Estimation device, apparatus equipped with estimation device, estimation method, and program

Abstract

SOLUTION: An estimation device may include an update unit that generates new reference information on the basis of a measured value that corresponds to time measured by each of a plurality of magnetic sensors, in a first period in which a drive mechanism is driven in order to move a second section to a first section along a predetermined direction over a predetermined movable range following a predetermined movement pattern, and that updates reference information with the new reference information. The update unit may compare a predetermined first section waveform out of a first waveform that indicates a change of the measured value that corresponds to a position of the second section relative to the first section that is indicated in the new reference information regarding a first magnetic sensor, with the predetermined second section waveform of a second waveform that indicates a change of the measured value that corresponds to a position of the second section relative to the first section that is indicated in the new reference information regarding a second magnetic sensor, so as to correct the position of the second section relative to the first section that is indicated in the new reference information or the measured value regarding the first magnetic sensor.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to an estimation device, a device including the estimation device, an estimation method, and a program.

Background Art

[0002] Patent Document 1 describes that "a polynomial is approximately calculated for the collinear part (measurement range) of the sensor element signals of each of the sensor elements 20-1, 20-2, or 20-3". [Prior Art Document] [Patent Document] [Patent Document 1] Japanese Patent No. 6891254

Summary of the Invention

Problems to be Solved by the Invention

[0003] Even when the object moves at a non-uniform speed, it is desired to accurately calibrate the magnetic sensor that detects the position of the object.

Means for Solving the Problems

[0004] An estimation device according to one aspect of the present invention may be an estimation device for estimating the position of a second part relative to a first part in a device comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion; a plurality of magnetic sensors provided on one of the first and second parts in the predetermined direction; and a magnet section provided on the other of the first and second parts for providing a magnetic field measured by the plurality of magnetic sensors. The estimation device may include an estimation unit that estimates the position of the second part relative to the first part at a first time point based on a measurement value at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined range of motion. The estimation device may include a collection unit that collects measurement values ​​measured by each of the plurality of magnetic sensors during a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over the predetermined range of motion in the predetermined direction. The estimation device may include an update unit that generates new reference information based on time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updates the reference information with the new reference information. The update unit may correct the position of the second part relative to the first part or the measurement value for the first magnetic sensor shown in the new reference information by comparing a predetermined first partial waveform of a first waveform showing the change in measurement value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined first magnetic sensor among the plurality of magnetic sensors, with a predetermined second partial waveform of a second waveform showing the change in measurement value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined second magnetic sensor among the plurality of magnetic sensors.

[0005] In the estimation device, the update unit may correct the position of the second part relative to the first part shown in the new reference information or the measured value for the first magnetic sensor so that the first partial waveform is similar to the second partial waveform.

[0006] In any of the estimation devices, the update unit may correct the position of the second part relative to the first part shown in the new reference information or the measured value for the third magnetic sensor by comparing the halves of the third waveform with respect to the peak within a predetermined range, centering on the peak of the third waveform which shows the change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for the third magnetic sensor among the plurality of magnetic sensors.

[0007] In any of the estimation devices, the update unit may correct the position of the second portion relative to the first portion shown in the new reference information or the measured value for the third magnetic sensor so that the third waveform is symmetrical with respect to the peak within the predetermined range of the third waveform.

[0008] In any of the estimation devices, the update unit may correct the position of the second part relative to the first part or the measurement value for the third magnetic sensor shown in the new reference information by comparing a predetermined range of a third waveform showing the change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for the third magnetic sensor among the plurality of magnetic sensors with a waveform based on a predetermined fit function showing the change in the measured value corresponding to the position of the second part relative to the first part.

[0009] In any of the estimation devices, the update unit may correct the position of the second part relative to the first part or the measurement value for the third magnetic sensor shown in the new reference information, so that a predetermined range of the third waveform showing the change in the measurement value corresponding to the position of the second part relative to the first part shown in the new reference information for the third magnetic sensor among the plurality of magnetic sensors matches a waveform based on a predetermined fit function showing the change in the measurement value corresponding to the position of the second part relative to the first part.

[0010] In any of the estimation devices, the first magnetic sensor may be a magnetic sensor provided at one end of the plurality of magnetic sensors in the predetermined direction. The second magnetic sensor may be a magnetic sensor other than the fourth magnetic sensor provided at the other end of the plurality of magnetic sensors in the predetermined direction.

[0011] In any of the estimation devices, the first partial waveform may be the outer partial waveform between the peak of the first waveform and the peak of the fourth waveform which shows the change in the measured value corresponding to the position of the second part relative to the first part as shown in the new reference information for the fourth magnetic sensor.

[0012] In any of the estimation devices, the predetermined motion pattern may be a pattern that attempts to move the second portion at a constant velocity relative to the first portion in a predetermined direction from one end to the other of the predetermined movable range.

[0013] An estimation device according to one aspect of the present invention may be an estimation device for estimating the position of a second part relative to a first part in a device comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion; a plurality of magnetic sensors provided on one of the first and second parts in the predetermined direction; and a magnet section provided on the other of the first and second parts for providing a magnetic field measured by the plurality of magnetic sensors. The estimation device may include an estimation unit that estimates the position of the second part relative to the first part at a first time point based on a measurement value at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined range of motion. The estimation device may include a collection unit that collects measurement values ​​measured by each of the plurality of magnetic sensors during a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over the predetermined range of motion in the predetermined direction. The estimation device may include an update unit that generates new reference information based on time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updates the reference information with the new reference information. The update unit may generate the new reference information after correcting the time-dependent measurements taken by the first magnetic sensor during the first period by comparing a predetermined first partial waveform of a first waveform showing the change in the time-dependent measurement taken by a predetermined first magnetic sensor among the plurality of magnetic sensors during the first period with a predetermined second partial waveform of a second waveform showing the change in the time-dependent measurement taken by a predetermined second magnetic sensor among the plurality of magnetic sensors.

[0014] In any of the estimation devices, the update unit may correct the measured value corresponding to the time measured by the first magnetic sensor during the first period so that the first partial waveform is similar to the second partial waveform.

[0015] In any of the estimation devices, the update unit may correct the measured value corresponding to the time measured by the third magnetic sensor during the first period if the third waveform, which shows the change in the measured value corresponding to the time measured by the third magnetic sensor among the plurality of magnetic sensors during the first period, is symmetrical with respect to the peak of the third waveform in a first range. This correction is performed by comparing the halves of the third waveform with respect to the peak in a second range that is wider than the first range with respect to the peak of the third waveform.

