WO2015170542A1 - 測距装置及び測距装置の駆動方法 - Google Patents
測距装置及び測距装置の駆動方法 Download PDFInfo
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- WO2015170542A1 WO2015170542A1 PCT/JP2015/060886 JP2015060886W WO2015170542A1 WO 2015170542 A1 WO2015170542 A1 WO 2015170542A1 JP 2015060886 W JP2015060886 W JP 2015060886W WO 2015170542 A1 WO2015170542 A1 WO 2015170542A1
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- 238000004364 calculation method Methods 0.000 claims abstract description 31
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L27/00—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate
- H01L27/14—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate including semiconductor components sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation
- H01L27/144—Devices controlled by radiation
- H01L27/146—Imager structures
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L31/00—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
- H01L31/12—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof structurally associated with, e.g. formed in or on a common substrate with, one or more electric light sources, e.g. electroluminescent light sources, and electrically or optically coupled thereto
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
Definitions
- the present invention relates to a distance measuring device and a driving method of the distance measuring device.
- a distance measuring device including a TOF (Time-Of-Flight) type distance image sensor is known (see, for example, Patent Document 1).
- a plurality of distance sensors are arranged in a one-dimensional direction.
- Each distance sensor includes a rectangular charge generation region, a pair of transfer electrodes, and a pair of charge storage regions.
- the pair of transfer electrodes are respectively provided along a pair of opposing two sides of the charge generation region.
- the pair of charge storage regions each store the signal charge transferred by the transfer electrode.
- the charge generated in the charge generation region by each transfer electrode is distributed as a signal charge to each charge accumulation region in accordance with transfer signals having different phases.
- the distributed signal charges are stored in the corresponding charge storage regions.
- the signal charge accumulated in each charge accumulation region is read as an output corresponding to the accumulated charge amount. Based on the ratio of these outputs, the distance to the object is calculated.
- the measurement distance may vary depending on the distance sensor in two distance sensors that should have the same measurement distance. It was revealed.
- the present inventors conducted a research study on a distance measuring device and a driving method of the distance measuring device that reduce the difference in measurement distance between two distance sensors that should have the same measurement distance. As a result, the present inventors have found the following facts.
- a signal may be detected by a distance sensor other than a distance sensor into which light is incident (hereinafter referred to as an incident distance sensor).
- an incident distance sensor a distance sensor other than a distance sensor into which light is incident
- the influence of crosstalk on the charge storage regions of other distance sensors differs depending on the arrangement of the charge storage regions.
- the influence of crosstalk differs depending on whether or not the arrangement of the charge storage regions of other distance sensors is on the incident distance sensor side. That is, the influence of crosstalk is large in the charge accumulation region arranged on the light incident distance sensor side in other distance sensors. In the charge accumulation region arranged on the side opposite to the light incident distance sensor side, the influence of crosstalk is small.
- the distance to the object is calculated based on the output ratio of each charge storage region. For this reason, if charge leaks from the surrounding distance sensors to each charge accumulation region, the distance calculated by the distance sensor changes. For example, in each charge accumulation region of two distance sensors where light is incident, the amount of charge distributed according to the transfer signal of one phase is the same as the amount of charge distributed according to the other phase. Even in such a case, the measurement distance may be different due to the influence of crosstalk.
- the arrangement of the charge accumulation regions that accumulate signal charges according to the transfer signal of the same phase is the other light incident distance
- the measurement distance may be different depending on the distance sensor.
- the present inventors pay attention to these facts found by themselves, and further intensively research on a configuration for reducing the difference in measurement distance between two distance sensors that should have the same measurement distance, thereby conceiving the present invention. It came to.
- a distance measuring device includes a distance image sensor, a control unit, and a calculation unit.
- the distance image sensor is a distance image sensor in which a plurality of distance sensors are arranged in a one-dimensional direction.
- the distance sensor includes a drive unit that drives the light source so as to emit pulsed light toward the target at every frame period, and a charge generation region that generates charges in response to incidence of reflected light of the pulsed light on the target.
- the first and second charge storage regions that are separated from the charge generation region and sandwich the charge generation region in a one-dimensional direction and store the charge, and are disposed between the first charge storage region and the charge generation region.
- a second transfer electrode disposed between the second charge storage region and the charge generation region.
- the drive unit sends the first pulse transfer signal to the first charge transfer region so that the charge generated in the charge generation region flows into the first charge accumulation region as a signal charge every frame period so as to synchronize with the emission of the pulsed light.
- Output to the transfer electrode and output to the second transfer electrode a second pulse transfer signal that is out of phase with the first pulse transfer signal so that the charge generated in the charge generation region flows into the second charge storage region as a signal charge.
- the calculation unit reads the signal charges accumulated in the first and second charge accumulation regions for each frame period, and calculates the distance to the object based on the read signal charges.
- the control unit outputs the first and second pulse transfer signals by alternately exchanging the time-series order of the first pulse transfer signal and the second pulse transfer signal for each frame period.
- the calculation unit is configured to calculate the signal charges accumulated in the first charge accumulation region and the second charge accumulation region in accordance with the first and second pulse transfer signals having the same phase in two time periods that are continuous in time series.
- the distance to the object is calculated based on the total charge amount.
- a distance measuring device driving method includes a light source that emits pulsed light toward an object, and a distance image sensor in which a plurality of distance sensors are arranged in a one-dimensional direction. It is a drive method of an apparatus.
- the distance sensor is arranged so as to store charges in a one-dimensional direction with a charge generation region that is separated from the charge generation region and generating a charge in response to incident pulsed light reflected from the object.
- the first and second charge accumulation regions, the first transfer electrode disposed between the first charge accumulation region and the charge generation region, and the second charge accumulation region and the charge generation region.
