Control device and control method thereof

Abstract

High-precision position control of the camera platform is performed using a motor. [Solution] A control device that drives a movable part using a motor includes first receiving means that receives absolute position information of an output shaft that is the rotation shaft of the movable part, second receiving means that receives relative position information of a motor shaft that is the rotation shaft of the motor, generation means that generates correction data corresponding to multiple positions of the output shaft based on the absolute position information and the relative position information, setting means that sets a coordinate origin of the relative position information based on the absolute position information, and drive signal generation means that generates a drive signal for the motor using the relative position information based on the coordinate origin. The setting means sets the coordinate origin based on corrected position information obtained by correcting the absolute position information based on the correction data.

Description

Technical Field

[0001] The present invention relates to a position control technology for a pan-tilt head using a motor.

Background Art

[0002] Remote cameras that can control the shooting direction in the pan / tilt direction by remote operation are being used. Also, the applications of remote cameras are expanding widely in various fields from surveillance cameras to video production. In video production, high-precision pan and tilt position control is required. In Patent Document 1, a method has been proposed to reduce the pan / tilt position deviation by moving to the home position and resetting the step counter. In Patent Document 2, a method has been proposed to eliminate the linearity deviation, which is a problem when using a potentiometer as a position detection method, by using a pulse encoder in combination.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, in order to eliminate the position deviation of the pan-tilt head, it is necessary to move to the home position once and reset the step counter. In this case, an unintended movement of the pan-tilt head will occur. Furthermore, there is a problem that the pan and tilt positions have to be reset again. Also, in Patent Document 2, generally, a potentiometer has a low resolution and there is a problem that a position detection accuracy higher than the resolution cannot be obtained.

[0005] This invention has been made in view of these problems, and aims to provide a technology that enables high-precision position control of a tripod head using a motor. [Means for solving the problem]

[0006] To solve the above-mentioned problems, the control device according to the present invention has the following configuration. That is, the control device that drives the movable part using a motor, A first receiving means for receiving absolute position information of the output shaft, which is the rotation axis of the movable part, A second receiving means for receiving relative position information of the motor shaft, which is the rotation axis of the motor, A generation means that generates correction data corresponding to multiple positions on the output axis based on the absolute position information and the relative position information, A setting means for setting the coordinate origin of the relative position information based on the absolute position information, A drive signal generation means that generates a drive signal for the motor using the relative position information based on the coordinate origin, Equipped with, The setting means sets the coordinate origin based on corrected position information obtained by correcting the absolute position information based on the correction data. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a technology that enables high-precision position control of a pan / tilt head using a motor. [Brief explanation of the drawing]

[0008] [Figure 1] This is a diagram showing the configuration of the remote camera. [Figure 2] This diagram illustrates the initialization process of a motor encoder. [Figure 3] This diagram illustrates the linearity deviation of the output axis encoder. [Figure 4] This diagram illustrates the process of the tilt (pan) correction unit. [Figure 5]It is a flowchart showing the processing of the tilt (pan) correction unit. [Figure 6] It is a diagram for explaining the averaging process in a small section in the tilt (pan) correction unit. [Figure 7] It is a flowchart showing the processing of the tilt (pan) setting unit. [Figure 8] It is a diagram for explaining the linear interpolation in the tilt (pan) setting unit.

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims. Although a plurality of features are described in the embodiments, not all of these plurality of features are essential for the invention, and the plurality of features may be arbitrarily combined. Further, in the accompanying drawings, the same or similar configurations are given the same reference numerals, and redundant explanations are omitted.

[0010] (First Embodiment) As a first embodiment of the control device according to the present invention, a remote camera capable of changing the shooting direction in the pan / tilt direction will be described below by way of example.

[0011] <Device Configuration> FIG. 1 is a diagram showing a schematic configuration of a remote camera 100. The remote camera 100 includes a camera head 110, camera head support parts 120 and 130, a turntable 140, a bottom case 150, and a microcomputer processing part 160 that performs pan / tilt drive control.

[0012] The camera head 110 which is an imaging device is composed of a lens unit 111 and a charge-coupled device (CCD) sensor 112. The output of the CCD sensor 112 is converted into a video signal via a correlation double sampler (CDS) / automatic gain control (AGC) circuit 113 and a signal processing part 114, and is output to an externally connected image display part 115.

