JPH02282213A - Moving quantity controller of camera - Google Patents

Abstract

PURPOSE:To accurately stop a moving unit at a target position by detecting the pulses approximately proportional to the moving speed of the moving unit driven by a motor, making computation in accordance with the number of pulses and driving the motor with different driving modes. CONSTITUTION:The pulses approximately proportional to the moving speed of a photographic lens 23 as the moving unit driven by the motor 2 are detected by an encoder 22 and the predicted number of pulses until the moving unit stops from the detected moving speed is determined by a CPU 3. On the other hand, the remaining number of pulses necessary for moving the moving unit up to the target position is calculated from the number of pulses converted from the moving distance obtd. by a distance measuring part 21 and the number of pulses generated before this point of time. The predicted number of pulses until the unit stops and the actual remaining number of pulses are then compared. The motor 2 is driven with the 2nd driving mode or 3rd driving mode in accordance with this comparison, by which the acceleration or deceleration of the motor is controlled and the moving unit 23 is exactly stopped at the target position.

Description

Detailed Description of the Invention [Objective of the Invention] (Industrial Field of Application) The present invention provides a camera having a movable unit such as a lens that moves to a target position in accordance with the drive of a motor. The present invention relates to a movement amount control device for a camera that accurately stops the camera.

(Prior Art) Regarding an automatic focus adjustment device as a movement amount control device that drives a photographic lens and stops it at a focusing position, for example, as proposed in Japanese Patent Application Laid-Open No. 153526/1983, Information indicating the optimum deceleration curve is stored in the storage means, the moving speed of the photographic lens is detected by the detecting means, and the detected moving speed and the information indicating the deceleration curve stored in the storage means are combined. We now know how to control acceleration and deceleration by turning the motor on and off or applying the brake through successive comparisons, thereby decelerating the photographic lens along the deceleration curve to the in-focus position and stopping it accurately at the target position. It is being

However, when controlling the deceleration of the photographic lens using this method, when the photographic lens reaches the vicinity of the in-focus position,
In order to match the deceleration curve, it becomes necessary to turn on the motor and accelerate, and in such a case, the photographic lens is likely to move beyond the target position. In order to avoid such a situation, the automatic focus adjustment device described above
Near the in-focus position, a limited acceleration method is used that limits the on-time of the motor.

In addition, an automatic film winding device that performs control using a deceleration curve similar to the one described above has been proposed, for example, in Japanese Patent Application No. 63-027903, but in this case too, the speed is detected near the target position. A means for restricting turning on of the motor in response to a signal from the means is provided, and by operating this means, excessive acceleration is prevented.

(Problem to be Solved by the Invention) Deceleration control using the above-mentioned deceleration curve is extremely useful as a method for precisely stopping movable units such as photographic lenses and film. By appropriately repeating acceleration and deceleration by applying brakes, a speed along the above-mentioned deceleration curve is realized. However, if the motor is turned on and accelerated like normal control near the position where it should stop, over-acceleration tends to occur, so to prevent over-acceleration near the position where it should stop, it is necessary to switch the control etc. This has the disadvantage of requiring special measures to be taken, making control complex.

The present invention has been made to eliminate these drawbacks, and its purpose is to accurately target the movable unit without switching control from the start of control of the movable unit to the target position. An object of the present invention is to provide a movement amount control device for a camera that can be stopped at a certain position.

[Structure of the Invention] (Means for Solving the Problems) A camera movement amount control device of the present invention is a camera having a movable unit that moves to a target position in response to driving of a motor. pulse generating means for generating pulses with substantially proportional periods; and at least three
a calculation means for calculating the number of pulses generated until the motor stops when the motor is driven in a first motor drive mode based on pulses generated from the pulse generation means; and a target position. a second motor drive mode when the difference between the number of pulses stored in the storage means and the number of pulses calculated by the calculation means is larger than a first predetermined value; Select
The present invention is characterized by comprising a selection means for selecting a third motor drive mode when the motor drive mode is smaller than a second predetermined value.

