JPH11287943A - Driving device, optical device and photographing lens device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving device capable of driving an object to be driven in a servo mode by manual operation by discriminating the driving condition of the object and judging whether or not control by a motor control means is to be continued based on the discriminated result. SOLUTION: A controller (aCPU) 102 manages a lens part 101 and performs the control of a servo system. When a START-SW 110 is turned on, the servo mode is set. The aCPU 102 investigates whether the driving direction of a lens 106 is equal with a real rotating direction or not. Besides, the state of current speed is investigated. When any abnormality at the time of driving in the servo mode such as the stop of the lens 106 or the rotating direction of the lens 106 opposite to a command is detected, the servo mode is canceled and a manual mode is set.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving device, an optical device, and a photographic lens device for use in television photographing, such as a television.

[0002]

2. Description of the Related Art Conventionally, a TV lens can be driven by an analog servo using a potentiometer, a tachogenerator, or the like, or manually driven by a manual operation member (such as a lens operation ring). It has become.

On the other hand, as a means for switching between a servo mode and a manual mode, a type using an ON / OFF switch of a motor or a clutch for switching a driving system, or a motor as disclosed in Japanese Patent Application Laid-Open No. 9-138335. There has been proposed one in which a clutch is eliminated by using a slip mechanism between lenses.

[0004]

However, in the above-mentioned conventional example, in the servo mode, since the manual operation and the electric operation cause interference, after the manual operation, the lens starts moving again as intended by the operator. There are cases where it doesn't work.

[0005] Furthermore, since there is no detection mechanism that the manual operation has been performed in the servo mode, there has been a disadvantage that the mode cannot be switched to the manual mode.

[0006]

According to the present invention, there is provided a driving apparatus comprising: a motor for driving a driven object; a driving state detecting means for detecting a driving state of the driven object; A driving state having a motor control means for controlling the driving state of the driven object by comparing control information from the motor control means with detection information from the driving state detecting means. Determining means for determining whether or not to continue the control by the motor control means based on a determination result from the driving condition determining means;

In the driving device according to the present invention, the driving state detecting means can detect a position of the driven object.

In the driving device according to the present invention, the driving state detecting means can detect a speed of the driven object.

In the driving device according to the present invention, the driving state detecting means can detect an absolute value of a speed of the driven object.

[0010] In the drive device of the present invention, the judging means sets a continuation state of the judgment result judged by the driving condition judging means on the absolute value of the speed of the driven object detected by the driving state detecting means. The judgment is made based on this.

In the driving device according to the present invention, the driving state detecting means can detect a moving direction of the driven object.

In the driving device according to the present invention, the determining means makes the determination based on a continuation state of the result of the determination made by the driving condition determining means on the moving direction of the driven object.

In the driving apparatus according to the present invention, the driving state detecting means detects an absolute value of a speed of the driven object and a moving direction of the driven object.

In the driving apparatus according to the present invention, the determination by the driving condition determining means is performed on the absolute value of the speed of the driven object and the moving direction, and the determining means determines the driving condition by the driving condition determining means. The determination is made based on the continuation of the determination result for each of the absolute value of the speed of the driven object and the moving direction.

The driving device according to the present invention compares the positions of the driven objects that come and go in time from the position detecting means, and controls the driven objects by the control means based on the continuation of the comparison output. It has a second judging means for judging whether or not to control.

The driving device of the present invention has a manual operation member for manually driving the driven object.

An optical device according to the present invention includes the driving device according to any one of the above, and drives the optical means as the driven object.

In the optical device according to the present invention, the optical means is a lens or a diaphragm. A photographic lens device according to the present invention includes the driving device according to any one of the above, and drives an optical unit as the driven object.

In the photographing lens device of the present invention, the optical means is a lens or a diaphragm.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) FIG. 1 is a block diagram of an optical device showing a first embodiment of the present invention. Reference numeral 101 denotes a lens unit for photographing, and reference numeral 120 denotes a camera unit for photographing through the optical system of the lens unit 101.

Reference numeral 102 denotes a first control device (hereinafter abbreviated as aCPU) for managing the lens unit 101 and controlling the servo system; 103, a timer for the aCPU 102 to manage the system of the lens unit 101; 106 is an optical lens connected to the motor 105, 107 is an encoder for detecting the position of the optical lens 106, and 107 is an encoder 106
This is a counter for counting the output from.

A manual operation unit 109 for manually moving the optical lens 106 is, for example, an operation ring of a lens barrel.

The counter 108 and the timer 103 are aCP
Since it is connected to U102, the aCPU 102 can know the position and speed of the optical lens 106 by using the value of the counter 108 and the value of the timer 103.

Reference numeral 110 denotes a start switch (START-SW) for starting driving of the optical lens 106, and reference numeral 111 denotes a display unit for indicating the state of the lens unit 101.

Reference numeral 112 denotes a local / remote selection switch (selecting whether to control the lens unit in a remote mode (mode performed by a command on the camera side) or a local mode (mode performed by a command on the lens side). R /
L-SW), and 113 is a rewritable non-volatile memory (EERPORT) that holds data to be used in the lens unit 101.

Reference numeral 130 denotes a demand for requesting control of the optical lens 106.

A second control device (hereinafter abCPU) 121 is mounted on the camera unit 120, and serial communication can be performed with the aCPU 102 of the lens unit 101 via the serial communication line 140.

Here, the remote mode and the local mode by the R / L-SW 112 will be described.

In the remote mode, the optical lens 106 is controlled by a control command from the bCPU 121 of the camera unit 120.
And the local mode is demand 1
In some cases, the control command from 30 is selected to drive the optical lens 106.

Next, the moving direction of the optical lens 106 and the count value of the counter 108 will be described with reference to FIG. 2 using a focus lens.

Here, the INF (infinite) end 201 of the focus lens is set to the counter value 0, and the MOD (closest) end 2
02 is set to 10000. Focus lens is C
When rotated in the W direction, it is counted up and MOD
Direction and rotate in the CCW direction, count down and move in the INF direction. For example, the current position is Lpos203, the counter value at that position is 2000, and the movement target position is Lta.
rget 204, and the counter value at that position is 7000
In this case, the movement amount Lrest 205 is given by the following equation.

Lrest = Ltarget-L
pos = 7000−2000 = 5000 Therefore, in this case, since Lrest> 0, the focus lens moves 5000 from the current position in the MOD direction, and the rotation direction is CW. Also Lrest
If <0, the rotation direction is CCW, and the speed of the lens assumes a negative value while rotating in the CCW direction.

Next, the lens system will be described with reference to a flowchart. In this lens system, it is assumed that serial communication uses an interrupt.

First, the main processing shown in FIG. 3 will be described.

In step 301, power is supplied to the lens unit 101. Subroutine PonIn in step 302
It is called to initialize the lens unit 101.

When the initialization is completed, the current time T1 and the current lens position Lpos are input in step 303.

In step 304, the subroutine Len
sModeSet is called to check whether a lens driving command is present.

In step 305, the subroutine Len
The flag fReadyLensCmd is checked for the presence or absence of a lens drive command set in sModeSet.

If it is determined in step 305 that there is a lens drive command (if fReadyLensCmd = 1), the flow advances to step 306 to set a subroutine SetLe.
Call nsDir and set the driving direction from the current position of the lens.

Next, it is checked in step 307 whether the lens is being driven. If the lens is stopped (fL
If ensOnDrive = 0, the process proceeds to step 311 to call the subroutine CheckDeadZone and check the drive dead zone. Subroutine CheckD
In step 312, the result of checking whether or not the vehicle is in the drive dead zone in the eadZone is determined by the flag fDri in step 312.
It is determined by veStart.

