JP2021173903A - Computing device, sensor system, and computer program - Google Patents

Abstract

To provide a sensor system capable of detecting an accurate position in contact with a body to be contacted without impairing usability.SOLUTION: A sensor system 100 includes: a sensor 20 attachable to a body to be contacted which is, for example, an oral care model 30 and capable of detecting an action line of a force given by contacting with the body to be contacted; and an arithmetic device 10 for acquiring a sensing result by communicating with the sensor and performing the processing using the sensing result. The processing includes the steps of: calculating a candidate point of an action point of a force of the body to be contacted using an action line of the force obtained from a result of sensing the force and shape data of the body to be contacted stored in advance; and determining the action point from among candidate points.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to arithmetic units, sensor systems, and computer programs.

Although the polishing position is important in oral care, it is difficult for the trainer to tell the trainee the proper position in the training. That is, in the education of skills involving continuous contact, it is difficult to accurately express the position of contact with the contacted body. In general, the trainee looks at the trainer's model movement to confirm the contact position such as the polishing position.

Regarding training for oral care, Japanese Patent Application Laid-Open No. 2018-173504 (hereinafter, Patent Document 1) proposes an oral reproduction model in which a pressure sensor is attached to each tooth constituting the dentition.

Japanese Unexamined Patent Publication No. 2018-173504

When a sensor that detects contact, such as a pressure sensor, is used as in Patent Document 1, it is necessary to install the sensor at or near the contact position in order to accurately detect the contact position. In addition, it is desirable to provide many in order to improve the position detection accuracy.

However, when the pressure sensor is attached to each tooth as in Patent Document 1, the number of communication lines connected to the pressure sensor increases, and wiring and handling become complicated. Also, depending on the size, it may be difficult to attach a pressure sensor. In addition, usage such as applying a chemical or washing with water may be restricted.

The present disclosure provides an arithmetic unit, a sensor system, and a computer program capable of detecting an accurate position in contact with a contacted body without impairing usability.

According to a certain embodiment, the arithmetic unit is an arithmetic unit that performs processing using the force sensing result from the first sensor that can detect the line of action of the force applied to the contacted object by contact. It is equipped with an input unit that can accept input of force sensing results and a processor that executes processing. It includes calculating the candidate points of the action points of the force of the contacted body using the data and determining the action points from the candidate points.

According to another embodiment, the sensor system communicates with a sensor that can be attached to the contacted body and can detect the line of action of the force applied by contact to the attached contacted body, and the sensing result. Is provided with a computing device that acquires the above and performs processing using the sensing result, and the processing uses the force action line obtained from the force sensing result and the shape data of the contacted body stored in advance. It includes calculating the candidate points of the action points of the force of the contacted body and determining the action points from the candidate points.

According to another embodiment, the computer program functions as a computing device that processes the computer using the sensing result from the first sensor that can detect the line of action of the force applied to the contacted object by contact. It is a computer program for processing, and the processing uses the force action line included in the force sensing result and the shape data of the contacted body stored in advance to select a candidate point of the force action point of the contacted body. It includes calculating and determining the point of action from the candidate points.

Further details will be described as embodiments described below.

FIG. 1 is a schematic diagram of the configuration of the sensor system according to the embodiment. FIG. 2 is a top view of a receiving body of the sensor included in the sensor system, and is a diagram for explaining a positioning mechanism for attaching to the oral care model. FIG. 3 is a block diagram showing a configuration of an arithmetic unit included in the sensor system. FIG. 4 is a diagram for explaining the calculation by the arithmetic unit, and is a diagram for explaining how to represent the gum shape of the oral care model. FIG. 5 is a diagram for explaining an operation in the arithmetic unit, and is a diagram for explaining a candidate point. FIG. 6 is a diagram for explaining the calculation in the arithmetic unit, and is a diagram showing a mathematical formula used for calculating the coordinates of the candidate points. FIG. 7 is a diagram for explaining the operation in the arithmetic unit, and is a diagram showing the angular relationship of the force applied to the point of action. FIG. 8 is a diagram for explaining the calculation in the arithmetic unit, and is a diagram for explaining the conditions used for narrowing down the candidate points. FIG. 9 is a diagram for explaining the calculation in the arithmetic unit, and is a diagram for explaining the moving speed of the position of the candidate point. FIG. 10 is a diagram for explaining the calculation in the arithmetic unit, and is a diagram for explaining the determination of the action point based on the moving speed of the position. FIG. 11 is a flowchart showing the flow of processing in the arithmetic unit. FIG. 12 is a diagram showing an example of a display screen in the sensor system.

<1. Overview of arithmetic units, sensor systems, and computer programs>

(1) The arithmetic unit according to the embodiment is an arithmetic unit that performs processing using the force sensing result from the first sensor capable of detecting the line of action of the force applied to the contacted body by contact. It is equipped with an input unit that can accept the input of the force sensing result and a processor that executes the process. It includes calculating the candidate points of the action points of the force of the contacted body using the shape data and determining the action points from the candidate points.

