• 专利附录
  • 专利说明
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    • 专利摘要:
    Produced providing distance information of a scene with a time-of-flight camera (1), comprising the steps of transmitting a modulated light pulse to the scene, receiving pulse reflections from of the scene, evaluating flight time information for the received reflections, and obtaining distance information from this information, so that a spread spectrum signal is applied at a base frequency pulse modulation, and this information is evaluated by considering the spread spectrum signal applied to the base frequency of the modulation of the pulse. Time-of-flight camera (1) providing distance information from a scene, such that the apparatus (1) performs the above method.
    公开号:BE1020078A3
    申请号:E2011/0564
    申请日:2011-09-23
    公开日:2013-04-02
    发明作者:Der Tempel Ward Van；Riemer Grootjans
    申请人:Softkinetic Sensors Nv；
    IPC主号:
    专利说明:

    Time-of-flight technique shooting method and apparatus for providing distance information
    The present invention relates to a method for providing distance information of a scene with a telemetry device such as a time-of-flight technology sensor or a time-of-flight technique steps of transmitting a modulated light pulse to the scene, receiving reflections of the modulated light pulse from the scene, evaluating flight time information for the received reflections from the pulse modulated light, and obtaining distance information from the flight time information for the received reflections. The present invention also relates to a telemetry device such as a time-of-flight technology sensor or a flight-time technique camera for providing distance information from a scene according to the method. previous.
    BACKGROUND
    A time-of-flight camera, also referred to as a TOF camera, is a camera that usually includes a light source or a transmitter-like unit for emitting pulses of light. modulated, a receiver unit which captures reflections of light pulses, an evaluation unit, which evaluates flight time information or received reflections, and a calculation unit, which obtains distance information from the information flight time. Distance information is also mentioned as depth. The transmitter unit emits a modulated light pulse to a -scene, so that the modulated light pulse is reflected by objects in the scene to the receiver unit. Depending on the distance of the objects from the TOF camera, the reflections are received with a delay compared to the modulated light pulse emitted. This delay, also mentioned as flight time, is evaluated by the evaluation unit and is then processed by the computing unit to obtain a distance from the objects.
    The receiver unit includes a plurality of light receiving points, also referred to as pixels, and an optical system, so that different pixels can receive reflections from different objects at the same time. Each of the pixels independently receives reflections from the modulated light pulses. Also the flight time information and the distance information are processed individually for each pixel, so that the distance information is provided for the entire scene simultaneously.
    The distance is measured pixel by pixel in an indirect manner by measuring the time delay or the phase difference between a modulated optic signal sent and received. Conventionally, the modulation may be a pulsed modulation, a sinusoidal modulation, a pseudo-random sequence modulation, etc. The phase difference of the sent and received modulation signal then provides a measure for the time delay.
    To provide a TOF camera that can provide distance information with high accuracy, sharply defined pulses are used, which preferably have a limited rise and fall time ". As a requirement, the spectral content of the electronic modulating signal used to modulate the light output of electronic light sources contains many harmonics with significant energy, as shown by the exemplary spectrum of Figure 1.
    Also, the modulation frequency is usually well defined since the transformation of a phase measurement into a distance measurement requires a precise knowledge of the modulation frequency ...... Because of this, the peaks in the spectrum tend to be narrow but high.
    Problems may arise as TOF cameras must coexist with other electronic devices. A lot of energy in the harmonics can prevent the electromagnetic compliance of the device. Normally, such a device must conform to different standards. Appropriate standards for electromagnetic compliance (EMC) are available according to FCC (United States), EC (Europe) or CCC (China) standards. As a result, the use of TOF cameras may be limited and / or the accuracy of TOF cameras may be limited indirectly by the requirement to meet EMC requirements. Conventional modulation frequencies are between 10 MHz and 100 MHz, producing linked harmonics.
    Reducing the amount of EMI emitted from an electronic device is one of the hardest problems to solve in the search for lower production costs. The production of a compliant device can be quite expensive if the necessary steps are not taken at the time of the design. It is possible that 40 to 50% of the cost of developing a new product can be spent on finding an appropriate compliant product for economical production.
    A clock oscillator produces a fixed frequency square wave signal used to clock high speed digital systems. The frequency of this clock is supposed to be fixed and to take the opposite of the frequency gives the period of the clock. The period of the clock is the time from a point on the front flank to the same exact point on the front flank of the immediately following clock.An ideal clock would have no measurable instability and the period of each clock cycle would always be exactly the same A low EMI clock oscillator or Spread Spectrum Clock is a special type of digital clock that gives a lower EMI in comparison to clock generator outputs The base frequency is modulated and the energy is spread over a wider spectrum of frequencies, thereby reducing the maximum energy contained at any frequency.The peaks of fundamental and harmonic frequencies are lower in intensity The total amount of energy that was originally in the harmonics of the basic frequency clock signal does not simply disappear, but rather is spread over a wider band of fr By varying the frequency of a clock, the period of such a clock is also changed which is the same as providing instability. Thus cycle-to-cycle instability is added to such a clock. Instability will reduce the accuracy of time-of-flight telemetry devices in determining distance.
