Electronic device, actuator control method and program

Abstract

An electronic device is provided, comprising: an event-driven visual sensor, the event-driven visual sensor comprising a sensor array having sensors, the sensors generating event signals when the sensors detect changes in the intensity of incident light; an actuator that shifts a module including the visual sensor; and a control unit that sends a control signal to the actuator and causes the control signal to reflect a correction value based on the event signal generated when the actuator shifts the module.

Description

Technical Field

[0001] The present invention relates to an electronic device, an actuator control method and a program. Background Art

[0002] An event-driven visual sensor is known in which pixels that detect changes in incident light intensity generate signals asynchronously in time. Compared with a frame-type visual sensor (specifically, an image sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS)) that scans all pixels in a predetermined cycle, an event-driven visual sensor has an advantage in that the sensor can operate at low power and high speed. For example, technology regarding such an event-driven visual sensor is described in Patent Document 1 (PTL 1) and Patent Document 2 (PTL 2).

[0003] Citation List

[0004] Patent Literature

[0005] [PTL 1]

[0006] JP-T-2014-535098

[0007] [PTL 2]

[0008] JP2018-85725A Summary of the invention

[0009] Technical issues

[0010] However, although the above-mentioned advantages about the event-driven vision sensor are known, it is difficult to say that peripheral technologies in which characteristics different from those of conventional vision sensors such as frame-type vision sensors are taken into consideration have been sufficiently proposed.

[0011] Therefore, an object of the present invention is to provide an electronic device, an actuator control method and a program that provide convenience through the interaction of an event-driven visual sensor and an actuator.

[0012] Solution to the problem

[0013] According to one aspect of the present invention, an electronic device is provided, which includes an event-driven visual sensor, which includes a sensor array having sensors, and the sensors generate event signals when the sensors detect changes in the intensity of incident light; an actuator that shifts a module including the visual sensor, and a control unit that sends a control signal to the actuator and reflects in the control signal a correction value based on the event signal generated when the actuator shifts the module.

[0014] According to another aspect of the present invention, there is provided an actuator control method using an event-driven visual sensor, the event-driven visual sensor comprising a sensor array having sensors, the sensors generating event signals when the sensors detect changes in incident light intensity, and the method comprising the steps of: driving the actuator to shift a module comprising the visual sensor, and reflecting the event signal generated when the actuator shifts the module in a control signal of the brake.

[0015] According to yet another aspect of the present invention, there is provided a program for causing a processing circuit connected to an event-driven visual sensor to perform the following steps, wherein the event-driven visual sensor includes a sensor array having sensors that generate event signals when the sensors detect changes in incident light intensity: driving an actuator to shift a module including the visual sensor, and reflecting the event signal generated when the actuator shifts the module in a control signal of the actuator.

[0016] According to the above configuration, convenience can be provided by event-driven interaction of the visual sensor and the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a block diagram showing a schematic configuration of an electronic device including a sensor module according to a first embodiment of the present invention.

[0018] Figure 2 is a sequence diagram showing a first example of the operation of the sensor module according to the first embodiment of the present invention.

[0019] Figure 3 is a sequence chart showing a second example of the operation of the sensor module according to the first embodiment of the present invention.

[0020] Figure 4 is a sequence chart showing a third example of the operation of the sensor module according to the first embodiment of the present invention.

[0021] Figure 5 is a block diagram showing a schematic configuration of an electronic device including a sensor module according to a second embodiment of the present invention.

[0022] Figure 6 is a sequence chart showing a first example of the operation of the sensor module according to the second embodiment of the present invention.

[0023] Figure 7 is a sequence diagram showing a second example of the operation of the sensor module according to the second embodiment of the present invention.

[0024] Figure 8: is a block diagram showing a configuration example of a processing circuit of a control unit in the case where motion prediction is performed in the second embodiment of the present invention. DETAILED DESCRIPTION

[0025] Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. Incidentally, in this specification and the accompanying drawings, components having substantially the same functional configuration are designated by the same reference numerals so that repeated description will be omitted.

[0026] (First embodiment)

[0027] Figure 1 1 is a block diagram showing a schematic configuration of an electronic device including a sensor module according to a first embodiment of the present invention. Figure 1 As shown in , the electronic device 10 includes a sensor module 100 and a control unit 200 .

