JP5665159B2 - Distance image sensor - Google Patents

Description

  The present invention irradiates the target space with intensity-modulated light from the light source, and receives light from the target space with a plurality of photosensitive parts, so that the phase difference of the intensity-modulated light is projected and received for each photosensitive part. The present invention relates to a distance image sensor that obtains and converts a phase difference into a distance and generates a distance image related to a target space.

  Conventionally, light that has been intensity-modulated with a modulation signal of a predetermined period is irradiated from the light source to the target space, and reflected light reflected by an object existing in the target space is received by the light detection element, and the target space is irradiated from the light source. Ranging technology is known that detects the distance to an object related to a target space based on the phase difference between the received light and the light received by the light detection element. The light detection element is provided with a plurality of photosensitive portions, and the received light amount corresponding to the plurality of phase sections of the modulation signal is obtained for each photosensitive portion, and the relationship between the received light amounts is converted into a phase difference between light projection and reception. The distance to the object existing in the area associated with the photosensitive part in the target space can be obtained. In other words, if the target space is imaged using an imaging device in which a large number of photosensitive parts are arranged as light detection elements, distance information is not used for the target space, but a grayscale image or color image having grayscale information and color information as pixel values. A distance image having pixel values can be generated (for example, Patent Document 1 and Patent Document 2).

In order to obtain the distance for each photosensitive section, for example, four phase sections whose phases differ by 90 degrees are set for one period of the modulation signal, and the amount of received light for each phase section is obtained. If the received light quantity in the four phase sections where the phase of the modulation signal is 0 degree, 90 degrees, 180 degrees, and 270 degrees is A0, A1, A2, and A3, respectively, the phase difference φ between the projected and received light can be obtained by the following equation. Can do.
^{φ = ta n -1 {(A2} -A0) / (A1-A3)}
In order to obtain the amount of received light for each phase section, it is necessary to take out the charge generated by the light incident on the specific phase section of the modulation signal separately from the charge generated in the other phase sections. Each photosensitive portion needs to have a configuration corresponding to a camera shutter. Various proposals have been made for this type of configuration.

  By the way, the amount of saturation charge of the light detection element is determined by the area and volume of the photosensitive portion, and if it is intended to generate a distance image with high resolution, it is necessary to reduce the area of the photosensitive portion. Become. That is, since the saturation charge amount cannot be increased, the dynamic range of the photodetecting element is small. As a result, in addition to the signal light projected from the light source, there is ambient light in the target space, and when the intensity of the ambient light increases, the charge amount generated in the photosensitive portion reaches the saturated charge amount and the distance is obtained. The problem of being unable to do so arises.

  In order to prevent the saturation charge amount from being reached, it is conceivable to adjust the sensitivity of the light detection element by arranging a neutral density filter in the light incident path from the target space to the light detection element. However, since the received light intensity is significantly different between an object existing at a long distance and an object existing at a short distance, it is difficult to obtain an appropriate output from the light detection element for both the long distance object and the short distance object. is there.

  In other words, if the output of the light detection element for an object at a long distance is optimized, the saturation charge amount is exceeded for an object at a short distance, and if the output of the light detection element for an object at a short distance is optimized, There is a problem that the output is small for an object at a distance. When using a neutral density filter, the distance at which a proper output can be obtained can be changed by changing the attenuation factor, but the measurable distance range cannot be expanded.

  It is also considered that the amount of received light for each phase interval is obtained by integrating the light signals in a plurality of periods of the modulation signal. That is, by shortening the time width of the phase interval in one cycle of the modulation signal, the amount of received light per cycle is reduced, and charges obtained in the same phase interval for a plurality of cycles are integrated. By adjusting the number of times that charges are accumulated, the sensitivity of the light detection element is adjusted as in the case of using the neutral density filter. In this case as well, the distance at which an appropriate output can be obtained can be changed, but the measurable distance range cannot be expanded.

  Applying this technology, the number of times that charges are accumulated is taken multiple times, and a distance image is generated by combining and using the outputs of the photosensitive section that have obtained the appropriate value for each output with a different number of accumulations. It is also possible to do.

  However, when this technique is adopted, there is a problem that it takes a long time until a distance image is obtained because a plurality of times of imaging with different integration times are required.

  The present invention has been made in view of the above-mentioned reasons, and its purpose is to optimize the amount of light received for each area of the target space so that an appropriate output can be obtained from the light detection element regardless of the distance to the object. An object of the present invention is to provide a distance image sensor that can be obtained.

The invention according to claim 1 includes a light source that irradiates light on the target space, and a plurality of photosensitive units that receive light from the target space and generate charges according to the amount of received light. The detection element and the light irradiating the target space from the light source during the distance measurement period are intensity-modulated with a modulation signal of a predetermined period, and the object generated using the charges generated in the photosensitive part in each of a plurality of prescribed phase sections of the modulation signal In an environment measurement period provided prior to the distance measurement period, an image generation means for generating a distance image using the distance as a pixel value, a sensitivity adjustment means capable of individually adjusting sensitivity for each photosensitive portion, and a distance measurement period The light generated from the light source is irradiated at the target space with the light having a constant intensity, and the light including the reflected light of the irradiated light and the ambient light is received at each photosensitive portion. Small difference in charge Made by the sensitivity adjustment means in a direction to adjust the sensitivity for each photosensitive unit, the distance measurement period; and a gain control means for maintaining the sensitivity of the photosensitive portion to the sensitivity adjusted to the environment measurement period.

  According to a second aspect of the present invention, in the first aspect of the present invention, the gain control means makes the intensity of light irradiated from the light source to the target space constant during the environment measurement period.

  According to a third aspect of the invention, in the first or second aspect of the invention, the sensitivity adjusting means adjusts the sensitivity of each photosensitive portion individually by changing the charge accumulation time for each photosensitive portion. It is an adjusting means.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the sensitivity adjusting means is arranged in an incident path of light from a target space for each of the photosensitive units, and transmits the light to each photosensitive unit. It is an incident rate adjusting means for adjusting the incident rate individually.

  According to a fifth aspect of the present invention, in the fourth aspect of the present invention, the incident rate adjusting means is a filter element that adjusts an attenuation amount of light incident on the photosensitive portion from a target space.

