JP7379039B2 - Lens device, imaging device, lens device control method, and program - Google Patents

Description

The present invention relates to a lens device, an imaging device, a method of controlling a lens device, and a program.

In an inner focus type zoom lens, when the magnification is changed after focusing on a certain subject distance, the position of the image plane changes and the focus becomes blurred. In order to ensure focusing accuracy during a variable magnification operation, it is necessary to drive the focus lens in accordance with the position of the variable magnification lens. However, if the focus lens is driven intermittently, the driving sound of the motor may be recorded during video recording. Patent Document 1 discloses a technique for preventing intermittent driving by slowing down the driving speed of a focus lens.

Patent No. 6516472

However, in the technique disclosed in Patent Document 1, since the driving speed of the focus lens is slowed down, the followability of the focus lens is not sufficient.

An object of the present invention is to provide a lens device, an imaging device, a method for controlling a lens device, and a program that can reduce driving noise while ensuring focusing performance during a zooming operation.

A lens device according to one aspect of the present invention includes a zoom lens including a focus lens that moves during focusing, and a control unit that controls driving of the focus lens, and the control unit includes a zoom position and a zoom position. A first target position of the focus lens corresponding to a first scheduled zoom position after a predetermined time is determined using trajectory information indicating a relationship with the position of the focus lens to be focused, and the focus lens is moved after the predetermined time. determining a driving speed of the focus lens so as to reach the first target position, and directing the focus lens to a second target position that is farther than the first target position without stopping at the first target position. and moving at the determined driving speed.
A lens device according to one aspect of the present invention includes a zoom lens including a focus lens that moves during focusing, and a control unit that controls driving of the focus lens, and the control unit includes a zoom position and a zoom position. determining a first target position of the focus lens according to a first scheduled zoom position after a predetermined time using trajectory information indicating a relationship with a position of the focus lens to be focused, and based on the first target position; determining a driving speed of the focus lens, and moving the focus lens at the determined driving speed toward a second target position that is farther than the first target position; Furthermore, a target position of the focus lens corresponding to a second scheduled zoom position after a predetermined time is set as the second target position.
A lens device according to one aspect of the present invention includes a zoom lens including a focus lens that moves during focusing, and a control unit that controls driving of the focus lens, and the control unit includes a zoom position and a zoom position. determining a first target position of the focus lens according to a first scheduled zoom position after a predetermined time using trajectory information indicating a relationship with a position of the focus lens to be focused, and based on the first target position; determining a driving speed of the focus lens, moving the focus lens at the determined driving speed toward a second target position that is farther than the first target position; The second target position is calculated by adding a predetermined value to the position.

Another aspect of the present invention is a method for controlling a lens device, comprising: a zoom lens including a focus lens that moves during focusing; and a control means for controlling driving of the focus lens. , determining a first target position of the focus lens according to a first scheduled zoom position after a predetermined time using trajectory information indicating a relationship between a zoom position and a position of the focus lens focused at the zoom position; and determining a driving speed of the focus lens such that the focus lens reaches the first target position after the predetermined time; It is characterized by comprising the step of moving at the determined drive speed toward a second target position that is farther than the first target position.

According to the present invention, it is possible to provide a lens device, an imaging device, a method for controlling a lens device, and a program that can reduce driving noise while ensuring focusing performance during a zooming operation.

1 is a diagram showing the configuration of an interchangeable lens camera system according to a first embodiment. FIG. 7 is a diagram showing the relationship between the zoom position and the in-focus position of a focus lens that focuses at the zoom position, for each subject distance. FIG. 3 is a diagram illustrating a method of calculating the in-focus position of a focus lens. 5 is a flowchart showing zoom tracking control according to the first embodiment. FIG. 3 is a diagram illustrating a method of estimating a zoom position. FIG. 3 is a diagram illustrating a zoom tracking control method according to the first embodiment. FIG. 6 is a diagram illustrating a method of estimating the stoppage of a zoom position. FIG. 6 is a diagram illustrating a zoom tracking control method when the zoom position is stopped. 7 is a flowchart showing zoom tracking control in Example 2. FIG. FIG. 3 is a diagram showing an example of the relationship between a zoom position and a focus position. 7 is a diagram illustrating a zoom tracking control method according to a second embodiment. FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In each figure, the same reference numerals are given to the same members, and duplicate explanations will be omitted.

