Control Method, Control Device, Imaging Device, and Computer-Readable Medium

Abstract

A control method, a control device, a camera device, and a computer-readable medium are provided. The control method includes the following stages: acquiring target posture information representing a target posture of a movable member using components of m degrees of freedom associated with movement or rotation of the movable member; deriving correction information representing a correction component based on at least one of m+n values corresponding to m+n positions of the movable member indicated by each position information, the correction component being used to correct an error in the target position of each of the m+n positions of the movable member caused by a component of at least one of n degrees of freedom other than the m degrees of freedom associated with movement or rotation of the movable member; deriving a target position for each of the m+n positions of the movable member based on the components of the m degrees of freedom indicated by the target posture information and the correction component indicated by the correction information; and outputting each target position information representing each target position to m+n control circuits.

Description

Technical Field

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

[0002] Patent Document 1 discloses adjusting a measurement value from a position sensor using a closed-loop drive signal applied to an optical image stabilization actuator to improve estimation of the position of a moving object and compensate for crosstalk between axes of the optical image stabilization.

[0003] Patent Document 1: U.S. Patent No. 9,560,247 Summary of the Invention

[0004] Problems to be solved by the invention

[0005] When the posture of the movable member is brought to a target posture by driving a plurality of actuators, the movable member may not reach the target position, resulting in an increase in power consumption by the actuators.

[0006] Solutions for solving problems

[0007] A program according to one embodiment of the present invention may be a program for causing a computer to function as a control device that controls m+n (m and n are positive integers) control circuits, each of which independently controls m+n actuators that cause a movable member to move or rotate with m degrees of freedom. The program may cause the computer to execute the following steps: acquiring position information representing each of the m+n positions of the movable member from a detection unit that detects each of the m+n positions of the movable member. The program may cause the computer to execute the following steps: acquiring target posture information representing a target posture of the movable member using components of the m degrees of freedom associated with the movement or rotation of the movable member. The program may cause the computer to execute the following steps: deriving correction information representing a correction component based on at least one of the m+n values corresponding to the m+n positions of the movable member indicated by each position information, the correction component being used to correct errors in the target position of each of the m+n positions of the movable member caused by a component of at least one of the n degrees of freedom other than the m degrees of freedom associated with the movement or rotation of the movable member. The program can cause a computer to execute the following steps: deriving a target position for each of the m+n positions of the movable member based on the components of the m degrees of freedom indicated by the target posture information and the correction components indicated by the correction information. The program can cause the computer to execute the following steps: outputting target position information indicating each target position to each of the m+n control circuits so that the movable member assumes the target posture.

[0008] The correction component may include a correction component for each degree of freedom of the components of the n degrees of freedom.

[0009] The stage of deriving correction information may include the following stage: setting m+n values corresponding to the m+n positions of the movable member indicated by each position information as variables, and deriving correction information according to an algorithm determined by an (m+n)×(m+n) matrix.

[0010] The stage of exporting correction information may include the following stages: setting m+n values corresponding to the m+n positions of the movable component indicated by each position information as variables, exporting the components of the m degrees of freedom associated with the movement or rotation of the movable component according to a predetermined m×(m+n) matrix, exporting m+n variables according to a predetermined (m+n)×m matrix equivalent to the inverse transformation of the predetermined m×(m+n) matrix, and exporting the correction information by exporting the difference between the m+n values corresponding to the m+n positions of the movable component indicated by each position information and the m+n variables.

[0011] The correction component may include a correction component for the sum of the components of n degrees of freedom.

[0012] The detection unit may include m+n position sensors. The m+n control circuits and the m+n position sensors may be integrated to form m+n integrated circuits.

[0013] Each of the m+n actuators may be an electromagnetic actuator. Each of the m+n position sensors may be a magnetic sensor.

[0014] Each of the m+n control circuits can independently control each of the m+n actuators by PID (Proportional Integral Derivative) control based on each target position.

[0015] m may be 3 and n may be 1. The movable member may be driven by m+n actuators to move along the first direction and the second direction and to rotate about a first rotation axis intersecting a plane along the first direction and the second direction.

[0016] m may be 3 and n may be 1. The movable member may be driven by m+n actuators to move along the first direction and rotate about a first rotation axis and a second rotation axis along a plane intersecting the first direction.

[0017] m may be 1, and n may be an integer greater than or equal to 1. The movable member may be driven by m+n actuators to move along the first direction.

[0018] A control device according to one embodiment of the present invention may be a control device for controlling m+n (m and n are positive integers) control circuits, each of which independently controls m+n actuators that cause a movable member to move or rotate with m degrees of freedom. The control device may include a position information acquisition unit that acquires position information indicating each of the m+n positions of the movable member from a detection unit that detects each of the m+n positions of the movable member. The control device may include a target posture information acquisition unit that acquires target posture information indicating a target posture of the movable member using components of the m degrees of freedom associated with the movement or rotation of the movable member. The control device may include a correction information deriving unit that derives, based on at least one of m+n values corresponding to the m+n positions of the movable member indicated by each position information, correction information indicating a correction component for correcting an error in a target position of each of the m+n positions of the movable member caused by a component of at least one of n degrees of freedom other than the m degrees of freedom associated with movement or rotation of the movable member. The control device may include a target position deriving unit that derives a target position for each of the m+n positions of the movable member based on the components of the m degrees of freedom indicated by the target posture information and the correction component indicated by the correction information. The control device may include an output unit that outputs each target position information indicating each target position to each of the m+n control circuits so that the movable member assumes the target posture.

[0019] An imaging device according to one embodiment of the present invention may include the control device described above, an imaging element, an optical system for forming an image of an object on an imaging surface of the imaging element, m+n actuators, and a detection unit for detecting each of the m+n positions of a movable member. The movable member may be the imaging element or the optical system.

[0020] The detection unit may include m+n position sensors, each of the m+n actuators may be an electromagnetic actuator, and each of the m+n position sensors may be a magnetic sensor.

[0021] Each of the m+n control circuits and each of the m+n position sensors may be integrated to form m+n integrated circuits.

[0022] m may be 3 and n may be 1. The movable member may be an imaging element. The imaging element may be driven by m+n actuators to move along a first direction and a second direction, and to rotate about a first rotation axis intersecting a plane along the first direction and the second direction, thereby performing image shake correction.

[0023] m may be 3 and n may be 1. The movable member may be an optical system. The optical system may be driven by m+n actuators to move along a first direction and rotate about a first rotation axis and a second rotation axis along a plane intersecting the first direction, thereby performing at least one of image shake correction and focus control.

[0024] m may be 1, and n may be an integer greater than 1. The movable member may be an optical system. The optical system may be driven by m+n actuators to move along the first direction to perform focus control or zoom control.