(Operation) The present invention detects the moving speed of a movable unit driven by a motor based on pulses generated by a pulse generating means at a period approximately proportional to this moving speed, and stops the movable unit from the detected moving speed. The expected number of pulses until
After converting the amount by which the movable unit should be moved obtained from the distance etc. into the number of pulses, and the number of pulses generated up to that point, calculate the remaining number of pulses required to move the movable unit to the target position. The expected number of pulses until stopping is compared with the actual number of remaining pulses, and if the expected number of pulses is less than the number of remaining pulses and the difference is greater than the first predetermined value, the motor is operated in the second motor drive mode. When the expected number of pulses is larger than the remaining number of pulses and the difference is smaller than the second predetermined value, the movable unit is controlled by deceleration by driving the motor in the third driving mode. This allows the robot to stop exactly at the target position.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram schematically showing the configuration of a camera movement amount control device according to the present invention. In the figure, a movable unit 1 is a movable part that is to be controlled, such as a photographic lens or a film winding device. This movable unit 1 is driven by a motor 2.
is such that its off (first motor drive mode), on (second motor drive mode), brake (third motor drive mode), etc. are controlled by control signals from the CPU 3. . The pulse generating means 4 generates pulses having a period approximately proportional to the moving speed of the movable unit 1. One of the outputs of the pulse generating means 4 is outputted to the speed detecting means 5. Speed detection means 5
1) detects the moving speed of the movable unit at that time from the interval of pulses generated by the pulse generating means 4. The speed signal detected by the speed detection means 5 is output to the calculation means 6 in the CPUB.

The calculation means 6 calculates the number of pulses (expected number of pulses) that will be generated until the movable unit 1 stops when the motor 2 is turned off while the movable unit is moving at the current speed. It is calculated based on the speed signal received from the speed detection means 5. The output of this calculation means is C
The signal is supplied to the drive amount calculation means 7 in the PUB.

Further, the other output of the pulse generating means 4 is supplied to the detecting means 8 in the CPUB. This detection means 8 manually inputs the number of pulses necessary to move the movable unit 1 to the target position stored in the storage means 9 in advance and the pulses generated from the pulse generation means 4, and moves the movable unit 1 to the target position at that point. The distance is detected as the number of remaining pulses. The output of this detection means 8 is also supplied to the drive amount calculation means 7.

The driving amount calculation means 7 calculates the difference between the expected number of pulses that will be generated before the movable unit 1 stops, which is calculated by the calculation means 6, and the number of pulses remaining to reach the target position, which is detected by the detection means 8. It calculates ΔP and outputs it to the motor control means 10 and the counting means 11.

The motor control means 10 controls the motor 2 by selecting one of the motor on means 12, the motor oven means 13, or the motor brake means 14 with the selection means 15 based on the difference ΔP calculated by the drive amount calculation means 7. The controller controls the drive in a predetermined manner. Further, the counting means 1 counts the time during which the motor 2 is turned on or the time during which the brake is applied according to the difference ΔP, and functions as a timer.

FIG. 2 is a block diagram showing a schematic configuration when the present invention is applied to movement control of a photographing lens. That is, a distance measuring section 21, the above-mentioned CPU 3, a motor 2, a pulse generating means 4, and an encoder 22 as a speed detecting means 5 are provided in the camera body 2o. The photographic lens 23 is moved to adjust the focus.

The distance measuring unit 21 measures the distance to the subject 24 using the triangle 11111 distance, and sends the determined distance information to the CPU 3.
It is designed to be supplied to CPU3 is 711+1
From the distance information received from the distance section 21, the amount by which the photographing lens 23 should be moved is converted into the number of pulses, that is, the target number of pulses is calculated, and this target number of pulses is stored in the storage means 9 (see FIG. 1). ). Also, CPU
3 turns on the motor 2 and starts moving the photographic lens 23. The moving speed and amount of the photographing lens 23 are detected as a pulse signal by an encoder 22 composed of, for example, a photo interrupter (rP, sometimes abbreviated as 1.J), and fed back to the CPU 3. The internal configuration of the CPU 3 is the same as shown in Figure 1, and as shown in Figure 3, it is expected that this will occur from the current moving speed to the time when the standard motor drive stops. The number of pulses generated is calculated by the calculation means 6 and used as the expected number of pulses. Further, the actual movement amount is detected by the detection means 8 from the number of pulses generated from the encoder 22, and the number of remaining pulses to reach the target position is calculated. Furthermore, the driving amount calculating means 7 calculates the difference between the expected number of pulses until stopping and the remaining number of pulses until reaching the actual target position, thereby determining the driving amount. The motor control means 10 controls the motor 2 to stop, reverse, turn off, brake, etc. in accordance with the calculated drive amount.