The contacted body is an object to be contacted, for example, an oral care model. In this case, the contact is brushing the oral care model, for example with a brush. The first sensor is a sensor capable of detecting the magnitude, direction, and moment acting on the origin of the force applied to the attached contact body, for example, a force sensor. The arithmetic unit is, for example, a computer, and the input unit is, for example, an interface for connecting a first sensor and receiving an input of a sensing result. The shape data of the contacted body is, for example, an expression expressing the shape of the contacted body in coordinates. By determining the point of action where the force is applied to the contacted body by contact, the exact position in contact with the contacted body can be obtained.

(2) Preferably, the action point is determined by obtaining an index value corresponding to the change speed of the position for each candidate point from the sensing results of a plurality of forces having different sensing timings by the first sensor. Includes determining the point of action based on. When continuous contact is made with the contacted body, the inclination of the action line changes according to the shape of the surface of the contacted body, and the rate of change of the position differs for each candidate point. Therefore, the point of action can be determined from the candidate points by using the rate of change in position.

(3) Preferably, determining the action point includes determining the candidate point having the slowest change rate as the action point among the plurality of candidate points. As the point of action changes, the line of action changes so that the range of existence increases as the distance from the point of action increases, centering on the point of action, that is, the contacted position. Therefore, the candidate point with the slowest change rate can be determined as the action point.

(4) Preferably, calculating the candidate point includes calculating the intersection of the shape data of the contacted body and the action line stored in advance. A plurality of intersections obtained thereby can be obtained as candidate points.

(5) Preferably, the action point is determined by using the force direction included in the force sensing result, and among the candidate points, the component obtained from the force direction is allowed corresponding to each candidate point. Includes excluding points that are not in the range of orientation. As a result, the number of candidate points can be reduced, and the amount of calculation can be reduced.

(6) Preferably, the allowable range of orientation is defined based on the orientation in which contact with the candidate point is possible. This is because the direction of the force is the direction in which the contact is possible because it is the point of action of the force given by the contact.

(7) Preferably, the input unit can further accept the input of the sensing result of the shape of the contacted body by the second sensor, and the calculation of the candidate point is performed by shaping the shape data of the contacted body. It includes deforming based on the sensing result of and using the deformed shape data. As a result, the point of action can be obtained even when the contacted body is deformed.

(8) Preferably, the shape data of the contacted body is three-dimensional shape data. As a result, shape data closer to the actual shape of the contacted body can be used, and the point of action can be obtained with high accuracy.

(9) Preferably, the shape data of the contacted body is the shape data of the oral care model. This makes it possible to detect the position of brushing in oral care.

(10) Preferably, the process further comprises outputting data associating the determined point of action with the magnitude of the force included in the force sensing result. The output of the data is an output to the outside of the arithmetic unit, for example, display on a display described later, transmission to another device, and the like. As a result, the detection result can be known from the outside.

(11) Preferably, the treatment is performed for each unit range of the contacted body, the total value of the magnitude of the force applied to the action points included in the unit range per unit time, and the action points included in the unit range. Includes outputting data indicating at least one of the total values of the time the force was applied to. The unit range refers to a range that is a unit for output, which is set by dividing the shape data of the contacted body into a predetermined size. By outputting for each unit range, it is possible to know the magnitude of the given force and the tendency of the contact time for each unit range.

(12) Preferably, outputting the data includes displaying it on a display. As a result, it can be grasped by the display.

(13) Preferably, displaying on the display includes displaying an image representing the contacted body together with the data. As a result, the point of action and the like can be grasped on the display, and the contacted body used can also be grasped.

(14) Preferably, the first sensor is a force sensor. As a result, the magnitude, direction, and moment acting on the origin of the force applied to the attached contacted body are detected.

(15) The sensor system according to the embodiment is a sensor that can be attached to a contacted body and can detect an action line of a force applied by contact to the attached contacted body, and a sensing result by communicating with the sensor. Is provided with a computing device that acquires the above and performs processing using the sensing result, and the processing uses the force action line obtained from the force sensing result and the shape data of the contacted body stored in advance. It includes calculating the candidate points of the action points of the force of the contacted body and determining the action points from the candidate points. By determining the point of action where the force is applied to the contacted body by contact, the exact position in contact with the contacted body can be obtained.

(16) Preferably, the sensor has a positioning mechanism for attaching to the contacted body in a positional relationship according to the coordinate system of the shape data. As a result, the sensor can be attached to the contacted body at a position corresponding to the coordinate system of the stored shape data, and it is possible to prevent a decrease in accuracy due to misalignment.

(17) The computer program according to the embodiment functions as an arithmetic unit that processes the computer using the sensing result from the first sensor that can detect the line of action of the force applied to the contacted object by contact. It is a computer program to make a computer program, and the process uses the force action line obtained from the force sensing result and the shape data of the contacted body stored in advance to select a candidate point of the force action point of the contacted body. It includes calculating and determining the point of action from the candidate points. As a result, a general-purpose computer can function as the arithmetic unit of (1) to (14), and can be used for constructing the sensor systems of (15) and (16).