[0025] A control method according to one embodiment of the present invention may be a control method for controlling m+n (m and n are positive integers) control circuits, each of which independently controls each of the m+n actuators that causes a movable member to move or rotate with m degrees of freedom. The control method may include the following step: acquiring position information representing each of the m+n positions of the movable member from a detection unit that detects each of the m+n positions of the movable member. The control method may include the following step: acquiring target posture information representing a target posture of the movable member using components of the m degrees of freedom associated with the movement or rotation of the movable member. The control method may include the following step: deriving correction information representing a correction component based on at least one of the m+n values corresponding to the m+n positions of the movable member indicated by each position information, the correction component being used to correct errors in the target position of each of the m+n positions of the movable member caused by a component of at least one of the n degrees of freedom other than the m degrees of freedom associated with the movement or rotation of the movable member. The control method may include the following steps: deriving a target position for each of the m+n positions of the movable member based on the components of the m degrees of freedom indicated by the target posture information and the correction components indicated by the correction information. The control method may also include the following steps: outputting target position information indicating each target position to each of the m+n control circuits so that the movable member assumes the target posture.

[0026] In addition, the above summary of the invention does not list all the features of the present invention. In addition, sub-combinations of these feature groups can also constitute inventions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a diagram showing an example of an imaging device according to this embodiment.

[0028] Figure 2 It is a diagram showing the movement and rotation of the imaging element.

[0029] Figure 3 It is a diagram showing how the electromagnetic actuator is driven.

[0030] Figure 4 This is a diagram showing a state in which a movable member is driven by two electromagnetic actuators.

[0031] Figure 5 This is a diagram showing a state where four electromagnetic actuators and four position sensors are arranged on a substrate.

[0032] Figure 6A This is a diagram for explaining the point at which the electromagnetic actuator applies a thrust having a component in the X direction to the substrate.

[0033] Figure 6B This is a diagram for explaining the point at which the electromagnetic actuator applies a thrust having a Y-direction component to the substrate.

[0034] Figure 6C This is a diagram for explaining the point at which the electromagnetic actuator applies a thrust having a rotational component to the substrate.

[0035] Figure 6D This is a diagram for explaining the components of the remaining degree of freedom applied to the substrate by the electromagnetic actuator.

[0036] Figure 7 This is a diagram showing an example of functional blocks of an imaging device.

[0037] Figure 8 This is a diagram showing an example of a circuit configuration of an image pickup device driving section.

[0038] Figure 9 This is a diagram for explaining the case where the focus lens is moved and rotated with one linear movement degree of freedom and two rotational degrees of freedom.

[0039] Figure 10 This is a diagram for explaining a case where the zoom lens is moved with one straight-ahead degree of freedom.

[0040] Figure 11 This is a diagram for explaining a case where the zoom lens is moved with one straight-ahead degree of freedom.

[0041] Figure 12 This is a diagram showing an example of a hardware configuration. DETAILED DESCRIPTION

[0042] The present invention will be described below by way of embodiments of the invention, but the following embodiments are not intended to limit the invention as defined in the claims. Furthermore, the combination of features described in the embodiments is not necessarily essential for the solution to the problem of the invention.

[0043] Figure 1An example of the imaging device 10 according to this embodiment is shown. A portable terminal such as a mobile phone, a tablet computer, a notebook computer, or a small computer can function as the imaging device 10 .

[0044] The camera 10 captures an object 20. If the user holding the camera 10 moves or rotates the camera 10, image vibration may occur in the captured image. For example, during the capture, the user may move the camera 10 in the X direction, Y direction, Z direction, or angle θ. X , angle θ Y and the angle θ Z Move or rotate in the direction of X Indicates the rotation angle around the X axis, angle θ Y Indicates the rotation angle around the Y axis, angle θ Z The image pickup device 10 detects its own movement and rotation directions and moves or rotates the optical system such as the lens or the image pickup element in a direction opposite to the detected movement direction to correct image shake.

[0045] Figure 2 The figure shows the movement and rotation of the imaging element 120. The imaging element 120 can move within the XY plane and can rotate about an axis along the Z axis intersecting the XY plane. The imaging device 10 corrects image shake by moving the imaging element 120 in the XY plane in a direction opposite to the detected direction of movement and rotation of the imaging element 120 or rotating the imaging element 120 about an axis along the Z axis.

[0046] As an actuator serving as a driving source for driving the imaging element 120 , an electromagnetic actuator, ie, a voice coil motor, can be used. Figure 3 2 is a diagram illustrating the driving state of electromagnetic actuator 210. Electromagnetic actuator 210 includes air-core coil 212 and magnet 214. Substrate 122 is an example of a movable member, and imaging element 120 is disposed on substrate 122. That is, imaging element 120 is movable together with substrate 122.

[0047] When current flows through the air-core coil 212 within the magnetic field of the magnet 214, a force is generated in the air-core coil 212 in a direction perpendicular to the magnetic field. This generates a thrust in the direction of arrow 230 on the substrate 122. A position sensor 224 is disposed within the air-core portion 2241 of the air-core coil 212 on the substrate 122. The position sensor 224 can be a magnetic sensor such as a Hall effect element. The position sensor 224 can output a voltage corresponding to changes in the magnetic field. As the substrate 122 moves, the positional relationship between the position sensor 224 and the magnet 214 changes, and the magnitude of the magnetic field detected by the position sensor 224 changes. Thus, the position sensor 224 detects the position of the position sensor 224 relative to the magnet 214, that is, the position of the substrate 122 relative to the magnet 214. In this embodiment, the air-core coil 212 is disposed on the substrate 122. However, the magnet 214 can also be disposed on the substrate 122.

[0048] Figure 4 The following illustrates a case where movable member 12, such as substrate 122, is driven by two electromagnetic actuators 210A and 210B. When movable member 12 is driven by electromagnetic actuators 210A and 210B, there is a case where, while position 240B of position sensor 224B, moved by one electromagnetic actuator 210B, reaches target position 242B relative to magnet 214B, position 240A of position sensor 224A, moved by the other electromagnetic actuator 210A, does not reach target position 242A relative to magnet 214A. In this case, current is also passed through air-core coil 212A of the other electromagnetic actuator 210A to bring position 240A of position sensor 224A to target position 242A relative to magnet 214A. Thus, when position 240A of position sensor 224A reaches target position 242A relative to magnet 214A, position 240B of position sensor 224B deviates from target position 242B relative to magnet 214B. As the above-described operation is repeated, current continues to flow through air-core coil 212A and air-core coil 212B, potentially increasing the power consumed by electromagnetic actuators 210A and 210B.