Next, the operation of controlling the movement of the photographing lens in the CPU 3 will be explained with reference to flowchart 1 shown in FIG.

Now, for example, by operating the release switch, etc., the CPU3
When the operation starts, the AlI3 distance section 21 operates first to perform distance measurement. 1llll in this fllllll distance part 2]
The determined distance measurement information is transmitted to the CPU 3, and the 1'' target position to which the photographing lens 23 should be moved is calculated.

Then, the moving distance from the current position to the target position is converted into the number of pulses and stored in the storage means 9.

When the movement control setup is completed in this way, first, it is determined whether there is an abnormality, and if there is an abnormality, the process moves to abnormality processing (not shown). Here, the abnormality that is interrupted by 1i11 is detected when the lens movement control is not completed within a certain 11.5 period.

If it is determined that there is no abnormality, the photographic lens 23
Check to see if is within the range of less than ±1 pulse of the target position, and if it is already within the range of less than ±] pulse of the target position, do not turn on motor 2 and apply the brake to move the photographing lens 23. End control.

On the other hand, when the photographing lens 23 is in a range other than ±1 pulse of the 1'' reference position, the speed detecting means 5 detects that the photographing lens 23 is
3 is detected, and the standard control at that speed, in this example, when motor 2 is opened, the number of pulses expected to be generated as the photographic lens 23 moves until it stops is calculated. It is calculated using the speed signal from the speed detecting means 5 that is input to the means 6. Initially, the speed is "0", so the initial value of the expected number of pulses is "0". Furthermore, the encoder 22 is moved by the movement of the photographing lens 23.
The remaining number of pulses to the actual 1'' target position is detected by the detection means 8 from the number of pulses generated from 1 and the number of target pulses to the target position previously stored in the storage means 9. The number of pulses predicted by the calculation means 6 is subtracted from the remaining number of pulses by the drive amount calculation means 7, and the difference ΔP is obtained.

If the above difference ΔP is less than ±1, that is, the absolute value of P1 is
]'', it is considered that the first punch will stop at the target position, so the motor 2 is opened. On the other hand, the remaining number of pulses is larger than the expected number of pulses, and the difference ΔP is r+IJ (first predetermined value).
If it is larger than that, if it is left open, it is thought that it will reach 1 before the 1 mark position, so it is necessary to accelerate and turn on motor 2.At this time, in order to stop at the target position from the value of P to the difference The time for turning on the motor 2 is determined, and the time is set in the counting means 11 to start counting.

On the other hand, if the number of remaining pulses is smaller than the expected number of pulses, and the difference ΔP is smaller than r-IJ (first predetermined value), it is considered that if the number of pulses remains open, the target will be exceeded and the vehicle will stop, so it is necessary to accelerate the deceleration. Yes, brake motor 2. At this time, the time required for braking is determined from the value of the difference ΔP, and the determined time is set in 1 to start counting.

In this state, the signals from the photointerrupters P and I forming the encoder 22 fall, or the counting means 11 counts a predetermined time (1':3), thereby waiting for the set timer time to elapse. . When the timer time has elapsed, the motor 2 is opened and the photo ink printers P, 1. Wait for the signal to fall. And photo interrupters P, I,
When the signal from P falls, the previous photo interrupter P
, I is calculated, and the moving speed of the photographic lens 23 is determined from this time. Next, photo interrupter P, 1. Since the fall of the signal from 1'11 is detected, it is determined that the photographing lens 23 has moved by one pulse, and the remaining pulse number is set to "-1".

