Patent Description:
A time-of-flight sensor is an example of a range imaging system that resolves distances based on the known speed of light. As an example, a "direct" time-of-flight sensor can emit a pulse of light toward an object, and detect light that reflects from the object and returns to the sensor. The distance between the object and the sensor can be determined based on the duration between the emission of light and the return of light to the sensor (e.g., the "time of flight" of the light from the sensor to the object, and back to the sensor). <CIT> discloses an optical time-of-flight distance measuring device; <CIT> discloses a multiple pulse light detection and ranging (LIDAR) based <NUM>-D Imaging; <CIT> discloses a mobile terminal having a plurality of light emitting devices; <CIT> discloses a scanning range finder for high-precision distance measurement; and <CIT> discloses a flash control circuit of an image capture device. None of these documents discloses the adaptation of the pulse width according to the embodiment of <FIG> (see below).

The present disclosure describes optical ranging systems having multi-mode operation using short and long pulses.

For example, in one aspect, the disclosure describes an apparatus having the features of claim <NUM>.

Some implementations include one or more of the following features. For example, in some instances, the electronic control device is operable to estimate a distance to the object based on signals from the photodetector when the illuminator is operating in the first mode if the distance to the object is within a first distance measurement range, and wherein the electronic control device is operable to estimate a distance to the object based on signals from the photodetector when the illuminator is operating in the second mode if the distance to the object is in a second distance measurement range that differs from the first distance measurement range.

In some cases, the illuminator includes multiple vertical cavity surface emitting lasers (VCSELs). A first subset of the VCSELs can be operable to emit the pulses of light having the first width, and a second subset of the VCSELs can be operable to emit the pulses of light having the second width. In some instances, the VCSELs in the first subset are of a different type from the VCSELs in the second subset, and the VCSELs of the first and second subsets are in the same monolithic die. In some implementations, the electronic control device is operable alternately to activate one of the subsets of VCSELs at a time.

Further, in some cases, a third subset of the VCSELs is operable to emit pulses of light having a third width that differs from the first and second widths, wherein the illuminator is operable in a third mode in which the third subset of VCSELs emits pulses having the third width, and wherein the electronic control device is operable to estimate a distance to the object based on signals from the photodetector when the illuminator is operating in the third mode if the distance to the object is within a third distance measurement range that differs from the first and second distance measurement ranges.

Details of the pulse width and power depend on the implementations. In some cases, the illuminator is operable in the first mode to emit pulses having a width of less than <NUM> psec, and is operable in the second mode to emit pulses having a width greater than <NUM> psec. Also, in some instances, the illuminator is operable in the first mode to emit pulses having a first optical power level, and the illuminator is operable in the second mode to emit pulses having a second optical power level greater than the first optical power level. For example, in some implementations, the illuminator is operable in the first mode to emit pulses having a power less than <NUM> mW, and the illuminator is operable in the second mode to emit pulses having a power greater than <NUM> mW.

In another aspect, the disclosure describes a host device having the features of claim <NUM> that includes a time- of-flight (TOF) sensor system, a display screen, and a processor to adjust a brightness of the display screen in response to a distance estimated by the electronic control device.

In a further aspect, the disclosure describes a method having the features of claim <NUM>. In some instances, different subsets of groups of VCSELs (or other light emitting elements) can be used for each respective mode. In some cases, different types of VCSELs are provided in the same VCSEL die, and selected ones of the VCSELs are activated depending on the mode of operation.

The implementations described herein can provide a variety of benefits. In some implementations, a time-of-flight sensor can obtain measurements that are more accurate and/or precise (e.g., compared to measurements conducted without the performance of the disclosed techniques). In particular, the disclosure can help extend the effective distance measurement range of the time-of-flight sensor.

Other features and advantages will be readily apparent from the following detailed description, the accompany drawings, and the claims.

A time-of-flight (TOF) sensor can resolve distances between the sensor and an object. The distance resolution of a time-of-flight sensor depends, at least in part, on the sensor's ability to determine the elapsed time between the emission of light of and the return of reflected light precisely (e.g., using one or more timekeeping components, such as a time to digital converter (TDC)).