[0049] Furthermore, there are cases where position sensor 224A's position 240A has not reached target position 242A relative to magnet 214A, and position sensor 224B's position 240B has not reached target position 242B relative to magnet 214B. In such cases, while movable member 12 maintains its current posture, current is continuously flowing through air-core coil 212A of electromagnetic actuator 210A to bring position sensor 224A's position 240A relative to magnet 214A to target position 242A, and current is also continuously flowing through air-core coil 212B of electromagnetic actuator 210B to bring position sensor 224B's position 240B relative to magnet 214B to target position 242B. This may result in an increase in the power consumed by electromagnetic actuators 210A and 210B.

[0050] These phenomena occur because the position of movable member 12 detected by position sensors 224A and 224B deviates from the actual position of movable member 12 due to manufacturing errors in position sensors 224A and 224B or the influence of surrounding magnetic fields other than the magnetic fields of magnets 214A and 214B. This factor makes it impossible to derive solutions to the simultaneous equations for the detected position of movable member 12 and the target position, as described below. Furthermore, if electromagnetic actuators 210A and 210B are independently controlled, this inability to derive solutions to the simultaneous equations may result in increased power consumption. That is, in the case of feedback control such as the detection result of the position sensor 224A being used for the feedback control of the electromagnetic actuator 210A but not for the feedback control of the electromagnetic actuator 210B, or the detection result of the position sensor 224B being used for the feedback control of the electromagnetic actuator 210B but not for the PID control of the electromagnetic actuator 210A, an increase in power consumption may occur due to the inability to derive the solution of the simultaneous equations.

[0051] This phenomenon can be prevented if the target positions of the movable member 12 for achieving the target posture of the movable member 12 are aligned with the positions detected by the position sensors 224. In other words, this phenomenon can be prevented if the target positions of the movable member 12 for achieving the target posture of the movable member 12 can be derived with high accuracy, taking into account the positional deviations in the position sensors 224.

[0052] Figure 5The figure shows a state where four electromagnetic actuators 210A, 210B, 210C, and 210D (hereinafter sometimes collectively referred to as electromagnetic actuators 210) and four position sensors 224A, 224B, 224C, and 224D (hereinafter sometimes collectively referred to as position sensors 224) are arranged on substrate 122. Under the thrust from the four electromagnetic actuators 210, substrate 122 moves with three degrees of freedom in the X and Y directions and rotates about a rotation axis along the Z axis perpendicular to the XY plane.

[0053] like Figure 6A As shown, the electromagnetic actuator 210A and the electromagnetic actuator 210B apply thrusts of the component X1 and the component X2 in the X direction of the coordinate system of the substrate 122 to the substrate 122. Figure 6B As shown, the electromagnetic actuator 210C and the electromagnetic actuator 210D apply thrusts of the component Y1 and the component Y2 in the Y direction of the XY coordinate system of the substrate 122 to the substrate 122. Figure 6C As shown, the electromagnetic actuators 210A, 210B, 210C, and 210D apply a thrust of a rotational component θ to the substrate 122 by synthesizing the thrust components X1, X2, X3, and X4. Figure 6D As shown, when the position detected by the position sensor 224 contains an error, in addition to the X component, Y component and rotation component θ that contribute to the movement and rotation of the substrate 122, there is also a remaining degree of freedom component R that is useless for the movement and rotation of the substrate 122 and should not exist.

[0054] Here, the position of the electromagnetic actuator 210A in the coordinate system A detected by the position sensor 224A is set to x1. The position of the electromagnetic actuator 210B in the coordinate system B detected by the position sensor 224B is set to x2. The position of the electromagnetic actuator 210C in the coordinate system C detected by the position sensor 224C is set to y1. The position of the electromagnetic actuator 210D in the coordinate system D detected by the position sensor 224D is set to y2. In addition, the target positions corresponding to the target posture (X, Y, θ) to be detected by each position sensor 224 are set to x1. T 、x2 T 、y1 T ,y2 T .

[0055] Target pose (X, Y, θ) and target position (x1 T , x2 T , y1 T , y2 T ) can be mathematically expressed by the following formula (1).

[0056]

Formula 1

[0057]

[0058] In order to derive the target position (x1 T , x2 T , y1 T , y2 T ), we need to derive the equations for the three variables (X, Y, θ) that satisfy the four variables (x1 T , x2 T , y1 T , y2 T ). However, as described above, the position detected by position sensor 224 may contain errors. Therefore, it may be impossible to derive a solution to the simultaneous equations that satisfies the four variables (x1, x2, y1, y2) for the three variables (X, Y, θ). If a solution cannot be derived, the substrate 122 cannot be adjusted to the target posture, and the power consumed by each electromagnetic actuator 210 may increase.

[0059] Therefore, considering the component R of the remaining degree of freedom, the target position (x1 T , x2 T , y1 T , y2 T ) is the solution of the simultaneous equations.

[0060]

Formula 2

[0061]

[0062] By using the above matrix formula, even when the position detected by the position sensor 224 contains an error, x1 can be derived. T 、x2 T 、y1 T ,y2 T Their own solutions.

[0063] The component R of the remaining degree of freedom can be derived according to the following formula (3), which sets the reference points of the substrate 122 detected by the position sensor 224, such as the positions of the position sensors 224 configured on the substrate 122, i.e., the positions x1, x2, y1, y2 as variables.

[0064]

Formula 3

[0065]

[0066] That is, the components R of the remaining degrees of freedom can be derived based on the values corresponding to the positions of the reference points detected by the position sensors 224 and the aforementioned 4×4 matrix equation. The components of the 4×4 matrix equation in equation (3) are merely examples and can be adjusted based on the magnetic properties of the position sensors 224, the positions detected by the position sensors 224, or the target positions. After deriving R using equation (3), feedback control is performed according to equation (2) to move the positions of the reference points to the target positions. During this feedback control, the target position can be adjusted by performing a calculation process that multiplies the ratio by R.

[0067] Figure 7 FIG2 shows an example of functional blocks of the imaging device 10. The imaging device 10 includes a control unit 110, an imaging element 120, an imaging element driving unit 200, an optical system 130, lens driving units 132, 134, 136, a storage unit 140, and a vibration detection unit 150.

[0068] The optical system 130 includes a zoom lens 131, a focus lens 133, and an image shake correction lens 135. The focus lens 133 and the image shake correction lens 135 may include at least one lens. That is, at least one lens may provide both focus control and image shake correction functions. The camera device 10 has an optical image shake correction mechanism (OIS) and an in-body image shake correction mechanism (BIS). The camera device 10 may have at least one of the optical image shake correction mechanism (OIS) and the in-body image shake correction mechanism (BIS). The OIS performs image shake correction by moving or rotating the image shake correction lens 135. The BIS performs image shake correction by moving or rotating the imaging element 120. In the case where the camera device 10 has both the OIS and the BIS, image shake correction may be performed by suppressing vibrations in different frequency bands using the OIS and the BIS, respectively.

