Calibration device, calibration method and calibration program

Abstract

The present application provides a kind of calibration device, calibration method and calibration program.The calibration device has: drive control part, in the calibration of the drive device with magnetic field detection part and multiple drive parts, multiple drive parts are sequentially controlled to drive the object in the movable range for making the object with lens movable along the optical axis direction, multiple drive parts drive the object in each interval in the interval that movable range is divided, magnetic field detection part detects the magnetic field corresponding to the position of object;Position acquisition unit obtains position data indicating data related to the position of object;Magnetic field acquisition unit obtains magnetic field data indicating the magnetic field corresponding to the position of object;And generating unit, based on position data and magnetic field data, to generate end point information indicating the value of magnetic field data when the object is located at each end point of multiple intervals, determine each drive range in multiple intervals using end point information.

Description

TECHNICAL FIELD

[0001] The present application relates to a calibration device, a calibration method, and a calibration program. BACKGROUND

[0002] In Patent Literature 1, it is described that: "The present application can output an end point movement signal different from an operation amount signal when synchronizing a position of a linear motion device with an output signal of a magnetic field sensor. In addition, the end point movement signal moves the linear motion device from one end point to the other end point while alternately applying a force toward one end point of a predetermined movement range and a force toward the other end point, and thus, it is possible to suppress the speed at the time of collision of the linear motion device with the end point, thereby making the collision sound of the linear motion device with the end point small."

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent No. 5731950

[0006] Patent Literature 2: Japanese Patent No. 6212135

[0007] Patent Literature 3: Japanese Patent No. 5961258 SUMMARY

[0008] In the first aspect of the present application, a calibration device is provided. The calibration device can include a drive control section that controls a plurality of drive sections in order in calibration of a drive device having a magnetic field detection section and the plurality of drive sections to drive an object provided with a lens in a movable range for moving the object in an optical axis direction, the plurality of drive sections driving the object in each of a plurality of intervals obtained by dividing the movable range, and the magnetic field detection section detecting a magnetic field corresponding to a position of the object. The calibration device can include a position acquisition section that acquires position data indicating data related to the position of the object. The calibration device can include a magnetic field acquisition section that acquires magnetic field data indicating the magnetic field corresponding to the position of the object. The calibration device can include a generation section that generates end point information indicating values of the magnetic field data when the object is located at each end point of the plurality of intervals based on the position data and the magnetic field data, and determines each drive range in the plurality of intervals using the end point information.

[0009] The drive control section can control one drive section of the plurality of drive sections responsible for an interval in which the object is located as a control target according to the position of the object.

[0010] The calibration device can further include a switching determination unit that determines switching of the control object based on the position data. The drive control unit can switch the control object based on a result of the determination.

[0011] In a case where the object moves from one end to the other end of each section, the switching determination unit can determine to switch the control object to the drive unit responsible for the next section.

[0012] In a case where the position data exceeds a reference stored in advance, the switching determination unit can determine that the object moves to the other end.

[0013] The magnetic field detection unit can include a plurality of magnetic sensors associated with the plurality of drive units, respectively. The magnetic field acquisition unit can acquire the magnetic field data from the magnetic sensor associated with the drive unit that is the control object.

[0014] The magnetic field acquisition unit can further acquire the magnetic field data from the magnetic sensor associated with the drive unit responsible for the next section.

[0015] The plurality of magnetic sensors can each be constituted by a sensor element group including a plurality of sensor elements. The magnetic field acquisition unit can acquire the magnetic field data from at least one of the plurality of sensor elements.

[0016] The plurality of sensor elements can be disposed so as to be offset in the optical axis direction and a direction intersecting the optical axis direction, respectively.

[0017] The generation unit can generate the end point information by regression analysis using the position data and the magnetic field data.

[0018] The position acquisition unit can acquire at least either of measurement data obtained by measuring a position of the object and a magnetic field generated when the object moves as the position data.

[0019] The calibration device can further include the drive device.

[0020] The plurality of drive units can each include a drive coil that drives a magnet provided to the object and a driver that supplies a drive current to the drive coil. The drive control unit can control the drive current supplied from the driver to the drive coil.

[0021] The driver can be capable of reversing a direction of the drive current supplied to the drive coil in response to a control instruction from the drive control unit.

[0022] The drive control section can gradually increase the magnitude of the drive current when moving the object from one end to the other end of each section.

[0023] The drive control section can gradually decrease the magnitude of the drive current when moving the object from one end to the other end of each section.

[0024] The calibration device can further include an adjustment section that adjusts the end point information in response to feedback control based on the magnetic field data being performed.

[0025] In the second aspect of the present application, a calibration method is provided. The calibration method can include the steps of: in calibration of a drive device having a magnetic field detection section and a plurality of drive sections, controlling the plurality of drive sections in turn to drive an object provided with a lens in a movable range for moving the object in an optical axis direction, the plurality of drive sections driving the object in each of a plurality of sections obtained by dividing the movable range, and the magnetic field detection section detecting a magnetic field corresponding to a position of the object. The calibration method can include the steps of: acquiring position data indicating data related to the position of the object. The calibration method can include the steps of: acquiring magnetic field data indicating a magnetic field corresponding to the position of the object. The calibration method can include the steps of: generating end point information indicating values of the magnetic field data when the object is located at each end point of the plurality of sections based on the position data and the magnetic field data, and determining each drive range in the plurality of sections using the end point information.

[0026] In a third aspect of the present invention, a calibration program is provided. The calibration program can be executed by a computer. The calibration program can cause the computer to function as a drive control section that, in calibration of a drive device having a magnetic field detection section and a plurality of drive sections, controls the plurality of drive sections in turn to drive an object provided with a lens in a movable range for moving the object in an optical axis direction, the plurality of drive sections drive the object in each of a plurality of intervals obtained by dividing the movable range, and the magnetic field detection section detects a magnetic field corresponding to a position of the object. The calibration program can cause the computer to function as a position acquisition section that acquires position data indicating data related to the position of the object. The calibration program can cause the computer to function as a magnetic field acquisition section that acquires magnetic field data indicating the magnetic field corresponding to the position of the object. The calibration program can cause the computer to function as a generation section that generates end point information indicating values of the magnetic field data when the object is positioned at each end point of the plurality of intervals based on the position data and the magnetic field data, and determines each drive range in the plurality of intervals using the end point information.

[0027] Furthermore, the above summary of the invention does not list all features of the invention. In addition, sub-combinations of these feature groups can also be inventions. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 An example of a block diagram of a calibration device 100 according to the present embodiment is shown together with an object 10 and a drive device 50.

[0029] Figure 2 An example of a structure of a drive section 60 is shown together with a magnet 30 and a magnetic sensor 80.

[0030] Figure 3 An example of an assignment of the drive section 60 responsible for each of the plurality of intervals is shown.

[0031] Figure 4 An example of a simulation result of a magnetic field detected when the object 10 is driven in the movable range is shown.

[0032] Figure 5 An example of a flow of initial setting when the calibration device 100 according to the present embodiment causes the drive device 50 to perform open-loop driving is shown.

[0033] Figure 6 An example of a flow of acquisition of position data and magnetic field data when the calibration device 100 according to the present embodiment causes the drive device 50 to perform open-loop driving is shown.

[0034] Figure 7 An example of position data and magnetic field data acquired by the calibration device 100 according to the present embodiment is shown.

[0035] Figure 8 An example of a procedure in which the calibration device 100 according to the present embodiment generates end point information and determines a driving range is shown.

[0036] Figure 9 An example of end point information generated by the calibration device 100 according to the present embodiment is shown.

[0037] Figure 10 An example of a driving range determined by the calibration device 100 according to the present embodiment is shown.

[0038] Figure 11 An example of a block diagram of the calibration device 100 according to the present embodiment is shown together with the object 10 and the driving device 50.

[0039] Figure 12 An example of a block diagram of the calibration device 100 according to the present embodiment is shown together with the object 10 and the driving device 50 according to the modification.

[0040] Figure 13 An example of the arrangement of the magnetic sensor 80 in the magnetic field detection section 70 according to the modification of the present embodiment is shown.

[0041] Figure 14 An example of a computer 9900 in which the present application can be embodied in whole or in part is shown. DETAILED DESCRIPTION

[0042] Hereinafter, the present application will be described through embodiments of the application, but the following embodiments are not intended to limit the application covered by the claims. In addition, the combination of features described in the embodiments is not necessarily all required to be a solution of the application.

[0043] Figure 1 An example of a block diagram of the calibration device 100 according to the present embodiment is shown together with the object 10 and the driving device 50. The calibration device 100 according to the present embodiment acquires position data and magnetic field data by causing the driving device 50 to perform open-loop driving when calibrating the driving device 50 that drives the object 10. Furthermore, the calibration device 100 generates end point information for each of a plurality of sections into which the movable range of the object 10 is divided and determines a driving range based on the acquired data.