- a second transfer electrode is disposed between the first charge accumulation region and the charge generation region.
- the light source is driven so as to emit pulsed light for each frame period, and is generated in the charge generation region for each frame period so as to be synchronized with the emission of the pulsed light.
- the first pulse transfer signal is output to the first transfer electrode so that the charge flows into the first charge accumulation region as a signal charge, and the charge generated in the charge generation region flows into the second charge accumulation region as a signal charge.
- the second pulse transfer signal having a phase different from that of the first pulse transfer signal is output to the second transfer electrode, and the signal charges accumulated in the first and second charge accumulation regions are read and read for each frame period.
- the first and second pulse transfer signals When calculating the distance to the object based on the signal charge and outputting the first and second pulse transfer signals, the time sequence of the first pulse transfer signal and the second pulse transfer signal for each frame period In order Are alternately exchanged, the first and second pulse transfer signals are output, and when calculating the distance to the object, the first and second phases are the same in two consecutive frame periods in time series The distance to the object is calculated based on the total amount of signal charges accumulated in the first charge accumulation region and the second charge accumulation region in accordance with the pulse transfer signal.
- pulse light is emitted from the light source every frame period, and the reflected light of the pulse light from the object enters the distance image sensor.
- the distance image sensor a plurality of distance sensors having a charge generation region and first and second charge accumulation regions arranged with the charge generation region sandwiched in a one-dimensional direction are arranged in a one-dimensional direction.
- charges are generated in the charge generation region in accordance with the reflected light.
- the generated charges are accumulated as signal charges in the first and second charge accumulation regions according to the first and second pulse transfer signals for each frame period.
- the first and second pulse transfer signals have different phases, and are output by alternately changing the time-series order for each frame period.
- the total charge amount corresponding to the pulse transfer signal of the other phase and the total charge amount corresponding to the pulse transfer signal of the other phase are distributed in a balanced manner.
- the influence of charge crosstalk on distance measurement is the same between distance sensors adjacent in a one-dimensional direction.
- FIG. 1 is an explanatory diagram showing a configuration of a distance measuring device according to an embodiment of the present invention.
- FIG. 2 is a diagram for explaining a cross-sectional configuration of the distance image sensor.
- FIG. 3 is a configuration diagram of the distance image sensor.
- FIG. 4 is a diagram showing a cross-sectional configuration along the line IV-IV in FIG.
- FIG. 5 is a diagram showing a potential distribution in the vicinity of the second main surface of the semiconductor substrate.
- FIG. 6 is a diagram for explaining charge leakage in the distance sensor.
- FIG. 7 is a timing chart of various signals.
- FIG. 8 is a timing chart of various signals in the conventional distance measuring device.
- FIG. 1 is an explanatory diagram showing the configuration of the distance measuring apparatus according to the present embodiment.
- the distance measuring device 10 is a device that measures the distance d to the object OJ.
- the distance measuring device 10 includes a distance image sensor RS, a light source LS, a display DSP, and a control unit.
- the control unit includes a drive unit DRV, a control unit CONT, and a calculation unit ART.
- the light source LS emits pulsed light Lp toward the object OJ.
- the light source LS is composed of, for example, a laser light irradiation device, an LED, or the like.
- the distance image sensor RS is a TOF type distance image sensor.
- the distance image sensor RS is disposed on the wiring board WB.
- the control unit includes a calculation circuit such as a CPU (Central Processing Unit), a memory such as a RAM (Random Access Memory) and a ROM (Read Only Memory), a power supply circuit, and It is configured by hardware such as a readout circuit including an A / D converter.
- This control unit may be partially or entirely configured by an integrated circuit such as ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array).
- the drive unit DRV applies a drive signal SD to the light source LS according to the control of the control unit CONT. Thereby, the drive unit DRV drives the light source LS so as to emit the pulsed light Lp toward the object OJ at every frame period.
- the control unit CONT controls the drive unit DRV and outputs the first and second pulse transfer signals S 1 and S 2 to the distance image sensor RS.
- the control unit CONT further displays the calculation result of the calculation unit ART on the display DSP.
- Calculation unit ART reads the distance from the image sensor RS of the signal charge charge amount q 1, q 2, respectively, and calculates the distance d based on the amount of charge q 1, q 2 read.
- the calculation unit ART outputs the calculation result to the control unit CONT. Details of the calculation method of the distance d will be described later with reference to FIG.
- the display DSP is a display that receives the calculation result of the calculation unit ART from the control unit CONT and displays the calculation result.
- the drive signal SD is applied to the light source LS, whereby the pulsed light Lp is emitted from the light source LS every frame period.
- the pulsed light Lp emitted from the light source LS enters the object OJ
- reflected light Lr which is pulsed light
- the reflected light Lr emitted from the object OJ enters the charge generation region of the distance image sensor RS.
- the distance image sensor RS outputs the charge amounts q 1 and q 2 collected in synchronization with the first and second pulse transfer signals S 1 and S 2 for each pixel.
- the output charge amounts q 1 and q 2 are input to the arithmetic unit ART in synchronization with the drive signal SD .
- the distance d is calculated for each pixel based on the input charge amounts q 1 and q 2 .
- the calculation result of the distance d is input to the control unit CONT.
- the calculation result input to the control unit CONT is transferred to the display DSP and displayed.
- FIG. 2 is a diagram for explaining a cross-sectional configuration of the distance image sensor.
- the distance image sensor RS is a surface incident type distance image sensor, and includes a semiconductor substrate 1 and a light shielding layer LI.
- the semiconductor substrate 1 has first and second main surfaces 1a and 1b facing each other.
- the second main surface 1b is a light incident surface.
