阅读说明：本技术 用于检测距离的电子设备 (Electronic device for detecting distance ) 是由 江川佳孝 于 2019-01-16 设计创作，主要内容包括：本发明提供了一种用于检测从电子设备到外部物体的距离的电子设备,所述设备包括：基板(551)；配置在所述基板(551)的上方的测距传感器(523)的光接收传感器；配置在所述基板(511)的上方的一个或多个光源(521,522)；第一透镜(32),其配置在所述一个或多个光源中的第一光源(522)的上方,并且被配置成引导由第一光源(522)发射的光；第二透镜(33),其配置在所述光接收传感器的上方,并且被构造成将由第二透镜(33)接收的光引导到所述测距传感器(523)的光接收传感器上；和透明构件(553),其配置在第二透镜(33)和所述光接收传感器之间,并且被构造成：将由第二透镜(33)引导的光传输到所述光接收传感器上；和将来自所述一个或多个光源(521,522)中的至少一个(521)的光反射到所述测距传感器(523)的光接收传感器上。印刷线路板或印刷电路板可以用作基板(551)。光源单元(522)通过透镜保持件(552)与光源单元(521)和测距传感器(523)遮光隔开。包含在基板(551)的安装面与盖玻璃(553)的面对基板(551)的安装面的反射面之间的光源单元(521)和测距传感器(523)的空间例如由透镜保持件(552)和树脂密封。从光源单元(521)发射的基准用光的一部分从盖玻璃(553)反射,并且作为反射光的基准光的一部分入射在测距传感器(523)的光接收单元(43)上。测距传感器(523)是测量到物体的距离的传感器,并且包括时序控制电路、光源控制电路、包括多个像素的光接收传感器、信号变化检测电路和时间测量电路。(The present invention provides an electronic device for detecting a distance from the electronic device to an external object, the device comprising: a substrate (551); a light receiving sensor of a distance measuring sensor (523) arranged above the substrate (551); one or more light sources (521,522) arranged above the substrate (511); a first lens (32) configured above a first light source (522) of the one or more light sources and configured to direct light emitted by the first light source (522); a second lens (33) disposed above the light receiving sensor and configured to guide light received by the second lens (33) onto the light receiving sensor of the range finding sensor (523); and a transparent member (553) that is arranged between the second lens (33) and the light reception sensor, and that is configured to: transmitting the light guided by the second lens (33) onto the light receiving sensor; and reflecting light from at least one (521) of the one or more light sources (521,522) onto a light receiving sensor of the ranging sensor (523). A printed wiring board or a printed circuit board may be used as the substrate (551). The light source unit (522) is shielded from light by the lens holder (552) from the light source unit (521) and the distance measuring sensor (523). A space including the light source unit (521) and the distance measuring sensor (523) between the mounting surface of the substrate (551) and the reflection surface of the cover glass (553) facing the mounting surface of the substrate (551) is sealed by, for example, a lens holder (552) and resin. Part of the reference light emitted from the light source unit (521) is reflected from the cover glass (553), and part of the reference light as reflected light is incident on the light receiving unit (43) of the ranging sensor (523). The distance measurement sensor (523) is a sensor that measures a distance to an object, and includes a timing control circuit, a light source control circuit, a light receiving sensor including a plurality of pixels, a signal change detection circuit, and a time measurement circuit.)

1. An electronic device for detecting a distance from the electronic device to an external object, the device comprising:

a substrate;

a light receiving sensor disposed above the substrate;

one or more light sources disposed above the substrate;

a first lens configured to be disposed over a first light source of the one or more light sources and configured to direct light emitted by the first light source;

a second lens arranged above the light receiving sensor and configured to guide light received by the second lens onto the light receiving sensor; and

a transparent member disposed between the second lens and the light receiving sensor, and configured to:

transmitting the light guided by the second lens onto the light receiving sensor; and

reflecting light from at least one of the one or more light sources onto the light receiving sensor.

2. The electronic device of claim 1, wherein the light receiving sensor and/or the one or more light sources are disposed directly on the substrate.

3. The electronic device of claim 1, wherein the first lens is configured to output the light emitted by the first light source from the electronic device.

4. The electronic device according to claim 1, further comprising an antireflection film disposed on an incident surface of the transparent member, the incident surface being a surface of the transparent member on which the light guided by the second lens is incident.

5. The electronic device according to claim 1, further comprising a reflection portion arranged on a reflection surface of the transparent member, the reflection surface being opposite to a surface of the transparent member on which the light guided by the second lens is incident.

6. The electronic device of claim 1, wherein the one or more light sources, the light receiving sensor, first lens, second lens, and the transparent member are part of a ranging module of the electronic device.

7. The electronic device according to claim 1, wherein both the light guided onto the light receiving sensor by the second lens and the light reflected onto the light receiving sensor by the transparent member are incident on the same surface of the light receiving sensor.

