Estimation system, estimation method and program

Abstract

To improve the accuracy of detecting the position of a detection object or a pressure value.SOLUTION: An estimation system 1 includes an acquisition part 211, a specification part 212, and an estimation part 213. The acquisition part 211 acquires a plurality of pieces of detection information from a plurality of sensor elements 5 arranged on a surface along a detection surface. The specification part 212 performs specification processing for specifying a sensor element 5 that detects the largest pressure as the largest element from among the plurality of sensor elements 5 on the basis of the plurality of pieces of detection information. The estimation part 213 calculates a function of position and a pressure value in a prescribed direction on the basis of the detection information of the largest element and detection information of a group of sensor elements 5 arranged side by side with the largest element in the prescribed direction among the plurality of sensor elements 5, and performs estimation processing for estimating the position of the detection object on the detection surface on the basis of the function.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure generally relates to an estimation system, an estimation method, and a program, and more particularly to an estimation system, an estimation method, and a program for estimating the position of a detection target. [Background technology]

[0002] Patent Document 1 discloses a multi-layered tactile sensor. In the multi-layered tactile sensor of Patent Document 1, a first sensor unit in which sensor elements are arranged at multiple positions on a flexible printed circuit board, and a second sensor unit in which sensor elements are arranged at multiple positions on the flexible printed circuit board, are arranged in a multi-layered structure. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-38480 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, in a system using a tactile sensor (sensor element), it is desirable to improve the detection accuracy of the position or pressure value of the detection target.

[0005] The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide an estimation system, an estimation method, and a program that can improve the detection accuracy of the position or pressure value of a detection object. [Means for solving the problem]

[0006] An estimation system according to one aspect of the present disclosure estimates the position of a detection target on a detection surface. The estimation system includes an acquisition unit, an identification unit, and an estimation unit. The acquisition unit acquires multiple pieces of detection information from multiple sensor elements that detect pressure and are arranged on a surface along the detection surface. The identification unit performs an identification process to identify the sensor element that detected the greatest pressure as a maximum element from among the multiple sensor elements based on the multiple pieces of detection information. The estimation unit calculates a function of position in the predetermined direction and pressure value based on the detection information of the maximum element and detection information of a group of sensor elements among the multiple sensor elements that are aligned with the maximum element in the predetermined direction, and performs an estimation process to estimate the position of the detection target on the detection surface based on the function.

[0007] An estimation method according to one aspect of the present disclosure is a method for estimating the position of a detection target on a detection surface. The estimation method includes an acquisition step, an identification step, and an estimation step. In the acquisition step, multiple pieces of detection information are acquired from multiple sensor elements that detect pressure and are arranged on a surface along the detection surface. In the identification step, a sensor element that detected the greatest pressure is identified as a maximum element from among the multiple sensor elements based on the multiple pieces of detection information. In the estimation step, a function of position in a predetermined direction and pressure value is calculated based on the detection information of the maximum element and detection information of a group of sensor elements among the multiple sensor elements that are aligned with the maximum element in a predetermined direction, and the position of the detection target on the detection surface is estimated based on the function.

[0008] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the estimation method. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to improve the accuracy of detecting the position and pressure value of the detection target. [Brief explanation of the drawings]

[0010] [Figure 1]FIG. 1 is a schematic diagram showing the configuration of an estimation system according to the first embodiment. [Figure 2] FIG. 2 is a schematic diagram showing a sensor unit of the estimation system. [Figure 3] FIG. 3 is a graph showing a function determined by the estimation system. [Figure 4] FIG. 4 is a graph illustrating a gain used by the estimation system. [Figure 5] 5A and 5B are schematic diagrams showing examples of the structure of a sensor element. [Figure 6] 6A and 6B are schematic diagrams showing other structural examples of the sensor element. [Figure 7] FIG. 7 is a flowchart showing the operation of the estimation system. [Figure 8] FIG. 8 is a schematic diagram showing another example of a function determined by the estimation system of the embodiment. [Figure 9] FIG. 9 is a schematic diagram showing a sensor unit of an estimation system according to the second embodiment. [Figure 10] FIG. 10 is a flowchart showing the operation of the estimation system. DETAILED DESCRIPTION OF THE INVENTION

[0011] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Common elements in the embodiments described below are designated by the same reference numerals, and redundant descriptions of the common elements may be omitted. The following embodiments and modifications are merely a portion of the various embodiments of the present disclosure. Various modifications of the following embodiments and modifications may be made depending on the design, etc., as long as the object of the present disclosure can be achieved. The configurations of the modifications may also be combined as appropriate.

[0012] The drawings described in this disclosure are schematic diagrams, and the ratios of the sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios. Note that the arrows indicating the directions in the drawings are merely examples and are not intended to define the directions when using the estimation system 1. Furthermore, the arrows indicating the directions in the drawings are merely shown for the purpose of explanation and do not have any substance.

