JP2012194841A - Coordinate correction device, input device, coordinate correction method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce an error between a detected position and an actual position in real time.SOLUTION: Provided is a coordinate correction device that includes: a coordinate acquisition section which acquires the coordinate of a touch position from a touch sensor; a first straight line calculation section which calculates a first regression line expressing a relation of q pieces of coordinates Xto Xacquired (n+1)th to (n+q)th, respectively, by the coordinate acquisition section; and a coordinate correction section which calculates a coordinate X' on the first regression line closest to the coordinate Xand corrects the coordinate Xby using the coordinate X'.

Description

  The present technology relates to a coordinate correction device, an input device, a coordinate correction method, and a program.

  In recent years, various types of touch sensors have been developed (see, for example, Patent Document 1 below), and there are many methods already in practical use. Among them, a great deal of attention has been attracted to the capacitive touch sensor from the viewpoint of good operability and high durability. The capacitive touch sensor uses the change in capacitance that occurs between the electrode in the touch sensor and the operating body when the operating body (for example, a finger) approaches the touch sensor. Is detected. The change in capacitance that occurs between the electrode and the operating body occurs even when the operating body does not contact the touch sensor. For this reason, the touch sensor reacts even if the operating body approaches the surface or the operating body touches the surface lightly. From such a good response, the user can obtain a good operational feeling. In addition, the capacitive touch sensor can detect the positions of a plurality of operating bodies that are close to or in contact with the surface thereof.

JP 2010-39515 A

  Capacitive touch sensors have been mounted on various electronic devices for reasons such as good operability. For example, a capacitive touch sensor is mounted on various portable electronic devices such as a mobile phone, a portable information terminal, a portable music player, and a portable game machine. Capacitive touch sensors are also expected to be applied to relatively large electronic devices such as television receivers, personal computers, car navigation systems, digital signage terminals, and ATMs.

  However, the touch position (hereinafter, detected position) detected by the capacitive touch sensor may deviate from the actually touched position (hereinafter, actual position). Possible causes of an error between the detection position and the actual position include, for example, the influence of an electrode pattern and the like, and the influence of an analog value such as capacitance detected by the touch sensor fluctuating. Therefore, various studies for reducing the error between the detected position and the actual position have been made in various places. Here, the capacitive touch sensor is taken as an example, but methods for reducing the error between the detection position and the actual position have been studied for other various sensors that detect the position. The present inventor has also studied a method for reducing the error between the detected position and the actual position.

  The present technology has been devised in view of the above circumstances, and a new and improved coordinate correction device and input device capable of reducing an error between a detection position and an actual position in real time. It is intended to provide a coordinate correction method and program.

In order to solve the above-described problem, according to an aspect of the present technology, the coordinate acquisition unit that acquires the coordinates of the touch position from the touch sensor and the (n + 1) to (n + q) th acquisition by the coordinate acquisition unit. A first straight line calculation unit for calculating a first regression line representing the relationship between _q coordinates X _{(n + 1) to} X _{(n + q)} , and the first regression line closest to the coordinate X _{(n + q)} a coordinate correction unit 'is calculated, the coordinate _{X (n + q)'} coordinates _{X (n + q)} wherein correcting the coordinates _{X (n + q)} using the,
A coordinate correction apparatus is provided.

Further, the coordinate correction unit may be configured to correct the coordinate X _{(n + q)} to the coordinate X _{(n + q)} ′.

In addition, the first straight line calculation unit may obtain q coordinates X _{(m + 1)} to _{(m + 1)} to (m + q) th acquired by the coordinate acquisition unit for m = (n−p) to n. it may be configured to calculate a first regression line f _m which represents the relationship between X _{(m + q).} Furthermore, the coordinate correcting unit, for m = (n-p) ~n , configured to calculate the coordinates _{X (m + q)} nearest the first coordinate _X on the regression line _{f m (m + q)} ' May be. In addition, the coordinate correction apparatus calculates a center of gravity W _{(m + q)} of the coordinates X _{(m + 1) to} X _{(m + q)} for m = (n−p ₎ to n, and m = (n−p). ) To n, a distance calculation unit that calculates a distance d _{(m + q)} between the center of gravity W _{(m + q)} and the coordinate X _{(m + q)} ′, and a distance d _{(n−p + q )} calculated by the distance calculation unit. _{) To} d _{(n + q)} , a second linear calculation unit that calculates a second regression line, and a point on the second regression line at a time corresponding to the distance d _{(n + q)} is extracted. And a correction distance calculation unit that calculates a distance d _{(n + q)} ′ corresponding to the extracted point. Then, the coordinate correcting unit calculates the centroid _{W (n + q)} from the distance _{d (n + q)} 'apart the first regression line _{f n} on the coordinates _{X (n + q)} ", the coordinate _{X (n + q ) May} be corrected to the coordinates X _{(n + q)} ".

The coordinate correction unit is configured to calculate a coordinate X _{(m + q)} ′ on the first regression line closest to the coordinate X _{(m + q)} for m = (n−p) to n. May be.

The coordinate correction apparatus includes a distance calculation unit that calculates a distance d _{(m + q)} between X _{(m + q)} ′ and X _{(m + q−1)} ′ for m = (n−p) to n. , A second straight line calculation unit for calculating a second regression line representing the relationship between the distances d _{(n−p + q) to} d _{(n + q)} calculated by the distance calculation unit, and the distance d _{(n + q)} A correction distance calculation unit that extracts a point on the second regression line in time and calculates a distance d _{(n + q)} ′ corresponding to the extracted point may be further included. Further, the coordinate correction unit calculates a coordinate X _{(n + q)} ″ on the first regression line that is separated from the coordinate X _{(n + q−1)} ′ by the distance d _{(n + q)} ′, and the coordinate X _{( n + q)} may be corrected to the coordinates X _{(n + q)} ″.

In addition, the first straight line calculation unit may obtain q coordinates X _{(m + 1)} to _{(m + 1)} to (m + q) th acquired by the coordinate acquisition unit for m = (n−p) to n. it may be configured to calculate a first regression line f _m which represents the relationship between X _{(m + q).} Furthermore, the coordinate correcting unit, for m = (n-p) ~n , configured to calculate the coordinates _{X (m + q)} nearest the first coordinate _X on the regression line _{f m (m + q)} ' May be. In addition, the coordinate correction apparatus calculates a center of gravity W _{(m + q)} of the coordinates X _{(m + 1) to} X _{(m + q)} for m = (n−p ₎ to n, and m = (n−p). ) To n, a distance calculation unit that calculates a distance d _{(m + q)} between the center of gravity W _{(m + q)} and the coordinate X _{(m + q)} ′, and a distance d _{(n−p + q )} calculated by the distance calculation unit. ₎ to d and the second straight line calculation unit for calculating a second regression line representing the relationship between (n _{+ q),} corresponding to the distance d _{(n + q)} the time after the predetermined time required for the processing delay from the time corresponding to the A correction distance calculation unit that extracts points on the second regression line and calculates a distance d _{(n + q)} ′ corresponding to the extracted points may be further included. Then, the coordinate correcting unit calculates the centroid _{W (n + q)} from the distance _{d (n + q)} 'apart the first regression line _{f n} on the coordinates _{X (n + q)} ", the coordinate _{X (n + q ) May} be corrected to the coordinates X _{(n + q)} ".

The coordinate correction unit is configured to calculate a coordinate X _{(m + q)} ′ on the first regression line closest to the coordinate X _{(m + q)} for m = (n−p) to n. May be. Further, the coordinate correction apparatus includes a distance calculation unit that calculates a distance d _{(m + q)} between X _{(m + q)} ′ and X _{(m + q−1)} ′ for m = (n−p) to n. , A second straight line calculation unit for calculating a second regression line representing the relationship between the distances d _{(n−p + q) to} d _{(n + q)} calculated by the distance calculation unit, and the distance d _{(n + q)} A correction distance calculating unit that extracts a point on the second regression line corresponding to a time elapsed from a time required for processing delay and calculates a distance d _{(n + q)} ′ corresponding to the extracted point; May be further provided. Then, the coordinate correction unit calculates a coordinate X _{(n + q)} ″ on the first regression line that is separated from the coordinate X _{(n + q−1)} ′ by the distance d _{(n + q)} ′, and the coordinate X _{( n + q)} may be corrected to the coordinates X _{(n + q)} ″.

In addition, the coordinate correction apparatus may further include a fitness calculation unit that calculates the fitness of the first regression line with respect to the coordinates X _{(n + 1) to} X _{(n + q)} . Further, the correction distance calculation unit may be configured to shorten a predetermined time required for the processing delay when the fitness calculated by the fitness calculation unit is small.

In addition, the coordinate correction apparatus may further include a fitness calculation unit that calculates the fitness of the first regression line with respect to the coordinates X _{(n + 1) to} X _{(n + q)} . Further, the correction distance calculation unit may be configured to shorten a predetermined time required for the processing delay when the fitness calculated by the fitness calculation unit is small.

Further, the coordinate correcting unit, the coordinate _{X (n + q)} closest said first regression line on the coordinate _{X (n + q)} ', the closest the first regression line on the coordinate _{X (n + q-1)} 'and the correction coordinate calculation unit for calculating the said coordinates _{X (n + q)'} coordinate _X of the upper _{(n + q-1)} and the _{X (n + q-1)} predetermined coefficient k (k the distance d between the ' A correction distance calculation unit that calculates the distance d ′ by multiplying by> 1), and a coordinate X _{(n + q)} ″ separated from the X _{(n + q−1)} ′ by the distance d ′ on the first regression line. And a correction unit that calculates and corrects the coordinate X _{(n + q)} to the coordinate X _{(n + q)} ″.

In addition, the coordinate correction apparatus may further include a fitness calculation unit that calculates the fitness of the first regression line with respect to the coordinates X _{(n + 1) to} X _{(n + q)} . Further, the coordinate correction unit sets the predetermined coefficient k to a relatively small value when the fitness calculated by the fitness calculator is small, and the fitness calculated by the fitness calculator is large. In some cases, the predetermined coefficient k may be set to a relatively large value.

The first straight line calculation unit may be configured to calculate a first approximate straight line that minimizes a sum of squares of distances measured from each of the coordinates X _{(n + 1) to} X _{(n + q).} Good. Further, the coordinate correction unit calculates the coordinate X _{(n + q)} ′ using the first approximate line instead of the first regression line, and the coordinate X based on the coordinate X _{(n + q)} ′. _It may be configured to correct _{(n + q)} .

Moreover, in order to solve the said subject, according to another viewpoint of this technique, it acquired by the coordinate acquisition part which acquires the coordinate of a position, and the (n + 1) th-(n + q) th by the said coordinate acquisition part. a first straight line calculation unit for calculating a first regression line representing a relationship between _q coordinates X _{(n + 1) to} X _{(n + q)} , and the first regression line closest to the coordinate X _{(n + q)} 'calculates the coordinates _{X (n + q)'} coordinates _{X (n + q)} and a coordinate correction unit which corrects the coordinates _{X (n + q)} using the coordinate correction device is provided.

In order to solve the above problem, according to another aspect of the present technology, a touch sensor that detects coordinates of a touch position, a coordinate acquisition unit that acquires coordinates of the touch position from the touch sensor, and the coordinate acquisition A first straight line calculating unit that calculates a first regression line representing a relationship between the _q coordinates X _{(n + 1) to} X _{(n + q)} acquired by the unit from the (n + 1) th to the (n + q) th, a coordinate correction unit 'is calculated, the coordinate _{X (n + q)'} coordinates _{X (n + q)} nearest the first regression line on the coordinate _{X (n + q)} wherein correcting the coordinates _{X (n + q)} with, An input device is provided.

In order to solve the above problem, according to another aspect of the present technology, the coordinate acquisition step of acquiring the coordinates of the touch position from the touch sensor, and the (n + 1) to (n + q) th acquired q A first straight line calculating step for calculating a first regression line representing a relationship between the coordinates X _{(n + 1) to} X _{(n + q)} , and a coordinate on the first regression line closest to the coordinate X _{(n + q)} 'calculates the coordinates _{X (n + q)' X} (n + q) ; and a correction step of correcting the coordinate _{X (n + q)} using the coordinate correction method is provided.

