JP2020052379A - Controller, imaging device, mobile body, method for control, and program - Google Patents

Abstract

To deal with a case where a frictional force generated in a driving mechanism of a focus lens is changed when an imaging device is used in a different environment or in a different posture, and variations occur in the stopping position of the focus lens accordingly.SOLUTION: The controller controls an electric motor which drives the lens of an imaging device. The controller may include: a first control unit for executing a rate control on an electric motor on the basis of the difference between a value showing the moving rate of the lens and a target value showing a target rate of the lens; a determination unit for determining the target position of the lens on the basis of context values of a plurality of images taken by the imaging device while the rate control is being done; and a second control unit for executing a positional control on the electric motor on the basis of the difference between a value showing the position of the lens and a target value showing a target position of the lens.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a control device, an imaging device, a moving object, a control method, and a program.

Patent Document 1 discloses that the focus lens is stopped at a target position by controlling the speed of the focus lens.
Patent Document 1 JP-A-10-164417

  When the environment or posture in which the imaging device is used changes, the frictional force generated in the drive mechanism of the focus lens changes, and the stop position of the focus lens may vary.

  A control device according to one embodiment of the present invention controls an electric motor that drives a lens included in an imaging device. The control device may include a first control unit that performs speed control for controlling the electric motor based on a difference between a value indicating the moving speed of the lens and a target value indicating the target speed of the lens. The control device may include a determination unit that determines a target position of the lens based on contrast values of a plurality of images captured by the imaging device while the speed control is being performed. The control device may include a second control unit that performs position control for controlling the electric motor based on a difference between a value indicating the position of the lens and a target value indicating the target position of the lens.

  The first control unit may stop the rotation of the electric motor in response to the determination unit determining the target position of the lens. The second control unit may execute the position control after the rotation of the electric motor is stopped.

  The second control unit may execute position control by PID control based on a difference between a value indicating the position of the lens and a target value indicating the target position of the lens.

  The first control unit may rotate the motor in the first direction by executing the speed control, and stop the rotation of the motor in response to the determination unit determining the target position of the lens. The second control unit may rotate the motor in the second direction opposite to the first direction by executing position control after the rotation of the motor is stopped.

  The electric motor may drive the lens via a gear or a cam.

  The electric motor may be a DC motor, a coreless motor, or an ultrasonic motor.

  The second control unit may acquire a value indicating the position of the lens from a position sensor that detects the position of the lens.

  An imaging device according to one embodiment of the present invention may include the above control device. The imaging device may include a lens. The imaging device may include a motor. The imaging device may include an image sensor that receives light via a lens.

  The imaging device may include a position sensor that detects a position of the lens.

  The position sensor may be a magneto-resistive sensor.

  A moving object according to one embodiment of the present invention may be a moving object that includes the imaging device and a support mechanism that supports the posture of the imaging device in an adjustable manner.

  The control method according to one embodiment of the present invention may be a control method for controlling an electric motor that drives a lens included in an imaging device. The control method may include a step of executing speed control for controlling the electric motor based on a difference between a value indicating the moving speed of the lens and a target value indicating the target speed of the lens. The control method may include determining a target position of the lens based on contrast values of a plurality of images captured by the imaging device while the speed control is being performed. The control method may include performing a position control for controlling the electric motor based on a difference between a value indicating the position of the lens and a target value indicating the target position of the lens.

  The program according to one embodiment of the present invention may be a program for causing a computer to function as the control device.

  According to one embodiment of the present invention, variation in the stop position of the focus lens can be suppressed even when the environment in which the imaging device is used or the posture changes.

  The above summary of the present invention does not list all of the necessary features of the present invention. Further, a sub-combination of these feature groups can also be an invention.

FIG. 2 is a diagram illustrating an example of an external perspective view of an imaging device. FIG. 3 is a diagram illustrating functional blocks of the imaging device. FIG. 3 is a diagram illustrating an example of a block diagram of PID control executed by a speed control unit. FIG. 3 is a diagram illustrating an example of a block diagram of PID control executed by a position control unit. FIG. 4 is a diagram for describing speed control of a focus lens. FIG. 3 is a diagram for describing position control of a focus lens. FIG. 11 is a flowchart illustrating an example of an execution procedure of contrast AF. It is a figure showing an example of appearance of an unmanned aerial vehicle and a remote control device. FIG. 3 illustrates an example of a hardware configuration.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Further, not all combinations of the features described in the embodiments are necessarily indispensable to the solution of the invention. It is apparent to those skilled in the art that various changes or improvements can be made to the following embodiments. It is apparent from the description of the appended claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

  The claims, the description, the drawings, and the abstract include matters covered by copyright. The copyright owner will not object to any number of copies of these documents, as indicated in the JPO file or record. However, in all other cases, all copyrights are reserved.

  Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, wherein blocks are (1) steps in a process in which an operation is performed or (2) devices responsible for performing an operation. May be expressed as “parts”. Certain steps and "parts" may be implemented by programmable circuits and / or processors. Dedicated circuits may include digital and / or analog hardware circuits. It may include integrated circuits (ICs) and / or discrete circuits. A programmable circuit may include a reconfigurable hardware circuit. Reconfigurable hardware circuits include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), etc. May be included.

  Computer readable media can include any tangible device that can store instructions for execution by a suitable device. As a result, a computer-readable medium having instructions stored thereon will comprise a product that includes instructions that can be executed to create a means for performing the operations specified in the flowcharts or block diagrams. Examples of the computer readable medium may include an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, and the like. More specific examples of computer readable media include floppy disks, diskettes, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), Electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), compact disk read only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (RTM) disk, memory stick, integrated A circuit card or the like may be included.

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

  FIG. 1 is a diagram illustrating an example of an external perspective view of an imaging device 100 according to the present embodiment. FIG. 2 is a diagram illustrating functional blocks of the imaging device 100 according to the present embodiment.

  The imaging device 100 includes an imaging unit 102 and a lens unit 200. The imaging unit 102 includes an image sensor 120, an imaging control unit 110, and a memory 130. The image sensor 120 may be configured by a CCD or a CMOS. The image sensor 120 outputs image data of an optical image formed through the zoom lens 211 and the focus lens 210 to the imaging control unit 110. The imaging control unit 110 may be configured by a microprocessor such as a CPU or an MPU, a microcontroller such as an MCU, and the like. The memory 130 may be a computer-readable recording medium, and may include at least one of a flash memory such as an SRAM, a DRAM, an EPROM, an EEPROM, and a USB memory. The memory 130 stores programs and the like necessary for the imaging control unit 110 to control the image sensor 120 and the like. The memory 130 may be provided inside the housing of the imaging device 100. The memory 130 may be provided detachably from the housing of the imaging device 100.

  The imaging unit 102 may further include an instruction unit 162 and a display unit 160. The instruction unit 162 is a user interface that receives an instruction for the imaging device 100 from a user. The display unit 160 displays an image captured by the image sensor 120, various setting information of the imaging device 100, and the like. The display unit 160 may be configured by a touch panel.

  The lens unit 200 includes a focus lens 210, a zoom lens 211, a lens driving unit 212, a lens driving unit 213, and a lens control unit 220. The focus lens 210 and the zoom lens 211 may include at least one lens. At least a part or all of the focus lens 210 and the zoom lens 211 are movably arranged along the optical axis. The lens unit 200 may be an interchangeable lens that is detachably provided to the imaging unit 102. The lens driving section 212 includes an electric motor 216 and an encoder 218. The electric motor 216 may be a DC motor, a coreless motor, or an ultrasonic motor. The encoder 218 detects the number of rotations and the rotation speed of the electric motor 216. The lens drive unit 212 transmits the power from the electric motor 216 to at least a part or all of the focus lens 210 via a mechanism member such as a cam ring and a guide shaft, and transmits at least a part or all of the focus lens 210 to the optical axis. Move along. The lens driving unit 213 includes an electric motor 217 and an encoder 219. The electric motor 217 may be a stepping motor, a DC motor, a coreless motor, or an ultrasonic motor. The encoder 219 detects the number of rotations and the rotation speed of the electric motor 217. The lens driving unit 213 transmits power from the electric motor 217 to at least a part or all of the zoom lens 211 via a mechanism member such as a cam ring and a guide shaft, and transmits at least a part or all of the zoom lens 211 to the optical axis. Move along. The lens control unit 220 drives at least one of the lens driving unit 212 and the lens driving unit 213 in accordance with a lens control command from the imaging unit 102 to light at least one of the focus lens 210 and the zoom lens 211 via a mechanism member. By moving along the axial direction, at least one of the zoom operation and the focus operation is executed. The lens control command is, for example, a zoom control command and a focus control command. The mechanism member includes at least one of a gear and a cam.