Then, the process returns to the process of checking whether the photographing lens 23 is within the range of less than ±1 pulse of the target position, and the same operation is repeated again and again.

On the other hand, the photointerrupter P, 1. While waiting for the signal from the photointerrupter to fall, if the signal from the photointerrupter p, i does not fall for a certain period of time due to variations in the mechanism or changes over time, the speed is set to "0". Return to the process to eliminate the above abnormality. As a result, the motor 2 can be turned on for the required motor-on time to drive to the target position when the speed is rOJ, and movement control can be performed stably even against variations in the mechanism and changes over time. It has become possible.

Here, the method of calculating and comparing the expected number of pulses from movement to stop will be explained in more detail with reference to FIG. The relationship between the speed and the number of pulses until stopping is represented by Sl, the ideal curve when the motor is open is represented by S2, and the actual speed change is represented by S3.

First, when performing a simple comparison, if the speed at point A where the number of remaining pulses to reach the target is P pulses is Vp, then the remaining pulses Qp can be found from the relationship S1 between the speed and the expected number of pulses. As a result, the difference ΔP between the 1'' standard pulse and the p-imaginary pulse is (1
) is calculated from the formula.

Δp=p-Qp...(1-) Second, when comparing by extrapolation, calculate the remaining pulses Qp of the pre-J from the velocity Vp at point A where the number of pulses up to the 1-1 mark is P pulses. Find the expected pulse Qp+1 from the speed vp+i at point B of the pulse number or P + 1 pulse to the target, and calculate the expected pulse Q p-1 from Qp and QP+1 to the point of P-1 pulses to the target. Obtained by extrapolation.

When extrapolated with a straight line, the equation (2) is obtained, but of course, controllability can be further improved by changing the extrapolation method according to the characteristics of the movable unit, such as a parabola.

ΔP=CP-1) -Qp-1 =P-1-2Qp -Qp+1...(2)
Here, Qp-1=2Qp-Qp+1.

Next, the relationship between the difference ΔP and the timer time is a monotonically increasing relationship as shown in FIG. The timer time needs to be accurate when 1ΔP1 is small, but a somewhat rough value can be used when ΔP1 is large.

In this way, the number of pulses from the current speed to the expected stop position is constantly compared with the remaining number of pulses corresponding to the actual distance to be traveled, and the machine repeats sequential acceleration and deceleration to follow the deceleration curve. Since the lens is controlled, the photographing lens 23 can be accurately stopped at the stop position while minimizing excessive or insufficient control such as excessive acceleration or deceleration.

Next, as a second embodiment, a case will be described in which the present invention is applied to film winding and film feed control.

FIG. 6 is a block diagram schematically showing a film winding mechanism. The CPU 3 is substantially the same as that described in the first embodiment (FIG. 1), so a description thereof will be omitted. CPU
As the film 31 is fed by the motor 30 that operates under the control of the photoreflector (hereinafter referred to as [P
, R, J) 32 generates a pulse. This pulse is supplied to the CPU 3 as it is via the pulse generating means 33, and is also converted into a speed signal and supplied to the CPU 3. film 1
Since each frame is equivalent to 8 perforations, winding one frame generates 8 pulses. Similarly, when sending 4 frames by empty feed, 24 core pulses are generated.

Next, the film winding and blank feed control operations in the CPU 3 will be explained with reference to the flowchart shown in FIG.

First, the target pulse is set to "8" during winding, and to "24" during idle feeding. Then, it is determined whether or not there is an abnormality, and if there is an abnormality, the process moves to abnormality processing (not shown).

An abnormality is determined here when a predetermined number of pulses are not received from the photoreflector 32 within a certain period of time.
It is detected when an electrical or mechanical abnormality occurs.

Next, it is determined whether driving for the target pulse has been completed, and when the driving for the target pulse has been completed, the brake is applied to complete the film winding or empty feeding process.

