WO2023059119A1 - Dispositif électronique avec capteur de distance et procédé de mesure de distance - Google Patents

Dispositif électronique avec capteur de distance et procédé de mesure de distance Download PDF

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Publication number
WO2023059119A1
WO2023059119A1 PCT/KR2022/015090 KR2022015090W WO2023059119A1 WO 2023059119 A1 WO2023059119 A1 WO 2023059119A1 KR 2022015090 W KR2022015090 W KR 2022015090W WO 2023059119 A1 WO2023059119 A1 WO 2023059119A1
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WIPO (PCT)
Prior art keywords
spot
electronic device
light
distance
unit
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PCT/KR2022/015090
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English (en)
Korean (ko)
Inventor
박병훈
김영은
이정현
김동수
Original Assignee
삼성전자 주식회사
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Publication of WO2023059119A1 publication Critical patent/WO2023059119A1/fr

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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
    • G01S7/497—Means for monitoring or calibrating
    • 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
    • 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
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B3/00—Simple or compound lenses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B3/00—Simple or compound lenses
    • G02B3/0006—Arrays
    • G02B3/0037—Arrays characterized by the distribution or form of lenses
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/18—Diffraction gratings

Definitions

  • Various embodiments disclosed in this document relate to an electronic device including a distance sensor and a method of measuring a distance to an object.
  • the depth sensing technology using the distance sensor is a “FLASH” method that irradiates (or outputs) light to the entire field of view (FOV) at once from the light emitting part of the distance sensor, and a line-type beam or dot-type It can be classified as a “SCAN” method of irradiating (or outputting) a beam.
  • FLASH-type distance sensors are divided into 1) Flood illuminator method that irradiates light uniformly to an object within the field of view and 2) Spot illuminator method that emits light in the form of hundreds or thousands of dots.
  • An electronic device including an indirect-ToF distance sensor generates phase images (A0, A90, A180, A270) can be obtained.
  • the electronic device calculates the phase value by taking the arctangent for each pixel of the phase images (A0, A90, A180, and A270), and then obtains the distance for each pixel using the modulation frequency (fm) and the speed of light (Clight).
  • fm modulation frequency
  • Clight speed of light
  • Various embodiments may provide an electronic device including a distance sensor that stores spot coordinates in advance during a calibration process and uses the stored spot coordinates.
  • An electronic device includes a memory; processor; and a distance sensor measuring a distance to an external object, wherein the distance sensor includes a light emitting unit outputting designated light, a light conversion unit converting light output from the light emitting unit into spot lights, and a light reflected from the external object.
  • a light receiver configured to receive the spot lights to generate image data, a storage unit to store calibration information about positions of the spot lights according to a specified condition, and a control unit, wherein the control unit receives the spot lights through the light receiver.
  • pixel positions corresponding to spot lights in the image may be determined based on the stored calibration information, and a depth map of the external object may be calculated based on the determined pixel positions.
  • An electronic device may save spot coordinates in advance during a calibration process, thereby reducing an operation required for calculating a spot location when calculating a depth map. Through this, the electronic device can reduce power consumption required to calculate the depth map.
  • An electronic device may configure a mask layer using spot coordinates stored in a calibration process. Through this, the electronic device can quickly determine a pixel corresponding to the spot and perform depth decoding.
  • An electronic device may calculate depth by dividing into a long-distance mode or a short-distance mode.
  • the electronic device may offset an increase in power consumption of the light emitting unit with a decrease in power due to a decrease in depth calculation.
  • FIG. 1 is a block diagram of an electronic device in a network environment according to various embodiments.
  • FIG 2 illustrates an electronic device according to various embodiments.
  • FIG. 4 is a flowchart illustrating a calibration process according to various embodiments.
  • 5 is a flowchart of a distance measurement method using spot coordinates according to various embodiments.
  • FIG. 6 illustrates extraction of spot data according to various embodiments.
  • FIG. 7 is a flowchart illustrating a distance measurement method for classifying modes according to a distance to an object according to various embodiments.
  • FIG. 8 is a graph illustrating a movement of a spot according to an object distance according to various embodiments.
  • FIG. 9 is an exemplary diagram illustrating location movement of a spot according to various embodiments.
  • FIG. 1 is a block diagram of an electronic device 101 within a network environment 100, according to various embodiments.
  • an electronic device 101 communicates with an electronic device 102 through a first network 198 (eg, a short-range wireless communication network) or through a second network 199. It is possible to communicate with the electronic device 104 or the server 108 through (eg, a long-distance wireless communication network). According to one embodiment, the electronic device 101 may communicate with the electronic device 104 through the server 108 .