[0044] The object 10 is a device whose position changes in accordance with an input signal. As an example, the object 10 can be a linear motion device. In the linear motion device, the input signal and the displacement corresponding to the input signal are represented by a linear function. As such a linear motion device, for example, an auto focus lens of a video camera or the like can be cited. Hereinbefore, the case where the object 10 is an auto focus lens of a video camera is described as an example. However, the present application is not limited to this. The object 10 can be various devices whose position can change in accordance with an input signal. The object 10 is provided with a lens 20 and a magnet 30.

[0045] The lens 20 is an optical element for refracting light to converge the light. In auto focus control, by causing such a lens 20 to displace in the optical axis direction, focusing is performed.

[0046] The magnet 30 is a permanent magnet fixed to the lens 20. As an example, the magnet 30 can be configured with S poles and N poles alternately along the optical axis direction of the lens 20. Further, the magnet 30 causes the lens 20 to displace in the optical axis direction by generating a magnetic force between the magnet 30 and a driving coil to be described later by flowing a current in the driving coil.

[0047] The driving device 50 drives the object 10 within a movable range. Such a movable range can be a range decided in advance in order to make the object 10 provided with the lens 20 movable in the optical axis direction. The driving device 50 has a plurality of driving sections 60a to 60d (collectively referred to as "driving sections 60") and a magnetic field detection section 70. Further, in the present figure, the case where the driving device 50 has four driving sections 60a to 60d is shown as an example, but the present application is not limited to this. The driving device 50 can have two, three, or more than four driving sections 60.

[0048] The plurality of driving sections 60 drive the object 10 within each of a plurality of intervals obtained by dividing the movable range for making the object 10 provided with the lens 20 movable in the optical axis direction. The plurality of driving sections 60 are arranged along the optical axis direction of the lens 20 provided to the object 10. In such a plurality of driving sections 60, one driving section 60 for driving the object 10 is assigned in advance as a role for each of a plurality of intervals obtained by dividing the movable range. Further, by each driving section 60 driving the object 10 in the interval for which the driving section 60 is responsible, the plurality of driving sections 60 cooperate to drive the object 10 within the entire movable range. Details of the driving section 60 are described later.

[0049] The magnetic field detecting section 70 detects a magnetic field corresponding to the position of the object 10. As described above, the object 10 is provided with the magnet 30. Thus, the magnetic field detecting section 70 can detect a magnetic field generated between the N pole and the S pole of the magnet 30 as a magnetic field corresponding to the position of the object 10. Further, such a magnetic field is sufficiently large with respect to a magnetic field generated when a drive current flows in the drive coil, which will be described later.

[0050] The magnetic field detecting section 70 can include a plurality of magnetic sensors 80a to 80d (collectively referred to as "magnetic sensors 80") associated with the plurality of drive sections 60a to 60d, respectively. In the present drawing, a case where the magnetic field detecting section 70 includes the magnetic sensor 80a associated with the drive section 60a, the magnetic sensor 80b associated with the drive section 60b, the magnetic sensor 80c associated with the drive section 60c, and the magnetic sensor 80d associated with the drive section 60d is shown as an example. As an example, such a magnetic sensor 80 can be a Hall sensor that applies the Hall effect and detects a change in an external magnetic field according to an electromotive force generated. However, it is not limited thereto. The magnetic sensor 80 can also be various sensors capable of detecting a magnetic field such as a spin valve type magnetic resistance effect element (GMR element, TMR element, etc.) whose resistance changes according to a change in an external magnetic field, and can also be a combination of these various sensors. Further, in a case where the magnetic field detecting section 70 includes a plurality of magnetic sensors 80a to 80d associated with the plurality of drive sections 60a to 60d, respectively, the group of the drive section 60a and the magnetic sensor 80a, the group of the drive section 60b and the magnetic sensor 80b, the group of the drive section 60c and the magnetic sensor 80c, and the group of the drive section 60d and the magnetic sensor 80d can each be configured as one package (one IC, etc.). Thereby, the IC, etc. is divided into a plurality (four in the example of the present drawing), and thus the degree of freedom on the layout surface of the object 10 is increased. In addition, it is possible to make the interval of each magnetic sensor 80 wide, and thus it is possible to make the movable range of the object 10 large. However, it is not limited thereto. It can also be that the plurality of drive sections 60a to 60d and the plurality of magnetic sensors 80a to 80d are collectively configured as one package.

[0051] Such a drive device 50 drives the object 10 by closed-loop driving at the time of use. The calibration device 100 according to the present embodiment causes the drive device 50 to perform open-loop driving to acquire position data and magnetic field data when calibration is performed before use of such a drive device 50 or after temporary interruption of use. Then, the calibration device 100 generates end point information for each of a plurality of intervals obtained by dividing the movable range of the object 10 and determines the drive range based on the acquired data. Further, the closed-loop driving referred to herein means driving the drive device 50 by feedback control based on the detected magnetic field, and the open-loop driving means driving the drive device 50 without the feedback control.

[0052] The calibration device 100 can be a computer such as a PC (personal computer), a tablet computer, a smartphone, a workstation, a server computer, or a general-purpose computer, or a computer system in which a plurality of computers are connected. Such a computer system is also a broad computer. In addition, the calibration device 100 can also be installed by a virtual computer environment capable of executing one or a plurality of computers in a computer. Alternatively, the calibration device 100 can be a dedicated computer designed for calibration of the drive device 50, or a dedicated hardware realized by a dedicated circuit. In addition, in a case where the calibration device 100 is capable of connecting to the Internet, the calibration device 100 can also be realized by cloud computing.

[0053] The calibration device 100 includes a drive control section 110, a position acquisition section 120, a switching determination section 130, a magnetic field acquisition section 140, and a generation section 150. These blocks are functionally separated blocks, and can not necessarily be consistent with actual device configurations. That is, in the present drawing, although a block is illustrated as one block, the block can not necessarily be configured by one device. In addition, in the present drawing, although blocks are illustrated as separate blocks, the blocks can not necessarily be configured by separate devices.

[0054] In addition, in the present drawing, a case where the calibration device 100 and the drive device 50 are each independent devices is illustrated as an example, but is not limited thereto. The calibration device 100 and the drive device 50 can be realized as an integrated device. That is, the calibration device 100 can also include the drive device 50. Thus, the calibration device 100 can provide a function of the driven object 10 and a function of calibration by one device.

[0055] The drive control section 110 controls the plurality of drive sections 60 in order in calibration of the drive device 50 to drive the driven object 10 in a movable range. At this time, the drive control section 110 can control one of the plurality of drive sections 60 as a control target. That is, the drive control section 110 itself is a master, and controls the plurality of drive sections 60 as slaves while switching the drive sections 60 as control targets in order, thereby driving the driven object 10 in the entire movable range.

[0056] The position acquisition section 120 acquires position data indicating data related to a position of the driven object 10. For example, the position acquisition section 120 can acquire measurement data obtained by measuring a position of the driven object 10 using a laser displacement meter as the position data. However, the present embodiment is not limited thereto. The position acquisition section 120 can acquire various data capable of indicating a position of the driven object 10 as the position data. This will be described later. The position acquisition section 120 supplies the acquired position data to the switching determination section 130 and the generation section 150.

[0057] The switching determination section 130 determines switching of the control object on the basis of the position data acquired by the position acquisition section 120. For example, the switching determination section 130 can determine to switch the control object to the drive section 60 responsible for the next section in the case where the object 10 moves from one end to the other end of each section. Also, the switching determination section 130 supplies the drive control section 110 with a trigger signal indicating the intention to switch the control object. In correspondence therewith, the drive control section 110 switches the control object from the drive section 60 responsible for the current section to the drive section 60 responsible for the next section. The drive control section 110 switches the control object in accordance with the result determined by the switching determination section 130, for example, thereby controlling one drive section 60 responsible for the section in which the object 10 is located among the plurality of drive sections 60 as the control object in accordance with the position of the object 10.

[0058] The magnetic field acquisition section 140 acquires magnetic field data indicating a magnetic field corresponding to the position of the object 10. For example, the magnetic field acquisition section 140 can acquire such magnetic field data from the magnetic sensor 80 associated with the drive section 60 as the control object. However, it is not limited thereto. The magnetic field acquisition section 140 can also acquire magnetic field data from the magnetic sensor 80 associated with the drive section 60 other than the control object. This is described later. The magnetic field acquisition section 140 supplies the generated section 150 with the acquired magnetic field data.

[0059] The generated section 150 generates end point information indicating the value of the magnetic field data in the case where the object 10 is located at each end point of the plurality of sections on the basis of the position data acquired by the position acquisition section 120 and the magnetic field data acquired by the magnetic field acquisition section 140. At this time, the generated section 150 can generate the end point information by regression analysis using the position data and the magnetic field data. Then, the generated section 150 decides each drive range in the plurality of sections using the generated end point information. This is described in detail.