On the other hand, when the target pulses have not been reached, the number of pulses until the motor 30 stops when the motor 30 is controlled with the drive voltage of Vl- is predicted from the speed at that time. This expected number of pulses may be simply obtained from the speed at that time, but it is also possible to increase the accuracy of the prediction by extrapolating it based on several trial values. Next, the predicted number of pulses until the stop is subtracted from the actual number of remaining pulses obtained in the same manner as in the first embodiment, and the difference in the number of pulses ΔP is obtained. When 1ΔP1 or rO, 5J or less, the motor 30 is opened because the control is as expected. When the difference ΔP is larger than ro, 5J, it is expected that the ΔP pulse will stop before the target, so a voltage V2 higher than the above voltage v1 and corresponding to ΔP is found, and the motor 30 is turned on to supply the voltage V2. Accelerate by doing this.

On the other hand, when the difference ΔP is smaller than r-0.5J, it is expected that the ΔP pulse will exceed the target and the motor will stop.
is decelerated by turning on and supplying voltage V3.

This deceleration also includes motor braking.

Next, wait for the signal from the photoreflector 32 to fall. When the signal from the photoreflector 32 falls,
The time from the previous fall to the current fall is calculated, and the speed is determined from this time. Next, the process returns to the process of determining whether or not the target pulse has been reached, and the next control is performed based on the previously determined speed. However, if the signal from the photoreflector 32 does not fall even after a certain period of time, it is determined that the motor 30 has stopped, and the speed is set to rOJ. As a result, the motor 30 can be turned on with a voltage that drives the speed from "0" to the target pulse, and film winding and blank feed control can be performed stably even against mechanical variations and changes over time. It has become a thing.

In this case, the target of control is the motor drive voltage v1, and while the motor is driven at the voltage Vl at the current speed, the expected number of pulses to be driven is compared with the target number of pulses.
(2) The motor drive voltage is changed to compensate for excess or deficiency in drive at voltage 1.

Next, as a third embodiment, a case where the present invention is applied to auto zoom control will be described.

FIG. 8 is a block diagram schematically showing the control section of the auto zoom mechanism. In the first and second embodiments, the motor rotated in one direction, but in this embodiment, it can be driven both to the telephoto side and to the wide side, and as shown in the configuration diagram of Fig. 8, the motor rotates in one direction. It has two pulse generating means 44, 45, which determines whether the pulse is increased or decreased. Specifically, as shown in FIG.
Two photointerrupters 43b and 43b are lined up, and a signal with a waveform as shown in FIG. 10 is generated according to the feeding and renormalization, and the waveform signal shown in FIG. 11 is generated depending on the previous value, current value, and the sign of the remaining pulse. As shown, the count value is controlled to increase or decrease.

Next, the automatic zoom control operation in the CPU 40 will be explained with reference to flowchart 1 shown in FIG.

First, a zoom value that makes the angle of view constant is calculated according to the distance to the subject determined by triangulation or the like. and,
The remaining count value is determined by subtracting the current zoom value from the target zoom value. Since the zoom value is 0 at the wide end and the maximum value at the telephoto end, the remaining count value takes a positive value when driving on the telephoto side and a negative value when driving on the wide side.

Once the preparation for auto zoom control is completed in this way,
First, the presence or absence of an abnormality is determined, and if an abnormality is found, abnormality processing (
(not shown). The abnormality determined here is detected when a situation occurs in which the number of pulses from the photointerrupters 43b, 43b does not reach the set value within a certain period of time.

In one cycle of the photointerrupters 43b and 43b, the count changes by 4, but in order to improve the accuracy, the brake is applied when the absolute value of the remaining count value becomes ``2'' or less, that is, 1/2 cycle or less. Finish the process.

On the other hand, when the absolute value of the remaining count value is greater than "2", the number of pulses required to stop when the vehicle is driven from the current speed with the brake maintained is estimated. Next, the difference ΔP between the actual remaining count value and the expected remaining pulse value is determined. When the absolute value of this difference ΔP is less than "2", it can be expected that the target position will be reached with the brake applied, so the motor 4]- is used as the brake. On the other hand, the absolute value of the difference ΔP is “2
'', if ΔP>0, it is predicted that the target will not be reached, so the motor 41 is rotated forward and ΔP is
Starts a timer for motor forward rotation time to advance by more pulses. When ΔP is less than O, it is expected that the target will be exceeded, so a timer is started for the motor reversal time to reverse the motor 41 and stop it a minute before the ΔP pulse.

