CN112136316A

CN112136316A - Control device, imaging device, mobile body, control method, and program

Info

Publication number: CN112136316A
Application number: CN201980033734.0A
Authority: CN
Inventors: 小山高志; 本庄谦一
Original assignee: Victor Doha Su Co ltd
Current assignee: Victor Doha Su Co ltd; Victor Hasselblad AB
Priority date: 2018-09-28
Filing date: 2019-09-26
Publication date: 2020-12-25
Also published as: JP2020052379A; WO2020063779A1

Abstract

When the use environment, posture, or the like of the imaging device changes, friction or the like generated by a drive mechanism of the focus lens may change, and the stop position of the focus lens may vary. The control device controls a motor that drives a lens included in the imaging device. The control device may include: a first control unit that performs speed control for controlling the motor based on a difference between a value representing a moving speed of the lens and a target value representing a target speed of the lens; a determination section that determines a target position of the lens based on contrast values of a plurality of images captured by the imaging device during execution of the speed control; and a second control section that performs position control of controlling the motor based on a difference between a value representing a position of the lens and a target value representing a target position of the lens.

Description

Control device, imaging device, mobile body, control method, and program

Technical Field

The invention relates to a control device, an imaging device, a mobile body, a control method, and a program.

Background

Patent document 1 discloses stopping a focus lens at a target position by controlling the speed of the focus lens.

Patent document 1: japanese laid-open patent publication No. H10-164417

Disclosure of Invention

[ technical problem to be solved by the invention ]

When the use environment, posture, or the like of the imaging device changes, friction or the like generated by a drive mechanism of the focus lens may change, and the stop position of the focus lens may vary.

[ MEANS FOR SOLVING PROBLEMS ] to solve the problems

A control device according to an aspect of the present invention controls a motor that drives a lens included in an imaging device. The control device may include a first control portion that performs speed control of controlling the motor based on a difference between a value representing a moving speed of the lens and a target value representing a target speed of the lens. The control device may include a determination section that determines a target position of the lens based on contrast values of a plurality of images captured by the imaging device during execution of the speed control. The control device may include a second control portion that performs position control of controlling the motor based on a difference between a value representing a position of the lens and a target value representing a target position of the lens.

The first control unit may stop the rotation of the motor in response to the determination unit determining the target position of the lens. The second control portion may perform the position control after the motor stops rotating.

The second control portion may perform the position control by PID control based on a difference between a value representing the position of the lens and a target value representing a target position of the lens.

The first control portion may rotate the motor in the first direction by performing speed control, and stop the rotation of the motor corresponding to the target position of the lens having been determined by the determination portion. The second control portion may rotate the motor in a second direction opposite to the first direction by performing the position control after the rotation of the motor is stopped.

The motor may drive the lens through a gear or a cam.

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

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

The imaging apparatus according to an aspect of the present invention may include the control device. The image capture device may include a lens. The camera device may comprise a motor. The camera device may include an image sensor that receives light through a lens.

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

The position sensor may be a magnetoresistive sensor.

The movable body according to one aspect of the present invention may be a movable body that includes the imaging device and a support mechanism that adjustably supports the posture of the imaging device.

The control method according to one aspect of the present invention may be a control method of controlling a motor that drives a lens included in an imaging apparatus. The control method may include a stage of performing speed control of controlling the motor based on a difference between a value representing a moving speed of the lens and a target value representing a target speed of the lens. The control method may comprise a stage of determining a target position of the lens based on contrast values of a plurality of images captured by the image capturing device during execution of the speed control. The control method may comprise a stage of performing position control of controlling the motor based on a difference between a value representing the position of the lens and a target value representing a target position of the lens.

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

According to one aspect of the present invention, even if the usage environment, the posture, or the like of the imaging apparatus changes, it is possible to suppress variation in the stop position of the focus lens.

In addition, the above summary does not list all necessary features of the present invention. Furthermore, sub-combinations of these feature sets may also constitute the invention.

Drawings

Fig. 1 is a diagram showing an example of an external perspective view of an image pickup apparatus.

Fig. 2 is a diagram showing functional blocks of the image pickup apparatus.

Fig. 3 is a diagram showing an example of a block diagram of PID control performed by the speed control section.