An example TOF sensor system <NUM> is shown in <FIG>. The sensor system <NUM> includes an illuminator <NUM> operable to emit pulses of light, a photodetector <NUM> operable to detect light at the same wavelength as the light produced by the illuminator <NUM>, and an electronic control device <NUM>. In an example usage of the sensor system <NUM>, the illuminator <NUM> generates pulses of light (e.g., infrared), which is emitted toward a subject (e.g., an object in proximity to the sensor system <NUM>). The photodetector <NUM> measures light that is reflected from the subject and returns to the sensor system <NUM>. The electronic control device <NUM> is operable to determine the distance between the object and the sensor system <NUM> based on the time that elapses between the light being emitted and the reflected light being sensed. In some cases, the electronic control device <NUM> is housed within a TOF sensor module itself; in other cases, it may be housed in a host device in which the TOF sensor module is disposed.

To illustrate, <FIG>, shows an example usage of the sensor system <NUM>. In this example, the sensor system <NUM> is in proximity to an object <NUM>. The illuminator <NUM> is operable to generate light R (e.g., based on instructions from the electronic control device <NUM>), which is directed toward the object <NUM>. At least some of the emitted light reflects from the object <NUM> and returns to the photodetector <NUM> in the form of a reflected signal T. The photodetector <NUM> measures the reflected signal T, and transmits information regarding the measurements to the electronic control device <NUM>. The electronic control device <NUM> then determines the distance (d) to the object <NUM>, for example, based on the elapsed round-trip time (t) and the speed of light (c) (e.g., d = (t x c) /<NUM>).

In some instances, each incoming signal detected by the photodetector <NUM> can be categorized into one of multiple bins, where each bin represents, for example, a narrow range of time from emission of the outgoing signal by the illuminator <NUM> until detection of the signal by the photodetector <NUM>. The number of counts for each respective bin can be integrated over a specified time interval. A bin histogram can be used by the electronic control device <NUM> to estimate the distance to the object <NUM>.

According to the invention as claimed, the sensor <NUM> is disposed beneath a cover glass of a host device (e.g., a smartphone). In such instances, the photodetector <NUM> senses reflections both from the cover glass as well as the subject <NUM>. As shown in <FIG>, reflections from the cover glass can be identified as a peak signal <NUM> separate from a peak signal <NUM> representing reflections from the subject <NUM>. However, if the subject is very close to the cover glass, then the two peaks <NUM>, <NUM> may merge such that are not easily distinguishable (see <FIG>). As the signal representing reflections from the cover glass decreases the signal-to-noise ratio, the distance to the subject <NUM> cannot easily be obtained.

To obviate the foregoing problem, the illuminator <NUM> is operable in at least two modes: a first mode in which the illuminator <NUM> emits relatively short pulses at relatively low power, and a second mode in which the illuminator <NUM> emits relatively long pulses at relatively high power. As an example, in some implementations, the illuminator <NUM> is operable to emit pulses having a width on the order of <NUM> picoseconds (psec) or less and a power of <NUM> milliwatts (mW) or less during the first mode of operation. During the second mode of operation, the illuminator <NUM> emits pulses having a width of more than <NUM> psec and a power of more than <NUM> mW. The pulse width can refer, for example, to the full width at half maximum (FWHM), that is, the width of the time interval within which the power is at least half the peak power. The first mode of operation can be particularly advantageous for measuring relatively short distances, whereas the second mode of operation can be particularly advantageous for measuring relatively long distances.

In some cases, the illuminator <NUM> includes multiple light emitting elements, such as an array of vertical cavity surface emitting lasers (VCSELs). A first subset of the VCSELs is composed of VCSELs operable to emit the shorter pulses at the lower power, whereas a second subset of the VCSELs is composed of VCSELs operable to emit the longer pulses at the higher power. In some implementations, the first subset of VCSELs can be particularly advantageous for measuring relatively short distances (e.g., a few millimeters (mm), whereas the second subset of VCSELs can be particularly advantageous for measuring relatively long distances (e.g., up to a meter (m)). The subsets of VCSELs can be optimized for other ranges as well (e.g., by using VCSELs having appropriate pulse widths and power).

