# US 11,307,293 B2 · Ranging sensor

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,307,293 B2
- Document ID: US11307293B2
- Status: Granted
- Kind: B2
- Application number: 16/141,838
- Filed: 2018-09-25
- Published: 2019-03-28
- Granted: 2022-04-19
- Earliest claimed: 2017-09-25
- Assignees: Sharp Kabushiki Kaisha
- Applicants: Sharp Kabushiki Kaisha
- Inventors: Takuma Hiramatsu; Takayuki Shimizu
- Web page: https://patentgrep.com/patent/US11307293B2

## CPC

- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01S 7/4815: {using multiple transmitters}
- G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- 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
- 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

A TOF ranging sensor according to Embodiment includes: a light-emitting unit that radiates light beams to subspaces; a light-receiving unit that receives light and forms images of the light on light-receiving elements allocated to the subspaces; and a space control unit that independently controls each element group that includes a light-emitting element and a light-receiving element that are allocated to a common one of the subspaces.

## Claims

### Claim 1

A ranging sensor of a TOF method, which operates in cooperation with at least one camera module, measures time during which a beam radiated to a space is reflected by a target and returned, and generates distance information of the target for generating three-dimensional positional information by combining the distance information with image information acquired by the camera module, the ranging sensor comprising:
a light-emitting unit that includes a plurality of light-emitting elements arranged in plane and radiates, toward subspaces obtained by dividing the space, light from the light-emitting elements, which are allocated to the subspaces, with the light formed into a beam by a light emitting lens system;
a light-receiving unit that includes a plurality of light-receiving elements arranged in plane, and receives reflected light beams from the subspaces and forms images of the reflected light beams on the light-receiving elements, which are allocated to the subspaces, by a light receiving lens system;
a space control unit that independently controls each element group that includes at least one light-emitting element and at least one light-receiving element that are allocated to a common one of the subspaces,
wherein the space control unit configures at least one or a plurality of subspace groups that is/are designated in advance on a basis of the image information and each of the subspace groups includes a plurality of the subspaces arranged in an adjacent manner in a square form,
the distance informations related to the subspace groups are acquired, and
a number of the light-receiving elements included in the light-receiving unit is a multiple of a number of the light-emitting elements included in the light-emitting unit, the number of the light-receiving elements being greater than the number of the light-emitting elements.

### Claim 2 (depends on 1)

The ranging sensor according to claim 1, further comprising
a TOF signal processing unit having TOF signal processing channels whose number is less than a number of the light-emitting elements included in the light-emitting unit and performing TOF signal processing in parallel to acquire the distance informations, wherein
a number of the distance informations is equal to or less than the number of the TOF signal processing channels.

### Claim 3 (depends on 2)

The ranging sensor according to claim 2, wherein
the TOF signal processing unit adds, to the distance informations, further information indicating reliability for each of the distance informations related to specific subspaces or subspace groups.

### Claim 4 (depends on 2)

The ranging sensor according to claim 2, wherein
the light-receiving elements are configured to form a unit element in a unit of the multiple, and
a moving-direction estimator unit that estimates a set of moving directions of targets, on a basis of change in a light amount reflected by each of the targets and received by the light-receiving elements in each of unit elements, is further included.

### Claim 5 (depends on 3)

The ranging sensor according to claim 3, wherein
the light-receiving elements are configured to form a unit element in a unit of the multiple, and
a moving-direction estimator unit that estimates a set of moving directions of targets, on a basis of change in a light amount reflected by each of the targets and received by the light-receiving elements in each of unit elements, is further included.

### Claim 6 (depends on 4)

The ranging sensor according to claim 4, wherein
the space control unit reconfigures the subspace groups on a basis of a result of the estimation of the moving-direction estimator unit, and
the distance informations related to the reconfigured subspace groups are acquired in the TOF signal processing unit.

### Claim 7 (depends on 5)

The ranging sensor according to claim 5, wherein
the space control unit reconfigures the subspace groups on a basis of a result of the estimation of the moving-direction estimator unit, and
the distance informations related to the reconfigured subspace groups are acquired in the TOF signal processing unit.

### Claim 8 (depends on 1)

The ranging sensor according to claim 1, wherein
the number of the light-emitting elements and the number of the light-receiving elements are equal to or less than the number of effective pixels of an imaging sensor included in the camera module.