[0028] The sensor module 100 includes an event-driven visual sensor 110, an actuator 120, and a shutter 130. The visual sensor 110 includes a sensor array 111 having sensors 111A, 111B, ... corresponding to pixels of an image and a processing circuit 112 connected to the sensor array 111. The sensors 111A, 111B, ... include light receiving elements and generate event signals when detecting changes in the intensity of incident light (more specifically, changes in brightness). For example, the event signal is output from the processing circuit 112 as a timestamp, sensor identification information (e.g., pixel position), and information indicating the polarity of the brightness change (increase or decrease). When an object moves within the viewing angle of the sensor array 111, since the intensity of light reflected or scattered by the object changes, the movement of the object can be detected in time sequence according to, for example, event signals generated by sensors 111A, 111B, ... corresponding to the edge of the object.

[0029] Here, as already described, the advantage of the event-driven visual sensor 110 compared to the frame-type visual sensor is that the sensor can operate at low power consumption and high speed. This is because among the sensors 111A, 111B, ... constituting the sensor array 111, only the sensor that detects the brightness change generates an event signal. Since the sensor that does not detect the brightness change does not generate an event signal, the processing circuit 112 can only process and send the event signal of the sensor that has detected the brightness change at high speed. In addition, in the case where the brightness does not change, the processing and sending processing do not occur, making it possible to operate with low power. On the other hand, even if an object exists within the viewing angle of the sensor array 111, the brightness does not change unless the object moves, so it is difficult to capture a non-moving object by using the event signal generated by the sensors 111A, 111B, .... That is, it is difficult to obtain information about the surrounding environment including a stationary object using only the visual sensor 110.

[0030] In the present embodiment, the sensor module 100 includes an actuator 120 connected to the visual sensor 110. The actuator 120 is driven according to a control signal sent from the control unit 200, and is configured to displace the sensor array 111, for example, in a direction perpendicular to the optical axis direction of the sensors 111A, 111B, ... When the actuator 120 displaces the sensor array 111, the positional relationship between all sensors 111A, 111B, ... and the object changes. That is, at this time, the same change occurs as when all objects have moved within the visual angle of the sensor array 111. Therefore, regardless of whether the object is actually moving, the object can be detected by, for example, an event signal generated by the sensors 111A, 111B, ... corresponding to the edge of the object. Since the displacement amount of the sensor array 111 required to produce the above-mentioned change is not large, the actuator 120 can be a device such as a vibrator that slightly displaces or vibrates the sensor array 111.

[0031] Note that in the above description, an example has been described in which the actuator 120 shifts the sensor array 111 in a direction perpendicular to the optical axis direction of the sensors 111A, 111B, ..., but in a case where the shift direction is not perpendicular to the optical axis direction, that is, for example, even if the shift direction is parallel to the direction of the optical axis, the positional relationship between all the sensors 111A, 111B, ... and the object changes. Therefore, the actuator 120 can shift the sensor array 111 in a given direction. Note that in a configuration in which the shift direction is perpendicular to or almost perpendicular to the optical axis direction, it is advantageous that the amount of shift of the sensor array 111 required to produce the above-mentioned change is minimized, and the positional relationship with the object changes in a substantially uniform manner throughout the sensors 111A, 111B, ...

[0032] In addition, in the present embodiment, the sensor module 100 includes a shutter 130. The shutter 130 is arranged so that the entire viewing angle of the sensor array 111 of the visual sensor 110 can be shielded and opened. The shutter 130 can be a mechanical shutter such as a focal plane shutter or a lens shutter, or an electronic shutter such as a liquid crystal shutter. When the shutter 130 that has been opened is closed, the entire viewing angle of the sensor array 111 is shielded, so that the intensity of light incident on all sensors 111A, 111B, ... becomes minimum and constant in principle. In addition, when the shutter 130 that has been closed is opened, the entire viewing angle of the sensor array 111 is opened, which in principle causes a change to increase the brightness in all sensors 111A, 111B, .... As will be described later, in the present embodiment, such an operation is used to calibrate the sensor array 111 and detect self-luminous objects.

[0033] The control unit 200 includes a communication interface 210, a processing circuit 220, and a memory 230. The communication interface 210 receives an event signal transmitted from the processing circuit 112 of the visual sensor 110, and outputs the event signal to the processing circuit 220. In addition, the communication interface 210 transmits a control signal generated by the processing circuit 220 to the actuator 120. For example, the processing circuit 220 operates according to a program stored in the memory 230, and processes the received event signal. For example, the processing circuit 220 generates an image mapping the position where the brightness change occurs in time sequence based on the event signal, and temporarily or continuously stores the image in the memory 230, or further transmits the image to another device via the communication interface 210. In addition, the processing circuit 220 generates a corresponding control signal for driving the actuator 120 and the shutter 130.