[0060] Figure 2 A configuration example of the drive section 60 is shown together with the magnet 30 and the magnetic sensor 80. Each of the plurality of drive sections 60 includes a drive coil 200 and a driver 210.

[0061] The drive coil 200 drives the magnet 30 provided to the object 10. The drive coil 200 is wound along the optical axis direction of the lens 20 provided to the object 10, has a first terminal at one end in the optical axis direction, and has a second terminal at the other end. Also, when a drive current is supplied from the driver 210, the drive coil 200 generates a magnetic field corresponding to the drive current. At this time, the magnetic field generated in the case where the drive current flows from the first terminal to the second terminal is in the opposite direction to the magnetic field generated in the case where the drive current flows from the second terminal to the first terminal. Thus, the drive coil 200 can drive the object 10 provided with the magnet 30 forward or backward in the optical axis direction.

[0062] The driver 210 supplies a drive current to the drive coil 200. The driver 210 can include a position command section 220, a differential amplifier 230, a switch 240, a first buffer 250, a second buffer 260, a first output driver 270, and a second output driver 280.

[0063] The position command section 220 converts a target position signal DV supplied from the outside into a signal synchronized with a magnetic field signal SB obtained on the basis of a magnetic field detected by the magnetic sensor 80, and outputs a position command signal SA.

[0064] The position command signal SA is input to a forward rotation input terminal of the differential amplifier 230. Also, the magnetic field signal SB is input to a reverse rotation input terminal of the differential amplifier 230. Then, the differential amplifier 230 outputs an operation amount signal SC indicating an operation amount corresponding to the position command signal SA and the magnetic field signal SB.

[0065] The operation amount signal SC is input to a first terminal of the switch 240. An open-loop control signal SO supplied from the outside is input to a second terminal of the switch 240. Also, the switch 240 switches whether to connect a third terminal to the first terminal or to connect the third terminal to the second terminal. That is, the switch 240 switches whether to supply the operation amount signal SC to the frame of the subsequent stage or to supply the open-loop control signal SO to the frame of the subsequent stage. It is possible to switch between closed-loop driving by feedback control based on a detected magnetic field and open-loop driving without the feedback control by switching this switch 240.

[0066] The third terminal of the switch 240 is connected to the input terminals of the first buffer 250 and the second buffer 260. The first buffer 250 and the second buffer 260 output the input voltage corrected by the resistance drop. At this time, the first buffer 250 and the second buffer 260 respectively output signals having different polarities. The first buffer 250 and the second buffer 260 are configured to be able to invert the signs by changing the settings. Thus, the driver 210 is able to invert the direction of the drive current supplied to the drive coil 200 in response to a control instruction from the drive control section 110, for example.

[0067] The first output driver 270 and the second output driver 280 are driven by the input signals, and thereby supply the drive current to the drive coil 200. The output of the first output driver 270 is connected to the first terminal of the drive coil 200. In addition, the output of the second output driver 280 is connected to the second terminal of the drive coil 200.

[0068] In use, the switch 240 connects the third terminal to the first terminal. At this time, the magnetic field signal SB from the magnetic sensor 80 changes in accordance with the movement of the magnet 30. Thus, the driver 210 recognizes the position of the object 10 in accordance with the change in the magnetic field signal SB, and performs feedback control in such a manner that the recognized position coincides with the target position. That is, the drive section 60 drives the object 10 by closed-loop driving. On the other hand, in calibration, the switch 240 connects the third terminal to the second terminal. Thus, the driver 210 performs control in accordance with the open-loop control signal SO. That is, the drive section 60 drives the object 10 by open-loop driving.

[0069] The driver 210 supplies the drive current to the drive coil 200 in use and in calibration, for example, by such a configuration. Thus, the drive control section 110 is able to drive the object 10 by controlling the drive current supplied from such a driver 210 to the drive coil 200.

[0070] At this time, when the position instruction section 220 converts the target position signal DV into the position instruction signal SA, it is important to synchronize the position of the object 10 with the detected magnetic field with high precision. The calibration device 100 according to the present embodiment generates the end point information and determines the drive range for each of the plurality of sections in order to support such synchronization, for example. Further, in the above description, the case where the position instruction section 220 is included in the driver 210 is exemplified, but the present application is not limited thereto. The position instruction section 220 can be included in any block of the drive device 50 or the drive section 60, and can also be included in any block of the calibration device 100.

[0071] Figure 3An example of allocation of the drive section 60 responsible for each of the plurality of sections is shown. In this drawing, an example in which the movable range is divided into 10 sections at every 1 mm in a case where the position of the object at one end of the movable range is set to 0 mm and the position of the object at the other end is set to 10 mm is shown. As an example, the section 0 is allocated the drive section 60a as the acting drive section, and the object 10 is driven from the position of 0 mm to the position of 1 mm by applying a drive current to the drive coil 200a included in the drive section 60a in the forward direction. Further, the forward direction as referred to herein means the application direction from the first terminal to the second terminal. Likewise, the section 1 is allocated the drive section 60b as the acting drive section, and the object 10 is driven from the position of 1 mm to the position of 2 mm by applying a drive current to the drive coil 200b included in the drive section 60b in the reverse direction. Further, the reverse direction as referred to herein means the application direction from the second terminal to the first terminal. The same applies to the other sections. In this way, in the plurality of drive sections 60, one drive section 60 for driving the object 10 is allocated in advance as the acting drive section for each of the plurality of sections obtained by dividing the movable range.

[0072] Figure 4 An example of a simulation result of the magnetic field detected in a case where the object 10 is driven within the movable range is shown. In this drawing, the horizontal axis represents the position of the object 10 in [mm]. In this drawing, the vertical axis represents the simulation result of the detected magnetic field in [mT]. In this drawing, the solid line represents the simulation result of the magnetic field detected by the magnetic sensor 80a associated with the drive section 60a. In this drawing, the dotted line represents the simulation result of the magnetic field detected by the magnetic sensor 80b associated with the drive section 60b. In this drawing, the dashed line represents the simulation result of the magnetic field detected by the magnetic sensor 80c associated with the drive section 60c. In this drawing, the dot-dashed line represents the simulation result of the magnetic field detected by the magnetic sensor 80d associated with the drive section 60d.

[0073] As shown in this drawing, it is preferable that, when the object 10 is driven in each section, the magnetic sensor 80 associated with the drive section 60 responsible for each section is able to accurately detect the magnetic field in a case where the object 10 is positioned at one end and the other end of each section. However, loss of the magnetic field data occurs due to the interval at which the magnetic field data is sampled, the switching timing of the drive section 60, and the like. Due to this, it is not possible to accurately identify the value of the magnetic field in a case where the object 10 is positioned at the end point of each section. That is, it is not possible to obtain the end point information. Therefore, it is also not possible to determine the drive range in each section using the end point information.

[0074] In this case, if the driving section 60 of the driven object 10 is one, it is considered that the end point information can be obtained by mechanically contacting the object 10 with the end point. However, in a case where the object 10 is driven over a long distance while switching the plurality of driving sections 60 sequentially, the end point information of each section cannot be obtained by mechanical contact.

[0075] Therefore, the calibration device 100 according to the present embodiment causes the driving device 50 to perform open-loop driving to acquire position data and magnetic field data when calibrating the driving device 50. Further, the calibration device 100 generates end point information for each of the plurality of sections into which the movable range of the object 10 is divided and determines the driving range based on the acquired data. This is described in detail using a flow.

[0076] Figure 5 An example of a flow of initial setting performed by the calibration device 100 according to the present embodiment when causing the driving device 50 to perform open-loop driving is shown.

[0077] In step S500, the calibration device 100 starts up all devices.

[0078] In step S510, the calibration device 100 activates the plurality of driving sections 60.

[0079] In step S520, the calibration device 100 sets the control mode to the open-loop driving mode. For example, the driving control section 110 provides the plurality of driving sections 60 with a control instruction to shift to the open-loop driving mode. In correspondence therewith, the plurality of driving sections 60 each switch the switch 240 to connect the third terminal to the second terminal. Thus, the plurality of driving sections 60 shift to the open-loop driving mode.

[0080] In step S530, the calibration device 100 sets i, which is an index indicating a section, to the largest index. In this case, the movable range is divided into 10 sections with indexes 0 to 9, and therefore the calibration device 100 sets i to 9, which is the largest index. The driving section 60 responsible for the section i = 9 is the driving section 60d, and therefore the driving control section 110 sets the driving section 60d as the driving section 60t to be controlled at this point in time. Then, the calibration device 100 enters the main loop in the initial setting.