[0013] The camera head support unit 120 also serves as a drive unit that drives the camera head 110 in the tilt direction. The motor 122 (tilt drive motor) is driven by a motor drive signal generated by the motor driver 121. A motor gear (gear) 123 is provided on the motor shaft of the motor 122. When the motor 122 rotates, the drive gear 124 meshing with the motor gear 123 rotates. As a result, the rotation axis of the drive gear 124 serves as the output axis to drive the camera head 110 in the tilt direction.

[0014] The motor encoder 125 generates a pulse signal in response to the rotation of the motor shaft of the motor 122. Here, it is assumed that the motor encoder 125 is an incremental encoder (relative value encoder). On the other hand, the output shaft encoder 126 detects the position (phase angle) of the drive gear 124, which is the rotation axis (output axis) in the tilt direction of the camera head 110. Here, an absolute encoder (absolute value encoder) is adopted for the output shaft encoder.

[0015] As absolute encoders, there are potentiometers with a simple structure and optical or magnetic linear encoders that accurately obtain absolute values through combinations of multiple periodic signals. Any of these encoders can implement this embodiment. Hereinafter, a form using an optical linear encoder that obtains an absolute value through a combination of sine wave signals having three types of periods, upper / middle / lower, will be described. The sine wave signal is a two-phase signal (SINΘ and COSΘ) with a 90° phase shift. Therefore, by performing an inverse tangent (ATAN(SINΘ / COSΘ)) conversion on this to convert it into angle information and combining the three types of angle information, upper / middle / lower, absolute position information (phase angle) can be obtained.

[0016] The bottom case 150 also serves as a drive unit for driving the camera head 110 in the pan direction. The motor 152 (pan drive motor) is driven by a motor drive signal generated by the motor driver 151. A motor gear 153 is attached to the motor shaft of the motor 152, and when the motor 152 rotates, the rotation is transmitted to the drive gear 154 that meshes with the motor gear 153. As a result, the rotation axis of the drive gear 154 becomes the output shaft, which drives the turntable 140 in the pan direction.

[0017] The motor encoder 155 generates a pulse signal in accordance with the rotation of the motor 152. The output shaft encoder 156 detects the position (phase angle) of the drive gear 154, which is the rotation axis (output shaft) in the pan direction of the camera head 110. Here, an absolute value encoder is used, similar to the motor encoder 125 for tilt.

[0018] The microcontroller processing unit 160 includes a control block 170 for tilt position control and a control block 180 for pan position control. The pan / tilt (PT) controller 190 is an externally connected control device that outputs commands to the microcontroller processing unit 160 to indicate target positions in the pan and tilt directions according to the operator's input. The microcontroller processing unit 160 is assumed to be configured using an application-specific integrated circuit (ASIC), but some or all of its functions may be implemented in software. In that case, the microcontroller processing unit 160 includes components such as a central processing unit (CPU), random access memory (RAM), and read-only memory (ROM) storing the program.

[0019] First, let's explain the processing of the control block 170 that controls the tilt direction. As the camera head 110 moves in the tilt direction, a detection signal is output from the output axis encoder 126. The detection signal is received and quantized by the analog / digital (A / D) converter 171, and the tilt calculation unit 172 calculates the position information in the tilt direction (phase angle of the output axis). The position information in the tilt direction is converted using a conversion coefficient k to match the coordinate system of the motor encoder. tilt The output is obtained by multiplying by k. (Conversion coefficient k) tiltThis is calculated as the ratio of the resolution of the motor encoder 125 to the resolution of the output shaft encoder 126 when the camera head (= tilt output axis) rotates by a unit angle.

[0020] Meanwhile, the pulse signal output from the motor encoder 125 is received and counted by the tilt measurement unit 173, and the relative position information (rotation angle) of the motor 122 is calculated from the count. The coordinate origin of the motor's rotation position is set via the tilt correction unit 174 and the tilt setting unit 175. The process for setting the origin coordinates will be described later. The tilt control unit 176 compares the target position instructed by the pan / tilt controller 190 with the rotation position of the motor 122 measured by the tilt measurement unit 173 to generate a motor drive signal, which is then output to the motor driver 121.