  According to a sixth aspect of the present invention, in the fourth aspect of the present invention, the incident rate adjusting means is a shutter element that adjusts an exposure time during which light is incident on the photosensitive portion from a target space.

  According to a seventh aspect of the present invention, in any one of the first to sixth aspects, the image generating means updates the distance image by repeating the distance measurement period, and the gain control means In the distance measurement period, the sensitivity of each photosensitive portion is adjusted by the sensitivity adjusting means in such a direction that the difference in the maximum value among the charge amounts obtained for each phase interval in each photosensitive portion becomes smaller.

  According to an eighth aspect of the present invention, in the invention according to any one of the first to sixth aspects, the sensitivity adjusting means is arranged in a light incident path from a target space to the photosensitive portion, and is a polarization of light incident on the photosensitive portion. Polarization control means for adjusting the direction, wherein the gain control means detects the polarization direction of light incident on each photosensitive portion during the environmental measurement period, and reduces the difference in the amount of charge obtained at each photosensitive portion. The polarization direction is adjusted by the polarization control means.

  According to a ninth aspect of the present invention, in any one of the first to eighth aspects of the present invention, the amount of charge obtained in the photosensitive portion associated with the region of interest in the target space in the environment measurement period is a saturated amount of charge. A light emission control means for adjusting the light emission intensity of the light emission source is added so as to be smaller.

  According to the configuration of the first aspect of the present invention, each photosensitive unit is configured to irradiate light from the light source to the target space before distance measurement and to reduce the difference in the amount of charge generated in each photosensitive unit of the photodetecting element. Therefore, the difference in the received light intensity from the region associated with each photosensitive portion in the target space can be reduced. That is, it is possible to prevent the output of the light detection element from reaching the saturation charge amount or becoming minute, regardless of the distance to the object, and to maintain the output of the light detection element in an appropriate range. In addition, since the sensitivity can be optimized by the sensitivity adjusting means even if the saturation charge amount of each photosensitive portion is not large, the photosensitive portion can be reduced in size, and as a result, the resolution can be increased. . Furthermore, in order to obtain an appropriate output from the light detection element, it is only necessary to project light once in the environmental measurement period, so that it is possible to generate a distance image within a short time only by imaging at most twice. In short, a distance image having a high resolution and a high frame rate can be obtained.

  According to the configuration of the second aspect of the invention, since the intensity of light emitted from the light source is constant and does not change with time during the environmental measurement period, it is easy to compare the amount of charge generated in each photosensitive portion, and to adjust the sensitivity. Processing by means is simplified.

  According to the configuration of the third aspect of the invention, since the accumulation time is changed in order to adjust the sensitivity of each photosensitive portion, no separate member for adjusting the sensitivity is required, and only the control of the light detection element can be used. Can be configured and simple.

  According to the configuration of the invention of claim 4, since the incidence rate is individually adjusted by the light incident path to each photosensitive portion, optical elements such as a filter and a mirror provided separately from the light detection element are controlled. Therefore, it is sufficient to control the light detection element and the optical element individually, and the control is easy.

  According to the configuration of the fifth aspect of the present invention, the filter element is used as the incident rate adjusting means, and the filter element can be disposed in front of the light receiving surface of the photodetecting element.

  According to the configuration of the invention of claim 6, since the shutter element is used as the incident rate adjusting means and the transmittance is not controlled unlike the filter element, there is an advantage that the loss of light is small.

  According to the configuration of the invention of claim 7, since the environmental measurement period is set to the previous distance measurement period, the sensitivity of each photosensitive portion is increased without providing another environmental measurement period while repeating the distance measurement. Can be adjusted. However, since the light emitted from the light source to the target space is intensity-modulated, the amount of charge generated in each photosensitive portion differs not only due to the change due to distance but also due to the change due to intensity modulation. Even if the charge amount is compared for one phase interval, the influence of the change due to the intensity modulation cannot be removed. On the other hand, by paying attention to the maximum value of the charge amount obtained for each phase section in each photosensitive section, the influence of the change in the charge amount due to the intensity modulation can be mitigated. That is, it is possible to adjust the sensitivity of each photosensitive unit using the previous distance measurement period as the environmental measurement period and using the amount of charge generated in each photosensitive unit during the environmental measurement period.

  According to the configuration of the eighth aspect of the invention, since the polarization direction is adjusted, the distance can be obtained by paying attention to an object that generates polarized light. For example, when a distance image sensor is used for the purpose of extracting people on the floor by monitoring from below the ceiling, if attention is paid to the polarization generated in the hair, the head is reliably detected and the distance to the head is extracted. be able to.

  According to the configuration of the ninth aspect of the invention, since the light emission intensity of the light source is adjusted so that the charge amount obtained in the photosensitive portion is smaller than the saturated charge amount, saturation of the photosensitive portion can be prevented.

(Basic configuration)
Before describing the embodiments, the configuration and operation of the parts common to the embodiments will be described. As shown in FIG. 1, a light emitting source 2 that irradiates light to a target space, and a light detection element that receives light from the target space and outputs an electrical output (hereinafter simply referred to as output) that reflects the amount of received light. 1, and an image pickup device in which a plurality of photosensitive portions 11 are two-dimensionally arranged is used as the light detection device 1. Specifically, the photosensitive portions 11 are arranged on lattice points of a planar lattice, for example, arranged in a matrix in which a plurality are arranged at equal intervals in the vertical direction (longitudinal direction) and the horizontal direction (lateral direction). Is done. However, the technical idea of the present invention can be applied to a configuration in which a large number of photosensitive portions 11 are provided on a single semiconductor substrate, such as a CCD image sensor, or a configuration in which independent photosensitive portions 11 are two-dimensionally arranged. .

  The distance to the object 7 existing in the target space is the time from when light is irradiated from the light source 2 to the target space until the reflected light from the object 7 enters each photosensitive portion 11 (referred to as “flight time”). Ask for. However, since the flight time is a very short time of about several tens of ns for a distance of about 10 m, instead of directly measuring the time of light transmission and reception, intensity modulated light that is intensity modulated with a modulation signal of a fixed period is used. A technology that projects light into the target space and converts the phase difference between light projection and reception of intensity-modulated light into time of flight is adopted.