- the distance image sensor RS is affixed to the wiring substrate WB via the adhesion region FL in a state where the first main surface 1a side of the semiconductor substrate 1 is opposed to the wiring substrate WB.
- the adhesion region FL has an insulating adhesive or filler.
- the reflected light Lr is incident on the distance image sensor RS from the second main surface 1b side of the semiconductor substrate 1.
- the light shielding layer LI is provided on the second main surface 1b.
- the light shielding layer LI is made of a metal such as aluminum, for example.
- FIG. 3 is a configuration diagram of the distance image sensor.
- FIG. 4 is a diagram showing a cross-sectional configuration along the line IV-IV in FIG.
- the distance image sensor RS is a line sensor having an array structure having a plurality of distance sensors P 1 to P N (N is a natural number of 2 or more) arranged in the one-dimensional direction A.
- Each of the plurality of distance sensors P 1 to P N constitutes one pixel of the distance image sensor RS by one or two or more.
- each of the plurality of distance sensors P 1 to P N constitutes one pixel of the distance image sensor RS.
- FIG. 3 only the configuration of the distance sensor P n (n is a natural number equal to or less than N) is shown.
- Each of the plurality of distance sensors P 1 to P N has the same configuration as the distance sensor P n .
- the distance image sensor RS includes the light shielding layer LI.
- the light shielding layer LI is provided in front of the second main surface 1b which is a light incident surface.
- An opening LIa is formed in the one-dimensional direction A in each of the regions corresponding to the plurality of distance sensors P 1 to P N in the light shielding layer LI.
- the opening LIa has a rectangular shape. In the present embodiment, the opening LIa has a rectangular shape.
- the light enters the semiconductor substrate 1 through the opening LIa of the light shielding layer LI. Therefore, the light receiving region is defined in the semiconductor substrate 1 by the opening LIa. In FIG. 3, the light shielding layer LI is not shown.
- the semiconductor substrate 1 includes a p-type first semiconductor region 3 and a p ⁇ -type second semiconductor region 5.
- the p-type first semiconductor region 3 is located on the first main surface 1a side.
- the p ⁇ -type second semiconductor region 5 has a lower impurity concentration than the first semiconductor region 3 and is located on the second main surface 1b side.
- the semiconductor substrate 1 can be obtained, for example, by growing a p ⁇ type epitaxial layer having an impurity concentration lower than that of the semiconductor substrate on the p type semiconductor substrate.
- an insulating layer 7 is formed on the second main surface 1b (second semiconductor region 5) of the semiconductor substrate 1.
- the plurality of distance sensors P 1 to P N are arranged in the one-dimensional direction A on the semiconductor substrate 1. That is, the plurality of distance sensors P 1 to P N are arranged along the one-dimensional direction A on the semiconductor substrate 1.
- Each of the plurality of distance sensors P 1 to P N includes a photogate electrode PG, first and second charge storage regions FD1 and FD2, first and second transfer electrodes TX1 and TX2, and a p-type well region W. It is equipped with.
- the conductor 13 (see FIG. 4) disposed on the first and second charge storage regions FD1, FD2 is not shown.
- the photogate electrode PG is disposed corresponding to the opening LIa.
- the region corresponding to the photogate electrode PG in the semiconductor substrate 1 (second semiconductor region 5) (the region located below the photogate electrode PG in FIG. 4) is the reflected light Lr of the pulsed light Lp from the object OJ. It functions as a charge generation region where charges are generated in response to incidence.
- the photogate electrode PG also corresponds to the shape of the opening LIa and has a rectangular shape in plan view. In the present embodiment, the photogate electrode PG has a rectangular shape like the opening LIa.
- the photogate electrode PG includes first and second long sides L1 and L2 that are orthogonal to the one-dimensional direction A and face each other in plan view, and first and second that are parallel to the one-dimensional direction A and face each other. It has two short sides S1, S2.
- the photogate electrode PG has a first long side L1 on one side in the one-dimensional direction A and a second long side L2 on the other side in the one-dimensional direction A.
- the first and second charge accumulation regions FD1, FD2 are arranged in the one-dimensional direction A with the photogate electrode PG interposed therebetween.
- the first charge accumulation region FD1 is disposed on the first long side L1 side of the photogate electrode PG and is separated from the photogate electrode PG.
- the second charge accumulation region FD2 is disposed on the second long side L2 side of the photogate electrode PG and is separated from the photogate electrode PG.
- Each of the plurality of distance sensors P 1 ⁇ P N because it has the same configuration as the distance sensor P n, two distance sensors P n adjacent, in P n + 1, the first charge storage region FD1 and the second charge
- the accumulation region FD2 is adjacent in the one-dimensional direction A.
- the first and second charge accumulation regions FD1 and FD2 are n-type semiconductor regions formed in the second semiconductor region 5 and having a high impurity concentration, and accumulate charges generated in the charge generation region as signal charges.
- the first and second charge accumulation regions FD1, FD2 have a rectangular shape in plan view.
- the first and second charge storage regions FD1, FD2 have a square shape in plan view and the same shape.
- the first transfer electrode TX1 is disposed on the insulating layer 7 and between the first charge storage region FD1 and the photogate electrode PG.
- the first transfer electrode TX1 is disposed separately from the first charge storage region FD1 and the photogate electrode PG.
- the first transfer electrode TX1 causes the charge generated in the charge generation region in response to the first pulse transfer signal S 1 (see FIG. 7) to flow into the first charge accumulation region FD1 as a signal charge.
- the second transfer electrode TX2 is on the insulating layer 7 and is disposed between the second charge storage region FD2 and the photogate electrode PG.
- the second transfer electrode TX2 is disposed separately from the second charge accumulation region FD2 and the photogate electrode PG.