[0013] In this disclosure, "orthogonal (perpendicular)" refers not only to a state in which the angle between two objects is exactly 90 degrees, but also to a state in which two objects intersect within a certain range of difference. In other words, the angle between two objects that are perpendicular to each other falls within a certain range of difference from 90 degrees (for example, 10 degrees or less). In other words, "orthogonal" in this disclosure includes cases in which the angle between two objects is 80 degrees or more and 100 degrees or less.

[0014] (Embodiment 1) (1) Overview First, an outline of an estimation system 1 according to the first embodiment will be described with reference to FIGS.

[0015] 2, the estimation system 1 of the first embodiment is a system that estimates the position of a detection target A0 (or a measurement target) on a detection surface 6. Note that the term "surface" in the present disclosure includes not only flat surfaces but also curved surfaces.

[0016] As shown in FIG. 1, the estimation system 1 includes an acquisition unit 211, a specification unit 212, and an estimation unit 213.

[0017] The acquisition unit 211 acquires a plurality of pieces of detection information from a plurality of (25 in the example of FIG. 2) sensor elements 5 that are arranged on a surface (main surface 41) along the detection surface 6 and detect pressure.

[0018] The identifying unit 212 performs an identifying process to identify the sensor element 5 that detected the greatest pressure as the maximum element from among the plurality of sensor elements 5 based on the plurality of pieces of detection information.

[0019] The estimation unit 213 calculates a function F1 (see Figure 3) between the position in the predetermined direction and the pressure value based on the detection information of the largest element and the detection information of a group of sensor elements 5 that are aligned with the largest element in a predetermined direction (first direction D1 or second direction D2 in Figure 2) among the multiple sensor elements 5, and performs an estimation process to estimate the position of the detection object A0 on the detection surface 6 based on the function F1.

[0020] Furthermore, in the estimation process, the estimation unit 213 of the first embodiment estimates the pressure value (or pressure peak value) of the detection object A0 based on the function F1.

[0021] In a system in which a plurality of sensor elements are arranged on a surface and which estimates the position of a detection target on the detection surface, it is desirable to improve the detection accuracy of the position or pressure value of the detection target. When manufacturing a sensor unit in which a plurality of sensor elements are arranged on a surface, it is difficult to closely contact each sensor element due to the wiring pattern of each sensor element, the mounting structure and shape of each sensor element, etc., and gaps occur between the plurality of sensor elements. Because the detection target cannot be detected accurately in the gaps between the plurality of sensor elements, the gaps hinder improvement of detection accuracy.

[0022] According to the estimation system 1 of the first embodiment, a function F1 between the position in a predetermined direction and the pressure value is calculated based on a plurality of pieces of detection information from a plurality of sensor elements 5, and the position and pressure value of the detection target A0 are estimated based on the function F1. As a result, the estimation system 1 of the first embodiment can accurately estimate the position and pressure value of the detection target A0 even if the pressure peak position P0 of the detection target A0 is in a gap between the plurality of sensor elements 5. In other words, according to the estimation system 1 of the first embodiment, it is possible to improve the detection accuracy of the position or pressure value of the detection target A0.

[0023] Furthermore, according to the estimation system 1 of embodiment 1, the detection accuracy is improved by calculating the function F1, and therefore the detection accuracy can be improved without increasing the number of sensor elements 5 or increasing the number of layers in the sensor unit 3. Therefore, according to the estimation system 1 of embodiment 1, it is possible to suppress problems such as an increase in measurement time, an increase in the defect rate due to the complication of the structure of the sensor unit 3, or a decrease in the flexibility of the sensor unit 3, which are caused by the complication of the structure of the sensor unit 3.

[0024] (2)Details The detailed configuration of the estimation system 1 according to the first embodiment will be described below with reference to FIGS.

[0025] (2.1) Estimation system configuration As shown in FIG. 1, the estimation system 1 includes an estimation device 2 and a sensor unit 3.

[0026] (2.2) Sensor section The sensor unit 3 is configured to be able to communicate with the estimation device 2. In this disclosure, "able to communicate" means that signals can be exchanged directly or indirectly via a network or a repeater, using an appropriate communication method such as wired communication or wireless communication. In the first embodiment, the sensor unit 3 communicates with the estimation device 2 via wired communication.

[0027] As shown in FIG. 2, the sensor unit 3 includes a substrate 4 and a plurality of sensor elements 5 (25 in the example of FIG. 2).

[0028] The substrate 4 is, for example, a flexible substrate in the shape of a rectangular plate. However, the substrate 4 may be a substrate that does not have flexibility. The substrate 4 has a main surface 41. A plurality of sensor elements 5 are mounted on the main surface 41.

[0029] The sensor element 5 is, for example, a capacitance-type sensor element whose capacitance changes according to the magnitude of pressure received by the pressure-receiving surface 51. The pressure-receiving surface 51 is configured to deform when subjected to pressure, with the amount of deformation increasing as the received pressure increases. The sensor element 5 is configured so that the magnitude of the capacitance changes according to the amount of deformation of the pressure-receiving surface 51, and the magnitude of the capacitance corresponds to the detection result of the magnitude of the pressure received by the pressure-receiving surface 51 (detected pressure). The sensor element 5 converts the magnitude of the capacitance into an electrical signal and outputs it to the estimation device 2, thereby outputting detection information including the detection result to the estimation device 2. Note that the estimation device 2 of embodiment 1 is capable of distinguishing the detection information output by each of the multiple sensor elements 5.