<2. Examples of arithmetic units, sensor systems, and computer programs>

The sensor system 100 according to the present embodiment is an example of a system that detects a force applied to a contacted body by contact and processes the detection result, and as an example, a force applied by contact with an oral care model such as a brush. It is a system that detects.

With reference to FIG. 1, the sensor system 100 includes an arithmetic unit 10 and a sensor 20. The sensor 20 can be attached to the contacted body. The contacted body refers to an object to which a force is applied by contact from the outer circumference, and in this example, it is an oral care model 30. The sensor 20 is attached to the oral care model 30 and can detect the line of action of the force applied to the oral care model 30 by contact.

The sensor 20 is a sensor capable of detecting the magnitude, direction, and moment acting on the origin of the force applied to the attached contact body. Preferably, the sensor 20 is capable of sensing in three dimensions of the z-axis, the y-axis, and the z-axis. The sensor 20 is a force sensor as an example.

The sensor 20 has a plate-shaped receiving body 21, and is attached to the oral care model 30 so that the receiving body 21 is in contact with the bottom surface of the oral care model 30. In other words, the oral care model 30 is mounted on the receiving body 21 of the sensor 20.

The oral care model 30 has dentition and is used to learn proper brushing in oral care training and education. The trainee brings the brush into contact with the dentition of the oral care model 30 and performs training such as brushing.

When the receiving body 21 is on the upper surface of the sensor 20, a plate-shaped support 22 is provided on the lower surface, and the deformed body 23 is arranged between the receiving body 21 and the support 22. The sensor 20 electrically detects the deformed state of the deformed body 23 to determine the magnitude of the force applied to the contacted body placed on the receiving body 21 and its position and direction, that is, oral care. The line of action of the force applied to the model 30 is detected.

The sensor 20 has a positioning mechanism for attaching to the oral care model 30. As an example, the positioning mechanism is guides 211 to 213 as shown in FIG. For details, refer to FIG. 2, and on the upper surface 21A of the receiving body 21 of the sensor 20 on which the oral care model 30 is placed, guides 211 and 212 for fixing the depth direction of the oral care model 30 and a center in the lateral direction are provided. A guide 213 and a guide 213 for fixing the guide 213 are provided. The guides 211 to 213 are, for example, lines or recessed protrusions printed on the upper surface 21A.

By providing the guides 211 to 213 on the upper surface 21A, the oral care model 30 can be installed at a specified position on the upper surface 21A of the receiving body 21 of the sensor 20. This makes it possible to improve the calculation accuracy in the processing described later.

The sensor 20 and the arithmetic unit 10 are connected by a communication line 40, and the sensing result SG of the sensor 20 is input to the arithmetic unit 10. Wireless communication may be performed between the sensor 20 and the arithmetic unit 10. The arithmetic unit 10 is composed of a general computer, and performs processing using the sensing result SG from the sensor 20. The processing using the sensing result SG will be described later.

A display 50, which is an output device, and an input device 60 for performing operation input are connected to the arithmetic unit 10. Further, as shown in FIG. 1, a camera 70, which will be described later, may be further connected to the arithmetic unit 10. The camera 70 is not essential to the sensor system 100. When the camera 70 is connected to the arithmetic unit 10, the arithmetic unit 10 may accept the input of the image data IM of the captured image from the camera 70 and use it for the calculation described later.

The arithmetic unit 10 is composed of a computer having a processor 11 and a memory 12. The memory 12 may be a primary storage device or a secondary storage device. The memory 12 stores a computer program 121 executed by the processor 11.

The memory 12 further has a shape data storage unit 122 that stores the model shape data M1 of the oral care model 30. The model shape data M1 is data representing the shape of the oral care model 30 used in the calculation described later. As a result, data representing the shape of the oral care model 30 can be used for the processing described later.

The shape data storage unit 122 may further store model shape data M2 having different sizes. As a result, the processor 11 can use the coordinates of the oral care model 30 used for processing as suitable model shape data.

The arithmetic unit 10 has a sensor I / F (interface) 13 for connecting to the sensor 20. The sensor I / F 13 functions as an input unit capable of receiving the input of the sensing result SG from the sensor 20.

The arithmetic unit 10 has a camera I / F 14 for connecting to a camera 70 described later. The camera I / F 14 functions as an input unit capable of accepting the input of the image data IM from the camera 70.

The processor 11 executes the program 121 stored in the memory 12 to perform processing using the sensing result SG from the sensor 20. The processing using the sensing result SG is performed by using the action line of the force given to the oral care model 30 obtained from the sensing result SG and the model shape data M1 stored in advance to obtain the force of the oral care model 30. Includes operations to determine the point of action.