[0081] In step S540, the calibration device 100 sets the application direction of the driving current. In this case, the calibration device 100 sets the application direction of the driving current to the opposite direction to the application direction shown in FIG. 8, that is, if the application direction shown in FIG. 8 is "forward rotation", the application direction of the driving current is set to the reverse direction, and if the application direction shown in FIG. 8 is the reverse direction, the application direction of the driving current is set to "forward rotation". Figure 3 Figure 3 Figure 3 ​​The application direction indicated as "reverse" sets the application direction of the drive current to the forward direction. As an example, in the case of i = 9, Figure 3 The application direction indicated as "forward" sets the application direction of the drive current to the reverse direction. The drive control section 110 supplies a control command to the drive section 60t as a control target to make the drive current the set application direction. Correspondingly, the drive section 60t sets the signs of the first and second buffers 250 and 260 to set the drive current to the designated application direction.

[0082] In step S550, the calibration device 100 sets the drive current to an initial value. For example, the drive control section 110 sets the open-loop control signal SO to make the drive current a predetermined initial value.

[0083] In step S560, the calibration device 100 causes the drive section 60 responsible for the section i to shift to the active mode. For example, the drive control section 110 supplies a mode shift command to the drive section 60t. Thereby, the drive section 60t shifts to the active mode and drives the object 10 by open-loop driving according to the open-loop control signal SO.

[0084] In step S570, the calibration device 100 stands by for a certain period. For example, the switching determination section 130 sets a timer to 100 ms and starts the timer and stands by until the timer expires. Further, in this case, the case where the standby period is set to 100 ms is shown as an example, but is not limited thereto. In the case where the drive section 60t as a control target is driven by open-loop driving, the switching determination section 130 can stand by for any period sufficient to make the drive of the object 10 converge. Further, the "drive convergence" mentioned herein does not mean that the object 10 must be stationary. The switching determination section 130 can stand by for any period at least sufficient to make the object 10 be in a range that can be driven by the drive section 60 responsible for the next section.

[0085] In step S580, the calibration device 100 deactivates the drive section 60 responsible for the section i. For example, in the case where the timer expires, the switching determination section 130 supplies a trigger signal indicating the intention to switch the control target to the drive control section 110. Correspondingly, the drive control section 110 supplies a mode shift command to the drive section 60t as a control target. Thereby, the drive section 60t is deactivated.

[0086] In step S590, the calibration device 100 decrements i. That is, the calibration device 100 sets i = i-1. Correspondingly, the drive control unit 110 switches the drive unit 60t, which is the controlled object. For example, when i is decremented to i = 8, the drive unit 60c is responsible for the interval i = 8, so the drive control unit 110 switches the controlled object from drive unit 60d to drive unit 60c. The calibration device 100 repeats this main loop until i becomes 0, which is the smallest index. That is, the calibration device 100 sequentially controls multiple drive units 60 in the opposite process to driving the object 10 from a position of 0 mm, which is one end of the movable range, to a position of 10 mm, which is the other end, thereby moving the object 10 to the initial position of 0 mm, which is one end of the movable range. In this way, the calibration device 100 performs initial settings for the drive device 50.

[0087] Figure 6 This illustration shows an example of the process by which the calibration apparatus 100 according to this embodiment performs open-loop drive of the drive device 50 to acquire position data and magnetic field data. The calibration apparatus 100 can then... Figure 5 This process is executed by following the initial setup procedure. That is, the calibration device 100 can execute this process after moving the object 10 to the initial position.

[0088] In step S600, the calibration device 100 sets i to 0 as the smallest index. The drive unit 60 responsible for the interval i=0 is drive unit 60a, therefore, the drive control unit 110 sets drive unit 60a as the drive unit 60t to be controlled at this time point. Then, the calibration device 100 enters the main loop.

[0089] In step S602, the calibration device 100 sets the direction of application of the drive current. Here, the calibration device 100 is as follows: Figure 3 The direction of the drive current application is set as shown. For example, when i = 0, Figure 3 The applied direction shown is "forward rotation," therefore, the calibration device 100 sets the applied direction of the drive current to the forward rotation direction. The drive control unit 110 provides a control command to the drive unit 60t, which is the controlled object, so that the drive current becomes the set applied direction. Correspondingly, the drive unit 60t sets the signs of the first buffer 250 and the second buffer 260, and sets the drive current to the specified applied direction.

[0090] In step S604, the calibration device 100 acquires position data. For example, the position acquisition section 120 acquires position data indicating data related to the position of the object 10. At this time, the position acquisition section 120 can acquire measurement data obtained by the laser displacement meter measuring the position of the object 10 as the position data. Thus, the calibration device 100 acquires data indicating the value of the magnetic field in the case where the object 10 is positioned at one end of the section i (initial position). The position acquisition section 120 supplies the acquired position data to the switching determination section 130.

[0091] In step S606, the calibration device 100 sets the drive current to the first value. For example, the drive control section 110 sets the open-loop control signal SO so that the drive current becomes the first value decided in advance.

[0092] In step S608, the calibration device 100 causes the drive section 60 responsible for the section i to shift to the active mode. For example, the drive control section 110 provides the shift instruction of the mode to the drive section 60t. Thus, the drive section 60t shifts to the active mode and drives the object 10 by the open-loop drive in accordance with the open-loop control signal SO.

[0093] In step S610, the calibration device 100 stands by for a certain period. For example, the magnetic field acquisition section 140 sets a timer to 1 ms and causes the timer to start, and stands by until the timer expires. Further, in this case, the case where the standby period is set to 1 ms is shown as an example, but is not limited thereto. The magnetic field acquisition section 140 can stand by for any period optimum for collecting the magnetic field data.

[0094] In step S612, the calibration device 100 acquires the magnetic field data from the drive section 60 responsible for the section i. For example, in the case where the timer expires, the magnetic field acquisition section 140 acquires the magnetic field data detected by the magnetic sensor 80 associated with the drive section 60 responsible for the section i, that is, the drive section 60t as the current control target. The magnetic field acquisition section 140 acquires the magnetic field data from the magnetic sensor 80 associated with the drive section 60 as the control target as such.

[0095] In step S614, the calibration device 100 acquires the magnetic field data from the drive section 60 responsible for the section i+1. For example, the magnetic field acquisition section 140 also acquires the magnetic field data from the magnetic sensor 80 associated with the drive section 60 responsible for the section i+1, that is, the drive section 60 responsible for the next section. As such, the calibration device 100 acquires the magnetic field data from the magnetic sensor 80 associated with the drive section 60 to be the control target next time in addition to the magnetic field data from the magnetic sensor 80 associated with the drive section 60t as the current control target, thereby being able to suppress the lack of the magnetic field data accompanying the switching of the drive section 60 to the minimum.

[0096] In step S616, the calibration device 100 acquires position data. As for step S616, the same as step S604 can be applied, and thus detailed description is omitted here.

[0097] In step S618, the calibration device 100 determines whether the position is 100% or more. Here, one end of each interval is set as a position of 0%, and the other end is set as a position of 100%. As an example, in the interval i = 0, the position of 0 mm is the position of 0%, and the position of 1 mm is the position of 100%. For example, the switching determination section 130 determines whether the position of the object 10 indicated by the position data acquired in step S616 is 100% or more. In the case where it is determined to be less than 100% (in the case of “No”), the calibration device 100 causes the process to proceed to step S620.

[0098] In step S620, the calibration device 100 determines whether the position is 70% or more. For example, the switching determination section 130 determines whether the position of the object 10 indicated by the position data acquired in step S616 is 70% or more. As an example, in the interval i = 0, the switching determination section 130 determines whether the position is 0.7 mm or more. In the case where it is determined to be less than 70% (in the case of “No”), the calibration device 100 causes the process to proceed to step S622.

[0099] In step S622, the calibration device 100 determines whether the position is 50% or more. For example, the switching determination section 130 determines whether the position of the object 10 indicated by the position data acquired in step S616 is 50% or more. As an example, in the interval i = 0, the switching determination section 130 determines whether the position is 0.5 mm or more. In the case where it is determined to be less than 50% (in the case of “No”), the calibration device 100 causes the process to return to step S610 and continue the flow.

[0100] On the other hand, in step S622, in the case where it is determined to be 50% or more (in the case of “Yes”), the calibration device 100 causes the process to proceed to step S624. In step S624, the calibration device 100 sets the drive current to a second value. Further, in the case where the process of step S624 has been performed, the calibration device 100 can skip the process of step S624. For example, the drive control section 110 changes the open-loop control signal SO so that the drive current becomes a second value decided in advance. Here, the second value can be greater than the first value. That is, in the case where it is determined that the position is 50% or more, the drive control section 110 can change the open-loop control signal SO so that the drive current is greater than the drive current in the case where the position is less than 50%. Then, the calibration device 100 causes the process to return to step S610 and continue the flow.