If it is determined in step 312 that there is no driving permission (if fDriveStart = 0), the process returns to step 303, and if it is determined that driving has been permitted (if fDriveStart = 1),
Proceeding to step 313, a subroutine PrepDrive is called to set driving start data,
When the setting is completed, the subroutine Len is executed at step 314
Call sDriveStart to start driving the lens.

When the lens drive is started, step 3
At 15, the lens is driven and controlled by PID control.

Here, the PID control is a general proportional / integral
Since the differential control is performed and is different from the gist of the present invention, the description is omitted. Further, in consideration of the case where the PID control is performed by controlling the sampling period to be constant by digital control, it is also possible to perform the PID control by interrupt processing using a timer interrupt.

In step 316, a subroutine Ch is performed to determine whether the lens has reached the target position.
Call kLensStopPos.

In order to determine whether or not the flag fReachStopPo has been reached, the flag fReachStopPo is determined in step 317.
Examine s.

When it is determined that the target position has been reached (fR
(if stopStopPos = 1), step 320
The subroutine ReachPos is called to perform target position reaching processing. When the target position reaching process is completed in step 320, the process returns to step 303. If it is determined in step 317 that the target position has not been reached (if fReachStopPos = 0), the flow advances to step 318 to execute the subroutine CheckLensSts.
To check the lens over-error condition.

In step 319, the result checked in the subroutine CheckLensSts in step 318 is determined by the flag fLensStsErr.

If it is determined in step 319 that an over-error condition has occurred (if fLensStsErr = 1), the flow advances to step 321 to call a subroutine OverError and perform over-error processing. Upon completion of the process, the process returns to the step 303.

If it is determined in step 319 that the state is not an excessive error state (when fLensStsErr = 0), the process returns to step 303.

When it is determined in step 305 that there is no lens drive command (fReadyLens
If Cmd = 0), the process proceeds to step 308, where it is determined whether the lens is being driven or stopped by checking the flag fLensOnDrive.

If it is determined in step 308 that the operation is stopped (if fLensOnDrive = 0), step 3 is executed.
Return to 03. When it is determined that driving is being performed (fLensOn)
If Drive = 1), the process proceeds to step 315 to continue PID control.

In step 307 described above,
When it is determined that the lens is being driven (fLensO
If nDrive = 1), the process proceeds to step 309, where the subroutine CheckDriveCmd is called, the current driving direction is compared with the new driving command, and it is checked whether there is any contradiction in the driving direction.

At step 310, the result of the check is set to the flag fL.
It is determined by ensOnDrive.

There is a contradiction in the driving direction and the subroutine Ch
If the lens is stopped in ckDriveCmd, it is determined that the lens is stopped in step 310 (if fLensOnDrive = 0), so step 3
Proceeding to 11, the lens is driven again based on the new command.

If it is determined in step 310 that driving is being performed (if fLensOnDrive = 1), the subroutine CheckDrive in step 309 is selected.
Since it is determined by eDir that there is no inconsistency in the driving direction, the process proceeds to step 315, and the lens is continuously driven by PID control.

Next, in the main routine of FIG. 3 described above, the characteristic processing in this embodiment will be described with reference to FIGS.
This will be described below based on one subroutine.

Referring to FIG. 16, subroutine Check
A description of LensSts will be given.

In step 1601, the subroutine Ca
Call lcRpm to calculate the current lens speed.
Next, in step 1602, the subroutine CheckS
Top is called to check the stop state of the lens. In step 1603, a subroutine CheckDir is called to check whether the driving direction of the lens and the actual rotation direction are the same. In step 1604, a subroutine CheckRpm is called to check the current speed state.

Here, the flags set in each subroutine are checked. First, in step 1605, a flag fLensStopErr indicating the stopped state of the lens is checked. If fLensStopErr = 1, it is determined that the lens has stopped, and the flow advances to step 1609 to determine that the lens is in an excessive error state, and fLensStsErr = 1.
To end the subroutine CheckLensSts.

In step 1605, fLensSt
If opErr = 0, it is determined that the lens is rotating, and the flow advances to step 1606. In step 1606, a flag fLensI indicating an abnormality in the rotation direction of the lens is set.
Check nvErr. If fLensInvErr = 1, it is determined that there is an abnormality in the rotation direction of the lens, and the process proceeds to step 1609.

If fLensInvErr = 0, it is determined that the rotation direction of the lens is normal, and the process proceeds to step 1607. In step 1607, a flag fLensRpmErr indicating an abnormality of the lens speed is checked. If fLensRpmErr = 1, it is determined that an abnormality has occurred in the lens speed.
Proceed to.

If fLensRpmErr = 0, it is determined that the speed is normal, and the flow advances to step 1608. In step 1608, it is determined that the lens is operating normally, and fLensStsErr = 0, and
The subroutine CheckLensSts ends.

Referring to FIG. 17, subroutine CalcRp
m will be described.

In step 1701, the current speed of the lens is calculated by the following equation.

CurRpm = (Lpos−Lpos0) / (T1−Tpos0) (10) where Lpos indicates the current lens position detected in step 303 as described above. T1 also indicates the current time.

In step 1702, preparations are made for the next calculation.

Save current time Tpos0 = T1 Save current position Lpos0 = Lpos In step 1703, the sign of the current speed calculated in step 1701 by the following equation is checked.

CurRpm> 0 (11) If equation (11) is satisfied, it is assumed that the lens is rotating in the CW (MOD) direction, and the flow advances to step 1705.
Assuming that fCurCwCcw = 1, the subroutine Calc
Exit Rpm. If Expression (11) is not satisfied, it is assumed that the lens is rotating in the CW (INF) direction, the flow proceeds to step 1704, and fCurCwCcw = 0, and the subroutine CalcRpm ends.

The subroutine CheckS will be described with reference to FIG.
The top will be described.

In step 1801, the position Ls checked last time
A comparison is made between top0 and the position Lpos sampled this time. If not, proceed to step 1802,
Prepare for the next check.

Save current position Lstop0 = Lpos Save current time Tstop0 = T1, where T1 and Lpos are values in step 303.

The flow advances to step 1806 to determine that the lens has not stopped, and that fLensStopErr = 0.
Then, the subroutine CheckStop is ended.

The position L previously checked in step 1801
If stop0 and the currently sampled position Lpos match, the process proceeds to step 1804, and the stop time is calculated by the following equation.

Tstop = T1−Tstop0 (12) Then, the process proceeds to step 1805, where the calculated stop time T is calculated.
The stop and the stop detection reference time TstopStd (set in step 1203 in FIG. 12 described later) are compared by the following equation.

Tstop ≧ TstopStd (13) If Expression (13) is not satisfied, it is determined that the lens is moving, and the process proceeds to Step 1806. If Expression (13) is satisfied, the flow advances to step 1807 to determine that the lens is stopped, set the flag fLensStopErr = 1, and end the subroutine CheckStop.

Using the subroutine CheckD with reference to FIG.
ir will be described.

At step 1901, the driving direction flag f
DrvCwCcw and current rotation direction flag fCurCw
Check Ccw for consistency. However, fDrvCwCcw is the designated driving direction set in steps 1306 and 1308 in FIG. 13 described later. If they match, the lens is rotating in the driving direction.
And prepare for the next check.

Saving current time Tinv0 = T1 (14) T1 is the value of step 303.

