Waveform reconstruction in a time-of-flight sensor

• US 9,921,300 B2
• Filed: 01/29/2015
• Issued: 03/20/2018
• Est. Priority Date: 05/19/2014
• Status: Active Grant

• Current Assignee: Rockwell Automation Technologies Incorporated (Allen-Bradley Co., Inc.), Teledyne Innovaciones Microelectronicas SL (Teledyne Technologies Incorporated)
• Original Assignee: Rockwell Automation Technologies Incorporated (Allen-Bradley Co., Inc.), Teledyne Innovaciones Microelectronicas SL (Teledyne Technologies Incorporated)
• Inventors: Galera, Richard, Bowlby, Anne, Jones, Derek W., Pradhan, Nilesh, Leard, Francis L., Castro, Rafael Dominguez, Castillo, Sergio Morillas, Jurez, Rafael Romay
• Primary Examiner(s): Abraham, Samantha K
• Application Number:
  US14/609,340
• Publication Number:
  US 20150331092A1
• Time in Patent Office: 1,146 Days
• 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 17/894 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 7/4863 Detector arrays, e.g. charge-transfer gates
• CPC Class Codes: G01S 7/4865 Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak peak detection in noise, signal conditioning G01S7/487

Abstract

A time-of-flight (TOF) sensor device is provided that is capable of accurately recovering waveforms of reflected light pulses incident on the sensor'"'"'s photo-receiver array using a low sampling rate. A number of samples for a received light pulse incident on a given photo-receiver are obtained by emitting a light pulse to the viewing field, integrating the electrical output generated by the photo receiver over an integration period, and adding the integral values for respective integration cycles to yield an accumulation value. This process is repeated for multiple accumulation cycles; however, for each consecutive accumulation cycle the start of the integration period is delayed relative the start time of the integration period for the previous cycle by a delay period. Sampled values for the waveform are obtained by determining the difference values between consecutive accumulation values for the respective accumulation cycles.

Claims

1. A time-of-flight (TOF) sensor device, comprising:

a memory that stores computer-executable components;

a processor, operatively coupled to the memory, that executes the computer-executable components, the computer-executable components comprising;

an illumination component configured to emit a light pulse toward a viewing field;

a photo-receiver configured to generate an electrical output proportional to an intensity of light incident on a surface of the photo-receiver;

a pixel array component configured to measure the electrical output; and

a waveform reconstruction component configured to generate sampled values of a waveform corresponding to a reflected light pulse received by the photo-receiver, wherein the waveform reconstruction component generates a sampled value, of the sampled values, based on a difference between a first accumulated value obtained during a first accumulation cycle and a second accumulated value obtained during a second accumulation cycle, wherein

the first accumulated value comprises a first sum of N integrated values of the electrical output integrated over respective N first integration periods during the first accumulation cycle, where N is an integer,

the second accumulated value comprises a second sum of N integrated values of the electrical output integrated over respective N second integration periods during the second accumulation cycle, the second integration periods have same durations as the first integration periods, and

a start time of the second integration periods within the second accumulation cycle is delayed by a delay period relative to a start time of the first integration periods within the first accumulation cycle.

2. The TOF sensor device of claim 1, wherein the delay period is equal to 1/k seconds, where k is a specified number of samples per second to be generated for the waveform.

3. The TOF sensor device of claim 1, wherein the waveform reconstruction component is configured to, for respective accumulation cycles of the first accumulation cycle and the second accumulation cycle:

determine a first integral of an instantaneous electrical output of the photo-receiver between a start time of an integration period and an end time of the integration period,

determine the first integral for N integration cycles to yield N first integrals; and

sum the N first integrals to yield an accumulated value.

4. The TOF sensor device of claim 1, wherein the waveform reconstruction component is further configured to generate the waveform corresponding to the reflected light pulse based on the sampled values.

5. The TOF sensor device of claim 4, wherein the waveform reconstruction component is configured to generate the waveform based on interpolation between the sampled values.

6. The TOF sensor device of claim 4, further comprising a distance determination component configured to determine a duration between a first time corresponding to a rising edge of the waveform and a second time at which the light pulse was emitted, and to generate distance information for a pixel corresponding to the photo-receiver based on the duration.

7. The TOF sensor device of claim 6, wherein the waveform reconstruction component is further configured to set the delay period based on at least one of the distance information or a measured signal-to-noise ratio.

8. The TOF sensor device of claim 4, further comprising a waveform analysis component configured to perform pattern recognition analysis on the waveform to yield a pattern recognition result and to filter the reflected light pulse in response to a determination that the pattern recognition result satisfies a criterion.