[0034] Figure 21 is a sequence diagram showing a first example of the operation of the sensor module according to the first embodiment of the present invention. In the example shown, first, a control signal generated by the processing circuit 220 of the control unit 200 is sent to the actuator 120 (S101). When the actuator 120 having received the control signal is driven (S102), the sensor array 111 is shifted in a predetermined direction, and an event signal generated by the sensors 111A, 111B, ... corresponding to the edges of all objects in principle is sent from the visual sensor 110 to the control unit 200 (S103). The processing circuit 220 detects the object from the received event signal (S104). As described above, at this time, the object can be detected regardless of whether the object actually moves. The processing circuit 220 can perform a process from sending a control signal to the actuator 120 (S101), to receiving an event signal (S103) and capturing environmental information based on the event signal (S104) as a series of processes. For example, the processing circuit 220 may process an event signal received during a predetermined period of time from when the control signal is transmitted to the actuator 120 ( S101 ) separately from an event signal received once as an event signal indicating environmental information.

[0035] Figure 3 1 is a sequence diagram showing a second example of the operation of the sensor module according to the first embodiment of the present invention. In the example shown, first, in a state where the shutter 130 is open, a control signal generated by the processing circuit 220 of the control unit 200 is sent to the shutter 130 (S111). By closing the shutter 130 that has received the control signal (S112), the entire viewing angle of the sensor array 111 is shielded, and the intensity of light incident on all sensors 111A, 111B, ... becomes minimum and constant. Therefore, after an event signal indicating that the brightness has been reduced due to light being blocked is sent from the visual sensor 110 to the control unit 200 (S113), in principle, the event signal should not be received. However, in the case where the sensor is defective or noise is detected as a brightness change due to an incorrect setting of a threshold value for a brightness change for generating an event signal in the sensor, for example, an event signal may be generated while the shutter 130 shields the viewing angle of the sensor array 111. Therefore, in the control unit 200, the processing circuit 220 keeps the shutter 130 closed for a predetermined period of time, and monitors the event signal received when the shutter 130 blocks the viewing angle of the sensor array 111. In the case where an event signal is received during the period of time (S114), the processing circuit 220 calibrates the visual sensor 110 based on the received event signal (S115). Specifically, the processing circuit 220 identifies the sensor that has generated the event signal as a defective pixel (luminous spot), or adjusts the threshold value of the brightness change used to generate the event signal in the sensor.

[0036] Figure 4 1 is a sequence diagram showing a third example of the operation of the sensor module according to the first embodiment of the present invention. In the example shown, first, in a state where the shutter 130 is closed, a control signal generated by the processing circuit 220 of the control unit 200 is sent to the shutter 130 (S121). When the shutter 130 having received the control signal is opened (S122), the entire viewing angle of the sensor array 111 is opened, and an event signal indicating that the brightness in all sensors 111A, 111B, ... has increased in principle is sent from the visual sensor 110 to the control unit 200 (S123). Thereafter, the control signal generated by the processing circuit 220 of the control unit 200 is sent to the shutter 130 again (S125), and when the shutter 130 is closed (S126), so that the entire viewing angle of the sensor array 111 is shielded, an event signal indicating that the brightness in all sensors 111A, 111B, ... has decreased is sent from the visual sensor 110 to the control unit 200 (S127). In this way, the control unit 200 sends a control signal for repeatedly shielding and opening the viewing angle of the sensor array 111 to the shutter 130, and at the same time, particularly during a period from the opening viewing angle to the shielding viewing angle, receives an event signal generated by the visual sensor 110.

[0037] Here, if the time period t1 from the opening (S122) to the shielding (S126) of the viewing angle of the shutter 130 is short (specifically, for example, 300 milliseconds or less), the object hardly moves, and therefore an event signal indicating the movement of the object should not be received. As an exception, in the case where the flickering cycle of the light source in a self-luminous object such as lighting or a display is shorter than the time period t1, an event signal indicating the flickering of these objects is received (S124). Therefore, by making the time period t1 (i.e., the cycle of repeatedly shielding and opening the viewing angle) longer than the flickering cycle of the light source included in the self-luminous object (while keeping the time period t1 short as described above), the control unit 200 is able to identify the self-luminous object based on the received event signal (S128).

