Resonant modulation for low power range imaging cameras

• US 9,052,395 B2
• Filed: 04/27/2012
• Issued: 06/09/2015
• Est. Priority Date: 04/29/2011
• Status: Active Grant

• Current Assignee: Chronoptics Limited
• Original Assignee: Waikatolink Limited (Waikato University)
• Inventors: Dorrington, Adrian Andrew, Bamji, Cyrus, Conroy, Richard Michael
• Primary Examiner(s): Ratcliffe, Luke
• Assistant Examiner(s): Abraham, Samantha K
• Application Number:
  US13/458,833
• Publication Number:
  US 20120307229A1
• Time in Patent Office: 1,138 Days
• Field of Search: 356/3.01, 356/4.01, 356/4.07, 356/5.01, 356/5.1, 356/5.09, 356/9, 356/625, 250/214, 250/214.1
• US Class Current: 1/1
• CPC Class Codes: G01S 17/36 with phase comparison between the received signal and the contemporaneously transmitted signal
• CPC Class Codes: G01S 17/894 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• CPC Class Codes: G01S 7/4914 of detector arrays, e.g. charge-transfer gates
• CPC Class Codes: G01S 7/4915 Time delay measurement, e.g. operational details for pixel components signal extraction and conditioning G01S7/493; Phase measurement
• CPC Class Codes: H04N 25/745 Circuitry for generating timing or clock signals

Abstract

An amplitude modulated continuous wave range imaging device has a signaling device configured to emit an intensity modulated illumination signal. An image sensor is configured to capture a plurality of images of a reflection of the modulated illumination signal. The captured images include intensity and/or phase components for a plurality of pixels of the image sensor. Each pixel includes a first modulation terminal having a first capacitive component. A first driver is configured to charge a first set of modulation terminals of the plurality of pixels. A second driver is configured to charge a second set of modulation terminals of the plurality of pixels. A charge transfer circuit is connected between the first set of modulation terminals and the second set of modulation terminals. The charge transfer circuit is configured to transfer charge between the first set of modulation terminals and the second set of modulation terminals.

Claims

1. An amplitude modulated continuous wave range imaging device, comprising:

a signaling device configured to emit an intensity modulated illumination signal;

an image sensor configured to capture a plurality of images of a reflection of the modulated illumination signal, wherein the captured images include intensity and/or phase components for a plurality of pixels of the image sensor, wherein each pixel includes a first modulation terminal having a first capacitive component;

a first driver configured to charge a first set of modulation terminals of the plurality of pixels;

a second driver configured to charge a second set of modulation terminals of the plurality of pixels, wherein the first set and the second set are mutually exclusive;

a charge transfer circuit connected between the first set of modulation terminals and the second set of modulation terminals, wherein the charge transfer circuit is configured to transfer charge between the first set of modulation terminals and the second set of modulation terminals; and

a processor configured to determine a phase shift between the emitted modulated illumination signal and the captured images at each of the plurality pixels.

2. The amplitude modulated continuous wave range imaging device of claim 1, wherein each of the plurality of pixels also includes a second modulation terminal having a second capacitive component, wherein the first set of modulation terminals includes the first modulation terminal of each of the plurality of pixels, and wherein the second set of modulation terminals includes the second modulation terminal of each of the plurality of pixels.

3. The amplitude modulated continuous wave range imaging device of claim 2, wherein the total average power required to charge and discharge the first and second sets of modulation terminals is less than 75% of MNCfV², where M is the number of modulation terminals per pixel, N is the number of pixels in the plurality of pixels, f is the frequency of the emitted modulated illumination signal, V is voltage of the first set of modulation terminals after the first set of modulation terminals have been fully charged, and C is the capacitance of the modulation terminals.

4. The amplitude modulated continuous wave range imaging device of claim 1, wherein the charge transfer circuit includes at least one inductor connected between the first set of modulation terminals and the second set of modulation terminals to form a resonant circuit.

5. The amplitude modulated continuous wave range imaging device of claim 4, wherein the at least one inductor comprises a plurality of inductors connected in series, wherein a switch is connected with one inductor of the plurality of inductors, and wherein the processor is configured to control the switch to selectively remove the one inductor of the plurality of inductors from the resonate circuit.

6. The amplitude modulated continuous wave range imaging device of claim 4, wherein the at least one inductor comprises a plurality of inductors connected in series, wherein a switch is connected with one inductor of the plurality of inductors, and wherein the processor is configured to control the switch to selectively remove the one inductor of the plurality of inductors from the resonate circuit.

7. The amplitude modulated continuous wave range imaging device of claim 4, wherein the at least one inductor is a variable inductor.

8. The amplitude modulated continuous wave range imaging device of claim 7, wherein the processor is configured to control the inductance of the variable inductor.

9. The amplitude modulated continuous wave range imaging device of claim 7, wherein the processor is further configured to set the resonate frequency based upon an approximation of a distance to an object and to determine a distance to the object based on the phase shift.

