Photodetector, a photodector array comprising photodetectors, an object detector comprising the photodetecter array and an object detecting procedure

• US 5,581,094 A
• Filed: 09/01/1994
• Issued: 12/03/1996
• Est. Priority Date: 11/18/1993
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Toyoda, Takashi, Hara, Kunihiko, Nitta, Yoshikazu, Funatsu, Eiichi, Oita, Masaya, Kyuma, Kazuo, Tai, Shuichi
• Primary Examiner(s): MINTEL, WILLIAM A
• Application Number:
  US08/300,693
• Time in Patent Office: 824 Days
• Field of Search: 257/82, 257/84, 257/85, 257/81, 257/80, 257/440, 257/443, 257/233, 257/432, 250/559.38, 250/370.1, 250/208.1, 250/206.1, 250/206.2
• US Class Current: 257/80
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4816 of receivers alone
• CPC Class Codes: G01S 7/483 Details of pulse systems
• CPC Class Codes: H01L 25/167 comprising optoelectronic devices, e.g. LED, photodiodes
• CPC Class Codes: H01L 27/14603 Special geometry or disposition of pixel-elements, address-lines or gate-electrodes
• CPC Class Codes: H01L 27/14625 Optical elements or arrangements associated with the device
• CPC Class Codes: H01L 27/14627 Microlenses
• CPC Class Codes: H01L 27/14649 Infrared imagers
• CPC Class Codes: H01L 2924/00 Indexing scheme for arrangements or methods for connecting or disconnecting semiconductor or solid-state bodies as covered by H01L24/00
• CPC Class Codes: H01L 2924/0002 Not covered by any one of groups H01L24/00, H01L24/00 and H01L2224/00
• CPC Class Codes: H01L 31/173 formed in, or on, a common substrate

Abstract

A photodetector has a semiconductor substrate which produces light-induced charge upon the absorption of incident light. A first electrode and a second electrode are attached to the surface of the semiconductor substrate so as to form metal-semiconductor junctions. When control voltage V_B, which is variable in a positive range through a negative range, is applied to the first electrode, a photocurrent flows through the second electrode and depletion layers are formed in the surface of the semiconductor substrate. The control voltage V_B applied to the first electrode increases the expanse of one of the depletion layers relative to that of the other to cause the light-induced charge to drift toward one of the depletion layers or the other. Consequently, a positive or negative current is delivered through the second electrode. Thus, the photosensitivity of the photodetector can be controlled by the control voltage V_B.

Claims

1. An object detector that receives a light reflected from an object to determine a position and an image of the object, said object detector comprising:

a light-emitting unit that emits a pulse of light having a predetermined wavelength, wherein at least a portion of the pulse of light is reflected from the object;

a photodetector unit for receiving the reflected light from the object and generating output signals, the reflected light including at least the portion of the pulse of light reflected from the object, wherein the photodetector unit includes a photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range, and arranged in a two-dimensional arrangement;

a control signal supply means for supplying a control signal for controlling the photosensitivity of each photodetector of the photodetector unit;

a signal detecting means for detecting the output signals of the photodetectors on each line or row of the photodetectors of the photodetector unit; and

a control means for controlling the adjustment of the time when the light-emitting unit emits light, and controlling one of the time when the control signal supply means supplies a control signal to the photodetectors, and the time when the signal detecting means detects the output signals of the photodetectors on each line or row.

2. An object detector according to claim 1 further comprising a set information feedback means that receives an output signal of the signal detecting means and gives set information to the control means.

3. An object detector according to claim 1 or 2 further comprising an optical system that sends out a pulse of light emitted by the light-emitting unit and transmits incident light to the photodetector unit, provided with a selective transmission means which selectively transmits visible radiation and near-infrared radiation.

4. An object detector according to claim 1 or 2, wherein each photodetector of the photodetector unit is provided with a means for selectively detecting visible radiation and near-infrared radiation.

5. An object detector according to claim 1 or 2, wherein the signal detecting means is connected in parallel to lines or rows of the plurality of photodetectors of the two-dimensional photodetector array of the photodetector unit and is provided with a signal converting means for converting parallel output signals of the signal detecting means into serial signals.