  The distance to the object 7 existing in the target space can be obtained by giving the output of the light detection element 1 to the image generation unit (image generation means) 3 and performing the calculation described later. The control circuit unit 4 controls the operation timing of the light detection element 1 and the light source 2. The control circuit unit 4 also instructs the image generation unit 3 to calculate timing.

  The light emission source 2 can employ a configuration in which a plurality of infrared light emitting diodes are arranged in parallel, a configuration in which a semiconductor laser and a diverging lens are combined, a configuration in which a semiconductor laser and a diffusion plate are combined, and the like. When infrared light is used for the light source 2, light from the target space is incident on the light detection element 1 through an infrared transmission filter. In this configuration, it is possible to suppress the incidence of light in the visible light region on the light detection element 1 by using infrared rays as light used for distance measurement. The image generation unit 3 and the control circuit unit 4 are configured by a microcomputer that executes an appropriate program.

  The distance is measured by irradiating the target space with light whose intensity is modulated from the light source 2 (intensity modulated light), reflected by the object 7 existing in the target space, and the phase of the intensity change of the light incident on the light detection element 1. And a technique of obtaining a phase difference between the phase of the intensity change of light from the light source 2 and converting the phase difference into a distance.

  In order to irradiate the target space with the intensity-modulated light, the light source 2 is driven by a modulation signal of a predetermined period output from the control circuit unit 4, and the light irradiated from the light source 2 to the target space has an intensity due to the modulation signal. Modulated. The control circuit unit 4 modulates the intensity of light emitted from the light source 2 with, for example, a 20 MHz sine wave. Note that the intensity of light emitted from the light source 2 may be modulated by a triangular wave, a sawtooth wave, a rectangular wave, or the like, in addition to being modulated by a sine wave. In short, any configuration may be adopted as long as the intensity is modulated at a constant period.

  The target space is irradiated with intensity-modulated light as shown in FIG. 2A from the light source 2, and the intensity of the light incident on one photosensitive portion 11 of the light detection element 1 changes as shown in FIG. Assuming that the time difference Δt of the same phase reflects the distance L to the object 7 existing in the region associated with the photosensitive part 11 in the target space, the time difference Δt is assumed to be the light velocity c [m / s]. When [s] is used, the distance L to the object 7 is expressed by L = c · Δt / 2. If the frequency of the modulation signal that modulates the intensity of light is f [Hz] and the phase difference is φ [rad], the time difference Δt is Δt = φ / 2πf. Can be requested.

  This phase difference φ may be regarded as a phase difference between a modulation signal for driving the light emitting source 2 and light incident on each photosensitive portion 11 of the light detection element 1. Therefore, it is conceivable to obtain the light reception intensity of the incident light to the light detection element 1 for a plurality of different phases of the modulation signal, and obtain the phase difference φ between the incident light and the modulation signal from the obtained phase relationship and the light reception intensity. ing. Actually, the light detection element 1 detects the amount of received light for each phase section having a predetermined phase width (time width), and uses the received light output corresponding to this received light quantity for the calculation of the phase difference φ.

If each phase interval is 90 degrees, four phase intervals with equal phase intervals are periodically obtained for one cycle of the modulation signal, and by using the received light amounts A0, A1, A2, A3 of each phase interval, the phase difference φ, φ = ^ta n -1 can be expressed as {(A2-A0) / ( A1-A3)}. Note that the sign of the phase difference φ changes depending on which phase of the modulation signal the received light amounts A0, A1, A2, A3 correspond to. In the example shown in FIG. 2, each phase section is set to a phase width of 90 degrees, but the phase width can be set as appropriate.

  In the light detection element 1, a light receiving optical system 5 is disposed on the light incident path to the photosensitive portion 11. The light receiving optical system 5 associates a specific area of the target space with each photosensitive portion 11. That is, the target space can be imaged from each photosensitive portion 11 through the light receiving optical system 5.

  As described above, in order to obtain the distance to the object 7, the received light amounts A0, A1, A2, and A3 in four phase sections synchronized with the intensity change of the light emitted from the light source 2 to the target space are obtained. . Therefore, it is necessary to control the light detection element so that the received light amounts A0, A1, A2, and A3 in the target phase section are obtained. Here, since the amount of charge generated in the photosensitive portion 11 corresponding to the signal light is small in one cycle of the intensity change of light irradiated from the light source 2 to the target space, it is possible to accumulate the charges over a plurality of cycles. desirable. In short, the photodetecting element 1 is required to have a function of generating charges at a timing corresponding to a target phase section and accumulating the generated charges over a plurality of periods of the modulation signal.

  As shown in FIG. 1, the light detection element 1 includes a period control unit 12 in which the period during which each photosensitive unit 11 receives light from the target space is controlled by a signal from the control circuit unit 4, and the control circuit unit 4. And a charge accumulating unit 13 capable of accumulating charges generated by the photosensitive unit 11 over a plurality of periods of the modulation signal in a phase interval designated by the above signal. In order to realize the functions as the period control unit 12 and the charge integration unit 13, a MIS structure photoelectric conversion element in which the control electrode 23 is disposed on the main surface of the semiconductor layer 21 via the insulating film 22 is exposed as described later. Used in the section 11 (see FIG. 3), a configuration is adopted in which a plurality (five in the illustrated example) of control electrodes 23 are arranged on one photosensitive section 11.

  In this configuration, by applying a voltage to the control electrode 23, the potential well 24 is formed in the semiconductor layer 12, and the potential well 24 is used for charge accumulation. That is, the potential well occupying the main surface of the semiconductor layer 21 by increasing the number of control electrodes 23 that apply a voltage in a target phase interval to the number of control electrodes 23 that apply a voltage in another phase interval. The opening area of 24 can be made larger in the target phase section than in the other phase sections. As a result, the region in which charges generated by light irradiation are accumulated can be made larger in the target phase interval than other phase intervals, and the charge in the target phase interval can be mainly accumulated. It can function as the control unit 12.

  In addition, any one of the control electrodes 23 (one in the center in the illustrated example) to which a voltage has been applied in the target phase section is continuously applied with a voltage in the other phase sections. The electric charge can be held in the potential well 24 formed corresponding to 23. Therefore, by repeating the accumulation and holding of the charges over a plurality of periods of the modulation signal, the charges generated over the plurality of periods can be integrated and function as the charge integration unit 13.