[0038] In the first embodiment of the present invention as described above, since the actuator 120 shifts the sensor array 111, an event is forcibly generated in the visual sensor 110, and information about the surrounding environment including, for example, a stationary object can be obtained. In addition, in the present embodiment, since the shutter 130 shields the entire viewing angle of the sensor array 111, the sensor array 111 can be calibrated. In addition, by repeating the opening and closing of the shutter 130 at a predetermined cycle, a self-luminous object such as a lighting or display can be detected.

[0039] Note that in the above example, the sensor module 100 includes both the actuator 120 and the shutter 130, but since these functions are independent of each other, the actuator 120 or the shutter 130 may be included in the sensor module 100. In addition, although the control unit 200 is shown and described separately from the sensor module 100 in the above example, the control unit 200 may be included in the sensor module 100. In this case, the processing circuit 112 of the sensor module 100 and the processing circuit 220 of the control unit 200 may be configured separately or may be common.

[0040] (Second embodiment)

[0041] Figure 5 1 is a block diagram showing a schematic configuration of an electronic device including a sensor module according to a second embodiment of the present invention. Figure 5 As shown in , the electronic device 20 includes a sensor module 300 , a control unit 200 , and a movable supporting mechanism 400 .

[0042] The sensor module 300 includes an event-driven visual sensor 110 and a shutter 130 similar to the event-driven visual sensor in the first embodiment. The sensor module 300 is supported by a movable support mechanism 400 including frames 410A, 410B, and 410C and actuators 420A and 420B. In the example shown, the actuators 420A and 420B are rotary actuators driven according to a control signal sent from the control unit 200. The actuator 420A causes a rotational displacement of a predetermined angle between the frames 410A and 410B according to the control signal, and the actuator 420B similarly causes a rotational displacement of a predetermined angle between the frames 410B and 410C. Thus, the actuators 420A and 420B displace the sensor module 300 including the visual sensor 110.

[0043] Also in the present embodiment, for example, by forcibly generating an event in the visual sensor 110 using the actuator 420B in the same manner as the actuator 120 of the first embodiment, information about the surrounding environment including, for example, a stationary object can be obtained. In this case, for example, the actuator 420B can be understood to be included in the sensor module 300. In addition, in the present embodiment, as in the example described below, when the actuators 420A and 420B displace the sensor module 300, the control unit 200 can reflect the correction value in the control signal of the actuators 420A and 420B based on the event signal generated by the visual sensor 110.

[0044] Figure 61 is a sequence diagram showing a first example of the operation of the sensor module according to the second embodiment of the present invention. In the example shown, first, a control signal generated by the processing circuit 220 of the control unit 200 is sent to one or both of the actuators 420A and 420B (S131). When the actuators 420A and 420B are driven according to the control signal (S132), the sensor module 300 is displaced, and the positional relationship between the sensors 111A, 111B, ... and the object changes. At this time, the event signal generated by the sensors 111A, 111B, ... is sent from the visual sensor 110 to the control unit 200 (S133). In the control unit 200, the processing circuit 220 measures the delay time period d1 from sending the control signal to the actuators 420A and 420B (S131) ​​to receiving the event signal (S133), and calibrates the actuators 420A and 420B based on the delay time period d1 (S134). Specifically, the processing circuit 220 determines a correction value of the control signal according to the delay period d1, and the determined correction value is reflected in the control signal subsequently generated by the processing circuit.

[0045] In the above example, for example, if the control signal is sent to the actuator 420A or 420B, the actuator 420A or the actuator 420B can be calibrated independently. In addition, if the control signal is sent to both the actuators 420A and 420B, the composite system including the actuators 420A and 420B can be calibrated. For example, when the control unit 200 corrects the parameters of the proportional-integral-derivative (PID) control performed when the actuators 420A and 420B are expected to achieve a displacement that follows a specific pattern, the correction value of the control signal determined according to the delay period d1 is used.