In order to solve the above-described problem, according to another aspect of the present technology, a coordinate acquisition function for acquiring the coordinates of the touch position from the touch sensor and the (n + 1) to (n + q) th acquired q A first straight line calculation function for calculating a first regression line representing the relationship between the coordinates X _{(n + 1) to} X _{(n + q)} , and a coordinate on the first regression line closest to the coordinate X _{(n + q) 'calculates} the coordinates _{X (n + q)' X} (n + q) a program for realizing a coordinate correcting function, to a computer for correcting the coordinate X _{(n + q)} with is provided.

  In order to solve the above problem, according to another aspect of the present technology, a computer-readable recording medium on which the above-described program is recorded is provided.

  As described above, according to the present technology, an error between the detection position and the actual position can be reduced in real time.

It is explanatory drawing which shows the electrode structure of an electrostatic capacitance type touch sensor. It is explanatory drawing which shows the detection method of the touch position by an electrostatic capacitance type touch sensor. It is explanatory drawing for demonstrating the detection accuracy of an electrostatic capacitance type touch sensor. It is explanatory drawing for demonstrating the noise reduction method using a moving average. It is explanatory drawing for demonstrating the noise reduction method using a moving average. It is explanatory drawing which shows the function structure of the information processing apparatus which concerns on 1st Embodiment of this technique. It is explanatory drawing which shows the function structure of the coordinate correction part which concerns on the same embodiment. It is explanatory drawing for demonstrating the calculation method of the approximate line which concerns on the same embodiment. It is explanatory drawing for demonstrating the calculation method of the approximate line which concerns on the same embodiment. It is explanatory drawing for demonstrating the calculation method of the approximate line which concerns on the same embodiment. It is explanatory drawing for demonstrating the calculation method of the correction coordinate which concerns on the embodiment. It is explanatory drawing for demonstrating the calculation method of the correction coordinate which concerns on the embodiment. It is explanatory drawing which shows the function structure of the coordinate correction | amendment part which concerns on 2nd Embodiment of this technique. It is explanatory drawing for demonstrating the calculation method of the temporary correction coordinate which concerns on the embodiment. It is explanatory drawing for demonstrating the calculation method of the gravity center distance which concerns on the same embodiment. It is explanatory drawing for demonstrating the correction method of the gravity center distance which concerns on the same embodiment. It is explanatory drawing for demonstrating the calculation method of the correction coordinate which concerns on the embodiment. It is explanatory drawing for demonstrating the calculation method of the correction coordinate which concerns on the embodiment. It is explanatory drawing for demonstrating the correction method (modification) of the gravity center distance which concerns on the embodiment. It is explanatory drawing which shows the function structure of the coordinate correction part which concerns on 3rd Embodiment of this technique. It is explanatory drawing for demonstrating the calculation method of the temporary correction coordinate which concerns on the embodiment. It is explanatory drawing for demonstrating the calculation method of the correction coordinate which concerns on the embodiment. It is explanatory drawing for demonstrating the calculation method of the correction coordinate which concerns on the embodiment. It is explanatory drawing which shows the function structure of the coordinate correction part which concerns on 4th Embodiment of this technique. It is explanatory drawing for demonstrating the calculation method of the distance which concerns on the same embodiment. It is explanatory drawing for demonstrating the correction method of the distance which concerns on the same embodiment. It is explanatory drawing for demonstrating the calculation method of the correction coordinate which concerns on the embodiment. It is explanatory drawing for demonstrating the calculation method of the correction coordinate which concerns on the embodiment. FIG. 25 is an explanatory diagram illustrating a hardware configuration example that can realize a part or all of the functions of the information processing apparatus according to the first to fourth embodiments of the present technology.

  Hereinafter, preferred embodiments according to the present technology will be described in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

[About the flow of explanation]
Here, the flow of explanation described below will be briefly described.

  First, the electrode structure and its properties of a capacitive touch sensor will be briefly described with reference to FIGS. A sensor other than the capacitive touch sensor will be described. Next, a noise reduction method using a moving average will be described with reference to FIGS. 4 and 5.

  Next, the functional configuration of the information processing apparatus according to the first embodiment of the present technology will be described with reference to FIG. Next, a functional configuration of the coordinate correction unit 13 according to the embodiment will be described with reference to FIG. The operation of the coordinate correction unit 13 will be described with reference to FIGS. Next, a correction coordinate calculation method according to the embodiment will be described with reference to FIG.

  Next, a functional configuration of the coordinate correction unit 13 according to the second embodiment of the present technology will be described with reference to FIG. The operation of the coordinate correction unit 13 according to the embodiment will be described with reference to FIGS. Next, a correction coordinate calculation method according to the embodiment will be described with reference to FIG. Next, a center of gravity distance correction method according to a modification of the embodiment will be described with reference to FIG.

  Next, the functional configuration of the coordinate correction unit 13 according to the third embodiment of the present technology will be described with reference to FIG. Further, the operation of the coordinate correction unit 13 according to the embodiment will be described with reference to FIGS. 21 and 22. Next, a correction coordinate calculation method according to the embodiment will be described with reference to FIG.

  Next, the functional configuration of the coordinate correction unit 13 according to the fourth embodiment of the present technology will be described with reference to FIG. The operation of the coordinate correction unit 13 according to the embodiment will be described with reference to FIGS. Next, a correction coordinate calculation method according to the embodiment will be described with reference to FIG.

  Next, a hardware configuration example capable of realizing the functions of the information processing apparatus according to the first to fourth embodiments of the present technology will be described with reference to FIG. Finally, the technical idea of the embodiment will be summarized and the effects obtained from the technical idea will be briefly described.

(Description item)
1: Introduction 1-1: Structure of capacitive touch sensor and touch position detection method 1-2: Detection accuracy of capacitive touch sensor 1-3: Other sensors 1-4: Noise reduction method 2 : First Embodiment 2-1: Configuration of Information Processing Device 2-2: Detailed Configuration of Coordinate Correction Unit 13
2-2-1: Overall configuration
2-2-2: Calculation of approximate straight line
2-2-3: Calculation of correction coordinates 2-3: Calculation method of correction coordinates 3: Second embodiment 3-1: Detailed configuration of coordinate correction unit 13
3-1-1: Overall configuration
3-1-2: Calculation of temporary correction coordinates
3-1-3: Calculation of center of gravity distance
3-1-4: Correction of center-of-gravity distance
3-1-5: Calculation of correction coordinates 3-2: Calculation method of correction coordinates 3-3: Modification (consideration of processing delay)
4: Third Embodiment 4-1: Detailed Configuration of Coordinate Correction Unit 13
4-1-1: Overall configuration
4-1-2: Calculation of temporary correction coordinates
4-1-3: Calculation of correction coordinates 4-2: Calculation method of correction coordinates 5: Fourth embodiment 5-1: Detailed configuration of coordinate correction unit 13
5-1-1: Overall configuration
5-1-2: Calculation of distance
5-1-3: Distance correction
5-1-4: Correction coordinate calculation 5-2: Correction coordinate calculation method 6: Hardware configuration 7: Summary

<1: Introduction>
First, the structure of the capacitive touch sensor, the detection accuracy of the capacitive touch sensor, the detection accuracy of other sensors, and a noise reduction method will be briefly described.

[1-1: Structure of Capacitive Touch Sensor and Touch Position Detection Method]
First, the electrode structure of the capacitive touch sensor will be described with reference to FIG. In addition, a method for detecting a touch position using a capacitive touch sensor will be described with reference to FIG. FIG. 1 is an explanatory diagram for describing an electrode structure of a capacitive touch sensor. FIG. 2 is an explanatory diagram for explaining a method of detecting a touch position by a capacitive touch sensor. Here, as an example, a diamond type electrode structure will be described as an example.

  As shown in FIG. 1, the capacitive touch sensor includes a plurality of X electrodes wired along the X direction and a plurality of Y electrodes wired along the Y direction. Further, the X electrode and the Y electrode are arranged and wired so that the rectangular portion (electrode pad) of the X electrode and the rectangular portion (electrode pad) of the Y electrode are evenly exposed when viewed in the Z direction. Although only a few electrodes are shown here for simplicity, there are actually a large number of electrodes.

  As shown in FIG. 2, when a dielectric such as a finger (hereinafter referred to as an operating body) approaches the X electrode (Y electrode), electrostatic coupling is formed between the operating body and the X electrode (Y electrode), and X The capacitance of the electrode (Y electrode) increases. Therefore, it is possible to detect the proximity of the operating body by detecting a change in capacitance. Further, by monitoring the capacitance of each X electrode and each Y electrode, it is possible to detect the position where the operating body is in contact with or close to.

[1-2: Detection accuracy of capacitive touch sensor]
Next, the detection accuracy of the capacitive touch sensor will be described with reference to FIG. As shown in the left diagram of FIG. 3, when the operator touches the touch surface in an oblique direction and linearly traces, the locus of the touch position as shown in the right diagram of FIG. 3 is detected. As is apparent from the right diagram of FIG. 3, the locus of the touch position detected by the capacitive touch sensor is periodically wavy. That is, the trajectory drawn by the user with the operating tool does not match the trajectory actually detected by the capacitive touch sensor. In other words, there is an error between the coordinates of the position where the operating body approaches or touches the touch surface and the coordinates of the actually detected touch position.

  Thus, if a coordinate different from the position where the operating tool is close or in contact is detected, a command not intended by the user may be executed. In addition, if the locus of the touch position detected during the drag operation undulates, the object that moves following the drag operation may move unnaturally or the gesture may not be recognized correctly. In addition, when the user performs an operation in which the direction of movement, such as scrolling the screen, is performed, the operation speed may fluctuate, which may make the user feel uncomfortable. In order to reduce the above error, for example, the interval between the X electrode and the Y electrode may be narrowed.

  However, when the number of electrodes increases, the time required for scanning the touch position increases, and the response decreases. Furthermore, the manufacturing cost increases due to the increase in the number of terminals. For these reasons, attention has been paid to a technique for reducing the above error while maintaining the size of the grid formed by the X electrode and the Y electrode.

[1-3: Other sensors]
By the way, not only the capacitive touch sensor having the diamond-shaped electrode structure described above, but also in the capacitive touch sensor having another electrode structure and the touch sensor adopting a method other than the capacitive type, A technique for improving the detection accuracy of the touch position is required. In addition to the touch sensor, in the field of an optical sensor that detects a position using infrared rays, visible light, or the like, it is required to realize a technique for accurately detecting the position of a light source. The detection results by these sensors include the influence of noise caused by various factors. For this reason, various researches have been conducted on various techniques for removing the influence of noise contained in the detection results of sensors that detect positions by electrical or optical methods.

[1-4: Noise reduction method]
As a method of reducing noise included in the detection result of the sensor, there is a method of averaging the measurement values measured by the sensor and suppressing variation in the measurement values. Here, a noise reduction method using a moving average will be described with reference to FIGS. 4 and 5. 4 and 5 are explanatory diagrams for explaining a noise reduction method using a moving average.

Assume that the measured values X _{1 to} X ₈ are measured by the sensor at times t ₁ to t ₈ . When the measurement values X _{1 to} X ₈ are plotted in the coordinate space with the time t and the measurement value X as coordinate axes, the result is as shown in FIG. First, consider the processing to reduce noise measurements X _3. When to be considered the moving average of five points, the processing for reducing noise measurements X ₃ are each 2-point around the measured value X ₃ are extracted, the average value X of the five points, including the measured value X _{3 3} 'is calculated. That is, the average value X ₃ ′ of the measured values X _{1 to} X ₅ is calculated. A point corresponding to the average value X ₃ ′ will be expressed as P (t ₃ ).

