JP2005055706A - Reference position correcting method, movable body transferring device and optical equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly correct deviation of reference position caused by difference in posture and impact from outside. <P>SOLUTION: A position control module 11 stores, in the internal memory 15a, the driving phase of the motor M that is outputted by a motor driving part 17 in accordance with the real reference position setting of a movable body transferring device 1. In the case where a lens is situated at a place capable of detecting the reference position in the operating condition of a camera 10, a position correcting part 15 compares the driving phase outputted by the motor driving part 17 with the driving phase stored in the internal memory 15a, discriminating, if the two are different from each other, as the deviation of the reference position. With the presence of the deviation, the number of steps of the motor M corresponding to the deviation is specified, so that the reference position is corrected by the number of steps so specified. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a reference position correction method, a movable body moving apparatus, and an optical apparatus that appropriately correct a reference position of a movable body whose position is moved by a motor according to a situation.

  Conventionally, a movable body moving device that moves a movable body attached to a linear motion mechanism such as a feed screw mechanism with a motor has been applied to various machines and devices, for example, optical devices such as cameras and video cameras. May be used to move the lens.

  Fig.6 (a) is the schematic of the movable body moving apparatus 1 applied to the optical instrument (refer patent document 1). In the movable body moving device 1, a clamper 3 is engaged with a screw shaft 2 attached to a motor M, and one end 4 a of a lens holder 4 of a lens 8 is connected to the clamper 3. The lens holder 4 is movable along guide rods 7a and 7b projecting from the wall 9 of the housing, and a shielding plate 5 is provided at the other end 4b. Further, the movable body moving device 1 has a photosensor 6 having a substantially U-shaped cross section disposed on the movement locus of the shielding plate 5. When the screw shaft 2 is rotated by the motor M, the clamper 3 moves in the axial direction of the screw shaft 2, and the lens holder 4 and the shielding plate 5 also move together with the clamper 3. The shielding plate 5 and the photosensor 6 are used for setting a reference position for the position movement.

  FIG. 7 is a block diagram showing a position control module in the movable body moving apparatus 1. The photosensor 6 has a light-emitting portion 6a and a light-receiving portion 6b opposed to each other, and the light-receiving portion 6b is gradually blocked by the moving shielding plate 5, so that the light-receiving amount of the light-receiving portion 6b changes, and according to the light-receiving amount The output voltage from the photosensor 6 is changed. As indicated by the alternate long and short dash line in the graph of FIG. 8, the output voltage becomes high when the light receiving portion 6b is not blocked. When the shielding plate 5 begins to block the light receiving portion 6b, the output voltage gradually decreases, and the light receiving portion 6b. When completely blocked, it becomes low level.

  The amplifier unit 1a amplifies the output voltage of the photo sensor 6, and the comparator unit 1b compares the amplified output voltage with a constant reference voltage (Vref) and outputs an H (High) voltage when the output voltage is higher than the reference voltage. When the voltage is lower than the reference voltage, an L (Low) voltage is output (solid line in the graph of FIG. 8). The reference position setting unit 1c sets a point where the H / L of the output voltage from the comparator unit 1b is switched as a reference position and stores it in the memory 1d. The set reference position is a position away from the wall portion 9 which is the end of the movable range of the lens 8 shown in FIG.

The motor control MPU 1 e outputs a drive instruction signal to the motor drive unit 1 f according to the set reference position, and the motor drive unit 1 f receives the drive instruction signal, generates a drive waveform, and outputs it to the motor M. The motor M is driven based on the driving waveform. The motor control MPU 1e is connected to a system control unit 1g that grasps the position of the lens 8 based on the set reference position and the drive instruction signal to be output and performs overall control of the optical apparatus.
JP-A-9-105850

  The movable body moving apparatus 1 described above is structurally provided with necessary gaps, play, and the like in each part in order to ensure smooth movement. More specifically, a required gap is provided in the engagement with the clamper 3 and the screw shaft 2 in design. Therefore, when the posture of the optical device provided with the movable body moving device 1 is different, for example, when the optical device is upward and downward, each of the above-described gaps, play, etc. is present even if the motor M is not driven. A positional deviation occurs between the postures in the clamper 3, the lens holder 4, and the like. Such positional deviation due to different postures also affects the set reference position, causing the actual lens position to deviate from the predetermined position that is grasped, resulting in problems such as the zoom function and autofocus function. .