  By this operation, the charge generated by the photosensitive unit 11 in the target phase interval can be accumulated in the charge accumulating unit 13, and whenever the charge for each target phase interval is accumulated in the charge accumulating unit 13, The electric charge can be extracted from the light detection element 1 as an output. Therefore, in order to extract the charges corresponding to the received light amounts A0, A1, A2, and A3 in the four phase sections from the photodetecting element 1, the above-described operation is repeated four times.

  The period control unit 12 changes the amount of charge generated in each period by changing the area (substantial light receiving area) of the region that generates charges that can be used in the photosensitive unit 11. In addition to the charges generated in the target phase section, charges generated in other periods are also mixed. However, in the calculation for obtaining the phase difference φ, the received light amounts A0, A1, A2, and A3 in the two phase sections are subtracted, so that the influence of charges generated in other periods can be eliminated by this subtraction.

  The photodetecting element 1 includes a charge extraction unit 14 for extracting charges from the charge integration unit 13 in addition to the photosensitive unit 11, the period control unit 12, and the charge integration unit 13. The charge extraction unit 14 has the same configuration as the vertical transfer unit and horizontal transfer unit in the CCD image sensor.

  The electric charge extracted from the electric charge extraction unit 14 is given to the image generation unit 3 as an output of the light detection element 1, and the image generation unit 3 uses the electric charge obtained for each photosensitive unit 11 to calculate the above formula. The distance to the object 7 in the target space is obtained by the principle of. Each photosensitive unit 11 is associated with a region in a specific direction of the target space (a small region in a direction in which the target space is viewed from each photosensitive unit 11 through the light receiving optical system 5). By calculating the distance, the three-dimensional information of the target space is calculated. By using this three-dimensional information, it is possible to generate a distance image having a pixel value as a distance related to an area associated with each photosensitive portion 11 in the target space.

  A structural example of the light detection element 1 will be described below. The illustrated photodetection element 1 has a structure in which the photosensitive portion 11 is also used as a vertical transfer portion, and has a structure similar to a frame transfer (FT) type CCD image sensor. Similarly to the FT-type CCD image sensor, a light-shielded accumulation area is provided adjacent to the imaging area in which the photosensitive parts 11 are arranged, and charges accumulated in the accumulation area are transferred to the horizontal transfer part. The transfer of charges from the imaging region to the storage region is performed at once in the vertical blanking period, and the horizontal transfer unit transfers charges for one horizontal line in one horizontal period. The charge accumulating unit 13 shown in FIG. 1 does not mean a storage region, but represents the function of the photosensitive unit 11 holding charges, and the charge extraction unit 14 represents the functions of the vertical transfer unit and the horizontal transfer unit including the storage region. ing.

  The photodetecting element 1 has a semiconductor substrate (not shown), and in the photosensitive portion 11, as shown in FIG. 3, a semiconductor layer 21 to which an impurity is added as a well is formed on the main surface of the semiconductor substrate. The surface is covered with an insulating film 22 made of an oxide film, and a plurality of control electrodes 23 are arranged on the semiconductor layer 21 via the insulating film 22. A material is selected for the insulating film 22 and the control electrode 23 so that light having the same wavelength as the light irradiated to the target space from the light source 2 is transmitted, and light enters the semiconductor layer 21 through the control electrode 23 and the insulating film 22. Electric charges are generated inside the semiconductor layer 21.

  In the illustrated example, it is assumed that the conductivity type of the semiconductor layer 21 is n-type, and electrons are used as charges generated by light irradiation. FIG. 3 shows only a region corresponding to one photosensitive portion 11, and a plurality of regions having the structure of FIG. 3 are arranged on the semiconductor substrate (not shown) as described above, and charge extraction is performed. A structure to be part 14 is provided. The vertical transfer unit provided as the charge extraction unit 14 is assumed to transfer charges in the left-right direction in FIG. 3, but it is also possible to adopt a configuration in which charges are transferred in a direction orthogonal to the plane in FIG. is there. In addition, when transferring charges in the left-right direction in the figure, it is desirable to design the width dimension of the control electrode 23 in the left-right direction to about 1 μm.

  In the photodetecting element 1 having this structure, when a positive control voltage + V is applied to the control electrode 23, the semiconductor layer 21 represents electrons in a region corresponding to the control electrode 23 (-is written in a circle). ) Is formed, and a potential well (depletion layer) 24 is formed. That is, when the semiconductor layer 21 is irradiated with light with a control voltage applied to the control electrode 23 so as to form the potential well 24 in the semiconductor layer 21, some of the electrons generated in the vicinity of the potential well 24 are The electrons are trapped in the potential well 24 and accumulated in the potential well 24, and the remaining electrons disappear due to recombination in the deep portion of the semiconductor layer 21. In addition, electrons generated at a location away from the potential well 24 are also extinguished by recombination in the deep part of the semiconductor layer 21.

  Since the potential well 24 is formed at a portion corresponding to the control electrode 23 to which the control voltage is applied, the potential well 24 along the main surface of the semiconductor layer 21 is changed by changing the number of the control electrodes 23 to which the control voltage is applied. The opening area (in other words, the area of a region that generates a charge that can be used on the light receiving surface) can be changed. That is, changing the number of control electrodes 23 to which the control voltage is applied means that the photosensitive portion 11 is used as the period control portion 12 and at the same time as the charge accumulation portion 13.

  For example, among the five control electrodes 23 associated with one photosensitive unit 11, the control voltage + V is applied to three control electrodes 23 as shown in FIG. 3A, and FIG. When the control voltage + V is applied to one control electrode 23 as described above, the opening area (volume shown in the semiconductor layer 21) occupied by the potential well 24 on the light receiving surface changes. Since the opening area of the potential well 24 is larger in the state of FIG. 3A, the ratio of charges accumulated with respect to the same amount of light is larger than in the state of FIG. As shown in FIG. 3B, during the period in which the opening area of the potential well 24 is reduced, the amount of charge accumulated in the potential well 24 decreases, so that the potential well 24 can be used mainly for holding charges. And can function as the charge accumulation portion 13.