[0021] Next, the processing of the control block 180 that controls the pan direction will be explained. As the camera head 110 moves in the pan direction, a detection signal is output from the output axis encoder 156. The detection signal is received and quantized by the A / D converter 181, and the pan calculation unit 182 calculates the pan direction position information (phase angle of the output axis). The pan direction position information is converted using a conversion coefficient k to match the coordinate system of the motor encoder. pan The output is obtained by multiplying by k. (Conversion coefficient k) pan This is calculated as the ratio of the resolution of the motor encoder 155 to the resolution of the output shaft encoder 156 when the camera head (=pan output axis) rotates by a unit angle.

[0022] Meanwhile, the pulse signal output from the motor encoder 155 is received and counted by the pan measurement unit 183, and the rotation angle of the motor 152 is calculated from the count. The coordinate origin of the motor's rotation position is set via the pan correction unit 184 and the pan setting unit 185. The process for setting the origin coordinates will be described later. The pan control unit 186 compares the target position instructed by the pan / tilt controller 190 with the rotation position of the motor 152 measured by the pan measurement unit 183, generates a drive signal for the motor, and outputs it to the motor driver 151.

[0023] <Setting the coordinates of the motor rotation position> Next, we will explain the coordinate setting for the motor rotation position. Since the processing for the tilt and pan directions is the same, we will explain the tilt direction from here on and omit the explanation for the pan direction. In Figures 2 to 7, the differences in the pan direction are indicated in parentheses.

[0024] Figure 2 illustrates the concept of the motor encoder initialization process. The initialization process is the process of setting the coordinate origin of the motor encoder based on the output value of the output shaft encoder. Figure 2 shows the encoder detection values ​​of the output shaft and motor in the tilt direction, but the same applies to the pan direction. In Figure 2, the horizontal axis represents the tilt position (phase angle), and the vertical axis represents the encoder detection value.

[0025] The solid line 201 shows the characteristics of the output shaft encoder. For example, when the remote camera 100 is powered on in the tilt position P, the tilt calculation unit 172 outputs position information 202 in the tilt direction corresponding to the tilt position P. On the other hand, the tilt measurement unit 173 is a relative value counter that measures pulse signals, so when the power is turned on, the counter value is "0" as shown in the initial value 204. Therefore, in the initialization process shown by arrow 205, the coordinate origin of the motor encoder is set to the position information calculated by the tilt calculation unit 172. Once the coordinate origin is set, the motor encoder 203 measures position information (position coordinates) in the same coordinate system as the output shaft encoder 201, as shown in the characteristics 203 (converted position information) which are converted to absolute position according to the rotation angle (movement of the tilt position). Note that in Figure 2, characteristics 201 and 203 are drawn shifted for explanatory purposes.

[0026] However, it is generally known that absolute position information (phase angle) obtained with an absolute value encoder is subject to linearity deviation (error). In other words, in this embodiment, since an absolute value encoder is used for the output axis encoder, linearity deviation will occur in the detected value of the output axis encoder.

[0027] Figure 3 illustrates the linearity deviation of the output shaft encoder. Curve 301 shows the output characteristics of an output shaft encoder with deviation. In this case, when the power is turned on in the tilt position P, the output of position information in the tilt direction is point 302-1, and when the above initialization process is performed at this position, the characteristics of the motor encoder in response to the movement of the tilt position are shown in characteristic 303-1. On the other hand, when the power is turned on in the tilt position Q, the output of position information in the tilt direction is point 302-2, and when the above initialization process is performed at this position, the characteristics of the motor encoder in response to the movement of the tilt position are shown in characteristic 303-2.

[0028] Therefore, the motor encoder's coordinates will shift depending on the tilt position at the time the power is turned on. As a result, a position shift will occur in the shot function (a function that sets the camera's orientation to a preset position). For example, if the motor encoder is preset at point 331 when the power is turned on at point P, and then the power is turned on again at point Q and the camera is moved to the preset position using the shot function, a shot position shift 332 will occur due to the shift in the motor encoder.

[0029] Therefore, in the first embodiment, the tilt correction unit 174 (and pan correction unit 184) calculates correction data, and the tilt setting unit 175 (and pan setting unit 185) corrects the motor coordinates using the correction data. This corrects the absolute value deviation in the output shaft encoder, making it possible to set the shot position with high precision.