  As shown in FIG. 6B, the clamper 3 holds the screw shaft 2 between the upper portion 3a and the lower portion 3b and meshes the screw groove portion 3c formed in the upper portion 3a with the screw thread portion 2a of the screw shaft 2. The lower portion 3b is configured not to mesh with the screw thread portion 2a. For this reason, when the optical device including the movable body moving device 1 receives an impact from the outside, the screw groove portion 3c gets over the screw thread engaged with the screw thread portion 2a, and the clamper 3 slides on the screw shaft 2. There is. When the side slip occurs, a deviation occurs in the set reference position, and the motor control MPU 1e cannot accurately grasp the current position of the lens 8, which causes a problem of affecting various functions due to lens movement.

  The present invention has been made in view of such a problem. The drive phase of the motor at the accurately set reference position is stored in advance, and the stored drive phase is compared with the current drive phase to determine the reference position. It is an object of the present invention to provide a reference position correction method, a movable body moving device, and an optical apparatus that determine whether or not there is a deviation and correct the reference position when the deviation occurs.

  Further, the present invention provides a reference position correction method, a movable body moving apparatus, and an optical instrument that correct or correct a reference position by calculating or specifying a motor drive amount corresponding to the difference when a reference position shift occurs. The purpose is to provide.

  In order to solve the above-described problem, the reference position correction method of the present invention detects a position of a movable body moved by a motor, specifies a reference position for the position movement, and moves the motor according to the specified reference position. A method for correcting a reference position of a body movement device, wherein the movable body movement device prepares a phase output means for outputting a drive phase related to driving of a motor, and the drive phase output by the phase output means at a specified reference position And when the movable body is located at a location where the detection related to the reference position can be performed, the drive phase output by the phase output means and the stored drive phase are compared, When both drive phases are different from each other by comparison, the reference position is corrected.

  Further, in the reference position correction method of the present invention, when both the drive phases are different from each other by the comparison, the motor drive amount is calculated according to the difference of the drive phases, and the reference position is set by the calculated drive amount. It is characterized by correcting.

  Furthermore, in the reference position correction method of the present invention, the movable body moving device prepares a table that defines the drive amount of the motor by associating the drive phase output by the phase output means with the stored drive phase. When the drive phases are different from each other by the comparison, the motor drive amount corresponding to the drive phase difference is specified based on the table, and the reference position is corrected by the specified drive amount. To do.

  The movable body moving device according to the present invention includes a detecting means for detecting a position of a movable body moved by a motor, a specifying means for specifying a reference position for position movement by detection of the detecting means, and a reference specified by the specifying means. In a movable body moving device including a motor driving unit that drives a motor according to a position, a phase output unit that outputs a driving phase related to driving of the motor, and the phase output unit that outputs the reference position specified by the specifying unit A phase storage means for preliminarily storing a drive phase to be stored, and a drive phase output by the phase output means and the phase storage means when the movable body is located at a location where detection relating to a reference position can be performed. Comparing means for comparing driving phases, and reference position correcting means for correcting a reference position when both driving phases are different due to comparison of the comparing means To.

  Further, the movable body moving device of the present invention further includes a calculation unit that calculates a drive amount of the motor according to the difference of the drive phase when both the drive phases are different due to the comparison of the comparison unit, The reference position correcting means includes means for correcting the reference position by the driving amount calculated by the calculating means.