  In order to extract charges from the potential well 24, a technique similar to that of the FT type CCD image sensor may be employed. After electrons are accumulated in the potential well 24, a voltage having an applied pattern different from that at the time of integration is applied to the control electrode 23. By applying to, electrons accumulated in the potential well 24 can be transferred in one direction (for example, in the right direction in the figure). That is, the semiconductor layer 21 can be used as a charge transfer path in the same manner as the vertical transfer portion of the CCD. Further, the electric charge is transferred through the horizontal transfer unit, and is taken out of the photodetecting element 1 from an electrode (not shown) provided on the semiconductor substrate.

  As described above, by switching the opening area of the potential well 24 formed in the photosensitive portion 11 in two stages of large and small, the photosensitive portion 11 is used as both the period control unit 12 and the charge accumulation unit 13. By adjusting the timing of increasing the aperture area of the light to the target phase interval, a charge corresponding to any of the received light amounts A0, A1, A2, and A3 is generated by the photosensitive unit 11 and accumulated over a plurality of periods of the modulation signal. It becomes possible to do. That is, a period corresponding to the target phase interval is set as a light receiving period, a period corresponding to another phase interval is set as a holding period, and a voltage is applied to more control electrodes 23 than in the holding period in the light receiving period. By repeating the light receiving period and the holding period in a period corresponding to the specified period of the modulation signal, charges corresponding to the received light amounts A0, A1, A2, A3 in one phase section are accumulated, and the accumulated charges are output. become. A period in which the light receiving period and the holding period are repeated is hereinafter referred to as an accumulation period.

  Note that a plurality of photosensitive portions 11 constitute one pixel, and each photosensitive portion 11 included in one pixel generates and holds charges in different phase sections, and receives light amounts A0, A1, A2 in the plurality of phase sections. , The output may be taken out from the photodetecting element 1 after the integration of the charges corresponding to A3 is completed. For example, it is possible to read out after accumulating charges in two phase intervals different in phase by 180 degrees, or read out after accumulating charges in four phase intervals different in phase by 90 degrees. If such an operation is performed, the spatial resolution is lowered, but the number of times of taking out the charge is reduced and the frame rate is improved. When one pixel is composed of a plurality of photosensitive portions 11, it is possible to share a part of the control electrode 23 between adjacent photosensitive portions 11. This configuration is described in Japanese Patent Application Laid-Open No. 2006-84430 and is not the gist of the present invention, so it will not be described in detail.

  As described above, each photosensitive portion 11 selects the light receiving period in which the opening area of the potential well 24 is increased, and the holding period in which the opening area of the potential well 24 is made smaller than the light receiving period. The number of times the period is repeated (that is, the accumulation time) can be selected.

  In the above-described configuration example, a configuration similar to that of an FT type CCD image sensor is adopted. However, a configuration similar to that of an IT (interline) type CCD image sensor or an FIT (frame interline) type image sensor is used. It is possible to adopt a similar configuration. Further, the number of control electrodes 23 provided in the photosensitive portion 11 and the setting conditions of the phase interval are examples, and can be appropriately selected within a range where the same operation is possible.

  By the way, in the structure mentioned above, if the received light quantity A0, A1, A2, A3 in each phase section is appropriate, saturation does not occur. However, in most cases, the light detected by the light detection element 1 from the target space is used. In addition, since not only the signal light projected from the light source 2 but also ambient light other than the signal light is included, saturation may occur. In addition, since the amount of received light varies greatly depending on the distance to the object 7, light is received when reflected light from the object 7 at a short distance is received when distance measurement to the object 7 existing at a long distance is possible. There is a possibility that the detection element 1 is saturated. The ambient light may contain a component that fluctuates in the same way as the signal light. However, since normal ambient light is natural light or illumination light, it can be as short as a period for generating a single distance image. Changes can be ignored.

  Hereinafter, a technique for suppressing the occurrence of saturation regardless of the presence of ambient light, the distance to the object 7 and the reflectance will be described. In each of the following embodiments, the period from when the light source 2 emits intensity-modulated light to the target space and when the distance image is generated based on the light received by the light detection element 1 is defined as the distance measurement period, and prior to the distance measurement period. A common point is that an environmental measurement period for measuring the intensity of light incident on each photosensitive portion 11 is provided. The control circuit unit 4 instructs the environment measurement period and the distance measurement period.

(Embodiment 1)
In the present embodiment, as shown in FIG. 1, a filter element 6 is arranged as an incident rate adjusting means in the light incident path from the target space to each photosensitive portion 11 of the light detection element 1. The filter element 6 is disposed so as to overlap the light receiving surface of the light detecting element 1 and is inserted between the light detecting element 1 and the light receiving optical system 5. As shown in FIG. 4, the filter element 6 includes a filter region 6a associated with each photosensitive portion 11, and can individually change the transmittance of the filter region 6a. As this type of filter element 6, for example, a transmissive liquid crystal panel whose transmittance changes according to an applied voltage can be used. By providing the filter element 6, it is possible to individually and continuously adjust the attenuation amount of light incident on each photosensitive portion 11 from the target space. The transmittance of each filter region 6a is instructed by the gain control means 3a provided in the image generation unit 3.

  In the environmental measurement period, first, light is emitted from the light source 2 to the target space, and the amount of charge generated in each photosensitive portion 11 is obtained. The light projected from the light source 2 during the environmental measurement period is kept at a constant intensity without changing the intensity. In this state, when the transmittance of each filter region 6a of the filter element 6 is adjusted in the direction in which the difference in the amount of charge generated in each photosensitive portion 11 is reduced, the amount of light incident on each photosensitive portion 11 from the target space becomes substantially equal. It is possible to make light having the same intensity incident on any photosensitive portion 11 regardless of the distance to the object 7 and the reflectance.

  Here, the attenuation amount is set to the minimum for the photosensitive portion 11 having the smallest incident intensity, and the incident intensity to the other photosensitive portions 11 is set to the same level using the incident intensity as a reference. The attenuation amount of the corresponding filter region 6a is adjusted. However, even if the minimum attenuation that can be adjusted by the filter element 6 is set for the photosensitive portion 11 having a low incident intensity, there is a case where an appropriate incident intensity cannot be obtained. Thus, the photosensitive portion 11 having an appropriate incident intensity may be used as a reference.