[0016] In any of the estimation devices, the update unit may correct the measured value corresponding to the time measured by the third magnetic sensor during the first period so that the third waveform is symmetrical with respect to the peak of the third waveform in the first range, and the third waveform is symmetrical with respect to the peak of the third waveform in the second range.

[0017] In any of the estimation devices, the first magnetic sensor may be a magnetic sensor provided at one end of the plurality of magnetic sensors in the predetermined direction. The second magnetic sensor may be a magnetic sensor other than the fourth magnetic sensor provided at the other end of the plurality of magnetic sensors in the predetermined direction.

[0018] In any of the estimation devices, the first partial waveform may be the outer partial waveform between the peak of the first waveform and the peak of the fourth waveform which shows the change in the measured value corresponding to the time measured by the fourth magnetic sensor during the first period.

[0019] In any of the estimation devices, the predetermined motion pattern may be a pattern that attempts to move the second portion at a constant velocity relative to the first portion in a predetermined direction from one end to the other of the predetermined movable range.

[0020] An apparatus according to one aspect of the present invention may comprise any of the estimation apparatus, the first part, the second part, and the drive mechanism.

[0021] An estimation method according to one aspect of the present invention is an estimation method for estimating the position of a second part relative to a first part in an apparatus comprising a first part, a second part, a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion, a plurality of magnetic sensors provided on one of the first and second parts in the predetermined direction, and a magnet provided on the other of the first and second parts for providing a magnetic field measured by the plurality of magnetic sensors. The estimation method may include a step of estimating the position of the second part relative to the first part at a first time point based on a measurement value at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined range of motion. The estimation method may include a step of collecting measurement values ​​measured by each of the plurality of magnetic sensors during a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over the predetermined range of motion in the predetermined direction. The estimation method may include a step of generating new reference information based on time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updating the reference information with the new reference information. The updating step may include a step of correcting the position of the second part relative to the first part or the measurement value for the first magnetic sensor shown in the new reference information by comparing a predetermined first partial waveform of a first waveform showing the change in measurement value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined first magnetic sensor among the plurality of magnetic sensors with a predetermined second partial waveform of a second waveform showing the change in measurement value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined second magnetic sensor among the plurality of magnetic sensors.

[0022] An estimation method according to one aspect of the present invention is an estimation method for estimating the position of a second part relative to a first part in an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion; a plurality of magnetic sensors provided on one of the first and second parts in the predetermined direction; and a magnet provided on the other of the first and second parts for providing a magnetic field measured by the plurality of magnetic sensors. The estimation method may include a step of estimating the position of the second part relative to the first part at a first time point based on a measurement value at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined range of motion. The estimation apparatus may include a step of collecting measurement values ​​measured by each of the plurality of magnetic sensors during a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over the predetermined range of motion in the predetermined direction. The estimation device may include a step of generating new reference information based on time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updating the reference information with the new reference information. The updating step may include a step of correcting the time-dependent measurements taken by the first magnetic sensor during the first period by comparing a predetermined first partial waveform of a first waveform showing the change in time-dependent measurements taken by a predetermined first magnetic sensor among the plurality of magnetic sensors during the first period with a predetermined second partial waveform of a second waveform showing the change in time-dependent measurements taken by a predetermined second magnetic sensor among the plurality of magnetic sensors during the first period, and then generating the new reference information.

[0023] A program according to one aspect of the present invention may be a program for causing a computer to function as an estimation device for estimating the position of a second part relative to a first part in an apparatus comprising a first part, a second part, a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion, a plurality of magnetic sensors provided on one of the first and second parts in the predetermined direction, and a magnet provided on the other of the first and second parts for providing a magnetic field measured by the plurality of magnetic sensors. The program may cause the computer to perform the step of estimating the position of the second part relative to the first part at a first time point, based on a measurement value at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part within the predetermined range of motion. The program may cause the computer to perform the step of collecting measured values ​​measured by each of the plurality of magnetic sensors during a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over a predetermined range of motion along a predetermined direction. The program may cause the computer to perform the step of generating new reference information based on the time-dependent measured values ​​measured by each of the plurality of magnetic sensors during the first period, and updating the reference information with the new reference information. The updating step may include correcting the position of the second part relative to the first part or the measured value for the first magnetic sensor shown in the new reference information by comparing a predetermined first partial waveform of a first waveform showing the change in measured values ​​corresponding to the position of the second part relative to the first part as shown in the new reference information for a predetermined first magnetic sensor among the plurality of magnetic sensors, with a predetermined second partial waveform of a second waveform showing the change in measured values ​​corresponding to the position of the second part relative to the first part as shown in the new reference information for a predetermined second magnetic sensor among the plurality of magnetic sensors.

[0024] A program according to an aspect of the present invention may be a program for causing a computer to function as an estimation device that estimates the position of a second part with respect to a first part in a device including a first part, a second part, a drive mechanism that moves the second part within a predetermined movable range along a predetermined direction with respect to the first part, a plurality of magnetic sensors provided along the predetermined direction on one of the first part and the second part, and a magnet part provided on the other of the first part and the second part and providing a magnetic field measured by the plurality of magnetic sensors. The program may cause the computer to execute a step of estimating the position of the second part with respect to the first part at the first time point based on a measurement value at the first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of measurement values of each of the plurality of magnetic sensors corresponding to the position of the second part with respect to the first part in the predetermined movable range. The program may cause the computer to execute a step of collecting measurement values measured by each of the plurality of magnetic sensors in a first period in which the drive mechanism is driven to move the second part with respect to the first part in a predetermined motion pattern along the predetermined direction over the predetermined movable range. The program may cause the computer to execute a step of generating new reference information based on the measurement values corresponding to the time measured by each of the plurality of magnetic sensors in the first period and updating the reference information with the new reference information. The updating step may include a step of comparing a predetermined first partial waveform of a first waveform indicating a change in a measurement value corresponding to the time measured by a predetermined first magnetic sensor among the plurality of magnetic sensors in the first period with a predetermined second partial waveform of a second waveform indicating a change in a measurement value corresponding to the time measured by a predetermined second magnetic sensor among the plurality of magnetic sensors in the first period, correcting the measurement value corresponding to the time measured by the first magnetic sensor in the first period, and then generating the new reference information.

