixed to the base. When so, it contacts the retroreflector surface to form each retroreflector, and
16. The method of claim 16, wherein the additional opening of the cover is a truncated cone having a depth deeper than the depth of the plurality of truncated cones of the cover.

The retroreflective surface has a flat surface of the base, the cover having a flat surface of the cover that fits into the flat surface of the base when the cover is secured to the base, thereby each compartment of the opening. 16. The method of claim 16 , wherein the method is in contact with the retroreflective surface.

The step comprises providing a cover cage that is fixedly connected to the cover and configured to hold the base in fixed contact with the cover in order to secure the base to the cover.
The additional sheet is mounted as an adhesive retroreflective tape that adheres to the inner surface of the cover holder.
16. The method of claim 16 .

16. The method of claim 16 , wherein the retroreflective surface comprises at least one of a retroreflective tape and a retroreflective paint.

Each of the retroreflectors has a center, the center of which is formed on a square.
When the cover is secured to the base, the additional one retroreflective surface visible through the additional one opening is symmetrical to the square.
The spacing of the retroreflectors on the square is asymmetric,
16. The method of claim 16.