[0030] The detection surface 6 is a surface that extends along the main surface 41 of the substrate 4 and includes the pressure-receiving surface 51 of each of the plurality of sensor elements 5 .

[0031] The 25 sensor elements 5 of the first embodiment are arranged in a 5x5 matrix (or array). In the present disclosure, the X-axis direction in FIG. 2 is defined as the first direction D1, and the Y-axis direction in FIG. 2 is defined as the second direction D2. The first direction D1 and the second direction D2 are orthogonal to each other. In the sensor unit 3 of the first embodiment, five sensor elements 5 are arranged along the first direction D1, and five sensor elements 5 are arranged along the second direction D2. Note that the number and arrangement of the multiple sensor elements 5 are not limited to the example shown in FIG. 2; for example, the multiple sensor elements 5 may be arranged so as to be arranged in only one direction rather than in an array.

[0032] (2.3) Estimation device The estimation device 2 is, for example, a personal computer (PC). However, the estimation device 2 may be another information device such as a smartphone or a tablet. The estimation device 2 is configured to be able to communicate with the sensor unit 3.

[0033] As shown in FIG. 1, the estimation device 2 includes a processing unit 21, a storage unit 22, a display unit 23, and an operation unit 24.

[0034] The display unit 23 is, for example, a display device such as a liquid crystal display, etc. The display unit 23 is used to display the estimation result of the estimation unit 213, for example.

[0035] The operation unit 24 has a function of accepting user operations. The operation unit 24 is realized by, for example, a pointing device such as a mouse, a keyboard, a mechanical switch, or a combination of these. The operation unit 24 may be configured to accept operation commands by voice as input information by converting the voice uttered by the user into input information using voice recognition processing.

[0036] The estimation device 2 may include a touch panel display that functions as a display unit and an operation unit.

[0037] The storage unit 22 is, for example, a RAM (Random Access Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), etc. The storage unit 22 may also be a hard disk drive (HDD), a solid state drive (SSD), etc. The storage unit 22 stores, for example, information such as position information, identification information, and sensor characteristics of the plurality of sensor elements 5.

[0038] The processing unit 21 is mainly composed of a computer system having one or more processors and a memory. The functions of the processing unit 21 are realized by the processor of the computer system executing a program recorded in the memory or storage unit 22 of the computer system. The program may be recorded in the memory or storage unit 22, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0039] The processing unit 21 of the first embodiment has the functions of an acquisition unit 211, an identification unit 212, and an estimation unit 213. That is, the estimation system 1 includes the acquisition unit 211, the identification unit 212, and the estimation unit 213. Note that the acquisition unit 211, the identification unit 212, and the estimation unit 213 merely indicate functions realized by the processing unit 21, and do not necessarily indicate actual configurations.

[0040] The acquisition unit 211 acquires a plurality of pieces of detection information from a plurality of sensor elements 5 arranged on the main surface 41 of the substrate 4 of the sensor unit 3.

[0041] The identifying unit 212 performs an identifying process to identify the sensor element 5 that detected the greatest pressure as the maximum element from among the plurality of sensor elements 5 based on the plurality of pieces of detection information acquired by the acquiring unit 211 .

[0042] 2, the pressure peak position P0 of the detection object A0 is a position that overlaps with the sensor element 5A, and the pressure detected by the sensor element 5A is greater than the pressure detected by the other sensor elements 5. In the example of FIG. 2, the identification unit 212 identifies the sensor element 5A as the largest element from among the multiple sensor elements 5.

[0043] As an estimation process, the estimation unit 213 calculates a function F1 between the position and pressure value in a predetermined direction (first direction D1 and second direction D2) based on the detection information of the largest element identified by the identification unit 212 and the detection information of a group of sensor elements 5 aligned with the largest element in the predetermined directions (first direction D1 and second direction D2) among the multiple sensor elements 5. The estimation unit 213 of the first embodiment calculates a function F1 between the position and pressure value in the first direction D1 (X-axis direction) and a function F1 between the position and pressure value in the second direction D2 (Y-axis direction). In the first embodiment, a case is illustrated in which the function F1 calculated by the estimation unit 213 is a quadratic function. The function F1 in the X-axis direction can be expressed by the following formula (1), and the function F1 in the Y-axis direction can be expressed by the following formula (2).

[0044] [Number 1] f(x)=Ax 2 +Bx+C (1) [Number 2] f(y)=Dy 2 +Ey+F (2) "A" in equation (1) and "D" in equation (2) are negative numbers. A case where the estimation unit 213 of the first embodiment determines the function F1 of the position in the X-axis direction and the pressure value will be described below.