FIG. 1 shows the configuration of an interchangeable lens camera system according to this embodiment. The interchangeable lens camera system includes a lens device 100 and a camera body 200 to which the lens device 100 is removably attached, and is capable of capturing still images and moving images.

The lens device 100 includes a zoom lens 101 that can form a subject image on an image sensor 201 of a camera body 200, and a lens control unit (control means) 105 that can communicate with a camera control unit 207 of the camera body 200.

The zoom lens 101 includes a variable power lens 102, an aperture 103, and a focus lens 104. The variable power lens 102 is movable along the optical axis in response to a zoom operation ring (not shown) being operated by the user. By moving the variable power lens 102, the focal length of the zoom lens 101 is changed (magnification is varied). The focus lens 104 moves during focusing.

The lens control section 105 is a computer having a CPU (Central Processing Unit), and is electrically connected to a memory (storage means) 106, a zoom position detection section 107, an aperture drive section 108, and a focus drive section 109.

The memory 106 is composed of a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and stores trajectory information representing the relationship between the zoom position and the focus position of the focus lens 104 that focuses at the zoom position. There is.

The zoom position detection unit 107 detects the zoom position using a zoom position sensor such as a variable resistor, and outputs data on the zoom position to the lens control unit 105. The zoom position data may be the position of the variable magnification lens 102 or the operation position of the zoom operation ring. Alternatively, the focal length may correspond to these positions.

The aperture drive unit 108 includes an aperture actuator such as a stepping motor or a voice coil motor for driving the aperture 103, and an aperture sensor such as a Hall element for detecting the driving position of the aperture 103.

The focus drive unit 109 includes a focus actuator such as a stepping motor, an ultrasonic motor, or a voice coil motor, and a focus position sensor such as an encoder for detecting the position of the focus lens 104 in the optical axis direction.

The aperture actuator of the aperture drive unit 108 and the focus actuator of the focus drive unit 109 are controlled by the lens control unit 105, which receives an aperture drive command and a focus drive command from the camera control unit 207.

The camera body 200 includes an image sensor 201, a signal processing section 202, a recording processing section 203, an electronic finder 204, a display section 205, a defocus detection section 206, a camera control section 207, and a memory 208.

The image sensor 201 converts the light from the zoom lens 101 into an electrical signal through photoelectric conversion, and outputs the electrical signal to the signal processing unit 202 . In addition to pixels for imaging, the image sensor 201 also has pixels for detecting a focus position.

The signal processing unit 202 performs various processes such as amplification, noise removal, and color correction on the input electrical signal, and outputs the processed signal to the recording processing unit 203 .

The recording processing unit 203 records the input image. The recorded image is displayed on the electronic viewfinder 204 and the display unit 205.

The defocus detection unit 206 uses the image sensor 201 to detect the focused state of the subject image. The defocus detection unit 206 detects the phase difference between signals of a pair of subject images obtained from light that is incident on a pixel for detecting a focus position of the image sensor 201 through a microlens that performs pupil division. , find the defocus amount corresponding to the detected phase difference. The defocus amount is output to the camera control unit 207.

The camera control unit 207 is a computer having a CPU, and is electrically connected to the recording processing unit 203, defocus detection unit 206, and memory 208.

The camera control unit 207 reads and executes a program recorded in the memory 208, and communicates information necessary for autofocus control with the lens control unit 105. Further, the camera control unit 207 generates a focus drive command from the defocus amount acquired from the defocus detection unit 206 and the position information of the focus lens 104 acquired from the lens device 100.