[0101] Further, in step S620, in a case where it is determined that the position is 70% or more (in a case of "Yes"), the calibration device 100 causes the process to proceed to step S626. In step S626, the calibration device 100 sets the drive current to a third value. Further, in a case where the process of step S626 has been performed, the calibration device 100 can skip the process of step S626. For example, the drive control section 110 changes the open-loop control signal SO so that the drive current becomes the third value decided in advance. Here, the third value can be larger than the second value. That is, in a case where it is determined that the position is 70% or more, the drive control section 110 can change the open-loop control signal SO so that the drive current is larger than the drive current in a case where the position is less than 70%. Then, the calibration device 100 causes the process to return to step S610 and continues the flow.

[0102] Thus, the drive control section 110 can control so that the drive current is gradually increased to the first value, the second value, and the third value in a case where the position of the object 10 is less than 50% in each interval, in a case where the position of the object 10 is 50% or more and less than 70% in each interval, and in a case where the position of the object 10 is 70% or more in each interval. As such, when the object 10 is caused to move from one end to the other end in each interval, the drive control section 110 can gradually increase the magnitude of the drive current. Thus, the calibration device 100 can suppress mechanical malfunctions, abnormal noise, and the like caused by causing the object 10 to move sharply. Further, even in a case of a housing that is difficult to move, the calibration device 100 can stably drive the object 10 to the end point of the movable range.

[0103] Further, in the above description, the case where the second value is larger than the first value and the third value is further larger than the second value, that is, the case where the first value < the second value < the third value, is exemplified. However, it is not limited thereto. It can also be the case where the second value is smaller than the first value and the third value is further smaller than the second value. That is, it can also be the case where the first value > the second value > the third value. That is, it can also be the case where the drive control section 110 can be controlled so as to cause the drive current to gradually decrease to the first value, the second value, and the third value in the case where the position of the object 10 is less than 50%, in the case where the position of the object 10 is 50% or more and less than 70%, and in the case where the position of the object 10 is 70% or more. As such, the drive control section 110 can also cause the magnitude of the drive current to gradually decrease when causing the object 10 to move from one end to the other end of each section. Thereby, the calibration device 100 can suppress the absence of the magnetic field data near the other end by causing the moving speed of the object 10 to decrease as the object 10 approaches the other end of each section. Further, in the above description, the case where the drive control section 110 uses three current values of the first value, the second value, and the third value is exemplified, but the number of current values is not limited thereto. The drive control section 110 can also simplify the control by using one or two current values, and can also perform fine control by using four or more current values.

[0104] Further, in step S618, in the case where it is determined that the position is 100% or more ("Yes"), the calibration device 100 causes the process to proceed to step S628. For example, in the case where the position of the object 10 indicated by the position data acquired in step S616 is 100% or more, the switching determination section 130 determines that the object 10 has moved to the other end of the current section. For example, in the case where the position data exceeds the reference stored in advance in this way, the switching determination section 130 can determine that the object 10 has moved to the other end. In step S628, the calibration device 100 deactivates the drive section 60 responsible for the section i. For example, in the case where it is determined that the position of the object 10 is 100% or more, the switching determination section 130 supplies the drive control section 110 with a trigger signal indicating the intention to switch the control target. In correspondence thereto, the drive control section 110 provides the drive section 60t serving as the control target with a mode transition instruction. Thereby, the drive section 60t is deactivated.

[0105] In step S630, the calibration device 100 increments i. That is, the calibration device 100 sets i = i + 1. In correspondence therewith, the drive control section 110 switches the drive section 60t that is the control target. For example, in the case where i is incremented to 2, the drive section 60 responsible for the section i = 2 is the drive section 60b, and therefore the drive control section 110 switches the control target from the drive section 60a to the drive section 60b. The calibration device 100 repeats execution of such a main loop until i becomes 9 that is the largest index. In this way, the calibration device 100 sequentially switches the plurality of drive sections 60 to control the plurality of drive sections 60, drives the object 10 in the movable range, and acquires position data and magnetic field data.

[0106] In step S632, the calibration device 100 outputs the acquired data. For example, the position acquisition section 120 supplies the generation section 150 with the position data acquired by repeating the main loop, and the magnetic field acquisition section 140 supplies the generation section 150 with the magnetic field data acquired by repeating the main loop.

[0107] Figure 7 An example of the position data and the magnetic field data acquired by the calibration device 100 according to the present embodiment is shown. In the present figure, the horizontal axis represents the output of the laser displacement meter as the position data in [μm]. In the present figure, the vertical axis represents the output of the Hall sensor as the magnetic field data in [code]. For example, in the present figure, the section in which the laser output is from 0 μm to 1000 μm represents the section i = 0. The Hall output acquired in this section approximately linearly increasing represents the magnetic field data acquired from the magnetic sensor 80a associated with the drive section 60a responsible for the section i = 0. Also, in the present figure, the section in which the laser output is from 1000 μm to 2000 μm represents the section i = 1. The Hall output acquired in this section approximately linearly decreasing represents the magnetic field data acquired from the magnetic sensor 80b associated with the drive section 60b responsible for the section i = 1.

[0108] As shown in the present figure, it is known that a lack of magnetic field data occurs at the time of switching of each section. As an example, when attention is paid to the switching from the section i = 0 to the section i = 1, it is known that the Hall output in the case where the laser output is exactly 1000 μm cannot be acquired from the magnetic sensor 80a. That is, it can be said that the value of the magnetic field data at the other end of the section i = 0 cannot be acquired. One of the reasons thereof is considered to be that the magnetic field data is sampled at regular intervals (for example, every 1 ms). Also, it is known that the Hall output in the case where the laser output is exactly 1000 μm cannot be acquired from the magnetic sensor 80b. That is, it can be said that the value of the magnetic field data at the one end of the section i = 1 cannot be acquired. One of the reasons thereof is considered to be that the acquisition processing of the magnetic field data cannot be temporarily executed due to the interrupt processing that switches the control target from the drive section 60a to the drive section 60b. The same can be said for the switching between other sections.

[0109] Therefore, the calibration device 100 according to the present embodiment generates end point information by computation based on the position data and the magnetic field data thus acquired. Then, the calibration device 100 decides the drive range in each of the plurality of sections using the generated end point information.

[0110] Figure 8 An example of a flow of the calibration device 100 according to the present embodiment generating end point information and deciding a drive range is shown.

[0111] In step S800, the calibration device 100 drives the object 10 within the movable range. For example, the drive control section 110 drives the object 10 within the movable range for moving the object 10 provided with the lens 20 in the optical axis direction, by sequentially controlling the plurality of drive sections 60 that drive the object 10 within each of the plurality of sections obtained by dividing the movable range, in calibration of the drive device 50 having the plurality of drive sections 60 and the magnetic field detection section 70 that detects a magnetic field corresponding to the position of the object 10.

[0112] In step S810, the calibration device 100 acquires position data. For example, the position acquisition section 120 acquires position data indicating data related to the position of the object 10. The position acquisition section 120 supplies the acquired position data to the generation section 150.

[0113] In step S820, the calibration device 100 acquires magnetic field data. For example, the magnetic field acquisition section 140 acquires magnetic field data indicating a magnetic field corresponding to the position of the object 10. The magnetic field acquisition section 140 supplies the acquired magnetic field data to the generation section 150. The calibration device 100 can perform such processing from step S800 to S820, for example, by the flow of Figure 6

[0114] In step S830, the calibration device 100 generates end point information. For example, the generation section 150 generates end point information indicating the value of the magnetic field data when the object 10 is positioned at each end point (one end and the other end) of the plurality of sections, based on the position data acquired in step S810 and the magnetic field data acquired in step S820. At this time, the generation section 150 can generate the end point information, for example, by regression analysis using the position data and the magnetic field data.

[0115] ​In step S840, the calibration device 100 decides the drive range. For example, the generating section 150 decides each drive range in the plurality of intervals using the end point information generated in step S830. That is, the generating section 150 decides, as the drive range in each interval, a range corresponding to the magnetic field range defined by the value of the magnetic field data in the case where the object 10 is located at one end of the interval and the value of the magnetic field data in the case where the object 10 is located at the other end.

[0116] Figure 9 An example of the end point information generated by the calibration device 100 according to the present embodiment is shown. This figure is an enlarged view of the graph in FIG. 8 Figure 7 from the interval i = 0 to the interval i = 1. The generating section 150 generates a regression curve in the interval i = 0 by performing regression analysis on the position data and the magnetic field data acquired from the magnetic sensor 80a. Then, the generating section 150 generates, as the end point information PCAL0 representing the value of the magnetic field data at the other end of the interval i = 0, the value on the regression curve at the position of 1000 μm. As such, the generating section 150 can interpolate the end point information.