The operation for determining the action point executed by the processor 11 includes the candidate point calculation process 111. The candidate point calculation process 111 is a process of calculating a candidate point using the sensing result SG from the sensor 20 and the model shape data M1. Candidate points are points that are candidates for action points. The calculation of the candidate points includes the calculation of the intersection of the model shape data M1 and the action line included in the sensing result SG. The details will be described later.

Preferably, the candidate point calculation process 111 includes a correction process 112. The correction process 112 is a process for correcting the model shape data M1 to be used according to the positional relationship between the sensor 20 and the oral care model 30. The method for identifying the positional relationship between the sensor 20 and the oral care model 30 is not limited to a specific method. As an example, when the camera 70 is connected to the arithmetic unit 10, the processor 11 can identify the positional relationship of the oral care model 30 with respect to the sensor 20 based on the image data IM from the camera 70. It may be identified by other methods. In the correction process 112, the processor 11 corrects the model shape data M1 based on the identified positional relationship. As a result, the calculation accuracy can be ensured even when the positional relationship deviates from the specified relationship.

Preferably, the candidate point calculation process 111 includes the transformation process 113. The deformation process 113 is a process of deforming the model shape data M1 to be used according to the deformation of the oral care model 30. The method of detecting the deformation of the oral care model 30 is not limited to a specific method. As an example, when the camera 70 is connected to the arithmetic unit 10, the processor 11 can detect the deformation of the oral care model 30 based on the image data IM from the camera 70. It may be detected by other methods. In the deformation process 113, the processor 11 deforms the model shape data M1 based on the detected deformation. As a result, the calculation accuracy can be ensured even when the oral care model 30 is deformed.

The operation for determining the point of action executed by the processor 11 includes the point of action determination process 114. The action point determination process 114 is a process of determining an action point from the candidate points calculated by the candidate point calculation process 111. At that time, preferably, the action point determination process 114 includes a narrowing process 115. The narrowing down process 115 is a process of narrowing down a plurality of candidate points calculated by the candidate point calculation process 111, and is a process of removing points that are not candidate points from the candidate points by using a predetermined narrowing down condition. Details will be described later. As a result, the number of candidate points to be calculated can be reduced, and the amount of processing can be reduced.

The point of action determination process 114 includes a speed calculation process 116. The speed calculation process 116 is a process of obtaining an index value corresponding to the change speed of the position for each of the candidate points from a plurality of sensing result SGs having different sensing timings by the sensor 20. The index value corresponding to the rate of change may be the rate itself. The action point determination process 114 determines the action point based on the rate of change of the position for each candidate point. Details will be described later.

By executing the program 121, the processor 11 further executes the display process 117. The display process 117 is a process of outputting data in which the point of action determined by the point of action determination process 114 and the magnitude of the force included in the sensing result SG are associated with each other. As an example, screen data is generated and a display is displayed. This is a process for displaying on 50. As another example, when a communication device (not shown) is included, transmission data may be generated and transmitted to another device.

The principle of the operation for determining the point of action will be described with reference to FIGS. 4 to 10. The model shape data M1 and M2 for the oral care model 30 used are defined in a three-dimensional coordinate system, but here, a two-dimensional model is used for simplification of explanation. That is, the gum shape of the oral care model 30 is defined in a two-dimensional plane.

First, the candidate point calculation process 111 executed by the processor 11 will be described with reference to FIGS. 4 to 6. With reference to FIG. 4, the outer and inner sides of the dentition (gingiva) of the oral care model 30, that is, the outer and inner sides of the gum shape, are respectively subjected to the major axis ai, the minor axis bi, and the eccentricity distance ei. , Defined by the ellipses T1 and T2 represented by the equations (1) and (2). In the equations (1), (2), and the graph of FIG. 4 representing these, the x-axis coincides with the depth direction of the gingiva shape, the y-axis coincides with the width direction of the gingiva shape, and the direction in which the x value increases is the gingiva. In front of. The threshold value xth of the x value is the x value corresponding to the innermost position of the gum. The model shape data M1 stored in the shape data storage unit 122 of the memory 12 is, for example, a combination of the formula (1) and the formula (2).

The sensor 20 is attached at a position corresponding to the origin O of the model shape data M1. The sensor 20 detects a component (x component) Fx in the x-axis direction of the force F, a component (y component) Fy in the y-axis direction, and a moment M around the origin O. The arithmetic unit 10 can obtain these values from the sensing result SG.

The moment M is represented by the formula (3-1) in FIG. 5 using the x-component Fx and the y-component Fy. By modifying the equation (3-1), the equation (3) of the action line L1 of the force F can be obtained. Therefore, the processor 11 of the arithmetic unit 10 can calculate the action line L1 by the equation (3) using the x component Fx, the y component Fy, and the moment M obtained from the sensing result SG from the sensor 20.

Since the point of action is the point where the brush or the like comes into contact with the surface of the dentition of the oral care model 30, it exists on the ellipses T1 and T2 represented by the formulas (1) and (2). Therefore, the point of action is represented by the coordinates (xc, yc) on the equation (1) or the equation (2). The point of action is on the line of action. Therefore, as shown in FIG. 5, the points of action are obtained at the intersections P11 and P12 and P13 and P14 of the ellipses T1 and T2 and the line of action L1 respectively.