  Furthermore, the movable body moving apparatus of the present invention is based on a comparison between the table that defines the drive amount of the motor by associating the drive phase output from the phase output means with the drive phase stored in the phase storage means, and the comparison means. A drive amount specifying means for specifying a drive amount of the motor according to the difference between the drive phases based on the table when both drive phases are different from each other; and the reference position correcting means includes the drive amount It is characterized by comprising means for correcting the reference position by the drive amount specified by the specifying means.

  An optical apparatus according to the present invention includes the movable body moving device, and the movable body is a lens.

  In the present invention, since the phase output means outputs the drive phase related to the drive of the motor, the position of the movable body can be associated with the drive phase. Therefore, by storing the drive phase at the set reference position in advance, when the movable body is located at the location related to the reference position, the movable body moving device can be obtained by comparing the current drive phase with the stored drive phase. It is possible to determine whether or not the reference position is displaced due to the difference in posture and the impact from the outside, and the reference position can be corrected accordingly.

  Further, in the present invention, when a deviation occurs in the reference position, the driving amount of the motor corresponding to the difference in the drive phase is calculated, so that the current deviation corresponds to the motor of the drive source. The reference position can be corrected, and the influence of the gap and play required for the structural structure on the reference position can be eliminated as much as possible to achieve accurate position control.

  Furthermore, according to the present invention, when the reference position is displaced, the motor drive amount corresponding to the difference in the drive phase is specified based on the table, so that a quick correction process can be realized.

  Furthermore, in the present invention, since the optical device includes the movable body moving device that performs the reference position correction as described above and moves the lens, stable lens movement control can be performed.

  In the present invention, the drive phase of the motor at the set reference position is stored in advance, and when the movable body is located at a location related to the reference position, the current drive phase is compared with the drive phase stored in advance, It can be easily recognized whether or not the reference position is shifted. In addition, when the occurrence of the reference position deviation is recognized, the reference position is corrected, so that an appropriate movable body position can be obtained regardless of the posture of the movable body moving device and even when an impact is applied from the outside. You can maintain control.

  In the present invention, since the motor drive amount is calculated as the difference in drive phase, the reference position can be accurately corrected according to the motor applied to the movable body moving device.

  Furthermore, in the present invention, since the driving amount of the motor related to the correction is specified based on the table, a quick correction process can be realized.

  Furthermore, in the present invention, by using the movable body moving device according to the present invention in an optical device such as a camera or a video camera, optical functions such as a zoom function and an autofocus function due to a shift in lens position. It is possible to avoid the occurrence of malfunctions.

  FIG. 1 is a block diagram of a position control module 11 of a movable moving device provided in a camera 10 that is an optical apparatus according to an embodiment of the present invention. The camera 10 includes a movable body moving device 1 as shown in FIG. 6A for moving the lens, and the position control module 11 performs position control related to setting, correction, and the like of the reference position in the movable body moving device 1. I do. The position control module 11 of the present embodiment is newly provided with a position correction unit 15 as compared with the conventional position control module shown in FIG.

  The mechanical configuration of the movable body moving apparatus 1 according to the present embodiment is the same as the configuration shown in FIG. 6A, and each unit according to FIG. 6A is described below using the same reference numerals as in the prior art. To do.

  The movable body moving device 1 moves the lens 8 corresponding to the movable body by the motor M, and the shielding plate 5 moves together with the lens 8 so that the light receiving portion 6b facing the light emitting portion 6a of the photosensor 6 is shielded. The output voltage of the sensor 6 is changed (see FIGS. 1 and 2). Note that the output voltage of the photosensor 6 changes stepwise depending on the light receiving sensitivity, the pitch per rotation of the screw shaft 2, and the like. In this embodiment, the output voltage is changed in seven steps as shown in the middle graph of FIG. It has a fluctuating configuration.