[0025] Note that the above summary of the invention does not enumerate all the features of the present invention. Also, sub-combinations of these feature groups can also be inventions.

Brief Description of the Drawings

[0026] [Figure 1] It is a diagram showing an example of a functional block of the device according to this embodiment. [Figure 2A] It is a diagram for explaining a rollable smartphone. [Figure 2B] It is a diagram for explaining a rollable smartphone. [Figure 3] It is a diagram showing an example of reference information. [Figure 4] It is a diagram showing an example of a waveform indicating the change in the measured value according to the measurement time. [Figure 5] It is a diagram for explaining a method of correcting the measured value according to the measurement time. [Figure 6] It is a diagram for explaining a method of correcting the measured value according to the measurement time. [Figure 7] It is a diagram for explaining a fitting function. [Figure 8] It is a flowchart showing an example of an update procedure for reference information. [Figure 9] It is a flowchart showing another example of an update procedure for reference information. [Figure 10] It is a diagram showing an example of a hardware configuration.

Embodiments for Carrying Out the Invention

[0027] Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential for the solution means of the invention.

[0028] Figure 1 is an example of a functional block of the device 10 according to this embodiment. Figures 2A and 2B show an example of an external view when the device 10 is a so-called rollable smartphone. The device 10 comprises a support member 12, a movable member 14, and a movable mechanism 40. The support member 12 supports the movable member 14 via the movable mechanism 40 so that the position of the movable member 14 can be changed relative to the support member 12. The support member 12 may support the movable member 14 so that it can move along a predetermined direction via the movable mechanism 40. The support member 12 is an example of a first part, and the movable member 14 is an example of a second part.

[0029] The movable mechanism 40 may have a drive source that provides a driving force to move the movable member 14 relative to the support member 12. The drive source may be an actuator such as an electrostatic actuator, a VCM (voice coil motor), or a piezo actuator.

[0030] The device 10 may be, for example, a rollable smartphone in which the display screen expands and contracts, as shown in Figures 2A and 2B. The support member 12 and the movable member 14 may constitute the display unit. The movable member 14 may move along the X-axis relative to the support member 12 from the first state shown in Figure 2A to the second state shown in Figure 2B. This causes the width of the display screen 50 in the X-direction to expand and contract. The display screen 50 may be, for example, a thin display such as an organic EL display that can be rolled up around a rotation axis along the Y-axis.

[0031] The device 10 may be a zoom mechanism provided by an imaging device. The movable member 14 includes a zoom lens and a retaining frame that holds the zoom lens, and the support member 12 may include a guide axis that supports the retaining frame that holds the zoom lens so that it can move in the optical axis direction.

[0032] Returning to Figure 1, the device 10 further comprises a plurality of magnetic sensors 20 and a magnet unit 30. The magnetic sensors 20 measure the magnetic field at the location where they are provided and output a measured value (e.g., voltage or current) corresponding to the magnetic field. The magnetic sensors 20 may be Hall elements. In this embodiment, an example in which the device 10 comprises four magnetic sensors 20 will be described. However, the number of magnetic sensors 20 in the device 10 is arbitrary, and the device 10 only needs to have at least one magnetic sensor 20. The device 10 only needs to have the number of magnetic sensors 20 necessary to estimate the position of the movable member 14 relative to the support member 12 over the entire range of motion. The magnetic sensors 20 may output measured values ​​corresponding to the magnetic fields in the X-axis, Y-axis, and Z-axis directions, respectively. However, in this embodiment, for the sake of simplicity, the explanation will focus on the measured value corresponding to the magnetic field in any one of the X-axis, Y-axis, and Z-axis, for example, in the X-axis direction.

[0033] The magnet section 30 provides a magnetic field to each of the multiple magnetic sensors 20. The magnet section 30 may have alternating south poles and north poles along a predetermined direction. The multiple magnetic sensors 20 are provided on the support member 12. When the movable member 14 moves relative to the support member 12 along a predetermined direction, the multiple magnetic sensors 20 may be provided on the support member 12 along the predetermined direction. The multiple magnetic sensors 20 may be provided on the support member 12 at equal intervals along the predetermined direction.

[0034] The apparatus 10 further comprises an estimation device 100 and a drive control unit 120. The estimation device 100 estimates the position of the movable member 14 relative to the support member 12 based on the measured values ​​of each of the plurality of magnetic sensors 20. The drive control unit 120 may control the movable mechanism 40 so that the position of the movable member 14 relative to the support member 12 becomes the target position based on the position of the movable member 14 relative to the support member 12 estimated by the estimation device 100.

[0035] Multiple magnetic sensors 20 measure the surrounding magnetic field and output a measurement value indicating the magnitude of the surrounding magnetic field. The magnetic sensors 20 may include Hall elements. As the movable member 14 moves relative to the support member 12, the magnetic field around each of the multiple magnetic sensors 20 changes. The change in the measurement value of each of the multiple magnetic sensors 20 correlates with the change in the position of the movable member 14 relative to the support member 12. Therefore, if the relationship between the measurement value of each of the multiple magnetic sensors 20 and the position of the movable member 14 relative to the support member 12 is known in advance, the estimation device 100 can estimate the position of the movable member 14 relative to the support member 12 from the measurement values ​​measured by each of the multiple magnetic sensors 20.

[0036] The estimation device 100 comprises an estimation unit 102, a data collection unit 104, an update unit 108, and a storage unit 110. The storage unit 110 stores reference information indicating measured values ​​corresponding to the position of the movable member 14 relative to the support member 12. The reference information may indicate combinations of measured values ​​from multiple magnetic sensors 20, associated with the position of the movable member 14 relative to the support member 12. The reference information may indicate measured values ​​from multiple magnetic sensors 20 corresponding to the position of the movable member 14 relative to the support member 12 within a predetermined range of motion. The reference information may indicate combinations of measured values ​​from multiple magnetic sensors 20 corresponding to the position of the movable member 14 relative to the support member 12 within a predetermined range of motion.