  The lens unit 200 further includes a memory 222, a position sensor 214, and a position sensor 215. The memory 222 stores control values of the focus lens 210 and the zoom lens 211 that move via the lens driving unit 212 and the lens driving unit 213. The memory 222 may include at least one of a flash memory such as an SRAM, a DRAM, an EPROM, an EEPROM, and a USB memory. The position sensor 214 detects the position of the focus lens 210. The position sensor 214 may detect the current focus position. The position sensor 215 detects the position of the zoom lens 211. The position sensor 215 may detect the current zoom position of the zoom lens 211. The position sensor 214 and the position sensor 215 may be magnetoresistive (MR) sensors.

  When performing contrast autofocus (contrast AF) in the imaging apparatus 100 configured as described above, the lens control unit 220 moves the focus lens 210 at a constant speed in one direction to detect a peak of the contrast value. Move to Then, when determining the position of the focus lens 210 corresponding to the peak of the contrast value as the target position, the lens control unit 220 moves the focus lens 210 to the target position. At this time, if the lens control unit 220 attempts to stop the focus lens 210 at the target position by moving the focus lens 210 by speed control, the focus lens 210 may not be stopped stably. For example, the environment in which the imaging device 100 is present changes, or the attitude of the imaging device 100 changes. As a result, the frictional force generated by the drive mechanism of the focus lens 210 may change. In this case, the distance that the focus lens 210 moves may change from the state where the focus lens 210 moves at a predetermined speed to the state where the focus lens 210 stops.

  Therefore, in the present embodiment, when the imaging device 100 performs the contrast AF, the focus lens 210 can be accurately stopped at the target position regardless of the environment or the posture of the imaging device 100.

  The imaging control unit 110 has a focusing control unit 112. When executing the contrast AF, the focusing control unit 112 acquires the contrast values of the plurality of images captured by the imaging unit 102, and specifies the peak of the contrast value. The focus control unit 112 notifies the lens control unit 220 that the peak of the contrast value has been identified.

  The lens control unit 220 includes a determination unit 224, a switching unit 226, a speed control unit 230, and a position control unit 240. The determination unit 224 determines the target position of the lens based on the contrast values of a plurality of images captured by the imaging device 100 while the speed control of the image sensor 120 is performed by the speed control unit 230. The determination unit 224 determines a target position of the focus lens 210 at which the contrast value reaches a peak based on the plurality of images captured by the imaging device 100. The determining unit 224 determines the target position of the focus lens 210 based on the position of the focus lens 210 at that time in response to receiving the notification that the peak of the contrast value has been detected from the focusing control unit 112. May be.

  The switching unit 226 switches the drive control of the focus lens 210 from the speed control unit 230 to the position control unit 240 in response to the determination unit 224 determining the target position of the focus lens 210.

  The speed control unit 230 executes speed control for controlling the electric motor 216 based on a difference between a value indicating the moving speed of the lens and a target value indicating the target speed of the lens. The speed control unit 230 may execute speed control for controlling the electric motor 216 by PID control based on a difference between a value indicating the moving speed of the lens and a target value indicating the target speed of the lens. The position control unit 240 executes position control for controlling the electric motor 216 based on a difference between a value indicating the position of the lens and a target value indicating the target position of the lens.

  The speed control unit 230 may temporarily stop the rotation of the electric motor 216 in response to the determination unit 224 determining the target position of the lens. The switching unit 226 switches the control of the electric motor 216 from the speed control unit 230 to the position control unit 240. The position control unit 240 executes the position control after the rotation of the motor 216 stops. The position control unit 240 may execute position control by PID control based on a difference between a value indicating the position of the lens and a target value indicating the target position of the lens.

  The speed control unit 230 may execute the speed control to rotate the electric motor 216 in the first direction, and stop the rotation of the electric motor in response to the determination unit 224 determining the target position of the lens. . The position control unit 240 may rotate the electric motor 216 in a second direction opposite to the first direction by executing position control after the rotation of the electric motor 216 is stopped.