Note that although autofocus control is performed using a phase difference detection method in this embodiment, it may also be performed using a contrast detection method.

The zoom lens 101 is an inner focus (rear focus) type zoom lens. In an inner focus type zoom lens, when the zoom position is changed (variable magnification) after focusing on a certain subject distance, the position of the image plane changes and the focus becomes blurred. Therefore, the lens control unit 105 drives and controls the focus lens 104 using the locus information stored in the memory 106 in order to correct the change in the image plane position during the magnification change operation (zoom operation). Such drive control of the focus lens 104 is referred to as zoom tracking control.

FIG. 2 shows the relationship between the zoom position and the focus position (focus position) of the focus lens 104 that focuses at the zoom position for each subject distance. In FIG. 2, the horizontal axis represents the zoom position, and the vertical axis represents the focus position. The curve shown by the solid line shows the relationship between the zoom position and the focus position to ensure focusing accuracy at each subject distance. The memory 106 stores curves corresponding to each of a plurality of representative subject distances.

When the subject distance matches the representative subject distance shown in FIG. 2, the focus position can be obtained from trajectory information corresponding to the representative subject distance. If the subject distance is different from the representative subject distance shown in FIG. 2, the focus position can be obtained by calculation (linear interpolation) using locus information corresponding to the representative subject distance in the vicinity of the subject distance.

Note that although the memory 106 stores curves as locus information in this embodiment, it may also store data on representative points from which these curves can be drawn by approximation.

FIG. 3 is a diagram illustrating a method for calculating the in-focus position of the focus lens 104 when the subject distance is different from the representative subject distance. In FIG. 3, the horizontal axis represents the zoom position, and the vertical axis represents the focus position. FIG. 3(a) shows the entire trajectory information, and FIG. 3(b) shows an enlarged part of FIG. 3(a) (the part surrounded by a frame).

A method for calculating the focus position at a zoom position y between the wide-angle zoom position x and the telephoto zoom position z at the subject distance A' between the subject distance A and the subject distance B will be described below.

First, read the data of the focus position at subject distance A and the focus position at subject distance B at wide-side zoom position x, and also read out the data of the focus position data at subject distance A and B, and the The ratio b/a with the difference b in focus position is calculated. Then, the focus position at the subject distance A' at the wide-side zoom position x is calculated using the focus position at the subject distances A and B and the ratio b/a.

Next, data on the focus position at the subject distance A and the focus position at the subject distance B at the telephoto side zoom position z is read out. The ratio b'/a' of the difference a' in the focus position at the subject distances A and B to the difference b' in the focus position at the subject distances A and A' is the same as the ratio b/a. Then, the focus position at the subject distance A' at the telephoto side zoom position z is calculated using the focus position at the subject distances A and B and the ratio b'/a' (=b/a).

Finally, a zoom movement amount l, which is the difference between the wide-side zoom position x and the zoom position y, and a zoom movement amount m, which is the difference between the zoom position y and the telephoto side zoom position z, are calculated. Then, using the focus positions at the wide-side and telephoto-side zoom positions x and z at the subject distance A' and the movement amount ratio l/(l+m), the focus position at the zoom position y at the subject distance A' is determined. calculate.

FIG. 4 is a flowchart showing zoom tracking control in this embodiment. This flow is executed at predetermined time intervals (control cycles) until there is no change in the zoom position detected by the zoom position detection unit 107 (until the zoom position stops). Note that the predetermined time may be a constant time or may be changed depending on the processing state.

In step S401, the lens control unit 105 acquires the current zoom position detected by the zoom position detection unit 107, and stores it in the memory 106.

In step S402, the lens control unit 105 uses the current zoom position acquired in step S401 and the past zoom position stored in the memory 106 to set a scheduled zoom position (first scheduled zoom position) after a predetermined time. Estimate. The planned zoom position is a zoom position estimated as a zoom position after a predetermined period of time.