  • a first network 198 eg, a short-range wireless communication network
  • the server 108 e.g, a long-distance wireless communication network
  • the electronic device 101 includes a processor 120, a memory 130, an input module 150, an audio output module 155, a display module 160, an audio module 170, a sensor module ( 176), interface 177, connection terminal 178, haptic module 179, camera module 180, power management module 188, battery 189, communication module 190, subscriber identification module 196 , or the antenna module 197 may be included.
  • at least one of these components eg, the connection terminal 178) may be omitted or one or more other components may be added.
  • some of these components eg, sensor module 176, camera module 180, or antenna module 197) are integrated into a single component (eg, display module 160). It can be.
  • the processor 120 for example, executes software (eg, the program 140) to cause at least one other component (eg, hardware or software component) of the electronic device 101 connected to the processor 120. It can control and perform various data processing or calculations. According to one embodiment, as at least part of data processing or operation, the processor 120 transfers instructions or data received from other components (e.g., sensor module 176 or communication module 190) to volatile memory 132. , processing commands or data stored in the volatile memory 132 , and storing resultant data in the non-volatile memory 134 .
  • software eg, the program 140
  • the processor 120 transfers instructions or data received from other components (e.g., sensor module 176 or communication module 190) to volatile memory 132. , processing commands or data stored in the volatile memory 132 , and storing resultant data in the non-volatile memory 134 .
  • the processor 120 may include a main processor 121 (eg, a central processing unit or an application processor) or a secondary processor 123 (eg, a graphic processing unit, a neural network processing unit ( NPU: neural processing unit (NPU), image signal processor, sensor hub processor, or communication processor).
  • a main processor 121 eg, a central processing unit or an application processor
  • a secondary processor 123 eg, a graphic processing unit, a neural network processing unit ( NPU: neural processing unit (NPU), image signal processor, sensor hub processor, or communication processor.
  • NPU neural network processing unit
  • the secondary processor 123 may be implemented separately from or as part of the main processor 121 .
  • the secondary processor 123 may, for example, take the place of the main processor 121 while the main processor 121 is in an inactive (eg, sleep) state, or the main processor 121 is active (eg, running an application). ) state, together with the main processor 121, at least one of the components of the electronic device 101 (eg, the display module 160, the sensor module 176, or the communication module 190) It is possible to control at least some of the related functions or states.
  • the auxiliary processor 123 eg, image signal processor or communication processor
  • the auxiliary processor 123 may include a hardware structure specialized for processing an artificial intelligence model.
  • AI models can be created through machine learning. Such learning may be performed, for example, in the electronic device 101 itself where artificial intelligence is performed, or may be performed through a separate server (eg, the server 108).
  • the learning algorithm may include, for example, supervised learning, unsupervised learning, semi-supervised learning or reinforcement learning, but in the above example Not limited.
  • the artificial intelligence model may include a plurality of artificial neural network layers.
  • Artificial neural networks include deep neural networks (DNNs), convolutional neural networks (CNNs), recurrent neural networks (RNNs), restricted boltzmann machines (RBMs), deep belief networks (DBNs), bidirectional recurrent deep neural networks (BRDNNs), It may be one of deep Q-networks or a combination of two or more of the foregoing, but is not limited to the foregoing examples.
  • the artificial intelligence model may include, in addition or alternatively, software structures in addition to hardware structures.
  • the memory 130 may store various data used by at least one component (eg, the processor 120 or the sensor module 176) of the electronic device 101 .
  • the data may include, for example, input data or output data for software (eg, program 140) and commands related thereto.
  • the memory 130 may include volatile memory 132 or non-volatile memory 134 .
  • the program 140 may be stored as software in the memory 130 and may include, for example, an operating system 142 , middleware 144 , or an application 146 .
  • the input module 150 may receive a command or data to be used by a component (eg, the processor 120) of the electronic device 101 from the outside of the electronic device 101 (eg, a user).
  • the input module 150 may include, for example, a microphone, a mouse, a keyboard, a key (eg, a button), or a digital pen (eg, a stylus pen).
  • the sound output module 155 may output sound signals to the outside of the electronic device 101 .
  • the sound output module 155 may include, for example, a speaker or a receiver.
  • the speaker can be used for general purposes such as multimedia playback or recording playback.
  • a receiver may be used to receive an incoming call. According to one embodiment, the receiver may be implemented separately from the speaker or as part of it.
  • the display module 160 may visually provide information to the outside of the electronic device 101 (eg, a user).
  • the display module 160 may include, for example, a display, a hologram device, or a projector and a control circuit for controlling the device.