[0069] The imaging element 120 may be composed of a CCD or a CMOS, and outputs image data of an optical image formed by the zoom lens 131 , the focus lens 133 , and the image stabilization lens 135 to the control unit 110 .

[0070] The control unit 110 may be composed of a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The control unit 110 may be composed of an SoC (system on chip). The storage unit 140 may be a computer-readable recording medium and may include at least one of an SRAM, a DRAM, an EPROM, an EEPROM (registered trademark), and a flash memory such as a USB memory. The storage unit 140 is used to store programs and the like required for the control unit 110 to control the imaging element 120 and the optical system 130, etc. The storage unit 140 may be provided inside the housing of the imaging device 10. The storage unit 140 may be provided so as to be removable from the housing of the imaging device 10.

[0071] The zoom lens 131, the focus lens 133, and the image shake correction lens 135 may include at least one lens. At least a portion or all of the zoom lens 131 and the focus lens 133 may be configured to be movable along the optical axis.

[0072] The lens driver 132 moves the zoom lens 131 along the optical axis in accordance with a zoom control command. The lens driver 134 moves the focus lens 133 along the optical axis in accordance with a focus control command. The lens driver 136 moves the image shake correction lens 135 within a plane (XY plane) intersecting the optical axis in accordance with an image shake correction command. The lens driver 136 may also rotate the image shake correction lens 135 about an axis (X-axis and Y-axis) along a plane intersecting the optical axis in accordance with an image shake correction command. The lens drivers 132, 134, and 136 may include electromagnetic actuators, i.e., voice coil motors, as drive sources. The lens drivers 132, 134, and 136 may also include shape memory alloy (SMA) actuators or piezoelectric (piezo) actuators as drive sources. The lens drivers 132 and 134 may also include stepping motors as drive sources.

[0073] The vibration detection unit 150 outputs a vibration signal indicating the vibration of the camera device 10. The vibration detection unit 150 may include a gyro sensor that detects the angular velocity of the camera device 10. The gyro sensor detects angular velocities centered around axes along the X-axis, Y-axis, and Z-axis. The vibration detection unit 150 may include an acceleration sensor that detects the acceleration of the camera device 10. The vibration detection unit 150 may include an inertial measurement unit (IMU) that detects the angular velocity of the camera device 10 centered around axes along the X-axis, Y-axis, and Z-axis, as well as the acceleration of the camera device 10 in the X-axis, Y-axis, and Z-axis directions of the camera device 10.

[0074] The image sensor drive unit 200 moves the image sensor 120 within a plane intersecting the optical axis in accordance with the image shake correction command. Furthermore, the image sensor drive unit 200 rotates the image sensor 120 about an axis along the optical axis in accordance with the image shake correction command. The image sensor drive unit 200 can move and rotate the image sensor 120 with three degrees of freedom. The image sensor drive unit 200 can move the image sensor 120 along the XY plane and rotate it about an axis along the Z axis.

[0075] The control unit 110 controls the entire imaging device 10 , and controls the lens driving unit 132 , the lens driving unit 134 , the lens driving unit 136 , and the imaging element driving unit 200 .

[0076] Figure 8 FIG. 2 shows an example of a circuit configuration of the image pickup device driving section 200. The image pickup device driving section 200 includes electromagnetic actuators 210A, 210B, 210C, and 210D, and integrated circuits 220A, 220B, 220C, and 220D.

[0077] The electromagnetic actuators 210A, 210B, 210C, and 210D include air-core coils 212A, 212B, 212C, and 212D (hereinafter sometimes collectively referred to as air-core coils 212) and magnets 214A, 214B, 214C, and 214D (hereinafter sometimes collectively referred to as magnets 214). The air-core coils 212 can be provided on a substrate 122 for mounting the imaging element 120. The magnets 214 can be configured as a retaining member that retains the substrate 122 in a manner that allows the substrate 122 to move along the imaging surface of the imaging element 120 and to rotate about an axis along the optical axis. The retaining member can be, for example, the housing of the imaging device 10. The substrate 122 can be supported within the housing of the imaging device 10 in a manner that allows it to move and rotate by means of an elastic body such as a spring. The magnets 214 can be fixed to the inner surface side of the housing. Alternatively, the magnet 214 may be provided on the substrate 122 , and the air-core coil 212 may be provided on a holding member such as the inner surface side of the housing.

[0078] Integrated circuit 220 includes a control circuit 222 and a position sensor 224. Control circuit 222 is a driver IC that controls the driving of electromagnetic actuator 210. Position sensor 224 detects the relative position of position sensor 224 with respect to magnet 214. Position sensor 224 may be a magnetic sensor that detects the relative position of position sensor 224 with respect to magnet 214 based on changes in the magnitude of the magnetic field caused by changes in the positional relationship between magnet 214 and position sensor 224. The magnetic sensor may be a Hall effect element. Control circuit 222 and position sensor 224 may be integrated into integrated circuit 220.

[0079] The control unit 110 controls the integrated circuit 220. Figure 7 As shown, the control unit 110 includes a position information acquisition unit 111 , a target posture information acquisition unit 112 , a correction information derivation unit 113 , a target position derivation unit 114 , and an output unit 115 .

[0080] The position information acquisition unit 111 acquires position information (A), position information (B), position information (C), and position information (D) indicating the positions of reference points on the substrate 122 from the position sensors 224. The position information may be information indicating the magnitude of the magnetic field detected by the position sensor 224.

[0081] The target posture information acquisition unit 112 acquires target posture information indicating the target posture of the substrate 122. When the imaging element 120 or the image shake correction lens 135, which is a movable component, is moved or rotated for image shake correction, the target posture information is derived from the vibration signal detected by the vibration detection unit 150. The target posture information acquisition unit 112 can acquire target posture information indicating the target posture of the substrate 122, determined based on the detection results obtained by the vibration detection unit 150. This target posture information is used to move or rotate the substrate 122 and the imaging element 120 in a direction that cancels vibrations in the imaging device 10. The target posture information indicates a target posture (X, Y, θ) including the XY coordinate values of a primary reference point in the coordinate system of the substrate 122 and the amount of rotation from the reference posture. The target posture (X, Y, θ) includes the X component, Y component, and θ component associated with the movement or rotation of the substrate 122. Furthermore, when the focus lens 133, which is a movable member, is moved for focus control, the target posture information may indicate the target position of the focus lens 133 in the optical axis direction for achieving the focus state determined by the focus control command. Furthermore, when the zoom lens 131, which is a movable member, is moved for zoom control, the target posture information may indicate the target position of the zoom lens 131 in the optical axis direction for achieving the target zoom magnification determined by the zoom control command.