[0045] The estimation unit 213 obtains a function F1 of the position in the X-axis direction and the pressure value based on the detection information of the group of sensor elements 5 aligned with the largest element in the X-axis direction (sensor element 5A in the example of FIG. 2).

[0046] The estimation unit 213 determines a group of sensor elements 5 to be used for function fitting from among the plurality of sensor elements 5 (sensor elements 5B, 5C, 5D, and 5E in the example of FIG. 2) aligned with the largest element in the X-axis direction. Here, the number of sensor elements 5 used by the estimation unit 213 for fitting the n-th order function can be expressed by the following equation (3).

[0047] [Number 3] m≧n+2 (3) In formula (3), "m" is the number of sensor elements 5 included in the group of sensor elements 5 used by the estimation unit 213 for function fitting, and m is the number of sensor elements 5 including the largest element. Since the estimation unit 213 of embodiment 1 determines the quadratic function F1, the estimation unit 213 uses four or more sensor elements 5 including the largest element for function fitting. In embodiment 1, a case where the estimation unit 213 uses four sensor elements 5 for function fitting is illustrated as an example.

[0048] The estimation unit 213 determines four sensor elements 5 (a group of sensor elements 5) to be used for function fitting from among the multiple sensor elements 5. The estimation unit 213 determines the multiple sensor elements 5 to be used for function fitting in descending order of the pressure detected by the sensor elements 5. In the first embodiment, the estimation unit 213 determines the sensor elements 5 up to the fourth largest in the magnitude of the pressure detected by the sensor elements 5 as the multiple sensor elements 5 to be used for function fitting. In the example of FIG. 2, the estimation unit 213 determines the sensor element 5A, which is the largest element, and sensor elements 5B, 5C, and 5D as the group of sensor elements 5 to be used for function fitting.

[0049] Next, the estimation unit 213 obtains a function F1 by the least squares method based on the positions of the sensor elements 5A to 5D and the pressure values ​​detected by each of the sensor elements 5A to 5D. More specifically, the estimation unit 213 in the first embodiment obtains the function F1 by the following equation (4).

[0050]

number

[0051] The estimation unit 213 calculates "f(x)" so that "L" in the formula (4) is minimized. i )" is calculated as the function F1. i " is the pressure value detected by each sensor element 5. "G k " is a gain. That is, the estimation unit 213 of the first embodiment uses the gain "G k The function F1 is calculated by the least squares method weighted by ". The gain is a coefficient based on the sensor characteristics of the plurality of sensor elements 5. In other words, the estimation unit 213 of the first embodiment calculates the function F1 by the least squares method weighted based on the sensor characteristics of the plurality of sensor elements 5.

[0052] Fig. 4 is a graph illustrating the gain used by the estimation system. Lines L1, L2, and L3 in Fig. 4 each represent the pressure-capacitance characteristics of a sensor element having a different sensor characteristic. Information regarding the sensor characteristics of the multiple sensor elements 5 is stored in, for example, the storage unit 22.

[0053] As shown by lines L1 to L3 in FIG. 4, the pressure-capacitance characteristics of the sensor element differ depending on the sensor characteristics.

[0054] Line L1 shows the pressure-capacitance characteristics of a sensor element having sensor characteristics of Type 1. For example, as shown in Figures 5A and 5B, the sensor characteristics of a sensor element in which the capacitance changes depending on the change in contact area between dielectric 82 covering conductive member 83 and conductive member 81 are Type 1. In Type 1 sensor elements, the smaller the pressure applied to the pressure-receiving surface, the greater the slope of the change in capacitance.

[0055] Line L2 shows the pressure-capacitance characteristics of a sensor element having the second type of sensor characteristics. For example, as shown in Figures 6A and 6B, the sensor characteristics of a sensor element in which the capacitance changes with the change in film thickness of a dielectric 92 sandwiched between two conductive members 91 are of the second type. In the second type of sensor element, the greater the pressure applied to the pressure-receiving surface, the greater the gradient of the change in capacitance.

[0056] Line L3 shows the pressure-capacitance characteristics of a sensor element having a third type of sensor characteristic. For example, the sensor characteristic of a sensor element having a complex structure that combines the structure of the first type of sensor element and the structure of the second type of sensor element is the third type. In the third type of sensor element, when the pressure applied to the pressure-receiving surface is less than a predetermined value, the gradient of the change in capacitance becomes larger as the pressure increases. Also, in the third type of sensor element, when the pressure applied to the pressure-receiving surface is equal to or greater than a predetermined value, the gradient of the change in capacitance becomes smaller as the pressure increases.

[0057] Furthermore, the estimation unit 213 of the first embodiment determines a zone to be used for function fitting from among a plurality of zones (six in the example of FIG. 4) based on information on the capacitance of the sensor element 5 obtained from the detection information. Each zone is divided according to the capacitance of the sensor element 5. In the first embodiment, there are six zones, a first zone Z1 to a sixth zone Z6, corresponding to the capacitance of the sensor element 5. However, the number of zones, the width of the zones, and the like may be set as appropriate.