Fig. 4 is a diagram showing an example of a block diagram of PID control performed by the position control section.

Fig. 5 is a diagram for explaining speed control of the focus lens.

Fig. 6 is a diagram for explaining position control of the focus lens.

Fig. 7 is a diagram showing a flowchart of one example of the execution procedure of the contrast AF.

Fig. 8 is a diagram showing one example of the external appearance of the unmanned aerial vehicle and the remote operation device.

Fig. 9 is a diagram showing one example of the hardware configuration.

Detailed Description

The present invention will be described below with reference to embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Moreover, all combinations of features described in the embodiments are not necessarily essential to the inventive solution. It will be apparent to those skilled in the art that various changes and modifications can be made in the following embodiments. It is apparent from the description of the claims that the modes to which such changes or improvements are made are included in the technical scope of the present invention.

The claims, the specification, the drawings, and the abstract of the specification contain matters to be protected by copyright. The copyright owner would not make an objection to the facsimile reproduction by anyone of the files, as represented by the patent office documents or records. However, in other cases, the copyright of everything is reserved.

Various embodiments of the present invention may be described with reference to flow diagrams and block diagrams, where blocks may represent (1) stages of a process to perform an operation or (2) a "part" of a device that has the role of performing an operation. Certain stages and "sections" may be implemented by programmable circuits and/or processors. The dedicated circuitry may comprise digital and/or analog hardware circuitry. May include Integrated Circuits (ICs) and/or discrete circuits. The programmable circuitry may comprise reconfigurable hardware circuitry. The reconfigurable hardware circuit may include logical AND, logical OR, logical XOR, logical NAND, logical NOR, AND other logical operations, as well as storage elements such as flip-flops, registers, Field Programmable Gate Arrays (FPGAs), Programmable Logic Arrays (PLAs), AND the like.

A computer readable medium may comprise any tangible device that can store instructions for execution by a suitable device. As a result, a computer-readable medium having stored thereon instructions that may be executed to create an article of manufacture including instructions which implement the operation specified in the flowchart or block diagram block or blocks. As examples of the computer readable medium, an electronic storage medium, a magnetic storage medium, an optical storage medium, an electromagnetic storage medium, a semiconductor storage medium, and the like may be included. More specific examples of the computer-readable medium may include a floppy disk (registered trademark) disk, a floppy disk, a hard disk, a Random Access Memory (RAM), a Read Only Memory (ROM), an erasable programmable read only memory (EPROM or flash memory), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Static Random Access Memory (SRAM), a compact disc read only memory (CD-ROM), a Digital Versatile Disc (DVD), a blu-Ray (RTM) disc, a memory stick, an integrated circuit card, and so forth.

Computer readable instructions may include any one of source code or object code described by any combination of one or more programming languages. The source code or object code comprises a conventional procedural programming language. Conventional procedural programming languages may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or Smalltalk, JAVA (registered trademark), C + +, or the like, and the "C" programming language, or similar programming languages. The computer readable instructions may be provided to a processor or programmable circuitry of a general purpose computer, special purpose computer, or other programmable data processing apparatus, either locally or via a Wide Area Network (WAN), such as a Local Area Network (LAN), the internet, or the like. A processor or programmable circuit may execute the computer readable instructions to create means for implementing 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 showing an example of an external perspective view of an imaging apparatus 100 according to the present embodiment. Fig. 2 is a diagram showing functional blocks of the imaging apparatus 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 formed of a CCD or a CMOS. The image sensor 120 outputs image data of an optical image formed by the zoom lens 211 and the focus lens 210 to the image pickup control section 110. The imaging control unit 110 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The memory 130 may be a computer-readable recording medium and may also include at least one of flash memories 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 image pickup apparatus 100. The memory 130 may be detachably provided on the housing of the image pickup apparatus 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 for receiving an instruction from the user to the image pickup apparatus 100. The display unit 160 displays an image captured by the image sensor 120, various setting information of the imaging apparatus 100, and the like. The display portion 160 may be composed of a touch panel.