When the point P (t ₃ ) is obtained, next, a process for reducing the noise of the measurement value X ₄ is executed. In the process of reducing the noise measurements X ₄ are each before and after the measurement value X ₄ are extracted, the mean value X ₄ of 5 points including the measured values X _{4 'is} calculated. That is, as shown in FIG. 5, the range of measurement values used for calculating the average value X ₄ ′ moves (A (t ₃ ) → A (t ₄ ) as the measurement values targeted for noise reduction processing move. )). Then, an average value X ₄ ′ of the measured values X _{2 to} X ₆ is calculated. In this way, the average value included in the range is sequentially calculated while moving the range of the measurement value. The average values X ₃ ′, X ₄ ′,... Calculated using the moving average are reduced values included in the measured values X ₃ , X ₄ ,.

However, calculated as shown in FIG. 5, _'for using the measured values X ₁ to X ₅ for calculating the average value X ₃ to wait at least until the time t _5' average X ₃ measurements X ₃ a Can not do it. Therefore, a delay Δt = t ₅ −t ₃ occurs. This delay Δt occurs in the same manner when calculating the average values X ₄ ′, X ₅ ′,. That is, when a noise reduction method using a moving average is applied, a delay Δt occurs between the position detection by the sensor and the output of the position information after noise reduction. The occurrence of such a delay Δt causes a decrease in response and gives the user a feeling of strangeness. Therefore, there is a demand for a technique for removing noise included in the detection result by the sensor while suppressing the occurrence of the delay Δt.

<2: First Embodiment>
Hereinafter, a first embodiment of the present technology will be described.

[2-1: Configuration of information processing apparatus]
First, the configuration of the information processing apparatus according to the present embodiment will be described with reference to FIG. FIG. 6 is an explanatory diagram for explaining the configuration of the information processing apparatus according to the present embodiment.

  As illustrated in FIG. 6, the information processing apparatus according to the present embodiment is mainly configured by an input device 10, an information processing unit 20, and a display unit 30. The input device 10 mainly includes a touch sensor 11, a coordinate acquisition unit 12, and a coordinate correction unit 13. Instead of the touch sensor 11, it is also possible to use a type of sensor that detects a position indicated by the user using light such as infrared rays or visible light. However, in the following, the description will be made with the acquisition of the coordinates of the touch position from the touch sensor 11 as an example.

  When the user brings an operating body such as a finger close to or in contact with the touch sensor 11, the touch sensor 11 detects the position of the operating body that has approached or touched (hereinafter referred to as a touch position). The coordinates indicating the touch position detected by the touch sensor 11 are input to the coordinate acquisition unit 12. When the coordinate acquisition unit 12 acquires the coordinates from the touch sensor, the coordinate acquisition unit 12 inputs the acquired coordinates to the coordinate correction unit 13. The coordinate correction unit 13 to which the coordinates are input corrects the input coordinates. The coordinates corrected by the coordinate correction unit 13 are referred to as corrected coordinates. The corrected coordinates are output from the coordinate correction unit 13 and input to the information processing unit 20. When the correction coordinates are input, the information processing unit 20 executes a predetermined process based on the input correction coordinates. Then, the information processing unit 20 displays the executed processing result on the display unit 30.

  As described above, the input device 10 corrects the coordinates by the function of the coordinate correction unit 13. Therefore, coordinate errors caused by the influence of device characteristics of the touch sensor 11 and external noise are reduced, and correct processing based on the coordinates of the position where the operating body actually approaches or contacts is executed. In addition, as will be described later, the coordinate correction unit 13 corrects the currently input coordinates using the currently input coordinates and the previously input coordinates. Therefore, no delay occurs when correcting the coordinates, and a suitable response can be realized.

  The configuration of the information processing apparatus according to the present embodiment has been described above.

[2-2: Detailed Configuration of Coordinate Correction Unit 13]
Next, the configuration of the coordinate correction unit 13 will be described in more detail.

(2-2-1: Overall configuration)
First, the overall configuration of the coordinate correction unit 13 will be described with reference to FIG. FIG. 7 is an explanatory diagram for explaining the overall configuration of the coordinate correction unit 13.

  As shown in FIG. 7, the coordinate correction unit 13 mainly includes a coordinate relationship calculation unit 131, a coordinate holding unit 132, and a correction coordinate calculation unit 133.

  First, the coordinates input by the coordinate acquisition unit 12 are input to the coordinate relationship calculation unit 131 and the coordinate holding unit 132. In addition, the coordinate holding unit 132 holds the input coordinates. Therefore, the input coordinates are accumulated in the coordinate holding unit 132. The coordinate relationship calculation unit 131 acquires past coordinates (hereinafter referred to as past coordinates) accumulated in the coordinate holding unit 132. Then, the coordinate relationship calculation unit 131 calculates an approximate line based on the coordinates input from the coordinate acquisition unit 12 (hereinafter referred to as current coordinates) and the past coordinates acquired from the coordinate holding unit 132. A method for calculating this approximate straight line will be described later. The approximate straight line calculated by the coordinate relationship calculation unit 131 is input to the correction coordinate calculation unit 133. When the approximate straight line is input, the corrected coordinate calculation unit 133 corrects the current coordinate using the input approximate straight line, and calculates the corrected coordinate. The correction coordinate calculation method will be described later.

  The overall configuration of the coordinate correction unit 13 has been described above.

(2-2-2: Calculation of approximate straight line)
Next, a method for calculating an approximate straight line by the coordinate correction unit 13 will be described with reference to FIGS. 8-10 is explanatory drawing for demonstrating the calculation method of the approximate line by the coordinate correction | amendment part 13. FIG. Note that the calculation of the approximate straight line described here is realized mainly using the function of the coordinate relationship calculation unit 131. Although two calculation methods will be described here, the coordinate relationship calculation unit 131 may use any calculation method.

(Approximation line calculation method # 1: least square method)
First, referring to FIG. Figure 8 is the coordinates were acquired at time _t 1 ~t ₅ by the coordinate acquisition unit 12 _P (t 1) ~P and _{(t 5),} and the approximate straight line L is described. The approximate straight line L is a straight line calculated using the least square method. That is, as shown in FIG. 8, the coordinate relationship calculation unit 131 calculates the square sum ΣΔY (t of the distance ΔY (t _j ) along the Y direction between the coordinates P (t _j ) (j = 1 to 5). _j ) An approximate straight line L in which ² is minimized is calculated.

When the inclination of the approximate straight line L is steep, the X axis and the Y axis are exchanged as shown in FIG. 9, and the X direction between the coordinates P (t _j ) (j = 1 to 5) is changed. The approximate straight line L can be obtained with higher accuracy by calculating the approximate straight line L that minimizes the square sum ΣΔX (t _j ) ^{2 of} the distance ΔX (t _j ) along. The coordinate relationship calculation unit 131 may perform such an exchange between the X axis and the Y axis according to the inclination of the approximate straight line L.

(Approximation line calculation method # 2: minimum distance)
Reference is now made to FIG. FIG. 10 shows the coordinates P (t ₁ ) to P (t ₅ ) acquired at the times t ₁ to t ₅ by the coordinate acquisition unit 12 and the approximate straight line L. This approximate straight line L is a straight line that minimizes the sum of squares of the distances from the coordinates P (t ₁ ) to P (t ₅ ). That is, as shown in FIG. 10, the coordinate relationship calculation unit 131 has a minimum sum of squares Σδ (t _j ) ² of the distance δ (t _j ) between the coordinates P (t _j ) (j = 1 to 5). An approximate straight line L is calculated.

The method for calculating the approximate straight line by the coordinate correction unit 13 has been described above. Although the method for calculating the approximate line L from the _five coordinates P (t ₁ ) to P (t ₅ ) has been described here, the number of coordinates used for calculating the approximate line L is set to an arbitrary number of 2 or more. Is possible.

(2-2-3: Calculation of correction coordinates)
Next, a correction coordinate calculation method by the coordinate correction unit 13 will be described with reference to FIG. FIG. 11 is an explanatory diagram for explaining a method of calculating correction coordinates by the coordinate correction unit 13. The correction coordinate calculation described here is realized mainly using the function of the correction coordinate calculation unit 133.

11 the coordinates were acquired at time _t 1 ~t ₅ by the coordinate acquisition unit 12 _P (t 1) ~P and _{(t 5),} and the approximate line L, the correction coordinate P _{'(t 5)} and are described Has been. When calculating the correction coordinate P ′ (t ₅ ), the correction coordinate calculation unit 133 calculates the coordinate P ′ closest to the coordinate P (t ₅ ) on the approximate straight line L of the coordinates P (t ₁ ) to P (t ₅ ). Calculate (t ₅ ). Then, the correction coordinate calculation unit 133 sets the calculated coordinate P ′ (t ₅ ) on the approximate straight line L as the correction coordinate.

The correction coordinate calculation method by the coordinate correction unit 13 has been described above. Here, it has been described a method of calculating the correction coordinate P corresponding to the coordinates P (t ₅₎ as an example '(t _5), the method of calculating the correction coordinate corresponding to the other coordinate is the same.

  The configuration of the coordinate correction unit 13 has been described in detail above.

[2-3: Correction coordinate calculation method]
Next, an operation flow of the coordinate correction unit 13 related to the correction coordinate calculation method will be described with reference to FIG. FIG. 12 is an explanatory diagram for explaining an operation flow of the coordinate correction unit 13 relating to a method of calculating correction coordinates.

  As shown in FIG. 12, first, the coordinate correction unit 13 acquires the latest coordinates (S101). Next, the coordinate correction unit 13 acquires past coordinate groups accumulated in the coordinate holding unit 132 (S102). Next, the coordinate correction unit 13 calculates an approximate straight line using the plurality of coordinates acquired in steps S101 and S102 by the function of the coordinate relationship calculation unit 131 (S103). Next, the coordinate correction unit 13 calculates a coordinate that is on the approximate straight line calculated in step S103 and is closest to the latest coordinate acquired in step S101 by the function of the correction coordinate calculation unit 133 (S104). Next, the coordinate correction unit 13 outputs the coordinates calculated in step S104 as correction coordinates (S105), and ends a series of processing.

  The operation flow of the coordinate correction unit 13 related to the correction coordinate calculation method has been described above.

  As described above, according to the coordinate correction method according to the first embodiment of the present technology, it is possible to generate correction coordinates at the timing when the latest coordinates are acquired.

<3: Second Embodiment>
Next, a second embodiment of the present technology will be described. The difference between the present embodiment and the first embodiment described above is in the configuration of the coordinate correction unit 13 and the method for calculating the corrected coordinates. Therefore, the configuration of the coordinate correction unit 13 and the correction coordinate calculation method will be mainly described below.

[3-1: Detailed Configuration of Coordinate Correction Unit 13]
A detailed configuration of the coordinate correction unit 13 according to the present embodiment will be described.

(3-1-1: Overall configuration)
First, the overall configuration of the coordinate correction unit 13 will be described with reference to FIG. FIG. 13 is an explanatory diagram for explaining the overall configuration of the coordinate correction unit 13. In addition, detailed description is abbreviate | omitted by attaching | subjecting the same code | symbol about the component which has a function substantially the same as the function of the coordinate correction | amendment part 13 which concerns on said 1st Embodiment.

  As shown in FIG. 13, the coordinate correction unit 13 mainly includes a coordinate relationship calculation unit 131, a coordinate holding unit 132, a temporary correction coordinate calculation unit 201, a centroid calculation unit 202, a centroid distance calculation unit 203, The distance relationship calculation unit 204, the centroid distance correction unit 205, and the correction coordinate calculation unit 206 are configured.

First, the coordinates input by the coordinate acquisition unit 12 are input to the coordinate relationship calculation unit 131 and the coordinate holding unit 132. In addition, the coordinate holding unit 132 holds the input coordinates. Therefore, the input coordinates are accumulated in the coordinate holding unit 132. The coordinate relationship calculation unit 131 acquires a predetermined number of coordinates accumulated in the coordinate holding unit 132. For example, the coordinate relationship calculation unit 131 acquires the coordinates P (t _k ) acquired by the coordinate acquisition unit 12 at time t _k (k = 1 to K, K is a predetermined value). Then, the coordinate relationship calculating unit 131 calculates the approximate straight line L based on the coordinates P (t _k ) (k = 1 to _K ) acquired from the coordinate holding unit 132. Note that the method of calculating the approximate straight line L is substantially the same as that in the first embodiment.