8. The electronic device defined in claim 1 wherein the one or more light sources comprise at least one Vertical Cavity Surface Emitting Laser (VCSEL).

9. The electronic device of claim 1, wherein the transparent member is disposed directly over at least one of the one or more light sources and directly over the light receiving sensor.

10. The electronic device of claim 1, wherein light reflected by the transparent member onto the light receiving sensor is emitted by a first light source.

11. The electronic device of claim 10, wherein the transparent member is disposed between the first light source and the first lens and transmits light emitted by the first light source to the first lens.

12. The electronic device defined in claim 1 wherein the one or more light sources further comprise a second light source and wherein light reflected by the transparent member onto the light-receiving sensor is emitted by the second light source.

13. The electronic device defined in claim 12 further comprising an opaque structure disposed between the first light source and the second light source.

14. The electronic device of claim 12, wherein the first light source, the second light source, and the light receiving sensor are disposed directly on the substrate.

15. An electronic device for detecting a distance from the electronic device to an external object, the device comprising:

a substrate;

a light receiving sensor disposed above the substrate;

one or more light sources disposed above the substrate, the one or more light sources including a first light source and a second light source;

a first lens holder that is light-tight and includes a first lens, the first lens holder being disposed above the first light source, and the first lens being configured to direct light emitted by the first light source;

a second lens holder that is light-tight and includes a second lens, the second lens holder being disposed above the light receiving sensor and the second light source, and the second lens being configured to guide light received by the second lens onto the light receiving sensor; and

a transparent member disposed between the second lens and the light receiving sensor, and configured to:

transmitting the light guided by the second lens onto the light receiving sensor; and

reflecting light from a second light source onto the light receiving sensor,

wherein at least a portion of the first lens holder and at least a portion of the second lens holder are disposed between the first lens and the second lens.

16. The electronic device of claim 15, wherein the light receiving sensor and the one or more light sources are disposed directly on the substrate.

17. The electronic device as set forth in claim 15,

wherein the substrate is a first substrate,

wherein the electronic device further comprises a second substrate and a third substrate arranged above the first substrate,

wherein the light receiving sensor and the second light source are disposed above the second substrate, and

wherein the first light source is disposed above the third substrate.

18. The electronic device of claim 15, wherein a gap is provided between the first lens holder and the second lens holder.

19. The electronic device of claim 15, wherein the one or more first light sources and/or the one or more second light sources comprise at least one Vertical Cavity Surface Emitting Laser (VCSEL).

20. The electronic device according to claim 15, further comprising an antireflection film disposed on an incident surface of the transparent member, the incident surface being a surface of the transparent member on which the light guided by the second lens is incident.

21. The electronic device according to claim 20, further comprising a reflection portion arranged on a reflection surface of the transparent member, the reflection surface being opposite to a surface of the transparent member on which the light guided by the second lens is incident.

22. The electronic device of claim 15, wherein the transparent member is disposed directly over at least one of the one or more light sources and directly over the light receiving sensor.

23. The electronic device according to claim 15, further comprising an antireflection film disposed above the substrate between the first lens holder and the second lens holder.

24. The electronic device of claim 23, wherein the anti-reflective film is disposed directly on the substrate.

25. The electronic device of claim 15, further comprising a light barrier disposed between the first lens holder and the second lens holder.

26. The electronic device of claim 25, further comprising a light blocking pad member configured to contact the light blocking wall and to contact the substrate.

Technical Field

The present technology relates to a ranging module, a ranging method, and an electronic device, and more particularly, to a ranging module, a ranging method, and an electronic device that perform ranging using time of flight (ToF).

[ Cross-reference to related applications ]

This application claims priority from japanese prior patent application JP2018-013516, filed on 30/1/2018, the entire contents of which are incorporated herein by reference.

Background

A distance measurement method using time of flight (ToF) has been proposed in which a light emitting element emits light, a first light receiving unit receives measurement light as light reflected from an object, a second light receiving unit receives reference light transmitted through an optical path connecting the light emitting element and the second light receiving unit, and a distance to the object is measured based on a difference in light reception timing between the reference light and the measurement light (for example, see PTL 1).

[ list of cited documents ]

[ patent document ]

[PTL 1]

Japanese patent application laid-open No.2008-3075

Disclosure of Invention

[ problem ] to

However, in the technique disclosed in patent document 1, since the reference light and the measurement light are received by different light receiving units, the accuracy of distance measurement may be reduced due to, for example, the performance of each light receiving unit or variations in delay time of signals between each light receiving unit and other circuits.

The present technology has been made in consideration of the above problems, and it is desirable to improve the accuracy of ranging using ToF.