  The electric motor 216 drives the focus lens 210 via a gear or a cam. Therefore, backlash exists when the electric motor 216 rotates. In order to eliminate an error due to backlash, the position control unit 240 may obtain a value indicating the position of the focus lens 210 from a position sensor 214 such as an MR sensor that directly detects the position of the focus lens 210.

  FIG. 3 shows an example of a block diagram of PID control executed by the speed control unit 230. The speed control unit 230 derives a difference e (t) between a predetermined target speed A (t) and the actual speed V (t). The speed controller 230 calculates a value obtained by multiplying the difference e (t) by the proportional gain Kp, a value obtained by multiplying the value obtained by integrating the difference e (t) by the proportional gain Ki, and a value obtained by differentiating the difference e (t). , A control amount U (t) for controlling the electric motor 216 is derived. The speed control unit 230 may acquire the rotation speed of the electric motor 216 detected by the encoder 218 as a value indicating the actual speed V (t). The speed control unit 230 may acquire the moving speed of the focus lens 210 derived from the value indicating the position of the focus lens 210 detected by the position sensor 214 as a value indicating the actual speed V (t).

  FIG. 4 shows an example of a block diagram of PID control executed by the position control unit 240. The position control unit 240 derives a difference e (t) between a predetermined target position B (t) and the actual position P (t). The position control unit 240 calculates a value obtained by multiplying the difference e (t) by the proportional gain Kp, a value obtained by multiplying the value obtained by integrating the difference e (t) by the proportional gain Ki, and a value obtained by differentiating the difference e (t). , A control amount U (t) for controlling the electric motor 216 is derived. The position control unit 240 may acquire the position of the focus lens 210 derived from the rotation speed of the electric motor 216 detected by the encoder 218 as a value indicating the actual position P (t). The position control unit 240 may acquire a value indicating the position of the focus lens 210 detected by the position sensor 214 as a value indicating the actual position P (t).

  The speed control unit 230 controls the electric motor 216 by speed control so that the focus lens 210 moves at a constant speed as shown in FIG. 5 in order to execute the contrast AF. While the focus lens 210 is moving at a constant speed, the focusing control unit 112 acquires the contrast value of the image captured by the imaging device 100 at a constant interval T. The focus control unit 112 detects a peak of the contrast value from the acquired contrast value. The determining unit 224 receives the notification from the focusing control unit 112 and determines the position of the focus lens 210 at which the contrast value has a peak as the target position. When the determination unit 224 determines the target position, the speed control unit 230 stops the electric motor 216.

  After the determination unit 224 determines the target position of the focus lens 210 and the speed control unit 230 stops the electric motor 216, the position control unit 240 rotates the electric motor 216 in the reverse direction, as shown in FIG. Thereby, the focus lens 210 is moved to the target position.

  FIG. 7 is a flowchart illustrating an example of the execution procedure of the contrast AF. Upon receiving the instruction to execute the contrast AF, the speed control unit 230 starts driving the electric motor 216 to start moving the focus lens 210 (S100). The speed control unit 230 moves the focus lens 210 at a constant speed by controlling the current value supplied to the electric motor 216 by speed control by PID control (S102). The determination unit 224 determines whether the focus control unit 112 has detected a peak of the contrast value (S104).

  When the focusing control unit 112 detects the peak of the contrast value, the determining unit 224 determines the position of the focus lens 210 at which the contrast value has a peak as the target position. The position control unit 240 measures the distance that the focus lens 210 moves to the target position of the focus lens 210 corresponding to the peak contrast value (S106). The position control unit 240 controls the current value supplied to the motor 216 by the position control by the PID control so that the focus lens 210 returns to the target position of the focus lens 210 corresponding to the peak contrast value. It is rotated (S108).

  As described above, according to the present embodiment, in the contrast AF, the focus lens 210 is moved by the speed control to determine the target position of the focus lens 210 corresponding to the peak of the contrast value. The control is switched to control to move the focus lens 210 to the target position. Thereby, even if the environment in which the imaging device 100 is used changes or the posture of the imaging device 100 changes, the focus lens 210 can be accurately and quickly moved to the target position.

  The imaging device 100 as described above may be mounted on a moving object. The imaging device 100 may be mounted on an unmanned aerial vehicle (UAV) as shown in FIG. The UAV 10 may include a UAV body 20, a gimbal 50, a plurality of imaging devices 60, and an imaging device 100. The gimbal 50 and the imaging device 100 are examples of an imaging system. The UAV 10 is an example of a moving object propelled by a propulsion unit. The moving object is a concept including a UAV, a flying object such as another aircraft moving in the air, a vehicle moving on the ground, a ship moving on water, and the like.

