# US 10,502,816 B2 · Ranging apparatus

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- Number: US 10,502,816 B2
- Document ID: US10502816B2
- Status: Granted
- Kind: B2
- Application number: 15/168,535
- Filed: 2016-05-31
- Published: 2017-06-22
- Granted: 2019-12-10
- Earliest claimed: 2015-12-18
- Assignees: STMicroelectronics (Research & Development) Limited; STMicroelectronics (Grenoble 2) SAS
- Applicants: STMicroelectronics (Research & Development) Limited; STMicroelectronics (Grenoble 2) SAS
- Inventors: Bruce Rae; Pascal Mellot; John Kevin Moore; Graeme Storm
- Web page: https://patentgrep.com/patent/US10502816B2

## CPC

- G01S 7/4863: Detector arrays, e.g. charge-transfer gates
- G01S 7/4865: Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak (peak detection in noise, signal conditioning G01S7/487)
- G01S 7/487: Extracting wanted echo signals {, e.g. pulse detection}
- G01S 7/4914: of detector arrays, e.g. charge-transfer gates
- G01S 7/497: Means for monitoring or calibrating
- 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 17/26: wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
- G01S 17/36: with phase comparison between the received signal and the contemporaneously transmitted signal
- G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves
- G01S 17/88: Lidar systems specially adapted for specific applications
- G01S 17/894: Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
- H10F 30/225: the potential barrier working in avalanche mode, e.g. avalanche photodiodes
- H10F 39/103: {the at least one element covered by H10F30/00 having potential barriers, e.g. integrated devices comprising photodiodes or phototransistors}
- H10F 39/107: {having multiple elements covered by H10F30/00 in a repetitive configuration, e.g. radiation detectors comprising photodiode arrays}
- H10F 55/26: {wherein the radiation-sensitive semiconductor devices have potential barriers}
- 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
- H10F: INORGANIC SEMICONDUCTOR DEVICES SENSITIVE TO INFRARED RADIATION, LIGHT, ELECTROMAGNETIC RADIATION OF SHORTER WAVELENGTH OR CORPUSCULAR RADIATION

## Abstract

A ranging apparatus includes an array of light sensitive detectors configured to receive light from a light source which has been reflected by an object. The array includes a number of different zones. Readout circuitry including at least one read out channel is configured to read data output from each of the zones. A processor operates to process the data output to determine position information associated with the object.

## Claims

### Claim 1

A ranging apparatus, comprising:
a first array of a plurality of light sensitive detectors configured to receive light from a light source which has been reflected by an object;
a first addressing circuit configured to simultaneously define, during operation of said ranging apparatus, a plurality of zones within said first array and further dynamically define a position of each zone of the simultaneously defined plurality of zones in the first array and a number of light sensitive detectors that are included within each zone of the simultaneously defined plurality of zones;
readout circuitry having at least one read out channel, said readout circuitry configured to read out data from each zone of said simultaneously defined plurality of zones; and
a processor configured to determine position information associated with said object in dependence on said outputs from the first array.

### Claim 2 (depends on 1)

The ranging apparatus as claimed in claim 1, wherein said first array comprises a field of view, with each zone being associated with a sub area in said field of view, said processor further configured to determine a position of said object with respect to one or more of said sub areas.

### Claim 3 (depends on 1)

The ranging apparatus as claimed in claim 1, wherein said processor is further configured to determine movement of said object by using successive data output by said zones.

### Claim 4 (depends on 1)

The ranging apparatus as claimed in claim 1, wherein said first addressing circuit defines the first array to include n zones and wherein said readout circuitry comprises n readout channels.

### Claim 5 (depends on 1)

The ranging apparatus as claimed in claim 1, wherein said first addressing circuit defines the first array to include n zones and wherein said readout circuitry comprises m readout channels, where m is less than n, said readout circuitry configured to serially readout from at least two zones of said first array.

### Claim 6 (depends on 1)

The ranging apparatus as claimed in claim 1, further comprising a second array, said second array configured to provide a reference value, said readout circuitry configured to read out data from said second array.