[0030] <Device Operation> The following section will explain the method for calculating correction data, referring to Figures 4 and 5. Since the processing for the tilt and pan directions is the same, the explanation below will focus on the tilt direction.

[0031] Figure 4 illustrates the calculation process of correction data in the tilt (pan) correction unit. This correction data calculation process is performed prior to the installation and / or shooting of the remote camera, for example, in an operating mode such as the adjustment mode of the remote camera 100.

[0032] The tilt correction unit 174 calculates linearity deviation correction data 411 in adjustment mode and stores it as a correction table (e.g., a lookup table (LUT)). As shown in the figure, the correction data 411 is calculated as the difference between the output shaft encoder characteristics 401 and the motor encoder characteristics 403 for multiple sub-intervals (multiple phase angle intervals on the output shaft).

[0033] Figure 5 is a flowchart showing the process of the tilt (pan) correction unit. This process is executed, for example, when the user selects operation in adjustment mode.

[0034] In S501, the tilt correction unit 174 sets the position information obtained from the output axis encoder in the tilt direction to AbsEnc. This position information is set as the temporary coordinate origin of MotEnc, which is the position information of the motor encoder. In addition, various parameters such as SumDiff, n, and s are cleared to zero. SumDiff is the cumulative error, n is the number of sampling counts within one sub-interval, and s is the number of counts in the processed sub-interval. In S502, the tilt correction unit 174 drives the tilt motor to move the camera head 110 to the lower end in the tilt direction. In S503, the tilt correction unit 174 drives the tilt motor to start moving the camera head 110 at a constant speed with the tilt direction towards the upper end.

[0035] In S504, the tilt correction unit 174 performs data sampling for correction. For data sampling, the position information of the output axis encoder is set to AbsEnc, and the position information of the motor encoder is set to MotEnc. Furthermore, the difference between the two is set to diff, and diff is added to SumDiff. In S505, the tilt correction unit 174 determines whether the tilt direction of the camera head 110 has moved from the sub-interval sampled in S504 (i.e., entered the next sub-interval). If it has not moved, it returns to S504; if it has moved to the next sub-interval, it proceeds to S506.

[0036] In S506, the tilt correction unit 174 calculates the average value of multiple diffs obtained in the sub-interval. In S507, the tilt correction unit 174 stores the average value calculated in S506 in the correction table (LUT) as correction data for the sub-interval s, associated with AbsEnc.

[0037] In S508, the tilt correction unit 174 determines whether the tilt direction of the camera head 110 has reached the upper limit. If it has not reached the upper limit, the process returns to S504; if it has reached the upper limit, the process ends.

[0038] Figure 6 illustrates the averaging process (S506) in the sub-intervals of the tilt (pan) correction unit. As described above, the output shaft encoder obtains angle information by performing an inverse tangent transformation on sinusoidal signals with three types of periods: upper, middle, and lower. Therefore, if there is distortion in the sinusoidal signal, periodic fluctuations (ripples) like those shown in curve 601 occur in the angle information obtained corresponding to the tilt position. These periodic fluctuations are difficult to correct because their shape and phase change with environmental changes. Therefore, a sub-interval corresponding to N times the period of the ripple (where N is a natural number) is determined, multiple differences (diffs) are calculated in each sub-interval, and the average value 603 of these differences is stored as correction data for the corresponding sub-interval (or its representative position). The narrower the phase angle range of each sub-interval, the more correction data for each sub-interval can be set. For this reason, the phase angle range of each sub-interval is set to correspond to one period of the ripple.

[0039] Next, referring to FIGS. 7 and 8, the setting of the coordinate origin of the motor encoder at power-on will be described.

[0040] FIG. 7 is a flowchart showing the processing of the tilt (pan) setting unit. This processing is executed, for example, when the power is turned on.

[0041] In S701, the tilt setting unit 175 sets the position information obtained from the output shaft encoder in the tilt direction to AbsDet.

[0042] In S702, the tilt setting unit 175 compares AbsEnc(s) corresponding to the small section s in the correction table with AbsDet. If AbsDet≦AbsEnc(s), the process proceeds to S704; otherwise, in S703, s is incremented and the focused small section is moved. By this processing, the small section s that satisfies AbsEnc(s - 1)<AbsDet≦AbsEnc(s) is specified.