9. The TOF sensor device of claim 1, wherein the waveform reconstruction component is further configured to generate a number of accumulation values, including the first accumulation value and the second accumulation value, for respective accumulation cycles for a given waveform, wherein the number of accumulation values is based on a specified number of sampled values to be generated for the waveform.

10. The TOF sensor device of claim 1, wherein the waveform reconstruction component is further configured to measure, as a background light indication, a portion of the electrical output between the start time of a first integration period, of the N first integration periods, and a time at which the illumination component emits the light pulse, and to modify at least one of the first accumulated value or the second accumulated value based on the portion of the electrical output.

11. A method for reconstituting a waveform for a time-of-flight (TOF) light pulse, comprising:

for respective N first integration cycles a first accumulation cycle;

initiating, by a TOF sensor device comprising at least one processor, a first integration period for a first integration cycle;

emitting, by the TOF sensor device, a first light pulse during the first integration cycle;

integrating an instantaneous electrical output generated by a photo-receiver of the TOF sensor device over a duration of the first integration period to yield a first integral value; and

adding the first integral value to other integral values obtained for remaining (N−

1) first integration cycles of the N first integration cycles to yield a first accumulation value;

for respective N second integration cycles of a second accumulation cycle;

initiating a second integration period having a same duration as the first integration period for a second integration cycle, wherein the initiating comprises delaying a start time of second integration period within the second integration cycle by a delay period relative to a start time of the first integration period within the first integration cycle;

emitting, by the TOF sensor device, a second light pulse during the second integration cycle;

integrating an instantaneous electrical output generated by the photo-receiver over a duration of the second integration period to yield a second integral value; and

adding the second integral value to integral values obtained for remaining (N−

1) second integration cycles of the N second integration cycles to yield a second accumulation value; and

determining a difference between the first accumulated value and the second accumulated value to yield a sampled value for a waveform corresponding to a reflected light pulse received at the photo-receiver.

12. The method of claim 11, wherein the delay period is equal to or substantially equal to 1/k seconds, where k is a specified sampling frequency for sampling the waveform.

13. The method of claim 11, further comprising:

generating a number of accumulated values, including the first accumulated value and the second accumulated value, for respective integration periods, wherein the number of accumulated values is based on a specified number of sampled values to be generated for the waveform, and wherein an ith integration period of the integration periods is delayed by the delay period relative to an (i−

1)th integration period of the integration periods; and

determining differences between consecutive accumulation values of the accumulation values to yield a set of sampled values for the waveform.

14. The method of claim 13, further comprising generating waveform data representing the waveform based on interpolation between the sampled values.

15. The method of claim 11, further comprising setting a value of the delay period based on at least one of a measured distance of an object from the TOF sensor device or a measured signal-to-noise ratio.

16. The method of claim 11, further comprising:

measuring an amount of electrical output generated by the photo-receiver during a time period between initiation of the first integration period and the emitting of the first light pulse; and

modifying the sampled value based on the amount of electrical output.

17. A non-transitory computer-readable medium having stored thereon instructions that, in response to execution, cause a time-of-flight (TOF) sensor device comprising a processor to perform operations, the operations comprising:

for an accumulation cycle of a plurality of accumulation cycles;

initiating an integration period having a fixed duration for the accumulation cycle, wherein a start time of the integration period within the accumulation cycle is delayed by a delay period relative to a start time of the integration period for a previous accumulation cycle of the plurality of accumulation cycles;

emitting a light pulse;

integrating, for N iterations of the initiating and the emitting, an instantaneous electrical output generated by the photo-receiver over a duration of the integration period to yield N integral values; and

summing the N integral values to yield an accumulated value;

repeating the initiating, the emitting, the integrating, and the summing for the plurality of accumulation cycles to yield a respective plurality of accumulated values; and

determining difference values between consecutive accumulated values of the accumulated values to yield a set of sampled values for a waveform corresponding to the reflected light pulse.

18. The non-transitory computer-readable medium of claim 17, wherein the operations further comprise generating waveform data representing the waveform based on interpolation between the sampled values.

19. The non-transitory computer-readable medium of claim 18, wherein the operations further comprise:

determining a first time corresponding to a rising edge of the waveform based on the waveform data;

determining a difference between the first time and a second time at which the light pulse is emitted; and

determining a distance value for a pixel corresponding to the photo-receiver based on the difference.

20. The non-transitory computer-readable medium of claim 19, wherein the operations further comprise setting a value of the delay period based on the distance value.