6. An object detector according to claim 1 or 2, wherein the signal detecting means is connected in parallel to lines or rows of the plurality of photodetectors of the two-dimensional photodetector array of the photodetector unit and is provided with a switching means for sending parallel output signals of the signal detecting means to a subsequent means by selective switching.

7. An object detector according to claim 3, wherein the signal detecting means is connected in parallel to lines or rows of the photodetectors of the two-dimensional photodetector array of the photodetector unit and is provided with a switching means for sending parallel output signals of the signal detecting means to a subsequent means by selective switching.

8. An object detector according to claim 4, wherein the signal detecting means is connected in parallel to lines or rows of the photodetectors of the two-dimensional photodetector array of the photodetector unit and is provided with a switching means for sending parallel output signals of the signal detecting means to subsequent means by selective switching.

9. An object detector according to claim 1 or 2, wherein the signal detecting means is provided with an integrating means for integrating the output signals of the photodetector unit.

10. An object detector according to claim 3, wherein the signal detecting means is provided with an integrating means for integrating the output signals of the photodetector unit.

11. An object detector according to claim 4, wherein the signal detecting means is provided with an integrating means for integrating the output signals of the photodetector unit.

22. An object detector according to claim 1, wherein the control means applies a timing signal to other circuits in synchronism with the light-emitting operation of the light-emitting unit.

23. An object detector according to claim 1, wherein the two-dimensional photodetector array of the photodetector unit and the light-emitting device of the light-emitting unit are formed on a single substrate.

24. An object detector according to claim 23, wherein the light-emitting device of the light-emitting unit is provided with an optical resonator, the two-dimensional photodetector array of the photodetector unit is formed on a substrate on which the light-emitting device and the optical resonator are formed in an integrated circuit, and the optical resonator radiates light in a direction perpendicular to a major surface of the substrate.

25. An object detector according to claim 23, wherein the light-emitting device of the light-emitting unit is provided with an optical resonator and a 45 degree reflecting mirror, the two-dimensional photodetector array of the photodetector unit is formed on a substrate on which the optical resonator and the 45 degree reflecting mirror are formed in an integrated circuit, the optical resonator radiate light in a direction parallel to a major surface of the substrate, and the 45 degree reflecting mirror deflects the light radiated by the optical resonator in a direction perpendicular to the major surface of the substrate.

26. An object detector according to claim 23, wherein the light-emitting device of the light-emitting unit is provided with an optical resonator for radiating light in a direction horizontal to the major surface of the substrate of the light-emitting device, and a diffraction grating, and the two-dimensional photodetector array is formed on another substrate on which the optical resonator and the diffraction grating are formed.

27. An object detector according to claim 23, wherein the two-dimensional photodetector array of the photodetector unit and the light-emitting device of the light-emitting unit are formed in an integrated circuit on a single substrate by continuous processes.

28. An object detector according to claim 23, wherein the two-dimensional array of the photodetector unit and the light-emitting device of the light-emitting unit are formed respectively on opposing major surfaces of a single substrate.

29. An object detector according to claim 23, wherein the two-dimensional photodetector array of the photodetector unit and the light-emitting device of the light-emitting unit formed respectively of different materials are formed in an integrated circuit on a single substrate.

30. An object detector according to claim 23, wherein the two-dimensional photodetector array of the photodetector unit is formed on a first substrate, the light-emitting device of the light-emitting unit is formed on a second substrate, and the first substrate and the second substrate are put together in a single substrate.

31. An object detector according to claim 23, wherein a driving integrated circuit for driving the two-dimensional photodetector array of the photodetector unit and the light-emitting device of the light-emitting unit is formed on a substrate on which the two-dimensional photodetector array and the light-emitting device are formed.

32. An object detector according to claim 23, wherein the light-emitting unit is provided with a driving power supply for the amplitude modulation of the light-emitting device, and the two-dimensional photodetector array is formed on a substrate on which the light-emitting device provided with the driving power supply are formed in an integrated circuit.

33. An object detector according to claim 23, wherein the light-emitting unit is provided with a spatial modulator for the amplitude modulation of the light-emitting device, and the two-dimensional photodetector array is formed on a substrate on which the light-emitting device and the spatial modulator are formed in an integrated circuit.