Specifically, in the candidate point calculation process 111, the processor 11 calculates C1 in which equations (1) and (3) are combined, and equations (2) and equations (2) and equations (2) as shown in FIG. The solution C3 represented by the equations (5) and (6) is obtained by the calculation C2 in which 3) and the above are combined. Solution C3 is obtained in coordinates (xc, yc). The constants C and D in the equations (5) and (6) are represented by the equations (7) and (8) in FIG. 6, respectively. From equations (5) and (6), solution C3 is four solutions represented by coordinates (xc, yc). That is, intersection points P11 and P12 and P13 and P14 are obtained as candidate points.

Next, the point of action determination process 114 executed by the processor 11 will be described with reference to FIGS. 7 to 9. FIG. 7 shows the angular relationship of the force F at the point of action A. That is, with reference to FIG. 7, the angle θ1 of the force F with respect to the horizontal is represented by the equation (9) using the x component Fx and the y component Fy. Further, the angle θ2 of the tangent line at the point of action A of the ellipses T1 and T2 with respect to the horizontal is expressed by the equation (10) using the equations (1) and (2) of the ellipses T1 and T2. The angle φ of the force F with respect to the tangent line TN at the point of action A is expressed by the equation (11) which is the difference between θ1 and θ2. Further, the component (tangential force) Fn in the tangential TN direction and the component (normal force) Fv in the normal direction at the point of action A of the force F are expressed by the equations (13) and (14) using the angle φ, respectively. expressed.

In the narrowing process 115 of the action point determination process 114, the normal force Fv at each of the intersection points P11 to P14, which are candidate points, is calculated, and points whose normal force Fv does not match the narrowing conditions stored in advance are candidates. Exclude from the point. The narrowing-down condition is the direction of the normal force and is preset for each position of the candidate point. In the example of FIG. 8, for each of the intersection points P11 to P14, the permissible range R1 to R4 of the direction of the normal force at the candidate point is set. In the narrowing down process 115, points where the direction of the normal force Fv is not within the permissible range are excluded from the candidate points.

The permissible range of the direction of the normal force is defined based on the direction in which the oral care model 30 can be contacted with a brush or the like. That is, the normal force is set in the direction toward the inside of the gums based on the direction in which the brush can come into contact with the oral care model 30 from the outside. The permissible range may be preset or calculated from the coordinate values of the points above the ellipses T1 and T2.

In the narrowing-down process 115, points where the direction of the normal force Fv is not within the permissible range are excluded from the candidate points. In other words, in the narrowing-down process 115, of the plurality of calculated candidate points, the point where the direction of the normal force Fv is the direction away from the gums is excluded from the candidate points. In the example of FIG. 8, among the intersection points P11 to P14, the intersection points P12 and the intersection points P13 are excluded from the candidate points.

In the narrowing down process 115, more simply, at least one of the x component Fx and the y component Fy of the force F may be used to remove points that are not within the permissible range from the candidate points. As a result, the candidate points can be narrowed down more easily than calculating the normal force Fv for all the candidate points. That is, in the narrowing down process 115, it can be said that the component obtained from the direction of the force F excludes points that are not within the permissible range corresponding to each candidate point.

Next, in the action point determination process 114, the speed calculation process 116 is executed to calculate the change speed of the position for each candidate point. The rate of change in position will be described with reference to FIG. When the brush is brought into contact with the oral care model 30 to perform the brushing operation, the position where the brush contacts, that is, the point of action of the applied force F changes continuously. Along with this, the slope of the action line changes. In particular, since the gum, which is the contactable surface of the oral care model 30, has a curved surface, the inclination of the action line changes greatly with time as the point of action changes. As the point of action changes, the line of action changes so that the range of existence increases as the distance from the point of action increases, centering on the point of action, that is, the contacted position.

In this regard, FIG. 9 shows a case where the brushing operation is slightly performed at the point Q1 on the gum surface to the extent that it is regarded as the same point. The force given to the point Q1 changes with the forces f1 and f2. The action lines AL1 and M2 of the forces f1 and f2 have intersections Q2 and Q3 at other positions of the gums. The intersections Q2 and Q3 are the same candidate points, and are detected as being close to each other among the candidate points obtained by the two sensing results having different sensing timings by the sensor 20.

Since the point Q1 is a point on an ellipse and moves on a curved surface, the change in the directions of the action lines AL1 and M2 is large. As a result, the interval between the intersections Q2 and Q3 is larger than the movement interval of the intersection Q1. Therefore, the rate of change of the position of the candidate point corresponding to the intersections Q2 and Q3 is larger than the rate of change of the position of the candidate point corresponding to the intersection Q1.

By utilizing this property, among the calculated candidate points, the candidate point having the slowest change speed to the corresponding position obtained from the sensing results having different sensing timings can be set as the action point.