The lens section 200 has a focus lens 210, a zoom lens 211, a lens driving section 212, a lens driving section 213, and a lens control section 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 configured to be movable along the optical axis. The lens section 200 may be an interchangeable lens provided to be attachable to and detachable from the image pickup section 102. The lens driving unit 212 includes a motor 216 and an encoder 218. The motor 216 may be a DC motor, a coreless motor, or an ultrasonic motor. The encoder 218 detects the number of rotations and the rotational speed of the motor 216. The lens driving unit 212 transmits power from the motor 216 to at least a part or all of the focus lens 210 via a mechanism member such as a cam ring or a guide shaft, and moves at least a part or all of the focus lens 210 along the optical axis. The lens driving unit 213 includes a motor 217 and an encoder 219. The motor 217 may be a stepper motor, a DC motor, a coreless motor, or an ultrasonic motor. The encoder 219 detects the number of rotations and the rotational speed of the motor 217. The lens driving unit 213 transmits power from the motor 217 to at least a part or all of the zoom lens 211 via a mechanism member such as a cam ring or a guide shaft, and moves at least a part or all of the zoom lens 211 along the optical axis. The lens control section 220 drives at least one of the lens driving section 212 and the lens driving section 213 in accordance with a lens control instruction from the image pickup section 102, and moves at least one of the focus lens 210 and the zoom lens 211 in the optical axis direction by a mechanism member to perform at least one of a zooming action and a focusing action. The lens control instruction is, for example, a zoom control instruction and a focus control instruction. The mechanism member includes at least one of a gear and a cam.

The lens portion 200 also has 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 moved via the lens driving section 212 and the lens driving section 213. The memory 222 may include at least one of SRAM, DRAM, EPROM, EEPROM, USB memory, and other flash memories. 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 a current zoom position of the zoom lens 211. Position sensor 214 and position sensor 215 may be magneto-resistive (MR) sensors.

In the imaging apparatus 100 configured as described above, the lens control unit 220 moves the focus lens 210 in one direction at a constant speed in order to detect a peak of a contrast value when performing contrast autofocus (contrast AF). Then, after 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 move the focus lens 210 by speed control and stop the focus lens 210 at the target position, the focus lens 210 may not be stably stopped. For example, the environment in which the imaging apparatus 100 exists may change, and the posture of the imaging apparatus 100 may change. This may change the frictional force generated by the drive mechanism of the focus lens 210. In this case, the distance moved by focus lens 210 may change from a state in which focus lens 210 is moved at a predetermined speed to a state in which focus lens 210 is stopped.

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

The imaging control unit 110 includes a focus control unit 112. When contrast AF is performed, the focus control section 112 acquires contrast values of a plurality of images captured by the imaging section 102, and determines the peak value of the contrast values. The focus control unit 112 notifies the lens control unit 220 that the peak of the contrast value has been determined.

The imaging control unit 220 includes a determination unit 224, a switching unit 226, a speed control unit 230, and a position control unit 240. While the speed control section 230 performs speed control of the image sensor 120, the determination section 224 determines the target position of the lens based on the contrast values of the plurality of images captured by the image capturing apparatus 100. The determination unit 224 determines the target position of the focus lens 210 at which the contrast value is a peak value, based on a plurality of images captured by the imaging device 100. Upon receiving notification from the focus control section 112 that the peak of the contrast value has been detected, the determination section 224 may determine the target position of the focus lens 210 based on the position of the focus lens 210 at that time.

In response to the determination unit 224 having determined the target position of the focus lens 210, 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.

The speed control section 230 performs speed control of controlling the motor 216 based on a difference between a value representing the moving speed of the lens and a target value representing a target speed of the lens. The speed control section 230 may perform speed control of controlling the motor 216 by PID control based on a difference between a value representing the moving speed of the lens and a target value representing a target speed of the lens. The position control section 240 performs position control of controlling the motor 216 based on a difference between a value representing the position of the lens and a target value representing a target position of the lens.

The speed control section 230 may temporarily stop the rotation of the motor 216 corresponding to the target position of the lens having been determined by the determination section 224. The switching unit 226 switches the control of the motor 216 from the speed control unit 230 to the position control unit 240. After the rotation of the motor 216 is stopped, the position control section 240 performs position control. The position control portion 240 may perform position control by PID control based on a difference between a value representing the position of the lens and a target value representing a target position of the lens.

