# US 10,502,815 B2 · Real time position sensing of objects

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- Number: US 10,502,815 B2
- Document ID: US10502815B2
- Status: Granted
- Kind: B2
- Application number: 16/398,139
- Filed: 2019-04-29
- Published: 2019-08-22
- Granted: 2019-12-10
- Earliest claimed: 2015-12-18
- Applicants: Gerard Dirk Smits
- Inventors: Gerard Dirk Smits
- Web page: https://patentgrep.com/patent/US10502815B2

## CPC

- G01S 7/484: Transmitters
- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01S 17/003: {Bistatic lidar systems; Multistatic lidar systems}
- G01S 17/10: using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32)
- G01S 17/48: Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
- 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

## Abstract

Embodiments are directed toward measuring a three dimensional range to a target. A transmitter emits light toward the target. An aperture may receive light reflections from the target. The aperture may direct the reflections toward a sensor that comprises rows of pixels that have columns. The sensor is offset a predetermined distance from the transmitter. Anticipated arrival times of the reflections on the sensor are based on the departure times and the predetermined offset distance. A portion of the pixels are sequentially activated based on the anticipated arrival times. The target's three dimensional range measurement is based on the reflections detected by the portion of the pixels.

## Claims

### Claim 1

A method for measuring a three-dimensional range to a target, wherein one or more processors execute instructions that perform actions of the method, comprising:
employing a transmitter to transmit light toward the target and a receiver to detect one or more reflections of the transmitted light, wherein the receiver is physically offset separate from the transmitter;
determining one or more anticipated arrival times of the one or more reflections based on one or more departure times of the transmitted light and a length of the physical offset;
energizing separately different portions of a plurality of pixels for the receiver based on the one or more anticipated arrival times; and
employing the different portions of energized pixels to detect an amount of photons from the one or more reflections of the transmitted light, wherein a disparity of a positional offset of one or more pixels in the receiver relative to a predetermined position in the receiver is used to provide a three-dimensional measurement of the range of the target.

### Claim 2 (depends on 1)

The method of claim 1, wherein the transmitter further comprises an aperture that receives the one or more reflections of the light from the target and collimates the one or more reflections of the transmitted light onto the plurality of pixels.

### Claim 3 (depends on 1)

The method of claim 1, wherein the receiver further comprises a shutter that sequentially enables each energized pixel to separately detect one or more photons from the one or more reflections of the transmitted light, and wherein the plurality of pixels are arranged in one or more rows having a plurality of columns.

### Claim 4 (depends on 1)

The method of claim 1, wherein employing the transmitter to transmit light, further comprises:
transmitting two or more different colors of light; and
employing two or more color separated or time separated disparities determined between a separate amount of detected photons for each different color of the transmitted light and two or more threshold values to provide a three-dimensional measurement of the range of the target.

### Claim 5 (depends on 1)

The method of claim 1, further comprising:
dynamically increasing or decreasing amplification of a signal representing the amount of detected photons based on the measured range of the target.

### Claim 6 (depends on 1)

The method of claim 1, wherein employing the transmitter to transmit light, further comprises:
transmitting two or more different colors of light;
positioning another receiver at another physical offset separate from the transmitter and the receiver; and
employing the different colors of light to add contrast to stereo decoding of separate amounts of photons detected for the receiver and other receiver.

### Claim 7 (depends on 1)

The method of claim 1, wherein employing the transmitter to transmit light, further comprises increasing or decreasing bursts of transmitted light based on an amount of one or more disparities between the detected photons and one or more thresholds.

### Claim 8

A system to measure a three-dimensional range to a target, comprising:
a transmitter to transmit light toward the target;
a receiver to detect one or more reflections of the transmitted light, wherein the receiver is physically offset separate from the transmitter;
one or more memory devices that store instructions; and
one or more processors that perform actions, including:
determining one or more anticipated arrival times of the one or more reflections based on one or more departure times of the transmitted light and a length of the physical offset;
energizing separately different portions of a plurality of pixels for the receiver based on the one or more anticipated arrival times; and
employing the different portions of energized pixels to detect an amount of photons from the one or more reflections of the transmitted light, wherein a disparity of a positional offset of one or more pixels in the receiver relative to a predetermined position in the receiver is used to provide a three-dimensional measurement of the range of the target.