The arrangement and number of VCSELs can vary depending on the particular implementation. <FIG> illustrate several examples of VCSEL arrangements, including VCSELs <NUM> in the first subset (i.e., operable to emit shorter pulses) and VCSELs <NUM> in the second subset (i.e., operable to emit longer pulses). One factor that affects the number of VCSELs in each subset is the total optical power needed for each mode of operation. In general, optical power received by the photodetector <NUM> is inversely proportional to the square of the distance to the subject <NUM>. Thus, more power typically is required to determine the distance when the subject <NUM> is further away than when it is closer. Although <FIG> show 4x4 VCSEL arrays, other size arrays or configurations can be used as well.

In some implementations, there are a greater number of VCSELs in the second subset <NUM> than in the first subset <NUM>. Thus, in the illustrated examples, the ratio of VCSELs in the first subset <NUM> to those in the second subset <NUM> is <NUM>:<NUM>. However, this ratio can differ in other implementations. For example, in some cases, a ratio of about <NUM>:<NUM> may be appropriate. The VCSELs in the first subset <NUM> can be of a different type from the VCSELs in the second set <NUM>. For example, depending on the arrangement of the VCSELs, the field of emission for the first subset of VCSELs and the second subset of VCSELs may differ from one another. In other instances, the VCSELs of both subsets <NUM>, <NUM> may be of the same type, but each of the VCSELs can be dedicated to operate in a particular one of the modes. The different subsets of VCSELs may be optimized for the number of VCSELs in each subset, as well as for routing and location. They also may differ in shape and make.

In some cases, the VCSELs of the first and second subsets can be implemented in or on the same monolithic semiconductor die. Wire bonding or other electrical connections for the shorter pulse VCSELs can be adjusted to reduce capacitance and ensure high-speed operation.

The photodetector <NUM> can be implemented, for example, as a Single-Photon Avalanche Diode (SPAD) that is operable to measure the intensity of light emitted from the light source <NUM> and reflected from the subject back toward the photodetector <NUM>. Although other types of photodetectors can be used, a SPAD is useful for detecting low intensity signals and to signal the time of the photon arrival with high temporal resolution (e.g., a few tens of picoseconds).

The electronic control device <NUM> is coupled to the illuminator <NUM> and is operable to control, for example, which VCSELs in the illuminator are turned on or off at particular times. The electronic control device <NUM> also can control the operation of the photodetector <NUM>. For example, the electronic control device <NUM> can be coupled to the photodetector <NUM> and selectively can turn on or off the photodetector <NUM> (e.g., to measure light during selected periods of time, such as during a measurement operation). Further, the electronic control device <NUM> can obtain information describing the characteristics of the measured light (e.g., the time at which the light is measured and the intensity of the measured light).

In accordance with the invention as claimed, in operation, the electronic control device <NUM> controls the illuminator <NUM> for operation in a first mode so as to activate (i.e., turn on) the shorter pulse, lower power VCSELs of the first subset <NUM>, while the longer pulse, higher power VCSELS of the second subset <NUM> are deactivated (i.e., turned off) (<NUM> of <FIG>). Some of the emitted pulses may be reflected by an object back toward the TOF system and detected by the photodetector. The electronic control device <NUM> reads or otherwise acquires output signals from the photodetector and determines whether the signals are indicative of at least two different peaks (e.g., one peak representing signals reflected by a cover glass and another peak representing signals reflected by an object outside the TOF system, but relatively close to the cover glass of the host device) (<NUM>). It the electronic control device <NUM> determines there are at least two such peaks (<NUM>), then it can use the information associated with one or both peaks to calculate a distance to the object outside the system (<NUM>). For example, the electronic control device <NUM> may extract information associated with the peak representing signals reflected by an object outside the TOF system and calculate the distance based on the data for that peak alone. In other implementations, the electronic control device <NUM> may calculate the distance based, in part, on the separation between the two peaks. Assuming that one of the peaks represents signals reflected by a cover glass at a known, fixed distance, that peak can be used as a reference.