34. An object detector according to claim 23, wherein the light-emitting unit is provided with one of a diffraction lens and a gradient index lens through which a pulse of light emitted by the light-emitting device travels, and the two-dimensional photodetector array is formed on a substrate on which the light-emitting device, and the one of the diffraction lens and the gradient index lens are formed.

35. An object detector according to claim 23, wherein a wavelength-selective filter is formed on the surface of the two-dimensional photodetector array, the light-emitting unit is provided with a plurality of light-emitting devices that emit light having different wavelengths, respectively, and the light-emitting devices and the two-dimensional photodetector array are formed on a single substrate.

36. An object detector according to claim 23, wherein the light-emitting device of the light-emitting unit is formed in an integrated circuit on the two-dimensional photodetector array.

12. An object detector that receives a light reflected from an object to determine a position and an image of the object, said object detector comprising:

a light-emitting unit that emits a pulse of light having a predetermined wavelength, wherein at least a portion of the pulse of light is reflected from the object;

a photodetector unit for receiving the reflected light from the object and generating output signals, the reflected light including at least the portion of the pulse of light reflected from the object, wherein the photodetector unit includes a photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range, and arranged in a two-dimensional arrangement;

an optical system provided with a visible radiation absorbing means for absorbing visible radiation included in the light reflected from the object;

a control signal supply means for supplying a control signal for controlling the photosensitivity of each photodetector of the photodetector unit;

a signal detecting means for detecting the output signals of the photodetectors on each line or row of the photodetector unit; and

a control means for controlling the adjustment of the time when the light-emitting unit emits light, the time when the control signal supply means supplies a control signal to the photodetectors, and the time when the signal detecting means detects the output signals of the photodetectors on each line or row of the photodetector unit.

13. An object detector according to claim 12 further comprising a set information feedback means that receives an output signal of the signal detecting means and gives set information to the control means.

14. An object detector according to claim 12 or 13, wherein the signal detecting means is connected in parallel to lines or rows of the photodetectors of the two-dimensional photodetector array of the photodetector unit and is provided with a signal converting means for converting the parallel output signals of the signal detecting means into serial signals.

15. An object detector that receives light reflected from an object to determine a position and an image of the object, said object detector comprising:

a light-emitting unit that emits a pulse of light having a predetermined wavelength, wherein at least a portion of the pulse of light is reflected from the object;

a photodetector unit for receiving the reflected light from the object and generating output signals, the reflected light including at least the portion of the pulse of light reflected from the object, wherein the photodetector unit includes a photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range, and arranged in a two-dimensional arrangement;

an optical system provided with a visible radiation absorbing means for absorbing visible radiation included in the light reflected from the object;

a control signal supplying means for supplying a control signal for controlling the photosensitivity of each photodetector of the photodetector unit, provided with a time window setting means for specifying lines or rows of the photodetectors to set a time window;

a signal detecting means for detecting the output signals of the photodetectors on each line or row of the photodetectors of the photodetector unit, capable of selectively detecting output signals of the photodetectors on each line or row within the time window; and

a control means for controlling the adjustment of the time when the light-emitting unit emits light, the time when the control signal supply means supplies a control signal to the photodetectors, and the time when the signal detecting means detects the output signals of the photodetectors on each line or row.

17. An object detector according to claim 15 or 16, wherein the signal detecting means is connected in parallel to lines or rows of the photodetectors of the two-dimensional photodetector array of the photodetector unit and is provided with a signal converting means for converting parallel output signals of the signal detecting means into serial signals.

16. An object detector that receives light reflected from an object to determine a position and an image of the object, said object detector comprising:

a light-emitting unit that emits a pulse of light having a predetermined wavelength, wherein at least a portion of the pulse of light is reflected from the object;

a photodetector unit for receiving the reflected light from the object and generating output signals, the reflected light including at least the portion of the pulse of light reflected from the object, wherein the photodetector unit includes a photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range, and arranged in a two-dimensional arrangement;

an optical system provided with a visible radiation absorbing means for absorbing visible radiation included in the reflected light reflected from the object;

a control signal supply means for supplying a control signal for controlling the photosensitivity of the photodetectors of the photodetector unit;

a signal detecting means for detecting output signals of the photodetectors on each line or row of the photodetector unit;

a signal storage means for storing output signals of the signal detecting means for parallel access; and

a control means for controlling the adjustment of the time when the light-emitting unit emits light, the time when the control signal supply means supplies a control signal to the photodetectors and, the time when the signal detecting means detects the output signals of the photodetectors on each line or row of the photodetector unit.