  The UAV body 20 includes a plurality of rotors. The plurality of rotors is an example of a propulsion unit. The UAV body 20 causes the UAV 10 to fly by controlling the rotation of a plurality of rotors. The UAV body 20 makes the UAV 10 fly using, for example, four rotors. The number of rotors is not limited to four. Further, the UAV 10 may be a fixed wing aircraft having no rotary wing.

  The imaging device 100 is an imaging camera that captures an image of a subject included in a desired imaging range. The gimbal 50 rotatably supports the imaging device 100. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 supports the imaging device 100 rotatably on a pitch axis using an actuator. The gimbal 50 further supports the imaging device 100 so as to be rotatable around each of a roll axis and a yaw axis using an actuator. The gimbal 50 may change the attitude of the imaging device 100 by rotating the imaging device 100 about at least one of the yaw axis, the pitch axis, and the roll axis.

  The plurality of imaging devices 60 are sensing cameras that capture images around the UAV 10 to control the flight of the UAV 10. Two imaging devices 60 may be provided in front of the nose of the UAV 10. Still another two imaging devices 60 may be provided on the bottom surface of the UAV 10. The two imaging devices 60 on the front side may be paired and function as a so-called stereo camera. The two imaging devices 60 on the bottom side may also be paired and function as a stereo camera. Based on the images captured by the plurality of imaging devices 60, three-dimensional spatial data around the UAV 10 may be generated. The number of imaging devices 60 provided in the UAV 10 is not limited to four. The UAV 10 only needs to include at least one imaging device 60. The UAV 10 may include at least one imaging device 60 on each of the nose, stern, side, bottom, and ceiling of the UAV 10. The angle of view that can be set by the imaging device 60 may be wider than the angle of view that can be set by the imaging device 100. The imaging device 60 may include a single focus lens or a fisheye lens.

  The remote control device 300 communicates with the UAV 10 to remotely control the UAV 10. The remote control device 300 may communicate with the UAV 10 wirelessly. The remote control device 300 transmits to the UAV 10 instruction information indicating various commands relating to the movement of the UAV 10 such as ascent, descent, acceleration, deceleration, forward, reverse, and rotation. The instruction information includes, for example, instruction information for increasing the altitude of the UAV 10. The instruction information may indicate the altitude at which the UAV 10 should be located. UAV 10 moves so as to be located at the altitude indicated by the instruction information received from remote control device 300. The instruction information may include a lift command to raise the UAV 10. The UAV 10 rises while receiving a rise command. Even if the UAV 10 receives the climbing command, the climb may be limited if the height of the UAV 10 has reached the upper limit altitude.

  FIG. 9 illustrates an example of a computer 1200 in which aspects of the present invention may be wholly or partially embodied. The program installed in the computer 1200 can cause the computer 1200 to function as an operation associated with the device according to the embodiment of the present invention or one or more “units” of the device. Alternatively, the program can cause the computer 1200 to execute the operation or the one or more “units”. The program can cause the computer 1200 to execute a process or a stage of the process according to the embodiment of the present invention. Such programs may be executed by CPU 1212 to cause computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

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

  The communication interface 1222 communicates with another electronic device via a network. A hard disk drive may store programs and data used by CPU 1212 in computer 1200. The ROM 1230 stores therein a boot program executed by the computer 1200 at the time of activation, and / or a program depending on hardware of the computer 1200. The program is provided via a computer-readable recording medium such as a CR-ROM, a USB memory, or an IC card or a network. The program is installed in the RAM 1214 or the ROM 1230, which is an example of a computer-readable recording medium, and is executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing operations or processing of information according to the use of computer 1200.

  For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 executes the communication program loaded in the RAM 1214, and performs communication processing with the communication interface 1222 based on the processing described in the communication program. You may order. The communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as a RAM 1214 or a USB memory under the control of the CPU 1212, and transmits the read transmission data to a network, or The reception data received from the network is written in a reception buffer area provided on a recording medium.

  Also, the CPU 1212 causes the RAM 1214 to read all or a necessary part of a file or database stored in an external recording medium such as a USB memory or the like, and executes various types of processing on the data on the RAM 1214. Good. CPU 1212 may then write back the processed data to an external storage medium.