  • the display module 160 may include a touch sensor set to detect a touch or a pressure sensor set to measure the intensity of force generated by the touch.
  • the audio module 170 may convert sound into an electrical signal or vice versa. According to one embodiment, the audio module 170 acquires sound through the input module 150, the sound output module 155, or an external electronic device connected directly or wirelessly to the electronic device 101 (eg: Sound may be output through the electronic device 102 (eg, a speaker or a headphone).
  • the audio module 170 acquires sound through the input module 150, the sound output module 155, or an external electronic device connected directly or wirelessly to the electronic device 101 (eg: Sound may be output through the electronic device 102 (eg, a speaker or a headphone).
  • the sensor module 176 detects an operating state (eg, power or temperature) of the electronic device 101 or an external environmental state (eg, a user state), and generates an electrical signal or data value corresponding to the detected state. can do.
  • the sensor module 176 may include, for example, a gesture sensor, a gyro sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an IR (infrared) sensor, a bio sensor, It may include a temperature sensor, humidity sensor, or light sensor.
  • the interface 177 may support one or more designated protocols that may be used to directly or wirelessly connect the electronic device 101 to an external electronic device (eg, the electronic device 102).
  • the interface 177 may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, or an audio interface.
  • HDMI high definition multimedia interface
  • USB universal serial bus
  • SD card interface Secure Digital Card interface
  • audio interface audio interface
  • connection terminal 178 may include a connector through which the electronic device 101 may be physically connected to an external electronic device (eg, the electronic device 102).
  • the connection terminal 178 may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (eg, a headphone connector).
  • the haptic module 179 may convert electrical signals into mechanical stimuli (eg, vibration or motion) or electrical stimuli that a user may perceive through tactile or kinesthetic senses.
  • the haptic module 179 may include, for example, a motor, a piezoelectric element, or an electrical stimulation device.
  • the camera module 180 may capture still images and moving images. According to one embodiment, the camera module 180 may include one or more lenses, image sensors, image signal processors, or flashes.
  • the power management module 188 may manage power supplied to the electronic device 101 .
  • the power management module 188 may be implemented as at least part of a power management integrated circuit (PMIC), for example.
  • PMIC power management integrated circuit
  • the battery 189 may supply power to at least one component of the electronic device 101 .
  • the battery 189 may include, for example, a non-rechargeable primary cell, a rechargeable secondary cell, or a fuel cell.
  • the communication module 190 is a direct (eg, wired) communication channel or a wireless communication channel between the electronic device 101 and an external electronic device (eg, the electronic device 102, the electronic device 104, or the server 108). Establishment and communication through the established communication channel may be supported.
  • the communication module 190 may include one or more communication processors that operate independently of the processor 120 (eg, an application processor) and support direct (eg, wired) communication or wireless communication.
  • the communication module 190 is a wireless communication module 192 (eg, a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module 194 (eg, : a local area network (LAN) communication module or a power line communication module).
  • a wireless communication module 192 eg, a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module
  • GNSS global navigation satellite system
  • wired communication module 194 eg, : a local area network (LAN) communication module or a power line communication module.
  • a corresponding communication module is a first network 198 (eg, a short-range communication network such as Bluetooth, wireless fidelity (WiFi) direct, or infrared data association (IrDA)) or a second network 199 (eg, legacy It may communicate with the external electronic device 104 through a cellular network, a 5G network, a next-generation communication network, the Internet, or a telecommunications network such as a computer network (eg, a LAN or a WAN).
  • a telecommunications network such as a computer network (eg, a LAN or a WAN).
  • These various types of communication modules may be integrated as one component (eg, a single chip) or implemented as a plurality of separate components (eg, multiple chips).
  • the wireless communication module 192 uses subscriber information (eg, International Mobile Subscriber Identifier (IMSI)) stored in the subscriber identification module 196 within a communication network such as the first network 198 or the second network 199.
  • subscriber information eg, International Mobile Subscriber Identifier (IMSI)
  • IMSI International Mobile Subscriber Identifier
  • the electronic device 101 may be identified or authenticated.
  • the wireless communication module 192 may support a 5G network after a 4G network and a next-generation communication technology, for example, NR access technology (new radio access technology).
  • NR access technologies include high-speed transmission of high-capacity data (enhanced mobile broadband (eMBB)), minimization of terminal power and access of multiple terminals (massive machine type communications (mMTC)), or high reliability and low latency (ultra-reliable and low latency (URLLC)).
  • eMBB enhanced mobile broadband
  • mMTC massive machine type communications
  • URLLC ultra-reliable and low latency
  • -latency communications can be supported.