[0117] In addition, the generating section 150 generates a regression curve at the interval i = 1 by performing regression analysis on the position data and the magnetic field data acquired from the magnetic sensor 80b. Then, the generating section 150 generates, as the end point information NCAL1 representing the magnetic field data at one end of the interval i = 1, the value on the regression curve at the position of 1000 μm. As such, the generating section 150 can extrapolate the end point information.

[0118] The calibration device 100 also generates the end point information NCAL at one end and the end point information PCAL at the other end for the other intervals. The calibration device 100 can interpolate the missing data as such.

[0119] Figure 10 An example of the drive range decided by the calibration device 100 according to the present embodiment is shown. In this figure, as an example, the drive range decided for the interval i = 1 is shown. It is assumed that the generating section 150 has generated the end point information NCAL1 representing the value of the magnetic field data at one end of the interval i = 1 and the end point information PCAL1 representing the value of the magnetic field data at the other end. In this case, the generating section 150 defines a magnetic field range by the end point information NCAL1 at one end and the end point information PCAL1 at the other end. Then, the generating section 150 decides, as the drive range in the interval i = 1, a range corresponding to the magnetic field range. The calibration device 100 also decides the drive range for the other intervals.

[0120] Conventionally, endpoint information is obtained by mechanically bringing the object 10 into contact with the endpoint. However, when driving the object 10 over a long distance while sequentially switching multiple drive units, endpoint information for each interval cannot be obtained through mechanical contact. Therefore, the calibration apparatus 100 of this embodiment, when calibrating the drive device 50 that drives the object 100, performs open-loop drive of the drive device 50 to acquire position data and magnetic field data. Then, based on the acquired data, the calibration apparatus 100 generates endpoint information and determines the drive range for each of the multiple intervals obtained by dividing the movable range of the object 10. Thus, according to the calibration apparatus 100 of this embodiment, endpoint information can be generated and the drive range determined even when endpoint information cannot be obtained through mechanical contact. In this case, the calibration apparatus 100 of this embodiment generates endpoint information by using regression analysis of position data and magnetic field data. Thus, according to the calibration apparatus 100 of this embodiment, the value of considerable magnetic field data obtained based on the actually acquired data can be interpolated as endpoint information.

[0121] Figure 11 An example block diagram of the calibration device 100 involved in a variation of this embodiment is shown together with the object 10 and the driving device 50. Figure 11 In the middle, for those with and Figure 1 Components with the same function and structure are given the same reference numerals, and descriptions are omitted except for the following differences. In the calibration apparatus 100 according to the above embodiment, there is a function to generate endpoint information based on data obtained by driving the drive device 50 in an open-loop manner. However, in the calibration apparatus 100 according to this modification, in addition to the functions of the calibration apparatus 100 according to the above embodiment, there is also the function of adjusting the generated endpoint information by driving the drive device 50 in a closed-loop manner. In addition to the functions of the calibration apparatus 100 according to the above embodiment, the calibration apparatus 100 according to this modification also includes an adjustment unit 1100.

[0122] The adjustment unit 1100 adjusts the endpoint information in response to feedback control based on magnetic field data. In this modification, the calibration device 100 performs closed-loop drive of the drive device 50 according to the determined drive range, so that the position of the object 10 is located at the endpoint of each interval. Then, the calibration device 100 acquires position data indicating the current position of the object 10. That is, the calibration device 100 confirms the actual position of the object 10 using a laser displacement meter. Here, if the actual position of the object 10 deviates from the desired position, the adjustment unit 1100 changes the generated endpoint information. Correspondingly, the position of the object 10 is displaced by feedback control. The adjustment unit 1100 repeats this change of endpoint information until the actual position of the object 10 becomes the desired position. In this way, the adjustment unit 1100 adjusts the endpoint information. Then, the calibration device 100 uses the adjusted endpoint information to re-determine the drive range in each interval. The calibration device 100 in this modification can fine-tune the endpoint information in this way.

[0123] Figure 12 An example of a block diagram of the calibration device 100 according to this embodiment is shown together with the object 10 and the driving device 50 according to a modified example. Figure 12 In the middle, for those with and Figure 1 Components with the same function and structure are given the same reference numerals, and descriptions are omitted except for the following differences. In the above embodiment, an example is shown where multiple magnetic sensors 80a to 80d are each composed of a single sensor element. However, in this modified example, multiple magnetic sensors 80a to 80d are each composed of a group of sensor elements.

[0124] For example, magnetic sensor 80a is composed of a group of sensor elements including a first sensor element 81a, a second sensor element 82a, a third sensor element 83a, and a fourth sensor element 84a. Similarly, magnetic sensor 80b is composed of a group of sensor elements including a first sensor element 81b, a second sensor element 82b, a third sensor element 83b, and a fourth sensor element 84b. Furthermore, magnetic sensor 80c is composed of a group of sensor elements including a first sensor element 81c, a second sensor element 82c, a third sensor element 83c, and a fourth sensor element 84c. Finally, magnetic sensor 80d is composed of a group of sensor elements including a first sensor element 81d, a second sensor element 82d, a third sensor element 83d, and a fourth sensor element 84d.

[0125] Here, the first sensor elements 81a to 81d are collectively referred to as the first sensor elements 81, the second sensor elements 82a to 82d are collectively referred to as the second sensor elements 82, the third sensor elements 83a to 83d are collectively referred to as the third sensor elements 83, and the fourth sensor elements 84a to 84d are collectively referred to as the fourth sensor elements 84. In the present drawing, a case where each of the plurality of magnetic sensors 80a to 80d is configured by a sensor element group including the four sensor elements 81 to 84 is illustrated as an example, but is not limited thereto. Each of the plurality of magnetic sensors 80a to 80d can be configured by a sensor element group including two, three, or more than four sensor elements. In the present modification, as such, each of the plurality of magnetic sensors 80a to 80d can be configured by a sensor element group including the plurality of sensor elements 81 to 84. At this time, for example, in a case where each of the plurality of driving sections 60a to 60d and the sensor element group of the magnetic sensor 80a to 80d is configured by one IC, the plurality of sensor elements 81 to 84 can be disposed inside the driving coil 200.

[0126] As such, in a case where each of the plurality of magnetic sensors 80a to 80d is configured by a sensor element group, the magnetic field acquisition section 140 can acquire the magnetic field data from any one of the plurality of sensor elements 81 to 84. Further, for example, such a sensor element is selected in accordance with the position of the object 10 in each section.

[0127] Instead, the magnetic field acquisition section 140 can acquire the magnetic field data from a plurality of sensor elements (for example, all the sensor elements) among the plurality of sensor elements 81 to 84. In this case, the magnetic field acquisition section 140 can acquire the sum, average, or other operation result of the data from the plurality of sensor elements as the magnetic field data. Thus, according to the calibration device 100, it is possible to reduce the difference in output due to individual differences between ICs disposed with a plurality of ICs.

[0128] Figure 13A configuration example of the magnetic sensor 80 in the magnetic field detection section 70 according to the modification of the present embodiment is shown. In the drawing, the horizontal axis represents the optical axis direction of the lens 20. In the drawing, the vertical axis represents a direction orthogonal to the optical axis direction. In the drawing, a case where installation errors are generated in the directions orthogonal to the optical axis direction with respect to the plurality of magnetic sensors 80a to 80d is shown as an example. For example, the magnetic sensor 80a can have an installation error ab with respect to the magnetic sensor 80b. In addition, the magnetic sensor 80c can have an installation error cb (> installation error ab) with respect to the magnetic sensor 80b. In addition, the magnetic sensor 80d can have an installation error db (> installation error ab and < installation error cb) with respect to the magnetic sensor 80b. In such a case, the distance of the magnetic sensor 80a from the magnet 30 < the distance of the magnetic sensor 80d from the magnet 30 < the distance of the magnetic sensor 80c from the magnet 30, and thus the size of the magnetic field detected by the magnetic sensor 80a > the size of the magnetic field detected by the magnetic sensor 80d > the size of the magnetic field detected by the magnetic sensor 80c. Thus, the outputs of the magnetic sensors 80 can generate differences due to the installation errors.

[0129] Therefore, in each of the plurality of magnetic sensors 80a to 80d, the plurality of sensor elements 81 to 84 are respectively arranged so as to be offset in the optical axis direction and in the direction orthogonal to the optical axis direction (a direction other than the optical axis direction). In the drawing, a case where the plurality of sensor elements 81 to 84 are arranged so as to be offset in the direction orthogonal to the optical axis direction in addition to the optical axis direction is shown as an example. In this case, for example, the distance from the magnet in the direction orthogonal to the optical axis direction can be adjusted so as to reduce the influence of the installation errors by selecting the third sensor element 83a with respect to the magnetic sensor 80a, selecting the fourth sensor element 84b with respect to the magnetic sensor 80b, selecting the first sensor element 81c with respect to the magnetic sensor 80c, and selecting the second sensor element 82b with respect to the magnetic sensor 80d.