[ means for solving the problems ]

According to some aspects, there is provided an electronic device for detecting a distance from the electronic device to an external object, the device comprising: a substrate; a light receiving sensor disposed above the substrate; one or more light sources disposed above the substrate; a first lens configured to be disposed over a first light source of the one or more light sources and configured to direct light emitted by the first light source; a second lens arranged above the light receiving sensor and configured to guide light received by the second lens onto the light receiving sensor; and a transparent member disposed between the second lens and the light receiving sensor, and configured to: transmitting the light guided by the second lens onto the light receiving sensor; and reflecting light from at least one of the one or more light sources onto the light receiving sensor.

According to some aspects, there is provided an electronic device for detecting a distance from the electronic device to an external object, the device comprising: a substrate; a light receiving sensor disposed above the substrate; one or more light sources disposed above the substrate, the one or more light sources including a first light source and a second light source; a first lens holder that is light-tight and includes a first lens, the first lens holder being disposed above the first light source, and the first lens being configured to direct light emitted by the first light source; a second lens holder that is light-tight and includes a second lens, the second lens holder being disposed above the light receiving sensor and the second light source, and the second lens being configured to guide light received by the second lens onto the light receiving sensor; and a transparent member disposed between the second lens and the light receiving sensor, and configured to: transmitting the light guided by the second lens onto the light receiving sensor; and reflecting light from the second light source onto the light receiving sensor, wherein at least a portion of the first lens holder and at least a portion of the second lens holder are disposed between the first lens and the second lens.

According to the first to fourth embodiments of the present technology, the accuracy of ranging using ToF can be improved.

Drawings

Fig. 1 is a block diagram showing an example of the configuration of an electronic apparatus according to a first embodiment of the present technology.

Fig. 2 is a cross-sectional view schematically showing an example of the configuration of the distance measuring module shown in fig. 1.

Fig. 3 is a circuit diagram illustrating an example of the configuration of the light source unit shown in fig. 1.

Fig. 4 is a block diagram illustrating an example of the configuration of the ranging sensor shown in fig. 1.

Fig. 5 is a circuit diagram showing an example of the configuration of the pixel shown in fig. 4.

Fig. 6 is a block diagram showing an example of the configuration of the signal change detection circuit shown in fig. 1.

Fig. 7 is a block diagram showing an example of the configuration of the differentiating circuit shown in fig. 6.

Fig. 8 is a block diagram showing an example of the configuration of the time measurement circuit shown in fig. 1.

Fig. 9 is a timing diagram for explaining the operation of the ranging module shown in fig. 1.

Fig. 10 is a timing chart for explaining the operation of the light source unit and the light source control circuit.

Fig. 11 is a diagram schematically showing a potential state of an FD unit in a pixel.

Fig. 12 is a timing chart for explaining the operation of the time measurement circuit.

Fig. 13 is a diagram for explaining an effect obtained by using a differential signal.

Fig. 14 is a diagram for explaining an effect obtained by using a differential signal.

Fig. 15 is a timing chart for explaining a modification of the operation of the ranging module shown in fig. 1.

Fig. 16 is a diagram showing a first modification of the cover glass shown in fig. 2.

Fig. 17 is a diagram showing a second modification of the cover glass shown in fig. 2.

Fig. 18 is a diagram showing a first modification of the ranging module shown in fig. 2.

Fig. 19 is a diagram showing a second modification of the distance measuring module shown in fig. 2.

Fig. 20 is a circuit diagram showing a modification of the pixel.

Fig. 21 is a diagram schematically showing a potential state of an FD unit in the pixel shown in fig. 20.

Fig. 22 is a circuit diagram showing a first modification of the differentiating circuit shown in fig. 6.

Fig. 23 is a circuit diagram showing a second modification of the differentiating circuit shown in fig. 6.

Fig. 24 is a circuit diagram showing a third modification of the differentiating circuit shown in fig. 6.

Fig. 25 is a circuit diagram showing a fourth modification of the differentiating circuit shown in fig. 6.

Fig. 26 is a block diagram showing an example of the configuration of an electronic apparatus according to the second embodiment of the present technology.

Fig. 27 is a cross-sectional view schematically showing an example of the configuration of the distance measuring module shown in fig. 26.

Fig. 28 is a circuit diagram showing an example of the configuration of the light source unit shown in fig. 26.

Fig. 29 is a timing diagram for explaining the operation of the ranging module shown in fig. 26.

Fig. 30 is a circuit diagram showing a modification of the light source unit shown in fig. 26.

Fig. 31 is a diagram showing a first modification of the distance measuring module shown in fig. 27.

Fig. 32 is a diagram showing an example of combining the ranging module shown in fig. 31 into an electronic device.

Fig. 33 is a diagram showing an example in which the second modification of the ranging module shown in fig. 27 is incorporated in an electronic device.

Fig. 34 is a diagram showing a third modification of the distance measuring module shown in fig. 27.

Fig. 35 is a sectional view schematically showing an example of the configuration of a ranging module according to a third embodiment of the present technology.