  Various types of information, such as various types of programs, data, tables, and databases, may be stored on a recording medium and subjected to information processing. The CPU 1212 performs various types of operations, information processing, conditional determination, conditional branching, unconditional branching, and information retrieval specified in the instruction sequence of the program on the data read from the RAM 1214 as described elsewhere in the present disclosure. Various types of processing may be performed, including / replace, and the results are written back to RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having the attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 specifies the attribute value of the first attribute. Searching for an entry matching the condition from the plurality of entries, reading the attribute value of the second attribute stored in the entry, and associating the attribute value with the first attribute satisfying a predetermined condition. The attribute value of the obtained second attribute may be obtained.

  The programs or software modules described above may be stored on computer 1200 or on a computer readable storage medium near computer 1200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, so that the program can be transferred to the computer 1200 via the network. provide.

  As described above, the present invention has been described using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It is apparent to those skilled in the art that various changes or improvements can be made to the above embodiment. It is apparent from the description of the appended claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

  The execution order of each processing such as operation, procedure, step, and stage in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before”, “before”. It should be noted that they can be realized in any order as long as the output of the previous process is not used in the subsequent process. Even if the operation flow in the claims, the specification, and the drawings is described using “first,” “second,” or the like for convenience, it means that it is essential to perform the operation in this order. Not something.

10 UAV
20 UAV main body 50 gimbal 60 imaging device 100 imaging device 102 imaging unit 110 imaging control unit 112 focusing control unit 120 image sensor 130 memory 160 display unit 162 instruction unit 200 lens unit 210 focus lens 211 zoom lenses 212 and 213 lens driving unit 214 , 215 Position sensors 216, 217 Motors 218, 219 Encoder 220 Lens control unit 224 Determination unit 226 Switching unit 230 Speed control unit 240 Position control unit 300 Remote control device

Claims (13)

A control device that controls an electric motor that drives a lens included in the imaging device,
A first control unit that executes speed control for controlling the electric motor based on a difference between a value indicating the moving speed of the lens and a target value indicating a target speed of the lens;
While the speed control is being performed, a determination unit that determines a target position of the lens based on contrast values of a plurality of images captured by the imaging device,
A control device comprising: a second control unit configured to execute position control for controlling the electric motor based on a difference between a value indicating the position of the lens and a target value indicating the target position of the lens. The first control unit stops the rotation of the electric motor in response to the determination unit determining the target position of the lens,
The control device according to claim 1, wherein the second control unit executes the position control after the rotation of the electric motor is stopped.   The control device according to claim 1, wherein the second control unit executes the position control by PID control based on a difference between a value indicating the position of the lens and a target value indicating the target position of the lens. The first control unit executes the speed control to rotate the motor in a first direction, and in response to the determination unit determining the target position of the lens, the rotation of the motor is controlled. To stop,
The control device according to claim 1, wherein the second control unit executes the position control after the rotation of the electric motor is stopped, thereby rotating the electric motor in a second direction opposite to the first direction. .   The control device according to claim 1, wherein the electric motor drives the lens via a gear or a cam.   The control device according to claim 1, wherein the electric motor is a DC motor, a coreless motor, or an ultrasonic motor.   The control device according to claim 1, wherein the second control unit acquires a value indicating the position of the lens from a position sensor that detects the position of the lens. A control device according to any one of claims 1 to 7,
Said lens;
An imaging apparatus comprising: the electric motor; and an image sensor that receives light via the lens.   The imaging device according to claim 8, further comprising a position sensor that detects a position of the lens.   The imaging device according to claim 9, wherein the position sensor is a magnetoresistive sensor.   A moving body that includes the imaging device according to claim 8 and a support mechanism that adjustably supports a posture of the imaging device. A control method for controlling an electric motor that drives a lens included in the imaging device,
Performing a speed control for controlling the electric motor based on a difference between a value indicating the moving speed of the lens and a target value indicating a target speed of the lens;
Determining a target position of the lens based on contrast values of a plurality of images captured by the imaging device while the speed control is being performed;
Performing position control for controlling the electric motor based on a difference between a value indicating the position of the lens and a target value indicating the target position of the lens.   A program for causing a computer to function as the control device according to any one of claims 1 to 7.

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