If, at <NUM>, the electronic control device <NUM> determines, for example, that two or more distinct peaks for the signals detected by the photodetector are not clearly discerned, then the electronic control device <NUM> controls the illuminator <NUM> for operation in a second mode so as to deactivate (i.e., turn off) the shorter pulse, lower power VCSEFs of the first subset <NUM>, and activate (i.e., turn on) the longer pulse, higher power VCSEFS of the second subset <NUM> (<NUM> of <FIG>). As before, some of the emitted pulses may be reflected by an object back toward the TOF system and detected by the photodetector. The electronic control device <NUM> reads or otherwise acquires output signals from the photodetector and determines whether the signals are indicative of at least two different peaks (e.g., one peak representing signals reflected by a cover glass and another peak representing signals reflected by an object outside the TOF system, but relatively distance from the cover glass of the host device) (<NUM>). It the electronic control device <NUM> determines there are at least two such peaks (<NUM>), then it can use the information associated with one or both peaks to calculate a distance to the object outside the system (<NUM>). For example, the electronic control device <NUM> may extract information associated with the peak representing signals reflected by an object outside the TOF system and calculate the distance based on the data for that peak alone. In other implementations, the electronic control device <NUM> may calculate the distance based, in part, on the separation between the two peaks. As noted above, assuming that one of the peaks represents signals reflected by a cover glass at a known, fixed distance, that peak can be used as a reference.

In some instances, there may be no peak corresponding to reflections from a cover glass. Nevertheless, it still can be advantageous to switch between the first and second pulse modes because the short pulse may provide better precision for detecting short range. Further, multiple peaks may be present, in some cases, as a result of multiple reflections from the scene (e.g., a semitransparent object).

In some implementations, not according to the invention as claimed, the electronic control device <NUM> controls the illuminator <NUM> for operation in the second mode and then the first mode. Further, in some implementations, the electronic control device <NUM> controls the illuminator <NUM> to alternate repeatedly between operation in the first mode and operation in the second mode. For example, for a three-dimensional pixel matrix, it may be desirable to operate both modes alternatingly, as some pixels may be able to sense a close object whereas others not.

In some instances, the short pulses emitted during the first mode of operation may be much less than <NUM> psec. For example, in some cases, the pulses may have a width of <NUM> psec or less. The smaller pulse widths can facilitate measuring smaller distances (e.g., on the order of <NUM>-<NUM>). On the other hand, in some instances, the longer pulses emitted during the second mode of operation may be much larger than <NUM> psec. For example, in some cases, the pulses may have a width of <NUM> psec or more. The larger pulse widths can facilitate measuring larger distances (e.g., on the order of <NUM> meter or more). In any event, the use of two modes, each of which uses pulses having a respective width that differs from the pulses of the other mode, can help extend the overall effective TOF distance measurement range. In some instances, the configuration of the TOF photodetector <NUM> is adjusted when the pulse length and/or pulse power is modified in order to optimize the detection. Also, in some cases, the photodetector (e.g., SPAD or SPAD array with time-to-digital converters (TDCs)) may be operated differently depending on the selected pulse mode.

In some instances more than two different pulse lengths having different respective pulse power settings can be used to optimize detection for more than two depth ranges. Thus, for example, the illuminator can include a third subset of VCSELs operable to emit pulses of light having a third width that differs from the first and second widths. The illuminator can be operable in a third mode in which the third subset of VCSELs emits pulses having the third width, and wherein the electronic control device is operable to estimate a distance to the object based on signals from the photodetector when the illuminator is operating in the third mode if the distance to the object is within a third range that differs from the first and second ranges.

The sensor systems described in this disclosure can, in some instances, improve the performance of the host devices. For example, using the techniques described herein, a sensor system can obtain measurements that are more accurate and/or precise, or that consume less power (e.g., compared to measurements conducted without the performance of the disclosed techniques). Further, the host device (e.g., a vehicle, a robot, a mobile device, etc.) can use these measurements to ascertain its surroundings more accurately, and more effectively adapt their operations based on this information.