In step S403, the lens control unit 105 uses the scheduled zoom position after a predetermined time estimated in step S402 and the trajectory information stored in the memory 106 to use the target position (first zoom position) of the focus lens 104 after a predetermined time. target position).

In step S404, the lens control unit 105 determines the speed at which the focus lens 104 reaches the first target position determined in step S403 after a predetermined time as the drive speed of the focus lens 104 (focus drive speed).

In step S405, the lens control unit 105 determines whether the zoom position is estimated to stop after a predetermined period of time. If it is estimated that it will stop, the process advances to step S406, and if it is estimated that it will not stop, the process advances to step S407.

In step S406, the lens control unit 105 drives the focus lens 104 via the focus drive unit 109 toward the first target position determined in step S403 at the focus drive speed determined in step S404.

In step S407, the lens control unit 105 calculates a second target position that is farther than the first target position by adding a predetermined value to the first target position determined in step S403. The predetermined value may be a fixed value or may be changed according to the focus drive speed determined in step S404. For example, if the focus drive speed is fast, the predetermined value is increased, and if the focus drive speed is slow, the predetermined value is decreased.

In step S408, the lens control unit 105 drives the focus lens 104 via the focus drive unit 109 toward the second target position determined in step S407 at the focus drive speed determined in step S404.

FIG. 5 is a diagram illustrating a method in which the lens control unit 105 estimates the zoom position after a predetermined time in step S402 of FIG. 4. In FIG. 5, the horizontal axis indicates time and the vertical axis indicates zoom position, and an example of estimating zoom position z4 at time t4 from zoom positions z1, z2, and z3 detected at times t1, t2, and t3, respectively. It shows.

FIG. 5(a) shows an example where the change in zoom speed is small. For example, if the difference between the zoom speed from time t1 to t2 (b1/a1) and the zoom speed from time t2 to t3 (b2/a2) is smaller than a predetermined threshold, it is determined that the change in zoom speed is small. . If the change in zoom speed is small, the lens control unit 105 estimates the zoom position after a predetermined period of time, assuming that the previous zoom speed is maintained. For example, the lens control unit 105 estimates the zoom position z4 at time t4 using the following equation (1).

z4=z3+(b2/a2)×a3 (1)
FIG. 5(b) shows an example where the change in zoom speed is large. For example, if the difference between the zoom speed from time t1 to t2 (b1/a1) and the zoom speed from time t2 to t3 (b2/a2) is larger than a predetermined threshold, it is determined that the change in zoom speed is large. . When the change in the zoom speed is large, the lens control unit 105 estimates the zoom position after a predetermined period of time, assuming that the previous amount of change (acceleration) in the zoom speed is maintained. For example, the lens control unit 105 estimates the zoom position z4 at time t4 using the following equation (2): z4=z3+a3[(b2/a2)+{(b2/a2)-(b1/a1) }] (2)
However, an upper limit may be set on the amount of change in the zoom speed in consideration of cases where the zoom speed changes suddenly, such as when the zoom position starts moving from a stop or when the zoom position is reversed. For example, if the zoom speed is rapidly decelerating and the current zoom speed approaches zero, it may be assumed that the direction of movement of the zoom position will be reversed after a predetermined period of time. There is no guarantee that it will be done. In such a case, by performing calculations within a range in which the sign of the zoom speed is not reversed, it can be estimated that the zoom position will stop after a predetermined time.

Note that although this embodiment has described a method of estimating the zoom position using the zoom speed and a change in the zoom speed, the present invention is not limited to this. For example, when zooming is performed electrically, the zoom position may be estimated by utilizing the fact that there is a certain time difference between the zoom drive command value and the zoom position.

FIG. 6 is a diagram illustrating the zoom tracking control method of this embodiment. In FIG. 6, the horizontal axis represents time and the vertical axis represents focus position.