[0082] The correction information deriving unit 113 derives correction information representing correction components for correcting errors in the target positions of the four reference points of the substrate 122 caused by components of the three degrees of freedom associated with the movement or rotation of the substrate 122, namely, the X component, the Y component, and the θ component, using a predetermined algorithm that uses four values corresponding to the positions of the four reference points of the substrate 122 indicated by the respective pieces of position information (A), (B), (C), and (D) as variables. The correction components are used to correct errors in the target positions of the four reference points of the substrate 122 caused by components of one degree of freedom other than the X component, the Y component, and the θ component. The predetermined algorithm can be determined, for example, by a 4×4 matrix equation. The correction information deriving unit 113 can derive correction information based on the values x1, x2, y1, and y2 corresponding to the positions of the reference points of the substrate 122 and the 4×4 matrix equation shown in equation (3).

[0083] The target position deriving unit 114 derives the target position x1 of each of the four reference points of the substrate 122 based on the X component, Y component, and θ component of the three degrees of freedom indicated by the target posture information and the correction component R for the other degree of freedom indicated by the correction information. T 、x2 T 、y1 T ,y2 T The target position deriving unit 114 derives the target position x1 of each of the four reference points of the substrate 122 according to a predetermined algorithm based on the X component, Y component, and θ component of the three degrees of freedom indicated by the target posture information and the correction component R for the other degree of freedom indicated by the correction information. T 、x2 T 、y1 T ,y2 T The target position deriving unit 114 can derive the target position x1 according to the 4×4 matrix formula (2) based on the X component, Y component, and θ component of the three degrees of freedom indicated by the target posture information and the correction component R for another degree of freedom indicated by the correction information. T 、x2 T 、y1 T ,y2 T .

[0084] The output unit 115 represents each target position x1 T 、x2 T 、y1 T ,y2 T The target position information (A), (B), (C), and (D) are output to the respective control circuits 222A, 222B, 222C, and 222D.

[0085] The control circuit 222 controls the electromagnetic actuator 210 according to the target position information. The control circuit 222 controls the electromagnetic actuator 210 through PID control according to the target position indicated by the target position information.

[0086] As described above, according to this embodiment, the target positions of the reference points of the substrate 122 can be derived by taking into account the remaining degrees of freedom that are not necessary for the movement or rotation of the substrate 122 as a movable member. Therefore, even if the positions of the reference points detected by the position sensors 224 contain errors, it is possible to prevent the substrate 122 from not being in the target position, thereby preventing an increase in the power consumed by the electromagnetic actuators 210.

[0087] In the above embodiment, an example is described in which the imaging element 120 is moved and rotated with three degrees of freedom by independently controlling four electromagnetic actuators 210. However, other embodiments may be used as long as the number of independently controlled electromagnetic actuators 210 exceeds the number of degrees of freedom contributing to the movement or rotation of the movable member.

[0088] That is, the control unit 110 can control m+n control circuits 222, and the m+n control circuits 222 independently control each of the m+n electromagnetic actuators 210 to move or rotate the movable member with m degrees of freedom. m and n are positive integers.

[0089] The position information acquisition unit 111 can acquire position information representing each of the m+n positions of the movable member from the m+n position sensors 224 that detect each of the m+n positions of the movable member. The target posture information acquisition unit 112 can acquire target posture information representing the target posture of the movable member in terms of components of m degrees of freedom associated with the movement or rotation of the movable member.

[0090] The correction information deriving unit 113 may derive correction information indicating a correction component for correcting an error in the target position of each of the m+n positions of the movable member caused by a component of at least one of the n degrees of freedom components other than the m degrees of freedom associated with the movement or rotation of the movable member, based on at least one of the m+n values corresponding to the m+n positions of the movable member indicated by each piece of position information. The correction information deriving unit 113 may derive correction information indicating a correction component for correcting an error in the target position of each of the m+n positions of the movable member caused by a component of at least one of the n degrees of freedom components other than the m degrees of freedom associated with the movement or rotation of the movable member, according to a predetermined algorithm that uses as a variable at least one of the m+n values corresponding to the m+n positions of the movable member indicated by each piece of position information. The correction information extraction unit 113 can extract correction information representing the correction component according to a predetermined (m+n)×(m+n) matrix in which m+n values corresponding to the m+n positions of the movable component indicated by each position information are set as variables. The correction component is used to correct the error of the target position of each of the m+n positions of the movable component caused by n degrees of freedom other than the m degrees of freedom associated with the movement or rotation of the movable component.

[0091] The target position derivation unit 114 can derive the target position of each of the m+n reference points of the movable member based on the components of the m degrees of freedom indicated by the target posture information and the correction components for the n degrees of freedom indicated by the correction information. The target position derivation unit 114 can derive the target position of each of the m+n reference points of the movable member based on the components of the m degrees of freedom indicated by the target posture information, the correction components for the n degrees of freedom indicated by the correction information, and a predetermined (m+n)×(m+n) matrix. The output unit 115 can output target position information representing each target position to each of the m+n control circuits 222 to adjust the movable member to the target posture. The correction information derivation unit 113 can also derive the correction information without using the (m+n)×(m+n) matrix. For example, m+n variables are obtained by deriving the components of m degrees of freedom associated with the movement or rotation of the movable member according to a predetermined m×(m+n) matrix, which is equivalent to the inverse transformation of the predetermined m×(m+n) matrix. The correction information deriving unit 113 can derive the correction information by deriving the difference between these m+n variables and the original positions detected by the m+n position sensors 224.

[0092] The above description describes an example in which the imaging element 120 is moved and rotated with two linear degrees of freedom and one rotational degree of freedom. However, this technology can also be applied when the optical system 130 is moved and rotated with one linear degree of freedom and two rotational degrees of freedom instead of the imaging element 120.

[0093] like Figure 9 As shown, the lens driver 136 may also include four magnets 214 on the retaining frame that holds the focus lens 133, thereby moving the focus lens 133 in the Z-axis direction and rotating the focus lens 133 around the X-axis and the Y-axis. The lens driver 136 performs focus control by moving the focus lens 133 in the Z-axis direction. Furthermore, the lens driver 136 performs image shake correction by rotating the focus lens 133 about an axis along the X-axis or the Y-axis. Furthermore, when image shake correction is performed using the focus lens 133, the image capture device 10 does not need to include the image shake correction lens 135.

[0094] Let z1, z2, z3, and z4 represent values corresponding to the positions of the respective reference points of the focus lens 133 detected by the respective position sensors 224. The target posture includes a Z component that contributes to the movement of the focus lens 133, a θ1 component that contributes to the rotation of the focus lens 133 about the X-axis, and a θ2 component that contributes to the rotation of the focus lens 133 about the Y-axis.