In step 1906, it is determined that there is no abnormality in the rotation direction of the lens, and the flag fLensInvErr = 0
And terminates the subroutine CheckDir.

At step 1901, the driving direction flag fD
rvCwCcw and current rotation direction flag fCurCwC
If cw does not match, proceed to step 1902,
The abnormal time in the rotation direction is calculated by the following equation.

Tinv = T1−Tinv0 (15) Next, in step 1903, a comparison is made between the abnormal rotational direction time Tinv and the reference time TinvStd for reverse movement detection (set in step 1203 in FIG. 12). The following equation is used.

Tinv ≧ TinvStd (16) If equation (16) is not satisfied in step 1903, the abnormal time in the rotation direction is within the reference time, so step 190
Proceed to 6.

If equation (16) is satisfied in step 1903, the abnormal time in the rotational direction has passed the reference time or more, so that it is determined that an abnormal rotational direction has occurred, and step 1904
Then, the flag fLensInvErr = 1 is set, and the subroutine CheckDir is ended.

A subroutine CheckR will be described with reference to FIG.
pm will be described.

In step 2001, the command speed DemR
Speed error reference speed RpmErrSt with respect to pm (speed set in steps 1305 and 1307 in FIG. 13)
d is calculated by the following equation.

RpmErrStd = ABS (DemRpm × RpmErrRatio) (17) RpmErrRatio is set in step 1203 of FIG.

At step 2002, the command speed DemR
speed error RpmErr between pm and current speed CurRpm
Is calculated by the following equation.

RpmErr = ABS (DemRpm−CurRpm) (18) In step 2003, the speed error reference speed RpmErr
A comparison between Std and the speed error RpmErr is performed by the following equation.

RpmErrStd ≧ RpmErr (19) When Expression (19) is satisfied in Step 2003 (when the speed error is considered to be small), it is not considered that a speed error abnormality has occurred, and in Step 2007, Prepare for the next check.

Save current time Trpm0 = T1 Then, in step 2008, assuming that no speed abnormality has occurred, the flag fLensRpmErr = 0 is set, and the subroutine CheckRpm is ended.

If equation (19) is not satisfied in step 2003 (if the speed error is considered to be large), in step 2004, the unsatisfied time is calculated by the following equation.

Trpm = T1−Trpm0 (20) The speed abnormal time Trpm calculated in step 2005
And the speed error abnormality detection reference time TrpmStd (FIG. 12).
Is set in the step 1203) in the following equation.

Trpm ≧ TrpmStd (21) If the formula (21) is not satisfied in step 2005, the process proceeds to step 2008 because the abnormal speed time is within the reference time. If Expression (21) is satisfied in step 2005, the abnormal speed time has exceeded the reference time, so that it is determined that a speed abnormality has occurred, and the process proceeds to step 2006, where the flag fLen is set.
sRpmErr = 1, subroutine CheckRp
Exit m.

Referring to FIG. 21, subroutine OverE
rr will be described.

In step 2101, the lens is stopped.
In step 2102, a display indicating that the operation has stopped in an excessive error state is performed. In step 2103, a flag process is performed.

Lens driving flag fLensOnDrive = 0 Lens manual flag fLensManual = 1 In step 2104, the lens checks the remote mode / local mode. In the case of the remote mode (when fRemoteLocal = 1), the manual mode flag (fLe) is set in step 2105 to notify that the lens has entered the manual mode.
nsManual = 1) to the camera using serial communication.

In step 2104, in the case of the local mode (if fRemoteLocal = 0), in step 2106, the stop target position Ltarget is set as DemandMan as data for releasing the manual mode.
Save as u, and terminate the subroutine OverError.

Here, in the case of the local mode, the stop target position Ltarget is stored as DemandManu.
The same effect can be obtained by saving as andManu.

That is, in the remote mode (for example, auto focus driving) from the camera side, if the user manually grips the manually operated member 10 to drive the focus lens, the movement of the lens is hindered, and the subroutine OverError is executed. The processing stops the lens movement, automatically switches to the manual mode, and enables the lens movement by manual operation.

After the manual operation is completed, the manual operation member 1
Even if you release your hand from 09, it will not be returned to its original position.

The above operation will be described in detail.

The power is turned on in step 301 in FIG. 3, initialization processing is performed in a subroutine PonInit in FIG. 5, and Le in step 304 through step 303.
The nsModeSet subroutine is performed in FIG. In this process, as described later, according to the state of R / L-sw, in the remote mode, the RemoteCmdIn of FIG.
When 1 is also in the local mode, a LocalCmdIn subroutine is executed.

In the RemoteCmdIn1, as described later, when the START-SW 110 (a switch that is temporarily turned on by operating a push button or the like) is turned on,
When the mode is set to the servo mode or when a lens control command is input from the camera through the communication in FIG. 4, the mode is set to the servo mode. Thereafter, each subroutine step 30 described later is performed.
In the LensDriveStart subroutine (FIG. 13) of 6, 307, driving according to the command speed is started.
In the CheckLensStoppos subroutine of FIG. 14, it is determined whether or not the target position has been reached, as described later. When the target position has not been reached, that is, when the target position in the servo mode has not been reached, , The process proceeds to step 318 via step 317, and C
Perform the checkLensSts subroutine.

This subroutine has steps 1601 (FIG. 17) and 1602 (FIG.
8) When the lens is stopped in the subroutines of 1603 (FIG. 19) and 1604 (FIG. 20) or when an abnormality is detected during driving in the servo mode such that the rotation direction of the lens is opposite to the command, The fLensStsError of FIG. 16 is set, the OverError subroutine of FIG. 21 is executed, the servo mode is released, and the manual mode is set.

When the manual mode is set,
Thereafter, in a state where the command value of the lens is not communicated from the camera, the manual mode is maintained in the manual mode.
The manual movement of the lens by the operation of is performed.

That is, the transition from manual operation to driving start in the servo mode is based on the condition that a new lens command value (target position or target speed value) is input.
When the mode is shifted to the manual mode as described above while the lens is driven based on the command in the servo mode, the manual mode is maintained unless a new command is input.

The conditions for shifting to the manual mode (whether the lens is stopped or the like) indicate that the lens barrel (manual operation unit) is manually operated in the servo mode. Move to manual mode.

When the manual mode flag (fLensManual = 1) is communicated to the camera in the serial communication, the camera performs, for example, step 7 in FIG.
If the control command is not transmitted by the communication shown in FIG. 4 until the start switch 110 is turned on again at 01, the shift to the servo mode is not performed until the start switch 110 is operated again after the shift to the manual mode. be able to.

Next, an interrupt process by serial communication will be described with reference to FIG.

When a serial communication interrupt occurs from the camera unit 120, the process jumps to a subroutine SerialInt, and inputs a lens control command in step 401.

In step 402, it is checked whether the lens control command is a position and speed command. If it is determined that the command is a position and speed command, the process proceeds to step 411, where the camera position command is set to CmdPos as a position command, and the camera speed command is set to CmdRpm as a target speed. Then, the process proceeds to a step 409, where a flag fLensCmdIn = 1 is set assuming that a lens drive command has been issued.
Then, the subroutine SerialInt ends.

If the condition is not satisfied in step 402, the flow advances to step 403 to check whether the lens control command is only a speed command.

If it is determined that only the speed command is issued, the flow advances to step 404 to check the sign of the speed command. MO if positive
Since it is a command to move in the D direction, the camera position command is set at the MOD end in step 405, and the process proceeds to step 411.