[0043] In S704, the tilt setting unit 175 calculates the correction value 806 corresponding to the tilt position of AbsDet. Here, it is assumed that linear interpolation is performed, but the correction value 806 may be calculated by other known interpolation methods.

[0044] [[ID=二十一]]FIG. 8 is a diagram for explaining linear interpolation in the tilt (pan) setting unit. As described above, the small section s specified in S702 satisfies AbsEnc(s - 1)<AbsDet≦AbsEnc(s). Also, as described above, the correction data stores AbsEnc(s) and Diff(s) corresponding to the small section s. Therefore, the correction value 806 corresponding to AbsDet is calculated by linear interpolation using Diff(s - 1) and Diff(s).

[0045] In S705, the tilt setting unit 175 corrects AbsDet using a correction value 806 and sets it to MotDet. In S706, the tilt setting unit 175 uses the corrected position information MotDet (corrected position information) to set the coordinate origin of the motor encoder (initialization process).

[0046] As described above, according to the first embodiment, a correction table is derived based on the difference (deviation) between the detected value of the absolute encoder of the output shaft and the detected value of the motor encoder of the motor shaft. Then, when setting the coordinate origin of the motor encoder (initialization process), the detected value (AbsDet) of the output shaft encoder is corrected by referring to the correction table. This makes it possible to perform an initialization process that reduces the effect of linearity deviation in the absolute encoder. As a result, high-precision position control of the pan / tilt head using the motor becomes possible.

[0047] In the first embodiment described above, the position (phase angle) control of the motor used in the pan / tilt head of a remote camera was explained. However, this can also be applied to any other device / system that uses a motor to control the position of a movable part and uses relative and absolute encoders in combination.

[0048] The disclosures herein include the following control devices, control methods, and programs. (Item 1) A control device that drives a movable part using a motor, A first receiving means for receiving absolute position information of the output shaft, which is the rotation axis of the movable part, A second receiving means for receiving relative position information of the motor shaft, which is the rotation axis of the motor, A generation means that generates correction data corresponding to multiple positions on the output axis based on the absolute position information and the relative position information, A setting means for setting the coordinate origin of the relative position information based on the absolute position information, A drive signal generation means that generates a drive signal for the motor using the relative position information based on the coordinate origin, Equipped with, The setting means sets the coordinate origin based on corrected position information obtained by correcting the absolute position information based on the correction data. A control device characterized by the following features. (Item 2) The first receiving means receives the absolute position information from the first encoder which detects the phase angle of the output shaft, The second receiving means receives the relative position information from the second encoder which detects the rotation angle of the motor shaft. The control device according to item 1, characterized in that it is a control device. (Item 3) The system further includes a conversion means for converting the relative position information into converted position information in the position coordinates of the output axis, The generation means generates the correction data based on the difference between the absolute position information and the converted position information. The control device according to item 2, characterized in that (Item 4) The motor gear coupled to the motor shaft and the drive gear coupled to the output shaft mesh together, thereby transmitting the rotation of the motor shaft to the rotation of the output shaft. The conversion means converts the relative position information into the converted position information based on the ratio of the resolution of the first encoder to the resolution of the second encoder when the output shaft rotates by a unit angle. The control device according to item 3, characterized in that (Item 5) Each of the aforementioned multiple positions is a representative position for each of the multiple phase angle intervals of the output shaft. The generation means calculates multiple differences for each of the multiple phase angle intervals, and generates the average value of the multiple calculated differences as correction data corresponding to the representative position of the corresponding phase angle interval. A control device according to item 3 or 4, characterized in that it is a control device. (Item 6) The absolute position information output from the first encoder fluctuates periodically in response to changes in the absolute position of the output shaft. The phase angle interval is determined based on the period of the variation. The control device according to item 5, characterized in that it is a control device. (Item 7) The phase angle interval is an interval corresponding to one period of the period of the variation. The control device according to item 6, characterized in that (Item 8) The aforementioned movable part is an imaging device, The motor is a pan drive motor or a tilt drive motor for changing the shooting direction of the imaging device. A control device according to any one of items 1 to 7, characterized by the above. (Item 9) A control method for a control device that drives a movable part using a motor, A first receiving step of receiving absolute position information of the output shaft, which is the rotation axis of the movable part, A second receiving step of receiving relative position information of the motor shaft, which is the rotation axis of the motor, A generation step of generating correction data corresponding to multiple positions on the output axis based on the absolute position information and the relative position information, A setting step of setting the coordinate origin of the relative position information based on the absolute position information, A drive signal generation step that generates a drive signal for the motor using the relative position information based on the coordinate origin, Includes, In the setting step, the coordinate origin is set based on corrected position information obtained by correcting the absolute position information based on the correction data. A control method characterized by the following: (Item 10) A program that causes a computer to execute the control method described in item 9.