  As the motor M of this embodiment, a stepping motor driven by 1-2 phase excitation with a constant current is used. As shown in the upper graph of FIG. 2, the motor M is driven using a combination of a first current waveform and a second current waveform whose current varies in five stages from 100% to −100%. In this combination, when the current of the first current waveform is 0% and the current of the second current waveform is 100%, the driving phase (1) is set, and thereafter, the required current of the first current waveform and the required current of the second current waveform are A total of eight drive phases (1) to (8) are formed in combination, and the motor M is rotated once by combining these eight drive phases in order. Therefore, the motor M rotates by one step for each driving phase, and one cycle related to the rotation is formed from the first driving phase (1) to the eighth driving phase (8). In the camera 10, the case where the motor M rotates so that the lens 8 is separated from the wall portion 9 in FIG.

  The shielding plate 5, the photo sensor 6, the amplifier unit 12, and the comparator unit 13 shown in FIG. 1 correspond to detection means for detecting the position related to the reference position of the lens 8 in this embodiment, and the photo amplified by the amplifier unit 12. The output voltage of the sensor 6 is switched to the H / L voltage with respect to the reference voltage by the comparator unit 13, and the H / L voltage is output to the reference position setting unit 14. The reference position setting unit 14 functions as specifying means for specifying the reference position, sets the point where the output H voltage and L voltage are switched to the reference position, and sets the reference position set in the built-in memory 14a. And a signal related to the setting of the reference position is output to the position correction unit 15 as a control signal.

  The position correction unit 15 includes an internal memory 15a, and outputs a control signal output from the reference position setting unit 14 to the motor control MPU 16 and functions as a phase storage unit, a comparison unit, and a drive amount specifying unit. Details of each means will be described later.

  The motor control MPU 16 functions as a motor drive means, grasps the reference position of the lens by a control signal from the reference position setting unit 14 via the position correction unit 15, and the grasped reference position and motor drive. The motor M is controlled by recognizing the current position of the lens 8 based on the drive instruction signal output to the unit 17. Furthermore, when the motor control MPU 16 receives, as reference position correction means, the number of steps of the motor M related to positional deviation from the position correction unit 15 described later, the motor control MPU 16 also corrects the grasped reference position by the received number of steps. Do.

  The motor control MPU 16 is connected to a system control unit 20 that performs overall control of the camera 10 that is not included in the position control module 11, and the number of steps of the motor M according to the output content from the system control unit 20. The drive instruction signal concerning is output. The motor control MPU 16 outputs an initialization request signal to the system control unit 20 when the current position of the lens 8 becomes unrecognizable.

  The system control unit 20 recognizes and recognizes the current status of the camera 10 by receiving various operations on the camera 10 such as an external lens adjustment command, power-on, zoom operation, and the initialization request signal from the motor control MPU 16. The state is output to the motor control MPU 16.

  Specific recognition states output from the system control unit 20 to the motor control MPU 16 include a lens adjustment state, a normal operation state, and an initialization state. The lens adjustment state means a state in which the camera 10 is horizontally disposed and is not subjected to an impact in a situation such as a camera assembly process. In this state, the lens position is accurately adjusted and the lens 8 is moved. A true reference position is set. The normal operation state means a state in which the camera 10 receives an operation by the user and performs an operation corresponding to the operation. The initialization state is a state in which the motor M is driven so that the position of the lens 8 related to the reference position is detected again when the camera 10 is turned on or when an initialization request signal is received from the motor control MPU 16. means.

  The motor drive unit 17 generates the first current waveform and the second current waveform shown in the upper graph of FIG. 2 in response to the drive instruction signal from the motor control MPU 16, and outputs the generated waveforms to the motor M to output the motor. M is driven. The motor drive unit 17 also functions as a phase output unit that outputs a drive phase related to the motor drive. When the motor drive waveform is output, the drive phase ((1)) determined by each waveform is output. (8)) are also output to the position correction unit 15.

  The phase storage means of the position correction unit 15 described above stores the drive phase at the true reference position. That is, when the motor control MPU 16 receives the output of the lens adjustment state from the system control unit 20 to drive the motor M, and the reference position setting unit 14 sets the true reference position, it is output from the motor drive unit 17. The drive phase is stored in advance in the internal memory 15a.