If the condition is not satisfied in step 404, it is determined to be negative. In step 406, the INF end is set as a camera position command, and the flow advances to step 411.

If the condition is not satisfied in step 403, the flow advances to step 407 to check whether the lens control command is only a position command. If it is determined that the lens control command is only the position command, the process proceeds to step 408, and a temporary speed command TempLensRpm is set as the camera speed command. Then, the process proceeds to step 411.

If the condition is not satisfied in step 407, it is determined that there is a contradiction in the lens control command, and the flow advances to step 410. In step 410, the flag fLens
It is assumed that CmdIn = 0 and there is no lens drive command. Then, the subroutine SerialInt ends.

Next, each subroutine will be described.

Referring to FIG. 5, subroutine PonIni is used.
A description of t will be given. This subroutine performs an initialization process. First, in step 501, a flag is initialized. fLensManual = 0 (servo mode setting) fLensOnDrive = 0 (during lens stop) fLensCmdIn = 0 (no lens control command input) fRemoteLocal = 0 (local mode) fTargetPos = 0 (clear target position arrival) In step 502, Initialize the data.

Setting of provisional speed command TempLensRpm = 100 [RPM] Manual mode release demand operation amount in local mode DemandService = 1000 Next, in step 503, the subroutine Lens
Call PosInit to initialize the lens position. If the encoder cannot use the one that outputs an absolute value, the absolute value of the lens is unknown when the power is turned on if the encoder that uses the absolute value output is used. In order to determine the absolute position of the lens, although not shown, the contents of the subroutine LensPosInit include, for example, INF
If a switch is provided at the end, set the focus lens to IN
By moving in the direction F and stopping where the switch is turned on, the end of the INF can be known.

Here, if the counter is set to 0, IN
With the F end set to 0, the absolute position of the focus lens can be detected. When the initialization of the lens system is completed, serial communication is permitted in step 504.

Referring to FIG. 6, subroutine LensMo will be described.
The deSet will be described.

At step 601, the state of the R / L-SW is checked. If it is on, it is determined that the remote mode is set, and the remote / local setting flag is set to fRemoteLocal = 1 in step 606. Next, in step 607, data for the remote mode is set.

Driving Dead Zone Setting DriveDeadZone = 8 Stop Offset Setting StopOffset = 4 Setting Maximum Lens Speed LensMaxRpm = 80 Then, the process proceeds to step 604 to check the remote / local setting state.

In the case of the remote mode (fRemote
If Local = 1), the process proceeds to step 608, calls the subroutine RemoteCmdIn1, and then ends the subroutine LensModeSet.

If the R / L-SW is turned off in step 601, it is determined that the local mode is set, and the flow advances to step 602 to set the remote / local setting flag to fR.
It is assumed that remoteLocal = 0. And step 60
In step 3, data for the local mode is set.

Setting of Drive Dead Zone Amount DriveDead
Zone = 10 Setting of stop offset StopOffset = 5 Setting of maximum lens speed LensMaxRpm = 50 Then, the process proceeds to step 604.

If it is determined in step 604 that the mode is the local mode (fRemoteLocal)
= 0), the process proceeds to step 605 and the subroutine Lo
After calling calCmdIn, subroutine Len
The sModeSet ends.

Here, by making it possible to change the data of the dead zone amount, the stop offset, and the maximum speed in the remote mode and the local mode, it is possible to output the characteristic feature of the lens movement in each mode. In other words, high-sensitivity data is set in the remote mode because high performance is required for the lens movement performance. In the local mode, low-sensitivity data is set to reduce the motor drive current. Energy saving can be achieved.

Referring to FIG. 7, subroutine RemoteC is used.
mdIn1 will be described.

In step 701, START-SW11
Check the status of 0. When SW110 is off,
Proceeding to step 704, the input state of the lens drive command is checked. If there is no command value (if fLensCmdIn = 0), it is determined in step 710 that the lens control command is not in the valid state and the flag fReadyLensCmd = 0. Then, the subroutine RemoteCmdIn1
To end.

In step 701, START-S
If W110 is on, the flow advances to step 702 to set the flag fLensManual = 0 to set the lens to the servo mode. In order to notify the camera of this lens state, fL
An ensManual flag (servo mode state) and START-SW on information are transferred. Then, the process proceeds to step 704.

If it is determined in step 704 that there is a command value (if fLensCmdIn = 1), in step 705, the position command (CmdPos) is set to the stop target position Ltarget, and the target speed (CmdRp
m) is set to the command speed DemRpm and used as a lens control signal.

Since the command value has been used as the control signal, the flow advances to step 706 to call the subroutine LTargetLmt to check the effective range. Then, in step 707, the flag f is input for the next command input.
Let LensCmdIn = 0.

As manual mode release (servo mode setting) by camera command, step 708 is executed.
Let fLensManual = 0. Step 70
At 9 it is determined that the lens control command is in the valid state and the flag f
ReadyLensCmd = 1. Then, the subroutine RemoteCmdIn1 ends.

In the subroutine RemoteCmdIn1, release of the manual mode (setting of the servo mode) is performed by turning on the START-SW 110 or a lens control command from the camera. However, as another embodiment, turning on of the START-SW 110 is performed. The case of performing only this will be described with reference to FIG. Here, the name of this subroutine is RemoteCmdIn2.

First, in step 801 the START-SW
Check if 110 is on. If the flag is turned on, the flag fLensManu is set in step 802.
Let al = 0 (servo mode). In order to inform the camera of this information, the fLensManual flag (servo mode state) and the START-SW on information are transferred using serial communication in step 803.
Then, the process proceeds to step 804.

If it is determined in step 801 that the SW 110 is off, the process proceeds to step 804. In step 804, it is checked whether a lens command has been received from the camera. If there is no command value input (fLensCmdIn = 0), the process proceeds to step 809, where the flag fReadyLensCmd = 0 is set as the lens control command is not valid. Then, the subroutine RemoteCmdIn2 ends.

In step 804, when there is a command value input (fLensCmdIn = 1), step 805 is executed.
In, the position command (CmdPos) is set to the stop target position Ltarget, and the target speed (CmdRpm) is set to the command speed DemRpm, and used as a lens control signal.

Since the command value has been used as the control signal, the process proceeds to step 806 to call the subroutine LTargetLmt to check the effective range. Then, the flag f is set at step 807 for the next command input.
Let LensCmdIn = 0.

Then, at step 808, the lens is
Mode is checked, and the mode is the manual mode (f
If it is determined that (LensManual = 1), the process proceeds to step 809. In the servo mode (fLen
If sManual = 0) is determined, step 81
0 indicates that the lens control command is in the valid state and the flag f
ReadyLensCmd = 1. Then, the subroutine RemoteCmdIn2 ends.

Referring to FIG. 9, the subroutine SetLen
sDir will be described.

In step 901, the moving distance Lrest from the current position Lpos to the target stop position Ltarget is calculated by the following equation.

Lrest = Ltarget−Lpos (1) In step 902, the moving direction is checked based on the sign of Lrest. If Lrest> 0, the rotation in the CW (MOD) direction proceeds to step 906, where the sign of the command speed DemRpm is made positive by the following equation.

DemRpm = ABS (DemRpm) (2) Here, ABS (X) takes the absolute value of X.
Then, in step 905, the flag indicating the rotation command in the CW (MOD) direction is set to fDemCwCcw = 1, and the subroutine SetLensDir ends. Step 90
If Lrest is negative in step 2, the routine proceeds to step 903, where the sign of the command speed DemRpm is made negative by the following equation.