[0037] The collection unit 104 may sequentially collect measurement values ​​indicating the magnitude of the magnetic field measured by each of the multiple magnetic sensors 20 at predetermined intervals and store them in the storage unit 110 as update information. The collection unit 104 may sequentially collect measurement values ​​indicating the magnitude of the magnetic field measured by each of the multiple magnetic sensors 20 and timestamps indicating the time measured by each of the multiple magnetic sensors 20 and store them in the storage unit 110 as update information. The estimation unit 102 estimates the position of the movable member 14 relative to the support member 12 based on the latest measurement values ​​measured by each of the multiple magnetic sensors 20 stored in the storage unit 110 and reference information.

[0038] Figure 3 shows an example of reference information. The reference information shown in Figure 3 shows the relationship between the position of the movable member 14 relative to the support member 12 and the measured values ​​of the four magnetic sensors 20 when the movable member 14 moves along a predetermined direction relative to the support member 12.

[0039] Reference information may be generated before factory shipment. The drive control unit 120 controls the movable mechanism 40 to move the movable member 14 at equal intervals from one end to the other of a predetermined movable range relative to the support member 12, while acquiring the measured values ​​of each of the multiple magnetic sensors 20 at equal intervals. The drive control unit 120 may control the movable mechanism 40 to move the movable member 14 at equal intervals and at a constant speed from one end to the other of a predetermined movable range relative to the support member 12, while acquiring the measured values ​​of each of the multiple magnetic sensors 20 at equal intervals. Reference information may be generated based on the measured values ​​acquired by repeating these operations multiple times, and the amount of movement from one end of the predetermined movable range.

[0040] Reference information is generated before the device leaves the factory and stored in the memory unit 110. However, disturbances such as differences in the magnitude of the magnetic field in the environment in which the device 10 is used may cause the correlation between the magnitude of the magnetic field measured by the magnetic sensor 20 and the position of the movable member 14 relative to the support member 12 to change.

[0041] Therefore, it is desirable that the reference information be calibrated after factory shipment based on actual measured values ​​of multiple magnetic sensors 20 corresponding to the position of the movable member 14 relative to the support member 12. One possible calibration method is to update the reference information based on time-dependent measurements taken by multiple magnetic sensors 20 while the movable member 14 is moved relative to the support member 12 within a predetermined range of motion in a predetermined motion pattern for a predetermined period of time. When the movable member 14 moves in a predetermined motion pattern, the position of the movable member 14 can be estimated from the time since the start of movement. For example, when the movable member 14 moves at a constant speed from one end to the other of a predetermined range of motion, the time since the start of movement is proportional to the distance the movable member 14 moves, so the position of the movable member 14 can be estimated from the time-dependent measurements.

[0042] However, even when the movable member 14 is moved relative to the support member 12 within a predetermined range of motion and in a predetermined motion pattern for a predetermined period of time, there are periods when the movable member 14 cannot move at a constant speed, such as immediately after the start of movement and immediately before the end of movement. If the position of the movable member 14 is estimated from measured values ​​corresponding to the measurement time in such non-uniform speed sections, errors may occur in the estimation of the position of the movable member 14, and it may not be possible to calibrate the reference information accurately.

[0043] Figure 4 shows an example of a waveform illustrating the time variation of measured values ​​obtained by multiple magnetic sensors 20 while the movable member 14 is driven to move at a constant speed within a predetermined range of motion. Even when the movable member 14 is moved at a constant speed, as shown in Figure 4, there are non-uniform speed sections immediately after the movable member 14 moves and immediately before it stops, during which the movable member 14 does not move at a constant speed. In addition, the motion pattern may be intentionally designed so that the movable member 14 moves at a non-uniform speed during the period immediately after it moves and immediately before it stops.

[0044] In this case, to detect the position of the movable member 14 that moves along a predetermined direction, the multiple magnetic sensors 20 are arranged along the predetermined direction. When multiple magnetic sensors 20 are arranged in this manner, there is a high probability that there are other magnetic sensors 20 whose waveforms showing the time change of a measurement value measured by one magnetic sensor 20 can be considered to be similar to those showing the time change of a measurement value measured by one magnetic sensor 20. In other words, there is a high probability that there are other magnetic sensors 20 whose waveforms showing the time change of a measurement value measured by one magnetic sensor 20 can be considered to be similar to those showing the time change of a measurement value measured by one magnetic sensor 20.

[0045] Therefore, in this embodiment, focusing on the similarity relationship between waveforms showing the time change of such measured values, the update unit 108 corrects the measured value or the position of the movable member 14 according to time, generates new reference information, and updates the current reference information with the new reference information. Alternatively, focusing on waveforms showing changes according to the position of the measured value, the update unit 108 generates new reference information with the measured value according to the measurement time, corrects the measured value or the position of the movable member 14 shown in the new reference information, and then updates the current reference information with the new reference information.

[0046] The update unit 108 corrects the position of the movable member 14 relative to the support member 12 or the measured value of the first magnetic sensor shown in the new reference information by comparing a predetermined first partial waveform of the first waveform, which shows the change in measured value according to the position of the movable member 14 relative to the support member 12 as shown in the new reference information for a predetermined first magnetic sensor among the plurality of magnetic sensors 20, with a predetermined second partial waveform of the second waveform, which shows the change in measured value according to the position of the movable member 14 relative to the support member 12 as shown in the new reference information for a predetermined second magnetic sensor among the plurality of magnetic sensors 20. The update unit 108 may correct the position of the movable member 14 relative to the support member 12 or the measured value of the first magnetic sensor shown in the new reference information so that the first partial waveform is similar to the second partial waveform.

[0047] If the update unit 108 is correcting the position of the movable member 14 relative to the support member 12 or the measured value for the third magnetic sensor shown in the new reference information, when the third waveform, which shows the change in measured value according to the position of the movable member 14 relative to the support member 12 as shown in the new reference information for the third magnetic sensor among the multiple magnetic sensors 20, is symmetrical in a first range with respect to the peak of the third waveform, the update unit 108 may correct the position of the second part relative to the first part shown in the new reference information or the measured value for the third magnetic sensor so that the third waveform is symmetrical in a second range with respect to the peak of the third waveform, when the third waveform is symmetrical in a first range with respect to the peak of the third waveform.