  Further, the comparison means of the position correction unit 15 compares the drive phase from the motor drive unit 17 when the lens 8 is located at a position where the detection related to the reference position can be performed with respect to the camera 10 after setting the true reference position. The drive phase stored in the internal memory 15a is compared. Specifically, the motor control MPU 16 receives the output of the normal operation state or the initialization state from the system control unit 20 and can detect the reference position based on the position of the shielding plate 5 interlocked with the movement of the lens 8. When the output voltages H and L of the unit 13 are switched, the two drive phases are compared. Note that when the posture of the camera 10 is different from the posture at the time of setting the true reference position at the time of this comparison, or when the camera 10 receives an impact, a difference may occur in both drive phases.

  Further, the position correction unit 15 stores a table 21 shown in FIG. 3 in the internal memory 15a for determining the driving amount of the motor M according to the difference in driving phase. The vertical side of the table 21 means the drive phase at the current reference position, that is, the current drive phase output by the motor drive unit 17 upon detection related to the reference position, while the horizontal side of the table 21 is driven at the true reference position. This means the phase, that is, the drive phase stored in the internal memory 15a.

  The table 21 indicates that there is no positional deviation when the numerical value at the position where both driving phases intersect is “0”, and there is a positional deviation when the numerical value at the intersecting position is not “0”. Indicates that Further, each numerical value in each table 21 means the number of steps as the driving amount of the motor M. For example, when the numerical value is “2”, it indicates that the positional deviation is generated by two steps in the positive direction. means. When the numerical value is “x”, it means that a positional deviation has occurred beyond the correction range of the movable body moving apparatus 1.

  Furthermore, the drive amount specifying means of the position correction unit 15 performs a process of specifying the number of steps corresponding to the drive amount of the motor M related to the positional deviation as the difference in drive phase based on the table 21 of FIG. At the same time, a process of outputting the specified number of steps to the motor control MPU 16 is performed. Further, when the number of steps specified by the drive amount specifying means based on the table 21 is “×”, a signal of unknown step number is output to the motor control MPU 16.

  In addition, the movable body moving apparatus 1 which concerns on this embodiment is set as the structure similar to the former except the location mentioned above.

  Next, a series of processes related to the reference position correction method of the camera 10 will be specifically described based on the first flowchart of FIG. 4 and the second flowchart of FIG. The first flowchart mainly shows processing related to the setting of the true reference position, and the second flowchart mainly shows specific reference position correction processing related to the processing of the position correction unit 15. .

  First, as shown in the first flowchart of FIG. 4, the motor control MPU 16 determines whether or not the lens is adjusted based on the output from the system control unit 20 (S1), and when the lens is not adjusted (S1: NO). The process waits until the lens adjustment state is reached. On the other hand, when it is in the lens adjustment state (S1: YES), the motor control MPU 16 outputs a drive instruction signal to drive the motor M (S2). The shielding plate 5 is moved by driving the motor M, and as the shielding plate 5 moves, the output voltage of the photosensor 6 decreases as shown in FIG. 2, and the output voltage of the comparator unit 13 is related to the reference voltage (Vref). The reference position setting unit 14 determines whether or not has been switched from H to L (S3).

  When the output voltage of the comparator unit 13 is not switched (S3: NO), the process waits until it is switched, and when the output voltage is switched (S3: YES), the point (point Xn in FIG. 2) is set to the true reference position. The reference position setting unit 14 sets and stores it in the memory 14a (S4). At that time, the position correction unit 15 stores the drive phase (drive phase (7) in FIG. 2) output from the motor drive unit 17 at the true reference position (Xn) in the internal memory 15a (S5). After performing the processing as described above in advance, the reference position correction processing (S6) is performed in the actual usage situation of the camera 10.