DemRpm = −ABS (DemRpm) (3) Then, the flow advances to step 904 to set a flag indicating a rotation command in the CCW (INF) direction to fDemCwCcw = 0,
The subroutine SetLensDir ends.

Referring to FIG. 10, subroutine CheckD
liveCmd will be described.

In step 1011, the speed command DemRpm
Find out. If the speed command DemRpm = 0, it is regarded as a lens stop request command, and the process proceeds to step 1012 to stop the lens. In step 1013, the driving flag fLensOnDrive = 0 is set, and the subroutine CheckDriveCmd is ended.

In step 1011, the speed command De
If mRpm ≠ 0, the process proceeds to step 1001. In step 1001, the rotation request direction according to the latest command is checked. If the flag fDemCwCcw is 1 (a rotation request in the CW direction), the process proceeds to step 1003, and the current rotation request direction of the lens is checked. In the case of fDrvCwCcw = 1, since the lens is currently requesting rotation in the CW (MOD) direction, they coincide with each other.
eckDriveCmd ends.

At step 1003, fDrvCwC
If cw = 0, the command does not match because the lens is currently CCW (INF), so the flow advances to step 1004 to stop the lens. Step 10 because it stopped
05, the driving flag fLensOnDrive = 0
In step 1006, a delay for stabilizing the stop is performed. This is a measure for preventing vibration due to sudden reversal of the lens because a movement command in the direction opposite to the current driving direction is received. If this delay is too long, the response to the command is deteriorated. Therefore, considering the mechanical time constant, 20 to 50 [msec
c) is good.

After taking the delay in step 1006,
The subroutine CheckDriveCmd ends.
In step 1001, the flag fDemCwCcw =
If 0 (rotation request in CCW direction), step 1002
To check the current required rotation direction of the lens. fDr
If vCwCcw = 0, the current lens is CCW (IN
F) Since it is requesting rotation in the direction, it matches, so
The subroutine CheckDriveCmd ends as it is.

In step 1002, fDrvCwCc
If w = 1 (rotation request in CW direction), the current lens is C
Since the commands do not match because of W (MOD), the process proceeds to step 1004, and thereafter, the processing is as described above.

The subroutine CheckD will be described with reference to FIG.
The eadZone will be described.

In step 1111, the speed command DemRp
Examine m. When the speed command DemRpm = 0, the process proceeds to step 1102 because the driving start permission is not given. If the speed command DemRpm ≠ 0, the process proceeds to step 1101. In step 1101, the magnitude of the movement amount Lrest from the current position Lpos to the target stop position Ltarget is checked by the following equation.

DriveDeadZone ≧ ABS (Lrest) (4) When Expression (4) is satisfied, since the lens movement amount Lrest is equal to or less than the dead zone DriveDeadZone, no drive start permission is given. The drive start permission flag fDriveStart = 0 is set, and the subroutine CheckDeadZone is ended.

If equation (4) is not satisfied in step 1101, the lens movement amount Lrest is set to the dead zone Drive.
Since it is equal to or greater than DeadZone, the drive start permission flag fDriveStart = 1 is set in step 1103 to give the drive start permission, and the subroutine C
end the hookDeadZone.

Subroutine PrepDr will be described with reference to FIG.
ive will be described.

In step 1201, the current lens position L
Set pos as follows:

Speed calculation position buffer Lpos0 = Lpos Stop detection position buffer Lstop0 = Lpos In step 1202, the current time T1 is set as follows in order to detect an excessive error.

Stop detection timer buffer Tstop0 = T1 Reverse movement detection timer buffer Tinv0 = T1 Speed error abnormality detection timer buffer Trpm0 = T1 In step 1203, an over error detection reference timer and the like are set as follows. To do.

Stop detection reference time buffer Tstop
Std = 100 [msec] Reference time buffer for reverse movement detection TinvStd =
100 [msec] Speed error abnormality detection reference time buffer TrpmStd
= 100 [msec] Speed error abnormality detection ratio reference buffer RpmErrR
atio = 70 [%] When the initialization of each data is completed, step 120 is executed.
In step 4, the over error detection display and the target position arrival display are turned off.
Then, in step 1205, the target position reaching flag fTa
rgetPos = 0 and subroutine PrepDri
Exit ve.

Referring to FIG. 13, subroutine LensDr
iveStart will be described.

In step 1301, a flag fLensOnDrive is set to indicate that the lens is being driven.
= 1. In step 1302, the command speed DemR
pm is the maximum speed of the lens system LensMaxRp
It is checked by the following equation whether m does not exceed m.

LensMaxRpm ≧ DemRpm (5) If Expression (5) holds, the flow advances to Step 1304. If equation (5) is not satisfied, step 1303
To change the value of LensMaxRpm to the command speed DemR.
pm and proceed to step 1304.

In step 1304, the direction of the drive request is checked. When the drive request is CW (fDemCwCcw =
In the case of 1), in step 1305, the lens starts to be driven in the CW direction at the command speed DemRpm. Then, in step 1306, a flag fDrvCwCc indicating the driving direction is set.
w = 1, subroutine LensDriveStar
Terminates t.

If there is a drive request in the CCW direction in step 1304 (when fDemCwCcw = 0),
In step 1307, the lens is moved to the command speed DemRpm
To start driving in the CCW direction. And step 1308
Then, a flag fDrvCwCcw = 0 indicating the driving direction is set, and the subroutine LensDriveStart is ended.

The subroutine CheckLen in FIG.
sStopPos will be described.

In step 1401, the current driving direction is checked. When the driving direction is CW (MOD direction) (fDrv
If CwCcw = 1), the process proceeds to step 1402, and a stop position LstopPos for actually stopping from the stop target position Ltarget is calculated by the following equation.

LstopPos = Ltarget−StopOffset (6) This is for the purpose of stopping the lens slightly before the lens stops in order to prevent overrun due to inertia or delay in position sampling. I have. Then, in step 1403, LstopPos and the current position L
Pos is compared with the following equation.

Lpos ≧ LstopPos (7) If Expression (7) is satisfied in Step 1403, it is determined that the lens has reached the stop target position, and Step 1406 is reached.
To the stop target position reaching flag fReachPosS
Top = 1, subroutine CheckLensSt
End opPos.

If the formula (7) is not satisfied in step 1403, it is determined that the lens has not reached the stop target position, the flow advances to step 1407, the stop target position reaching flag fReachPosStop = 0 is set, and the subroutine C
end the checkLensStopPos. Here, the driving direction in step 1401 is CCW (I
In the case of (NF) (if fDrvCwCcw = 0), the process proceeds to step 1404, and the stop position LstopPos for actually stopping from the stop target position Ltarget is calculated by the following equation in order to prevent overrun of the lens as described above. . LstopPos = Ltarget + StopOffset (8) Then, in step 1405, LstopPos is compared with the current position LPos by the following formula.

Lpos ≦ LstopPos (9) If Expression (9) is satisfied in Step 1405, it is determined that the lens has reached the stop target position, and Step 1406 is reached.
To the subroutine Ch
End eckLensStopPos.

If it is determined in step 1405 that the expression (9) is not satisfied, the flow advances to step 1407 to execute the same processing as described above, and to execute the subroutine CheckLensStop.
Exit Pos.

Referring to FIG. 15, subroutine Reach
Pos will be described.

Since the stop target position has been reached, step 1
At 501, the lens is stopped. And step 1502
To set the lens drive flag fLensOnDrive = 0, and to set the stop target position reaching flag fTargetGetPos =
Let it be 1.