  • the wireless communication module 192 may support a high frequency band (eg, mmWave band) to achieve a high data rate, for example.
  • the wireless communication module 192 uses various technologies for securing performance in a high frequency band, such as beamforming, massive multiple-input and multiple-output (MIMO), and full-dimensional multiplexing. Technologies such as input/output (FD-MIMO: full dimensional MIMO), array antenna, analog beam-forming, or large scale antenna may be supported.
  • the wireless communication module 192 may support various requirements defined for the electronic device 101, an external electronic device (eg, the electronic device 104), or a network system (eg, the second network 199).
  • the wireless communication module 192 is a peak data rate for eMBB realization (eg, 20 Gbps or more), a loss coverage for mMTC realization (eg, 164 dB or less), or a U-plane latency for URLLC realization (eg, Example: downlink (DL) and uplink (UL) each of 0.5 ms or less, or round trip 1 ms or less) may be supported.
  • eMBB peak data rate for eMBB realization
  • a loss coverage for mMTC realization eg, 164 dB or less
  • U-plane latency for URLLC realization eg, Example: downlink (DL) and uplink (UL) each of 0.5 ms or less, or round trip 1 ms or less
  • the antenna module 197 may transmit or receive signals or power to the outside (eg, an external electronic device).
  • the antenna module 197 may include an antenna including a radiator formed of a conductor or a conductive pattern formed on a substrate (eg, PCB).
  • the antenna module 197 may include a plurality of antennas (eg, an array antenna). In this case, at least one antenna suitable for a communication method used in a communication network such as the first network 198 or the second network 199 is selected from the plurality of antennas by the communication module 190, for example. can be chosen A signal or power may be transmitted or received between the communication module 190 and an external electronic device through the selected at least one antenna.
  • other components eg, a radio frequency integrated circuit (RFIC) may be additionally formed as a part of the antenna module 197 in addition to the radiator.
  • RFIC radio frequency integrated circuit
  • the antenna module 197 may form a mmWave antenna module.
  • the mmWave antenna module includes a printed circuit board, an RFIC disposed on or adjacent to a first surface (eg, a lower surface) of the printed circuit board and capable of supporting a designated high frequency band (eg, mmWave band); and a plurality of antennas (eg, array antennas) disposed on or adjacent to a second surface (eg, a top surface or a side surface) of the printed circuit board and capable of transmitting or receiving signals of the designated high frequency band. can do.
  • peripheral devices eg, a bus, general purpose input and output (GPIO), serial peripheral interface (SPI), or mobile industry processor interface (MIPI)
  • signal e.g. commands or data
  • commands or data may be transmitted or received between the electronic device 101 and the external electronic device 104 through the server 108 connected to the second network 199 .
  • Each of the external electronic devices 102 or 104 may be the same as or different from the electronic device 101 .
  • all or part of operations executed in the electronic device 101 may be executed in one or more external electronic devices among the external electronic devices 102 , 104 , or 108 .
  • the electronic device 101 when the electronic device 101 needs to perform a certain function or service automatically or in response to a request from a user or another device, the electronic device 101 instead of executing the function or service by itself.
  • one or more external electronic devices may be requested to perform the function or at least part of the service.
  • One or more external electronic devices receiving the request may execute at least a part of the requested function or service or an additional function or service related to the request, and deliver the execution result to the electronic device 101 .
  • the electronic device 101 may provide the result as at least part of a response to the request as it is or additionally processed.
  • cloud computing distributed computing, mobile edge computing (MEC), or client-server computing technology may be used.
  • the electronic device 101 may provide an ultra-low latency service using, for example, distributed computing or mobile edge computing.
  • the external electronic device 104 may include an internet of things (IoT) device.
  • Server 108 may be an intelligent server using machine learning and/or neural networks. According to one embodiment, the external electronic device 104 or server 108 may be included in the second network 199 .
  • the electronic device 101 may be applied to intelligent services (eg, smart home, smart city, smart car, or health care) based on 5G communication technology and IoT-related technology.
  • FIG 2 illustrates an electronic device according to various embodiments.
  • an electronic device 201 may include a processor 210, a memory 220, a display 230, and a distance sensor 240.
  • FIG. 2 mainly shows a configuration related to measuring a distance to an object among configurations of the electronic device 201, but is not limited thereto.
  • the processor 210 may perform various operations necessary for the operation of the electronic device 201 .
  • the processor 210 may drive the distance sensor 240 to calculate the distance to the object (hereinafter, object distance).
  • the memory 220 eg, the memory 120 of FIG. 1
  • the display 230 may display content such as images, icons, user interfaces, or text.
  • the distance sensor 240 may be used to calculate an object distance to an external object.