[0046] Figure 7 is a sequence diagram showing a second example of the operation of the sensor module according to the second embodiment of the present invention. Figure 6In the example shown in , a control signal is sent (S131), and the actuators 420A and 420B that have received the control signal are driven to cause a rotational displacement in the visual sensor 110 (S132). Here, for example, in the case where the actuators 420A and 420B are worn, the rotational displacement of the visual sensor 110 does not become stable instantaneously, and vibration occurs, for example. In this case, the event signal generated by the sensors 111A, 111B, ... due to the change in the positional relationship between the sensors 111A, 111B, ... and the object is sent from the visual sensor 110 to the control unit 200 at multiple timings (S133-1 and S133-2). The processing circuit 220 measures the delay time periods d1 and d2 from sending the control signal (S131) ​​to the actuators 420A and 420B to receiving the event signal at multiple timings (S133-1 and S133-2), respectively. Therefore, as a result, the processing circuit 220 measures the time period d2-d1 that has passed from the start of reception of the event signal (S133-1) to the end of reception (S133-2). The processing circuit 220 determines a correction value based on the elapsed time period d2-d1, and the determined correction value is reflected in the control signal generated by the processing circuit thereafter. Specifically, in the case where the elapsed time period d2-d1 exceeds a threshold value, the processing circuit 220 sets a flag indicating that the actuators 420A and 420B are worn. In this case, the processing circuit 220 can set a value of an operating torque such as an operating torque different from the operating torque of other actuators for the actuators 420A and 420B that have been worn.

[0047] Figure 8 2 is a block diagram showing a configuration example of a processing circuit of a control unit in the case where motion prediction is performed in the second embodiment of the present invention. In the example shown, the processing circuit 220 of the control unit 200 includes, for example, a drive pattern generation section 221, a control signal generation section 222, an event signal analysis section 223, an error calculation section 224, and a motion prediction section 225, as functions implemented by operations according to a program stored in the memory 230. The drive pattern generation section 221 generates a drive pattern for the actuators 420A and 420B. Here, the drive pattern may be predetermined by, for example, a program stored in the memory 230, or may be determined based on a measurement value of another sensor such as an acceleration sensor included in the electronic device 20. The control signal generation section 222 generates a control signal for the actuators 420A and 420B according to the drive pattern generated by the drive pattern generation section 221.

[0048] When the actuators 420A and 420B are driven according to the control signal generated by the control signal generating section 222, the event signal is sent from the visual sensor 110 to the control unit 200. In the processing circuit 220, the event signal analyzing section 223 performs a reverse calculation of the displacement of the sensor module 300 according to the received event signal. Specifically, for example, the event signal analyzing section 223 performs a reverse calculation of the motion vector of the visual sensor 110 according to the motion vector of the object obtained by analyzing the event signal. The event signal analyzing section 223 provides the error calculating section 224 with information including the displacement of the sensor module 300 obtained by the reverse calculation. For example, the error calculating section 224 calculates the error characteristics of the actuators 420A and 420B according to the difference between the displacement of the sensor module 300 obtained by the reverse calculation and the driving pattern generated by the driving pattern generating section 221, while taking into account the error characteristics of the sensor module 300 obtained by the above reference. Figure 6 The depicted example specifies a delay period d1 for the operation of actuators 420A and 420B. For example, the error characteristics may be normalized for each type of movement of actuators 420A and 420B (specifically, translation and rotation in each axial direction) to be stored in memory 230 .

[0049] Thereafter, in the case where the drive pattern generation section 221 generates a new drive pattern for the actuators 420A and 420B, the control signal generation section 222 inputs the generated control signal to the motion prediction section 225 before outputting the control signal. The motion prediction section 225 predicts the movement of the actuators 420A and 420B for the input control signal based on the error characteristics of the actuators 420A and 420B calculated by the error calculation section 224. The control signal generation section 222 corrects the control signal so that the difference between the movement predicted by the motion prediction section 225 and the drive pattern generated by the drive pattern generation section 221 becomes smaller. Furthermore, the control signal generation section 222 again inputs the corrected control signal to the motion prediction section 225, and the motion prediction section 225 again predicts the movement of the actuators 420A and 420B for the control signal corrected based on the error characteristics, and then, the control signal generation section 222 can correct the control signal again so that the difference between the movement predicted again and the drive pattern becomes smaller.

[0050] In the second embodiment of the present invention as described above, in addition to the effects of the first embodiment described above, the processing circuit 220 of the control unit 200 can calibrate the delay amount of the actuators 420A and 420B, and detect vibrations caused by wear of the internal components of the actuators 420A and 420B by measuring the delay time periods d1 and d2 from sending control signals to the actuators 420A and 420B to receiving event signals. In addition, in the present embodiment, the processing circuit 220 implements the functions of the error calculation section 224 and the motion prediction section 225 to correct the control signal in consideration of the error generated in the motion of the actuators 420A and 420B, and the actuators 420A and 420B can be operated more accurately with respect to the expected driving mode.