18. An object detector that receives light reflected from an object to determine a position and an image of the object, said object detector comprising:

a light-emitting unit that emits a pulse of light having a predetermined wavelength, wherein at least a portion of the pulse of light is reflected from the object;

a photodetector unit for receiving the reflected light from the object and generating output signals, the reflected light including at least the portion of the pulse of light reflected from the object, wherein the photodetector unit includes a two-dimensional photodetector array comprising a plurality of photodetectors that generates output signals, each photodetector having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement and a linear photodetector array comprising a plurality of photodetectors each having a fixed conversion efficiency;

an optical system provided with a visible radiation absorbing or visible radiation separating means for separating light radiation having wavelengths other than those of visible radiation from the light reflected from the object so that light radiation having wavelengths other than those of visible radiation falls on the photodetector unit;

a control signal supply means for supplying a control signal for controlling the photosensitivity of each photodetector of the two-dimensional photodetector array of the photodetector unit;

a first signal detecting means for detecting the output signals of the photodetectors on each line or row of the two-dimensional photodetector array;

a second signal detecting means for detecting the output signals of the photodetectors of the linear photodetector array; and

a control means for controlling the adjustment of the time when the light-emitting unit emits a pulse of light, the time when the control signal supply means supplies a control signal to each photodetector, the time when the first signal detecting means detects the output signals of the photodetectors on each line or row of the two-dimensional photodetector array, and the time when the second signal detecting means detects the output signals of the photodetectors of the linear photodetector array.

20. An object detector according to claim 18 or 19, wherein the first signal detecting means is connected in parallel to lines or rows of the photodetectors of the two-dimensional photodetector array and is provided with a signal converting means for converting parallel output signals of the first signal detecting means into serial signals.

21. An object detector according to claim 18 or 19, wherein the first signal detecting means is connected in parallel to lines or rows of the photodetectors of the two-dimensional photodetector array and is provided with a switching means for sending parallel output signals of the first signal detecting means to the subsequent means by selective switching.

19. An object detector that receives the light reflected from an object to determine a position and an image of the object, said object detector comprising:

a light-emitting unit that emits a pulse of light having a predetermined wavelength, wherein at least a portion of the pulse of light is reflected from the object;

a photodetector unit for receiving the reflected light from the object and generating output signals, the reflected light including at least the portion of the pulse of light reflected from the object, wherein the photodetector unit includes a two-dimensional photodetector array comprising a plurality of photodetectors that generates output signals, each photodetector having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement and a linear photodetector array comprising a plurality of photodetectors each having a fixed conversion efficiency;

an optical system provided with a visible radiation absorbing or visible radiation separating means for separating light radiation having wavelengths other than those of visible radiation from the light reflected from the object so that light radiation having wavelengths other than those of visible radiation falls on the photodetector unit;

a control signal supply means for supplying a control signal for controlling the photosensitivity of each photodetector of the two-dimensional photodetector array of the photodetector unit;

a first signal detecting means for detecting the output signals of the photodetectors on each line or row of the two-dimensional photodetector array of the photodetector unit;

a second signal detecting means for detecting the output signals of the photodetectors of the linear photodetector array of the photodetector unit;

a control means for controlling the adjustment of the time when the light-emitting unit emits a pulse of light, the time when the control signal supply means supplies a control signal to each photodetector, the time when the first signal detecting means detects the output signals of the photodetectors on each line or row of the two-dimensional photodetector array, and the time when the second signal detecting means detects the output signals of the photodetectors of the linear photodetector array.