Fig. 36 is a diagram showing an example of an irradiation range of the measurement-use emitted light.

Fig. 37 is a sectional view schematically showing an example of the configuration of a ranging module according to a fourth embodiment of the present technology.

Fig. 38 is a diagram showing an example of an irradiation range of the emission light for measurement.

Fig. 39 is a diagram showing an example of an irradiation range of the measurement-use emitted light.

Fig. 40 is a sectional view schematically showing an example of the configuration of a ranging module according to a fifth embodiment of the present technology.

Fig. 41 is a diagram showing an example of an irradiation range of the measurement-use emitted light.

Fig. 42 is a sectional view schematically showing an example of the configuration of a ranging module according to a sixth embodiment of the present technology.

Fig. 43 is a diagram showing an example of an irradiation range of the measurement-use emitted light.

Fig. 44 is a sectional view schematically showing an example of the configuration of a ranging module according to a seventh embodiment of the present technology.

Fig. 45 is a diagram showing an example of an irradiation range of the measurement-use emitted light.

Detailed Description

Hereinafter, embodiments of the present technology will be described in detail with reference to the accompanying drawings. Note that description will be made in the following order.

1. First embodiment (case of using a light source for reference light and a light source for measurement light together)

2. Modification of the first embodiment

3. Second embodiment (case where the light source for reference light and the light source for measurement light are separated)

4. Modification of the second embodiment

5. Third embodiment (case of using emission light components for measurement with different irradiation angles)

6. Fourth embodiment (case 1 of Using emitted light Components for measurement with different irradiation distances)

7. Fifth embodiment (case 2 using emission light components for measurement with different irradiation distances)

8. Sixth embodiment (case of using emitted light components for measurement with different irradiation angles and different irradiation distances)

9. Seventh embodiment (case where the number of light sources is increased or decreased depending on the measurement range)

10. Other modifications

<1. first embodiment >

First, a first embodiment of the present technology will be described with reference to fig. 1 to 15.

< example of configuration of electronic device 11 >

Fig. 1 shows an example of the configuration of an electronic apparatus 11 according to a first embodiment of the present technology.

The electronic device 11 has a distance measurement function of measuring a distance to the object 12 as a measurement target by using the ToF method. For example, the electronic device 11 may have only a ranging function or may have other functions. In the latter case, the electronic device 11 is a portable electronic device, such as a smart phone, a mobile phone or a digital camera.

The electronic device 11 includes an operation unit 21, a control unit 22, a ranging module 23, a display unit 24, and a storage unit 25.

The operation unit 21 includes various operation devices such as switches, buttons, a keyboard, and a touch panel for operating the electronic apparatus 11. The operation unit 21 supplies an operation signal indicating the operation content to the control unit 22.

The control unit 22 includes a processor such as a Central Processing Unit (CPU). For example, the control unit 22 controls the units of the electronic apparatus 11 based on an operation signal from the operation unit 21, or executes a program stored in the storage unit 25 to execute predetermined processing. For example, the control unit 22 performs processing based on the measurement result of the ranging module 23.

The distance measurement module 23 is a module that measures the distance to the object 12. The distance measurement module 23 includes a light source unit 31, a light source lens 32, an imaging lens 33, and a distance measurement sensor 34.

The light source unit 31 emits light as pulsed light under the control of the light source control circuit 42 of the distance measuring sensor 34. A part of the emitted light is reflected within the ranging module 23 and is incident on the light receiving unit 43 of the ranging sensor 34. In addition, a part of the emitted light passes through the light source lens 32, is irradiated to the object 12, is reflected from the object 12, passes through the imaging lens 33, and is incident on the light receiving unit 43.

Note that light having an arbitrary wavelength such as visible light or infrared light is used as the emitted light. For example, the wavelength of the emitted light is arbitrarily selected according to the use of the ranging module 23.

Hereinafter, the light reflected within the ranging module 23 is referred to as reference light, and the light reflected from the object 12 is referred to as measurement light.

The light source lens 32 is a lens for the light source unit 31, and is used, for example, to focus or shape light emitted from the light source unit 31.

The imaging lens 33 is a lens for the light receiving unit 43, and forms an image of the measurement light from the object 12 on a light receiving surface of the light receiving unit 43.

The distance measuring sensor 34 is a sensor that measures the distance to the object 12. The ranging sensor 34 includes a timing control circuit 41, a light source control circuit 42, a light receiving unit 43, a signal change detection circuit 44, and a time measurement circuit 45.

The timing control circuit 41 controls the ranging timing of the ranging module 23 under the control of the control unit 22. For example, the timing control circuit 41 supplies an emission control signal for controlling the emission timing of light from the light source unit 31 to the light source control circuit 42. Further, for example, the timing control circuit 41 supplies a clock signal, a start signal for starting measurement of the ranging time, and a stop signal for stopping measurement of the ranging time to the time measurement circuit 45.