The approximate straight line L calculated by the coordinate relationship calculation unit 131 is input to the temporary correction coordinate calculation unit 201 and the correction coordinate calculation unit 206. When the approximate straight line L is input, the temporary correction coordinate calculation unit 201 calculates a coordinate (hereinafter referred to as a temporary correction coordinate) P ″ (t _K ) on the approximate straight line L closest to the coordinate P (t _K ). The temporary correction coordinate calculation method will be described later, and the temporary correction coordinate P ″ (t _K ) calculated by the temporary correction coordinate calculation unit 201 is input to the centroid distance calculation unit 203. The center-of-gravity calculation unit 202 calculates coordinates (hereinafter, center-of-gravity coordinates) W (t _K ) located at the center of gravity of the coordinates P (t _k ) (k = 1 to _K ). The centroid coordinates W (t _K ) calculated by the centroid calculation unit 202 are input to the centroid distance calculation unit 203.

As described above, the provisional correction coordinates P ″ (t _K ) and the centroid coordinates W (t _K ) are input to the centroid distance calculation unit 203. The provisional correction coordinates P ″ (t _K ) and the centroid coordinates W ( When t _k ) is input, the center-of-gravity distance calculation unit 203 calculates a distance between the input temporary correction coordinates P ″ (t _K ) and the center-of-gravity coordinates W (t _K ) (hereinafter, center-of-gravity distance) d ( t _K ) is calculated, and the center-of-gravity distance d (t _K ) calculated by the center-of-gravity distance calculator 203 is input to the distance relationship calculator 204.

Further, the coordinate relationship calculation unit 131, the provisional correction coordinate calculation unit 201, the centroid calculation unit 202, and the centroid distance calculation unit 203 execute the following processing for m = 1 to M (M is a predetermined number). The coordinate relationship calculation unit 131 acquires the coordinates P (t _(k−m) ) acquired at the time t ₍ km) (k = 1 to K ₎ by the coordinate acquisition unit 12. Then, the coordinate relationship calculating unit 131 calculates the approximate straight line L based on the coordinates P (t _(k−m) ) (k = 1 to K) acquired from the coordinate holding unit 132. Note that the method of calculating the approximate straight line L is substantially the same as that in the first embodiment.

The approximate straight line L calculated by the coordinate relationship calculation unit 131 is input to the temporary correction coordinate calculation unit 201 and the correction coordinate calculation unit 206. Calculating the approximation line L is input, the temporary correction coordinate calculation unit 201, the coordinates _{P (t (K-m)} ) temporarily corrected coordinates on the closest approximation line L to P _{"a (t (K-m))} The temporary correction coordinates P ″ (t _(K−m) ) calculated by the temporary correction coordinate calculation unit 201 is input to the centroid distance calculation unit 203. The center-of-gravity calculation unit 202 calculates the center-of-gravity coordinates W (t _(K−m) ) located at the center of gravity of the coordinates P (t _(k−m) ) (k = 1 to _K) . The center-of-gravity coordinates W (t _(K−m) ) calculated by the center _-of- gravity calculation unit 202 is input to the center-of-gravity distance calculation unit 203.

As described above, the centroid distance calculation unit 203 receives the provisional correction coordinates P ″ (t _(K−m) ) and the centroid coordinates W (t _(K−m) ). The provisional correction coordinates P ″ ( When t _(K−m) ) and the centroid coordinates W (t _(K−m) ) are input, the centroid distance calculation unit 203 inputs the input temporary correction coordinates P ″ (t _(K−m) ) and calculating the centroid distance _{d (t (K-m)} ) between the barycentric coordinates _{W (t (K-m)} ). Then, the centroid distance calculated by the gravity center distance calculating section 203 d _{(t (K-m )} ) Is input to the distance relationship calculation unit 204.

As described above, the center-of-gravity distance d (t _{(K−m ′)} ) (m ′ = 0 to M) is input to the distance relationship calculation unit 204. When the center-of-gravity distance d (t _{(K−m ′)} ) (m ′ = 0 to M) is input, the distance relationship calculation unit 204 inputs the input center-of-gravity distance d (t _{(K−m ′)} ) (m '= 0 to M) calculates the approximate straight line _{L d} with. It will be described later method of calculating the approximate straight line L _d. The approximate straight line L _d calculated by the distance relationship calculation unit 204 is input to the centroid distance correction unit 205. When the approximate line L _d is input, the centroid distance correction unit 205 extracts a point on the approximate line L _d corresponding to the time t _K and calculates the centroid distance d ′ (t _K ) corresponding to the point. . Then, the center-of-gravity distance correction unit 205 outputs the calculated center-of-gravity distance d ′ (t _K ) as a correction value of the center-of-gravity distance d (t _K ) (hereinafter, corrected center-of-gravity distance).

A method for calculating the corrected center-of-gravity distance d ′ (t _K ) will be described later. The corrected center-of-gravity distance d ′ (t _K ) output by the center-of-gravity distance correction unit 205 is input to the correction coordinate calculation unit 206. When the corrected centroid distance d ′ (t _K ) is input, the corrected coordinate calculation unit 206 corrects the coordinate P (t _K ) using the input corrected centroid distance d ′ (t _K ), and the corrected coordinates P '(T _K ) is calculated. Specifically, the corrected coordinate calculation unit 206 calculates the corrected center-of-gravity distance d ′ (t) from the center-of-gravity coordinates W (t _K ) on the approximate straight line L calculated with respect to the coordinates P (t _k ) (k = 1 to N). _The coordinates P ′ (t _K ) separated by _K ) are extracted, and the coordinates P ′ (t _K ) are output as correction coordinates. The correction coordinate calculation method will be described later.

  The overall configuration of the coordinate correction unit 13 has been described above.

(3-1-2: Calculation of temporary correction coordinates)
Next, a method of calculating temporary correction coordinates by the coordinate correction unit 13 will be described with reference to FIG. FIG. 14 is an explanatory diagram for explaining a method of calculating temporary correction coordinates by the coordinate correction unit 13. Note that the calculation of the temporary correction coordinates described here is realized mainly by using the function of the temporary correction coordinate calculation unit 201.

14 the coordinates were acquired at time _t 1 ~t ₅ by the coordinate acquisition unit 12 _P (t 1) ~P and _{(t 5),} and the approximate line L, although the temporary correction coordinate P _{"(t 5)} are described. when calculating the provisional correction coordinate P _{"(t 5),} temporary correction coordinate calculation unit 201, the coordinates _{P (t 1) ~P (t} 5) of the approximate straight line L on the coordinates P _{(t 5} ) coordinates closest P to "calculates the (t _5). the temporary correction coordinate calculation unit 201, the coordinates P on the calculated approximation line L" to set the (t ₅₎ the temporary correction coordinates.

The calculation method of the temporary correction coordinates by the coordinate correction unit 13 has been described above. Here, has been described a method of calculating a temporary correction coordinate P "(t ₅₎ corresponding to the coordinates P (t ₅₎ As an example, a method of calculating the temporary correction coordinates corresponding to the other coordinate is the same.

(3-1-3: Calculation of center of gravity distance)
Next, a method for calculating the center-of-gravity distance by the coordinate correction unit 13 will be described with reference to FIG. FIG. 15 is an explanatory diagram for explaining a method of calculating the center-of-gravity distance by the coordinate correction unit 13. Note that the calculation of the center-of-gravity distance described here is realized mainly using the functions of the center-of-gravity calculation unit 202 and the center-of-gravity distance calculation unit 203.

In FIG. 15, the coordinates P (t ₁ ) to P (t ₅ ) acquired at the times t ₁ to t ₅ by the coordinate acquisition unit 12, the approximate straight line L, the temporary correction coordinates P ″ (t ₅ ), The center-of-gravity coordinates W (t ₅ ) and the center-of-gravity distance d (t ₅ ) are described.When the center-of-gravity distance d (t ₅ ) is calculated, first, the center-of-gravity calculation unit 202 includes coordinates P (t ₁ ) to calculating a P barycentric coordinates W of _{(t 5) (t 5)} . Next, the centroid distance calculating unit 203, as shown in FIG. 15, the center coordinates W _{(t 5)} and the temporary correction coordinate P _"(t 5) The distance d (t ₅ ) between is calculated. The centroid distance calculation unit 203 sets the calculated distance d (t ₅ ) as the centroid distance.

The calculation method of the center of gravity distance by the coordinate correction unit 13 has been described above. Here, as an example, the method of calculating the center-of-gravity distance d (t ₅ ) corresponding to the coordinate P (t ₅ ) has been described, but the method of calculating the center-of-gravity distance corresponding to other coordinates is also the same.

(3-1-4: Correction of center of gravity distance)
Next, a method for correcting the center of gravity distance by the coordinate correction unit 13 will be described with reference to FIG. FIG. 16 is an explanatory diagram for describing a method of correcting the center of gravity distance by the coordinate correction unit 13. The correction of the center-of-gravity distance described here is realized mainly using the functions of the distance relationship calculation unit 204 and the center-of-gravity distance correction unit 205.

Figure 16 is a coordinate acquired at time _t 1 ~t ₅ by the coordinate acquisition unit 12 _P (t 1) ~P centroid distance _d (t 1) corresponding to _{(t 5) ~d (t 5} ), An approximate straight line L _d and a corrected center-of-gravity distance d ′ (t ₅ ) are described. When calculating the corrected center-of-gravity distance d ′ (t ₅ ), first, the distance relationship calculation unit 204 calculates the approximate straight line L _d regarding the center-of-gravity distances d (t ₁ ) to d (t ₅ ). The approximate straight line L _d can be calculated using, for example, a method similar to the method for calculating the approximate straight line L (a method for obtaining a minimum distance, a least square method, or the like). Next, the center-of-gravity distance correcting unit 205 extracts a point on the approximate straight line L _{d at} time t ₅ and calculates a center-of-gravity distance d ′ (t ₅ ) corresponding to the point. Then, the center-of-gravity distance correction unit 205 sets the calculated center-of-gravity distance d ′ (t ₅ ) as the corrected center-of-gravity distance.

The correction method of the center of gravity distance by the coordinate correction unit 13 has been described above. Here, as an example, the method of calculating the corrected center-of-gravity distance d ′ (t ₅ ) corresponding to time t ₅ has been described, but the method of calculating the corrected center-of-gravity distance corresponding to other coordinates is also the same.

(3-1-5: Calculation of correction coordinates)
Next, a correction coordinate calculation method by the coordinate correction unit 13 will be described with reference to FIG. FIG. 17 is an explanatory diagram for explaining a method of calculating correction coordinates by the coordinate correction unit 13. The correction coordinate calculation described here is realized mainly using the function of the correction coordinate calculation unit 206.

FIG. 17 shows coordinates P (t ₁ ) to P (t ₅ ) acquired at times t ₁ to t ₅ by the coordinate acquisition unit 12, an approximate straight line L, barycentric coordinates W (t ₅ ), and a corrected barycenter. A distance d ′ (t ₅ ) and a correction coordinate P ′ (t ₅ ) are described. When calculating the correction coordinates P ′ (t ₅ ), the correction coordinate calculation unit 206 calculates the correction center-of-gravity distance from the center-of-gravity coordinates W (t ₅ ) on the approximate straight line L of the coordinates P (t ₁ ) to P (t ₅ ). It calculates the d _{'(t 5)} apart coordinates P' _{(t 5).} Then, the correction coordinate calculation unit 206 sets the calculated coordinate P ′ (t ₅ ) on the approximate straight line L as the correction coordinate.

The correction coordinate calculation method by the coordinate correction unit 13 has been described above. Here, it has been described a method of calculating the correction coordinate P corresponding to the coordinates P (t ₅₎ as an example '(t _5), the method of calculating the correction coordinate corresponding to the other coordinate is the same.

  The configuration of the coordinate correction unit 13 has been described in detail above.