[0048] The update unit 108 may generate new reference information after correcting the measured value corresponding to the time measured by the first magnetic sensor during the calibration measurement period by using a predetermined first partial waveform of a first waveform that shows the change in measured value corresponding to the time measured by a predetermined second magnetic sensor during a predetermined calibration measurement period among the multiple magnetic sensors 20. The update unit 108 may generate new reference information after correcting the measured value corresponding to the time measured by the first magnetic sensor during the calibration measurement period by using a predetermined first partial waveform of a first waveform that shows the change in measured value corresponding to the time measured by a predetermined second magnetic sensor during a predetermined calibration measurement period among the multiple magnetic sensors 20. The update unit 108 may generate new reference information after correcting the measured value corresponding to the time measured by the first magnetic sensor during the calibration measurement period by replacing the first partial waveform with a second partial waveform that has been enlarged or reduced by a predetermined magnification based on the reference information and shifted in position by a predetermined amount.

[0049] The update unit 108 may generate new reference information after correcting the measured value corresponding to the time measured by the first magnetic sensor during the calibration measurement period by comparing a predetermined first partial waveform of a first waveform that shows the change in measured value corresponding to the time measured by a predetermined first magnetic sensor among the plurality of magnetic sensors 20 during a first period with a predetermined second partial waveform of a second waveform that shows the change in measured value corresponding to the time measured by a predetermined second magnetic sensor among the plurality of magnetic sensors 20 during a predetermined calibration measurement period. The update unit 108 may generate new reference information after correcting the measured value corresponding to the time measured by the first magnetic sensor during the calibration measurement period so that the first partial waveform is similar to the second partial waveform.

[0050] The update unit 108 may correct the measured value corresponding to the time measured by the third magnetic sensor during the calibration measurement period by comparing halves of the third waveform with respect to the peak in a second range that is wider than the first range with respect to the peak of the third waveform, if the third waveform, which shows the change in the measured value corresponding to the time measured by the third magnetic sensor during the calibration measurement period, is symmetrical with respect to the peak of the third waveform in a first range. The update unit 108 may correct the measured value corresponding to the time measured by the third magnetic sensor during the calibration measurement period by so that the third waveform is symmetrical with respect to the peak of the third waveform in a second range. The first range and the second range may be predetermined ranges.

[0051] In the example shown in Figure 4, the waveform L1 showing the time change of the measurement value from magnetic sensor 20A and the waveform L3 showing the time change of the measurement value from magnetic sensor 20C are similar, and the waveform L2 showing the time change of the measurement value from magnetic sensor 20B and the waveform L4 showing the time change of the assumed value from magnetic sensor 20D can be considered to be similar.

[0052] Therefore, as shown in Figure 5, the update unit 108 may correct the measured value for magnetic sensor 20A or the position of the movable member 14 relative to the support member 12 so that a predetermined partial waveform L1a of waveform L1, which shows the change in measured value according to the time measured by magnetic sensor 20A during the calibration measurement period, becomes similar to a predetermined partial waveform L3a of waveform L3, which shows the change in measured value according to the time measured by magnetic sensor 20C during the calibration measurement period. Furthermore, the update unit 108 may correct the measured value for magnetic sensor 20D or the position of the movable member 14 relative to the support member 12 so that a predetermined partial waveform L4a of waveform L4, which shows the change according to the time measured by magnetic sensor 20D during the calibration measurement period, becomes similar to a predetermined partial waveform L2a of waveform L2, which shows the change in measured value according to the time measured by magnetic sensor 20B during the calibration measurement period. Next, the update unit 108 may generate new reference information based on the corrected measurement values ​​corresponding to the time measured during the calibration measurement period by each of the multiple magnetic sensors 20 and the position of the movable member 14 relative to the support member 12, and update the reference information based on the new reference information.

[0053] The update unit 108 may correct the measured value of the magnetic sensor 20 to be corrected, or the position of the movable member 14 relative to the support member 12, so that the waveform to be corrected becomes similar to the waveform to be corrected, by scaling the reference waveform up or down to match the waveform to be corrected, or by offsetting the peak of the reference waveform by raising or lowering it to match the waveform to be corrected.

[0054] Assuming that the movable member 14 moves at a constant velocity, the waveform showing the time-dependent changes of one magnetic sensor 20 can be considered to be symmetrical with respect to the peak of the waveform.

[0055] As shown in Figure 6, the update unit 108 may correct the position of the movable member 14 relative to the support member 12 or the measured value for the magnetic sensor 20C shown in the new reference information by comparing half of the waveform L10 around the peak P in a predetermined range W1 centered on the peak P of the waveform L10 which shows the change in measured value according to the position of the movable member 14 relative to the support member 12 shown in the new reference information for the magnetic sensor 20C. For example, the update unit 108 may correct the measured value measured by the magnetic sensor 20C or the position of the movable member 14 relative to the support member 12 so that it is symmetrical with respect to the peak P in a predetermined width W1 centered on the peak P of the waveform L10 which shows the change in the magnetic field of the magnetic sensor 20C according to time, and then update the reference information.

[0056] If the waveform L10, which shows the change in the magnetic field of the magnetic sensor 20C over time, is not symmetrical with respect to the peak P of the waveform L10 within a predetermined width, the update unit 108 may correct the position of the movable member 14 relative to the support member 12 or the measured value of the magnetic sensor 20C shown in the new reference information by comparing a predetermined range of the waveform showing the change in the measured value according to the position of the movable member 14 relative to the support member 12, as shown in the new reference information for the magnetic sensor 20C, with a waveform based on a predetermined fit function that shows the change in the measured value according to the position of the movable member 14 relative to the support member 12.

[0057] The update unit 108 may correct the position of the movable member 14 relative to the support member 12 or the measured value for the magnetic sensor 20C shown in the new reference information so that the predetermined range of the waveform showing the change in measured value according to the position of the movable member 14 relative to the support member 12, as shown in the new reference information for the magnetic sensor 20C, matches the waveform based on a predetermined fit function showing the change in measured value according to the position of the movable member 14 relative to the support member 12.

[0058] Figure 7 shows an example of a waveform L20 that indicates the change in the measured value of the magnetic sensor 20C within a predetermined range depending on the position of the movable member 14 relative to the support member 12. The fit function of the waveform L20 can be defined by the following equation (1).

number

[0059] The fitting function may also be defined as h(x) = g(x)exp(-f(x)), where g(x) is a constant and f(x) is the peak position x. p f(x p ) = 0, and peak position x p We can show that the function is convex downwards in the neighborhood of x. g(x) is a polynomial, and h(x) is the peak position x p In the neighborhood of dh / dx(x p In the neighborhood of ), dh / dx(x p You may show a function such that ) = 0.