[0051] Note that in the above examples, the calibration of the delay amount of the actuators 420A and 420B, the detection of vibration, and the correction of the control signal have been described in the same embodiment, but since these operations can be performed independently of each other, some of these operations may be implemented in the electronic device 20 or the sensor module 300, and the remaining operations may not be implemented in the electronic device 20 or the sensor module 300. In addition, in the above examples, the visual sensor 110 has been described as being able to force the generation of an event similar to the first embodiment, but this function is not essential. Since the shutter 130 is also not essential, in the present embodiment, the visual sensor 110 does not have to include the shutter 130.

[0052] Although some embodiments of the present invention have been described in detail with reference to the accompanying drawings above, the present invention is not limited to these examples. Obviously, a person skilled in the art of the present invention can propose various change examples or modified examples within the scope of the technical idea described in the claims, and naturally understand that these also belong to the technical scope of the present invention.

[0053] Reference numerals list

[0054] 10, 20…electronic device, 100, 300…sensor module, 110…visual sensor, 111…sensor array, 111A, 111B…sensor, 112…processing circuit, 120…actuator, 130…shutter, 200…control unit, 210…communication interface, 220…processing circuit, 221…driving mode generating unit, 222…control signal generating unit, 223…event signal analyzing unit, 224…error calculating unit, 225…motion predicting unit, 230…memory, 300…sensor module, 400…movable supporting mechanism, 410A, 410B, 410C…frame, 420A, 420B…actuator.

Claims

1. An electronic device, comprising: An event-driven vision sensor comprising a sensor array having sensors that generate event signals when the sensors detect a change in intensity of incident light; an actuator that displaces a module including the vision sensor; as well as a control unit that sends a control signal for driving the actuator to the actuator, and determines a correction value of the control signal based on the event signal generated when the actuator displaces the module, and corrects the control signal based on the correction value, Wherein, determining the correction value of the control signal includes: measuring a delay period from sending the control signal to receiving the event signal, and The correction value is determined based on the delay period.

2. The electronic device according to claim 1, wherein: Determining the correction value of the control signal also includes: measuring a time period that elapses from the start of reception of the event signal to the end of the reception, and The correction value is determined based on the elapsed time period.

3. The electronic device according to claim 2, wherein The correction value includes an indication of wear of the actuator, and The control unit sets the flag when the elapsed time period exceeds a threshold value.

4. The electronic device according to claim 1, wherein The control unit comprises: a driving mode determining section that generates a driving mode for the actuator, an event signal analysis unit, which performs reverse calculation of the module shift according to the event signal, an error calculation section that calculates an error characteristic of the actuator based on a difference between the module displacement obtained by reverse calculation and the driving pattern, a motion prediction section that predicts movement of the actuator in response to the control signal based on the error characteristic, and A control signal generating unit corrects the control signal so that a difference between the predicted movement and the driving pattern becomes smaller.

5. The electronic device according to claim 4, wherein The movement prediction section predicts again the movement of the actuator for the corrected control signal based on the error characteristic, and The control signal generating section corrects the control signal again so that a difference between the re-predicted movement and the driving pattern becomes smaller.

6. An actuator control method using an event-driven visual sensor, the event-driven visual sensor comprising a sensor array having sensors, the sensors generating event signals when the sensors detect a change in the intensity of incident light, the method comprising: driving the actuator by a control signal to displace the module including the visual sensor; as well as determining a correction value of the control signal based on the event signal generated when the actuator displaces the module, and correcting the control signal based on the correction value, Wherein, determining the correction value of the control signal includes: measuring a delay period from sending the control signal to receiving the event signal, and The correction value is determined based on the delay period.

7. A memory storing a program that causes a processing circuit connected to an event-driven visual sensor to perform the following, the event-driven visual sensor comprising a sensor array having sensors that generate event signals when the sensors detect a change in intensity of incident light: driving an actuator by a control signal to displace a module including the visual sensor; and determining a correction value of the control signal based on the event signal generated when the actuator displaces the module, and correcting the control signal based on the correction value, in, Determining the correction value of the control signal includes: measuring a delay period from sending the control signal to receiving the event signal, and The correction value is determined based on the delay period.

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