- Second transfer electrode TX2 the second charge storage region electric charges generated in the charge generation region in response to the second pulse transfer signal S 2 to the first pulse transfer signals S 1 and different phases (see Fig. 7) as the signal charges It flows into FD2.
- Each of the plurality of distance sensors P 1 ⁇ P N because it has the same configuration as the distance sensor P n, two distance sensors P n adjacent, in P n + 1, a first transfer electrode TX1 second transfer electrodes TX2 is adjacent in the one-dimensional direction A.
- the first and second transfer electrodes TX1, TX2 have a rectangular shape in plan view.
- the first and second transfer electrodes TX1, TX2 have a rectangular shape having a long side in the direction orthogonal to the one-dimensional direction A, and have the same shape.
- the long sides of the first and second transfer electrodes TX1, TX2 are shorter than the lengths of the first and second long sides L1, L2 of the photogate electrode PG.
- the well region W is formed in the second semiconductor region 5.
- the well region W surrounds the photogate electrode PG, the first and second transfer electrodes TX1 and TX2, and the first and second charge storage regions FD1 and FD2 when viewed from the direction orthogonal to the second main surface 1b. .
- the well region W overlaps with a part of each of the first and second charge accumulation regions FD1, FD2 when viewed from the direction orthogonal to the second main surface 1b.
- the outer edge of the well region W substantially coincides with the outer edges of the plurality of distance sensors P 1 to P N.
- the well region W has the same conductivity type as that of the second semiconductor region 5.
- the well region W has an impurity concentration higher than that of the second semiconductor region 5.
- the well region W suppresses the coupling between the depletion layer expanded by applying a voltage to the photogate electrode PG and the depletion layer expanded from the first and second charge storage regions FD1, FD2. Thereby, crosstalk is suppressed.
- the insulating layer 7 is provided with a contact hole for exposing the surface of the second semiconductor region 5.
- a conductor 13 for connecting the first and second charge storage regions FD1, FD2 to the outside is disposed in the contact hole.
- “high impurity concentration” means, for example, that the impurity concentration is about 1 ⁇ 10 17 cm ⁇ 3 or more, and “+” is attached to the conductivity type.
- “impurity concentration is low” means that the impurity concentration is, for example, about 10 ⁇ 10 15 cm ⁇ 3 or less, and “ ⁇ ” is given to the conductivity type.
- the thickness / impurity concentration of each semiconductor region is as follows.
- First semiconductor region 3 thickness 10 to 1000 ⁇ m / impurity concentration 1 ⁇ 10 12 to 10 19 cm ⁇ 3
- Second semiconductor region 5 thickness 1 to 50 ⁇ m / impurity concentration 1 ⁇ 10 12 to 10 15 cm ⁇ 3
- First and second charge accumulation regions FD1, FD2 thickness 0.1 to 1 ⁇ m / impurity concentration 1 ⁇ 10 18 to 10 20 cm ⁇ 3
- Well region W thickness 0.5 to 5 ⁇ m / impurity concentration 1 ⁇ 10 16 to 10 18 cm ⁇ 3
- the semiconductor substrate 1 (first and second semiconductor regions 3 and 5) is supplied with a reference potential such as a ground potential via a back gate or a through electrode.
- the semiconductor substrate is made of Si
- the insulating layer 7 is made of SiO 2
- photo gate electrode PG and the first and second transfer electrodes TX1, TX2 is made of polysilicon, which may be made of other materials.
- the second pulse transfer signal S 2 of the phase applied to the first pulse transfer signals S 1 and the phase of the second transfer electrode TX2 applied to the first transfer electrode TX1, are 180 degrees.
- Light incident on each of the plurality of distance sensors P 1 to P N is converted into electric charges in the semiconductor substrate 1 (second semiconductor region 5).
- a part of the charges generated in this way is a first transfer electrode according to a potential gradient formed by a voltage applied to the photogate electrode PG and the first and second transfer electrodes TX1, TX2 as a signal charge. It runs in the direction of TX1 or the second transfer electrode TX2, that is, the direction parallel to the first and second short sides S1, S2 of the photogate electrode PG.
- n-type semiconductor includes a positively ionized donor and has a positive potential, and thus attracts electrons.
- FIG. 5 is a diagram showing a potential distribution in the vicinity of the second main surface of the semiconductor substrate along the line IV-IV in FIG. In FIG. 5, the downward direction is the positive direction of the potential.
- Figure 5 the potential phi TX1 in the region immediately below the first transfer electrode TX1, the second transfer electrode potential region immediately below the TX2 phi TX2, the potential phi PG charge generation region immediately below the photogate electrode PG, the first The potential ⁇ FD1 of the charge storage region FD1 and the potential ⁇ FD2 of the second charge storage region FD2 are shown.
- the potential ⁇ PG in the region immediately below the photogate electrode PG is the potential ( ⁇ TX1 , ⁇ TX2 ) in the region immediately below the adjacent first and second transfer electrodes TX1 and TX2 when no bias is applied. Then, it is set higher than this reference potential.
- the potential ⁇ PG of the charge generation region is higher than the potentials ⁇ TX1 and ⁇ TX2 , and the potential distribution has a shape recessed downward in the drawing in the charge generation region.
- the signal charge accumulation operation will be described with reference to FIG.
- the first pulse transfer signals S 1 of phase applied to the first transfer electrode TX1 is 0 degrees
- the first transfer electrode TX1 is given positive potential.
- the second transfer electrode TX2 is supplied with a reverse-phase potential, that is, a potential having a phase of 180 degrees (for example, a ground potential).
- a potential between the potential applied to the first transfer electrode TX1 and the potential applied to the second transfer electrode TX2 is applied to the photogate electrode PG.
- a semiconductor potential phi TX1 directly under the first transfer electrode TX1 drops below the potential phi PG charge generation region.