  In the above operation example, it is assumed that the transmittance of each filter region 6a in the filter element 6 is equal in the environmental measurement period. However, when the transmittance of each filter region 6a is already adjusted. Using the incident intensity to the photosensitive portion 11 where the charge amount is maximum in a range not saturated as a reference, or determining a reference value for the charge amount, the difference between the charge amount of each photosensitive portion 11 and the reference value is determined. The transmittance of each filter region 6a is determined so as to be small.

  The transmittance of each filter region 6a is kept constant during one distance measurement period. Therefore, the relationship between the received light amount in each phase section for obtaining the phase difference φ is maintained, and the distance to the object 7 in the target space is set even if the transmittance of light incident from the target space is different for each photosensitive unit 11. Can be sought.

  As the filter element 6 that changes the attenuation amount of light incident on each photosensitive portion 11 from the target space, an array-shaped aperture stop manufactured by a MEMS (Micro Electro Mechanical Systems) technique may be used. The aperture stop includes a light shielding plate whose rotation angle can be adjusted around a rotation axis parallel to the light receiving surface at a portion corresponding to each photosensitive portion 11, and the amount of light attenuation according to the rotation angle of the light shielding plate. The one that can change the value is used. By using this aperture stop, an operation similar to that of a liquid crystal panel becomes possible.

  The incident rate adjusting means described above functions as a filter element 6 that changes the intensity of light incident on the photosensitive portion 11 by adjusting the attenuation amount of light incident on each photosensitive portion 11 from the target space. The amount of light received by the photosensitive unit 11 can be adjusted not only by the intensity of incident light but also by the exposure time. When adjusting the exposure time, a shutter element is used instead of the filter element 6.

  As a shutter element for adjusting the exposure time, for example, a liquid crystal panel including a shutter area for each photosensitive portion 11 can be used. That is, instead of changing the transmittance for each filter region 6 a as in the filter element 6, it is selected whether to transmit or block light for each shutter region associated with each photosensitive portion 11. The amount of light received by each photosensitive portion 11 can be adjusted by adjusting the exposure time during which light is transmitted for each shutter region.

  The exposure time is not changed within one period of the modulation signal, but is adjusted by adjusting the number of periods of the modulation signal in one exposure. That is, the exposure time is increased by increasing the number of repetitions of the light receiving period and the holding period for the photosensitive portion 11 having a smaller amount of charge generated in the environment measurement period. Since the exposure time is the same as the charge accumulation time, hereinafter, the accumulation time, which is the charge accumulation time, is used in the same meaning as the exposure time. An upper limit is set for the accumulation time, and the accumulation time is set so that an appropriate charge amount is obtained for each photosensitive portion 11 below the upper limit. Similar to the case where the filter element 6 is used, when the shutter element is used, the photosensitive portion 11 having a low received light intensity is used as a reference, and the difference in the amount of charge generated in each photosensitive portion 11 is reduced. Determine the exposure time.

  As the shutter element, in addition to a liquid crystal panel, DMD (Digital Micromirror Device) (trademark), which is an arrayed mirror manufactured by MEMS technology, may be used. This element is arranged so as to select a state in which the light passing through the light receiving optical system 5 is reflected on each photosensitive portion 11 and a state in which the light is reflected in a direction different from each photosensitive portion 11. It can function similarly. Alternatively, a device having a structure similar to that of an array-shaped aperture stop may be used, and the device may function in the same manner as a liquid crystal panel by opening and closing a light shielding plate.

  The filter element 6 adjusts the attenuation amount of light incident on each photosensitive portion 11 from the target space, and the shutter element adjusts the exposure time of light incident on each photosensitive portion 11 from the target space. Since each has a function of adjusting the rate of charge generation at each photosensitive portion 11 with respect to the incident intensity of light, both the filter element 6 and the shutter element function as incident rate adjusting means (sensitivity adjusting means). . Further, the filter element 6 and the shutter element can be used in combination, and if they are used in combination, the sensitivity adjustment range can be widened.

  In the above configuration example, the filter area 6a of the filter element 6 or the shutter area of the shutter element is individually associated with each photosensitive portion 11, but one pixel is constituted by a plurality of photosensitive portions 11. In this case, the filter area 6a or the shutter area may be associated with each pixel. If such a configuration is adopted, the number of filter regions 6a or shutter regions is reduced with respect to the number of photosensitive portions 11, leading to cost reduction.

  In the above-described configuration, since the sensitivity of the light detection element 1 is adjusted on the light receiving side, when the signal light incident on the photosensitive portion 11 is weak, the sensitivity cannot be increased except by increasing the accumulation time. . However, the length of the accumulation time is limited to ensure the frame rate, and if the signal light is weak, the amount of information contained in the signal light is reduced, so the correct distance can be measured even if the accumulation time is extended. It is not always possible.

  Therefore, in addition to adjusting the sensitivity of each photosensitive unit 11, a light emission control unit that adjusts the intensity of light emitted from the light source 2 to the target space according to the amount of charge generated in each photosensitive unit 11 during the environmental measurement period. It is desirable to provide 4a in the control circuit unit 4. In the light emission control means 4a, the light emission intensity of the light emission source 2 is adjusted so that the smallest charge amount among the charge amounts generated by each photosensitive portion 11 during the environmental measurement period becomes a prescribed appropriate value. The appropriate value of the charge amount is, of course, a value within a range smaller than the saturation charge amount, but as much as possible, the influence of shot noise can be suppressed and the distance detection accuracy can be improved. Accordingly, an appropriate value of the charge amount is defined in the region where the linearity of the relationship between the incident light amount and the generated charge amount is good in the photosensitive portion 11.

  By adjusting the light emission intensity of the light emission source 2 as described above, it is possible to accurately measure the distance even with an object 7 that exists far away or an object 7 with a low reflectance. The technique for adjusting the light emission intensity of the light emitting source 2 can be used in appropriate combination with the technique of each embodiment described below.

(Embodiment 2)
In the first embodiment, an example in which light of a certain intensity is irradiated from the light emission source 2 to the target space during the environment measurement period has been described. However, the position of the object 7 existing in the target space changes, or the state of the environmental light in the target space When (the intensity of ambient light or the direction in which ambient light is incident) changes, the sensitivity of each photosensitive unit 11 adjusted with the information obtained during the environmental measurement period cannot be used. Therefore, it is necessary to repeatedly provide the environmental measurement period at appropriate time intervals.