Then, as shown in FIG. 11, the count value is increased or decreased based on changes in the states of the two pulses.

Then, it is determined whether the count value increases or decreases, and the Karan I value is 2.
When a change in count is detected, the speed is detected from the time until the count changes by 2, and the remaining number of pulses is calculated by "-2".
I'll do it. Then, the process returns to the process of determining whether the absolute value of the remaining count value is less than or equal to "2", and the same operation is repeated thereafter.

On the other hand, if the timer time elapses before the count changes by 2, the motor 41 is activated as a brake. If the count does not change by 2 even after a certain period of time, it is determined that the zoom has stopped, and the speed is set to "0" to drive again.

In this auto zoom control, the photo interrupter 43
Since the zoom movement including the direction is detected by the pair of 43b and 43b, even if the motor is moved in the opposite direction due to an external factor such as pressing in the opposite direction of the motor drive while the zoom is being driven, the driving direction will be changed. It is possible to detect velocity in the opposite direction.

For example, drive in the forward direction (i.e. drive towards the telephoto side)
When doing this, if you push it strongly toward the wide side with your hand, it will move toward the wide side, but the speed will be negative and the expected pulse will also be negative. Therefore, ΔP becomes a large value, the time the motor is on becomes correspondingly longer, and the force driving the lens toward the telephoto side becomes stronger. This allows extremely stable control even against external factors.

A simple method has been explained with reference to FIG. 3 regarding the calculation means for predicting the number of pulses until stopping and the drive amount calculation means, which greatly affect the accuracy of the present invention, but it is possible to improve the accuracy of these calculation means. This makes it possible to resist fluctuations caused by disturbances and to speed up feedback. In order to realize these, the calculation method in the calculation means and drive amount calculation means can be performed as follows.

First, a method for calculating the number of pulses until a stop in the calculation means by calculating the average of past performance weights (=I) will be explained with reference to FIG. 13.

If the expected number of remaining pulses determined from the speed of the movable unit with n pulses remaining until the target is n, then the difference ΔRn-n-n- can be considered as the result of control during one pulse. Based on past results, when the remaining number of pulses is n pulses, the number of pulses for the shift in the stop position is ΔPn.
This can be said to be the expected value for this control. Since it is thought that there is little trend variation in the control of the present invention, when the predicted value is obtained using the -order exponential M method, the current predicted value = previous predicted value + α (previous actual result - previous predicted value) Therefore, it becomes as shown in equation (3).

ΔPp=Δpp+]+α(ΔRp+1−ΔPp+1)・
...(3) Here, α is a value in the range of "0 x α x 1", ΔPn is the expected value of the pulse deviation when n pulses are used, and ΔRn is the expected value of the pulse deviation when n pulses are used. This is an expected value.

Each variable is shown in FIG. 13, and α is large when the fluctuation is large, and small when the fluctuation is small, and is determined according to control and the like. Equation (3) can be expanded to past performance ΔRn as shown in Equation (4).

ΔPp−αΔRp+1+α(1−α)ΔRp+2+a(
1-α)2ΔRp+3 =-(4) If we take only the coefficients, we get equation (5), and the convergence value is 1, so
It can be seen that ΔPn is weighted based on past results.

(α+α(1-α) 1α(1-a) 2+α(1-α)
3+...) ...(5) Secondly, a method of using a fuzzy controller as a drive amount calculation means for calculating the drive amount from the expected number of pulses for the stop deviation will be explained with reference to FIG. Regarding the fuzzy controller, please refer to Japanese Patent Application No. 63-278797, for example.

As inputs to the fuzzy controller, the expected pulse number P11 for the current stop deviation and the expected pulse number ΔP n+1 for the previous stop deviation are input as shown in Figures 14 (a) and (b).
When considering the antecedent membership function as shown in FIG. An example is shown below. For example, the fuzzy inference rules are as follows.

[Rules] ■If ∆Pn+] goes too far and 8Pn goes too far, brake for a long time.