- the negative charge e generated in the charge generation region flows into the potential well of the first charge accumulation region FD1.
- the potential ⁇ TX2 of the semiconductor immediately below the second transfer electrode TX2 does not decrease. For this reason, no charge flows into the potential well of the second charge accumulation region FD2. Thereby, signal charges are collected and accumulated in the potential well of the first charge accumulation region FD1. In the first and second charge accumulation regions FD1 and FD2, since the n-type impurity is added, the potential is recessed in the positive direction.
- Second time pulse transfer signal S 2 of the phase is 0 degrees applied to the second transfer electrode TX2, the second transfer electrode TX2 is given a positive potential, the first transfer electrode TX1, the reverse-phase potential That is, a potential having a phase of 180 degrees (for example, a ground potential) is applied.
- a potential between the potential applied to the first transfer electrode TX1 and the potential applied to the second transfer electrode TX2 is applied to the photogate electrode PG.
- the semiconductor potential phi TX2 directly below the second transfer electrode TX2 drops below the potential phi PG charge generation region.
- the negative charge e generated in the charge generation region flows into the potential well of the second charge accumulation region FD2.
- the potential ⁇ TX1 of the semiconductor immediately below the first transfer electrode TX1 does not decrease. For this reason, no charge flows into the potential well of the first charge accumulation region FD1. As a result, the signal charge is collected and accumulated in the potential well of the second charge accumulation region FD2.
- signal charges are collected and accumulated in the potential wells of the first and second charge accumulation regions FD1, FD2.
- the signal charges accumulated in the potential wells of the first and second charge accumulation regions FD1, FD2 are read out to the outside.
- FIG. 6 is a diagram for explaining charge leakage in the distance sensor.
- FIG. 6 particularly shows two adjacent distance sensors P n and P n + 1 .
- the distance sensors P n and P n + 1 have the same configuration, and each includes the first charge accumulation region FD1 and the first transfer electrode TX1 on one side in the one-dimensional direction A of the photogate electrode PG, and the second charge on the other side.
- the storage region FD2 and the second transfer electrode TX2 are provided.
- the first charge accumulation region FD1 and the second charge accumulation region FD2 are adjacent in the one-dimensional direction A.
- the range image sensor RS for example, when the distance sensor P n on the reflected light Lr is incident, charges are generated in accordance with the distance sensor P n in the reflected light Lr. Charges generated in accordance with the first and second pulse transfer signals S 1, S 2, first and second charge storage region of the distance sensor P n FD1, are distributed to FD2. At this time, part of the charge leaks into the first and second charge accumulation regions FD1 and FD2 of the other distance sensor P m (m ⁇ n). Leakage amount, the arrangement of the first and second charge storage region FD1, FD2 in the other distance sensor P m is different greatly depending on the distance whether sensor P n side.
- the first charge accumulation region FD1 is disposed on the distance sensor P n side, and the second charge accumulation region FD2 is disposed on the opposite side to the distance sensor P n . Therefore, the distance sensor P n light is incident on, when the distance charges from sensor P n to the distance sensor P n + 1 leaks, the leakage amount B% into the first charge storage region FD1, the second charge storage region FD2 It is greater than the amount of leakage A%.
- the distance sensor P n + 1 light is incident, the distance when the sensor P charges from n + 1 to the distance sensor P n leaks at a distance sensor P n, the distance sensor P n + 1 side second charge storage region FD2 arrangement Therefore, the leakage amount D% into the second charge accumulation region FD2 is larger than the leakage amount C% into the first charge accumulation region FD1.
- FIG. 7 is a timing chart of various signals.
- FIG. 7 shows two frame periods TF that are continuous in time series among the plurality of frame periods TF .
- the drive signal S D of the light source LS, the intensity signal S Lr of the reflected light Lr when the reflected light Lr of the pulsed light Lp from the object OJ returns to the imaging region, and applied to the first transfer electrode TX1.
- the first pulse transfer signal S 1 , the second pulse transfer signal S 2 applied to the second transfer electrode TX2, and the reset signal reset are shown.
- Each of the two frame periods TF includes a period for accumulating signal charges (accumulation period) T acc and a period for reading signal charges (readout period) Tro .
- the drive signal S D , the intensity signal S Lr , the first pulse transfer signal S 1 , and the second pulse transfer signal S 2 are all pulse signals having a pulse width T p .
- a reset signal reset is applied to the first and second charge accumulation regions FD1 and FD2.
- the drive signal SD is applied to the light source LS.
- the first and second pulse transfer signals S 1 and S 2 are applied to the first and second transfer electrodes TX1 and TX2 in opposite phases. Thereby, charge transfer is performed and signal charges are accumulated in the first and second charge accumulation regions FD1, FD2.
- the readout period T ro the signal charges accumulated in the first and second charge storage region FD1, in FD2 is read.
- the first and second pulse transfer signals S 1 and S 2 are output by alternately switching the order of the first pulse transfer signal S 1 and the second pulse transfer signal S 2 in time series for each frame period TF. Is done. Therefore, in one frame period T F (here, the previous frame period T F in the time series) in two frame periods T F that are continuous in time series, the first pulse transfer signal S 1 is related to the drive signal SD . retardation 0 while being synchronized to the output, the second pulse transfer signal S 2 is outputted in synchronization with a phase difference of 180 degrees on the drive signal S D.
- the second pulse transfer signal S 2 is output in synchronization with the drive signal SD with a phase difference of 0, and the first pulse transfer signals S 1 is output in synchronization with a phase difference of 180 degrees on the drive signal S D.