[0058] The first zone Z1 is a zone where the capacitance value of the sensor element 5 is equal to or greater than C0 and less than C1. The second zone Z2 is a zone where the capacitance value of the sensor element 5 is equal to or greater than C1 and less than C2. The third zone Z3 is a zone where the capacitance value of the sensor element 5 is equal to or greater than C2 and less than C3. The fourth zone Z4 is a zone where the capacitance value of the sensor element 5 is equal to or greater than C3 and less than C4. The fifth zone Z5 is a zone where the capacitance value of the sensor element 5 is equal to or greater than C4 and less than C5. The sixth zone Z6 is a zone where the capacitance value of the sensor element 5 is equal to or greater than C5 and less than C6.

[0059] The estimation unit 213 of the first embodiment determines a gain according to the sensor characteristics of the multiple sensor elements 5 and the identified zone. In other words, the estimation unit 213 determines a gain according to the sensor characteristics of the sensor elements 5 and the capacitance of the sensor elements 5. The estimation unit 213 of the first embodiment increases the gain for a zone with a steeper slope of the change in capacitance relative to a change in pressure. After determining the gain, the estimation unit 213 calculates a function F1 using equation (4). By calculating the function F1 using the least squares method with weighting based on the sensor characteristics of the multiple sensor elements 5, the influence of noise can be suppressed, and the detection accuracy of the position and pressure value of the detection target A0 can be further improved.

[0060] Then, as an estimation process, the estimation unit 213 estimates the position (or pressure peak position) and pressure value (or pressure peak value) of the detection target A0 in the X-axis direction based on the obtained function F1. More specifically, the pressure value of the vertex V1 in the obtained function F1 is "a xp”, that is, the maximum value of the function F1 is estimated as the pressure peak value in the X-axis direction. p " is estimated as the pressure peak position in the X-axis direction.

[0061] Note that point P5A in Figure 3 indicates the position of sensor element 5A in the X-axis direction and the pressure value detected by sensor element 5A. Point P5B indicates the position of sensor element 5B in the X-axis direction and the pressure value detected by sensor element 5B. Point P5C indicates the position of sensor element 5C in the X-axis direction and the pressure value detected by sensor element 5C. Point P5D indicates the position of sensor element 5D in the X-axis direction and the pressure value detected by sensor element 5D.

[0062] Next, the estimation unit 213 obtains a function F1 of the position and pressure value in the Y-axis direction, similar to the X-axis direction, and calculates the pressure peak position (y p ) and pressure peak value (a yp ) is estimated.

[0063] Then, the estimation unit 213 estimates the pressure peak value (a xp ) and the pressure peak value (a yp ) is estimated as the pressure peak value (or true pressure peak value) of the detection object A0 on the detection surface 6. Furthermore, the estimation unit 213 estimates the pressure peak position P0 of the detection object A0 on the detection surface 6 based on the pressure peak position (xp) in the X-axis direction and the pressure peak position (yp) in the Y-axis direction.

[0064] The estimation unit 213 of the first embodiment estimates the position of the detection target A0 based on the estimated pressure peak position P0. For example, the estimation unit 213 estimates the estimated pressure peak position P0 as the position of the detection target A0. Furthermore, the estimation unit 213 of the first embodiment estimates the pressure value of the detection target A0 based on the estimated pressure peak value (true pressure peak value). For example, the estimation unit 213 estimates the estimated pressure peak value as the pressure value of the detection target A0.

[0065] (3) Operation of the estimation system Next, the operation of the estimation system 1 will be described with reference to FIG.

[0066] The estimation system 1 acquires (step S1) measurement values ​​(i.e., detection information) of the multiple sensor elements 5. Next, the estimation system 1 identifies, from among the multiple sensor elements 5, the sensor element 5 that detects the maximum pressure (i.e., the maximum capacitance) (step S2).

[0067] Next, the estimation system 1 calculates a function F1 in the X-axis direction (first direction D1) (step S3), and calculates the pressure peak position (x p ) and pressure peak value (a xp Next, the estimation system 1 obtains a function F1 in the Y-axis direction (second direction D2) (step S5), and estimates the pressure peak position (y p ) and pressure peak value (a yp ) estimated from the function F1 in the X-axis direction (step S6). xp ) and the pressure peak value (a yp ) is estimated as the pressure peak value of the detection object A0 on the detection surface 6 (step S7), and the series of processes shown in FIG. 7 is ended.

[0068] It should be noted that the flowchart shown in FIG. 7 is merely an example, and the order of the processes may be changed as appropriate, and processes may be added or deleted as appropriate.

[0069] (4) Variations Modifications of the first embodiment are listed below.