In step 1503, the mode of the lens is checked. In remote mode (fRemoteLoc
If al = 1), in step 1504, the target position arrival flag (fTargetPos = 1) is transferred to the camera unit using serial communication.

At step 1505, a display indicating that the target position has been reached is displayed, and the subroutine Reac is displayed.
Exit hPos. If it is determined in step 1503 that the mode is the local mode (fRemoteLocal
In the case of = 0, the process proceeds to step 1505, and the same processing is performed thereafter, and the subroutine ReachPos ends.

A subroutine LocalC will be described with reference to FIG.
mdIn will be described.

At step 2201, a demand command is input. In step 2202, a focus / lens position command DemandPos is calculated from the input demand command. This is a correction because the demand command does not always coincide with the lens movement amount. For example, when an A / D converter (10 bits) is used when performing demand input, A
The range of the / D converter is 0 to 1024. However, the entire range of movement of the focus lens is 0 to 10,000. Therefore, DemandPos = A / D conversion value × 1000
DemandPos may be calculated using a conversion formula of 0 ÷ 1024.

In step 2203, it is determined whether the lens is in the manual mode or the servo mode. The servo·
In the case of the mode (when fLensManual = 0),
Proceeding to step 2204, the target speed DemandRpm
Is set to the temporary speed TempLensRpm.

In step 2205, the focus position command DemandPos is changed to the stop target position Ltarget.
The target speed DemandRpm is changed to the command speed DemRp.
m and used as lens control signals. Step 22 to check its scope
In step 06, the subroutine LTargetLmt is called.

At step 2207, it is determined that the lens control command is ready, and the flag fReadyLens is set.
Cmd = 1, and the subroutine LocalCmdIn ends.

If it is determined in step 2203 that the mode is the manual mode (if fLensManual = 1), in step 2208, the demand operation amount is calculated by the following equation.

DemandMove = ABS (DemandPos−DemandManu) (22) In step 2209, the demand operation amount DemandMove calculated by equation (22) is compared with the manual mode release demand operation amount DemandServo by the following equation. .

DemandMove ≧ DemandService... (23) If the expression (23) is satisfied in step 2209, it is determined that the demand operation amount is sufficient, and the flow advances to step 2211 to set the flag fLensManual = 0 and set the flag fLensManual = 0.
Set the mode. Then, the process proceeds to step 2204.

If the expression (23) is not satisfied in step 2209, the demand operation amount is not sufficient, and the manual mode is not released. Therefore, in step 2210, the flag fReadyLensCmd = 0 is set, and the subroutine LocalCmdIn is ended.

Using the subroutine Ltarget with reference to FIG.
A description will be given of tLmt.

In step 2901, the lower limit of the target stop position Ltarget is checked by the following equation.

Ltarget ≧ 0 (30) If Expression (30) is not satisfied in Step 2901, the lower limit is exceeded, and in Step 2903, 0 is set in the stop target position Ltarget, and The subroutine LtargetLmt ends.

If equation (30) is satisfied in step 2901, the upper limit is checked in step 2902 by the following equation.

LTarget ≦ 10000 (31) If Expression (31) is not satisfied in Step 2902,
In step 2904, 10000 is set as the stop target position Ltarget, and the subroutine LtargetL is set.
mt ends.

In step 2902, the equation (31) is obtained.
Is satisfied, the stop target position Ltarget is within the lens control range, and therefore is used as it is.
The subroutine LtargetLmt ends.

Here, the edge processing will be described with reference to FIG.

As preconditions, the INF end is set to 0, M
Although the OD end is assumed to be 10000 and the movement position of the focus lens is assumed, this may be a value at which the focus lens actually moves. On the other hand, the actual movement amount may differ depending on the lens. It may be a value normalized by agreement between the unit and the camera unit.

As the initialization data, the values of the INF end and the MOD end may be exchanged using communication between the lens unit and the camera unit.

That is, the value of the position of the focus lens is MOD based on the INF end (for example, 0).
By transferring the information of taking the value of the edge (for example, 10000) from the lens unit to the camera unit, the camera unit can determine which position the focus lens wants to move. .

By the way, the movable range of the focus lens is as shown in FIG. That is, on the INF side, there are a mechanical end 2801, a servo end 2802, and a optical end 2803, and similarly on the MOD side, the b mechanical end
04, b servo end 2805, b optical end 2806.

Here, the reason why the range in which the lens can be moved with respect to the optical end is wide is that a margin is provided to satisfy the data on the specification even if there is a manufacturing error.
Therefore, when the lens is operated with the manual operation unit, the INF
Side can be moved between the mechanical end 2801 on the side MOD and the mechanical end 2804b on the MOD side.
Side a servo end 2802 and MOD side b servo end 280
5 can be moved.

Further, since the lens driving by the camera command or the demand command is in the servo mode, the INF side a
It moves between the servo end 2802 and the b servo end 2805 on the MOD side.

Here, the position of the a servo end 2802 on the INF side is 0, and the position of the b servo end 2805 on the MOD side is 10
000. At this time, the a mechanical end 2801 on the INF side
Is -100, and the position of the optical end 2803 is 10
0, the position of the mechanical end 2804 on the MOD side is 10100,
It is assumed that the position of the b optical end 2806 corresponds to 9900.

By setting the position in this manner, the specifications of the optical performance are satisfied in both the manual mode and the servo mode.

Here, consider the case where the focus lens has exceeded the range between the two servo ends in the manual mode. For example, on the INF side, it is assumed that the position of the lens is at the position of -50. In this state, it is assumed that the mode is switched to the servo mode and the lens position command is 0.

In this case, the lens must move to the a servo end 2802 on the INF side. A similar case can be considered on the MOD side.

That is, for example, if the lens is
In the mode, when the manual operation unit exists at the position of 10050 between the b servo end 2805 and the b mechanical end 2804, the servo mode is set and the position command is set to MOD.
This is a case where a position command of 10000, which is the position of the b servo end 2805 on the side, is received. At this time, if the lens moves to the servo end, an in-focus subject may be out of focus.

To prevent this, in the manual mode, when the focus lens does not exist between the servo ends, and when the mode shifts to the servo mode, the position command (the INF side) for moving to the same object distance side end is obtained. If a lens exists at the a servo end 2802 and the a mechanical end 2801, a position command to move to the a servo end 2802 on the INF side, and the b servo end 2805 and the b mechanical end 2 on the MOD side
If a lens is present at 804, a position command to move to the b servo end 2804 on the MOD side) is received, and the focus lens need not be driven. This eliminates inadvertent focus movement when shifting from the manual mode to the servo mode.

In the servo mode, when the focus lens moves and stops at the position command to move to the servo end, overrun may occur. In this case, by performing the same processing, careless focus movement can be prevented.

Here, focus follow will be described.

In the processing inside the lens, unless the value of the focus position between the two mechanical ends is counted, overrun at the servo end and confirmation of the lens position in the manual mode cannot be performed.

However, when the camera unit needs to confirm the focus position and requests a focus follow operation by serial communication, if the lens unit returns a value other than that between the servo ends to the camera unit, the focus lens becomes abnormal. May be mistaken for

Therefore, when the distance between the servo ends is exceeded, the focus follow can be solved by providing a limit with the value of the servo end. That is, when the focus lens is located at the position -10 on the INF side, when the lens unit transmits the focus follow to the camera unit, the focus follow is set to 0 and transmitted. The same applies to the MOD side.