  Next, as shown in the second flowchart of FIG. 5, the motor control MPU 16 determines whether or not the normal operation state or the initialization state has been reached based on the output from the system control unit 20 (S10). When the current state is not the normal operation state or the initialization state (S10: NO), the process waits. On the other hand, when the current state is the normal operation state or the initialization state (S10: YES), the comparator is associated with the position of the lens 8. The reference position setting unit 14 determines whether or not the position related to the reference position can be detected by switching the output voltage of the unit 13 (S11).

  When the reference position cannot be detected (S11: NO), the process waits until the reference position can be detected. When the reference position is detected (S11: YES), the motor drive unit 17 outputs at that time. The position correction unit 15 confirms the drive phase (S12).

  Further, the position correction unit 15 compares whether or not the confirmed drive phase is different from the drive phase stored in the internal memory 15a (S13). When the two drive phases are not different (S13: NO), it is determined that no positional deviation has occurred, and the process ends. On the other hand, when the two drive phases are different (S13: YES), the position correction unit 15 specifies the number of steps corresponding to the difference of the drive phases based on the table 21 of FIG. 3 (S14). For example, when the position correction unit 15 confirms the drive phase (S12) in the stage of confirming the drive phase (S12), the number of steps related to the position shift corresponding to the drive phase (7) stored in advance in the above example. Is specified as “2”.

  Note that the current reference position is the position (Xn + 2) from the drive phase (1) confirmed in the drive phase confirmation stage (S12), and there is a positional deviation from the true reference position (Xn) (see FIG. 2). ). That is, the output voltage of the photosensor 6 related to the positional deviation becomes like the broken line in the middle graph in FIG. 2, and the intersection with the reference voltage (Vref) is also shifted, and accordingly, the broken line in the lower graph in FIG. As shown, the output voltage of the comparator unit 13 is also shifted.

  If a function related to the movement of the lens 8 is operated in a state where such a positional deviation has occurred, zoom tracking or the like is affected, and normal tracking becomes impossible. Therefore, as in the second flowchart of FIG. 5, the position correction unit 15 outputs the specified number of steps to the motor control MPU 16, and the motor control MPU 16 performs a process of correcting the grasped reference position (S15).

  Specifically, the motor control MPU 16 corrects the true reference position (Xn) related to the grasped position of the lens 8 to a position (Xn + 2) shifted by two steps in the positive direction, so that the current state of the camera 10 The position (Xn + 2) corresponding to is re-understood as the true reference position. By performing various functions in this state, various appropriate optical functions can be exhibited.

  In addition, after the above-described processing, the movable body moving apparatus 1 appropriately performs the above-described reference position correction processing as long as the movable body moving device 1 is in the normal operation state or the initialization state and can detect the reference position. Accordingly, when the reference position correction process is performed when the posture of the camera 10 returns to the posture at the time of lens adjustment, or when the influence of the positional deviation due to the impact is canceled, the position related to the current reference position is To the true reference position (Xn).

  The position control module 11 of the movable body moving apparatus 1 is not limited to the above-described form, and various modifications can be applied. For example, the drive phase with respect to the true reference position stored in advance can be stored in the memory of the motor control MPU 16 in addition to being stored in the internal memory 15a, and the position control module 11 can store the drive phase. These memories may be provided independently. Further, the table 21 shown in FIG. 3 may also be stored in the memory of the motor control MPU 16 or a newly provided single memory as described above. The specified content of the table 21 is an example corresponding to this embodiment, and can be appropriately changed according to the specification of the motor M used and the pitch of the screw shaft 2.

  For specifying the number of steps associated with the positional deviation, the position control module 11 may be provided with a calculation means for calculating the contents indicating the correspondence of the table 21 instead of using the table 21 of FIG. Note that the calculation means is preferably caused to function in the position correction unit 15. In this case, the number of steps calculated by the position correction unit 15 is output to the motor control MPU 16 to correct the reference position.