[0070] Functions equivalent to those of the estimation system 1 according to the above embodiment may be embodied as an estimation method, a (computer) program, a non-transitory recording medium on which a program is recorded, or the like. One aspect of the estimation method is a method for estimating the position of a detection target A0 on a detection surface 6. The estimation method includes an acquisition step, a determination step, and an estimation step. In the acquisition step, multiple pieces of detection information are acquired from multiple sensor elements 5 arranged on a surface (main surface 41) along the detection surface 6. In the determination step, the sensor element 5 that detected the greatest pressure is identified as the maximum element from among the multiple sensor elements 5 based on the multiple pieces of detection information. In the estimation step, a function of the position in a predetermined direction (first direction D1; second direction D2) and the pressure value is calculated based on the detection information of the maximum element and the detection information of a group of sensor elements 5 aligned with the maximum element in the predetermined direction (first direction D1; second direction D2), and the position of the detection target A0 on the detection surface 6 is estimated based on the function F1. A program according to one aspect is a program for causing one or more processors to execute the above estimation method.

[0071] The execution entity of the estimation system 1 or estimation method in the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the execution entity of the estimation system 1 or estimation method in the present disclosure. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), or ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices that allow the reconfiguration of internal connections or internal circuit partitions of the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0072] Furthermore, it is not essential for the estimation system 1 that multiple functions are concentrated in one housing, and the components of the estimation system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the estimation system 1, for example, some of the functions of the estimation device 2, may be realized by the cloud (cloud computing) or the like.

[0073] In the first embodiment, at least some of the functions of the estimation system 1 that are distributed among multiple devices may be integrated into one housing. For example, some of the functions of the estimation system 1 that are distributed among the estimation device 2 and the sensor unit 3 may be integrated into one device.

[0074] In the first embodiment, the sensor element 5 is a capacitance type sensor element. However, the sensor element 5 may be another type of sensor element. For example, the sensor element 5 may be a strain gauge type sensor element or a pressure-sensitive conductive rubber type sensor element.

[0075] In the first embodiment, the estimation system 1 calculates the function F1, which is a quadratic function. However, as shown in Fig. 8, the function F1 calculated by the estimation system 1 may be, for example, an upwardly convex cubic function.

[0076] In the first embodiment, the estimation system 1 calculates the function F1 using information on pressure values ​​detected by each of the multiple sensor elements 5 and information on the positions of each of the multiple sensor elements 5. However, the estimation system 1 may calculate the function F1 using information on the capacitance of each of the multiple sensor elements 5 and information on the positions of each of the multiple sensor elements 5. The estimation system 1 may also estimate the capacitance peak value and capacitance peak position based on the function F1 calculated using the capacitance value. Furthermore, the estimation system 1 may estimate the pressure peak value and pressure peak position P0 by converting the estimated capacitance peak value and capacitance peak position into a pressure peak value and pressure peak position P0.

[0077] In the first embodiment, the estimation unit 213 estimates the position of the detection target A0 based on the estimated pressure peak position P0. However, the estimation unit 213 may end the estimation process by estimating the pressure peak position P0 of the detection target A0. That is, the estimation unit 213 may calculate a function F1 of the position in a predetermined direction and the pressure value based on the detection information of the largest element and the detection information of a group of sensor elements 5 aligned with the largest element in a predetermined direction among the multiple sensor elements 5, and perform estimation processing to estimate the pressure peak position P0 of the detection target A0 on the detection surface 6 based on the function F1. Furthermore, in the estimation processing, the estimation unit 213 may estimate the pressure peak value of the detection target A0 in addition to the pressure peak position P0.

[0078] (Embodiment 2) The estimation system 1 according to the second embodiment estimates the positions and pressure values ​​of a preset number of detection targets A0.

[0079] The following describes the operation of the estimation system 1 when the preset number is "2." The following describes the case where there are two detection targets A0, a first detection target A1 and a second detection target A2, on the detection surface 6, as shown in Fig. 9.

[0080] The acquisition unit 211 acquires a plurality of pieces of detection information from a plurality of sensor elements 5 arranged on the main surface 41 of the substrate 4 of the sensor unit 3.

[0081] In the second embodiment, the identification unit 212 and the estimation unit 213 alternately perform the identification process and the estimation process until the number of times reaches a preset number.

[0082] The identifying unit 212 performs a first identification process to identify the sensor element 5 that detected the greatest pressure as the maximum element from among the plurality of sensor elements 5 based on the plurality of pieces of detection information acquired by the acquiring unit 211.

[0083] 9, the pressure peak position P1 of the first detection target A1 is a position overlapping with the sensor element 5F, and the pressure peak position P2 of the second detection target A2 is a position overlapping with the sensor element 5G. Here, it is assumed that the pressure value detected by the sensor element 5F is greater than the pressure value detected by the sensor element 5G. First, the identification unit 212 identifies the sensor element 5A as the largest element from among the multiple sensor elements 5.

[0084] The estimation unit 213 performs the same estimation process as in embodiment 1. The estimation unit 213 calculates a function F1 between the position in a predetermined direction and the pressure value, based on the detection information of the largest element (sensor element 5F) identified by the identification unit 212 and the detection information of a group of sensor elements 5 that are aligned with the largest element in a predetermined direction (first direction D1 and second direction D2) among the multiple sensor elements 5. The estimation unit 213 then estimates the pressure peak position P1 and pressure peak value of the first detection target A1 on the detection surface 6, and ends the first estimation process.