37. An object detector comprising:

a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, and lenses formed on the two-dimensional photodetector array;

a control voltage circuit that applies a control voltage to the photodetectors on each line of the two-dimensional photodetector array of the photodetector unit;

a signal detecting circuit that detects the output signals of the photodetectors on each line of the two-dimensional photodetector array of the photodetector unit;

a light-emitting unit that emits light having a predetermined wavelength toward an object; and

an optical scanning unit that collimates the light emitted by the light-emitting unit in a light beam and scans a scanning range with the light beam.

38. An object detector according to claim 37, wherein each of the plurality of photodetectors of the two-dimensional photodetector array comprises a semiconductor substrate, depletion layers formed in the semiconductor substrate in a symmetrical arrangement, a first electrode electrically connected to the semiconductor substrate and to a power source that applies control voltage variable in a positive range through a negative range to the first electrode, and a second electrode symmetric with respect to the first electrode and electrically connected to the semiconductor substrate to deliver a photocurrent induced in the depletion layers.

39. An object detecting procedure that uses an object detector having a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, said object detecting procedure comprising steps of:

setting each photodetector of the photodetector unit for a photosensitivity;

receiving the light reflected from an object by the photodetector unit comprising the photodetectors each having a set photosensitivity; and

producing image information about the object on the basis of output signals of the photodetector unit.

40. An object detecting procedure that uses an object detector having a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, said object detecting procedure comprising steps of:

setting each photodetector of the photodetector unit for a photosensitivity;

setting a spatial window on the photodetector unit comprising the photodetectors respectively having set photosensitivities so as to contain an image of a desired object;

receiving the light reflected from the object by the photodetector unit comprising the photodetectors respectively having the set photosensitivities; and

detecting output signals of the photodetectors of the photodetector unit within the set spatial window to obtain image information about the object.

41. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, said object detecting procedure comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving the reflected near-infrared pulse reflected from the object by the photodetector unit; and

determining the coordinates of the object and the time interval between the emission of the near-infrared pulse and the reception of the reflected near-infrared pulse on basis of the output signals of the photodetector unit.

42. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, said object detecting means comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving the reflected near-infrared pulse reflected from an object by the photodetector unit;

determining the coordinates of the object and the time interval between the emission of the near-infrared pulse and the reception of the reflected near-infrared pulse on the basis of output signals of the photodetector unit;

setting a spatial window on the photodetector unit so as to contain the image of the object; and

obtaining optical image information from the output signals of the photodetectors of the photodetector unit within the spatial window.

45. An object detecting procedure according to claim 42 further comprising a step in which the object detecting procedure returns to an earlier step depending on the information provided by the photodetector unit upon the reception of the reflected near-infrared pulse.

49. An object detecting procedure according to claim 45 further comprising a step in which the object detecting procedure returns to an earlier step depending on the output signals of the photodetector unit.

50. An object detecting procedure according to claim 42, wherein the coordinates with respect to two directions are determined in the step of determining the coordinates of the object and the time interval between the emission of the near-infrared pulse and the reception of the reflected near-infrared pulse.

55. An object detecting procedure according to claim 50, wherein the combination of lines or rows of the photodetectors to which access is made to obtain the optical image information from the output signals of the two-dimensional photodetector array is changeable.

56. An object detecting procedure according to claim 50, wherein windows are set sequentially for a plurality of object detected through the detection of the near-infrared pulse in ascending or descending order of the coordinates of the object with respect to one direction of the two-dimensional photodetector array.

57. An object detecting procedure according to claim 50, wherein windows are set sequentially for a plurality of objects detected through the detection of the reflected near-infrared pulse in predetermined order.

43. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, said object detecting procedure comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving the reflected near-infrared pulse reflected from an object by the photodetector unit;

determining the coordinates of the object and the time interval between the emission of the near-infrared pulse and the reception of the reflected near-infrared pulse on the basis of output signals of the photodetector unit;

setting a spatial window on the photodetector unit, on the basis of coordinates of the object so as to contain an image of the object;

obtaining optical image information from the output signals of the photodetectors of the photodetector unit within the spatial window; and

processing the optical image information.

44. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, said object detecting procedure comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving the reflected near-infrared pulse reflected from an object by the photodetector unit;

determining coordinates of the object and the time interval between the emission of the near-infrared pulse and the reception of the reflected near-infrared pulse on the basis of output signals of the photodetector unit;

setting a spatial window on the photodetector unit, on the basis of the coordinates of the object so as to contain an image of the object;

obtaining optical image information from the output signals of the photodetectors of the photodetector unit within the spatial window; and

determining a projection of the image of the object on the basis of the optical image information.

46. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, said object detecting procedure comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving the reflected near-infrared pulse reflected from the object by the photodetector unit;

forming a spatial window on the photodetector unit so as to contain an image of the object; and

obtaining optical image information from output signals of the photodetectors of the photodetector unit within the spatial window.

47. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, said object detecting procedure comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving the reflected near-infrared pulse reflected from the object by the photodetector unit;

determining coordinates of the object and a time interval between the emission of the near-infrared pulse and the reception of the reflected near-infrared pulse on the basis of output signals of the photodetector unit;

setting a spatial window on the photodetector unit on the basis of the coordinates of the object so as to contain the image of the object;

obtaining optical image information from the output signals of the photodetectors of the photodetector unit within the spatial window; and

processing the optical image information.

48. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, said object detecting procedure comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving the reflected near-infrared pulse reflected from the object by the photodetector unit;

determining coordinates of the object and a time interval between the emission of the near-infrared pulse and the reception of the reflected near-infrared pulse on the basis of output signals of the photodetector unit;

setting a time window on the photodetector unit on the basis of the coordinates of the object so as to contain an image of the object;

obtaining optical image information from the output signals of the photodetectors of the photodetector unit within the spatial window; and

determining a projection of the image of the object on the basis of the optical image information.

51. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, and a linear photodetector array comprising a plurality of photodetectors each having a fixed conversion efficiency, said object detecting procedure comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving a reflected near-infrared pulse by the linear photodetector array of the photodetector unit;

determining coordinates of the object and the time interval between the emission of the near-infrared pulse and the reception of the reflected near-infrared pulse on the basis of the output signals of the linear photodetector array;

setting a time window on the two-dimensional photodetector array of the photodetector unit on the basis of the coordinates of the object so as to contain the image of the object;

receiving the light reflected from the object by the two-dimensional photodetector array of the photodetector unit; and

obtaining optical image information from output signals of the photodetectors of the two-dimensional photodetector array within the time window.

52. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, and a linear photodetector array comprising a plurality of photodetectors each having a fixed conversion efficiency, said object detecting procedure comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving the reflected near-infrared pulse reflected from an object by the linear photodetector array;

determining coordinates of the object and a time interval between the emission of the near-infrared pulse and the reception of the near-infrared pulse on the basis of output signals of the linear photodetector array;

setting a time window on the two-dimensional photodetector array of the photodetector unit on the basis of the coordinates of the object so as to contain the image of the object;

receiving the light reflected from the object by the two-dimensional photodetector array;

obtaining optical image information from the output signals of the photodetectors of the two-dimensional photodetector array within the time window; and

processing the optical image information by a predetermined method.

54. An object detecting procedure according to claim 52 further comprising a step in which the object detecting procedure returns to an earlier step depending on the output signals of the photodetector unit.

53. An object detecting procedure for determining the distance to an object and forming an image of the object by using an object detector having a light-emitting unit that emits a near-infrared pulse, and a photodetector unit having a two-dimensional photodetector array comprising a plurality of photodetectors each having photosensitivity variable in a positive range through a negative range and arranged in a two-dimensional arrangement, and a linear photodetector array comprising a plurality of photodetectors each having a fixed conversion efficiency, said object detecting procedure comprising steps of:

emitting a near-infrared pulse by the light-emitting unit;

receiving the reflected near-infrared pulse reflected from the object by the linear photodetector array of the photodetector unit;

determining the coordinates of the object and a time interval between the emission of the near-infrared pulse and the reception of the reflected near-infrared pulse on the basis of output signals of the linear photodetector array;

setting a time window on the two-dimensional photodetector array of the photodetector unit on the basis of the coordinates of the object so as to contain the image of the object;

receiving the light reflected from the object by the two-dimensional photodetector array;

obtaining optical image information from the output signals of the photodetectors of the two-dimensional photodetector array within the time window; and

forming a projection of the image of the object on the basis of the optical image information.