[0130] Further, in the above description, the installation error in the direction orthogonal to the optical axis direction is shown as an example, but the plurality of magnetic sensors 80a to 80d can also generate installation errors in the optical axis direction. That is, the plurality of magnetic sensors 80a to 80d should be arranged at equal intervals along the optical axis direction, but can be installed with different intervals in the optical axis direction due to installation errors. Even in this case, by selecting the most appropriate sensor element in each of the plurality of magnetic sensors 80a to 80d, the influence of the installation errors can be reduced. Thus, according to the calibration device 100, the difference in the outputs due to the installation errors between the plurality of ICs arranged in the plurality of magnetic sensors 80a to 80d can be reduced.

[0131] As such, in the present modification example, the plurality of magnetic sensors 80a to 80d can each be constituted by a sensor element group including a plurality of sensor elements 81 to 84. Also, the magnetic field acquisition section 140 can acquire magnetic field data from at least one of the plurality of sensor elements 81 to 84.

[0132] Up to this point, a part of the specific modes in which the present application can be implemented has been exemplified, but the present application can be applied to or modified into various modes.

[0133] For example, in the above description, the case where the position acquisition section 120 acquires, as position data, measurement data obtained by the laser displacement meter measuring the position of the object 10 is exemplified as an example. However, it is not limited thereto. The position acquisition section 120 can also acquire a magnetic field generated when the object 10 moves as position data. In a case where the change in magnetic field data generated in association with the movement of the object 10 is known, the position acquisition section 120 can also acquire the magnetic field data as position data.

[0134] In this case, the switching determination section 130 can also determine that the object has moved to the other end of each section in a case where the magnitude of the magnetic field generated when the object 10 moves exceeds a threshold value stored in advance. Alternatively or additionally, the switching determination section 130 can determine that the object 10 has moved to the other end of each section in a case where the magnitude of the differential value of the magnetic field generated when the object 10 moves is smaller than a threshold value stored in advance (i.e., the change in the magnetic field is saturated). The switching determination section 130 can also determine that the object 10 has moved to the other end, for example, in a case where the position data exceeds a reference stored in advance. As such, the position acquisition section 120 can acquire at least either one of measurement data obtained by measuring the position of the object 10 and a magnetic field generated when the object 10 moves as position data.

[0135] Various embodiments of the present application can be described in the general context of a flow diagram and block diagram, where each block represents a process stage or a portion of a device that performs the process stage. Specific stages and portions can be implemented by special-purpose circuits, programmable circuits supplied with computer-readable instructions stored on a computer-readable medium, and / or processors supplied with computer-readable instructions stored on a computer-readable medium. Special-purpose circuits can include digital and / or analog hardware circuits, and can include integrated circuits (ICs) and / or discrete circuits. Programmable circuits can include hardware circuits for logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, reconfigurable hardware circuits including memory elements such as flip-flops, registers, field-programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

[0136] A computer-readable medium can include any tangible device that can store instructions for execution by an appropriate device, and as a result, the computer-readable medium having instructions stored therein is caused to be a product including a unit capable of being created for executing the operations specified in the flow diagram or block diagram by executing the instructions. As examples of the computer-readable medium, electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like can be included. As more specific examples of the computer-readable medium, Floppy (registered trademark) disks, magnetic disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact discs read-only memories (CD-ROMs), digital versatile discs (DVDs), Blu-ray (RTM) discs, memory sticks, integrated circuit cards, and the like can be included.

[0137] Computer-readable instructions can include any of assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or any combination of source code and object code described by one or more programming languages, including object-oriented programming languages and prior procedural programming languages. Object-oriented programming languages are, for example, Smalltalk (registered trademark), JAVA (registered trademark), C++, and the like. Prior procedural programming languages are, for example, the "C" programming language or the like.

[0138] The computer readable instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart block or blocks or in the frame diagrams. Such processors include, but are not limited to, a computer processor, a processing unit of a computer processor, a digital signal processor, an application specific integrated circuit, a microprocessor, microprocessor-based system, microcontroller, programmable logic controller, field programmable gate array, any programmable gate device, or the like.

[0139] Figure 14 An example of a computer 9900 in which the modes of the present application can be embodied in whole or in part is shown. A program installed in the computer 9900 is capable of causing the computer 9900 to function as an operation associated with the apparatus or one or more parts of the apparatus related to the embodiments of the present application, or to execute the operation or the one or more parts, and / or to execute a process or a stage of the process related to the embodiments of the present application. The program can be executed by the CPU 9912 to cause the computer 9900 to execute a specific operation associated with several or all of the blocks in the flowcharts and the frame diagrams described in this specification.

[0140] The computer 9900 related to the embodiments of the present application includes a CPU 9912, a RAM 9914, a graphics controller 9916, and a display device 9918, which are connected to each other through a host controller 9910. The computer 9900 further includes a communication interface (I / F) 9922, a hard disk drive 9924, a DVD drive 9926, and an input / output unit such as an IC card drive, which are connected to the host controller 9910 via an input / output (I / O) controller 9920. The computer further includes a ROM 9930 and a conventional input / output unit such as a keyboard 9942, which are connected to the input / output controller 9920 via an input / output (I / O) chip 9940.

[0141] The CPU 9912 acts in accordance with a program stored in the ROM 9930 and the RAM 9914, thereby controlling the units. The graphics controller 9916 displays image data on the display device 9918 by acquiring image data generated in a frame buffer or the like provided by the CPU 9912 in the RAM 9914 or in the RAM 9914 itself.

[0142] The communication interface 9922 communicates with other electronic devices via a network. The hard disk drive 9924 holds programs and data used by the CPU 9912 in the computer 9900. The DVD drive 9926 reads programs or data from the DVD-ROM 9901, and supplies the programs or data to the hard disk drive 9924 via the RAM 9914. The IC card drive reads programs and data from an IC card, and / or writes programs and data to the IC card.

[0143] The ROM 9930 holds a boot program or the like executed by the computer 9900 at activation, and / or a program dependent on the hardware of the computer 9900. The input / output chip 9940 can connect various input / output units to the input / output controller 9920 via a parallel port, a serial port, a keyboard port, a mouse port, or the like.

[0144] A program is provided by a computer-readable medium such as the DVD-ROM 9901 or an IC card. The program is read from the computer-readable medium, installed in the hard disk drive 9924, the RAM 9914, or the ROM 9930, which are examples of computer-readable media, and executed by the CPU 9912. Information processing described in these programs is read by the computer 9900, and cooperation between the program and various types of hardware resources described above is implemented. An apparatus or a method can be constituted by implementing the operation or processing of information with the use of the computer 9900.

[0145] For example, in a case where communication is performed between the computer 9900 and an external device, the CPU 9912 can execute a communication program loaded into the RAM 9914, and instruct the communication interface 9922 to perform communication processing based on processing described in the communication program. The communication interface 9922 reads transmission data held in a transmission buffer processing area provided in the RAM 9914, the hard disk drive 9924, the DVD-ROM 9901, or a recording medium such as an IC card under the control of the CPU 9912, transmits the read transmission data to a network, or writes reception data received from the network to a reception buffer processing area provided on a recording medium, or the like.

[0146] In addition, the CPU 9912 can read all or a necessary part of a file or a database held in the hard disk drive 9924, the DVD drive 9926 (DVD-ROM 9901), an external recording medium such as an IC card, or the like to the RAM 9914, and perform various types of processing on the data on the RAM 9914. Subsequently, the CPU 9912 can write back the processed data to the external recording medium.

[0147] Various types of programs, data, tables, and various types of information such as databases can be saved in the recording medium and subjected to information processing. The CPU 9912 can perform various types of processing on data read out from the RAM 9914, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, search or replacement of information, and the like, specified by an instruction sequence of a program as recited in the present disclosure, and the CPU 9912 can write back the results to the RAM 9914. In addition, the CPU 9912 can search for information in files, databases, and the like within the recording medium. For example, in a case where a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are saved within the recording medium, the CPU 9912 can search for an entry that matches a condition of specifying an attribute value of the first attribute from among the plurality of entries, read the attribute value of the second attribute saved within the entry, and read the second attribute value, thereby acquiring the attribute value of the second attribute associated with the first attribute that satisfies a condition decided in advance.

[0148] The programs or software modules explained above can be saved on the computer 9900 or a computer readable medium of the computer 9900. In addition, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer readable medium, whereby a program is provided to the computer 9900 via a network.

[0149] The above has explained the present application using embodiments, but the scope of the protection of the present application is not limited to the range recited in the above embodiments. It should be clear to those skilled in the art that various changes or improvements can be made to the above embodiments. It can be clear from the recitations of the claims that such changed or improved modes are also included in the scope of the protection of the present application.