    SUMMARY OF THE INVENTION
    Therefore, an object of the present invention is to provide an alternative method for providing distance information of a scene with a telemetry device such as a time-of-flight sensor or a time-of-flight camera. , as well as an alternative telemetry device such as a time-of-flight sensor or a time-of-flight camera adapted to provide distance information of a scene according to the preceding method.
    This objective is achieved by the independent claims. Advantageous embodiments are detailed in the dependent claims. An advantage of embodiments of a method and a telemetry device such as a time-of-flight sensor or a time-of-flight camera is that the distance information is obtained with high accuracy while reducing IME. Therefore, an advantage of embodiments of a method and a telemetry device such as a time-of-flight sensor or a time-of-flight camera according to the present invention is this conformity with standards. EMC while maintaining high precision.
    Accordingly, the above object is achieved by a method for providing scene distance information with a telemetry device such as a time-of-flight sensor or a time-of-flight camera, including steps of transmitting a periodic light signal such as a train of light pulses to the scene, receiving reflections of the periodic light signal from the scene, evaluating flight time information for the reflections received from the signal of. periodic light, and obtaining distance information from the flight time information for the received reflections, so that the periodic light signal is transmitted according to a modulation signal at a base frequency so that a disturbance is applied to a basic frequency of the modulation signal as a frequency modulation. This disturbed frequency modulation signal is then used to produce the periodic light signal and is also used as a reference signal by the detector receiving the reflected light to determine the flight time information. This can be done on a pixel-by-pixel basis. From this distance information as well as an image of the scene, a 3D image can be produced.
    Accordingly, in one aspect of the present invention there is provided a method for providing distance information of a scene comprising the steps of: transmitting a periodic light signal to the scene according to a clock timing which has a base frequency spread by a periodic disturbance with a frequency and a disturbance period, receiving reflections of the periodic light signal from the scene, evaluating flight time information for reflections received from the periodic light signal on a set of a plurality of measurement times according to the clock timing which is spread by periodic disturbance as.
    as a reference signal, and obtaining distance information from the flight time information for the received reflections, in which each measurement duration of the set is an integer or a multiple integer half of the disturbance period. and over one set of measurement times the average base frequency is kept constant.
    The periodic light signal may be pulses, such as square wave pulses, but also other waveforms such as sinusoidal signals.
    The objective is also achieved by a telemetry device such as a time-of-flight sensor or a time-of-flight camera to provide distance information from a scene, so that the camera time-of-flight shooting performs the above method.
    Accordingly, in another aspect of the present invention, a time of flight sensor for use with a light source is provided for transmitting a periodic light signal to a scene, the sensor serving to provide distance information from the scene, the sensor comprising: a modulation unit for providing a modulation signal to the light source based on a clock timing with a base frequency spread by a periodic disturbance having a frequency and a disturbance period, a reception group with a receiver unit, an evaluation unit and a processing unit, the reception unit being connected to the modulation unit for receiving the modulation signal, the evaluation unit being designed to evaluate flight time information from received reflections from the scene over a set of a plurality of measurement times according to the timing of clock that is spread by the periodic disturbance as a reference signal, the computing unit being designed to obtain distance information from the flight time information provided by the evaluation unit in which each measurement duration of The set is an integer or a multiple 'integer' multiple 'of the disturbance period and over the set of measurement times the average base frequency is kept constant.
    The modulation signal may be pulses, such as square wave pulses, but also other waveforms such as sinusoidal signals.
    The present invention also provides a timing module for a time-of-flight sensor for use with a light source for transmitting a periodic light signal to a scene, the sensor serving to provide distance information from a light source. a scene, the synchronization module comprising: a modulation unit (3) for providing a modulation signal for the light source based on a clock timing with a base frequency spread by a periodic disturbance with a frequency and a disturbance period, the modulation being adapted to provide the modulation signal over a set of a plurality of measurement times according to the clock timing which is spread by the periodic disturbance, wherein each measurement duration of the set is an integer or a multiple integer half of the disturbance period and over the set of measurement times the average base frequency is kept constant.
    The modulation signal applied to the light sources may be pulses, such as square wave pulses, but also other waveforms such as sinusoidal signals.
    An aspect of the present invention is to apply a periodic frequency disturbance to the basic frequency of the modulation of light and to evaluate the flight time information for reflections by considering this disturbance so that each measurement duration a set of measurement times needed to determine a phase difference value is an integer or a multiple integer half of the disturbance period. In addition, the average base frequency is kept constant over each measurement period of the total measurement times required to determine a phase difference value despite the perturbation. The periodic perturbation excludes random frequency disturbances that would not have the same spectral content even if they provided the same average frequency. The disturbance may be a continuous oscillation variation of the base frequency or a sequence of different frequencies centered around the base frequency.