[0095] The correction information derivation unit 113 can derive the correction component R for the remaining degree of freedom as correction information based on the 4×4 matrix formula shown in the following formula (4) and the values z1, z2, z3 and z4 corresponding to the positions of the reference points of the focusing lens 133.

[0096]

Formula 4

[0097]

[0098] The target position deriving unit 114 can derive the target position (z1, θ2) of each of the four reference points of the focusing lens 133 based on the components (Z, θ1, θ2) of the three degrees of freedom indicated by the target posture information, the correction component R for one degree of freedom indicated by the correction information, and the 4×4 matrix formula shown in the following formula (5). T 、z2 T 、z3 T and z4 T ).

[0099]

Formula 5

[0100]

[0101] You can also Figure 10 and Figure 11 As shown, the lens driving unit 132 moves the zoom lens 131 with one linear degree of freedom along the Z-axis direction together with a magnet 214 provided on a holding frame for holding the zoom lens 131 by passing current through the air-core coil 212 .

[0102] exist Figure 10 In the example shown in FIG. 2 , two position sensors 224 detect the positions of two reference points of zoom lens 131 in the Z-axis direction. In this case, the values corresponding to the positions of the reference points of zoom lens 131 detected by each position sensor 224 are denoted as z1 and z2. The target posture includes a Z component that contributes to the movement of zoom lens 131.

[0103] The correction information deriving unit 113 can derive the correction component R for the remaining one degree of freedom as correction information based on the 2×2 matrix equation shown in the following equation (6) and the values z1 and z2 corresponding to the positions of the reference points of the focus lens 133.

[0104]

Formula 6

[0105]

[0106] The target position deriving unit 114 can derive the target positions (z1, z2, and z3) of the two reference points of the zoom lens 131 based on the component Z of one degree of freedom indicated by the target posture information, the correction component R for one degree of freedom indicated by the correction information, and the 2×2 matrix equation shown in the following equation (7). T 、z2 T ).

[0107]

Formula 7

[0108]

[0109] exist Figure 11 In the example shown in FIG. 1 , four position sensors 224 detect the positions of four reference points of zoom lens 131 in the Z-axis direction. In this case, the values corresponding to the positions of the reference points of zoom lens 131 detected by each position sensor 224 are denoted as z1, z2, z3, and z4. The target posture includes a Z component that contributes to the movement of zoom lens 131.

[0110] The correction information extraction unit 113 can extract the components R1, R2, and R3 for the remaining three degrees of freedom as correction information based on the 4×4 matrix formula shown in the following formula (8) and the values z1, z2, z3, and z4 corresponding to the positions of the reference points of the zoom lens 131.

[0111]

Formula 8

[0112]

[0113] The target position deriving unit 114 can derive the target position (z1) of each of the four reference points of the zoom lens 131 based on the component Z of one degree of freedom indicated by the target posture information, the correction components R1, R2, and R3 for three degrees of freedom indicated by the correction information, and the 4×4 matrix formula shown in the following formula (9). T 、z2 T 、z3 T 、z4 T ).

[0114]

Formula 9

[0115]

[0116] The above description describes an example in which the correction information deriving unit 113 derives correction components for each of the n degrees of freedom. As another example, the correction information deriving unit 113 may derive correction components based on components for m degrees of freedom derived from m+n values corresponding to the m+n positions of the movable member indicated by each position information. The target position deriving unit 114 may derive target positions for each of the m+n positions of the movable member based on the components for m degrees of freedom indicated by the target posture information and the m+n correction components indicated by the correction information.

[0117] For example, in Figure 11 In the example shown, the correction information deriving unit 113 uses four values z1, z2, z3, and z4 corresponding to the positions of the reference points of the zoom lens 131 as variables, and derives a component z of one degree of freedom according to the following equation (10): o .exist Figure 11 In the example shown, the following equation (10) is derived from the dependency (z1+z2+z3+z4) of the first component (Z) on the left side of the equation (8) on the values z1, z2, z3, and z4 detected by the position sensors 224. Since this dependency is the sum of the values z1, z2, z3, and z4, z may be replaced by o is called the correction component of the sum.

[0118]

Formula 10

[0119]

[0120] The correction information deriving unit 113 derives the component z having the same degree of freedom as the values z1, z2, z3, and z4 corresponding to the positions of the reference points of the zoom lens 131 according to the following equation (11): o That is, the correction component z of the sum oThe difference between Δz1 and Δz2 is used to derive correction components Δz1, Δz2, Δz3, and Δz4 for the component of one degree of freedom indicated by the target posture information.

[0121]

Formula 11

[0122]

[0123] The target position deriving unit 114 can derive the target positions (z1, z2, z3, and z4) of the four reference points of the zoom lens 131 using the following equation (12) based on the component Z of one degree of freedom indicated by the target posture information and the four correction components Δz1, Δz2, Δz3, and Δz4. T 、z2 T 、z3 T 、z4 T ).

[0124]

Formula 12

[0125]

[0126] As described above, according to this embodiment, the target positions of the reference points of the substrate 122 can be derived by taking into account the remaining degrees of freedom that are not necessary for the movement or rotation of the substrate 122 as a movable member. Therefore, even if the positions of the reference points detected by the position sensors 224 contain errors, it is possible to prevent the substrate 122 from not being in the target position, thereby preventing an increase in the power consumed by the electromagnetic actuators 210.

[0127] Figure 12 An example of a computer 1200 that can implement multiple aspects of the present invention in whole or in part is shown. A program installed on computer 1200 can cause computer 1200 to function as an operation associated with an apparatus according to an embodiment of the present invention or as one or more "parts" of the apparatus. Alternatively, the program can cause computer 1200 to perform the operation or the one or more "parts." The program can cause computer 1200 to perform a process according to an embodiment of the present invention or a stage of the process. Such a program can be executed by CPU 1212 to cause computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

[0128] The computer 1200 of this embodiment includes a CPU 1212 and a RAM 1214, which are interconnected via a main controller 1210. The computer 1200 also includes a communication interface 1222 and an input / output unit, which are connected to the main controller 1210 via an input / output controller 1220. The computer 1200 also includes a ROM 1230. The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit.

[0129] The communication interface 1222 communicates with other electronic devices via a network. The hard disk drive can store programs and data used by the CPU 1212 in the computer 1200. The ROM 1230 stores therein a boot program and the like executed by the computer 1200 when activated and / or programs that depend on the hardware of the computer 1200. The program is provided via a computer-readable recording medium such as a CR-ROM, a USB memory or an IC card, or a network. The program is installed in the RAM 1214 or the ROM 1230, which are also examples of computer-readable recording media, and is executed by the CPU 1212. The information processing described in these programs is read by the computer 1200, realizing the cooperation between the program and the various types of hardware resources mentioned above. It can be that the operation or processing of information is realized as the computer 1200 is used, thereby constituting an apparatus or method.