[0210] The speed command priority will be described. Usually, when the lens moves to a certain target position, it moves with a certain speed pattern. At this time, it is assumed that a case occurs where the user wants to stop at the current position while the lens is moving. By giving the current position as a command value from the follow information of the lens, it will stop at that position, but the lens may return in the opposite direction due to a delay in the command, etc.
The lens may enter vibration mode.

In order to prevent this, a stop command is made by a zero speed command. When this command is received, the position feedback is ignored and only the lens is stopped. This prevents the lens from entering the vibration mode. If a zero speed command is received while the lens is stopped, the lens is not driven.

Here, a case will be described in which a lens having a communication function like this time is attached to a camera having no communication function.

As shown in FIG. 27, a lens having a communication function may be attached to a camera having no communication function, or a camera having a communication function. When a lens having a communication function and a camera having no communication function are combined, if the R / L-SW 112 is turned on and the remote mode is set, the lens will not operate due to demand operation. Depending on the system, R / L-SW
It is also conceivable that 112 is also provided in the camera unit to set the remote mode / local mode by the communication function.
At this time, if the lens unit is set to the remote mode after the power is turned on, the lens will not operate in the demand operation.

Therefore, the lens unit may be set to the local mode immediately after the power is turned on. Further, if the R / L-SW 112 in the lens unit is validated when it is confirmed that the camera unit has a communication function, the R / L-SW
Even if 112 is set to the remote mode, the above-mentioned problem is solved because the local mode is set immediately after the power is turned on. If the manual mode is set immediately after the power is turned on, the manual
Mode must be changed to servo mode.
The sense of incongruity of the operation due to the dead zone of the demand operation comes out.

Therefore, if the servo mode is set immediately after the power is turned on, the lens moves to the position specified by the demand, and the feeling of inconsistency in the demand operation due to the release of the manual mode is eliminated.

Here, the communication contents between the lens unit and the camera unit and the effective timing of the communication function of the lens unit will be described.

Generally, immediately after power-on (power-on reset), the functions of peripheral ICs other than the CPU and the CP
U built-in peripheral functions (for example, serial communication function)
Are often prohibited. Therefore, it is assumed that the serial communication function used this time is in the disabled state immediately after the power is turned on.

The camera unit sometimes corrects image data using information on the lens unit. There is also fixed information such as focal length information at the wide end of the lens unit, focal length information at the telephoto end, and extender type information.

However, when using an encoder having a relative value output like the focus lens of this time,
As described above, in order to obtain the absolute position information, it is necessary to initialize the focus / lens position. Also, the iris (IRIS) is assumed to constitute a servo system using an encoder having an absolute value output so that the position information can be known by an absolute value.

In such a situation, even if fixed data or IRIS position information is requested from the camera unit by serial communication, a response can be made immediately, but in the case of a focus lens, the focus lens is kept until the initialization is completed. Since the follow value cannot be returned to the camera unit, there are some that can meet the request of the camera unit and some that cannot.

At this time, there is a camera that can respond to the request of the camera unit and a camera unit that cannot respond to the request. Therefore, the communication function may be disabled or all may be ignored until all the lens units have been initialized. That is, transmission is not performed until all requests from the camera unit can be responded.

In summary, the setting (1) keeps the communication function disabled until the absolute position of the relative value output lens is determined and initialization is completed. Setting (2) Transferable information (3) Keep the request command from the camera unit in the reception prohibited state. By combining these, the camera unit will not mistakenly recognize that the lens unit is abnormal.

This will be described with reference to a flowchart. Setting (1) corresponds to FIG. Although illustration of the setting (2) and the setting (3) is omitted, only the receiving function is permitted after the step 502 in FIG.
In step 4, the transmission function may be permitted. Further, under the condition of the setting (3), only the transmission function may be permitted after the step 502 in FIG. 5, and the reception function may be permitted in the step 504.

Here, the timing at which only the transmission function or only the reception function is permitted is set after step 502, which is the data setting. However, the timing before and after the data setting at step 501 or step 502 may be permitted. Needless to say.

The condition for prohibiting communication has been described above with respect to a focus lens having a relative value output. However, although not shown, the lens system section further includes an A / D converter, a D / A converter, and the like. If there are a number of transmitters for peripheral ICs that require initialization, or if a double CPU configuration is used in the lens system, a function for communication between CPUs (serial communication, FIFO) , DPRAM, etc.) and confirm that each CPU is ready. After such initialization,
Until the lens unit moves normally, the communication function can be disabled in the same manner as described above.

In the above description, the values of the dead zone and the stop offset are fixed values, but as shown in the table of FIG.
It is also possible to change the value depending on the value of RIS. That is, it is possible to make the data dependent on the depth of focus.

Further, as shown in FIG. 26, it is possible to multiply the dead zone and the value of the stop offset by a magnification depending on the position of the zoom lens, and it is also possible to make a table. Also, it can be changed by the value of the extender. By the way, when a table is formed, a considerable memory area for the table may be required. In that case, it is also possible to calculate as a function of the F value, the focal length, and the extender as follows.

Dead zone = f (F value, focal length, extender) Stop offset = g (F value, focal length, extender) Also, SW (R / L-SW) 112 for selecting the remote mode or the local mode is provided. Although it was in the lens part,
The information may be present in the camera unit, and the information may be transferred to the lens unit using serial communication for selection.

Furthermore, if the relation of (dead zone) ≧ (stop offset) is set to be maintained, even if a command that the stop target position is the same position comes continuously, it stops within the dead zone with respect to the stop target position. Will be.

Here, the dead zone in the focus lens will be described with reference to FIG. From the current stop position 3001 of the focus lens, there is a dead zone 3002 in the INF direction and a dead zone 3003 in the MOD direction. At this time, the stop target position is set to the dead zone 300 on the INF side.
2 and the dead zone 3003 on the MOD side, the focus lens does not start driving.

The stop target position is the dead zone 3 on the INF side.
When the distance is not between 002 and the dead zone 3003 on the MOD side, the focus lens starts driving based on the moving distance from the current stop position 3001 to the stop target position.

The stop offset will now be described with reference to FIG. It is assumed that the lens is moving toward the stop target position 3102 (moving on the movement locus 3103). At this time, when the lens reaches a position in consideration of the stop offset 3101, the brake is applied. In other words, by applying a brake to the stop target position 3102 in consideration of the inertia of the lens, it is possible to prevent the position where the lens actually stops from significantly deviating from the stop target position.

In this embodiment, the area of the dead zone and the stop offset is defined as (dead zone) ≧ (stop offset)
However, considering that the lens always has an inertia and does not stop immediately even when the brake is applied, if the stop offset is near the dead zone, (dead zone) ≦ (stop offset) However, the lens can also be stopped within the dead zone.

With respect to the command speed DemRpm,
Although the description has been given of driving at a constant speed as shown in FIG. 23, as shown in FIG. 24, the speed command is driven by a trapezoidal speed pattern or S-shaped curve with the maximum speed set to DemRpm. You may. Furthermore, the notation [RPM] is used as a unit of speed, but the same applies to other speed units such as angular speed.

Although specific numerical values have been given as the setting data, they are not specified by the numerical values themselves.
It goes without saying that other numerical values may be used.

Further, if data is stored using a rewritable nonvolatile memory such as an EEPROM, it is possible to customize each lens, so that
It is possible to match the user's preference.

Although the focus lens has been described as an example, the present invention can be applied to a zoom lens, an IRIS, a wobbling lens used for AF, and the like. The same can be achieved by using not only serial but also a parallel interface.