[0060] The update unit 108 may generate new reference information based on the time-dependent measurements taken by each of the multiple magnetic sensors 20 during the calibration measurement period. That is, the update unit 108 may generate new reference information by assuming that the movable member 14 is moving at a constant speed throughout its entire range of motion and converting the time-dependent measurements into measurements corresponding to the position of the movable member 14 relative to the support member 12. The update unit 108 may convert the time since the movable member 14 started moving into the position of the movable member 14 relative to the support member 12 by multiplying the time by a coefficient corresponding to the moving speed of the movable member 14. Next, the update unit 108 corrects the measured values ​​for the magnetic sensor 20 to be corrected, as shown in the new reference information, or the position of the movable member 14 relative to the support member 12, so that a predetermined first partial waveform corresponding to the non-constant velocity section of the first waveform showing the change in measured values ​​according to the position of the movable member 14 relative to the support member 12 for the magnetic sensor 20 to be corrected, as shown in the new reference information, becomes similar to a predetermined second partial waveform of the second waveform showing the change in measured values ​​according to the position of the movable member 14 relative to the support member 12 for the magnetic sensor 20 to be corrected, as shown in the new reference information. After correcting the measured values ​​for the magnetic sensor 20 to be corrected, as shown in the new reference information, or the position of the movable member 14 relative to the support member 12, as shown in the new reference information, the update unit 108 updates the current reference information based on the corrected new reference information. The update unit 108 may update the current reference information by replacing the current reference information with the new reference information.

[0061] The predetermined partial waveform to be corrected may be the portion corresponding to the measurement value measured by the magnetic sensor 20 to be corrected in the section in which the movable member 14 moves at a non-uniform speed. The section in which the movable member 14 moves at a non-uniform speed may be the section from when the movable member 14 starts moving until it reaches a predetermined speed, and the section from when the movable member 14 starts to decelerate from the predetermined speed until it stops. The predetermined motion pattern may be a pattern in which the movable member 14 moves at a constant speed along a predetermined direction relative to the support member 12 from one end to the other of a predetermined movable range. In this case, the magnetic sensor 20 to be corrected may be the magnetic sensors 20 arranged at one end and the other end of the plurality of magnetic sensors 20. The magnetic sensor 20 to be referenced may be a magnetic sensor 20 other than the magnetic sensors 20 arranged at one end and the other end of the plurality of magnetic sensors 20. The partial waveform to be corrected is the portion of the waveform outside the constant velocity section (non-constant velocity section) between the peak P1 of the waveform showing the change in the measured value for the magnetic sensor 20A at one end and the peak P2 of the waveform showing the change in the measured value for the magnetic sensor 20D at the other end (constant velocity section), as shown in Figure 4.

[0062] Figure 8 is a flowchart showing an example of the procedure for updating reference information.

[0063] During the calibration measurement period, the collection unit 104 collects measured values ​​and measurement times from each of the multiple magnetic sensors 20 while the drive control unit 120 controls the movable mechanism 40 to move the movable member 14 at a constant speed along a predetermined direction relative to the support member 12 from one end to the other of a predetermined movable range (S100).

[0064] The update unit 108 corrects the measurement values ​​of the predetermined magnetic sensor 20 to be corrected according to the measurement time so that they are similar to the measurement values ​​of the predetermined reference magnetic sensor 20 according to the measurement time (S102). The update unit 108 generates new reference information by converting the corrected measurement values ​​of each magnetic sensor 20 according to the measurement time into measurement values ​​according to the position of the movable member 14 relative to the support member 12, and updates the current reference information with the new reference information (S104).

[0065] Through the above process, the measured values ​​measured by the magnetic sensor 20 during the period when the movable member 14 is moving at a non-uniform speed are corrected. Therefore, the reference information can be updated with greater accuracy.

[0066] Figure 9 is a flowchart showing another example of the procedure for updating reference information.

[0067] During the calibration measurement period, the collection unit 104 collects measured values ​​and measurement times from each of the multiple magnetic sensors 20 while the drive control unit 120 controls the movable mechanism 40 to move the movable member 14 at a constant speed along a predetermined direction relative to the support member 12 from one end to the other of a predetermined movable range (S200).

[0068] The update unit 108 generates new reference information by converting the measurement value of the magnetic sensor 20 corresponding to the measurement time into a measurement value corresponding to the position of the movable member 14 relative to the support member 12 (S202). The update unit 108 corrects the measurement value corresponding to the position of the magnetic sensor 20 to be corrected, as shown in the new reference information, so that it becomes similar to the measurement value corresponding to the position of the reference magnetic sensor 20 (S204). Next, the update unit 108 updates the current reference information with the corrected new reference information (S206).

[0069] Through the above process, the measured values ​​measured by the magnetic sensor 20 during the period when the movable member 14 is moving at a non-uniform speed are corrected. Therefore, the reference information can be updated with greater accuracy. Also, unlike in the case of rotation, in the case of position shift, it is difficult to maintain a constant speed throughout the entire drive section due to the existence of endpoints. Even in such cases, it is possible to calibrate the position-detecting magnetic sensor 20 with high accuracy.

[0070] Figure 10 shows an example of a computer 1200 in which multiple aspects of the present invention may be embodied in whole or in part. A program installed on the computer 1200 can cause the computer 1200 to function as an operation associated with an apparatus according to an embodiment of the present invention, or as one or more "parts" of said apparatus. Alternatively, the program can cause the computer 1200 to execute said operation or said one or more "parts". The program can cause the computer 1200 to execute a process or a stage of said process according to an embodiment of the present invention. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute a particular operation associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0071] The computer 1200 according to this embodiment includes a CPU 1212 and RAM 1214, which are interconnected by a host controller 1210. The computer 1200 also includes a communication interface 1222 and input / output units, which are connected to the host controller 1210 via an input / output controller 1220. The computer 1200 also includes a ROM 1230. The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit.

[0072] The communication interface 1222 communicates with other electronic devices via a network. A hard disk drive may store programs and data used by the CPU 1212 in the computer 1200. The ROM 1230 stores boot programs and / or programs that depend on the computer 1200's hardware, such as a boot program executed by the computer 1200 upon activation. Programs are provided via computer-readable recording media such as a CR-ROM, USB memory, or IC card, or via a network. Programs are installed in RAM 1214, which is also an example of a computer-readable recording media, or in ROM 1230, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the programs and the various types of hardware resources described above. An apparatus or method may be configured to implement information operations or processing in accordance with the use of the computer 1200.