    Despite the disturbance of the basic frequency of the periodic light signal, which introduces some effective instability, evaluation of the flight time information for reflections can be performed with high accuracy. Objects that are present in the scene can be reliably detected and appropriate distance information can be provided for these objects. The applied frequency disturbance improves the electromagnetic compliance of the telemetry device such as a TOF sensor or a TOF viewer. It has the effect that certain fundamental or harmonic peaks of high energy are no longer located at clearly defined frequencies in the spectrum. The energy in the peaks is spread over a larger spectral region, lowering the spectral energy density and thus improving the EMC. This technique results not only in a "spread spectrum" technique applied to the periodic light signal but also keeps the spectral content constant over the set of measurement times necessary to determine a phase difference value. Spread spectrum clocks, with periodic clock timing disturbances, are readily available but these introduce some instability. They may be incorporated into TOF sensors or TOF cameras with the new modifications of embodiments of the present invention.
    The flight time information of the received reflections is determined by measuring the time delay or the phase change between the received periodic light signal and the reference signal, both of which have undergone the same perturbation. Due to this measurement principle with synchronous detection, the disturbance does not potentially affect the measurement of flight time. The received reflections, which are correlated or mixed due to the overlap of transmitted and received pulses, can be easily evaluated with respect to flight time information and the distance information can easily be obtained from this time information. flight. In one embodiment of a TOF sensor or a TOF camera, preferably a spread spectrum clock or a single system clock together with a single disturbance clock are used to produce the modulation signal for the production of the periodic light signal and also in the evaluation of flight time information. The disturbance is a periodic signal, for example, it is a signal with a low frequency compared to the basic frequency of the modulation.
    According to a preferred embodiment of the invention, the application of the disturbance to the basic frequency of the modulation comprises modifying the basic frequency of the modulation within a range of +/- 5% of the base frequency modulation, preferably in an interval of +/- 1/5% of the basic frequency of the modulation, even more preferably in a range of +/- 0.1% of the basic frequency of the modulation. The size of the interval influences the vigor with which the energy in the harmonics is spread in the spectrum and consequently influences the energy density of the peaks in the frequency spectrum. The larger the interval, the lower the energy density of the harmonics. This results in either the TOF sensor or the TOF camera that is more likely to comply with EMC regulations.
    In a preferred embodiment of the present invention, the flight time information of a scene is measured in an acquisition sequence. The combination of these different acquisitions allows the removal of the influence of ambient light and the removal of the reflection power of the object and other sources disturbing the measurement of flight time. The result of the acquisitions is a determination of the time delay or the phase change between the light emitted and received. Steps for such an acquisition include: the emission of a periodic light signal to the scene and the reception of periodic light signal reflections from the performed scene. sequentially in the given order at least twice, and the step of evaluating flight time information for the reflections received from the periodic light signal which comprises integrating the received reflections of the periodic light signal on all the performances of the step of receiving reflections from the periodic light signal from the scene. By integrating the received reflections over a period of the reflected periodic light signal, the flight time can be evaluated more accurately. Reflections from distant objects can be easily detected, even if the reflection of the periodic light signal from the object is only of low intensity. So a "deep" scene with distant objects as well as close objects can be covered. Also, the integral evaluation results in an average of the reflections received over a period that avoids isolated errors. Preferably, the integration is performed on the reflections of at least three executions of the periodic light signal emission and reception of reflections from the scene. Problems may occur when the spectral content of the periodic light signal changes during the measurement period for a flight distance determination. For this reason, the methods and apparatus of the present invention are adapted to retain the same spectral content during the entire measurement period required for acquiring a distance determination.
    First, according to a preferred embodiment of the present invention, all the acquisitions required for a time of flight measurement are obtained using the same average frequency. The average frequency is preferably the frequency around which the base frequency is changed due to the applied disturbance. This requires a balanced or central spread disruption. The substantially identical average base frequency enables accurate processing of the reflections received from the periodic light signal emitted into valid depth information.
    In- . As a preferred embodiment of the present invention, each acquisition required for a time of flight measurement experiences the same periodic light signal, including the same signal perturbation. basic frequency. The result is the same spectral content for each acquisition. The disturbance may be a known and repeated sequence of change of the base frequency, and this known perturbation sequence is applied to the base frequency in the same way for all acquisitions in the measurement of ToF. Accordingly, since the frequency disturbance is periodic and the measurement duration is an integer or an integer half of perturbation periods, the emission of the periodic light signal is always started at the same position in the disturbance signal in the disturbance period or with a half period offset. Since one half of a period plus an integer of periods is the same as the integer number of periods plus one-half of a period, it also gives the same spectral content as a pure integer.
    There is no need for synchronization between the period of the base frequency and the disturbance period when the frequency difference between the base and the disturbance frequencies is high as the induced error is very small. Thus the same "spectral content" is not synonymous with "exactly identical spectral content". Any difference is preferably smaller than the system noise threshold. For example, differences of the order of less than 0.1% or 0.01% may be tolerated. Synchronization between the base period and the disturbance period is not excluded from the present invention when it is necessary for increased accuracy.
    Preferably, a continuous disturbance signal can be used. According to another embodiment of the invention, the disturbance is a discontinuous modulation applied to the basic frequency of the periodic light signal. It is simply required that the disturbance modulation be a periodically repeated signal and that the average frequency of the resulting disturbed signal be known. It is preferred that the average frequency be the central frequency.
    BRIEF DESCRIPTION OF THE DRAWINGS
    Preferred embodiments of the invention are shown in the accompanying figures. These embodiments are merely examples, i.e. they are not intended to limit the content and scope of the appended claims.