  • the distance sensor 240 may output light (eg, IR) (hereinafter referred to as transmission light) of a specified wavelength and acquire light reflected from an external object (hereinafter referred to as reception light).
  • the processor 210 or the control circuit (or controller) of the distance sensor 240 (refer to the controller 360 of FIG. 3 ) may calculate the object distance based on the time from the output time of the transmitted light to the arrival time of the received light. .
  • the distance sensor 240 may operate in a spot illuminator method that emits light in the form of hundreds to thousands of dots.
  • the distance sensor 240 may obtain an object distance by outputting light to a designated spot and obtaining data in an area corresponding to the spot.
  • the distance sensor 240 may measure the position of the spot during the calibration process and store it in a storage element (or storage unit) inside the distance sensor 240 (refer to the storage unit 370 of FIG. 3 ) (eg, EEPROM). .
  • the distance sensor 240 may reduce power consumption for depth calculation by extracting data only from a pixel or line where a designated spot is located in a process of calculating an object distance. Additional information about the distance sensor 240 may be provided through FIGS. 3 to 9 .
  • FIG. 3 illustrates a configuration of a spot illuminator type distance sensor according to various embodiments.
  • Figure 3 is illustrative and not limited thereto.
  • the spot illuminator type distance sensor 240 includes a light emitting unit 310, a driver circuit 320, a light conversion unit 330, a lens unit 340, a band pass filter 345, a light receiving unit ( 350), a control unit 360, a storage unit 370, and a substrate 380.
  • the light emitting unit 310 may output transmission light (or transmission pulse) (eg, IR) having a designated wavelength at a predetermined field of view.
  • the light emitting unit 310 may be a Vertical Cavity Surface Emitting Laser (VCSEL) that is an infrared light source.
  • the light emitting unit 310 may be an edge emitting laser.
  • the light emitting unit 310 may be a multi-junction VCSEL. In this case, the sensing distance of the distance sensor 240 may increase.
  • the driver circuit 320 may be a circuit that drives the light emitting unit 310 .
  • the driver circuit 320 may be a laser driver IC.
  • the light conversion unit 330 may form a spot beam profile of a designated shape in space by dispersing the transmitted light.
  • the light conversion unit 330 may change into spatially arranged points (spots) by utilizing diffraction and interference characteristics of beams.
  • the light conversion unit 330 may be a micro-lens array (MLA) or a diffractive optical element (DOE).
  • the light conversion unit 330 may be manufactured in a reduced form by including a collimator lens or metalens for increasing light efficiency.
  • the distance sensor 240 may be multiplied, such as 3*3 or 5*5, by using a tiling DOE for redistributing to a large number of points.
  • the lens unit 340 may receive reflected light in which transmission light is reflected from an external object.
  • the band pass filter 345 may pass reflected light of a designated wavelength band used for depth extraction.
  • the light receiving unit 350 may convert the reflected light passing through the band pass filter 345 into an electrical signal into data effective for extracting a depth of an external object (hereinafter referred to as raw data).
  • the light receiving unit 350 may be disposed apart from the light emitting unit 310 by a designated distance (base line, b). Due to the baseline, the location on the light receiver 350 where the spot image projected by the light emitting unit 310 is formed may vary according to the object distance.
  • the light receiving unit 350 and the light emitting unit 310 may be disposed in a vertical direction or a left and right direction and mounted on the electronic device 201 .
  • the controller 360 may calculate the distance between the distance sensor 240 and the object (object distance) based on the time from the output time of the light to the arrival time of the reflected light.
  • the controller 360 may generate a depth map by extracting a depth of an external object based on raw data. At least part of the operation of the controller 360 may be performed by the processor 210 of FIG. 2 .
  • the controller 360 may extract pixel data (hereinafter referred to as spot data) corresponding to the spot from raw data by referring to the coordinates of the spot location stored in the storage unit 370 .
  • spot data pixel data
  • the storage unit 370 may store coordinates for spot locations (hereinafter referred to as spot coordinates) in advance. Coordinates for the spot location may be stored during a calibration process at the time of manufacture.
  • the controller 360 may perform calibration at a designated reference distance (eg, about 30 cm) and store the spot coordinates in the storage 370 .
  • the storage unit 370 may store coordinates of individual spots. If the intervals between the spots are constant, the storage unit 370 may store the coordinates of the starting spot and the intervals between the spots. Alternatively, the storage unit 370 may store the position of the spot line. If the intervals of the spot lines are constant, the storage unit 370 may store the intervals between the start line and the lines.