[0049] (Other examples) The present invention can also be realized by supplying a program that implements one or more of the functions of the above-described embodiments to a system or device via a network or storage medium, and by having one or more processors in the computer of that system or device read and execute the program. It can also be realized by a circuit (e.g., an ASIC) that implements one or more functions.

[0050] The invention is not limited to the embodiments described above, and various modifications and variations are possible without departing from the spirit and scope of the invention. Accordingly, claims are attached to disclose the scope of the invention. [Explanation of symbols]

[0051] 100 Remote camera; 110 Camera head; 120,130 Camera head support; 140 Turntable; 150 Bottom case; 122,152 Motor; 125,155 Motor encoder; 126,156 Output shaft encoder; 174 Tilt correction unit; 175 Tilt setting unit; 176 Tilt control unit; 184 Pan correction unit; 185 Pan setting unit; 186 Pan control unit

Claims

1. A control device that drives a movable part using a motor, A first receiving means for receiving absolute position information of the output shaft, which is the rotation axis of the movable part, A second receiving means for receiving relative position information of the motor shaft, which is the rotation axis of the motor, A generation means that generates correction data corresponding to multiple positions on the output axis based on the absolute position information and the relative position information, A setting means for setting the coordinate origin of the relative position information based on the absolute position information, A drive signal generation means that generates a drive signal for the motor using the relative position information based on the coordinate origin, Equipped with, The setting means sets the coordinate origin based on corrected position information obtained by correcting the absolute position information based on the correction data. A control device characterized by the following features.

2. The first receiving means receives the absolute position information from the first encoder which detects the phase angle of the output shaft, The second receiving means receives the relative position information from the second encoder which detects the rotation angle of the motor shaft. The control device according to feature 1.

3. The system further includes a conversion means for converting the relative position information into converted position information in the position coordinates of the output axis, The generation means generates the correction data based on the difference between the absolute position information and the converted position information. The control device according to claim 2.

4. The motor gear coupled to the motor shaft and the drive gear coupled to the output shaft mesh together, thereby transmitting the rotation of the motor shaft to the rotation of the output shaft. The conversion means converts the relative position information into the converted position information based on the ratio of the resolution of the first encoder to the resolution of the second encoder when the output shaft rotates by a unit angle. The control device according to claim 3.

5. The generation means generates the average value of the difference calculated for each of the plurality of phase angle intervals of the output shaft as the correction data corresponding to the plurality of positions. The control device according to claim 3.

6. The absolute position information output from the first encoder fluctuates periodically in response to changes in the absolute position of the output shaft. The phase angle interval is determined based on the period of the variation. The control device according to claim 5.

7. The phase angle interval is an interval corresponding to one period of the period of the variation. The control device according to claim 6.

8. The aforementioned movable part is an imaging device, The motor is a pan drive motor or a tilt drive motor for changing the shooting direction of the imaging device. The control device according to feature 1.

9. A control method for a control device that drives a movable part using a motor, A first receiving step of receiving absolute position information of the output shaft, which is the rotation axis of the movable part, A second receiving step of receiving relative position information of the motor shaft, which is the rotation axis of the motor, A generation step of generating correction data corresponding to multiple positions on the output axis based on the absolute position information and the relative position information, A setting step of setting the coordinate origin of the relative position information based on the absolute position information, A drive signal generation step that generates a drive signal for the motor using the relative position information based on the coordinate origin, Includes, In the setting step, the coordinate origin is set based on corrected position information obtained by correcting the absolute position information based on the correction data. A control method characterized by the following:

10. A program for causing a computer to execute the control method described in claim 9.

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