[3-2: Calculation method of correction coordinates]
Next, the operation flow of the coordinate correction unit 13 related to the correction coordinate calculation method will be described with reference to FIG. FIG. 18 is an explanatory diagram for describing an operation flow of the coordinate correction unit 13 related to a calculation method of correction coordinates.

  As shown in FIG. 18, first, the coordinate correction unit 13 acquires the latest coordinates (S201). Next, the coordinate correction unit 13 acquires past coordinate groups accumulated in the coordinate holding unit 132 (S202). Next, the coordinate correction unit 13 calculates the approximate straight line L using the plurality of coordinates acquired in steps S201 and S202 by the function of the coordinate relationship calculation unit 131 (S203). At this time, a plurality of approximate lines L are calculated while changing the combination of coordinate groups.

  Next, the coordinate correction unit 13 is on the approximate straight line L calculated in step S203 by the function of the temporary correction coordinate calculation unit 201, and is closest to the latest coordinate in the coordinate group used to calculate the approximate straight line L. Coordinates (temporary correction coordinates) are calculated (S204). At this time, temporary correction coordinates are calculated for each combination of coordinate groups used for calculating each approximate line L in step S203. Next, the coordinate correction unit 13 calculates the center-of-gravity coordinates indicating the center of gravity of the coordinate group used in the calculation of each approximate line L in step S203 by the function of the center-of-gravity calculation unit 202 (S205).

Next, the coordinate correction unit 13 calculates the distance (centroid distance) between the temporary correction coordinates calculated in step S204 and the centroid coordinates calculated in step S205 by the function of the centroid distance calculation unit 203 (S206). At this time, the center-of-gravity distance is calculated for each combination of coordinate groups used to calculate each approximate straight line L in step S203. Next, the coordinate correction unit 13 calculates the approximate straight line L _d related to the center-of-gravity distance calculated in step S206 by the function of the distance relationship calculation unit 204 (S207).

Next, the coordinate correction unit 13 extracts a point on the approximate straight line L _d corresponding to the time when the latest coordinates are acquired in step S201 by the function of the centroid distance correction unit 205, and the centroid distance (correction) corresponding to the point. The gravity center distance) is calculated (S208). Next, the coordinate correction unit 13 is calculated in step S208 from the barycentric coordinates corresponding to the coordinate group on the approximate straight line L calculated using the coordinate group including the latest coordinates by the function of the correction coordinate calculation unit 206. The coordinates separated by the corrected center of gravity distance are calculated (S209). Then, the coordinate correction unit 13 outputs the coordinates calculated in step S209 as correction coordinates (S210), and ends a series of processing.

The operation flow of the coordinate correction unit 13 related to the correction coordinate calculation method has been described above. However, the operation flow shown in FIG. 18 may be modified as follows. Operation flow shown in FIG. 18, each time to calculate the approximate line L _d, so that calculated using the historical coordinate group, approximate line L for each combination of the coordinate group, temporary correction coordinates, the center of gravity coordinates, and center of gravity distance It is configured. However, the approximation line L is calculated using the coordinate group including the latest coordinates every time to get the latest coordinates, temporary correction coordinates, if held barycentric coordinates, and the centroid distance, calculating an approximate straight line L _d It is not necessary to calculate these values each time. More, each time to get the latest coordinates, that holds the center of gravity distance calculated using the coordinate group including the latest coordinates, greatly the calculation amount required when calculating the approximate straight line L _d Can be reduced to Such modifications also belong to the technical scope of the present embodiment.

[3-3: Modified example (considering processing delay)]
Next, with reference to FIG. 19, a modified example related to the method of correcting the center of gravity distance will be described. FIG. 19 is an explanatory diagram for describing a modification example regarding the method of correcting the center-of-gravity distance. The correction of the center-of-gravity distance described here is realized mainly using the functions of the distance relationship calculation unit 204 and the center-of-gravity distance correction unit 205.

19 shows a coordinate acquired at time _t 1 ~t ₅ by the coordinate acquisition unit 12 _P (t 1) ~P centroid distance _d (t 1) corresponding to _{(t 5) ~d (t 5} ), An approximate straight line L _d and a corrected center-of-gravity distance d ′ (t ₅ ) are described. When calculating the corrected center-of-gravity distance d ′ (t ₅ ), first, the distance relationship calculation unit 204 calculates the approximate straight line L _d regarding the center-of-gravity distances d (t ₁ ) to d (t ₅ ). The approximate straight line L _d can be calculated using, for example, a method similar to the method for calculating the approximate straight line L (a method for obtaining a minimum distance, a least square method, or the like).

Next, the center-of-gravity distance correction unit 205 considers the processing delay Δt, extracts a point on the approximate line L _{d at} time (t ₅ + Δt), and calculates the center-of-gravity distance d ′ (t ₅ ) corresponding to the point. . Then, the center-of-gravity distance correction unit 205 sets the calculated center-of-gravity distance d ′ (t ₅ ) as the corrected center-of-gravity distance. The processing delay Δt is set to, for example, the time required for the correction coordinate calculation process shown in FIG. 18 or the time required for display based on the correction coordinates after the coordinates are acquired. Further, the processing delay Δt may be set in advance to a fixed value based on the result of experimental measurement, or the average time required for the correction coordinate calculation processing shown in FIG. 18 is measured. The measurement value may be updated at a predetermined timing.

The center-of-gravity distance correction unit 205 may adjust the value of the processing delay Δt according to the degree of matching between the approximate straight line L and the coordinates P (t ₁ ) to P (t ₅ ). For example, the center-of-gravity distance correction unit 205 calculates the sum of squares of errors between the approximate straight line L and the coordinates P (t ₁ ) to P (t ₅ ), and reduces the processing delay Δt when the sum of squares is large. Adjustment may be made so as to increase the processing delay Δt when is small. By making such adjustments, it becomes possible to reduce the expansion of error due to correction in situations where the correction accuracy is low due to the low degree of fit of the approximate straight line, such as when performing a curvilinear operation. . The calculation of the sum of squares may be executed by the centroid distance correction unit 205 or may be executed by another component such as the coordinate relationship calculation unit 131. The center-of-gravity distance correction unit 205 may hold a table showing the relationship between the range of square sums and a predetermined coefficient.

Heretofore, the correction method (modified example) of the center of gravity distance by the coordinate correction unit 13 has been described. Here, as an example, the method of calculating the corrected center-of-gravity distance d ′ (t ₅ ) corresponding to time t ₅ has been described, but the method of calculating the corrected center-of-gravity distance corresponding to other coordinates is also the same.

  As described above, according to the coordinate correction method according to the second embodiment of the present technology, it is possible to generate correction coordinates at the timing when the latest coordinates are acquired. Further, the coordinates are corrected with higher accuracy by correcting the coordinates in consideration of the moving speed.

<4: Third Embodiment>
Next, a third embodiment of the present technology will be described. The difference between the present embodiment and the first embodiment described above is in the configuration of the coordinate correction unit 13 and the method for calculating the corrected coordinates. Therefore, the configuration of the coordinate correction unit 13 and the correction coordinate calculation method will be mainly described below.

[4-1: Detailed Configuration of Coordinate Correction Unit 13]
A detailed configuration of the coordinate correction unit 13 according to the present embodiment will be described.

(4-1-1: Overall configuration)
First, the overall configuration of the coordinate correction unit 13 will be described with reference to FIG. FIG. 20 is an explanatory diagram for explaining the overall configuration of the coordinate correction unit 13. In addition, detailed description is abbreviate | omitted by attaching | subjecting the same code | symbol about the component which has a function substantially the same as the function of the coordinate correction | amendment part 13 which concerns on said 1st Embodiment.

  As shown in FIG. 20, the coordinate correction unit 13 mainly includes a coordinate relationship calculation unit 131, a coordinate holding unit 132, a temporary correction coordinate calculation unit 301, a distance calculation unit 302, a distance correction unit 303, and a correction. And a coordinate calculation unit 304.

First, the coordinates input by the coordinate acquisition unit 12 are input to the coordinate relationship calculation unit 131 and the coordinate holding unit 132. In addition, the coordinate holding unit 132 holds the input coordinates. Therefore, the input coordinates are accumulated in the coordinate holding unit 132. The coordinate relationship calculation unit 131 acquires a predetermined number of coordinates accumulated in the coordinate holding unit 132. For example, the coordinate relationship calculation unit 131 acquires the coordinates P (t _k ) acquired by the coordinate acquisition unit 12 at time t _k (k = 1 to K, K is a predetermined value). Then, the coordinate relationship calculating unit 131 calculates the approximate straight line L based on the coordinates P (t _k ) (k = 1 to _K ) acquired from the coordinate holding unit 132. Note that the method of calculating the approximate straight line L is substantially the same as that in the first embodiment.

The approximate straight line L calculated by the coordinate relationship calculation unit 131 is input to the temporary correction coordinate calculation unit 301 and the correction coordinate calculation unit 304. When the approximate straight line L is input, the temporary correction coordinate calculation unit 301 calculates a coordinate (hereinafter referred to as temporary correction coordinate) P ″ (t _K ) on the approximate straight line L that is closest to the coordinate P (t _K ). , temporary correction coordinate calculation unit 301 calculates the coordinates _{P (t (K-1)} ) closest approximation line L on the coordinates (temporary correction _{coordinates) P "(t (K-} 1)). A method for calculating the temporary correction coordinates will be described later. The temporary correction coordinates P ″ (t _K ) and P ″ (t _(K−1) ) calculated by the temporary correction coordinate calculation unit 301 are input to the distance calculation unit 302.

When the temporary correction coordinates P ″ (t _K ) and P ″ (t _(K−1) ) are input, the distance calculation unit 302 inputs the input temporary correction coordinates P ″ (t _K ) and the temporary correction coordinates P ″. _{(t (K-1))} and the calculated distance d "a _{(t K)} between. distance calculating unit 302 distance calculated by d _{(t K)} is input to distance correction section 303. distance d ( When t _k ) is input, the distance correction unit 303 multiplies the input distance d (t _K ) by a predetermined coefficient to calculate a distance (hereinafter, corrected distance) d ′ (t _K ). The predetermined coefficient may be a fixed value set in advance, but is adaptively adjusted according to an error between the approximate line L and the coordinates P (t _k ) (k = 1 to K). It is preferable.

For example, the distance correction unit 303 adjusts the predetermined coefficient so that the value decreases as the sum of squares of the distance between the approximate straight line L and the coordinates P (t _k ) (k = 1 to K) increases. By making such adjustments, it becomes possible to reduce the expansion of error due to correction in situations where the correction accuracy is low due to the low degree of fit of the approximate straight line, such as when performing a curvilinear operation. . However, the calculation of the sum of squares may be executed by the distance correction unit 303 or may be executed by other components such as the coordinate relationship calculation unit 131. In addition, the distance correction unit 303 may hold a table showing the relationship between the square sum range and a predetermined coefficient. The distance d ′ (t _K ) calculated in this way is input to the corrected coordinate calculation unit 304.

When the correction distance d ′ (t _K ) is input, the correction coordinate calculation unit 304 corrects the coordinate P (t _K ) using the input correction distance d ′ (t _K ), and the correction coordinate P ′ ( t _K) is calculated. Specifically, the correction coordinate calculation unit 304, on the approximate line L, the provisional correction coordinate _{P "(t (K-1} )) from the correction distance d _{'(t K)} apart coordinates P' _(t K) And the coordinates P ′ (t _K ) are output as correction coordinates, and a method for calculating the correction coordinates will be described later.

  The overall configuration of the coordinate correction unit 13 has been described above.

(4-1-2: Calculation of temporary correction coordinates)
Next, a method of calculating temporary correction coordinates by the coordinate correction unit 13 will be described with reference to FIG. FIG. 21 is an explanatory diagram for describing a method of calculating temporary correction coordinates by the coordinate correction unit 13. The calculation of the temporary correction coordinates described here is realized mainly by using the function of the temporary correction coordinate calculation unit 301.