The speed control section 230 may rotate the motor 216 in the first direction by performing speed control, and stop the rotation of the motor corresponding to the target position of the lens determined by the determination section 224. After the motor 216 stops rotating, the position control section 240 may rotate the motor 216 in a second direction opposite to the first direction by performing position control.

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

Fig. 3 is one example of a block diagram showing PID control performed by the speed control section 230. The speed control unit 230 derives a difference e (t) between a predetermined target speed a (t) and an actual speed v (t). The speed control unit 230 derives a control amount u (t) for controlling the motor 216 based on a value obtained by multiplying the difference e (t) by the proportional gain Kp, a value obtained by multiplying the integrated value of the difference e (t) by the proportional gain Ki, and a value obtained by differentiating the difference e (t). The speed control section 230 may acquire the rotation speed of the motor 216 detected by the encoder 218 as a value representing 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 is one example of a block diagram showing PID control performed by the position control section 240. The position control unit 240 derives a difference e (t) between a predetermined target position b (t) and an actual position p (t). The position control unit 240 derives a control amount u (t) for controlling the motor 216 based on a value obtained by multiplying the difference e (t) by the proportional gain Kp, a value obtained by multiplying the integrated value of the difference e (t) by the proportional gain Ki, and a value obtained by differentiating the difference e (t). The position control unit 240 may acquire the position of the focus lens 210 derived from the number of rotations of the 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).

In order to perform contrast AF, as shown in fig. 5, the speed control section 230 controls the motor 216 by speed control so that the focus lens 210 moves at a constant speed. While the focus lens 210 is moving at a constant speed, the focus control section 112 acquires a contrast value of an image captured by the image capturing apparatus 100 at a constant interval T. The focus control unit 112 detects a peak value of the contrast value from the acquired contrast value. Upon receiving the notification from the focus control unit 112, the determination unit 224 determines the position of the focus lens 210 at which the contrast value is a peak as the target position. After the determination unit 224 determines the target position of the lens, the speed control unit 230 stops the motor 216.

After the determination unit 224 determines the target position of the focus lens 210 and the speed control unit 230 stops the motor 216, the position control unit 240 rotates the motor 216 in the reverse direction, and moves the focus lens 210 to the target position by position control as shown in fig. 6.

Fig. 7 is a flowchart showing one example of the execution procedure of the contrast AF. Upon receiving the execution command of contrast AF, the motor 216 starts driving, and the speed control unit 230 starts moving the focus lens 210 (S100). The speed control unit 230 controls the current value supplied to the motor 216 by speed control based on PID control to move the focus lens 210 at a constant speed (S102). The determination unit 224 determines whether or not the focus control unit 112 has detected a peak of the contrast value (S104).

When the focus control unit 112 detects the peak of the contrast value, the determination unit 224 determines the position of the focus lens 210 at which the contrast value is the peak as the target position. The position control unit 240 measures the distance by which the focus lens 210 has moved 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 position control based on PID control, and rotates the motor 216 so as to return the focus lens 210 to the target position of the focus lens 210 corresponding to the peak contrast value (S108).

As described above, according to the present embodiment, in contrast AF, the focus lens 210 is moved by speed control, and the target position of the focus lens 210 corresponding to the peak of the contrast value is determined, and then the focus lens 210 is moved to the target position by switching from the speed control to the position control. Accordingly, the focus lens 210 can be moved to the target position accurately in a short time regardless of a change in the environment in which the imaging lens 100 is used or a change in the posture of the imaging device 100.

The imaging device 100 may be mounted on a mobile body. The imaging device 100 may also be mounted on an Unmanned Aerial Vehicle (UAV) as shown in fig. 8. The UAV 10 may include a UAV body 20, a gimbal 50, a plurality of cameras 60, and a camera 100. The gimbal 50 and the image pickup apparatus 100 are one example of an image pickup system. The UAV 10 is one example of a mobile body propelled by a propulsion section. The concept of a mobile body includes, in addition to the UAV, a flying body such as another airplane moving in the air, a vehicle moving on the ground, a ship moving on water, and the like.