The change speed vi of the position at the candidate point is expressed by the equation (15) of FIG. 9 using the candidate point (xc, yc) and the coordinates of the candidate point after Δt seconds (xciold, yciold). .. In the speed calculation process 116, the change speed vi is calculated for each of the calculated candidate points or for each of the calculated candidate points after being narrowed down by the narrowing process 115. Then, these are compared and the one having the smallest change rate vi is determined as the point of action.

In the case of the example of FIG. 10, the change velocities v1 and v2 of the intersection points P11 and P14, which are the candidate points narrowed down by the narrowing down process 115, are calculated. As a result, since v1 <v2 as shown in FIG. 10, the intersection P11 is determined to be the point of action.

In addition, another index value corresponding to the rate of change vi may be used to determine the point of action. Other index values are, for example, point spacing. When the interval between points is used, the candidate point with the smallest interval is set as the point of action.

FIG. 11 is a flowchart showing an example of the processing flow in the processor 11 of the arithmetic unit 10. The process of FIG. 11 begins, for example, with the start of oral care training. At that time, as an example, the operator instructs the start of processing by using the input device 60 of the arithmetic unit 10, and also instructs the size of the oral care model 30 used for training.

The processor 11 reads and executes the program 121 according to the instruction signal from the input device 60. This starts the process. First, the processor 11 reads the corresponding model shape data M1 of the oral care model 30 designated by the instruction signal from the input device 60 from the memory 12 (step S101).

Preferably, the processor 11 corrects the coordinate system of the read model shape data M1 according to the positional deviation of the oral care model 30 (step S103). In step S103, as an example, the processor 11 analyzes the image data IM obtained by being photographed by the camera 70, and detects the displacement of the oral care model 30 from the guides 211 to 213. The misalignment may be detected by other methods. In step S103, the coordinates of the model shape data M1 are converted according to the detected positional deviation, and the coordinate system applied to the subsequent sensing result SG is also converted. As a result, it is possible to suppress a decrease in sensing accuracy even if a misalignment occurs when the sensor 20 is attached to the oral care model 30.

Preferably, the processor 11 corrects the coordinate system of the read model shape data M1 according to the deformation of the oral care model 30 (steps S105 and S107). As an example, the processor 11 analyzes the image data IM obtained by being photographed by the camera 70 and detects the deformation of the oral care model 30. The deformation is, for example, a change in the angle of the upper jaw with respect to the lower jaw. When the deformation is detected (YES in step S105), the processor 11 transforms the coordinates of the model shape data M1 according to the deformation, and also transforms the coordinate system applied to the subsequent sensing result SG (step S107). .. As a result, even if the oral care model 30 is deformed, it is possible to suppress a decrease in sensing accuracy.

The processor 11 reads the sensing result SG at a certain timing t from the sensor 20 (step S109). Then, the processor 11 sets the tooth stem shape included in the model shape data M1 to the ellipses T1 and T2, and the action line of the force F obtained from the x component Fx, the y component Fy, and the moment M of the force F included in the sensing result SG. The intersection points P11 to P14 with L1 are calculated (step S111) and used as candidate points for action points.

For each of the candidate points obtained in step S111, the processor 11 is a candidate depending on whether or not the component obtained from the direction of the force F at that point is within the permissible range in the direction corresponding to the candidate point. Narrow down the points (step S113). That is, in step S113, the processor removes points that are not within the permissible range, which is a condition for narrowing down, from the candidate points, and reduces the number of candidate points. As a result, the amount of subsequent processing can be reduced. The candidate points narrowed down in step S113 are stored in the memory 12 (step S115).

When the candidate points obtained from the sensing results of the timings before the timing t are not stored in the memory 12 (NO in step S117), the sensing results of the next timing (t + Δt) can be read. If possible (YES in step S127), the processor 11 repeats the process from step S105. As a result, a candidate point is calculated from the sensing result of the next timing (t + Δt) and stored in the memory 12.

In this case, since the candidate points at the previous timing t are stored in the memory 12 (YES in step S117), the processor 11 has the corresponding candidate points obtained at these two timings t, (t + Δt). The change speed vi of the position is calculated (step S119), and the point having the smallest change speed vi is determined as the action point (step S121).

When the action point is determined by the above processing, the processor 11 generates display data to be displayed on the display 50 (step S123) and passes it to the display 50 to instruct the display (step S125). In step S123, display data for displaying the data associated with the action point determined by the above process and the magnitude of the force F is generated.

The processor 11 repeats the above processing. As a result, the display in step S125 continues to be updated until the processing is completed. That is, according to the brushing operation using the oral care model 30, the point of action, that is, the point where the brush contacts and the force F applied to the gums are displayed on the display 50 in real time.

As an example, the above processing is continued while the sensing result is input from the sensor 20, that is, while the brushing operation is being performed (YES in step S127). In other words, if the sensing result is not input from the sensor 20 (NO in step S127), the processor 11 ends the process. As another example, the processor 11 may end the process according to the instruction input from the input device 60.