The light source control circuit 42 controls, for example, the emission timing and the amount of emitted light of the light from the light source unit 31.

The light receiving unit 43 includes a plurality of pixels in a two-dimensional configuration described below. Each pixel of the light receiving unit 43 receives, for example, reference light and measurement light, and supplies a pixel signal corresponding to the amount of received light to the signal change detection circuit 44.

The signal change detection circuit 44 detects a timing (change timing) at which the pixel signal is largely changed by receiving the reference light or the measurement light based on the determination level supplied from the outside, and supplies a signal indicating the detection result to the time measurement circuit 45.

The time measurement circuit 45 detects a ranging time, which is a differential time between the reference light detection time (light reception time) of each pixel of the light reception unit 43 and the measurement light detection time (light reception time) of each pixel, based on the change timing of the pixel signal detected by the signal change detection circuit 44. The time measurement circuit 45 supplies a signal indicating the detection result of the ranging time of each pixel to the control unit 22.

The display unit 24 includes a display device such as a display. The display unit 24 displays, for example, measurement results of distances from the object 12 to the respective units or an operation screen for ranging.

The storage unit 25 stores, for example, data or programs necessary for the processing of the control unit 22 and data obtained by the processing of the control unit 22. For example, the storage unit 25 stores three-dimensional distance data indicating the measurement results of the distances from the object 12 to the respective cells.

< example of configuration of distance measuring module 23 >

Fig. 2 is a cross-sectional view schematically showing an example of the configuration of the distance measuring module 23 shown in fig. 1.

The distance measuring module 23 includes a substrate 61, a lens holder 62, a cover glass 63, and a lens barrel 64, in addition to the light source unit 31, the light source lens 32, the imaging lens 33, and the distance measuring sensor 34.

For example, a Printed Wiring Board (PWB) or a Printed Circuit Board (PCB) on which components including capacitors are mounted is used as the substrate 61. The light source unit 31, the distance measuring sensor 34, and the lens holder 62 are mounted on a mounting surface of the substrate 61. A predetermined gap is provided between the light source unit 31 and the distance measuring sensor 34. In addition, the light source unit 31 is disposed substantially at the center of the circular opening of the lens holder 62 for mounting the light source lens 32. According to some embodiments, the lens holder 62 (and any other examples of lens holders described herein) may be formed of or may contain one or more plastics, and may be opaque or opaque.

A cover glass 63 as a transparent plate is attached to (supported by) the lens holder 62. The cover glass 63 (and any other examples of cover glasses described herein) may be formed from or may contain, for example, borosilicate glass, quartz glass, crystal, sapphire, CZ (Czochralski) silicon, germanium, aluminosilicate glass, or combinations thereof. The cover glass 63 faces the mounting surface of the substrate 61 and is disposed parallel to the mounting surface of the substrate 61. Further, the cover glass 63 is provided above (on the side where light is emitted from the light source unit 31) the light source unit 31 and the distance measuring sensor 34 via a gap, and covers (the light receiving unit 43 of) the light source unit 31 and the distance measuring sensor 34 in its entirety.

The space of the light source unit 31 and the distance measuring sensor 34 included between the mounting surface of the substrate 61 and the reflection surface of the cover glass 63 facing the mounting surface of the substrate 61 is sealed by, for example, a lens holder 62 and resin. Therefore, for example, dust or dirt is prevented from being mixed into the space where the light source unit 31 and the distance measuring sensor 34 are present. In addition, the space is filled with air or nitrogen, for example, if necessary. For example, in the case where the space is filled with nitrogen and the ranging module 23 operates at a low temperature, the occurrence of dew condensation is prevented. For example, in the case where the light source unit 31 emits infrared light, the space is vacuum.

An antireflection film (AR coating film) is formed by vapor deposition on the incidence surface of the cover glass 63 on which the measurement light is incident and the reflection surface opposite to the incidence surface. For example, a film obtained by forming a thin film layer made of a material such as magnesium fluoride, silicon, or silicon dioxide using multilayer coating is used as the antireflection film. Therefore, the reflectance of the cover glass 63 with respect to visible light can be reduced from, for example, 4% to 7% to 1% or less, and occurrence of black floating (flare) and double images (ghost) in the light receiving unit 43 can be prevented. Further, the reflectance of the cover glass 63 is set to, for example, 0.5% or more so that the amount of reference light is sufficient.

The light source lens 32 is attached to (supported by) the lens holder 62, and is disposed above the light source unit 31 on the incident surface of the cover glass 63. The optical axis of the light source unit 31 coincides with the optical axis of the light source lens 32.

The lens barrel 64 is attached to (supported by) the lens holder 62, and is disposed above the distance measuring sensor 34 on the incident surface of the cover glass 63. In addition, the imaging lens 33 is attached to (supported by) the lens barrel 64, and is disposed above the range sensor 34.