The UAV body 20 contains a plurality of rotors. Multiple rotors are one example of a propulsion section. The UAV body 20 flies the UAV 10 by controlling the rotation of the plurality of rotors. The UAV body 20 uses, for example, four rotors to fly the UAV 10. The number of rotors is not limited to four. In addition, the UAV 10 may also be a fixed-wing aircraft without a rotor.

The imaging apparatus 100 is an imaging camera that captures an object included in a desired imaging range. The gimbal 50 rotatably supports the image pickup apparatus 100. The gimbal 50 is an example of a support mechanism. For example, the gimbal 50 supports the image pickup apparatus 100 so as to be rotatable about a pitch axis using an actuator. The gimbal 50 supports the imaging apparatus 100 so as to be rotatable about the roll axis and the yaw axis, respectively, using actuators. The gimbal 50 can change the attitude of the image pickup apparatus 100 by rotating the image pickup apparatus 100 around 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 of the surroundings of the UAV 10 in order to control the flight of the UAV 10. The 2 cameras 60 may be located at the nose, i.e., the front, of the UAV 10. Also, the other 2 cameras 60 may be disposed on the bottom surface of the UAV 10. The two image pickup devices 60 on the front side may be paired to function as a so-called stereo camera. The two imaging devices 60 on the bottom surface side may also be paired to function as a stereo camera. Three-dimensional spatial data around the UAV 10 may be generated based on images taken by the plurality of cameras 60. The number of cameras 60 included in the UAV 10 is not limited to four. The UAV 10 may include at least one camera 60. The UAV 10 may also include at least one camera 60 at the nose, tail, sides, bottom, and top of the UAV 10. The angle of view settable in the image pickup device 60 may be larger than the angle of view settable in the image pickup device 100. The imaging device 60 may also have a single focus lens or a fisheye lens.

The remote operation device 300 communicates with the UAV 10 to remotely operate the UAV 10. The remote operation device 300 may wirelessly communicate with the UAV 10. The remote operation device 300 transmits instruction information indicating various instructions related to the movement of the UAV 10, such as ascending, descending, accelerating, decelerating, advancing, retreating, and rotating, to the UAV 10. The indication information includes, for example, indication information to raise the altitude of the UAV 10. The indication may show the altitude at which the UAV 10 should be located. The UAV 10 moves to be located at an altitude indicated by the instruction information received from the remote operation device 300. The indication may include a lift instruction to lift the UAV 10. The UAV 10 ascends while receiving the ascending instruction. When the altitude of the UAV 10 has reached the upper limit altitude, the ascent of the UAV 10 may be limited even if an ascent command is received.

FIG. 9 illustrates one example of a computer 1200 in which aspects of the invention may be embodied, in whole or in part. The program installed on the computer 1200 can cause the computer 1200 to function as one or more "sections" of or operations associated with the apparatus according to the embodiment of the present invention. Alternatively, the program can cause the computer 1200 to execute the operation or the one or more "sections". The program enables the computer 1200 to execute the processes or the stages of the processes according to the embodiments of the present invention. Such programs may be executed by the CPU 1212 to cause the computer 1200 to perform specified operations associated with some or all of the blocks in the flowchart and block diagrams described herein.

The computer 1200 of the present embodiment includes a CPU 1212 and a RAM 1214, which are connected to each other through a host controller 1210. The computer 1200 also includes a communication interface 1222, an input/output unit, which are connected to the host controller 1210 through the input/output controller 1220. Computer 1200 also includes a ROM 1230. The CPU 1212 operates in accordance with programs stored in the ROM 1230 and the RAM 1214, thereby controlling the respective units.

The communication interface 1222 communicates with other electronic devices through a network. The hard disk drive may store programs and data used by CPU 1212 in computer 1200. The ROM 1230 stores therein a boot program or the like executed by the computer 1200 at runtime, and/or a program depending on the hardware of the computer 1200. The program is provided through 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 also an example of a computer-readable recording medium, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200, and causes cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constructed by implementing operations or processes of information according to the use of the computer 1200.

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

Further, the CPU 1212 may cause the RAM 1214 to read all or a necessary portion of a file or a database stored in an external recording medium such as a USB memory, and perform various types of processing on data on the RAM 1214. Then, the CPU 1212 may write back the processed data to the external recording medium.