As described above, the model shape data M1 may be the shape data of the three-dimensional coordinate system representing the three-dimensional shape. In that case, the equations (1) to (15) may be three-dimensional equations having components in the z-axis direction. As a result, the model shape data M1 can be brought closer to the actual oral care model 30, and the point of action, that is, the position where the brush is brought into contact and the direction of the force F can be more easily understood.

The screen 51 shown in FIG. 12 is displayed on the display 50 as an example. The screen 51 is a screen when the model shape data M1 is the shape data of the three-dimensional coordinate system. More specifically, with reference to FIG. 12, the screen 51 includes an area 52 for displaying data associated with the point of action and the magnitude of the force F.

The data relating the action point and the magnitude of the force F is, for example, the statistical value of the magnitude of the force F given to each action point included in the range for each unit range to which the action point belongs, and for each region. The total time of contact, etc. The unit range is a range set for the model shape data M1 and is a unit for display. In the example of FIG. 12, eight ranges in which the gum shape is divided into the left, right, front and back of each of the lower jaw and the upper jaw are divided. It is set. By displaying each unit range, it is possible to know the magnitude of the given force F and the tendency of the contact time for each unit range.

The statistical value of the magnitude of the given force F is, for example, the average value of the magnitude of the force F at the specified time. Further, the total time of contact is, for example, the total time of the sensing timing at which the sensing result indicating the point of action belonging to the range is obtained.

In the example of FIG. 12, the region 252 includes a display 521 showing the average value of the magnitudes of the forces F applied to the points of action included in the range for each unit range and the total time of contact with the range. It has been. Preferably, a statistical value of the force F applied for each unit range and / or a threshold value of the total contact time is set, and the comparison result with the threshold value is also displayed in the area 52. In the example of FIG. 12, an image 522 showing the comparison result is displayed for each unit range, and the comparison result is shown by the color of the image 522.

Preferably, the screen 51 includes a region 53 that visually displays the brushing motion for the oral care model 30. Region 53 includes a visual display 531 of the oral care model 30 and a display 532 with respect to force F. As an example, display 532 is a line segment extending from a point on the gum of the oral care model 30, where the point on the gum is the point of action of the force F, and the length or thickness of the line segment is the magnitude of the force F. And, the direction of the line segment is arranged with respect to the display 531 so as to represent the direction of the force F.

The display 521 of the region 52 allows the strength and time of brushing to be known for each region. Skills that involve continuous contact, such as oral care, generally have difficulty in clarifying position, angle, strength, time, and so on. Therefore, it is difficult to judge the suitability or to inform people by training or the like. In that respect, when the present sensor system 100 is used, the position of contact with the oral care model 30 is specified as the action point of the given force F, and is output such as being displayed on the display 50. At the same time, the magnitude and direction of the force F, the contact time, and the like can be known from the screen 51.

For example, in the case of a model operation by a trainer, a model of brushing intensity and time for each area can be grasped by a numerical value or an image by displaying. This makes it possible to understand the movement more accurately than by looking at the model movement. Further, in the case of the training operation of the trainee, the trainer can grasp the intensity and time of brushing for each area by the trainee. Therefore, it becomes easy to give appropriate guidance.

Further, by displaying the image 522, it is possible to grasp at a glance whether or not the brushing operation is suitable for each area. Further, the display 532 of the area 53 allows the brushing operation performed on the oral care model 30 to be seen on the display 50, and is displayed on the same screen as the display content of the area 52 showing the training status. You can also compare by doing. As a result, the operation can be confirmed even when there is no instructor.

For example, by using the sensor system 100 in tooth brushing instruction or the like, it is possible to present a determination result of whether or not the brushing operation of the practitioner is appropriate. Therefore, not only engineers but also schools and the like can widely use the sensor system 100 to perform training and determination of brushing operation.

The screen 51 is updated every time the process shown in the flowchart of FIG. 11 is repeated, that is, every time the sensing by the sensor 20 is repeated during the brushing operation. By setting the sensing interval short, the brushing operation is displayed in real time in the area 53, and the result of the series of brushing operations can be cumulatively known by updating the display in the area 52.

<3. Addendum>
In the above description, the processing of the disclosed arithmetic unit 10 is realized by the processor 11 executing the computer program 121, but at least a part thereof may be realized by a circuit element or other hardware.

The program 121 that realizes the processing in the arithmetic unit 10 may be provided as a program product recorded on a non-temporary recording medium that can be read by a computer. Alternatively, program 121 may be provided by download over the network.

The program 121 that realizes the processing in the arithmetic unit 10 has a program code for the processing in the arithmetic unit 10. The program 121 is read and executed by the processor 11 connected to the memory 12 in which the program 121 is stored.

The program 121 that realizes the processing in the arithmetic unit 10 may be provided as an application program, or a part or all of the program 121 may be included in the operating system (OS) of the computer.

The present invention is not limited to the above embodiment, and various modifications are possible.