  In the present embodiment, the sensitivity of each photosensitive portion 11 is adjusted by the sensitivity adjusting means using the charge amount obtained in the distance measurement period by utilizing the fact that the distance image is repeatedly updated. That is, the distance measurement period is also used as the environment measurement period. However, since the intensity-modulated light is received in each photosensitive portion 11 during the distance measurement period, the amount of charge generated in each photosensitive portion 11 is far from the object 7 even when the reflectance of the object 7 does not change. It does not necessarily decrease, and changes depending on whether the phase interval received by the photosensitive portion 11 is a period with a high intensity or a period with a low intensity.

  Therefore, the charge amount in the phase interval in which the charge amount is maximized in each phase interval in the distance measurement period (that is, the maximum value among the charge amounts obtained for each phase interval) is used. Alternatively, the sum of the charge amounts obtained in all phase sections in the distance measurement period, the average value, or the difference in charge amount in the phase sections that are 180 degrees different from each other may be used. By using these values, it is possible to suppress the change in the amount of charge for each phase interval caused by receiving the intensity-modulated light, and to detect the received light intensity according to the distance to the object 7 and the reflectance. . These values are obtained by the image generation unit 3 and reflected in the sensitivity adjusting means described in the first embodiment.

  After the environmental measurement period is provided only once at the start of the operation and the sensitivity of each photosensitive unit 11 is adjusted by the sensitivity adjustment unit, the distance adjustment period is repeated for each photosensitive unit 11 by the sensitivity adjustment unit. Sensitivity can be updated. In other words, even when the position of the object 7 existing in the target space changes with the passage of time or the ambient light state of the target space changes with the passage of time, the sensitivity of each photosensitive unit 11 by the sensitivity adjusting means. It is possible to adjust by following. Other configurations and operations are the same as those of the first embodiment.

(Embodiment 3)
In the first embodiment, the sensitivity adjustment unit is arranged on the light incident path from the target space to each photosensitive portion 11 of the light detection element 1. However, as described in the case where the shutter element is used as the sensitivity adjustment unit, The amount of charge generated in the photosensitive portion 11 can be adjusted by changing the accumulation time (that is, the exposure time).

  In the present embodiment, as a technique for adjusting the accumulation time of each photosensitive portion 11, a configuration in which the number of light receiving periods in the accumulation period is adjusted instead of adjusting the light incident on the light detection element 1 like a shutter element. adopt. That is, the number of light receiving periods in one distance measurement period is controlled by controlling the period control unit 12 that determines the period during which the photosensitive unit 11 receives light from the target space, and is used as the output of the light detection element 1. The amount of charge is adjusted. The number of light reception periods is determined by the image generation unit 3, and the gain control unit 3 a controls the period control unit 12 through the control circuit unit 4. That is, in this embodiment, the control circuit unit 4 functions as an accumulation time adjusting unit.

  In this configuration, since the sensitivity of each photosensitive portion 11 can be adjusted without providing an optical element such as a filter element or a shutter element separately from the light detection element 1, the number of components can be reduced. . Further, since the control circuit unit 4 controls the period control unit 12 associated with each photosensitive unit 11 individually to function as the accumulation time adjusting unit, the control circuit unit 4 functions as the other sensitivity control unit described in the first embodiment. It is possible to combine, and the sensitivity adjustment range can be widened by the combination. Other configurations and operations are the same as those of the first embodiment. Further, as in the second embodiment, it can be combined with a technique for adjusting the sensitivity using the charge amount obtained in the previous distance measurement period.

(Embodiment 4)
In the present embodiment, similarly to the filter element described in the first embodiment, sensitivity adjusting means for adjusting the transmittance of light incident on the light detection element 1 is provided. However, in this embodiment, paying attention to the polarization direction, the sensitivity of each photosensitive portion 11 is adjusted by adjusting the polarization direction of the light incident on the photosensitive portion 11. That is, a polarization control means in which a polarization filter whose polarization direction is variable is arranged in front of the light receiving surface of the light detection element 1 is provided as a sensitivity adjustment means (a polarization filter is arranged instead of the filter element 6 in FIG. 1). . The polarizing filter can change the polarization direction for each region corresponding to each photosensitive portion 11. As this type of polarizing filter, for example, a liquid crystal panel is used to change the polarization direction according to the applied voltage, or a minute polarizing filter associated with each photosensitive portion 11 is rotated using MEMS technology. A structure can be adopted.

  In the present embodiment, as in the first embodiment, light having a constant intensity that does not change with the passage of time is emitted from the light emission source 2 to the target space in the environment measurement period. During the environmental measurement period, the gain control means 3a provided in the image generation unit 3 sets a plurality of adjacent (for example, four) photosensitive units 11 as a group, and a polarization filter corresponds to each photosensitive unit 11 in the group. The polarization directions are different from each other (when the four photosensitive portions 11 are combined, the polarization directions are changed at intervals of 45 degrees), and the amount of charge generated by the photosensitive portions 11 in the set is acquired.

  Here, when the polarization direction corresponding to the photosensitive part 11 having the maximum generated charge amount among the photosensitive parts 11 in the set is close to the polarization direction of light incident from the region corresponding to the set in the target space. Conceivable. Therefore, the gain control means 3a can estimate the polarization direction of light incident from a specific region of the target space based on the charge amount generated by each photosensitive unit 11 in the set.

  Further, the gain control means 3a extracts the photosensitive portion 11 having the maximum generated charge amount from each set of the photosensitive portions 11, and obtains an approximate intensity distribution of incident light from the target space to the light detection element 1. . Further, the gain control means 3a adjusts the polarization directions corresponding to all the photosensitive portions 11 so as to match the polarization directions corresponding to the photosensitive portions 11 having the smallest charge amount in the intensity distribution.

  That is, the polarization direction of the region corresponding to each photosensitive portion 11 in the polarization filter is individually set in the environment measurement period and is set in the same direction in the distance measurement period. In the distance measurement period, the polarization direction of the polarizing filter is adjusted in accordance with the polarization direction of the photosensitive portion 11 having a low light receiving intensity among the photosensitive portions 11, so at least in a region where the incident intensity of light to the light detection element 1 is low. Sensitivity can be increased in a region where light having polarization property is incident, and a difference in sensitivity between the photosensitive portions 11 is alleviated.