[0238]

According to the first to fifteenth aspects of the present invention, the movement of a driven object such as an optical unit or a photographing lens is controlled by servo control by the control unit, for example, for manual operation. If the stop occurs, the driven object cannot move to a predetermined position within a predetermined time, cannot be driven at a predetermined speed, or cannot be driven in a predetermined direction. Is determined, and whether or not to continue the motor drive is determined based on the determination result, so that the drive status of the driven object in the servo mode can be reliably detected.

[Brief description of the drawings]

FIG. 1 is a system block diagram showing an embodiment of the present invention.

FIG. 2 is a view showing an absolute position of the lens in FIG. 1 in a moving direction.

FIG. 3 is a flowchart of a main process of the system in FIG. 1;

FIG. 4 is a flowchart of interrupt processing by serial communication in FIG. 3;

FIG. 5 is a flowchart of an initialization process in FIG. 3;

FIG. 6 is a flowchart of a lens mode set in FIG. 3;

FIG. 7 is a flowchart of lens remote mode processing 1 of FIG. 3;

FIG. 8 is a flowchart of lens remote mode processing 2 in FIG. 3;

FIG. 9 is a flowchart of processing in a lens driving direction in FIG. 3;

FIG. 10 is a flowchart of a lens driving direction check process in FIG. 3;

FIG. 11 is a flowchart of a drive dead zone check process in FIG. 3;

FIG. 12 is a flowchart of a lens drive preparation process of FIG. 3;

FIG. 13 is a flowchart of a lens driving start process of FIG. 3;

FIG. 14 is a flowchart of a lens position stop process of FIG. 3;

FIG. 15 is a flowchart of target position arrival stop processing of FIG. 3;

FIG. 16 is a flowchart of a lens state checking process in FIG. 3;

FIG. 17 is a flowchart of processing of the lens speed in FIG. 3;

FIG. 18 is a flowchart of a lens stopping process of FIG. 3;

FIG. 19 is a flowchart of a rotation direction process of FIG. 3;

FIG. 20 is a flowchart of a speed error check process of FIG. 3;

FIG. 21 is a flowchart of an over error detection stop process of FIG. 3;

FIG. 22 is a flowchart of a lens local mode process of FIG. 3;

FIG. 23 is a diagram showing a driving speed pattern 1 of the lens driven in the process of FIG. 3;

FIG. 24 is a diagram showing a driving speed pattern 2 of the lens driven in the process of FIG. 3;

FIG. 25 is a diagram showing lens control data 1 processed in FIG. 3;

FIG. 26 is a diagram showing lens control data 2 processed in FIG. 3;

FIG. 27 is a diagram showing a combination of a lens and a camera according to an embodiment of the present invention.

FIG. 28 is a flowchart of end processing in FIG. 3;

FIG. 29 is a flowchart of a stop target position restriction process of FIG. 3;

FIG. 30 is a flowchart of dead zone processing in FIG. 3;

FIG. 31 is a flowchart of a stop offset process of FIG. 3;

[Explanation of symbols]

 Reference Signs List 101 lens unit 102 aCPU 103 timer 104 motor drive driver 105 motor 106 optical lens 107 encoder 108 counter 109 manual operation unit 110 START-SW 111 display unit 112 R / L-SW 113 EEPROM 120 camera unit 121 bCPU

Claims (21)

[Claims] 1. A drive comprising: a motor for driving a driven object; a driving state detecting means for detecting a driving state of the driven object; and a motor control means for controlling the motor. In the apparatus, a driving status determination unit that compares the control information from the motor control unit and the detection information from the driving status detection unit to determine a driving status of the driven object; Determining means for determining whether to continue the control by the motor control means based on the determination result. 2. The driving device according to claim 1, wherein the driving state detecting means is capable of detecting a position of the driven object. 3. The drive device according to claim 1, wherein the drive state detection means is capable of detecting a speed of the driven object. 4. The drive device according to claim 1, wherein the drive state detection means is capable of detecting an absolute value of a speed of the driven object. 5. The method according to claim 1, wherein the determining unit determines based on a continuation state of the determination result of the driving state determining unit regarding the absolute value of the speed of the driven object detected by the driving state detecting unit. The driving device according to claim 4, wherein: 6. The driving device according to claim 1, wherein the driving state detecting means is capable of detecting a moving direction of the driven object. 7. The drive according to claim 6, wherein the determination unit makes a determination based on a continuation state of a result of the determination made by the drive state determination unit with respect to a moving direction of the driven object. apparatus. 8. The driving apparatus according to claim 1, wherein the driving state detecting means detects an absolute value of a speed of the driven object and a moving direction of the driven object. 9. The determination by the driving condition determining means is performed on an absolute value of a speed and a moving direction of the driven object, and the determining means determines whether or not the driven object is determined by the driving condition determining means. 9. The drive device according to claim 8, wherein the determination is performed based on the continuation of the determination result for each of the absolute value of the speed and the moving direction. 10. A method for comparing the positions of the driven object that come and go in time from the position detection unit, and determine whether the control unit controls the driven object based on a continuation state of the comparison output. The driving device according to claim 2, further comprising a second determination unit configured to determine the driving condition. 11. The driving device according to claim 1, further comprising a manual operation member for manually driving the driven object. 12. An optical device comprising the driving device according to claim 1, wherein the driving device drives an optical unit as the driven object. 13. The optical device according to claim 12, wherein the optical unit is a lens or a stop. 14. A photographing lens device comprising the driving device according to claim 1, wherein the driving device drives an optical unit as the driven object. 15. The photographing lens device according to claim 14, wherein the optical unit is a lens or a diaphragm. 16. A lens device mounted on a camera, comprising: a driving circuit for driving an optical system; and driving of the optical system based on a driving control signal representing a driving direction or a driving charge or a driving speed set in a setting means. A first control unit controlled by the drive circuit; and a moving speed of the optical system is previously set to a designated speed indicated by the drive control signal while a driving operation is performed by the control unit. Determining means for determining whether or not the speed has been separated by a predetermined speed value or more; and determining, based on the drive control signal, when the determining means determines that the moving speed has departed from the instructed speed by a predetermined speed or more. A lens device comprising a second control unit for stopping the driving of the optical system by the driving circuit even if the driving control is not completed. 17. The method according to claim 17, wherein the second control means is activated when the determination means determines that the moving speed is separated from the instructed speed by a predetermined speed or more continuously for a predetermined time or more. 17. The lens device according to item 16. 18. The method according to claim 18, wherein the determining unit compares the value of the difference between the moving speed and the commanded speed with a value obtained by multiplying the commanded speed by a predetermined ratio. 18. The lens device according to claim 16, wherein it is determined that the moving speed is greater than a predetermined speed when the moving speed is large. 19. A lens device mounted on a camera, comprising: a drive circuit for driving an optical system; and a drive circuit for driving the optical system based on a drive control signal indicating a drive direction or a drive amount or a drive speed set by a setting means. A first control unit controlled by the drive circuit, and an instruction direction in which a moving speed direction of the optical system is instructed by the drive control signal while a driving operation is performed by the first control unit. Determining means for determining whether the direction is different from the direction, and the drive control based on the drive control signal is not completed when the determination means determines that the direction is different from the designated direction. A lens device comprising a second control unit for stopping driving of an optical system by a driving circuit. 20. The apparatus according to claim 19, wherein said second control means is activated when it is determined by said determination means that said second control means is continuously driven in a direction different from said designated speed for a predetermined time or more. The lens device according to any one of the preceding claims. 21. The driving device according to claim 10, wherein the manual operation member is a lens barrel having the optical unit.
2. The lens device according to 1.