10: Arithmetic logic unit 11: Processor 12: Memory 13: Sensor I / F
14: Camera I / F
20: Sensor 21: Receiving body 21A: Top surface 22: Support 23: Deformed body 30: Oral care model 40: Communication line 50: Display 51: Screen 52: Area 53: Area 60: Input device 70: Camera 100: Sensor System 111: Candidate point calculation process 112: Correction process 113: Deformation process 114: Action point determination process 115: Narrowing process 116: Speed calculation process 117: Display process 121: Computer program 122: Shape data storage unit 211: Guide 212: Guide 213: Guide 252: Area 521: Display 522: Image 531: Display 532: Display A: Action point AL1: Action line C: Constant C1: Calculation C2: Calculation C3: Solution D: Constant F: Force Fv: Normal force Fx : X component Fy: y component IM: Image data L1: Action line M: Moment M1: Model shape data M2: Model shape data O: Origin P11: Intersection P12: Intersection P13: Intersection P14: Intersection Q1: Intersection Q2: Intersection Q3 : Intersection point R1: Allowable range R2: Allowable range R3: Allowable range R4: Allowable range SG: Sensing result T1: Ellipse T2: Ellipse TN: Tangent ai: Long axis bi: Short axis ei: Centering distance f1: Force f2: Force t : Timing v1: Change speed v2: Change speed vi: Change speed xth: Threshold θ1: Angle θ2: Angle φ: Angle

Claims (17)

It is an arithmetic unit that performs processing using the sensing result of the force from the first sensor that can detect the line of action of the force applied to the contacted body by contact.
An input unit that can accept the input of the force sensing result and
A processor that executes the above processing is provided.
The above processing
Using the force action line obtained from the force sensing result and the shape data of the contacted body stored in advance, a candidate point for the force action point of the contacted body is calculated.
An arithmetic unit including determining the point of action from the candidate points. To determine the point of action, an index value corresponding to the rate of change in position for each of the candidate points is obtained from the sensing results of a plurality of forces having different sensing timings by the first sensor, and the index value is used as the index value. The arithmetic unit according to claim 1, wherein the point of action is determined based on the above. The arithmetic unit according to claim 2, wherein determining the action point includes determining the candidate point having the slowest change rate among the plurality of candidate points as the action point. The arithmetic unit according to any one of claims 1 to 3, wherein calculating the candidate point includes calculating an intersection of the shape data of the contacted body and the action line stored in advance. To determine the point of action, the direction of the force included in the sensing result of the force is used, and among the candidate points, the component obtained from the direction of the force is allowed corresponding to each of the candidate points. The arithmetic unit according to any one of claims 1 to 4, which includes excluding points that are not in the range of directions. The arithmetic unit according to claim 5, wherein the allowable range of orientation is defined based on the orientation in which the contact with the candidate point is possible. The input unit can further receive the input of the sensing result of the shape of the contacted body by the second sensor.
Any of claims 1 to 6, wherein calculating the candidate point includes deforming the shape data of the contacted body based on the sensing result of the shape and using the deformed shape data of the contacted body. The arithmetic unit according to one item. The arithmetic unit according to any one of claims 1 to 7, wherein the shape data of the contacted body is three-dimensional shape data. The arithmetic unit according to any one of claims 1 to 8, wherein the shape data of the contacted body is shape data of an oral care model. The process according to any one of claims 1 to 9, further comprising outputting data in which the determined point of action and the magnitude of the force included in the force sensing result are associated with each other. Arithmetic logic unit. In the treatment, for each unit range of the contacted body, the total value of the magnitude of the force applied to the action point included in the unit range per unit time, and the action included in the unit range. The arithmetic unit according to any one of claims 1 to 10, which comprises outputting data indicating at least one of the total value of the time when the force is applied to the point. The arithmetic unit according to claim 10 or 11, wherein outputting the data includes displaying the data on a display. The arithmetic unit according to claim 12, wherein displaying on the display includes displaying an image representing the contacted body together with the data. The arithmetic unit according to any one of claims 1 to 13, wherein the first sensor is a force sensor. A sensor that can be attached to the contacted body and can detect the line of action of the force applied by contact to the attached contacted body.
It is provided with an arithmetic unit that acquires a sensing result by communicating with the sensor and performs processing using the force sensing result.
The above processing
Using the force action line obtained from the force sensing result and the shape data of the contacted body stored in advance, a candidate point for the force action point of the contacted body is calculated.
A sensor system including determining the point of action from the candidate points. The sensor system according to claim 15, wherein the sensor has a positioning mechanism for attaching to the contacted body in a positional relationship according to the coordinate system of the shape data. A computer program that causes a computer to function as an arithmetic unit that performs processing using the sensing result from a first sensor that can detect the line of action of the force applied to the contacted body by contact.
The above processing
Using the force action line obtained from the force sensing result and the shape data of the contacted body stored in advance, a candidate point for the force action point of the contacted body is calculated.
A computer program including determining the point of action from the candidate points.

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