### Claim 9 (depends on 8)

The system of claim 8, wherein the transmitter further comprises an aperture that receives the one or more reflections of the light from the target and collimates the one or more reflections of the transmitted light onto the plurality of pixels.

### Claim 10 (depends on 8)

The system of claim 8, wherein the receiver further comprises a shutter that sequentially enables each energized pixel to separately detect one or more photons from the one or more reflections of the transmitted light, and wherein the plurality of pixels are arranged in one or more rows having a plurality of columns.

### Claim 11 (depends on 8)

The system of claim 8, wherein employing the transmitter to transmit light, further comprises:
transmitting two or more different colors of light; and
employing two or more color separated or time separated disparities determined between a separate amount of detected photons for each different color of the transmitted light and two or more threshold values to provide a three-dimensional measurement of the range of the target.

### Claim 12 (depends on 8)

The system of claim 8, further comprising:
dynamically increasing or decreasing amplification of a signal representing the amount of detected photons based on the measured range of the target.

### Claim 13 (depends on 8)

The system of claim 8, wherein employing the transmitter to transmit light, further comprises:
transmitting two or more different colors of light;
positioning another receiver at another physical offset separate from the transmitter and the receiver; and
employing the different colors of light to add contrast to stereo decoding of separate amounts of photons detected for the receiver and other receiver.

### Claim 14 (depends on 8)

The system of claim 8, wherein employing the transmitter to transmit light, further comprises increasing or decreasing bursts of transmitted light based on an amount of one or more disparities between the detected photons and one or more thresholds.

### Claim 15

A processor readable non-transitive storage media that stores instructions for measuring a three-dimensional range to a target, wherein one or more processors execute the stored instructions to perform actions, comprising:
employing a transmitter to transmit light toward the target and a receiver to detect one or more reflections of the transmitted light, wherein the receiver is physically offset separate from the transmitter;
determining one or more anticipated arrival times of the one or more reflections based on one or more departure times of the transmitted light and a length of the physical offset;
energizing separately different portions of a plurality of pixels for the receiver based on the one or more anticipated arrival times; and
employing the different portions of energized pixels to detect an amount of photons from the one or more reflections of the transmitted light, wherein a disparity of a positional offset of one or more pixels in the receiver relative to a predetermined position in the receiver is used to provide a three-dimensional measurement of the range of the target.

### Claim 16 (depends on 15)

The media of claim 15, wherein the transmitter further comprises an aperture that receives the one or more reflections of the light from the target and collimates the one or more reflections of the transmitted light onto the plurality of pixels.

### Claim 17 (depends on 15)

The media of claim 15, wherein the receiver further comprises a shutter that sequentially enables each energized pixel to separately detect one or more photons from the one or more reflections of the transmitted light, and wherein the plurality of pixels are arranged in one or more rows having a plurality of columns.

### Claim 18 (depends on 15)

The media of claim 15, wherein employing the transmitter to transmit light, further comprises:
transmitting two or more different colors of light; and
employing two or more color separated or time separated disparities determined between a separate amount of detected photons for each different color of the transmitted light and two or more threshold values to provide a three-dimensional measurement of the range of the target.

### Claim 19 (depends on 15)

The media of claim 15, wherein employing the transmitter to transmit light, further comprises:
transmitting two or more different colors of light;
positioning another receiver at another physical offset separate from the transmitter and the receiver; and
employing the different colors of light to add contrast to stereo decoding of separate amounts of photons detected for the receiver and other receiver.

### Claim 20 (depends on 15)

The media of claim 15, wherein employing the transmitter to transmit light, further comprises increasing or decreasing bursts of transmitted light based on an amount of one or more disparities between the detected photons and one or more thresholds.