Various types of information such as various types of programs, data, tables, and databases may be stored in the recording medium and processed by the information. With respect to data read from the RAM 1214, the CPU 1212 may execute various types of processing described throughout this disclosure, including various types of operations specified by an instruction sequence of a program, information processing, condition judgment, condition transition, unconditional transition, retrieval/replacement of information, and the like, and write the result back to the RAM 1214. Further, the CPU 1212 can retrieve information in files, databases, etc., within the recording medium. For example, when a plurality of entries having attribute values of first attributes respectively associated with attribute values of second attributes are stored in a recording medium, the CPU 1212 may retrieve an entry matching a condition specifying an attribute value of a first attribute from the plurality of entries and read an attribute value of a second attribute stored in the entry, thereby acquiring an attribute value of a second attribute associated with a first attribute satisfying a predetermined condition.

The programs or software modules described above may be stored on the computer 1200 or on a computer-readable storage medium near the 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 may be used as the computer-readable storage medium, so that the program can be provided to the computer 1200 via the network.

The present invention has been described above using the embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes and modifications can be made in the above embodiments. It is apparent from the description of the claims that the modes to which such changes or improvements are made are included in the technical scope of the present invention.

It should be noted that the execution order of the operations, the sequence, the steps, the stages, and the like in the devices, systems, programs, and methods shown in the claims, the description, and the drawings of the specification can be realized in any order as long as "before. The operational flow in the claims, the specification, and the drawings of the specification is described using "first", "next", and the like for convenience, but this does not necessarily mean that the operations are performed in this order.

[ notation ] to show

10 UAV

20 UAV body

50 universal joint

60 image pickup device

100 image pickup device

102 image pickup part

110 image pickup control unit

112 focus control unit

120 image sensor

130 memory

160 display part

162 indicating part

200 lens part

210 focusing lens

211 zoom lens

212, 213 lens driving part

214, 215 position sensor

216, 217 motor

218, 219 encoder

220 lens control part

224 determination unit

226 switching part

230 speed control part

240 position control part

300 remote operation device

Claims

A control device for controlling a motor for driving a lens included in an imaging device, comprising:

a first control unit that performs speed control for controlling the motor based on a difference between a value representing a moving speed of the lens and a target value representing a target speed of the lens;

a determination section that determines a target position of the lens based on contrast values of a plurality of images captured by the imaging device during execution of the speed control; and

a second control portion that performs position control of controlling the motor based on a difference between a value representing a position of the lens and a target value representing the target position of the lens.
The control device according to claim 1, wherein the first control portion stops rotation of the motor in correspondence with the determination portion having determined the target position of the lens,

the second control unit executes the position control after the motor stops rotating.
The control device according to claim 1, wherein the second control portion performs the position control by PID control based on the difference between a value representing a position of the lens and a target value representing the target position of the lens.
The control device according to claim 1, wherein the first control portion rotates the motor in a first direction by performing the speed control, and stops the rotation of the motor corresponding to the target position of the lens having been determined by the determination portion,

after the motor stops rotating, the second control unit causes the motor to rotate in a second direction opposite to the first direction by executing the position control.
The control device according to claim 1, wherein the motor drives the lens through a gear or a cam.
The control device of 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 portion acquires a value indicating the position of the lens from a position sensor that detects the position of the lens.
An image pickup apparatus, comprising: the control device according to any one of claims 1 to 7;

the lens;

the motor; and

an image sensor receiving light through the lens.
The image pickup apparatus according to claim 8, further comprising a position sensor that detects a position of the lens.
The image pickup apparatus according to claim 9, wherein said position sensor is a magnetoresistive sensor.
A moving body comprising the imaging device according to claim 8 and a support mechanism for adjustably supporting a posture of the imaging device, wherein the moving body is moved.
A control method for controlling a motor that drives a lens included in an imaging apparatus, comprising:

a stage of performing speed control of controlling the motor based on a difference between a value representing a moving speed of the lens and a target value representing a target speed of the lens;

a stage of determining a target position of the lens based on contrast values of a plurality of images captured by the imaging device during execution of the speed control; and

a stage of performing position control of controlling the motor based on a difference between a value representing a position of the lens and a target value representing 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.