### Claim 7 (depends on 6)

The ranging apparatus as claimed in claim 6, wherein said second array comprises a plurality of different zones.

### Claim 8 (depends on 7)

The ranging apparatus as claimed in claim 7, wherein said second array comprises a same number of zones as the first array.

### Claim 9 (depends on 1)

The ranging apparatus as claimed in claim 1, wherein said light sensitive detectors comprise SPADS.

### Claim 10 (depends on 1)

The ranging apparatus as claimed in claim 1, further comprising said light source configured to emit light.

### Claim 11

A ranging apparatus, comprising:
an array including a plurality of light sensitive detectors, each light sensitive detector configured to receive light from a light source which has been reflected by an object;
an addressing circuit configured to simultaneously define a plurality of different zones within said array, with each zone including light sensitive detectors;
said addressing circuit further configured to dynamically define, during operation of said ranging apparatus, the number of light sensitive detectors that are included within each zone;
a logic circuit configured to select data output from the light sensitive detectors of a selected one of said zones;
a multiplexing circuit configured to direct the selected data to one of a plurality of channel banks.

### Claim 12 (depends on 11)

The apparatus of claim 11, further comprising a processor configured to determine position information for object in dependence on the data stored within said channel banks.

### Claim 13 (depends on 11)

The apparatus of claim 11, wherein the logic circuit comprises an OR circuit configured to logically OR output from the array so as to pass the data output from the addressed light sensitive detectors of the selected zone.

### Claim 14 (depends on 11)

The apparatus of claim 11, wherein said array comprises a field of view, with each zone being associated with a sub area in said field of view, said processor further configured to determine a position of said object with respect to one or more of said sub areas.

### Claim 15 (depends on 11)

The apparatus of claim 11, wherein said processor is further configured to determine movement of said object by using successive data output from the light sensitive detectors of one or more selected zones.

### Claim 16 (depends on 11)

The apparatus of claim 11, wherein said light sensitive detectors comprise SPADS.

### Claim 17 (depends on 11)

The apparatus of claim 11, wherein a number of channel banks equals a number of zones in said array.

### Claim 18

A ranging apparatus, comprising:
a first array of a plurality of light sensitive detectors configured to receive light from a light source which has been reflected by an object, said first array comprising a first plurality of zones;
a second array of a plurality of light sensitive detectors configured to receive light from the light source which has been reflected by the object, said second array comprising a second plurality of zones;
wherein the first and second arrays are separated by an interspatial distance;
readout circuitry including a plurality of read out channels, said readout circuitry configured to read out data from each zone of said first plurality of zones and each zone of said second plurality of zones; and
a processor configured to determine a distance to said object by stereoscopic perspective using the data in the plurality of read out channels that is read out from the first plurality of zones in the first array and read out from the second plurality of zones in the second array.

### Claim 19 (depends on 18)

The ranging apparatus as claimed in claim 18, wherein the first and second arrays cover an overlapping field of view, with each zone being associated with a sub area in said overlapping field of view.

### Claim 20 (depends on 18)

The ranging apparatus as claimed in claim 18, wherein said processor is further configured to determine movement of said object by using successive data output by said zones.

### Claim 21 (depends on 18)

The ranging apparatus as claimed in claim 18, wherein each of said first and second arrays comprises n zones and said readout circuitry comprises m readout channels, m and n both being integers.

### Claim 22 (depends on 21)

The ranging apparatus as claimed in claim 21, wherein m is less than n.

### Claim 23 (depends on 21)

The ranging apparatus as claimed in claim 21, wherein m is equal to n.

### Claim 24 (depends on 18)

The ranging apparatus as claimed in claim 18, wherein said light sensitive detectors comprise SPADS.

### Claim 25 (depends on 18)

The ranging apparatus as claimed in claim 18, further comprising address circuitry configured to dynamically define, during operation of said ranging apparatus, said plurality of different zones within said first and second arrays by setting a position of each zone in the array and a number of light sensitive detectors that are included within each zone.

### Claim 26 (depends on 18)

The ranging apparatus as claimed in claim 18, further comprising a light source configured to emit said light source emission.