[0130] For example, when the computer 1200 communicates with an external device, the CPU 1212 executes a communication program loaded into the RAM 1214 and instructs the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in the RAM 1214 or a recording medium such as a USB memory, transmits the read transmission data to the network, or writes reception data received from the network to a reception buffer area provided on the recording medium.

[0131] In addition, the CPU 1212 can read all or a required portion of a file or database stored in an external recording medium such as a USB memory into the RAM 1214, and perform various types of processing on the data on the RAM 1214. The CPU 1212 can then write the processed data back to the external recording medium.

[0132] Various types of information, such as various programs, data, tables, and databases, can be stored in a recording medium and processed. CPU 1212 can perform various types of processing, including various types of operations specified by a program's command sequence, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, and the like, on the data read from RAM 1214, and write the results back to RAM 1214. Furthermore, CPU 1212 can retrieve information from files, databases, and the like within a recording medium. For example, if a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored within a recording medium, CPU 1212 can retrieve an entry from the plurality of entries that matches the condition specified for the attribute value of the first attribute, read the attribute value of the second attribute stored within the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies the predetermined condition.

[0133] The programs or software modules described above can be stored in a computer-readable storage medium on or near the computer 1200. Alternatively, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0134] A computer-readable medium may include any tangible device capable of storing instructions for execution by an appropriate device. As a result, a computer-readable medium having instructions stored thereon may include a product containing instructions executable to create a component for performing the operations specified by the flowchart or block diagram. Examples of computer-readable media include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable media include Floppy (registered trademark), magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray disc (RTM), memory stick, integrated circuit card, and the like.

[0135] Computer readable instructions can include any one of source code and object code described in any combination of one or more programming languages. Source code or object code include existing procedural programming languages. Existing procedural programming languages can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and "C" programming language or similar programming languages. Computer readable instructions can be provided to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device locally or via a local area network (LAN), a wide area network (WAN) such as the Internet. A processor or programmable circuit can execute computer readable instructions in order to make components for performing the operations specified by a flow chart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0136] While the present invention has been described above using embodiments, the scope of protection of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. As will be clear from the claims, embodiments resulting from such modifications or improvements are also encompassed within the scope of protection of the present invention.

[0137] It should be noted that the order in which actions, processes, steps, and stages, etc., of the apparatus, system, program, and method described in the claims, specifications, and drawings may be executed in any order, unless otherwise specified, such as "before," "prior to," or "before," and the output of a previous process is not used in a subsequent process. Even if the action flow in the claims, specifications, and drawings is described using the phrases "first," "next," and the like for convenience, it does not necessarily mean that the actions must be executed in that order.

[0138] Description of Reference Numerals

[0139] 10: Imaging device; 20: Object; 110: Control unit; 111: Position information acquisition unit; 112: Target posture information acquisition unit; 113: Correction information derivation unit; 114: Target position derivation unit; 115: Output unit; 120: Imaging element; 122: Substrate; 130: Optical system; 131: Zoom lens; 133: Focus lens; 135: Image shake correction lens; 132, 134, 136: Lens drive unit; 140: Storage unit; 150: Vibration detection unit; 200: Imaging element drive unit; 210A, 210B, 210C, 210D 0D: electromagnetic actuator; 212A, 212B, 212C, 212D: air-core coils; 214A, 214B, 214C, 214D: magnets; 220A, 220B, 220C, 220D: integrated circuits; 222A, 222B, 222C, 222D: control circuits; 224A, 224B, 224C, 224D: position sensors; 1200: computer; 1210: main controller; 1212: CPU; 1214: RAM; 1220: input / output controller; 1222: communication interface; 1230: ROM.

Claims

1. A control method for controlling m+n control circuits, wherein the m+n control circuits independently control each of m+n actuators for causing a movable member to move or rotate with m degrees of freedom, wherein: m and n are positive integers, and the control method is characterized in that, The following stages are included: acquiring, from a detection unit that detects each of the m+n positions of the movable member, pieces of position information indicating each of the m+n positions of the movable member; acquiring target posture information representing a target posture of the movable member in terms of components of m degrees of freedom associated with movement or rotation of the movable member; deriving correction information indicating a correction component for correcting an error in a target position of each of the m+n positions of the movable member caused by a component of at least one of n degrees of freedom other than the m degrees of freedom associated with movement or rotation of the movable member, based on at least one of m+n values corresponding to the m+n positions of the movable member indicated by each piece of position information; deriving a target position for each of m+n positions of the movable member based on the components of m degrees of freedom indicated by the target posture information and the correction components indicated by the correction information; as well as Target position information indicating the target positions is output to each of the m+n control circuits so that the movable member is brought into a target posture.

2. The method according to claim 1, characterized in that The stage of deriving the correction information includes deriving the correction information according to a predetermined algorithm that uses as a variable at least one of m+n values corresponding to the m+n positions of the movable member indicated by each piece of the position information.

3. The method according to claim 1 or 2, characterized in that The correction component includes a correction component for each degree of freedom of the components of the n degrees of freedom.

4. The method according to claim 3, characterized in that The stage of deriving the correction information includes the following stage: setting m+n values corresponding to the m+n positions of the movable member indicated by each position information as variables, and deriving the correction information according to an algorithm determined by an (m+n)×(m+n) matrix.

5. The method according to claim 3, characterized in that The stage of deriving the correction information includes the following stages: setting m+n values corresponding to the m+n positions of the movable component indicated by each of the position information as variables, deriving the components of the m degrees of freedom associated with the movement or rotation of the movable component according to a predetermined m×(m+n) matrix, deriving m+n variables according to a predetermined (m+n)×m matrix corresponding to the inverse transformation of the predetermined m×(m+n) matrix, and deriving the correction information by deriving the difference between the m+n values corresponding to the m+n positions of the movable component indicated by each of the position information and the m+n variables.

6. The method according to claim 4 or 5, characterized in that The stage of deriving the target position includes the following stage: deriving the target position of each of the m+n positions of the movable component based on the components of the m degrees of freedom indicated by the target posture information and the correction components for the n degrees of freedom indicated by the correction information, and a predetermined (m+n)×(m+n) matrix.

7. The method according to claim 1, characterized in that The step of deriving the correction information includes the following steps: deriving correction information representing m+n correction components based on components of m degrees of freedom derived from m+n values corresponding to m+n positions of the movable member indicated by each of the position information; The stage of deriving the target position includes deriving the target position of each of the m+n positions of the movable member based on the components of the m degrees of freedom indicated by the target posture information and the m+n correction components indicated by the correction information.