FIG. 6A shows an example of driving and controlling the focus lens 104 using only the first target position. At time t2, the target position and focus drive speed of the focus lens 104 are set to the first target position f2 and the speed to reach the first target position f2, respectively. Since the focus lens 104 reaches the first target position f2 at time t2, the lens control unit 105 performs deceleration processing to stop the focus lens 104 from before time t2 via the focus drive unit 109. However, since the zooming operation has not been completed, the lens control unit 105 outputs a focus drive command to drive the focus lens 104 toward the first target position f3 at time t2. In this case, the focus drive unit 109 performs acceleration processing to accelerate the focus lens 104 in order to recover from the delay caused by the deceleration processing.

By repeating such acceleration/deceleration processing, a deviation from the ideal trajectory of the focus lens 104 (delay in focus correction during zooming operation) occurs. Furthermore, if the focus drive speed increases too much in the acceleration process from time t3, the focus lens 104 will completely reach the target position at time t4, and will immediately stop and drive again. If such intermittent driving occurs, the driving sound of the focus lens 104 will become louder and will be heard during video shooting.

FIG. 6(b) shows an example of driving and controlling the focus lens 104 using the first target position and the second target position. At time t2, the target position and focus drive speed of the focus lens 104 are set to speeds at which the second target position f2' and the first target position f2 are reached, respectively. The focus lens 104 has reached the first target position f2 at time t2, but has not reached the second target position f2', so the lens control unit 105 stops the focus lens 104 via the focus drive unit 109. Do not start deceleration processing for this purpose. However, since the zooming operation has not been completed, the lens control unit 105 outputs a focus drive command to drive the focus lens 104 toward the second target position f3' at time t2. At this time, the focus drive speed is set to a speed at which the first target position f3 is reached at time t3.

By repeating such processing, it is possible to prevent the acceleration/deceleration processing from being executed during the magnification changing operation. This makes it possible to suppress delays in focus correction during zooming operations and noise from driving the focus lens 104 due to intermittent driving.

FIG. 7 is a diagram illustrating a method in which the lens control unit 105 estimates the stoppage of the zoom position in step S405 of FIG. 4. In FIG. 7, the horizontal axis represents time and the vertical axis represents zoom position.

FIG. 7A shows an example of a method of estimating the stop of the zoom position using the method of estimating the zoom position executed in step S402 of FIG. As explained using FIG. 5, when the change in zoom speed is large, the zoom position is estimated on the assumption that the change in zoom speed is maintained. If the deceleration (change) in zoom speed continues, the zoom speed when reaching the estimated zoom position may become smaller than a predetermined value, and it is determined that the zoom position has stopped. In FIG. 7A, the lens control unit 105 determines that the zoom position stops at time t3. By ending the use of the second target position at time t3, it is possible to prevent the focus lens 104 from being driven excessively when stopping the zoom position.

However, in the method described with reference to FIG. 7A, the process for stopping the focus lens 104 is not started at time t3. Therefore, the focus lens 104 may not be decelerated in time, and the focus lens 104 may temporarily go too far with respect to the original target position (first target position).

FIG. 7B shows a method of estimating the stop of the zoom operation by using twice the method of estimating the zoom position executed in step S402 of FIG. In FIG. 5, we explained a method of estimating the zoom position after a predetermined time using the history of the past three zoom positions, but here we will use the history of the past two zoom positions and the estimated zoom position (the 1 estimated position), the zoom position at time t4 (second estimated position) is estimated. Using this method, it is possible to estimate that the zoom position will stop at time t2. Therefore, it is possible to complete the use of the second target position at time t2 and perform processing for stopping the focus lens 104 at time t3.

FIG. 8 is a diagram illustrating a zoom tracking control method when the zoom position is stopped. In FIG. 8, the horizontal axis represents time and the vertical axis represents focus position. Further, times t1 to t4 are respectively the same as times t1 to t4 in FIG. 7.

FIG. 8A shows an example of drive control of the focus lens 104 when the zoom position is stopped using the method of estimating the stop of the zoom position shown in FIG. 7A. The lens control unit 105 does not estimate the stop of the zoom position at time t2, but drives the focus lens 104 toward the second target position f3' via the focus drive unit 109. The lens control unit 105 estimates that the zoom position will stop at time t3, finishes using the second target position, and drives the focus lens 104 via the focus drive unit 109 toward the first target position f3.