- the output control of the first and second pulse transfer signals S 1 and S 2 is performed by the control unit CONT. That is, the control part CONT to synchronize with emission of pulsed light Lp, outputting a first pulse transfer signals S 1 to the first transfer electrode TX1. As a result, the charge generated in the charge generation region flows into the first charge accumulation region FD1 as a signal charge every frame period TF .
- the control part CONT to synchronize with emission of pulsed light Lp, a first pulse transfer signals S 1 and phase output different second pulse transfer signal S 2 to the second transfer electrode TX2. Thereby, the charge generated in the charge generation region flows into the second charge accumulation region FD2 as a signal charge every frame period TF .
- the control unit CONT further alternates the first and second pulse transfer signals S 1 and 2 by alternately switching the first pulse transfer signal S 1 and the second pulse transfer signal S 2 in time series for each frame period TF. 1, and it outputs the S 2.
- the charge amount q 1 corresponding to the overlapping portion of the intensity signal S Lr and the signal output in synchronization with the drive signal SD with a phase difference of 0 is equal to the first charge accumulation region FD1 in one frame period TF. And stored in the second charge storage region FD2 in the other frame period TF . And intensity signal S Lr of the reflected light Lr, a charge amount q 2 corresponding to overlapping portions of the signal to be synchronized and output at a phase difference of 180 to the drive signal S D, the one frame period T F, the second Accumulated in the charge accumulation region FD2, and accumulated in the first charge accumulation region FD1 in the other frame period TF .
- the phase difference Td between the intensity signal S Lr and the signal output in synchronization with the drive signal SD with a phase difference of 0 is the time of flight of light, which is the distance d from the distance image sensor RS to the object OJ. Is shown.
- the distance d is, the calculating section ART, using the time total charge amount to Q 1 charge amount q 1 in the two frame period T F of consecutive series, and the ratio of the total charge amount Q 2 of the charge amount q 2, below (1).
- C is the speed of light.
- the arithmetic unit ART reads the charge amounts q 1 and q 2 of the signal charges accumulated in the first and second charge accumulation regions FD1 and FD2 and reads the read charge amounts q 1 and q for each frame period TF. Based on 2 , the distance d to the object OJ is calculated. At this time, the calculation unit ART calculates the distance d to the object OJ based on the total charge amounts Q 1 and Q 2 .
- the total charge amount Q 1 , Q 2 corresponds to the first charge accumulation region FD 1 according to the first and second pulse transfer signals S 1 , S 2 having the same phase in two frame periods TF that are continuous in time series. And the total charge amount of signal charges accumulated in the second charge accumulation region FD2.
- the total charge amount Q 1 is, when the charge amount q 1 of the one frame period T F by the signal charges accumulated in the first charge storage region FD1 in the two frame period T F of continuous sequence the total charge amount of the charge quantity q 1 of the other frame period T F by the signal charge accumulated in the second charge accumulation region FD2.
- the total charge amount Q 2 are accumulated in the first charge storage region FD1 in the charge amount q 2 and the other frame period T F of one frame period T F by the signal charge accumulated in the second charge accumulation region FD2 and the total charge amount of the charge quantity q 2 of the signal charges.
- the total charge amounts Q 1 and Q 2 used for the calculation of the distance d are both the signal charge amounts q 1 and q 2 accumulated in the first charge accumulation region FD1, and the second charge accumulation region FD2. Is the sum of the charge amounts q 1 and q 2 of the signal charges accumulated in the. Therefore, as described above, even if the amount of charge accumulated in each of the first and second charge accumulation regions FD1, FD2 is different between the distance sensor P n and the distance sensor P n + 1 due to charge leakage, The influence of charge leakage is distributed in a balanced manner over the total charge amounts Q 1 and Q 2 .
- the influence of charge crosstalk on the distance measurement between the distance sensors P n and P n + 1 adjacent in the one-dimensional direction A is the same. Therefore, in the distance sensors P n and P n + 1 , the ratio between the charge amount distributed to the first charge storage region FD1 by the first transfer electrode TX1 and the charge amount distributed to the second charge storage region FD2 by the second transfer electrode TX2 are the same, that is, when the distance to be measured should be the same between the distance sensor P n and the distance sensor P n + 1 , the measured distance of the distance sensor P n , P n + 1 due to charge leakage Differences can be reduced.
- the calculation of the distance d is performed based on the amount of signal charges accumulated in the first and second charge accumulation regions FD1 and FD2 in two frame periods TF that are continuous in time series. Calculation of the next distance d of the operation of the distance d, two frame periods are consecutive in and chronological follows the two frame period T F to obtain a charge amount used in the calculation of the previous distance d T F In step S ⁇ b> 1, the signal charge accumulated in the first and second charge accumulation regions FD ⁇ b> 1 and FD ⁇ b> 2 may be used.
- Calculation of the following distance d is continuous in time series and a frame period T F of latter of the two frame period T F to obtain a charge amount used in the calculation of the previous distance d, in the frame period T F May be performed based on the amount of signal charges accumulated in the first and second charge accumulation regions FD1 and FD2 in one frame period TF .
- FIG. 8 is a timing chart of various signals in the conventional distance measuring device.
- the control unit CONT does not alternately change the time-series order of the first pulse transfer signal S 1 and the second pulse transfer signal S 2 for each frame period TF .
- the point at which the second pulse transfer signals S 1 and S 2 are output, and the calculation unit ART uses the charge amount q 1 of the signal charge accumulated in the first charge accumulation region FD1 in the one frame period TF and the second except that calculates the distance d to the object OJ based on a charge amount q 2 of the signal charges accumulated in the charge accumulation region FD2 has the same configuration as the distance measuring apparatus 10 according to this embodiment . That is, in the conventional distance measuring device, the distance d is calculated by the following equation (2) using the ratio of the charge amounts q 1 and q 2 in one frame period TF .