Figure 21 is the coordinates were acquired at time _t 1 ~t ₅ by the coordinate acquisition unit 12 _P (t 1) ~P and _{(t 5),} and the approximate line L, the provisional correction coordinate P _{"(t 5)} and P "(T ₄ )". When calculating the temporary correction coordinate P ″ (t ₅ ), the temporary correction coordinate calculation unit 301 is the closest coordinate to the coordinate P (t ₅ ) on the approximate straight line L of the coordinates P (t ₁ ) to P (t ₅ ). P ″ (t ₅ ) is calculated. Further, when calculating the temporary correction coordinate P ″ (t ₄ ), the temporary correction coordinate calculation unit 301 is the highest on the coordinate P (t ₄ ) on the approximate straight line L of the coordinates P (t ₁ ) to P (t ₅ ). A near coordinate P ″ (t ₄ ) is calculated. Then, the temporary correction coordinate calculation unit 301 sets the calculated coordinates P ″ (t ₅ ) and P ″ (t ₄ ) on the approximate straight line L as temporary correction coordinates.

The calculation method of the temporary correction coordinates by the coordinate correction unit 13 has been described above. Here, has been described a method of calculating the coordinates P _{(t 5)} and the temporary correction coordinates P corresponding to P _{(t 4)} as an example _{"(t 5)} and P" _{(t 4),} the other coordinate The corresponding temporary correction coordinate calculation method is the same.

(4-1-3: Calculation of correction coordinates)
Next, a correction coordinate calculation method by the coordinate correction unit 13 will be described with reference to FIG. FIG. 22 is an explanatory diagram for describing a method of calculating correction coordinates by the coordinate correction unit 13. The correction coordinate calculation described here is realized mainly using the function of the correction coordinate calculation unit 304.

22 shows the coordinates were acquired at time _t 1 ~t ₅ by the coordinate acquisition unit 12 _P (t 1) ~P and _{(t 5),} and the approximate line L, the provisional correction coordinate P _{"(t 5)} and P “(T ₄ ), distance d (t ₅ ), correction distance d ′ (t ₅ ), and correction coordinates P ′ (t ₅ ) are described. When calculating the correction coordinate P ′ (t ₅ ), the correction coordinate calculation unit 304 corrects from the temporary correction coordinate P ″ (t ₄ ) on the approximate straight line L of the coordinates P (t ₁ ) to P (t ₅ ). The coordinate P ′ (t ₅ ) separated by the distance d ′ (t ₅ ) is calculated, and the correction coordinate calculation unit 304 sets the calculated coordinate P ′ (t ₅ ) on the approximate straight line L as the correction coordinate. .

The correction coordinate calculation method by the coordinate correction unit 13 has been described above. Here, it has been described a method of calculating the correction coordinate P corresponding to the coordinates P (t ₅₎ as an example '(t _5), the method of calculating the correction coordinate corresponding to the other coordinate is the same.

  The configuration of the coordinate correction unit 13 has been described in detail above.

[4-2: Correction Coordinate Calculation Method]
Next, with reference to FIG. 23, an operation flow of the coordinate correction unit 13 related to the correction coordinate calculation method will be described. FIG. 23 is an explanatory diagram for describing an operation flow of the coordinate correction unit 13 relating to a method of calculating correction coordinates.

  As shown in FIG. 23, first, the coordinate correction unit 13 acquires the latest coordinates (S301). Next, the coordinate correction unit 13 acquires past coordinate groups accumulated in the coordinate holding unit 132 (S302). Next, the coordinate correction unit 13 calculates the approximate straight line L using the plurality of coordinates acquired in steps S301 and S302 by the function of the coordinate relationship calculation unit 131 (S303). Next, the coordinate correction unit 13 is on the approximate straight line L calculated in step S303 by the function of the temporary correction coordinate calculation unit 201, and is closest to the latest coordinate in the coordinate group used to calculate the approximate straight line L. The coordinates (provisional correction coordinates) and the coordinates (provisional correction coordinates) closest to the next acquired coordinates are calculated (S304).

  Next, the coordinate correction unit 13 calculates the distance between the temporary correction coordinates calculated in step S304 by the function of the distance calculation unit 302 (S305). Next, the coordinate correction unit 13 calculates a correction distance by multiplying the distance between the temporary correction coordinates calculated in step S305 by a predetermined coefficient by the function of the distance correction unit 303 (S306). Next, the coordinate correction unit 13 uses the function of the correction coordinate calculation unit 304 to calculate the correction calculated in step S306 from the temporary correction coordinates corresponding to the coordinate acquired immediately before the latest coordinate on the approximate straight line L. The coordinates separated by the distance are calculated (S307). Then, the coordinate correction unit 13 outputs the coordinates calculated in step S307 as correction coordinates (S308), and ends a series of processing.

  The operation flow of the coordinate correction unit 13 related to the correction coordinate calculation method has been described above.

  As described above, according to the coordinate correction method according to the third embodiment of the present technology, it is possible to generate correction coordinates at the timing when the latest coordinates are acquired. Further, the coordinates are corrected with higher accuracy by correcting the coordinates in consideration of the moving speed. Furthermore, compared with the coordinate correction method according to the second embodiment described above, the amount of calculation can be reduced by not calculating the centroid coordinates and the centroid distance.

<5: Fourth embodiment>
Next, a fourth embodiment of the present technology will be described. The difference between the present embodiment and the first embodiment described above is in the configuration of the coordinate correction unit 13 and the method for calculating the corrected coordinates. Therefore, the configuration of the coordinate correction unit 13 and the correction coordinate calculation method will be mainly described below.

[5-1: Detailed Configuration of Coordinate Correction Unit 13]
A detailed configuration of the coordinate correction unit 13 according to the present embodiment will be described.

(5-1-1: Overall configuration)
First, the overall configuration of the coordinate correction unit 13 will be described with reference to FIG. FIG. 24 is an explanatory diagram for explaining the overall configuration of the coordinate correction unit 13. In addition, detailed description is abbreviate | omitted by attaching | subjecting the same code | symbol about the component which has a function substantially the same as the function of the coordinate correction | amendment part 13 which concerns on said 1st Embodiment.

  As shown in FIG. 24, the coordinate correction unit 13 mainly includes a coordinate relationship calculation unit 131, a coordinate holding unit 132, a temporary correction coordinate calculation unit 401, a distance calculation unit 402, a distance relationship calculation unit 403, The distance correction unit 404 and the correction coordinate calculation unit 405 are configured.

First, the coordinates input by the coordinate acquisition unit 12 are input to the coordinate relationship calculation unit 131 and the coordinate holding unit 132. In addition, the coordinate holding unit 132 holds the input coordinates. Therefore, the input coordinates are accumulated in the coordinate holding unit 132. The coordinate relationship calculation unit 131 acquires a predetermined number of coordinates accumulated in the coordinate holding unit 132. For example, the coordinate relationship calculation unit 131 acquires the coordinates P (t _k ) acquired by the coordinate acquisition unit 12 at time t _k (k = 1 to K, K is a predetermined value). Then, the coordinate relationship calculating unit 131 calculates the approximate straight line L based on the coordinates P (t _k ) (k = 1 to _K ) acquired from the coordinate holding unit 132. Note that the method of calculating the approximate straight line L is substantially the same as that in the first embodiment.

The approximate straight line L calculated by the coordinate relationship calculation unit 131 is input to the temporary correction coordinate calculation unit 401 and the correction coordinate calculation unit 405. When the approximate straight line L is input, the temporary correction coordinate calculation unit 401 calculates a coordinate on the approximate straight line L that is closest to the coordinate P (t _K ) (hereinafter, temporary correction coordinate) P ″ (t _K ). , temporary correction coordinate calculation unit 401 calculates the coordinates _{P (t (K-1)} ) closest approximation line L on the coordinates (temporary correction _{coordinates) P "(t (K-} 1)). The method for calculating temporary correction coordinates is substantially the same as that in the third embodiment. Temporary correction coordinates P ″ (t _K ) and P ″ (t _(K−1) ) calculated by the temporary correction coordinate calculation unit 401 are input to the distance calculation unit 402.

When the temporary correction coordinates P ″ (t _K ) and P ″ (t _(K−1) ) are input, the distance calculation unit 402 inputs the input temporary correction coordinates P ″ (t _K ) and the temporary correction coordinates P ″. The distance d (t _K ) between (t _(K−1) ) is calculated. The distance d (t _K ) calculated by the distance calculation unit 402 is input to the distance relationship calculation unit 403.

Furthermore, the coordinate relationship calculation unit 131, the temporary correction coordinate calculation unit 401, and the distance calculation unit 402 perform the following processing for m = 1 to M (M is a predetermined number). The coordinate relationship calculation unit 131 acquires the coordinates P (t _(k−m) ) acquired at the time t ₍ km) (k = 1 to K ₎ by the coordinate acquisition unit 12. Then, the coordinate relationship calculating unit 131 calculates the approximate straight line L based on the coordinates P (t _(k−m) ) (k = 1 to K) acquired from the coordinate holding unit 132. Note that the method of calculating the approximate straight line L is substantially the same as that in the first embodiment.

The approximate straight line L calculated by the coordinate relationship calculation unit 131 is input to the temporary correction coordinate calculation unit 401 and the correction coordinate calculation unit 405. Calculating the approximation line L is input, the temporary correction coordinate calculation unit 401, the coordinates _{P (t (K-m)} ) temporarily corrected coordinates on the closest approximation line L to P _{"a (t (K-m))} to. in addition, temporary correction coordinate calculation unit 401 calculates the coordinates _{P (t (K-m-} 1)) to the nearest approximation temporary correction coordinates on the straight line _{L P "(t (K-} m-1)) . The temporary correction coordinates P ″ (t _(K−m) ) and P ″ (t _(K−m−1) ) calculated by the temporary correction coordinate calculation unit 401 are input to the distance calculation unit 402.

When the temporary correction coordinates P ″ (t _(K−m) ) and the temporary correction coordinates P ″ (t _(K−m−1) ) are input, the distance calculation unit 402 inputs the input temporary correction coordinates P ″. A distance d (t _(K−m) ) between (t _(K−m) ) and provisional correction coordinates P ″ (t _(K−m−1) ) is calculated. Then, the distance d (t _(K−m) ) calculated by the distance calculation unit 402 is input to the distance relationship calculation unit 403.

As described above, distance d (t _{(K−m ′)} ) (m ′ = 0 to M) is input to distance relationship calculation section 403. When the distance d (t _{(K−m ′)} ) (m ′ = 0 to M) is input, the distance relationship calculation unit 403 inputs the input distance d (t _{(K−m ′)} ) (m ′ = calculating the approximate straight line _{L d} with 0 to M). It will be described later method of calculating the approximate straight line L _d. The approximate straight line L _d calculated by the distance relationship calculation unit 403 is input to the distance correction unit 404. When the approximate line L _d is input, the distance correction unit 404 extracts a point on the approximate line L _d corresponding to the time t _K and calculates a distance d ′ (t _K ) corresponding to the point. The distance correction unit 404, the correction value of the distance d _{(t K)} (hereinafter, correction distance) as to output the calculated distance d _{'(t K).}

A method for calculating the correction distance d ′ (t _K ) will be described later. Further, the correction distance d ′ (t _K ) output by the distance correction unit 404 is input to the correction coordinate calculation unit 405. When the correction distance d ′ (t _K ) is input, the correction coordinate calculation unit 405 corrects the coordinate P (t _K ) using the input correction distance d ′ (t _K ), and the correction coordinate P ′ ( t _K) is calculated. Specifically, the correction coordinate calculation unit 405 corrects from the temporary correction coordinates P ″ (t _(K−1) ) on the approximate straight line L calculated with respect to the coordinates P (t _k ) (k = 1 to N). A coordinate P ′ (t _K ) that is separated by a distance d ′ (t _K ) is extracted, and this coordinate P ′ (t _K ) is output as a correction coordinate, which will be described later.

  The overall configuration of the coordinate correction unit 13 has been described above.

(5-1-2: Calculation of distance)
Next, a method for calculating a distance by the coordinate correction unit 13 will be described with reference to FIG. FIG. 25 is an explanatory diagram for explaining a distance calculation method by the coordinate correction unit 13. Note that the distance calculation described here is realized mainly using the function of the distance calculation unit 402.