    Figure 1 shows an EMC measurement of a time-of-flight camera. _______________________________. .......
    FIG. 2 represents a time diagram of a modulation signal and a lower frequency perturbation signal according to an embodiment of the present invention, FIG. 3 represents a timing diagram of the modulation signal according to an embodiment of the present invention. present invention, and Figure 4 shows a schematic diagram of a time-of-flight camera according to an embodiment of the present invention.
    FIG. 5 represents a schematic diagram of a synchronization module for a time-of-flight recording apparatus according to one embodiment of the present invention, FIG. 6 schematically represents an implementation of a time-of-flight camera. TOF shot according to an embodiment of the present invention.
    DETAILED DESCRIPTION
    The present invention will be described with respect to particular embodiments and with reference to certain drawings but the invention is not limited thereto but only by the claims. The drawings described are only schematic and not limiting. In the drawings, the size of some of the elements may be exaggerated and not drawn to scale for a representative purpose. When a definite or indefinite article is used by referring to a singular noun eg "a" or "an", "it", this includes a plural of that name unless something else is specifically exposed . In the different figures, the same reference signs refer to the same elements or to similar elements. The representations in the figures are .schematic ..,. · ... -. ... · ········ - · '·' · -
    The term "comprising", as used in the claims, should not be construed as being limited to the means listed after that; it does not exclude other elements or steps. Thus, the scope of the term "a device comprising means A and B" should not be limited to devices consisting only of components A and B. This means that with respect to the present invention, the only suitable components of the device are A and B.
    In addition, the terms first, second, third and so on in the description and in the claims are used to distinguish between similar elements and not necessarily to describe one. sequential or chronological order. It will be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the invention described herein are susceptible to implementation in other sequences than those described or shown in this document.
    In addition, the terms above, below, on, under and so on in the description and in the claims are used for descriptive purposes and not necessarily to describe relative positions. It will be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the invention described herein are susceptible to implementation in other orientations than those described or represented in this document.
    The present invention will be described with reference to a TOF camera, but the present invention also includes the presence of any kind of telemetry device working on the principle of Flight Time, a TOF sensor. eg with only one pixel, etc. In addition, the TOF camera or TOF sensor does not necessarily come with a single source of light. The light source and its power supply and control circuitry may be provided separately and the camera or sensor may only include circuitry to provide signals to modulate the light source. , ·> ...... ...... -
    An embodiment of the present invention will be described with reference to Fig. 5 which is a block diagram of a timing module 20 that may be used with a TOF camera. This embodiment has a clean system clock 22, operating, for example, at 80 MHz, for example in the range of 10 to 320 MHz and will be called the "clean clock". The clock signal of the own clock 22 is sent to a Spectrum-Spread block 24, which extends the spectrum of this clock signal using a periodic spreading function, called the "frequency modulation signal". disturbance ". Optionally, other components may be placed between the own clock 22 and the spread spectrum block 24, such as; filters, waveformers, frequency converters, phase-locked loops, etc. The output of this Spread Spectrum block is called the "spread clock signal". Optionally, other components may be placed after the spread spectrum block, such as filters and waveformers, for example to produce a modulation signal with a desired waveform such as a sinusoidal waveform. .
    The disturbance frequency is within +/- 5% of the basic frequency of the modulation, preferably in a range of +/- 5 or +/- 1.5% of the basic frequency of the modulation, or in an interval of +/- 0.1% of the basic frequency of the modulation. The periodic disturbance may have a sinusoidal or triangular waveform or a sawtooth shape for example.
    The synchronization module 20 may be designed to provide discontinuous modulation to the light sources.
    The spread clock signal is used by the mixing and lighting signal generating block 26, which produces the required TOF light source driving signals, typically at perhaps lower frequencies of 2 or 4. times. These TOF signals include the signal used to modulate the light source, referred to as the "light modulation signal", as well as the mixing signals required by the sensor in order to be susceptible of · · - '' demo '' - the incoming light reflected by the scene. Thus the same TOF timing signals are sent to both a lighting unit including light sources as well as the detector used to detect the received reflected light. Optionally, other components may be placed after the signal and illumination mixing production block 26, such as filters and waveforming devices, for example to produce a signal. modulation signal with a desired waveform such as a sinusoid.
    In order for the Time of Flight principle to remain valid, these TOF signals can be modulated in frequency, but their average frequency must be known. In addition, because. each single TOF distance measurement is composed of multiple integrations obtained from multiple acquisition periods, this average frequency must be the same during these multiple integrations. This becomes an important requirement in the case where multiple integrations are taken consecutively over time. In such a case, if the average frequency is not kept identical during the multiple measurements, the resulting calculated distance will be false or the calculation for it will be made very difficult or imprecise.
    A timing block 28 is responsible for ensuring that the average frequency remains the same during the multiple integrations. In one aspect of the present invention, this is achieved by ensuring that the integration time is exactly an integer number of periods of the disturbance frequency modulation signal. In the case where the disturbance frequency modulation signal is a symmetrical signal (such as a sine or triangular wave), the integration time can also be taken as an integer multiple of one half of the modulation signal period time. of disturbance frequency. The timing block 28 preferably receives the own clock signal from the system clock 22 which is used by the timing block 28 to determine that each integration time is the same number of pulses applied to the sources. of light and therefore the average frequency is constant.