- the charge amount q 1 corresponding to the overlapping portion of the intensity signal S Lr and the signal output in synchronization with the drive signal SD with a phase difference of 0 is only in the first charge accumulation region FD1. Is the amount of signal charge accumulated in the.
- the charge amount q 2 corresponding to the overlapping portion of the intensity signal S Lr and the signal output in synchronization with the drive signal SD with a phase difference of 180 degrees is accumulated only in the second charge accumulation region FD2. This is the signal charge amount.
- the distance sensors P n and P n + 1 the amount of charge distributed to the first charge storage region FD1 by the first transfer electrode TX1 and the amount of charge distributed to the second charge storage region FD2 by the second transfer electrode TX2 Even if the ratio is the same and the distance to be measured should be equal between the distance sensor P n and the distance sensor P n + 1 , the measurement distance due to charge leakage in the distance sensors P n and P n + 1 Can be different.
- the pulsed light Lp is emitted from the light source LS every frame period TF , and the pulsed light Lp at the object OJ.
- Reflected light Lr is incident on the distance image sensor RS.
- the distance image sensor RS a plurality of distance sensors P 1 to P N each having a charge generation region and first and second charge accumulation regions FD1 and FD2 arranged with the charge generation region sandwiched in a one-dimensional direction A are provided. Arranged in the one-dimensional direction A.
- charges are generated in the charge generation region according to the reflected light Lr.
- the generated charges are accumulated as signal charges in the first and second charge accumulation regions FD1 and FD2 in accordance with the first and second pulse transfer signals S 1 and S 2 for each frame period TF .
- the first and second pulse transfer signals S 1 and S 2 have different phases, and are output by alternately changing the order in time series for each frame period TF . For this reason, in two frame periods TF that are continuous in time series, in one frame period TF , after the signal charge is accumulated in the first charge accumulation region FD1, the signal charge is accumulated in the second charge accumulation region FD2. Is done. In the other frame period TF , after the signal charge is accumulated in the second charge accumulation region FD2, the signal charge is accumulated in the first charge accumulation region FD1.
- the distance d to the object OJ corresponds to the first charge accumulation region FD1 according to the first and second pulse transfer signals S 1 and S 2 having the same phase in two frame periods TF that are continuous in time series.
- the calculation is performed based on the total charge amounts Q 1 and Q 2 of the signal charges accumulated in the second charge accumulation region FD2. Since these total charge amounts Q 1 and Q 2 are used for calculating the distance d to the object OJ, the charge amounts leaking from the other distance sensors into the first and second charge accumulation regions FD1 and FD2 are different from each other.
- the total charge amounts Q 1 and Q 2 are both the signal charge amounts q 1 and q 2 accumulated in the first charge accumulation region FD1, and the signal charge amount q accumulated in the second charge accumulation region FD2. 1, it is the sum of the q 2. Therefore, even if the amount of charge accumulated in each of the first and second charge accumulation regions FD1 and FD2 is different between the distance sensor P n and the distance sensor P n + 1 due to the leakage of charges, the leakage of charges The influence is distributed in a balanced manner to the total charge amounts Q 1 and Q 2 .
- the present invention is not limited to the above embodiment.
- the number of the first and second transfer electrodes TX1 and TX2 and the first and second charge storage regions FD1 and FD2 is 1, It may be the above.
- Each of the plurality of distance sensors P 1 to P N is disposed between an unnecessary charge collection region for collecting charges generated in the charge generation region as unnecessary charges, and between the unnecessary charge collection region and the charge generation region, You may further provide the 3rd transfer electrode which makes the electric charge which generate
- the number of unnecessary charge collection regions and third transfer electrodes may be two or more.
- a plurality of drive signals SD may be sequentially applied, and the first pulse transfer signal S 1 and the second pulse transfer signal S 2 may be sequentially output in synchronization therewith.
- signal charges are accumulated and accumulated in the first and second charge accumulation regions FD1, FD2.
- the distance image sensor RS is a line sensor in which each of the plurality of distance sensors P 1 to P N is one-dimensionally arranged, but each of the plurality of distance sensors P 1 to P N may be two-dimensionally arranged. In this case, a two-dimensional image can be easily obtained. A two-dimensional image can also be obtained by rotating the line sensor or by scanning with two line sensors.
- the distance image sensor RS is not limited to the surface incident type distance image sensor.
- the distance image sensor RS may be a back-illuminated distance image sensor.
- the charge generation region in which charge is generated in response to incident light may be configured by a photodiode (for example, an embedded photodiode).
- the p-type and n-type conductivity types in the distance image sensor RS according to the present embodiment may be switched so as to be opposite to the above-described conductivity types.
- the present invention can be used for a distance measuring device including a TOF type distance image sensor and a driving method of the distance measuring device.
- 10 distance measuring device, A ... one-dimensional direction, FD1 ... first charge storage region, FD2 ... second charge accumulation region, P 1 ⁇ P N ... distance sensor, PG ... photo gate electrode, RS ... range image sensor, S 1 ... first pulse transfer signal, S 2 ... second pulse transfer signal, TX1 ... first transfer electrodes, TX2 ... second transfer electrodes, LS ... light source, DRV ... drive unit, ART ... arithmetic unit, OJ ... object, Lp: pulse light, Lr: reflected light, T F : frame period, q 1 , q 2 ... charge amount, Q 1 , Q 2 ... total charge amount, d ... distance.