FIG 25, the coordinates acquired at time _t 1 ~t ₅ by the coordinate acquisition unit 12 _P (t 1) ~P and _{(t 5),} and the approximate line L, the provisional correction coordinate P _{"(t 5)} and P "(T ₄ ) and distance d (t ₅ ) are described. When calculating the distance d (t ₅ ), first, the distance calculation unit 402, as shown in FIG. 25, the distance between the temporary correction coordinates P ″ (t ₅ ) and the temporary correction coordinates P ″ (t ₄ ). d (t ₅ ) is calculated.

The calculation method of the center of gravity distance by the coordinate correction unit 13 has been described above. Here, as an example, the method for calculating the distance d (t ₅ ) corresponding to the coordinate P (t ₅ ) has been described, but the method for calculating the distance corresponding to other coordinates is also the same.

(5-1-3: Correction of distance)
Next, a distance correction method by the coordinate correction unit 13 will be described with reference to FIG. FIG. 26 is an explanatory diagram for explaining a distance correction method by the coordinate correction unit 13. Note that the calculation of the correction distance described here is realized mainly using the functions of the distance relationship calculation unit 403 and the distance correction unit 404.

Figure 26 is a coordinate acquired at time _t 1 ~t ₅ by the coordinate acquisition unit 12 _P (t 1) ~P distance _d (t 1) corresponding to _{(t 5) ~d (t 5} ), the approximation A straight line L _d and a correction distance d ′ (t ₅ ) are described. When calculating the correction distance d ′ (t ₅ ), first, the distance relationship calculation unit 403 calculates the approximate straight line L _d regarding the distances d (t ₁ ) to d (t ₅ ). The approximate straight line L _d can be calculated using, for example, a method similar to the method for calculating the approximate straight line L (a method for obtaining a minimum distance, a least square method, or the like). Next, the distance correction unit 404 extracts a point on the approximate line L _{d at} time t ₅ and calculates a distance d ′ (t ₅ ) corresponding to the point. Then, the distance correction unit 404 sets the calculated distance d ′ (t ₅ ) as the correction distance.

The distance correction method by the coordinate correction unit 13 has been described above. Here, as an example, the method of calculating the correction distance d ′ (t ₅ ) corresponding to the time t ₅ has been described, but the method of calculating the correction distance corresponding to other coordinates is also the same.

(5-1-4: Calculation of correction coordinates)
Next, a correction coordinate calculation method by the coordinate correction unit 13 will be described with reference to FIG. FIG. 27 is an explanatory diagram for describing a method of calculating correction coordinates by the coordinate correction unit 13. The correction coordinate calculation described here is realized mainly using the function of the correction coordinate calculation unit 405.

27 includes a coordinate acquired at time _t 1 ~t ₅ by the coordinate acquisition unit _{12 P (t 1) ~P (} t 5), and the approximate line L, the provisional correction coordinate P _{"(t 4),} The correction distance d ′ (t ₅ ) and the correction coordinate P ′ (t ₅ ) are described.When calculating the correction coordinate P ′ (t ₅ ), the correction coordinate calculation unit 405 includes the coordinate P (t ₁ ) ~P _{(t 5)} on the approximate straight line L, and calculates a temporary correction coordinate P _{"(t 4)} from the correction distance d _{'(t 5)} apart coordinates P' _{(t 5).} Then, the correction coordinate calculation unit 405 sets the calculated coordinate P ′ (t ₅ ) on the approximate straight line L as the correction coordinate.

The correction coordinate calculation method by the coordinate correction unit 13 has been described above. Here, it has been described a method of calculating the correction coordinate P corresponding to the coordinates P (t ₅₎ as an example '(t _5), the method of calculating the correction coordinate corresponding to the other coordinate is the same.

  The configuration of the coordinate correction unit 13 has been described in detail above.

[5-2: Correction coordinate calculation method]
Next, the operation flow of the coordinate correction unit 13 related to the correction coordinate calculation method will be described with reference to FIG. FIG. 28 is an explanatory diagram for describing an operation flow of the coordinate correction unit 13 related to a calculation method of correction coordinates.

  As shown in FIG. 28, first, the coordinate correction unit 13 acquires the latest coordinates (S401). Next, the coordinate correction unit 13 acquires past coordinate groups accumulated in the coordinate holding unit 132 (S402). Next, the coordinate correction unit 13 calculates the approximate straight line L using the plurality of coordinates acquired in steps S401 and S402 by the function of the coordinate relationship calculation unit 131 (S403). At this time, a plurality of approximate lines L are calculated while changing the combination of coordinate groups.

  Next, the coordinate correction unit 13 is on the approximate straight line L calculated in step S403 by the function of the temporary correction coordinate calculation unit 401, and is closest to the latest coordinate in the coordinate group used to calculate the approximate straight line L. The coordinates (provisional correction coordinates) and the coordinates (provisional correction coordinates) closest to the coordinates acquired next to the coordinates are calculated (S404). At this time, a temporary correction coordinate set is calculated for each combination of coordinate groups used for calculating each approximate straight line L in step S403.

Next, the coordinate correction unit 13 calculates the distance between the two temporary correction coordinates calculated in step S404 by the function of the distance calculation unit 402 (S405). At this time, a distance is calculated for each combination of coordinate groups used for calculating each approximate line L in step S403. Next, the coordinate correction unit 13 calculates the approximate straight line L _d related to the distance calculated in step S405 by the function of the distance relationship calculation unit 403 (S406).

Then, the coordinate correcting unit 13, by the function of the distance correction section 404 extracts a point on the approximate straight line L _d corresponding to the time it obtained the latest coordinate in step S401, the distance corresponding to the point (corrected distance) Is calculated (S407). Next, the coordinate correction unit 13 uses the function of the correction coordinate calculation unit 405 to perform a provisional operation corresponding to the second newest coordinate in the coordinate group on the approximate straight line L calculated using the coordinate group including the latest coordinates. From the correction coordinates, coordinates that are separated by the correction distance calculated in step S407 are calculated (S408). Then, the coordinate correction unit 13 outputs the coordinates calculated in step S408 as correction coordinates (S409), and ends a series of processing.

  The operation flow of the coordinate correction unit 13 related to the correction coordinate calculation method has been described above.

  As described above, according to the coordinate correction method according to the fourth embodiment of the present technology, it is possible to generate correction coordinates at the timing when the latest coordinates are acquired. Further, the coordinates are corrected with higher accuracy by correcting the coordinates in consideration of the moving speed. Further, as compared with the coordinate correction method according to the second embodiment described above, the amount of calculation can be reduced by not calculating the barycentric coordinates.

<6: Hardware configuration>
The function of each component included in the information processing apparatus (for example, the function of the coordinate correction unit 13) can be realized by using a part or all of the hardware configuration illustrated in FIG. 29, for example. That is, the function of each component is realized by controlling the hardware shown in FIG. 29 using a computer program. The form of the hardware is arbitrary, and includes, for example, a personal computer, a mobile phone, a portable information terminal such as a PHS, a PDA, a game machine, or various information appliances. However, the above PHS is an abbreviation of Personal Handy-phone System. The PDA is an abbreviation for Personal Digital Assistant.

  As shown in FIG. 29, this hardware mainly includes a CPU 902, a ROM 904, a RAM 906, a host bus 908, and a bridge 910. Further, this hardware includes an external bus 912, an interface 914, an input unit 916, an output unit 918, a storage unit 920, a drive 922, a connection port 924, and a communication unit 926. However, the CPU is an abbreviation for Central Processing Unit. The ROM is an abbreviation for Read Only Memory. The RAM is an abbreviation for Random Access Memory.

  The CPU 902 functions as, for example, an arithmetic processing unit or a control unit, and controls the overall operation of each component or a part thereof based on various programs recorded in the ROM 904, the RAM 906, the storage unit 920, or the removable recording medium 928. . The ROM 904 is a means for storing a program read by the CPU 902, data used for calculation, and the like. In the RAM 906, for example, a program read by the CPU 902, various parameters that change as appropriate when the program is executed, and the like are temporarily or permanently stored.

  These components are connected to each other via, for example, a host bus 908 capable of high-speed data transmission. On the other hand, the host bus 908 is connected to an external bus 912 having a relatively low data transmission speed via a bridge 910, for example. As the input unit 916, for example, a mouse, a keyboard, a touch panel, a button, a switch, a lever, or the like is used. Further, as the input unit 916, a remote controller (hereinafter referred to as a remote controller) capable of transmitting a control signal using infrared rays or other radio waves may be used.

  As the output unit 918, for example, a display device such as a CRT, LCD, PDP, or ELD, an audio output device such as a speaker or a headphone, a printer, a mobile phone, or a facsimile, etc. Or it is an apparatus which can notify audibly. However, the above CRT is an abbreviation for Cathode Ray Tube. The LCD is an abbreviation for Liquid Crystal Display. The PDP is an abbreviation for Plasma Display Panel. Furthermore, the ELD is an abbreviation for Electro-Luminescence Display.

  The storage unit 920 is a device for storing various data. As the storage unit 920, for example, a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like is used. However, the HDD is an abbreviation for Hard Disk Drive.

  The drive 922 is a device that reads information recorded on a removable recording medium 928 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, or writes information to the removable recording medium 928. The removable recording medium 928 is, for example, a DVD medium, a Blu-ray medium, an HD DVD medium, or various semiconductor storage media. Of course, the removable recording medium 928 may be, for example, an IC card on which a non-contact type IC chip is mounted, an electronic device, or the like. However, the above IC is an abbreviation for Integrated Circuit.

  The connection port 924 is a port for connecting an external connection device 930 such as a USB port, an IEEE 1394 port, a SCSI, an RS-232C port, or an optical audio terminal. The external connection device 930 is, for example, a printer, a portable music player, a digital camera, a digital video camera, or an IC recorder. However, the above USB is an abbreviation for Universal Serial Bus. The SCSI is an abbreviation for Small Computer System Interface.

  The communication unit 926 is a communication device for connecting to the network 932. For example, a wired or wireless LAN, Bluetooth (registered trademark), or a WUSB communication card, an optical communication router, an ADSL router, or various types It is a modem for communication. The network 932 connected to the communication unit 926 is configured by a wired or wireless network, such as the Internet, home LAN, infrared communication, visible light communication, broadcast, or satellite communication. However, the above LAN is an abbreviation for Local Area Network. The WUSB is an abbreviation for Wireless USB. The above ADSL is an abbreviation for Asymmetric Digital Subscriber Line.

<7: Summary>
Finally, the technical idea of this embodiment will be briefly summarized. The technical idea described below can be applied to various information processing apparatuses such as a PC, a mobile phone, a portable game machine, a portable information terminal, an information home appliance, and a car navigation system.

  The functional configuration of the information processing apparatus described above can be expressed as follows. The information processing apparatus includes the following coordinate acquisition unit, a first straight line calculation unit, and a coordinate correction unit. The seat correction unit is means for acquiring the coordinates of the touch position from the touch sensor. In addition, the first straight line calculation unit is a first unit that represents the relationship between the q coordinates X (n + 1) to X (n + q) acquired from the (n + 1) th to (n + q) th by the coordinate acquisition unit. Is a means for calculating a regression line. Further, the coordinate correction unit calculates a coordinate X (n + q) ′ on the first regression line that is closest to the coordinate X (n + q), and uses the coordinate X (n + q) ′ to calculate the coordinate X (n + q) ′. n + q) is a means for correcting.

  According to such a configuration, since the calculation of the coordinate X (n + q) ′ can be started when the coordinate X (n + q) is acquired, the noise reduction method using the moving average is different from that shown in FIG. Such a delay Δt does not occur. That is, the error between the detected position and the actual position is reduced in real time. As a result, it is possible to suppress the user's uncomfortable feeling without causing a decrease in response.