    In addition-. 1st periodic signal applied to sources of light taken on an integration time or a measurement duration of a set of integration times or measurement times has the same spectral content as the signal periodical taken on any other measurement time of the set.
    In addition, a background light present in the scene (e.g., sunlight, ambient light) may reduce or destroy the validity of the obtained depth measurement, so a special care is preferably .is in that the same exact amount of background light is received by the sensor during each of the consecutive integrations. Therefore, the TOF signals used during the consecutive integrations must have the same spectral content, and they should preferably be aligned with the. back light-- y. ··'·*· plan.
    Both conditions can be fulfilled by the timing block 28, which uses the own clock signal to ensure that the average frequency during each integration phase remains the same and to ensure that the integration phases are perfectly aligned with ambient light. For example, mains frequencies of 50 Hz or 60 Hz are conventionally used, so that background light from lamps will have frequency components related to these two common frequencies. 50 Hz background lighting has a different optimal timing setting compared to 60 Hz background lighting.
    The application of a Spread Spectrum has a positive impact on the EMI performance of the overall system, while it has a small negative impact on system noise performance (instability). Advantageously, the architecture described above can be extended if the mixing block 26 is adapted to allow a dynamic increase or decrease in the disturbance frequency, effectively increasing or decreasing the impact of the Spread Spectrum. Such a feature is useful for calibration in the factory or on site. As used in embodiments of the present invention, the Spread Spectrum impact is minimal while still executing within the EMT limits. '' ·
    According to a further embodiment, the disturbance modulation can be set according to the power supplied to the light sources. In a low power mode, which causes less EM radiation, the mix block 28 may use a lower frequency modulation algorithm to provide an optimal compromise for this mode.
    Referring now to FIG. 4, a time-lapse camera is also shown as a TOF-1 camera in accordance with FIG. embodiment of the present invention. The time-of-flight recording apparatus 1 comprises a lighting unit with at least one light source 2, which in this embodiment of the invention is an LED, for transmitting a light signal towards a scene. periodic signal as modulated light pulses having a wavelength and a frequency according to characteristics of the light sources. Other light sources can be used as OLEDs, laser diodes, lasers etc.
    The light source 2 is connected to a modulation unit 3, which provides a disturbed modulation signal to the light source for modulation thereof. One modulation unit 3 can be provided as an on-chip embodiment to achieve reliable control of the disturbed modulation signal.
    The time-of-flight recording apparatus further comprises a modulation clock or "clean clock" 4 and a disturbance clock 5, both of which are connected to the modulation unit 3. The modulation clock 4 provides a clock signal, as can be seen in the upper time scale of FIG. 2, as the base frequency for the frequency modulation to the modulation unit 3, and the disturbance clock 5 provides a signal The perturbation clock 5 provides the disturbance signal with a disturbance frequency which is lower than the base frequency for the frequency modulation.
    Other components may be placed between the clocks 4-, 5 and the modulation unit 3, such as filters, waveforming devices, frequency converters, phase-locked loops. etc. Other components may be placed after the modulation unit 3, such as filters, or waveforming devices to produce a periodic signal such as a square or sinusoidal wave.
    The perturbation applied to the basic frequency of the modu.l has Lion in the unit. Modulation 3 modulates the basic frequency of the modulation within +/- 5% of the basic frequency of the modulation, preferably within a range of +/- 1.5% of the base frequency. modulation, even more preferably within a range of +/- 0.1% of the basic frequency of the modulation. As can be seen in FIG. 2, at the marked time points t 1, 12, t 3 and t 4, the perturbation changes respectively with respect to its 0 ° phase at 90 °, 180 ° and 270 °.
    In this exemplary embodiment of the invention, the light source 2, the modulation unit 3, the modulation clock 4 and the disturbance clock 5 are individual components of the camera. in time of flight 1, but they can also be provided in embodiments modified in functional groups comprising at least two of the aforementioned components.
    The time-of-flight recording apparatus 1 further comprises a reception group 6 with a receiver unit 7, an evaluation unit 8 and a processing unit 9. The reception group 6 is optionally connected to the disturbance clock 5 to receive the disturbance signal. The reception group 6 is also connected to the output of the modulation unit 3 as a reference signal. Although in this exemplary embodiment of the invention, the receiver unit 7, the evaluation unit 8 and the processing unit 9 are provided together to form the reception group 6, in modes of operation. As modified embodiments of the invention, they can be provided as individual functional units of smaller functional groups.
    . . ... The --- receiver-forming unit --7 - may include several light receiving locations, which are not explicitly shown in the diagram of Figure 4 and mistletoe are also mentioned as pixels. The camera TOF 1 further comprises an optical system, which is not shown in Figure 4. By means of the optical system, the periodic light signal emitted from the light source 2 is directed to the scene and reflections from objects in the scene are directed to the different pixels of the receiver unit 7. Thus, different pixels can receive reflections from different objects independently and at the same time.