[0073] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer area provided in RAM 1214 or a recording medium such as a USB memory, sends the read transmission data to the network, or writes the received data received from the network to a receive buffer area or the like provided on the recording medium.

[0074] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external storage medium such as a USB memory stick into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external storage medium.

[0075] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the condition for which the attribute value of the first attribute is specified, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0076] The program or software module described above may be stored on or near computer 1200 on a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to computer 1200 via the network.

[0077] Computer-readable media may include any tangible device capable of storing instructions that can be executed by a suitable device. As a result, computer-readable media having instructions stored therein will comprise a product containing instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (RTM) disk, memory stick, integrated circuit card, etc.

[0078] Computer-readable instructions may include either source code or object code written in any combination of one or more programming languages. Source code or object code may include conventional procedural programming languages. These conventional procedural programming languages ​​may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or object-oriented programming languages ​​such as Smalltalk®, Java®, C++, etc., and the "C" programming language or similar programming languages. Computer-readable instructions may be provided locally or via a wide area network (WAN) such as a local area network (LAN) or the internet to the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device. The processor or programmable circuit may execute computer-readable instructions to create means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0079] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0080] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before," "prior to," etc., and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," "next," etc. for convenience, it does not mean that it is essential to perform the operations in that order. [Explanation of Symbols]

[0081] 10 equipment 12 Support members 14 Movable members 20 Magnetic Sensors 30 Magnet part 40 Movable mechanism 50 display screen 100 Estimator 102 Estimation part 104 Collection Department 108 Update section 110 Storage section 120 Drive control unit 1200 Computers 1210 Host Controller 1212 CPU 1214 RAM 1220 Input / Output Controller 1222 Communication Interface 1230 ROM

Claims

1. An estimation device for estimating the position of the second part relative to the first part in an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion within an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion relative to the first part; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet section provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion relative to the first part, An estimation unit estimates the position of the second part relative to the first part at a first time point based on the measurement values ​​at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined movable range, During a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over a predetermined range of motion along a predetermined direction, a collection unit collects measurement values ​​measured by each of the plurality of magnetic sensors, An update unit generates new reference information based on the time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updates the reference information with the new reference information. Equipped with, The updating unit is an estimation device that corrects the position of the second part relative to the first part or the measurement value for the first magnetic sensor shown in the new reference information so that it becomes similar to a predetermined first partial waveform of a first waveform that shows a change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined first magnetic sensor among the plurality of magnetic sensors, and a predetermined second partial waveform of a second waveform that shows a change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined second magnetic sensor among the plurality of magnetic sensors.

2. The estimation device according to claim 1, wherein the updating unit corrects the position of the second portion relative to the first portion shown in the new reference information or the measured value for the first magnetic sensor so that the first portion waveform is similar to the second portion waveform.

3. The estimation device according to claim 1, wherein the updating unit corrects the position of the second part relative to the first part or the measurement value for the third magnetic sensor shown in the new reference information, by comparing the halves of the third waveform with respect to the peak of the third waveform, which shows a change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for the third magnetic sensor among the plurality of magnetic sensors, within a predetermined range centered on the peak of the third waveform.

4. The estimation device according to claim 3, wherein the updating unit corrects the position of the second part with respect to the first part shown in the new reference information or the measured value of the third magnetic sensor so that the third waveform is symmetrical with respect to the peak within the predetermined range of the third waveform.

5. The estimation device according to claim 1, wherein the updating unit corrects the position of the second part relative to the first part or the measurement value for the third magnetic sensor shown in the new reference information, by comparing a predetermined range of a third waveform showing a change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for the third magnetic sensor among the plurality of magnetic sensors with a waveform based on a predetermined fit function showing a change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information.

6. The estimation device according to claim 5, wherein the updating unit corrects the position of the second part relative to the first part or the measurement value for the third magnetic sensor shown in the new reference information, so that a predetermined range of the third waveform showing the change in measurement value according to the position of the second part relative to the first part shown in the new reference information for the third magnetic sensor among the plurality of magnetic sensors matches a waveform based on a predetermined fit function showing the change in measurement value according to the position of the second part relative to the first part.

7. The first magnetic sensor is a magnetic sensor provided at one end of the plurality of magnetic sensors in the predetermined direction, The estimation device according to claim 2, wherein the second magnetic sensor is a magnetic sensor other than the fourth magnetic sensor provided at the other end in the predetermined direction among the plurality of magnetic sensors.

8. The estimation device according to claim 7, wherein the first partial waveform is an outer partial waveform between the peak of the first waveform and the peak of the fourth waveform showing a change in the measured value corresponding to the position of the second part relative to the first part as shown in the new reference information for the fourth magnetic sensor.

9. The estimation device according to claim 8, wherein the predetermined motion pattern is a pattern that attempts to move the second portion at a constant velocity relative to the first portion in the predetermined direction from one end to the other of the predetermined range of motion.

10. An estimation device for estimating the position of the second part relative to the first part in an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion within an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion relative to the first part; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet section provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion relative to the first part, An estimation unit estimates the position of the second part relative to the first part at a first time point based on the measurement values ​​at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined movable range, During a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over a predetermined range of motion along a predetermined direction, a collection unit collects measurement values ​​measured by each of the plurality of magnetic sensors, An update unit generates new reference information based on the time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updates the reference information with the new reference information. Equipped with, The updating unit is an estimation device that generates new reference information after correcting the measured value corresponding to the time measured by the first magnetic sensor during the first period so that it is similar to a predetermined first partial waveform of a first waveform showing the change in measured value corresponding to the time measured by a predetermined first magnetic sensor among the plurality of magnetic sensors during the first period, and a predetermined second partial waveform of a second waveform showing the change in measured value corresponding to the time measured by a predetermined second magnetic sensor among the plurality of magnetic sensors during the first period.

11. The estimation device according to claim 9, wherein the updating unit corrects the measured value corresponding to the time measured by the first magnetic sensor during the first period so that the first partial waveform is similar to the second partial waveform.