8. The method according to claim 1, characterized in that The correction component comprises a correction component for the sum of the components of n degrees of freedom.

9. The method according to claim 1 or 2, characterized in that The detection unit includes m+n position sensors, The m+n control circuits and the m+n position sensors are integrated into one piece to form m+n integrated circuits.

10. The method according to claim 9, characterized in that Each of the m+n actuators is an electromagnetic actuator, Each of the m+n position sensors is a magnetic sensor.

11. The method according to claim 1 or 2, characterized in that Each of the m+n control circuits independently controls each of the m+n actuators by proportional-integral-derivative control based on the target position.

12. The method according to claim 1 or 2, characterized in that m is 3, n is 1, By driving the m+n actuators, the movable member moves along a first direction and a second direction, and rotates around a first rotation axis intersecting a plane along the first direction and the second direction.

13. The method according to claim 1 or 2, characterized in that m is 3, n is 1, By driving the m+n actuators, the movable member moves along a first direction and rotates around a first rotation axis and a second rotation axis along a plane intersecting the first direction.

14. The method according to claim 1 or 2, characterized in that m is 1, n is an integer greater than 1, The movable member is driven by m+n actuators to move along a first direction.

15. A control device for controlling m+n control circuits, wherein the m+n control circuits independently control each of m+n actuators for causing a movable member to move or rotate with m degrees of freedom, wherein: m and n are positive integers, and the control device is characterized by comprising: a position information acquisition unit that acquires each piece of position information indicating each of the m+n positions of the movable member from a detection unit that detects each of the m+n positions of the movable member; a target posture information acquisition unit that acquires target posture information indicating a target posture of the movable member using components of m degrees of freedom associated with the movement or rotation of the movable member; a correction information deriving unit for deriving, based on at least one of m+n values corresponding to the m+n positions of the movable member indicated by each of the position information, correction information indicating a correction component for correcting an error in a target position of each of the m+n positions of the movable member caused by a component of at least one of n degrees of freedom other than the m degrees of freedom associated with movement or rotation of the movable member; a target position deriving unit for deriving a target position for each of m+n positions of the movable member based on the components of m degrees of freedom indicated by the target posture information and the correction components indicated by the correction information; as well as An output unit outputs target position information indicating the target positions to each of the m+n control circuits so that the movable member is brought into a target posture.

16. The control device according to claim 15, characterized in that The correction information deriving unit derives the correction information according to a predetermined algorithm that uses as a variable at least one of m+n values corresponding to m+n positions of the movable member indicated by each piece of the position information.

17. The control device according to claim 15 or 16, characterized in that: The correction component includes a correction component for each degree of freedom of the components of the n degrees of freedom.

18. The control device according to claim 17, characterized in that The correction information deriving unit uses m+n values corresponding to m+n positions of the movable member indicated by each piece of position information as variables and derives the correction information according to an algorithm determined by an (m+n)×(m+n) matrix.

19. The control device according to claim 17, characterized in that The correction information extraction unit sets m+n values corresponding to the m+n positions of the movable component indicated by each position information as variables, extracts the components of the m degrees of freedom associated with the movement or rotation of the movable component according to a predetermined m×(m+n) matrix, extracts m+n variables according to a predetermined (m+n)×m matrix corresponding to the inverse transformation of the predetermined m×(m+n) matrix, and extracts the correction information by extracting the difference between the m+n values corresponding to the m+n positions of the movable component indicated by each position information and the m+n variables.

20. The control device according to claim 18 or 19, characterized in that: The target position derivation unit derives the target position of each of the m+n positions of the movable member based on the components of m degrees of freedom indicated by the target posture information, the correction components for n degrees of freedom indicated by the correction information, and a predetermined (m+n)×(m+n) matrix.

21. The control device according to claim 15, characterized in that The correction information deriving unit derives correction information indicating m+n correction components based on components of m degrees of freedom derived from m+n values corresponding to m+n positions of the movable member indicated by each piece of position information, The target position deriving unit derives a target position for each of the m+n positions of the movable member based on the components of the m degrees of freedom indicated by the target posture information and the m+n correction components indicated by the correction information.

22. The control device according to claim 15, characterized in that The correction component comprises a correction component for the sum of the components of n degrees of freedom.

23. A camera device comprising: The control device according to any one of claims 15 to 22; Camera element; an optical system for forming an image of an object on an imaging surface of the imaging element; m+n of said actuators; and a detection unit that detects each of the m+n positions of the movable member, in, The movable member is the imaging element or the optical system.

24. The imaging device according to claim 23, wherein: The detection unit includes m+n position sensors, Each of the m+n actuators is an electromagnetic actuator, Each of the m+n position sensors is a magnetic sensor.

25. The imaging device according to claim 24, wherein: The m+n control circuits and the m+n position sensors are integrated into one piece to form m+n integrated circuits.

26. The imaging device according to any one of claims 23 to 25, characterized in that: m is 3, n is 1, The movable member is the imaging element, By driving the m+n actuators, the imaging element moves along a first direction and a second direction and rotates around a first rotation axis intersecting a plane along the first direction and the second direction, thereby performing image shake correction.

27. The imaging device according to any one of claims 23 to 25, characterized in that: m is 3, n is 1, The movable member is the optical system, By driving the m+n actuators, the optical system moves along a first direction and rotates around a first rotation axis and a second rotation axis along a plane intersecting the first direction, thereby performing at least one of image shake correction and focus control.

28. The imaging device according to any one of claims 23 to 25, characterized in that: m is 1, n is an integer greater than 1, The movable member is the optical system, By driving the m+n actuators, the optical system moves along a first direction to perform focus control or zoom control.

29. A computer-readable medium, characterized in that A program is stored for causing a computer to function as a control device for controlling m+n control circuits, the m+n control circuits independently controlling each of m+n actuators for causing a movable member to move or rotate with m degrees of freedom, wherein m and n are positive integers, the program causing the computer to execute the following steps: acquiring, from a detection unit that detects each of the m+n positions of the movable member, pieces of position information indicating each of the m+n positions of the movable member; acquiring target posture information representing a target posture of the movable member in terms of components of m degrees of freedom associated with movement or rotation of the movable member; deriving correction information indicating a correction component for correcting an error in a target position of each of the m+n positions of the movable member caused by a component of at least one of n degrees of freedom other than the m degrees of freedom associated with movement or rotation of the movable member, based on at least one of m+n values corresponding to the m+n positions of the movable member indicated by each piece of position information; deriving a target position for each of m+n positions of the movable member based on the components of m degrees of freedom indicated by the target posture information and the correction components indicated by the correction information; and Target position information indicating the target positions is output to each of the m+n control circuits so that the movable member is brought into a target posture.

30. A computer program product comprising a program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 14.

Images