    The evaluation unit 8 evaluates the flight time of the reflections received individually for each pixel of the receiver unit 7 by considering the output of the modulation unit and / or the disturbance signal supplied from the clock. of disturbance 5.
    The computing unit 9 obtains distance information from the flight time information provided by the evaluation unit 8 for each pixel or group of pixels and provides this information via an interface, which is not shown in Figure 4, to a user or an additional processing device.
    Now, the process for providing distance information of the scene is described in detail.
    The process begins with the emission of a periodic light signal as modulated light pulses from the light source 2 to the scene. The periodic light signal such as modulated light pulses is produced using the modulation signal provided by the modulation unit 3. Figure 3 schematically shows examples of a disturbance clock frequency signal. 5 (upper graph) and the modulation signal from the modulation unit 3 to the light source 2 (lower graph). The upper part of the diagram of FIG. 3 indicates the change of the frequency of the periodic light signal of the modulation signal coming from the modulation unit 3 over time according to the perturbation applied. As can be seen in the bottom part of the diagram of FIG. 3, the pulses of the modulation signal are supplied to the light source 2 (to form the periodic light signal) with a variable frequency. and a length accordingly.
    Then, reflections of the periodic light signal for example the light pulses are received from the scene by the receiver unit 7 via the optical system. Reflections are produced by the objects present in the scene.
    The steps of transmitting the periodic light signal such as modulated light pulses and receiving reflections from the scene are repeated, and the received reflections are integrated by the evaluation unit 8. As indicated in FIG. the lower part of the diagram of FIG. 2, the reception of reflections from the pulses of modulated light is started at the points in time designated by ti, 12, 13 and 14. As can be seen in FIG. reflections of the periodic light signal, for example modulated light pulses, is, in this example, always started at a peak of the disturbance frequency modulation signal, and therefore at the same position of the disturbance frequency modulation signal . The reception is carried out in this embodiment of the present invention for a measurement time on an integer such as six full periods of the disturbance modulation signal and the first of this is marked as "measurement". As a result, the step of receiving reflections from the periodic light signal, for example pulses of modulated light from the scene is covered for each execution on the same number of full periods of disturbance and, as can be seen at In Figure 2, a length of the disturbance period is shorter than the measurement time of each reception of the light pulse. In addition, this operation states that in all the transmission operations of a periodic light signal such as light pulses modulated to the scene, the average frequency of the modulation signal supplied to the light source 2 is substantially identical. - · '-' "· '· ........ v'- ·' · '-
    In this exemplary embodiment of the present invention, four integration intervals marked as "measurement" are evaluated sequentially. In alternative embodiments, the received reflections can be integrated at the same time into the receiver unit 7.
    The evaluation unit 8 evaluates flight time information for the reflections received from the periodic light signal as the modulated light pulses for all the pixels in consideration of the perturbation applied to the base frequency. of the periodic light signal, and provides the flight time information to the calculation unit 9. The calculation unit 9 obtains distance information for, all the pixels or groups of pixels from the flight time information. provided and provides this information as distance information from the scene for further processing. The distance information of the scene is therefore provided as an average over the four integration intervals. A time marked as "read" is used by the reception group 6 to process the received reflections.
    A spectrum resulting from an EMC measurement for the time-of-flight camera 1 according to this embodiment of the invention has maximum energies provided more uniformly over at least a portion of the frequency range.
    Fig. 6 shows another embodiment of a TOF camera or telemetry system according to the present invention. The telemetry system includes a light source 49 for emitting periodic light 51 on a scene 55, preferably focused on an area of interest, where the light is reflected. The telemetry system further comprises at least one pixel 31 for receiving reflected light. In order for the light source 49 to emit modulated light, a signal generator 43 is provided. The signal generator 43 generates a first spread spectrum disturbed clock signal or a modulation signal on the node 48 which preferably oscillates from permanently at a predetermined average frequency, for example at about 10 MHz. This signal generator also produces similar second-to-fifth fifth-spectrum disturbed clock signals (for example, obtained from a single spread spectrum clock generator 43) which are respectively provided on nodes 44, 45, 46, 47, having a phase relation of 0 °, 180 °, 90 ° and 270 ° with the first clock signal on node 48 with respect to the disturbance period Those skilled in the art may also consider the use of another or more clock phases in the operating scheme, with clock phases leading to better measurement accuracy. in exchange for a longer measurement time The disturbance frequency is within a range of +/- 5% of the base frequency, preferably within a range of +/- 5% or +/- 1.5 % of the base frequency, or in an interval of +/- 0.1% of the base frequency of the modulation. may have a sinusoidal or triangular waveform, for example.
    The signal generator 43 can also produce a control signal 41 which determines for a modulation signal modifying means to change the modulation signal, for example a control signal 41 which determines for a selector 58 to select between the second to fifth spread spectrum disturbed clock signals, i.e. between the different phases of the clock signal. The selector 58 switches sequentially between these four phases connecting the input node 42 of a mixer 29 of a detector and a mixer stage 200 with the second to fifth clock signals on nodes 44, 45, 46 and 47 sequentially. At each of these positions, the selector 58 may remain connected during a relaxation period, for example of about 1 ms.