  In particular, when imaging humans from above and using the presence or absence of hair in order to detect the position of the head, the polarization characteristics produced by the hair are used, and attention is paid to the characteristics that the hair has a low reflectance. This makes it easy to extract the human head.

(Embodiment 5)
In the fourth embodiment, only one polarizing filter is used. However, in the present embodiment, two polarizing filters 8a and 8b are used in an overlapping manner as shown in FIG. The polarization filter 8a is a variable polarization filter whose entire polarization direction is variable, and is a fixed polarization filter including four types of polarization regions 8c having different polarization directions at intervals of 45 degrees. The variable polarization filter 8a can select a state in which the polarization direction is not changed but the polarization is not changed. As shown in FIG. 6, each polarization region 8 c of the fixed polarization filter 8 b overlaps with each photosensitive portion 11 and is adjacent to four (for example, four arranged in the vertical direction or the horizontal direction, or 2 × 2 squares). The polarization directions of the four polarizing regions 8c corresponding to the four photosensitive regions 11 are different by 45 degrees.

  In the environment measurement period, the amount of charge generated in each photosensitive portion 11 is obtained with the variable polarization filter 8a in a state without polarization. In the distance measurement period, if the polarization direction of the variable polarization filter 8a is adjusted in accordance with the polarization direction of the fixed polarization filter 8b corresponding to the photosensitive part 11 having the smallest amount of charge generated in the environment measurement period, each photosensitive part 11 Variations in the amount of charge taken out can be suppressed. Here, since the four photosensitive units 11 are grouped, the photosensitive unit 11 having the largest amount of charge generated among the four photosensitive units 11 of each group is used during the distance measurement period.

  In the present embodiment, since the difference in the amount of charge generated in each photosensitive portion 11 is reduced based on the same principle as the configuration of the fourth embodiment, the human head is extracted using the polarization property generated by the hair. It can be used in some cases. In addition, it is not necessary to individually control the area corresponding to the photosensitive portion 11, and the variable polarization filter 8a is easy to realize because it only controls the entire polarization direction.

  In the fourth and fifth embodiments, the polarization direction is varied by 45 degrees, but the polarization direction may be varied at a smaller angle interval.

  In addition, as in the fifth embodiment, using two polarizing filters in layers is similar to the technique adopted for removing light having polarization in photography, and the above-described human Contrary to the technique of extracting the head, it can also be used to remove hair information. By using the polarization filter in this way, it is possible to emphasize the region of interest or remove unnecessary regions. The configurations of Embodiments 4 and 5 can be combined with the configurations of the other embodiments.

6 is a block diagram common to Embodiments 1 and 2. FIG. It is operation | movement explanatory drawing same as the above. It is operation | movement explanatory drawing of the principal part of the photon detection element used for the same as the above. FIG. 3 is an exploded perspective view of a main part of the first embodiment. FIG. 10 is a block diagram illustrating a fifth embodiment. It is a principal part exploded perspective view same as the above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Photodetector 2 Light emission source 3 Image generation part 3a Gain control means 4 Control circuit part 4a Light emission control means 5 Light-receiving optical system 6 Filter element 7 Object 8a Variable polarization filter 8b Fixed polarization filter 11 Photosensitive part 12 Period control part 13 Charge integration Part 14 Charge extraction part

Claims (9)

A light emitting source that irradiates light into the target space, a light detection element that receives a light from the target space and generates a charge corresponding to the amount of received light, and that images the target space, and a distance measurement period In this case, the intensity of the light radiated from the light source to the target space is modulated with a modulation signal having a predetermined period, and the distance to the object is obtained by using the charges generated in the photosensitive portion in each of a plurality of prescribed phase sections of the modulation signal. An image generation unit that generates a distance image as a pixel value, a sensitivity adjustment unit that can individually adjust the sensitivity for each photosensitive unit, and an environment measurement period that is provided prior to the distance measurement period, from the light source to the target space. The difference in the amount of charge generated in each photosensitive portion is reduced in a state where the light including the reflected light of the irradiated light and the ambient light is received by each photosensitive portion while irradiating the light maintained at a constant intensity. Sensitivity adjustment in direction Range image sensor to adjust the sensitivity for each photosensitive unit, the distance measurement period, characterized in that it comprises a gain control means for maintaining the sensitivity of the sensitivity of the photosensitive portion is adjusted to the environment measuring period by means.   2. The distance image sensor according to claim 1, wherein the gain control means makes the intensity of light irradiated from the light source to the target space constant during the environment measurement period.   3. The accumulation time adjusting means for individually adjusting the sensitivity of each photosensitive portion by changing the charge accumulation time for each photosensitive portion. Distance image sensor.   2. The sensitivity adjusting unit is an incident rate adjusting unit that is arranged in an incident path of light from a target space for each photosensitive unit and individually adjusts an incident rate of light to each photosensitive unit. The distance image sensor according to claim 3.   5. The distance image sensor according to claim 4, wherein the incident rate adjusting means is a filter element that adjusts an attenuation amount of light incident on the photosensitive portion from a target space.   5. The distance image sensor according to claim 4, wherein the incidence rate adjusting means is a shutter element that adjusts an exposure time during which light is incident on the photosensitive portion from a target space.   The image generation means updates the distance image by repeating the distance measurement period, and the gain control means determines the maximum amount of charge obtained for each phase interval in each photosensitive section in the previous distance measurement period. The range image sensor according to claim 1, wherein the sensitivity of each photosensitive portion is adjusted by the sensitivity adjusting unit in a direction in which a difference in values becomes smaller.   The sensitivity adjustment unit is a polarization control unit that is disposed in an incident path of light from a target space to the photosensitive unit and adjusts a polarization direction of light incident on the photosensitive unit, and the gain control unit is configured in the environment measurement period. 7. The polarization direction by the polarization control means is adjusted in such a way that the polarization direction of light incident on each photosensitive portion is detected and the difference in the amount of charge obtained at each photosensitive portion is reduced. The distance image sensor according to any one of the above.   Light emission control means for adjusting the light emission intensity of the light emission source is added so that the amount of charge obtained by the photosensitive portion associated with the region of interest in the environment measurement period is smaller than the saturation charge amount. The range image sensor according to claim 1, wherein the range image sensor is provided.

Images