Real time position sensing of objects

• US 10,502,815 B2
• Filed: 04/29/2019
• Issued: 12/10/2019
• Est. Priority Date: 12/18/2015
• Status: Active Grant

• Current Assignee: Samsung Semiconductor Incorporated (Samsung Electronics Co. Ltd.)
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Smits, Gerard Dirk
• Primary Examiner(s): Baghdasaryan, Hovhannes
• Application Number:
  US16/398,139
• Publication Number:
  US 20190257921A1
• Time in Patent Office: 225 Days
• Field of Search: None
• CPC Class Codes: G01S 17/003 Bistatic lidar systems; Multistatic lidar systems
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G01S 7/484 Transmitters

Abstract

Embodiments are directed toward measuring a three dimensional range to a target. A transmitter emits light toward the target. An aperture may receive light reflections from the target. The aperture may direct the reflections toward a sensor that comprises rows of pixels that have columns. The sensor is offset a predetermined distance from the transmitter. Anticipated arrival times of the reflections on the sensor are based on the departure times and the predetermined offset distance. A portion of the pixels are sequentially activated based on the anticipated arrival times. The target'"'"'s three dimensional range measurement is based on the reflections detected by the portion of the pixels.

Claims

1. A method for measuring a three-dimensional range to a target, wherein one or more processors execute instructions that perform actions of the method, comprising:

employing a transmitter to transmit light toward the target and a receiver to detect one or more reflections of the transmitted light, wherein the receiver is physically offset separate from the transmitter;

determining one or more anticipated arrival times of the one or more reflections based on one or more departure times of the transmitted light and a length of the physical offset;

energizing separately different portions of a plurality of pixels for the receiver based on the one or more anticipated arrival times; and

employing the different portions of energized pixels to detect an amount of photons from the one or more reflections of the transmitted light, wherein a disparity of a positional offset of one or more pixels in the receiver relative to a predetermined position in the receiver is used to provide a three-dimensional measurement of the range of the target.

2. The method of claim 1, wherein the transmitter further comprises an aperture that receives the one or more reflections of the light from the target and collimates the one or more reflections of the transmitted light onto the plurality of pixels.

3. The method of claim 1, wherein the receiver further comprises a shutter that sequentially enables each energized pixel to separately detect one or more photons from the one or more reflections of the transmitted light, and wherein the plurality of pixels are arranged in one or more rows having a plurality of columns.

4. The method of claim 1, wherein employing the transmitter to transmit light, further comprises:

transmitting two or more different colors of light; and

employing two or more color separated or time separated disparities determined between a separate amount of detected photons for each different color of the transmitted light and two or more threshold values to provide a three-dimensional measurement of the range of the target.

5. The method of claim 1, further comprising:

dynamically increasing or decreasing amplification of a signal representing the amount of detected photons based on the measured range of the target.

6. The method of claim 1, wherein employing the transmitter to transmit light, further comprises:

transmitting two or more different colors of light;

positioning another receiver at another physical offset separate from the transmitter and the receiver; and

employing the different colors of light to add contrast to stereo decoding of separate amounts of photons detected for the receiver and other receiver.

7. The method of claim 1, wherein employing the transmitter to transmit light, further comprises increasing or decreasing bursts of transmitted light based on an amount of one or more disparities between the detected photons and one or more thresholds.

8. A system to measure a three-dimensional range to a target, comprising:

a transmitter to transmit light toward the target;

a receiver to detect one or more reflections of the transmitted light, wherein the receiver is physically offset separate from the transmitter;

one or more memory devices that store instructions; and

one or more processors that perform actions, including;

determining one or more anticipated arrival times of the one or more reflections based on one or more departure times of the transmitted light and a length of the physical offset;

energizing separately different portions of a plurality of pixels for the receiver based on the one or more anticipated arrival times; and

employing the different portions of energized pixels to detect an amount of photons from the one or more reflections of the transmitted light, wherein a disparity of a positional offset of one or more pixels in the receiver relative to a predetermined position in the receiver is used to provide a three-dimensional measurement of the range of the target.

9. The system of claim 8, wherein the transmitter further comprises an aperture that receives the one or more reflections of the light from the target and collimates the one or more reflections of the transmitted light onto the plurality of pixels.

10. The system of claim 8, wherein the receiver further comprises a shutter that sequentially enables each energized pixel to separately detect one or more photons from the one or more reflections of the transmitted light, and wherein the plurality of pixels are arranged in one or more rows having a plurality of columns.

11. The system of claim 8, wherein employing the transmitter to transmit light, further comprises:

transmitting two or more different colors of light; and

employing two or more color separated or time separated disparities determined between a separate amount of detected photons for each different color of the transmitted light and two or more threshold values to provide a three-dimensional measurement of the range of the target.

12. The system of claim 8, further comprising:

dynamically increasing or decreasing amplification of a signal representing the amount of detected photons based on the measured range of the target.

13. The system of claim 8, wherein employing the transmitter to transmit light, further comprises:

transmitting two or more different colors of light;

positioning another receiver at another physical offset separate from the transmitter and the receiver; and

employing the different colors of light to add contrast to stereo decoding of separate amounts of photons detected for the receiver and other receiver.

14. The system of claim 8, wherein employing the transmitter to transmit light, further comprises increasing or decreasing bursts of transmitted light based on an amount of one or more disparities between the detected photons and one or more thresholds.

15. A processor readable non-transitive storage media that stores instructions for measuring a three-dimensional range to a target, wherein one or more processors execute the stored instructions to perform actions, comprising:

employing a transmitter to transmit light toward the target and a receiver to detect one or more reflections of the transmitted light, wherein the receiver is physically offset separate from the transmitter;

determining one or more anticipated arrival times of the one or more reflections based on one or more departure times of the transmitted light and a length of the physical offset;

energizing separately different portions of a plurality of pixels for the receiver based on the one or more anticipated arrival times; and

employing the different portions of energized pixels to detect an amount of photons from the one or more reflections of the transmitted light, wherein a disparity of a positional offset of one or more pixels in the receiver relative to a predetermined position in the receiver is used to provide a three-dimensional measurement of the range of the target.

16. The media of claim 15, wherein the transmitter further comprises an aperture that receives the one or more reflections of the light from the target and collimates the one or more reflections of the transmitted light onto the plurality of pixels.

17. The media of claim 15, wherein the receiver further comprises a shutter that sequentially enables each energized pixel to separately detect one or more photons from the one or more reflections of the transmitted light, and wherein the plurality of pixels are arranged in one or more rows having a plurality of columns.

18. The media of claim 15, wherein employing the transmitter to transmit light, further comprises:

transmitting two or more different colors of light; and

employing two or more color separated or time separated disparities determined between a separate amount of detected photons for each different color of the transmitted light and two or more threshold values to provide a three-dimensional measurement of the range of the target.

19. The media of claim 15, wherein employing the transmitter to transmit light, further comprises:

transmitting two or more different colors of light;

positioning another receiver at another physical offset separate from the transmitter and the receiver; and

employing the different colors of light to add contrast to stereo decoding of separate amounts of photons detected for the receiver and other receiver.

20. The media of claim 15, wherein employing the transmitter to transmit light, further comprises increasing or decreasing bursts of transmitted light based on an amount of one or more disparities between the detected photons and one or more thresholds.