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Abstract
Description
第一半導体領域3:厚さ10~1000μm/不純物濃度1×1012~1019cm-3
第二半導体領域5:厚さ1~50μm/不純物濃度1×1012~1015cm-3
第一及び第二電荷蓄積領域FD1,FD2:厚さ0.1~1μm/不純物濃度1×1018~1020cm-3
ウェル領域W:厚さ0.5~5μm/不純物濃度1×1016~1018cm-3
Claims (4)
- 対象物に向けてパルス光をフレーム周期毎に出射するように光源を駆動する駆動部と、
前記対象物でのパルス光の反射光の入射に応じて電荷が発生する電荷発生領域と、前記電荷発生領域から離間し且つ一次元方向で前記電荷発生領域を挟んで配置され、電荷を蓄積する第一及び第二電荷蓄積領域と、前記第一電荷蓄積領域と前記電荷発生領域との間に配置されている第一転送電極と、前記第二電荷蓄積領域と前記電荷発生領域との間に配置されている第二転送電極と、を有する複数の距離センサが前記一次元方向に配置されている距離画像センサと、
前記パルス光の出射と同期するように、前記フレーム周期毎に、前記電荷発生領域にて発生した電荷を信号電荷として前記第一電荷蓄積領域に流入させるように、第一パルス転送信号を前記第一転送電極に出力し、前記電荷発生領域にて発生した電荷を信号電荷として前記第二電荷蓄積領域に流入させるように、前記第一パルス転送信号と位相が異なる第二パルス転送信号を前記第二転送電極に出力する制御部と、
前記フレーム周期毎に、前記第一及び第二電荷蓄積領域に蓄積された信号電荷の電荷量をそれぞれ読み出し、読み出した電荷量に基づいて前記対象物までの距離を演算する演算部と、を備え、
前記制御部は、前記フレーム周期毎に、前記第一パルス転送信号と前記第二パルス転送信号との時系列での順序を交互に入れ替えて、前記第一及び第二パルス転送信号を出力し、
前記演算部は、時系列で連続する二つの前記フレーム周期における、位相が同じとなる前記第一及び第二パルス転送信号に応じて前記第一電荷蓄積領域と前記第二電荷蓄積領域とに蓄積された信号電荷の合計電荷量に基づいて前記対象物までの距離を演算する、測距装置。 - 前記演算部は、時系列で連続する二つの前記フレーム周期における一方のフレーム周期で前記第一電荷蓄積領域に蓄積された信号電荷の電荷量と他方のフレーム周期で前記第二電荷蓄積領域に蓄積された信号電荷の電荷量との合計電荷量、及び前記一方のフレーム周期で前記第二電荷蓄積領域に蓄積された信号電荷の電荷量と前記他方のフレーム周期で前記第一電荷蓄積領域に蓄積された信号電荷の電荷量との合計電荷量に基づいて前記対象物までの距離を演算する、請求項1記載の測距装置。
- 対象物に向けてパルス光を出射する光源と、
前記対象物でのパルス光の反射光の入射に応じて電荷が発生する電荷発生領域と、前記電荷発生領域から離間し且つ一次元方向で前記電荷発生領域を挟んで配置され、電荷を蓄積する第一及び第二電荷蓄積領域と、前記第一電荷蓄積領域と前記電荷発生領域との間に配置されている第一転送電極と、前記第二電荷蓄積領域と前記電荷発生領域との間に配置されている第二転送電極と、を有する複数の距離センサが前記一次元方向に配置されている距離画像センサと、を備える測距装置の駆動方法であって、
前記パルス光をフレーム周期毎に出射するように前記光源を駆動し、
前記パルス光の出射と同期するように、前記フレーム周期毎に、前記電荷発生領域にて発生した電荷を信号電荷として前記第一電荷蓄積領域に流入させるように、第一パルス転送信号を前記第一転送電極に出力し、前記電荷発生領域にて発生した電荷を信号電荷として前記第二電荷蓄積領域に流入させるように、第一パルス転送信号と位相が異なる第二パルス転送信号を前記第二転送電極に出力し、
前記フレーム周期毎に、前記第一及び第二電荷蓄積領域に蓄積された信号電荷の電荷量をそれぞれ読み出し、読み出した電荷量に基づいて前記対象物までの距離を演算し、
第一及び第二パルス転送信号を出力する際に、前記フレーム周期毎に、前記第一パルス転送信号と前記第二パルス転送信号との時系列での順序を交互に入れ替えて、前記第一及び第二パルス転送信号を出力し、
前記対象物までの距離を演算する際に、時系列で連続する二つの前記フレーム周期における、位相が同じとなる前記第一及び第二パルス転送信号に応じて前記第一電荷蓄積領域と前記第二電荷蓄積領域とに蓄積された信号電荷の合計電荷量に基づいて前記対象物までの距離を演算する、測距装置の駆動方法。 - 前記対象物までの距離を演算する際に、時系列で連続する二つの前記フレーム周期における一方のフレーム周期で前記第一電荷蓄積領域に蓄積された信号電荷の電荷量と他方のフレーム周期で前記第二電荷蓄積領域に蓄積された信号電荷の電荷量との合計電荷量、及び前記一方のフレーム周期で前記第二電荷蓄積領域に蓄積された信号電荷の電荷量と前記他方のフレーム周期で前記第一電荷蓄積領域に蓄積された信号電荷の電荷量との合計電荷量に基づいて前記対象物までの距離を演算する、請求項3記載の測距装置の駆動方法。
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EP3141930A4 (en) | 2017-12-27 |
US20170045618A1 (en) | 2017-02-16 |
JP6231940B2 (ja) | 2017-11-15 |
CN106471391B (zh) | 2020-04-03 |
KR102280089B1 (ko) | 2021-07-22 |
US10228463B2 (en) | 2019-03-12 |
EP3141930A1 (en) | 2017-03-15 |
EP3141930B1 (en) | 2020-07-08 |
JP2015215181A (ja) | 2015-12-03 |
CN106471391A (zh) | 2017-03-01 |
KR20160149257A (ko) | 2016-12-27 |
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