However, in FIG. 8A, since the lens control unit 105 does not perform deceleration processing on the focus lens 104 at time t3, the focus lens 104 may temporarily go too far with respect to the first target position f3.

FIG. 8B shows an example of drive control of the focus lens 104 when the zoom position is stopped using the method of estimating the stop of the zoom position shown in FIG. 7B. The lens control unit 105 estimates that the zoom position will stop at time t2, finishes using the second target position, and drives the focus lens 104 toward the first target position f3 via the focus drive unit 109. Therefore, the lens control unit 105 starts deceleration processing of the focus lens 104 at time t3, and it is possible to prevent the focus lens 104 from moving too far with respect to the first target position f3.

Note that in FIGS. 7 and 8, two methods of estimating the stop of the zoom position and controlling the drive of the focus lens 104 have been described, but it is also possible to use only one method or the other method. It is also possible to estimate the stop of the zoom position.

As explained above, in this embodiment, focusing performance during zooming operation is ensured by driving and controlling the focus lens 104 using the drive speed calculated from the first target position and the second target position. At the same time, the driving noise of the focus lens 104 can be reduced.

In this embodiment, a scheduled zoom position (second scheduled zoom position) further ahead from the scheduled zoom position (first scheduled zoom position) estimated in step S402 of the first embodiment is estimated, and the estimated second scheduled zoom position is A second target position is calculated using the position. In this example, the same components as in Example 1 are given the same reference numerals as in Example 1, and detailed description thereof will be omitted.

FIG. 9 is a flowchart showing zoom tracking control in this embodiment. The processes from step S401 to step S406 and step S408 are the same as those described in FIG. 4 of the first embodiment, so the description thereof will be omitted.

In step S901, the lens control unit 105 estimates a zoom position (second planned zoom position) after a further predetermined period of time has elapsed from the planned zoom position estimated in step S402. The method for estimating the zoom position is the same as the method described in step S402, so the description will be omitted. The predetermined time in this step may be a fixed value or may be a variable value. For example, the predetermined time may be set according to the focus drive speed determined in step S404. Specifically, when the focus drive speed is high, the predetermined time may be set long, and when the focus drive speed is low, the predetermined time may be set short. Note that the predetermined time used in step S402 and the predetermined time used in step S901 do not need to match.

In step S902, the lens control unit 105 determines the target position (second target position) of the focus lens 104 from the zoom position estimated in step S901 (second scheduled zoom position) and the trajectory information stored in the memory 106. decide.

FIG. 10 is a diagram showing an example of the relationship between the zoom position and the focus position at the subject distance A. In FIG. 10, the horizontal axis represents the zoom position, and the vertical axis represents the focus position. The method of this embodiment is particularly effective when the trajectory information has an inflection point, as shown in FIG.

FIG. 11 is a diagram illustrating the zoom tracking control method of this embodiment. In FIG. 11, the horizontal axis represents time and the vertical axis represents focus position. In FIG. 11, it is assumed that the zoom position changes at a constant speed from time t1 to t4.

FIG. 11A shows an example of drive control of the focus lens 104 when the second target position is determined by the method of the first embodiment. Even if it can be estimated that the driving direction of the focus lens 104 will be reversed at time t2, the second target position will be set farther than the first target position. Since the lens control unit 105 does not start deceleration processing of the focus lens 104 at time t2, the actual movement of the focus lens 104 deviates from the ideal trajectory of the focus lens 104 between times t2 and t3.

FIG. 11B shows an example of drive control of the focus lens 104 when the second target position is determined by the method of this embodiment. The lens control unit 105 sets the target position of the focus lens 104, which is determined using the zoom position estimated at time t2' after time t2, as the second target position. Therefore, the lens control unit 105 starts deceleration processing of the focus lens 104 at time t2. As a result, deviations in the actual movement of the focus lens 104 from the ideal trajectory of the focus lens 104 (delay in focus correction during zooming operation) can be reduced. Note that when the second target position is closer than the first target position, the first target position and the second target position may be set to the same position (f2=f2').