    An additional control signal can be generated to determine the position in the pulse sequence where the beginning and end of measurements occur. As an alternative, the system ensures that for each integration time, the same exact number of periods of the disturbance signal is used. Measurements can be started at the same time (phase) of the disturbance signal, as the spectral content is not affected as long as the measurement is performed over an integer number of half periods. ·
    A buffer 50 drives the light source 49 which emits its light 51 onto the scene 55, preferably focused on the area of interest. Part of this light will be reflected, thereby producing reflected light 52. This reflected light 52 then arrives at an optical focusing system such as a lens 56, through which it is reflected or focused on an inner pixel. 31 of a projected 28,. where the incident fraction is called reflected modulated light (ML) 27.
    Indirect light 53 and direct light 54, both originating from secondary light sources 30 not intended for measuring TOF, will also be present in the scene, will hit the optical concentration system 56 and will thus be focused on the detector 28. The portion of this light entering the detector 28 will be referred to as background light (BL) 26. Light producing sources producing a BL include incandescent lamps, TL lamps, sunlight, light of the day, or any other light that is present on the scene and that does not emanate from the light source 49 for measuring TOF. An object of the present invention is to obtain valid TOF measurements even in the presence of the signal from BL 26.
    ML 27 and BL 26 impinge on the photodetector 28 and respectively produce a current ML and a current BL, which are photoelectrically induced current responses to the incident BL 26 and ML 27. The detector 28 outputs these currents to a next mixing means, for example a mixer 29, for mixing the current responses with the incident BL 26 and ML 27 with the out of phase clock signal on the input node 42. As previously stated, this BL 26 can induce a higher BL current than the ML current, up to 6 orders of magnitude, induced by the ML 27 received for TOF measurements.
    The detector 28 and the mixer 29, forming a detector and mixer stage 200, can also be implemented as a single device, for example as described in EP 1 513 202 A1, where the charges produced by the photoelectric effect are mixed. producing the product stream of the mixture immediately. · '.....
    The detector and mixer stage 200 will produce the mixing products of the current responses to the incident BL 26 and ML 27 with out-of-phase clock signals, and these signals are integrated on the node 38 by means of an integrator, for example implemented with a capacitor 25, which is preferably kept small, for example the parasitic capacitance of the surrounding transistors. During integration, an automatic reset of the mixer output signal on the integrator node 38 is performed.
    This can for example be implemented by one. comparator 33 triggering a reset switch, for example a reset transistor 32, so that the mixer output signal on node 38 is automatically reset every time that it reaches a reference value Vref, thus avoiding saturation.
    In alternative embodiments, not shown in the drawings, the automatic reset of the mixer output signal on the integrator node 38 may be implemented in a number of other ways. One of them triggers a charge pump, instead of the reset switch 32, to add a fixed amount of charge to the capacitor giving a better noise performance at the expense of a little more charge. complexity.
    Mixing products forming the mixer output signal are available in a sequential form synchronized with the modulation signal modifying means, in the example represented by the selector 58, at the integrator node 38. A control circuit output 24, for example a buffer, provides a voltage gain of substantially one and a current amplification so as to provide a stronger output signal at the output node 23.
    Various modifications are included within the scope of the invention such as the application of discontinuous disturbance modulation to light pulses. In addition, the system can be adapted to dynamically increase or decrease the frequency of disturbance. In addition, when the power of the pulses of light is lower, the frequency of disturbance can be reduced.
    Translation of drawings
    权利要求:
    Claims (27)
    [1]
    A method for providing distance information of a scene with a time-of-flight sensor or camera (1), comprising the steps of transmitting a periodic light signal to the scene in accordance with a broadcast signal. clock-based modulation that has a base frequency spread by a periodic disturbance with a frequency and a disturbance period, receiving reflections from the periodic light signal from the scene, evaluating flight time information for reflections received from the periodic light signal over a set of a plurality of measurement times according to the modulation signal, and obtaining distance information from the flight time information for the received reflections, in which each duration of the set is an integer or a multiple integer half of the disturbance period and over the set of measurement times, the base frequency average is kept constant.
    [2]
    The method of claim 1, wherein the periodic light signal is a pulsed or sinusoidal signal.
    [3]
    The method of claim 1 or 2, wherein the modulation signal taken over a duration of one measurement of the set has the same spectral content as the modulation signal taken over any other measurement time of the set. .
    [4]
    4. A method according to any one of the preceding claims, wherein the disturbance frequency is within a range of +/- 5% of the base frequency, preferably within a range of +/- 1.5% of the frequency. base, or within +/- 0.1% of the base frequency of the modulation signal.
    [5]
    The method of any of the preceding claims, wherein the step of evaluating flight time information for the reflections received from the periodic light signal comprises integrating the reflections received from the periodic light signal on each of the plurality of measures of the set, and the combination of the results.
    [6]
    The method of any of the preceding claims, wherein the periodic disturbance has a sinusoidal or triangular or sawtooth waveform.
    [7]
    The method of any of the preceding claims, wherein discontinuous disturbance modulation is applied.
    [8]
    The method of any of the preceding claims, further comprising a dynamic increase or decrease of the disturbance frequency.