[0085] Next, the identification unit 212 performs a second identification process. Here, in the second and subsequent identification processes, the identification unit 212 identifies, as the maximum element, the sensor element that detected the largest pressure within the area of ​​the detection surface 6 excluding the exclusion region R1 from among the multiple sensor elements 5. In the example of FIG. 9, the identification unit 212 identifies the sensor element 5G as the maximum element in the second identification process. The exclusion region R1 is an area centered on the pressure peak position P0 of the detection target A0, the position of which has already been estimated by the estimation unit 213. In the second embodiment, the exclusion region R1 is a circular area. Here, for example, the radius r1 of the exclusion region R1 is the minimum distance between two adjacent detection targets A0. The minimum distance between two adjacent detection targets A0 is the distance between the center of one of the two detection targets A0 (e.g., the first detection target A1) and the boundary of the area where the other of the two detection targets A0 (e.g., the second detection target A2) may be present. The minimum distance between two adjacent detection targets A0 may be the distance between the outer edge of one of the two detection targets A0 and the boundary of the area where the other of the two detection targets A0 may be present.

[0086] The estimation unit 213 calculates a function F1 between the position in a predetermined direction and the pressure value based on the detection information of the largest element (sensor element 5G) identified by the identification unit 212 and the detection information of a group of sensor elements 5 aligned with the largest element in the predetermined directions (first direction D1 and second direction D2) among the multiple sensor elements 5. Then, the estimation unit 213 estimates the position and pressure value of the second detection target A2 on the detection surface 6, and ends the second estimation process.

[0087] As described above, the estimation system 1 of the second embodiment can estimate the positions and pressures of a plurality of detection targets A0.

[0088] Furthermore, the operation unit 24 of the second embodiment accepts an operation for setting at least one of the number of detection targets A0 whose positions are to be estimated by the estimation system 1 and the range of the exclusion area R1. This allows appropriate settings to be made depending on the application of the estimation system 1.

[0089] Next, the operation of the estimation system 1 of the second embodiment will be described with reference to FIG.

[0090] The estimation system 1 acquires measurement values ​​(i.e., detection information) from the multiple sensor elements 5 (step S11). Next, the estimation system 1 identifies the sensor element 5 that detects the maximum pressure (i.e., the maximum capacitance) from among the multiple sensor elements 5 (step S12). Next, the estimation system 1 estimates the position and pressure value of the first detection target A1 on the detection surface 6 (step S13).

[0091] Next, the estimation system 1 determines whether the number i of times the identification process and estimation process have been performed so far is less than a preset number α (step S14). The initial value of the number i is 1. If the estimation system 1 determines that the number i is not less than the preset number α, that is, that the number i is equal to or greater than the preset number α (step S14: No), the series of processes shown in FIG. 10 ends.

[0092] On the other hand, if the estimation system 1 determines that the number of times i is less than the preset number α (step S14: Yes), it identifies the sensor element that detected the largest pressure within the range of the detection surface 6 excluding the exclusion region R1 as the maximum element from among the multiple sensor elements 5 (step S15). Then, the estimation unit 213 estimates the position and pressure value of the second detection target A2 on the detection surface 6 (step S16), adds 1 to the number of times i (step S17), and returns to the processing of step S14 again.

[0093] The flowchart shown in FIG. 10 is merely an example, and the order of the processes may be changed as appropriate, and processes may be added or deleted as appropriate.

[0094] (summary) As is clear from the above-described embodiment and modified examples, the estimation system (1) according to the first aspect estimates the position of a detection target (A0) on a detection surface (6). The estimation system (1) includes an acquisition unit (211), an identification unit (212), and an estimation unit (213). The acquisition unit (211) acquires a plurality of pieces of detection information from a plurality of sensor elements (5) arranged on a surface (main surface 41) along the detection surface (6). The identification unit (212) performs an identification process to identify the sensor element (5) that detected the greatest pressure as the maximum element from among the plurality of sensor elements (5) based on the plurality of pieces of detection information. The estimation unit (213) calculates a function (F1) of the position in a predetermined direction (first direction D1; second direction D2) and the pressure value based on the detection information of the largest element and the detection information of a group of sensor elements (5) aligned with the largest element in a predetermined direction (first direction D1; second direction D2) among the plurality of sensor elements (5), and performs an estimation process to estimate the position of the detection object (A0) on the detection surface (6) based on the function (F1).

[0095] According to this aspect, it is possible to improve the accuracy of detecting the position of the detection object (A0).

[0096] In the estimation system (1) according to the second aspect, in the first aspect, the estimation unit (213) obtains the function (F1) by the least squares method weighted based on the sensor characteristics of the plurality of sensor elements (5).

[0097] According to this aspect, it is possible to further improve the accuracy of detecting the position of the detection object (A0).