  • FIG. 4 is a flowchart illustrating a calibration process according to various embodiments. Hereinafter, at least part of the operation of the controller 360 may be performed by the processor 210 of FIG. 2 .
  • the controller 360 may start a calibration process.
  • alignment errors may occur in vertical/horizontal directions and angles. Accordingly, spot coordinates in each electronic device may be different, and accurate spot coordinates in each electronic device may be calculated through a calibration process.
  • the calibration process may be performed at the time of manufacturing the electronic device 201 .
  • control unit 360 may output transmission light through the light emitting unit 310 .
  • Transmitted light output from the light emitting unit 310 may be changed into spot light through the light conversion unit 330 (eg, a microlens array).
  • the spot light may be reflected by an external object and introduced into the light receiving unit 350 .
  • the controller 360 may obtain raw data by receiving light (reflected light) from which the spot light is reflected on an object (eg, a reflector) for calibration through the light receiver 350.
  • raw data may be one of raw image, amplitude, confidence image, or intensity.
  • the controller 360 may obtain spot coordinates having a pixel value greater than or equal to a designated value in the raw data. For example, the controller 360 may determine a spot coordinate having a gray value greater than or equal to a designated value among raw images, amplitudes, confidence images, or intensities. Spot coordinates may be determined in units of pixels or units of lines.
  • the controller 360 may store the acquired spot coordinates in the storage 370 .
  • the control unit 360 may check whether the spot coordinates have a regular arrangement and store them in the storage unit 370 in different ways according to the arrangement type (eg, operations 450 to 470 below).
  • the controller 360 may check whether spot coordinates maintain a designated interval.
  • the controller 360 may store the starting coordinates (or starting line) and the interval in the storage unit 370.
  • the controller 360 may individually store all spot coordinates in the storage unit 370.
  • the electronic device 201 compensates for errors according to positions of the light emitting unit 310/light receiving unit 350 on the sensor plane, the lens unit 340 error, and the object distance. can do.
  • the controller 360 may obtain spot coordinates in which a deviation in the size and pitch of the spot and a tilt/rotation error generated during assembly of the electronic device 201 are reflected.
  • spots may be disposed in a curved shape near a corner due to barrel or pin cushion distortion by the lens unit 340.
  • the light emitting unit 310 may have a distortion distribution exactly opposite to that of the lens unit 340 .
  • a spot may be disposed on one vertical line.
  • a pitch between spots may be arranged at intervals of integer multiples of pixels to match distortion of the light emitting unit 310 or the light receiving unit 350 .
  • the spots may be spaced at regular intervals in the vertical direction.
  • 5 is a flowchart of a distance measurement method using spot coordinates according to various embodiments.
  • the controller 360 may output transmission light through the light emitting unit 310 for detecting an object distance.
  • the transmitted light may be changed into spot light through the light conversion unit 330 (eg, a microlens array, a diffractive optical element (DOE), or a metalens).
  • the spot light may be reflected from an external object and introduced into the light receiving unit 350 .
  • the controller 360 may obtain raw data by receiving reflected light through the light receiver 350.
  • the controller 360 may obtain spot data from raw data by referring to spot coordinates stored in the storage unit 370.
  • the spot data may be data of a pixel into which spot light is introduced.
  • the spot data may be pixel data corresponding to spot coordinates.
  • the controller 360 may not process all pixels of the raw data to calculate the depth.
  • the controller 360 may calculate the depth using only spot data among raw data.
  • the controller 360 may calculate a distance to an external object (object distance) based on the spot data.
  • the controller 360 may generate a depth map using the calculated object distance.
  • 6 illustrates extraction of spot data according to various embodiments. 6 is illustrative and not limited thereto.
  • the controller 360 may obtain raw data 610 and 620 by receiving reflected light through the light receiver 350 .
  • the controller 360 may obtain spot data from the raw data 610 and 620 by referring to spot coordinates or spot lines previously stored in the storage 370 .
  • the spot data may be data of a pixel or pixel line into which spot light is introduced.
  • the controller 360 may calculate a distance to the object based on the raw data. For example, the controller 360 may primarily calculate the object distance using some of the raw data.
  • the controller 360 extracts spot data from raw data by referring to spot coordinates stored in the storage unit 370. can be obtained
  • the controller 360 refers to the spot line stored in the storage unit 370 to obtain spot data from the raw data. can be obtained In the case of a short distance, the moving distance of the spot may be greater than that of a long distance (see FIGS. 8 and 9).
  • the control unit 360 may reduce the occurrence of errors by acquiring line-by-line spot data.