A part of the light emitted from the light source unit 31 is reflected from the cover glass 63, and a part of the reference light as reflected light is incident on the light receiving unit 43 of the distance measuring sensor 34. In contrast, a part of the emitted light passes through the cover glass 63 and the light source lens 32, and the object 12 is irradiated with light. Then, a part of the measurement light as the light reflected from the object 12 is focused on the light receiving surface of the light receiving unit 43 of the ranging sensor 34 by the imaging lens 33.

< example of construction of light Source Unit 31 >

Fig. 3 shows a configuration example of the light source unit 31 shown in fig. 1.

The light source unit 31 includes a light emitting element 101, a driver 102, a current source 103, and a switch 104.

The light emitting element 101 is a Light Emitting Diode (LED) or a Laser Diode (LD). The light emitting element 101 has an anode to which a voltage VLED is supplied and a cathode connected to one end of a current source 103. The other terminal of the current source 103 is connected to ground through a switch 104.

The driver 102 supplies a control signal Pb to the current source 103 based on the control signal Pa from the light source control circuit 42 to drive the current source 103.

The current source 103 is, for example, a Metal Oxide Semiconductor (MOS) transistor, and supplies a current having a predetermined value.

The switch 104 is, for example, a MOS transistor, and turns on and off based on a control signal Pc from the light source control circuit 42.

< example of configuration of distance measuring sensor 34 >

Fig. 4 shows an example of the configuration of the distance measuring sensor 34 shown in fig. 1.

The ranging sensor 34 includes a row selection circuit 131 and a column amplification circuit 132 in addition to the timing control circuit 41 to the time measurement circuit 45 shown in fig. 1.

The timing control circuit 41 generates a clock signal under the control of the control unit 22, supplies the clock signal to the row selection circuit 131, generates an emission control signal, supplies the emission control signal to the light source control circuit 42, generates a start signal and a stop signal, and supplies the start signal and the stop signal to the time measurement circuit 45.

The light source control circuit 42 generates a control signal Pa and a control signal Pc based on the emission control signal, and supplies the control signal Pa and the control signal Pc to the light source unit 31.

In the light receiving unit 43, the pixels P are two-dimensionally arranged. Each pixel P receives the reference light and the measurement light independently.

The row selection circuit 131 generates a control signal for each pixel P of the light receiving unit 43 based on a clock signal from the timing control circuit 41, and supplies the control signal to drive all the pixels P at the same time or to drive, for example, each row of the pixels P.

A pixel signal output from each pixel P in a pixel row selected by a control signal supplied from the row selection circuit 131 is supplied to the column amplification circuit 132 via a vertical signal line VSL corresponding to each pixel column.

The column amplification circuit 132 amplifies the pixel signal of each pixel column, and supplies the amplified pixel signal to the signal change detection circuit 44.

The signal change detection circuit 44 detects a timing at which the pixel signal is largely changed by receiving the reference light or the measurement light based on the determination level supplied from the outside, and supplies a change detection signal to the time measurement circuit 45.

The time measurement circuit 45 detects a distance measurement time, which is a difference time between the reference light detection timing of each pixel P and the measurement light detection timing of each pixel P of the light receiving unit 43, based on the change detection signal from the signal change detection circuit 44. The time measurement circuit 45 supplies a signal indicating the detection result of the ranging time of each pixel to the control unit 22.

< example of Pixel P >

Fig. 5 shows an example of the configuration of the pixel P of the light receiving unit 43 shown in fig. 4.

The pixel P includes a photoelectric conversion element 151 as a light receiving element, a readout transistor 152, a reset transistor 153, a Floating Diffusion (FD) unit 154, an amplification transistor 155, and a selection transistor 156. The pixel P is a 4-transistor pixel. Note that in this example, each transistor of the pixel P is an N-type MOS transistor.

In addition, for example, a plurality of signal lines are provided for each row of the pixels P. Then, the control signal TG, the control signal RS, and the control signal SEL are supplied from the row selection circuit 131 shown in fig. 4 to each pixel P via a plurality of signal lines. Since each transistor of the pixel P is an N-type MOS transistor, a high level state (e.g., power supply voltage VDD) of these control signals is an active state, and a low level state (e.g., ground level) is an inactive state.

Note that the control signal in the active state is hereinafter also referred to as a control signal in the on state, and the control signal in the inactive state is hereinafter also referred to as a control signal in the off state.

The photoelectric conversion element 151 is, for example, a PN junction photodiode. The photoelectric conversion element 151 generates electric charges corresponding to the amount of received light and accumulates the electric charges.