■If ∆Pn+1 is too far and ∆Pn is just right, it will rotate slightly forward.

■If ∆Pn+1 goes too far and 8Pn is too close to you, it will rotate forward for a long time.

■If ∆Pn is just around n+1, and ∆Pn is too large, apply the brakes to a medium level.

■If ∆P n+1 is just right and ∆P n is just, then all will be opened.

■If ΔPn+l is just right and ΔPn is much closer to you,
Rotates about halfway forward.

■If △Pn+I is too close and △pn is too far, brake for a long time.

■If ∆Pn is about 41 or much closer to you, and ∆Pn is just right, brake a little.

■If ΔPn+1 is significantly closer to you, and ΔPn is significantly closer to you, it will rotate forward for a long time.

The above rules can be written in words, or expressed numerically using a fuzzy controller or digitally. An example of the membership function for rule (2) is shown in FIG. Membership height "0~15", human power range "-10~
+10'', but the range is not limited to this. Also, input values that exceed the input range will be rounded to the input range. Note that there are various papers and documents regarding the inference principle, so the explanation will be omitted here.

Further, the speed can be further increased by configuring the calculating means for predicting the number of pulses until stopping using a fuzzy controller.

As described above, according to the present invention, complicated control is performed in which the movable unit is driven to one mark in one step, and then it is determined whether or not it is near one mark, and the control method is changed when it is nearby. Control can be performed by simple processing from the start of control to the end of control without any trouble.

Further, whether the target driving direction of the motor is the forward rotation direction or the reverse rotation direction, the control can be performed by the same process, and there is an effect that the configuration of the control section can be simplified.

[Effects of the Invention] As detailed above, according to the present invention, it is possible to stop the movable unit at a single mark position with high accuracy without switching the control from the start of control of the movable unit to the target position. It is possible to provide a camera movement amount control device that is capable of controlling the amount of movement of a camera.

[Brief explanation of drawings]

1 to 5 show a first embodiment of the present invention, FIG. 1 is a block diagram schematically showing the configuration, and FIG. 2 is a +I11 configuration when applied to movement control of a photographic lens. FIG. 3 is a diagram for explaining the operation, FIG. 4 is a diagram for explaining the relationship between the timer time and the difference ΔP, and FIG. 5 is a diagram for explaining the movement control operation of the photographing lens. This is a flowchart I for explanation, and FIGS. 6 and 7 show a second embodiment of the present invention. FIG. 6 is a block diagram schematically showing a film winding mechanism, and FIG. FIG. 7 is a flowchart for explaining the operation of the film winding machine (^1), FIGS. FIG. 9 is a block diagram schematically showing the control section of B and i; FIG. 9 is a block diagram schematically showing the auto-zoom mechanism; FIG. 10 is a diagram for explaining the output waveform of the interrupter; FIG. 11 12 is a flowchart 1 for explaining the auto zoom operation, and FIG. 3 is a diagram for explaining another calculation method in the calculation means. , FIG. 14 is a diagram for explaining a method of using a fuzzy controller as the first stage of drive amount calculation.]...Movable unit, 2...Motor, 3...CPU
4...Pulse generating means, 5...Speed detection means, 6.
...Calculation means, 7. Drive amount calculation 1 stage, 8..Detection 111
Means, 9... Storage means, 10... Motor control means,
12... Motor ON means, 13... Motor opening means, 14... Motor brake means, 5... Selection means.

Claims (1)

[Claims] A camera having a movable unit that moves to a target position in accordance with the drive of a motor, comprising: pulse generating means for generating pulses with a period approximately proportional to the moving speed of the movable unit; and at least three types of motors. a calculation means that has a driving mode and calculates the number of pulses generated until the motor stops when the motor is driven in a first motor drive mode based on the pulses generated from the pulse generation means; and pulses to the target position. a storage means for storing a number of pulses; and a second motor drive mode is selected when the difference between the number of pulses stored in the storage means and the number of pulses calculated by the calculation means is larger than a first predetermined value. , a selection means for selecting a third motor drive mode when the motor drive mode is smaller than a second predetermined value.