Asahi Kasei Microdevices Corporation

Hidekazu Tsukiji

Norio Shibusawa

Ryosuke Sasanuma

Provided is an estimation apparatus for estimating a position or an attitude of a second portion with respect to a first portion in an apparatus including the first portion, the second portion, a movable mechanism, a magnetic sensor, and a magnet section. The estimation apparatus includes an estimation unit which performs, based on a combination of measured values and reference information, an estimation of the position or the attitude of the second portion with respect to the first portion. The reference information includes first reference information and second reference information. The estimation apparatus includes a selection unit which selects, according to a degree of coincidence between the combination of the measured values and each of the first reference information and the second reference information, the first reference information or the second reference information which has a higher degree of coincidence as the reference information for the estimation.

Estimation apparatus, apparatus, estimation method and computer readable storage medium

An estimation device may include an update unit. The update unit may correct the position of the second portion with respect to the first portion or the measured value of a first magnetic sensor, which is indicated by the new reference information, by comparing a predetermined first partial waveform in a first waveform for the first magnetic sensor, the first waveform indicating a change of a measured value in accordance with a position of the second portion with respect to the first portion, which is indicated by the new reference information, with a predetermined second partial waveform in a second waveform for a second magnetic sensor, the second waveform indicating the change of the measured value in accordance with the position of the second portion with respect to the first portion, which is indicated by the new reference information.

Estimation device, apparatus including estimation device, estimation method, and computer-readable medium

An estimation apparatus comprises: a collection unit configured to collect a plurality of pieces of update information used for updating reference information, which indicates measurement values in accordance with a position or an attitude of a second portion against a first portion which is measured by at least one magnetic sensor while changing at least one of the position and the attitude of the second portion against the first portion over a predetermined movable range; a clustering unit configured to perform clustering on the plurality of pieces of update information according to a predetermined classification condition; and an updating unit configured to update the reference information based on at least one piece of update information included in a maximum class into which a highest number of pieces of information are classified among the plurality of pieces of update information.

Estimation apparatus, estimation method and computer readable medium

A program may cause a computer to perform the steps of: acquiring a target posture information indicating a target posture of a movable member with m degrees of freedom components associated with a movement or rotation of the movable member; deriving a correction information indicating a corrective component for correcting an error in respective target positions of m+n positions of the movable member due to at least one of n degrees of freedom components other than m degrees of freedom, based on at least one value of m+n values corresponding to m+n positions of the movable member indicated in respective position informations; deriving respective target positions of each of m+n positions of the movable member based on m degrees of freedom components and the corrective component; and outputting respective target position informations indicating the respective target positions to each of m+n control circuits.

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Tokyo, Japan

Hidekazu Tsukiji