As an example, <FIG> shows a host device <NUM> including a time-of-flight sensor system <NUM> (including an illuminator <NUM>, a photodetector <NUM>, and an electronic control device <NUM>) disposed behind a cover glass of the host device. The host device <NUM> also can include several additional components, including one or more computer processors <NUM> (e.g., to implement the electronic control device <NUM> and/or to provide other computation functions), a display screen <NUM>, one or more power sources <NUM> (e.g., batteries, charging circuits), one or more transceivers <NUM> (e.g., a wireless radio, such a Wi-Fi radio, cellular radio, Bluetooth radio), and one or more camera modules <NUM>. During operation of the host device <NUM>, the host device <NUM> can obtain information regarding its surroundings (e.g., information regarding the presence of objects in proximity to the host device <NUM>, and the distance of those objects from the host device <NUM>) using the sensor system <NUM>.

Further, in some implementations, the host device <NUM> is operable to modify its operations based on the information based on by the sensor system <NUM>. For instance, where the host device <NUM> is a smart phone, in response to determining the distance between an object (e.g., a user's ear of other part of the user's head) and the sensor system <NUM>, the host device <NUM> may adjust the brightness of the display screen <NUM> so as to conserve power while the user is not looking at the screen.

In other instances, the host device <NUM> can be operable to adjust the focus of one or more camera modules based on the estimated distance (e.g., to obtain clearer or sharper images of a detected object). As another example, the host device <NUM> can generate a map or other spatial representation of its environment, including information regarding the location of the object in the environment. As another example, the host device <NUM> can generate one or more graphical display elements that vary according the surrounding environment (e.g., an "augmented reality" graphical user interface including a video or image of the surrounding environment, and one or graphical overlays identifying objects in the video or image). Further still, the host device <NUM> can transmit information regarding the objects to one or more other devices (e.g., one or more other host devices), such that other devices also have access to the information.

The TOF sensor systems described here also can be used for other applications such as other types of portable computing devices (e.g., tablet computers, wearable devices, personal digital assistants (PDAs)), as well as robotics systems, spacecraft navigation, augmented and virtual reality (AR/VR), (drone-based) surveillance, vehicular sensing systems, including advanced driver assistance systems (ADAS) and autonomous cars.

Various aspects of the subject matter and the functional operations described in this specification (e.g., the electronic control device <NUM>) can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Embodiments of the subject matter described in this specification can be implemented as one or more computer program products, i.e., one or more modules of computer program instructions encoded on a computer readable medium for execution by, or to control the operation of, data processing apparatus. The computer readable medium can be a machine-readable storage device, a machine-readable storage substrate, a memory device, a composition of matter effecting a machine -readable propagated signal, or a combination of one or more of them. The terms "data processing apparatus" and "computer" encompasses all apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or computers.

Aspects of the processes and logic flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output.

Moreover, a computer can be embedded in another device (e.g., a mobile telephone).

Claim 1:
An apparatus comprising:
a time-of-flight (TOF) sensor system (<NUM>) including:
an illuminator (<NUM>) operable to emit pulses of light (R) toward an object (<NUM>) outside the apparatus, wherein the illuminator is operable in a first mode in which the illuminator emits pulses having a first width and a second mode in which the illuminator emits pulses having a second width longer than the first width;
a photodetector (<NUM>) operable to detect light (T) produced by the illuminator and reflected by the object back toward the apparatus;
the apparatus further including:
a cover glass, wherein the photodetector is further operable to detect light produced by the illuminator and reflected by the cover glass back toward the photodetector; and
an electronic control device (<NUM>) operable to:
• control emission of light by the illuminator according to the first mode;
• get first output signals from the photodetector when the illuminator is operating in the first mode;
• if the first output signals are indicative of at least two different peaks representing light reflected by the cover glass and light reflected by the object, estimate a distance (d) to the object based on a time elapsed between an emission of one or more of the pulses by the illuminator in the first mode and detection by the photodetector of the light reflected by the object;
• if the first output signals are not indicative of at least two different peaks representing light reflected by the cover glass and light reflected by the object:
o control emission of light by the illuminator according to the second mode;
o get second output signals from the photodetector when the illuminator is operating in the second mode; and
o if the second output signals are indicative of at least two different peaks representing light reflected by the cover glass and light reflected by the object, estimate a distance (d) to the object based on a time elapsed between an emission of one or more of the pulses by the illuminator in the second mode and detection by the photodetector of the light reflected by the object.