  • the controller 360 may generate a depth map based on the spot data. For example, when the interval of spot coordinates is constant, the controller 360 may extract spot data and perform depth decoding after moving pixels corresponding to the interval information from the start coordinates. Alternatively, when the interval between spot coordinates is not constant, the controller 360 may extract spot data from each spot coordinate and perform depth decoding. For another example, if the interval of the spot line is constant, the controller 360 may perform depth decoding while increasing lines by the interval information from the start line. Alternatively, when the interval of the spot lines is not constant, the controller 360 may decode data of each spot line.
  • FIG. 8 is a graph illustrating a movement of a spot according to an object distance according to various embodiments.
  • a location of a designated spot may be changed according to an object distance.
  • the object distance and the movement distance (disparity) of the spot may be determined by [Equation 2] below.
  • f may be a focal length
  • b may be a distance (baseline) between the light emitting unit 310 and the light receiving unit 350 .
  • the moving distance d of the spot may increase.
  • FIG. 9 is an exemplary diagram illustrating location movement of a spot according to various embodiments.
  • the spot may move according to the arrangement of the light emitting unit 310 and the light receiving unit 350 .
  • the spot may also move in a vertical direction (Y-axis direction).
  • the spot may be at the first position 910 .
  • the spot may move to the second position 920 by moving in the Y-axis direction.
  • the second position 920 may be a spot position when the object distance is 300 mm.
  • the controller 360 may perform depth decoding in a relatively wide area around the spot line stored in the storage 370 .
  • An electronic device (eg, the electronic device 101 of FIG. 1 or the electronic device 201 of FIG. 2 ) according to various embodiments includes a memory (eg, the memory 130 of FIG. 1 or the memory 220 of FIG. 2 ). , a processor (for example, the processor 120 of FIG. 1 and the processor 210 of FIG. 2 ), and a distance sensor for measuring a distance to an external object (for example, the sensor module 176 of FIG. 1 and the distance sensor of FIG. 2 ). 240), and the distance sensor (eg, the sensor module 176 of FIG. 1 or the distance sensor 240 of FIG. 2) outputs a designated light (eg, the light emitting unit 310 of FIG. 3 ).
  • a designated light eg, the light emitting unit 310 of FIG. 3
  • a light receiving unit e.g., the light receiving unit 350 of FIG. 3 that receives the spot lights and generates image data
  • a storage unit e.g., the storage unit 350 of FIG. unit 370
  • a control unit e.g, the control unit 360 of FIG. 3
  • the control unit eg, the control unit 360 of FIG. 3
  • the control unit is the light receiving unit (eg, the light receiving unit 350 of FIG. 3)
  • the controller may calculate the depth map using a pixel value at the pixel location.
  • the light conversion unit (eg, the light conversion unit 330 of FIG. 3 ) may be a micro-lens array (MLA) or a diffractive optical element (DOE). there is.
  • MLA micro-lens array
  • DOE diffractive optical element
  • the calibration information may be stored at the point of manufacture of the electronic device (eg, the electronic device 101 of FIG. 1 or the electronic device 201 of FIG. 2 ).
  • the calibration information may include at least one of spot coordinates and spot lines.
  • the storage unit may store start coordinates and intervals between spots.
  • the storage unit when the calibration information is the spot line, the storage unit (eg, the storage unit 370 of FIG. 3 ) may store a start line and an interval between the lines.
  • the controller calculates a distance to the external object, compares the distance with a preset reference distance, and uses one of the spot coordinates and the spot line.
  • the controller when the distance is smaller than the reference distance, the controller (eg, the controller 360 of FIG. 3 ) may calculate the depth map using the spot line.
  • the controller when the distance is greater than the reference distance, the controller (eg, the controller 360 of FIG. 3 ) may calculate the depth map using the spot coordinates.
  • the distance sensor (eg, the sensor module 176 of FIG. 1 or the distance sensor 240 of FIG. 2 ) further includes a lens unit (eg, the lens unit 340 of FIG. 3 ), and the The control unit (eg, the control unit 360 of FIG. 3 ) reflects the distortion of the raw data by the lens unit (eg, the lens unit 340 of FIG. 3 ), and the light emitting unit (eg, the light emitting unit of FIG. 3 ) The light may be output through (310)).
  • An electronic device (eg, the electronic device 101 of FIG. 1 or the electronic device 201 of FIG. 2 ) according to various embodiments includes a memory (eg, the memory 130 of FIG. 1 or the memory 220 of FIG. 2 ), A processor (eg, the processor 120 of FIG. 1 , the processor 210 of FIG. 2 ), and a distance sensor that measures a distance to an external object (eg, the sensor module 176 of FIG. 1 , the distance sensor of FIG. 2 ( 240)), and the distance sensor (eg, the sensor module 176 of FIG. 1 or the distance sensor 240 of FIG. 2 ) is a light emitting unit outputting designated light (eg, the light emitting unit 310 of FIG. 3 ).