(Remarks)
The coordinate correction unit 13 is an example of a coordinate correction apparatus. The coordinate relationship calculation unit 131 is an example of a first straight line calculation unit. The correction coordinate calculation unit 133 is an example of a coordinate correction unit. The center-of-gravity distance calculation unit 203 is an example of a distance calculation unit. The distance relationship calculation units 204 and 403 are an example of a second straight line calculation unit. The centroid distance correction unit 205 and the distance correction unit 404 described above are an example of a correction distance calculation unit. The correction coordinate calculation unit 206 is an example of a coordinate correction unit. The center-of-gravity distance correction unit 205 is an example of a fitness calculation unit. The provisional correction coordinate calculation unit 301 is an example of a correction coordinate calculation unit. The distance calculation unit 302 and the distance correction unit 303 are examples of the correction distance calculation unit. The correction coordinate calculation unit 304 is an example of a correction unit. The distance correction unit 303 is an example of a fitness calculation unit.

  The preferred embodiments according to the present technology have been described above with reference to the accompanying drawings, but it is needless to say that the present technology is not limited to the configuration examples disclosed herein. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present technology. Understood.

  For example, in the above description, a method is shown in which an approximate straight line is calculated for the coordinates of a two-dimensionally acquired position, and the coordinates are corrected using the approximate straight line. However, it is possible to calculate an approximate straight line with respect to the three-dimensional coordinates in the same way, and it is also possible to apply the correction coordinate calculation method according to the above embodiment to the three-dimensional coordinates in the same manner. it can.

DESCRIPTION OF SYMBOLS 10 Input device 11 Touch sensor 12 Coordinate acquisition part 13 Coordinate correction part 131 Coordinate relationship calculation part 132 Coordinate holding part 133 Correction coordinate calculation part 201 Temporary correction coordinate calculation part 202 Center of gravity calculation part 203 Center of gravity distance calculation part 204 Distance relation calculation part 205 Center of gravity Distance correction unit 206 Correction coordinate calculation unit 301 Temporary correction coordinate calculation unit 302 Distance calculation unit 303 Distance correction unit 304 Correction coordinate calculation unit 401 Temporary correction coordinate calculation unit 402 Distance calculation unit 403 Distance relationship calculation unit 404 Distance correction unit 405 Correction coordinate calculation Section 20 Information processing section 30 Display section

Claims (15)

A coordinate acquisition unit for acquiring the coordinates of the touch position from the touch sensor;
A first straight line calculation unit that calculates a first regression line representing a relationship between the _q coordinates X _{(n + 1) to} X _{(n + q)} acquired from the (n + 1) th to the (n + q) th by the coordinate acquisition unit. When,
'Calculates the coordinates _{X (n + q)'} the coordinate _{X (n + q)} nearest the first regression line on the coordinate _{X (n + q)} coordinate correcting unit that the correct coordinates _{X (n + q)} with ,
Comprising
Coordinate correction device. The coordinate correction unit corrects the coordinate X _{(n + q)} to the coordinate X _{(n + q)} ′.
The coordinate correction apparatus according to claim 1. The first straight line calculating unit, m = (n-p) for ~n, the second by the coordinate acquisition unit (m + 1) ~ a (m + q) th acquired the q number of coordinate _{X (m +} 1) _{~X (} calculating a first regression line _{f m} representing the _{m + q)} relations,
The coordinate correction unit calculates a coordinate X _{(m + q)} ′ on the first regression line f _m closest to the coordinate X _{(m + q)} for m = (n−p) to n,
The coordinate correction apparatus includes:
a center of gravity calculating unit for calculating a center of gravity W _{(m + q)} of the coordinates X _{(m + 1) to} X _{(m + q)} for m = (n−p) to n;
a distance calculation unit that calculates a distance d _{(m + q)} between the center of gravity W _{(m + q)} and the coordinate X _{(m + q)} ′ for m = (n−p) to n;
A second line calculation unit for calculating a second regression line representing the relationship between the distance calculation unit distance calculated by _{d (n-p + q)} ~d (n + q),
A correction distance calculating unit that calculates the distance d _{(n + q)} to extract the points on the second regression line in the time corresponding distance d _{(n + q)} corresponding to the extracted _points',
Further comprising
The coordinate correcting unit calculates the centroid _{W (n + q)} from the distance _{d (n + q)} 'apart the first regression line _{f n} on the coordinates _{X (n + q)} ", the coordinate _X and _{(n + q)} To the coordinate X _{(n + q)} ",
The coordinate correction apparatus according to claim 1. The coordinate correction unit calculates a coordinate X _{(m + q)} ′ on the first regression line closest to the coordinate X _{(m + q)} for m = (n−p) to n,
The coordinate correction apparatus includes:
a distance calculation unit that calculates a distance d _{(m + q)} between X _{(m + q)} ′ and X _{(m + q−1)} ′ for m = (n−p) to n;
A second line calculation unit for calculating a second regression line representing the relationship between the distance calculation unit distance calculated by _{d (n-p + q)} ~d (n + q),
A correction distance calculating unit that calculates the distance d _{(n + q)} to extract the points on the second regression line in the time corresponding distance d _{(n + q)} corresponding to the extracted _points',
Further comprising
The coordinate correcting unit may calculate the coordinates _X 'from said distance _{d (n + q)' (} n + q-1) apart said first regression line on the coordinate _{X (n + q)} ", the coordinate _{X (n + q) Is} corrected to the coordinates X _{(n + q)} ",
The coordinate correction apparatus according to claim 1. The first straight line calculating unit, m = (n-p) for ~n, the second by the coordinate acquisition unit (m + 1) ~ a (m + q) th acquired the q number of coordinate _{X (m +} 1) _{~X (} calculating a first regression line _{f m} representing the _{m + q)} relations,
The coordinate correction unit calculates a coordinate X _{(m + q)} ′ on the first regression line f _m closest to the coordinate X _{(m + q)} for m = (n−p) to n,
The coordinate correction apparatus includes:
a center of gravity calculating unit for calculating a center of gravity W _{(m + q)} of the coordinates X _{(m + 1) to} X _{(m + q)} for m = (n−p) to n;
a distance calculation unit that calculates a distance d _{(m + q)} between the center of gravity W _{(m + q)} and the coordinate X _{(m + q)} ′ for m = (n−p) to n;
A second line calculation unit for calculating a second regression line representing the relationship between the distance calculation unit distance calculated by _{d (n-p + q)} ~d (n + q),
A point on the second regression line corresponding to a time elapsed by a predetermined time required for processing delay from a time corresponding to the distance d _{(n + q)} is extracted, and a distance d _{(n + q)} ′ corresponding to the extracted point is extracted. A correction distance calculation unit for calculating
Further comprising
The coordinate correcting unit calculates the centroid _{W (n + q)} from the distance _{d (n + q)} 'apart the first regression line _{f n} on the coordinates _{X (n + q)} ", the coordinate _X and _{(n + q)} To the coordinate X _{(n + q)} ",
The coordinate correction apparatus according to claim 1. The coordinate correction unit calculates a coordinate X _{(m + q)} ′ on the first regression line closest to the coordinate X _{(m + q)} for m = (n−p) to n,
The coordinate correction apparatus includes:
a distance calculation unit that calculates a distance d _{(m + q)} between X _{(m + q)} ′ and X _{(m + q−1)} ′ for m = (n−p) to n;
A second line calculation unit for calculating a second regression line representing the relationship between the distance calculation unit distance calculated by _{d (n-p + q)} ~d (n + q),
A point on the second regression line corresponding to a time elapsed by a predetermined time required for processing delay from a time corresponding to the distance d _{(n + q)} is extracted, and a distance d _{(n + q)} ′ corresponding to the extracted point is extracted. A correction distance calculation unit for calculating
Further comprising
The coordinate correcting unit may calculate the coordinates _X 'from said distance _{d (n + q)' (} n + q-1) apart said first regression line on the coordinate _{X (n + q)} ", the coordinate _{X (n + q) Is} corrected to the coordinates X _{(n + q)} ",
The coordinate correction apparatus according to claim 1. A fitness calculator that calculates the fitness of the first regression line with respect to the coordinates X _{(n + 1) to} X _{(n + q)} ;
The correction distance calculation unit shortens a predetermined time required for the processing delay when the fitness calculated by the fitness calculation unit is small.
The coordinate correction apparatus according to claim 5. A fitness calculator that calculates the fitness of the first regression line with respect to the coordinates X _{(n + 1) to} X _{(n + q)} ;
The correction distance calculation unit shortens a predetermined time required for the processing delay when the fitness calculated by the fitness calculation unit is small.
The coordinate correction apparatus according to claim 6. The coordinate correction unit is
The coordinates _X and _{(n + q)} nearest the first regression line on the coordinate _{X (n + q)} ', the coordinate _{X (n + q-1)} closest said first regression line on the coordinate _{X (n + q-1 )} 'Coordinate calculation unit for correction to calculate'
A correction distance calculation unit that calculates a distance d ′ by multiplying a distance d between the coordinates X _{(n + q)} ′ and X _{(n + q−1)} ′ by a predetermined coefficient k (k>1);
"Is calculated and the coordinates _X a _{(n + q)} the coordinates _{X (n + q)"} wherein _{X (n + q-1)} ' distance d from' spaced by coordinates _{X (n + q)} in the first regression line on correcting the A correction unit;
including,
The coordinate correction apparatus according to claim 1. A fitness calculator that calculates the fitness of the first regression line with respect to the coordinates X _{(n + 1) to} X _{(n + q)} ;
The coordinate correction unit sets the predetermined coefficient k to a relatively small value when the fitness calculated by the fitness calculator is small, and when the fitness calculated by the fitness calculator is large. Setting the predetermined coefficient k to a relatively large value;
The coordinate correction apparatus according to claim 9. The first straight line calculation unit calculates a first approximate straight line that minimizes a sum of squares of distances measured from each of the coordinates X _{(n + 1) to} X _{(n + q)} ,
The coordinate correcting unit, the first using the first approximate straight line instead of the regression line _'calculates the coordinates X _{(n + q)'} the coordinate X _{(n + q)} said coordinates based on X _{(n + q )}
The coordinate correction apparatus according to claim 1. A coordinate acquisition unit for acquiring the coordinates of the position;
A first straight line calculation unit that calculates a first regression line representing a relationship between the _q coordinates X _{(n + 1) to} X _{(n + q)} acquired from the (n + 1) th to the (n + q) th by the coordinate acquisition unit. When,
'Calculates the coordinates _{X (n + q)'} the coordinate _{X (n + q)} nearest the first regression line on the coordinate _{X (n + q)} coordinate correcting unit that the correct coordinates _{X (n + q)} with ,
Comprising
Coordinate correction device. A touch sensor that detects the coordinates of the touch position;
A coordinate acquisition unit that acquires coordinates of a touch position from the touch sensor;
A first straight line calculation unit that calculates a first regression line representing a relationship between the _q coordinates X _{(n + 1) to} X _{(n + q)} acquired from the (n + 1) th to the (n + q) th by the coordinate acquisition unit. When,
'Calculates the coordinates _{X (n + q)'} the coordinate _{X (n + q)} nearest the first regression line on the coordinate _{X (n + q)} coordinate correcting unit that the correct coordinates _{X (n + q)} with ,
Comprising
Input device. A coordinate acquisition step of acquiring the coordinates of the touch position from the touch sensor;
A first straight line calculating step for calculating a first regression line representing the relationship between the (n + 1) th to (n + q) th acquired coordinates x _{(n + 1) to} X _{(n + q)} ;
A correction step of the 'calculates the coordinates _{X (n + q)'} coordinates _{X (n + q)} nearest the first regression line on the coordinate _{X (n + q)} wherein correcting the coordinates _{X (n + q)} with,
including,
Coordinate correction method. A coordinate acquisition function for acquiring the coordinates of the touch position from the touch sensor;
A first straight line calculation function for calculating a first regression line representing the relationship between the (n + 1) th to (n + q) th acquired coordinates x _{(n + 1) to} X _{(n + q)} ;
'Calculates the coordinates _{X (n + q)'} the coordinate _{X (n + q)} nearest the first regression line on the coordinate _{X (n + q)} coordinate correcting function of correcting the coordinate _{X (n + q)} with ,
A program to make a computer realize.

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