[0098] An estimation system (1) according to a third aspect is the estimation system (1) according to the first or second aspect, which estimates the positions of a preset number of detection targets (A0). The identification unit (212) and the estimation unit (213) alternately perform the identification process and the estimation process until the number of times reaches the preset number. In the second and subsequent identification processes, the identification unit (212) identifies, from among the multiple sensor elements (5), the sensor element (5) that detected the greatest pressure within a range of the detection surface (6) excluding an exclusion area as the maximum element. The exclusion area is an area centered on the estimated position of the detection target (A0) whose position has already been estimated by the estimation unit (213).

[0099] According to this aspect, the positions and pressures of a plurality of detection targets (A0) can be estimated.

[0100] The estimation system (1) according to the fourth aspect is the third aspect, further comprising an operation unit (24) that accepts an operation for setting at least one of the number of detection targets (A0) whose positions are to be estimated by the estimation system (1) and the range of the exclusion area.

[0101] According to this embodiment, it is possible to set the estimation system (1) appropriately depending on the application.

[0102] The estimation system (1) according to a fifth aspect is any one of the first to fourth aspects, and further includes a plurality of sensor elements (5).

[0103] The configurations other than the first aspect are not essential for the estimation system (1) and can be omitted as appropriate.

[0104] The estimation method according to the sixth aspect is a method for estimating the position of a detection target (A0) on a detection surface (6). The estimation method includes an acquisition step, an identification step, and an estimation step. In the acquisition step, multiple pieces of detection information are acquired from multiple sensor elements (5) arranged on a surface (main surface 41) along the detection surface (6). In the identification step, the sensor element (5) that detected the largest pressure is identified as the maximum element from among the multiple sensor elements (5) based on the multiple pieces of detection information. In the estimation step, a function (F1) of the position in a predetermined direction (first direction D1; second direction D2) and the pressure value is calculated based on the detection information of the maximum element and detection information of a group of sensor elements among the multiple sensor elements (5) that are aligned with the maximum element in the predetermined direction (first direction D1; second direction D2), and the position of the detection target (A0) on the detection surface (6) is estimated based on the function (F1).

[0105] According to this aspect, it is possible to improve the accuracy of detecting the position of the detection object (A0).

[0106] A program according to a seventh aspect is a program for causing one or more processors to execute the estimation method according to the sixth aspect.

[0107] According to this aspect, it is possible to improve the accuracy of detecting the position of the detection object (A0). [Explanation of symbols]

[0108] 1. Estimation System 211 Acquisition Department 212 Specific section 213 Estimation Department 24 Control section 41 Main surface (surface) 5 Sensor element 6 Detection surface A0 Detection target D1 1st direction (predetermined direction) D2 2nd direction (predetermined direction) F1 function

Claims

1. An estimation system for estimating a position of a detection target on a detection plane, comprising: an acquisition unit that acquires a plurality of pieces of detection information from a plurality of sensor elements that detect pressure and are arranged on a surface along the detection surface; an identifying unit that performs an identifying process to identify a sensor element that detected the greatest pressure as a maximum element from among the plurality of sensor elements based on the plurality of pieces of detection information; an estimation unit that calculates a function of a position in a predetermined direction and a pressure value based on detection information of the largest element and detection information of a group of sensor elements among the plurality of sensor elements that are aligned with the largest element in the predetermined direction, and performs estimation processing to estimate a position of the detection target on the detection surface based on the function; Equipped with Estimation system.

2. the estimation unit calculates the function by a least squares method weighted based on sensor characteristics of the plurality of sensor elements. The estimation system of claim 1 .

3. The estimation system is an estimation system that estimates positions of a predetermined number of the detection targets, the specifying unit and the estimating unit alternately perform the specifying process and the estimating process until the number of times reaches the same as the preset number, the identifying unit identifies, from the plurality of sensor elements, a sensor element that detects the largest pressure within a range of the detection surface excluding an exclusion area, as the maximum element in the second or subsequent identification process; the exclusion area is an area centered on an estimated position of a detection target whose position has already been estimated by the estimation unit; The estimation system of claim 1 .

4. an operation unit configured to accept an operation for setting at least one of the number of detection targets whose positions are to be estimated by the estimation system and the range of the exclusion area; The estimation system according to claim 3 .

5. Further comprising the plurality of sensor elements, The estimation system of claim 1 .

6. An estimation method for estimating a position of a detection target on a detection plane, comprising: an acquiring step of acquiring a plurality of pieces of detection information from a plurality of sensor elements that detect pressure and are arranged on a surface along the detection surface; a step of identifying a sensor element that detects the greatest pressure as a maximum element from among the plurality of sensor elements based on the plurality of pieces of detection information; an estimation step of calculating a function of a position in a predetermined direction and a pressure value based on detection information of the largest element and detection information of a group of sensor elements aligned with the largest element in the predetermined direction among the plurality of sensor elements, and estimating a position of the detection target on the detection surface based on the function; having Estimation method.

7. 7. The method of claim 6, wherein the method is executed by one or more processors. program.

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