[0150] It should be noted that the order of execution of each process such as actions, processes, steps, and stages in the apparatus, system, program, and method shown in the claims, specification, and drawings can be implemented in any order as long as there is no special note such as "before," "prior to," and the like, and the output of the preceding process is not used in the following process. As for the flow of actions in the claims, specification, and drawings, "first," "next," and the like are used for convenience in explanation, but this does not mean that it must be implemented in this order.

[0151] Explanation of Reference Numerals

[0152] 10: object; 20: lens; 30: magnet; 50: drive device; 60: drive section; 70: magnetic field detection section; 80: magnetic sensor; 81: first sensor element; 82: second sensor element; 83: third sensor element; 84: fourth sensor element; 100: calibration device; 110: drive control section; 120: position acquisition section; 130: switching determination section; 140: magnetic field acquisition section; 150: generation section; 200: drive coil; 210: driver; 220: position command section; 230: differential amplifier; 240: switch; 250: first buffer; 260: second buffer; 270: first output driver; 280: second output driver; 1100: adjustment section; 9900: computer; 9901: DVD-ROM; 9910: main controller; 9912: CPU; 9914: RAM; 9916: graphics controller; 9918: display device; 9920: input / output controller; 9922: communication interface; 9924: hard disk drive; 9926: DVD drive; 9930: ROM; 9940: input / output chip; 9942: keyboard.

Claims

1. A calibration device comprising: The drive control unit, in the calibration of the drive device having a magnetic field detection unit and multiple drive units, sequentially controls the multiple drive units to drive the object within a movable range for moving the object with the lens along the optical axis direction. The multiple drive units drive the object in each of the multiple intervals obtained by dividing the movable range. The magnetic field detection unit detects the magnetic field corresponding to the position of the object. A location acquisition unit acquires location data that represents data related to the location of the object. The magnetic field acquisition unit acquires magnetic field data representing the magnetic field corresponding to the position of the object; as well as The generation unit generates endpoint information based on the position data and the magnetic field data, representing the values ​​of the magnetic field data when the object is located at each endpoint of the plurality of intervals, and uses the endpoint information to determine each driving range in the plurality of intervals.

2. The calibration device according to claim 1, characterized in that, The drive control unit controls one of the multiple drive units responsible for the interval where the object is located, based on the position of the object.

3. The calibration device according to claim 2, characterized in that, It also includes a switching determination unit that determines the switching of the controlled object based on the position data. The drive control unit switches the controlled object based on the result of the determination.

4. The calibration device according to claim 3, characterized in that, When the object moves from one end of each interval to the other, the switching determination unit determines that the controlled object should be switched to the drive unit responsible for the next interval.

5. The calibration device according to claim 4, characterized in that, If the location data exceeds a pre-stored reference, the switching determination unit determines that the object has moved to the other end.

6. The calibration apparatus according to claim 4 or 5, characterized in that, The magnetic field detection unit includes multiple magnetic sensors associated with the multiple driving units. The magnetic field acquisition unit acquires the magnetic field data from a magnetic sensor associated with the drive unit, which is the object of control.

7. The calibration apparatus according to claim 6, characterized in that, The magnetic field acquisition unit also acquires the magnetic field data from a magnetic sensor associated with the drive unit responsible for the next interval.

8. The calibration apparatus according to claim 6, characterized in that, The plurality of magnetic sensors are each composed of a sensor element group comprising multiple sensor elements. The magnetic field acquisition unit acquires the magnetic field data from at least one of the plurality of sensor elements.

9. The calibration apparatus according to claim 8, characterized in that, The plurality of sensor elements are arranged in a staggered manner along the optical axis and in directions intersecting the optical axis.

10. The calibration apparatus according to claim 8, characterized in that, The plurality of drive units, each of which is a drive unit and the magnetic sensor associated with that drive unit, are configured into a package.

11. The calibration apparatus according to claim 10, characterized in that, The plurality of sensor elements of each magnetic sensor are disposed inside a drive coil in the drive unit associated with the magnetic sensor for driving a magnet disposed on the object.

12. The calibration apparatus according to claim 6, characterized in that, The plurality of driving units and the plurality of magnetic sensors are integrally packaged into one package.

13. The calibration apparatus according to claim 8, characterized in that, The magnetic field acquisition unit acquires the calculation results of data from two or more of the plurality of sensor elements as the magnetic field data.

14. The calibration apparatus according to claim 9, characterized in that, The magnetic field acquisition unit selects the sensor element of each magnetic sensor for acquiring the magnetic field data based on the spacing between the sensor elements of each magnetic sensor in the optical axis direction, or the distance of the sensor element of each magnetic sensor from the magnet in a direction orthogonal to the optical axis direction.

15. The calibration apparatus according to any one of claims 1 to 5, characterized in that, The generation unit generates the endpoint information by using regression analysis of the location data and the magnetic field data.

16. The calibration apparatus according to claim 15, characterized in that, The generation unit performs interpolation or extrapolation of the endpoint information based on the generated endpoint information.

17. The calibration apparatus according to any one of claims 1 to 5, characterized in that, The position acquisition unit acquires at least one of the measurement data obtained from determining the position of the object and the magnetic field generated by the object when it moves, as the position data.

18. The calibration apparatus according to any one of claims 1 to 5, characterized in that, It also includes the aforementioned drive device.

19. The calibration apparatus according to claim 18, characterized in that, Each of the plurality of driving units includes: a driving coil that drives a magnet disposed on the object; and a driver that supplies driving current to the driving coil. The drive control unit controls the drive current supplied from the driver to the drive coil.

20. The calibration apparatus according to claim 19, characterized in that, The driver is capable of reversing the direction of the drive current supplied to the drive coil in response to a control command from the drive control unit.

21. The calibration apparatus according to claim 19 or 20, characterized in that, When the drive control unit moves the object from one end to the other in each interval, it gradually increases the magnitude of the drive current.

22. The calibration apparatus according to claim 19 or 20, characterized in that, When the drive control unit moves the object from one end of each interval to the other, it gradually reduces the magnitude of the drive current.

23. The calibration apparatus according to any one of claims 1 to 5, characterized in that, It also includes an adjustment unit that adjusts the endpoint information in response to feedback control based on the magnetic field data being executed.

24. The calibration apparatus according to claim 23, characterized in that, The calibration device uses the endpoint information adjusted by the adjustment unit to redetermine the driving range in each interval.

25. A calibration method, comprising: In the calibration of a drive device having a magnetic field detection unit and multiple drive units, the multiple drive units are controlled sequentially to drive the object within a movable range for moving the object with the lens along the optical axis direction. The multiple drive units drive the object in each of the multiple intervals obtained by dividing the movable range. The magnetic field detection unit detects the magnetic field corresponding to the position of the object. Acquire location data that represents data related to the location of the object; Obtain magnetic field data representing the magnetic field corresponding to the position of the object; as well as Based on the location data and the magnetic field data, endpoint information is generated representing the values ​​of the magnetic field data when the object is located at each endpoint of the plurality of intervals, and the endpoint information is used to determine each driving range in the plurality of intervals.

26. A computer program product comprising a calibration program executed by a computer, causing the computer to function as: The drive control unit, in the calibration of the drive device having a magnetic field detection unit and multiple drive units, sequentially controls the multiple drive units to drive the object within a movable range for moving the object with the lens along the optical axis direction. The multiple drive units drive the object in each of the multiple intervals obtained by dividing the movable range. The magnetic field detection unit detects the magnetic field corresponding to the position of the object. A location acquisition unit acquires location data that represents data related to the location of the object. The magnetic field acquisition unit acquires magnetic field data representing the magnetic field corresponding to the position of the object; as well as The generation unit generates endpoint information based on the position data and the magnetic field data, representing the values ​​of the magnetic field data when the object is located at each endpoint of the plurality of intervals, and uses the endpoint information to determine each driving range in the plurality of intervals.

27. A computer-readable medium storing a calibration program executed by a computer, the calibration program causing the computer to function as: The drive control unit, in the calibration of the drive device having a magnetic field detection unit and multiple drive units, sequentially controls the multiple drive units to drive the object within a movable range for moving the object with the lens along the optical axis direction. The multiple drive units drive the object in each of the multiple intervals obtained by dividing the movable range. The magnetic field detection unit detects the magnetic field corresponding to the position of the object. A location acquisition unit acquires location data that represents data related to the location of the object. The magnetic field acquisition unit acquires magnetic field data representing the magnetic field corresponding to the position of the object; as well as The generation unit generates endpoint information based on the position data and the magnetic field data, representing the values ​​of the magnetic field data when the object is located at each endpoint of the plurality of intervals, and uses the endpoint information to determine each driving range in the plurality of intervals.

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