  • a memory eg, the memory 130 of FIG. 1 or the memory 220 of FIG. 2
  • a processor eg, the processor 120 of FIG. 1 , the processor 210 of FIG. 2
  • a distance sensor that measures a distance to an external object
  • the distance sensor eg
  • the distance measurement method may include outputting the second light having the specified wavelength, changing the output second light into second spot lights, and reflecting the second light reflected from a second external object.
  • An operation of calculating a depth map of the external object may be further included.
  • the calibration information may include at least one of spot coordinates and spot lines.
  • the operation of storing the calibration information may include an operation of storing start coordinates and intervals between spots when the calibration information is the spot coordinates.
  • module used in various embodiments of this document may include a unit implemented in hardware, software, or firmware, and is interchangeable with terms such as, for example, logic, logical blocks, parts, or circuits.
  • a module may be an integrally constructed component or a minimal unit of components or a portion thereof that performs one or more functions.
  • the module may be implemented in the form of an application-specific integrated circuit (ASIC).
  • ASIC application-specific integrated circuit
  • a storage medium eg, internal memory 136 or external memory 138
  • a machine eg, electronic device 101
  • a processor eg, the processor 120
  • a device eg, the electronic device 101
  • the one or more instructions may include code generated by a compiler or code executable by an interpreter.
  • the device-readable storage medium may be provided in the form of a non-transitory storage medium.
  • the actions performed by a module, program, or other component are executed sequentially, in parallel, iteratively, or heuristically, or one or more of the actions are executed in a different order, or omitted. or one or more other actions may be added.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optics & Photonics (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

Un dispositif électronique selon un mode de réalisation de la présente divulgation peut comprendre une mémoire, un processeur et un capteur de distance pour mesurer une distance par rapport à un objet externe. Le capteur de distance peut comprendre : une unité électroluminescente destinée à émettre un faisceau déterminé; une unité de conversion de lumière destinée à transformer le faisceau émis par l'unité électroluminescente en faisceaux ponctuels; une unité de réception de lumière destinée à recevoir les faisceaux ponctuels réfléchis par l'objet externe afin de générer des données d'image; une unité de stockage destinée à stocker des informations d'étalonnage sur les positions des faisceaux ponctuels en fonction d'une condition déterminée; et une unité de commande. Lorsque les faisceaux ponctuels sont reçus par l'unité de réception de lumière, l'unité de commande peut déterminer les positions des pixels correspondant aux faisceaux ponctuels dans l'image sur la base des informations d'étalonnage stockées, et peut calculer une carte de profondeur de l'objet externe sur la base des positions des pixels déterminées. Diverses autres réalisations mentionnées dans la description sont possibles.
PCT/KR2022/015090 2021-10-07 2022-10-07 Dispositif électronique avec capteur de distance et procédé de mesure de distance WO2023059119A1 (fr)

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KR20170023110A (ko) * 2014-06-30 2017-03-02 마이크로소프트 테크놀로지 라이센싱, 엘엘씨 다중뷰 스테레오 및 캘리브레이션된 프로젝터를 이용한 깊이 추정
KR20200016604A (ko) * 2018-08-07 2020-02-17 엘지이노텍 주식회사 카메라
KR20210083250A (ko) * 2018-10-31 2021-07-06 소니 세미컨덕터 솔루션즈 가부시키가이샤 전자 디바이스, 방법, 및 컴퓨터 프로그램
KR20210113312A (ko) * 2019-02-11 2021-09-15 애플 인크. 펄스형 빔들의 희소 어레이를 사용하는 깊이 감지

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20170023110A (ko) * 2014-06-30 2017-03-02 마이크로소프트 테크놀로지 라이센싱, 엘엘씨 다중뷰 스테레오 및 캘리브레이션된 프로젝터를 이용한 깊이 추정
KR20160124666A (ko) * 2015-04-20 2016-10-28 삼성전자주식회사 동시 rgbz 센서 및 시스템
KR20200016604A (ko) * 2018-08-07 2020-02-17 엘지이노텍 주식회사 카메라
KR20210083250A (ko) * 2018-10-31 2021-07-06 소니 세미컨덕터 솔루션즈 가부시키가이샤 전자 디바이스, 방법, 및 컴퓨터 프로그램
KR20210113312A (ko) * 2019-02-11 2021-09-15 애플 인크. 펄스형 빔들의 희소 어레이를 사용하는 깊이 감지

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