12. The estimation device according to claim 11, wherein the updating unit corrects the measured value corresponding to the time measured by the third magnetic sensor during the first period by comparing halves of the third waveform with the peak in a second range wider than the first range with the peak in the third waveform, when the third waveform, which shows the change in measured value corresponding to the time measured by the third magnetic sensor during the first period, is symmetrical with respect to the peak of the third waveform in a first range.

13. The estimation device according to claim 12, wherein the updating unit corrects the measured value corresponding to the time measured by the third magnetic sensor during the first period so that the third waveform is symmetrical with respect to the peak of the third waveform in a first range, in which case the third waveform is symmetrical with respect to the peak of the third waveform in a second range.

14. The first magnetic sensor is a magnetic sensor provided at one end of the plurality of magnetic sensors in the predetermined direction, The estimation device according to claim 11, wherein the second magnetic sensor is a magnetic sensor other than the fourth magnetic sensor provided at the other end in the predetermined direction among the plurality of magnetic sensors.

15. The estimation device according to claim 14, wherein the first partial waveform is an outer partial waveform between the peak of the first waveform and the peak of the fourth waveform which shows the change in the measured value corresponding to the time measured by the fourth magnetic sensor during the first period.

16. The estimation device according to claim 11, wherein the predetermined motion pattern is a pattern that attempts to move the second portion at a constant velocity relative to the first portion in the predetermined direction from one end to the other of the predetermined movable range.

17. An estimation device according to any one of claims 1 to 16, The first part mentioned above, The two parts mentioned above, The drive mechanism and A device equipped with the following features.

18. An estimation method for estimating the position of the second part relative to the first part in an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion within an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion relative to the first part; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet section provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion relative to the first part, and the apparatus comprises: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion relative to the first part; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet section provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion relative to the first part; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet section provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the position of the second part relative to the first part is a predetermined range of motion within a predetermined range of motion relative to the first part, A step of estimating the position of the second part relative to the first part at a first time point, based on the measurement value at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined movable range, During a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over a predetermined range of motion along a predetermined direction, the steps include collecting measured values ​​from each of the plurality of magnetic sensors, A step of generating new reference information based on time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updating the reference information with the new reference information. Equipped with, An estimation method comprising the step of correcting the position of the second part relative to the first part or the measurement value for the first magnetic sensor shown in the new reference information, so that the updating step is similar to a predetermined first partial waveform of a first waveform showing a change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined first magnetic sensor among the plurality of magnetic sensors, and a predetermined second partial waveform of a second waveform showing a change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined second magnetic sensor among the plurality of magnetic sensors.

19. An estimation method for estimating the position of the second part relative to the first part in an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion within an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion relative to the first part; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet section provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion relative to the first part, and the apparatus comprises: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion relative to the first part; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet section provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion relative to the first part; a plurality of magnetic sensors provided on one of the first part and the second part in the predetermined direction; and a magnet section provided on the other of the first part and the second part for providing a magnetic field measured by the plurality of magnetic sensors, wherein the position of the second part relative to the first part is a predetermined range of motion within a predetermined range of motion relative to the first part, A step of estimating the position of the second part relative to the first part at a first time point, based on the measurement value at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined movable range, During a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over a predetermined range of motion along a predetermined direction, the steps include collecting measured values ​​from each of the plurality of magnetic sensors, A step of generating new reference information based on time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updating the reference information with the new reference information. Equipped with, An estimation method comprising the step of updating, which includes the step of correcting the measured value measured by the first magnetic sensor during the first period so that it is similar to a predetermined first partial waveform of a first waveform showing the change in measured value measured during the first period by a predetermined first magnetic sensor among the plurality of magnetic sensors, and a predetermined second partial waveform of a second waveform showing the change in measured value measured during the first period by a predetermined second magnetic sensor among the plurality of magnetic sensors, and then generating the new reference information.

20. A program for causing a computer to function as an estimation device for estimating the position of the second part relative to the first part in an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion; a plurality of magnetic sensors provided on one of the first and second parts in the predetermined direction; and a magnet provided on the other of the first and second parts for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion within a predetermined range of motion within a apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion A step of estimating the position of the second part relative to the first part at a first time point, based on the measurement value at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined movable range, During a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over a predetermined range of motion along a predetermined direction, the steps include collecting measured values ​​from each of the plurality of magnetic sensors, A step of generating new reference information based on time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updating the reference information with the new reference information. The computer is made to execute the above, A program that includes a step of correcting the position of the second part relative to the first part or the measurement value for the first magnetic sensor shown in the new reference information, so that the updating step is similar to a predetermined first partial waveform of a first waveform showing a change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined first magnetic sensor among the plurality of magnetic sensors, and a predetermined second partial waveform of a second waveform showing a change in the measured value corresponding to the position of the second part relative to the first part shown in the new reference information for a predetermined second magnetic sensor among the plurality of magnetic sensors.

21. A program for causing a computer to function as an estimation device for estimating the position of the second part relative to the first part in an apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion; a plurality of magnetic sensors provided on one of the first and second parts in the predetermined direction; and a magnet provided on the other of the first and second parts for providing a magnetic field measured by the plurality of magnetic sensors, wherein the second part is provided in a predetermined range of motion within a predetermined range of motion within a predetermined range of motion within a apparatus comprising: a first part; a second part; a drive mechanism for moving the second part relative to the first part in a predetermined direction within a predetermined range of motion A step of estimating the position of the second part relative to the first part at a first time point, based on the measurement value at a first time point measured by each of the plurality of magnetic sensors and reference information indicating a combination of the measurement values ​​of each of the plurality of magnetic sensors corresponding to the position of the second part relative to the first part in the predetermined movable range, During a first period in which the drive mechanism is driven to move the second part relative to the first part in a predetermined motion pattern over a predetermined range of motion along a predetermined direction, the steps include collecting measured values ​​from each of the plurality of magnetic sensors, A step of generating new reference information based on time-dependent measurements taken by each of the plurality of magnetic sensors during the first period, and updating the reference information with the new reference information. The computer is made to execute the above, A program that, after correcting the measured value measured by the first magnetic sensor during the first period so that it is similar to a predetermined first partial waveform of a first waveform showing the change in measured value measured during the first period by a predetermined first magnetic sensor among the plurality of magnetic sensors, and a predetermined second partial waveform of a second waveform showing the change in measured value measured during the first period by a predetermined second magnetic sensor among the plurality of magnetic sensors, the program generates the new reference information.

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