The readout transistor 152 is connected between the photoelectric conversion element 151 and the FD unit 154. The control signal TG is applied to the gate electrode of the readout transistor 152. When the control signal TG is turned on, the readout transistor 152 becomes an on state, and the electric charges accumulated in the photoelectric conversion element 151 are transferred to the FD unit 154 via the readout transistor 152.

The reset transistor 153 is connected between the power supply VDD and the FD unit 154. The control signal RS is applied to the gate electrode of the reset transistor 153. When the control signal RS is turned on, the reset transistor 153 becomes an on state, and the potential of the FD unit 154 is reset to the level of the power supply voltage VDD.

The FD unit 154 converts the accumulated charges into a voltage signal (charge-voltage conversion) and outputs the voltage signal.

The amplification transistor 155 has a gate electrode connected to the FD unit 154 and a drain electrode connected to the power supply VDD, and is an input unit of a readout circuit or a so-called source follower circuit for reading out the electric charges held in the FD unit 154. That is, the amplifying transistor 155 has a source electrode connected to the vertical signal line VSL via the selection transistor 156, and thus forms an output circuit 171 as a source follower circuit including a current source 161 having one end connected to the vertical signal line VSL.

The selection transistor 156 is connected between the source electrode of the amplification transistor 155 and the vertical signal line VSL. A control signal SEL is applied to the gate electrode of the selection transistor 156. When the control signal SEL is turned on, the selection transistor 156 becomes an on state, and the pixel P is in a selected state. Then, the pixel signal output from the amplifying transistor 155 is output to the vertical signal line VSL via the selection transistor 156.

Note that an avalanche amplification type photodiode may be used as the photoelectric conversion element 151. In the case where an avalanche amplification type photodiode can be used as the photoelectric conversion element 151, for example, the readout transistor 152 can be eliminated.

In addition, changing each transistor to an on state is hereinafter also referred to as an on transistor, and changing each transistor to a non-on state is hereinafter also referred to as an off transistor.

< example of configuration of Signal Change detection Circuit 44 >

Fig. 6 shows an example of a configuration of a circuit corresponding to one pixel column of the light receiving unit 43 in the signal change detection circuit 44 shown in fig. 4.

The signal change detection circuit 44 includes a differentiation circuit 201 and a comparator 202.

The differentiating circuit 201 differentiates the pixel signal from each pixel P, and supplies the obtained differentiated signal to the comparator 202.

The comparator 202 compares the differential signal with a determination level defined by the power supply 211 to detect a timing when a large change occurs in the pixel signal (change timing). The comparator 202 supplies a change detection signal indicating a detection result of a change timing of the pixel signal to the time measurement circuit 45.

< example of the configuration of the differentiating circuit 201 >

Fig. 7 shows an example of the configuration of the differentiating circuit 201 shown in fig. 6.

The differentiating circuit 201 includes a delay circuit 231 and a subtracting circuit 232.

The delay circuit 231 delays the pixel signal supplied from the pixel P by a predetermined time to generate a delayed signal, and supplies the delayed signal to the subtraction circuit 232.

The subtraction circuit 232 calculates a difference between the pixel signal and the delay signal to generate a differential signal indicating an amount of change in the pixel signal, and supplies the differential signal to the comparator 202.

< example of the configuration of the time measuring circuit 45 >

Fig. 8 shows an example of the configuration of a circuit corresponding to one pixel column of the light receiving unit 43 in the time measurement circuit 45 shown in fig. 4.

The time measurement circuit 45 includes a flip-flop circuit 261, an AND circuit 262, AND a counter 263.

The flip-flop circuit 261 changes the level of the output signal every time the change detection signal is input from the signal change detection circuit 44 in synchronization with the clock signal CK supplied from the timing control circuit 41. That is, when the output signal of the flip-flop circuit 261 is at a Low level and the change detection signal is input, the output signal becomes a Hi level. When the output signal is at the Hi level and the change detection signal is input, the output signal becomes the Low level.

The AND circuit 262 outputs an output signal TCK indicating a logical product of the output signal of the flip-flop circuit 261 AND the clock signal CK of the timing control circuit 41. That is, when the output signal of the flip-flop circuit 261 is at the Hi level, the AND circuit 262 outputs the output signal TCK in synchronization with the clock signal CK.

The counter 263 counts the number of clocks in the output signal TCK of the AND circuit 262 during a period from the input of the start signal from the timing control circuit 41 to the input of the stop signal, AND supplies a count signal Dcount indicating the count value to the control unit 22.

< operation of ranging module 23 >

Next, the operation of the ranging module 23 will be described with reference to FIGS. 9-14.

Fig. 9 is a timing diagram illustrating the operation of the ranging module 23. Specifically, fig. 9 is a timing chart showing light emitted from the light source unit 31, reflected light (reference light and measurement light) received by the pixel P, control signals TG and RS output from the row selection circuit 131, a pixel signal output from the pixel P, a differential signal output from the differential circuit 201, a change detection signal output from the signal change detection circuit 44, and a counting period of the counter 263.