As explained above, in this embodiment, by determining the second target position using the zoom position estimated after a predetermined period of time and further after a predetermined period of time, the magnification can be changed even when there is an inflection point in the trajectory information. It is possible to reduce the driving sound of the focus lens 104 while ensuring the focusing performance during operation.
[Other Examples]
The present invention provides a system or device with a program that implements one or more of the functions of the above-described embodiments via a network or storage medium, and one or more processors in the computer of the system or device reads and executes the program. This can also be achieved by processing. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions.

Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the invention.

100 Lens device 101 Zoom lens 104 Focus lens 105 Lens control section (control means)

Claims (12)

a zoom lens including a focus lens that moves during focusing;
and a control means for controlling driving of the focus lens,
The control means includes:
determining a first target position of the focus lens according to a first scheduled zoom position after a predetermined time using trajectory information indicating a relationship between a zoom position and a position of the focus lens focused at the zoom position;
determining a driving speed of the focus lens such that the focus lens reaches the first target position after the predetermined time ;
A lens device characterized in that the focus lens is moved at the determined drive speed toward a second target position that is farther than the first target position without stopping at the first target position. a zoom lens including a focus lens that moves during focusing;
and a control means for controlling driving of the focus lens,
The control means includes:
determining a first target position of the focus lens according to a first scheduled zoom position after a predetermined time using trajectory information indicating a relationship between a zoom position and a position of the focus lens focused at the zoom position;
determining a driving speed of the focus lens based on the first target position;
moving the focus lens toward a second target position that is farther than the first target position at the determined driving speed;
The lens device is characterized in that the control means sets a target position of the focus lens corresponding to a second scheduled zoom position after a further predetermined time from the predetermined time as the second target position. When the control means determines that the zoom position stops at the first scheduled zoom position, the control means moves the focus lens toward the first target position at the determined drive speed. Item 2. Lens device according to item 1 or 2 . 4. The lens device according to claim 3 , wherein the control means uses a zoom speed and a change in the zoom speed to determine that the zoom position stops at the first scheduled zoom position. 5. The lens device according to claim 1, wherein the control means determines the first target position and the drive speed at every predetermined time period. a zoom lens including a focus lens that moves during focusing;
and a control means for controlling driving of the focus lens,
The control means includes:
determining a first target position of the focus lens according to a first scheduled zoom position after a predetermined time using trajectory information indicating a relationship between a zoom position and a position of the focus lens focused at the zoom position;
determining a driving speed of the focus lens based on the first target position;
moving the focus lens toward a second target position that is farther than the first target position at the determined driving speed;
The lens device is characterized in that the control means calculates the second target position by adding a predetermined value to the first target position. 7. The lens device according to claim 6 , wherein the predetermined value is a fixed value. 7. The lens device according to claim 6 , wherein the predetermined value is changed based on the determined driving speed. 9. The lens device according to claim 1, further comprising storage means for storing the trajectory information. It has an image sensor that converts the subject image into an electrical signal,
An imaging device, wherein the lens device according to any one of claims 1 to 9 is removably attached. A method for controlling a lens device comprising: a zoom lens including a focus lens that moves during focusing; and a control means for controlling driving of the focus lens.
determining a first target position of the focus lens according to a first scheduled zoom position after a predetermined time using trajectory information indicating a relationship between a zoom position and a position of the focus lens focused at the zoom position; ,
determining a driving speed of the focus lens such that the focus lens reaches the first target position after the predetermined time ;
The method further comprises the step of moving the focus lens at the determined drive speed toward a second target position that is farther than the first target position without stopping at the first target position. Control method for lens device. A program for causing a computer to execute the method for controlling a lens device according to claim 11.