  Further, the motor M can be applied to the present invention as long as it is capable of discrete position control other than the stepping motor. Furthermore, the present invention also relates to various cameras including a digital camera, various digital video cameras including a digital video camera, a mobile phone having a camera or video camera function, a scanner, and a lens such as a projection device such as a projector. In addition to the optical apparatus, the present invention can be applied to various machines and apparatuses in which a reference position is set and the movable body is moved by a motor.

It is a block diagram which shows the position control module of the movable body moving apparatus which concerns on embodiment of this invention. It is a graph which shows the current waveform with respect to each drive phase, the output voltage of a photo sensor, and the output voltage of a comparator part. It is a graph which shows the table which prescribed | regulated the step number concerning each drive phase. It is a 1st flowchart which shows the whole process sequence which concerns on a reference position correction method. It is a 2nd flowchart which shows a specific reference position correction process. (A) is the schematic of a movable body moving apparatus, (b) is the schematic which shows the meshing state of the clamper with respect to a screw shaft. It is a block diagram which shows the conventional position control module. It is a graph which concerns on the setting of a reference position.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Movable body moving apparatus 5 Shielding board 6 Photo sensor 10 Camera 11 Position control module 12 Amplifier part 13 Comparator part 14 Reference position setting part 15 Position correction part 16 Motor control MPU
17 Motor drive unit 20 System control unit M Motor

Claims (7)

A reference position correction method for a movable body moving device that detects a position of a movable body to be moved by a motor, identifies a reference position for the position movement, and drives the motor according to the identified reference position,
The movable body moving device is:
Prepare phase output means to output the drive phase related to motor drive,
Store the drive phase output by the phase output means at the identified reference position,
When the movable body is located at a position where the detection related to the reference position can be performed, the drive phase output by the phase output means and the stored drive phase are compared,
A reference position correction method for correcting a reference position when both drive phases are different from each other by the comparison. When both the drive phases are different from each other by the comparison, the driving amount of the motor corresponding to the difference between the drive phases is calculated,
The reference position correction method according to claim 1, wherein the reference position is corrected by the calculated drive amount. The movable body moving device prepares a table that defines the driving amount of the motor in association with the driving phase output by the phase output means and the stored driving phase,
If both of the drive phases are different from each other by the comparison, the drive amount of the motor corresponding to the difference of the drive phases is specified based on the table,
The reference position correction method according to claim 1, wherein the reference position is corrected by the specified drive amount. Detection means for detecting the position of the movable body moved by the motor, specification means for specifying a reference position for position movement by detection of the detection means, and a motor for driving the motor according to the reference position specified by the specification means In a movable body moving device comprising a driving means,
Phase output means for outputting a drive phase related to driving of the motor;
Phase storage means for storing in advance the drive phase output by the phase output means at the reference position specified by the specifying means;
When the movable body is located at a position where detection relating to a reference position can be performed, a comparison unit that compares the drive phase output by the phase output unit and the drive phase stored by the phase storage unit;
Reference position correcting means for correcting a reference position when both drive phases are different from each other by comparison of the comparing means, A movable body moving device comprising: When both drive phases are different due to the comparison of the comparison means, further comprising a calculation means for calculating the drive amount of the motor according to the difference between the drive phases,
The reference position correcting means includes
The movable body moving device according to claim 4, comprising means for correcting the reference position by the driving amount calculated by the calculating means. A table that defines the drive amount of the motor by associating the drive phase output by the phase output means and the drive phase stored by the phase storage means;
A drive amount specifying means for specifying, based on the table, a drive amount of the motor according to the difference between the drive phases when both of the drive phases are different due to the comparison of the comparison means;
The reference position correcting means includes
5. The movable body moving apparatus according to claim 4, further comprising means for correcting the reference position by the drive amount specified by the drive amount specifying means. The movable body moving device according to any one of claims 4 to 6, comprising:
An optical apparatus, wherein the movable body is a lens.

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