10. The amplitude modulated continuous wave range imaging device of claim 4, wherein the processor is further configured to set a resonate frequency of the resonate circuit and to set a frequency of the modulated illumination signal.

11. The amplitude modulated continuous wave range imaging device of claim 1, wherein the first driver is a tri-state driver and the second driver is a tri-state driver.

12. An amplitude modulated continuous wave range imaging device, comprising:

a signaling device configured to emit an intensity modulated illumination signal;

an image sensor configured to capture a plurality of images of a reflection of the modulated illumination signal, wherein the captured images include intensity and/or phase components for at least one pixel of the image sensor, wherein the at least one pixel includes a first modulation terminal having a first capacitive component and a second modulation terminal having a second capacitive component;

a first driver configured to charge the first modulation terminal;

a second driver configured to charge the second modulation terminal;

a charge transfer circuit connected between the first modulation terminal and the second modulation terminal, wherein the charge transfer circuit is configured to transfer charge between the first modulation terminal and the second modulation terminal; and

a processor configured determine a phase shift between the emitted illumination modulation signal and the captured images at the at least one pixel.

13. A method of amplitude modulated continuous wave range imaging, the method comprising:

emitting a modulated illumination signal;

receiving reflections of the modulated illumination signal on an image sensor;

capturing a plurality of images of the reflections on the image sensor, wherein the images include an intensity component and a phase component for a plurality of pixels of the image sensor, and wherein each pixel includes a first modulation terminal having a first capacitive component;

charging a first set of modulation terminals of the plurality of pixels;

charging a second set of modulation terminals of the plurality of pixels using some of the charge from the first set of modulation terminals of the pixels, wherein the first set and the second set are mutually exclusive; and

determining a phase shift between the modulated illumination signal and the captured images at each of the plurality of pixels.

14. The method of claim 13, wherein each of the plurality of pixels also includes a second modulation terminal having a second capacitive component, wherein the first set of modulation terminals includes the first modulation terminal of each of the plurality of pixels, and wherein the second set of modulation terminals includes the second modulation terminal of each of the plurality of pixels.

15. The method of claim 14, wherein some charge from the first set of modulation terminals is transferred to the second set of modulation terminals using a charge transfer circuit connected between the first set of modulation terminals and the second set of modulation terminals.

16. The method of claim 15, wherein the charge transfer circuit includes an inductor and charging the second set of modulation terminals includes transferring charge from the first set of modulation terminals through the inductor to the second set of modulation terminals.

17. The method of claim 15, further comprising:

changing the configuration of the charge transfer circuit connecting the first set of modulation terminals and the second set of modulation terminals.

18. The method of claim 17, wherein changing the configuration of the charge transfer circuit includes activating a switch or deactivating a switch.

19. The method of claim 17, wherein changing the configuration of the charge transfer circuit includes activating a plurality of switches or deactivating a plurality of switches.

20. The method of claim 14, further comprising:

enabling a first driver to charge the first set of modulation terminals;

enabling a second driver to charge the second set of modulation terminals;

disabling the first driver to charge the first set of modulation terminals; and

disabling the second driver to charge the second set of modulation terminals.

21. A non-transitory computer-readable medium encoded with a computer program code for amplitude modulated continuous wave range imaging, the program code comprising instructions for:

causing a modulated illumination signal to be emitted;

causing an image sensor to capture a plurality of images of reflections of the modulated illumination signal, wherein the images include an intensity component and/or a phase component for a plurality of pixels of the image sensor, and wherein each pixel includes a first modulation terminal having a first capacitive component;

causing a first driver to charge a first set of modulation terminals;

causing a second driver to charge a second set of modulation terminals, wherein the second set of modulation terminals are also charged by some of the charge from the first set of modulation terminals; and

determining a phase shift between the modulated illumination signal and the captured images at each of the plurality of pixels.

22. The computer-readable medium of claim 21, wherein each of the plurality of pixels also includes a second modulation terminal having a second capacitive component, wherein the first set of modulation terminals includes the first modulation terminal of each of the plurality of pixels, and wherein the second set of modulation terminals includes the second modulation terminal of each of the plurality of pixels.

23. The computer-readable medium of claim 22, wherein the computer program code further comprises instructions for:

changing the configuration of a charge transfer circuit connecting the first set of modulation terminals and the second set of modulation terminals.

24. The computer-readable medium of claim 23, wherein changing the configuration of the charge transfer circuit includes activating a switch or deactivating a switch.

25. The computer-readable medium of claim 23, wherein changing the configuration of the charge transfer circuit includes activating a plurality of switches or deactivating a plurality of switches.

26. The computer-readable medium of claim 22, wherein the computer program code further comprises instructions for:

enabling a first driver to charge the first set of modulation terminals;

enabling a second driver to charge the second set of modulation terminals;

disabling the first driver to charge the first set of modulation terminals; and

disabling the second driver to charge the second set of modulation terminals.