    [9]
    The method of any of the preceding claims, further comprising lowering the power of the periodic light signal and reducing the disturbance frequency.
    [10]
    Time-of-flight recording apparatus (1) for providing distance information from a scene, in which the time-of-flight camera (1) performs the process according to one of any of the preceding claims.
    [11]
    A time-of-flight sensor for use with a light source for emitting a periodic light signal to a scene, the sensor for providing distance information from a scene, the sensor comprising: a modulation unit ( 3) for providing a modulation signal for the light source based on a clock timing with a base frequency spread by a periodic disturbance with a disturbance frequency and a period, a reception group (6) with a receiver unit (7), an evaluation unit (8) and a processing unit (9), the reception unit (6) being connected to the modulation unit for receiving the modulation signal, the unit the evaluation (8) being designed to evaluate flight time information from reflections received from the scene over a set of a plurality of measurement times according to the clock timing which is spread by the disturbance periodically, the computing unit (9) being adapted to obtain distance information from the flight time information provided by the evaluation unit (8) in which each measurement period of the set is a multiple of integer or an integer half of the disturbance period and on the set of measurement times, the average base frequency is kept constant.
    [12]
    12. The time-of-flight sensor as claimed in claim 11, in which the modulation signal taken over a duration of one measurement of the set has the same spectral content as the modulation signal taken over any other measurement period. 'together.
    [13]
    The time-of-flight sensor according to claim 11 or 12, wherein the evaluation unit (8) is adapted to evaluate the flight time information of received reflections from the scene individually for each pixel of the receiver unit (7).
    [14]
    The time-of-flight sensor according to claim 13, wherein the computing unit (9) is adapted to obtain distance information individually for each pixel of the receiver unit (7).
    [15]
    The time-of-flight sensor according to any one of claims 11 to 14, wherein the disturbance frequency is in the +/- 5% of the basic frequency of the modulation, preferably in a range of +/- 1.5% of the basic frequency of the modulation, or within +/- 0.1% of the basic frequency of the modulation.
    [16]
    16. A time-of-flight sensor according to any one of claims 11 to 15, wherein the evaluation unit is adapted to integrate the reflections received from the periodic light signal on each of the plurality of measurements of the set and to combine the results.
    [17]
    The time-of-flight sensor according to any of claims 11 to 16, wherein the periodic disturbance has a sinusoidal or triangular or sawtooth waveform.
    [18]
    18. A time-of-flight sensor according to any one of claims 11 to 17, wherein the modulation unit is adapted to provide discontinuous disturbance modulation.
    [19]
    19. The time-of-flight sensor according to any one of claims 11 to 18, further comprising means for dynamically increasing or decreasing the disturbance frequency.
    [20]
    The time-of-flight sensor according to any one of claims 11 to 19, further comprising means for lowering the power of the light pulses and for reducing the frequency of disturbance.
    [21]
    A timing module for a time of flight sensor for use with a light source for emitting a periodic light signal to a scene, the sensor for providing distance information from a scene, the timing module comprising a modulation unit (3) for providing a modulation signal for the light source having a clock timing with a base frequency spread by a periodic disturbance with a frequency and a disturbance period, the modulation unit being adapted to provide the modulation signal on a. together a plurality of measurement times according to the clock timing which is spread by the periodic disturbance, wherein each measurement duration of the set is an integer or a multiple integer half of the disturbance period and on the set of measurement times, the average base frequency is kept constant.
    [22]
    The timing module of claim 21, wherein the modulation signal taken over one measurement duration of the set has the same spectral content as the modulation signal taken over any other measurement time of the set. .
    [23]
    The timing module of claim 21 or 22, wherein the disturbance frequency is within 5% of the basic frequency of the modulation, preferably within a range of +/- 5 or +/- 1.5%. the basic frequency of the modulation, or in an interval of +/- 0.1% of the basic frequency of the modulation.
    [24]
    24. Timing module according to any one of claims 21 to 23, wherein the periodic disturbance has a sinusoidal or triangular waveform or sawtooth.
    [25]
    25. Synchronization module according to any one of claims 21 to 24, wherein the modulation unit is adapted to provide a discontinuous disturbance modulation.
    [26]
    The timing module of any one of claims 21 to 25, further comprising means for dynamically increasing or decreasing the disturbance frequency.
    [27]
    The timing module of any one of claims 21 to 26, further comprising means for lowering the power of the light pulses and for reducing the frequency of disturbance.
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    同族专利:
    公开号 | 公开日
    KR20140056248A|2014-05-09|
    US9921311B2|2018-03-20|
    US20170212236A1|2017-07-27|
    JP2014522979A|2014-09-08|
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    US20180164438A1|2018-06-14|
    KR101580571B1|2015-12-28|
    TWI534452B|2016-05-21|
    US10234560B2|2019-03-19|
    GB2492848A|2013-01-16|
    GB201112256D0|2011-08-31|
    CN103748479B|2016-04-20|
    TW201312144A|2013-03-16|
    WO2013010913A1|2013-01-24|
    EP2712426B1|2014-10-22|
    EP2712426A1|2014-04-02|
    JP6228537B2|2017-11-15|
    CN103748479A|2014-04-23|
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    优先权:
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