At time t0, the row selection circuit 131 of the light receiving unit 43 turns on the control signal TG and turns off the control signal RS. Then, the readout transistor 152 in each pixel P of the light receiving unit 43 is turned on, the reset transistor 153 is turned off, and the light receiving period of each pixel P starts. Then, the electric charges generated by the photoelectric conversion elements 151 are transferred to the FD unit 154 via the readout transistor 152, and are accumulated in the FD unit 154.

During a period from the time t1 to a time t2, the light source unit 31 emits light under the control of the light source control circuit 42.

Here, an operation example of the light source unit 31 and the light source control circuit 42 will be described with reference to fig. 10.

Fig. 10 is a timing chart showing an operation example of the light source unit 31 and the light source control circuit 42 in the vicinity of the period from the time t1 to the time t2 shown in fig. 9.

At time t11 before time t1, the light source control circuit 42 changes the control signal Pc from the Low level to the Hi level. Then, the switch 104 of the light source unit 31 changes from the off state to the on state.

At time t1, the light source control circuit 42 changes the control signal Pa from the Low level to the Hi level. The driver 102 outputs a control signal Pb based on the control signal Pa. The control signal Pb rises later than the control signal Pa depending on, for example, the responsiveness of the driver 102 and the current source 103 or the load capacity of the light emitting element 101. The current source 103 supplies a current in response to the control signal Pb. Then, the light emitting element 101 starts light emission (emission of light).

A part of the light emitted from the light emitting element 101 is reflected from the cover glass 63. A part of the emitted light passes through the light source lens 32, and the object 12 is irradiated with light.

At time t2, the light source control circuit 42 changes the control signal Pc from the Hi level to the Low level. Then, the switch 104 is switched from the on state to the off state at a high speed (switched off at a high speed). Then, the light emitting element 101 stops light emission (emission of light).

In this way, the pulse width of the light emitted from the light source unit 31 is controlled to Tpw. In addition, the amount of light at the rear end of the emitted light changes rapidly. Therefore, for example, the distance to the object 12 is measured using the rear end of the reference light reflected from the cover glass 63 and the rear end of the measurement light reflected from the object 12. As a result, the accuracy of ranging can be improved.

At time t12, the light source control circuit 42 changes the control signal Pa from the Hi level to the Low level. The driver 102 stops the output of the control signal Pb based on the control signal Pa. The control signal Pb falls later than the control signal Pa depending on, for example, the responsiveness of the driver 102 and the current source 103 or the load capacity of the light emitting element 101.

Returning to fig. 9, during a period from time t3 to time t4, the pixel P of the light receiving unit 43 receives the reference light, which is the reflected light obtained by reflection of the emitted light from the cover glass 63.

Then, during a period from time t5 to time t6, the pixel P of the light receiving unit 43 receives measurement light, which is reflected light obtained by reflection of the emitted light from the object 12.

Fig. 11 schematically shows the potential state of the FD unit 154 of the pixel P at this time.

Since background light is incident on the photoelectric conversion element 151 in addition to effective light (reference light or measurement light), the photoelectric conversion element 151 generates electric charges by the effective light and the background light. Since the readout transistor 152 is turned on and the reset transistor 153 is turned off at time t0, the electric charges generated by the photoelectric conversion element 151 are transferred to the FD unit 154 and then accumulated in the FD unit 154.

Therefore, after time t0, the electric charges generated in the photoelectric conversion element 151 by the background light and the effective light are continuously transferred to the FD unit 154. The FD unit 154 continuously accumulates charges without being reset regardless of the sampling timing of the pixel signal. The output circuit 171 outputs a pixel signal indicating a voltage based on the electric charge accumulated in the FD unit 154. That is, the pixel P performs a charge integration operation, and the pixel signal becomes an integrated signal.

Here, the amount of background light is substantially constant. As shown in fig. 9, after the readout transistor 152 is turned on and the reset transistor 153 is turned off at time t0, the background light component of the pixel signal slowly increases in a substantially linear shape.

In contrast, the effective light component of the pixel signal greatly increases during the period from the time t3 when the reference light is received to the time t4 and during the period from the time t5 when the measurement light is received to the time t 6.

Therefore, the differential signal output from the differentiating circuit 201 of the signal change detecting circuit 44 greatly changes during the period from the time t3 to the time t4 and the period from the time t5 to the time t6, and is substantially constant during the other periods.

When the differentiated signal is lower than the determination level at time ta between time t3 and time t4, the signal change detection circuit 44 starts output of the change detection signal. Then, when the reception of the reference light ends and the differential signal is equal to or higher than the determination level at time t4, the signal change detection circuit 44 stops the output of the change detection signal. That is, in this example, the rise of the reference light is detected.

Further, when the differentiated signal is lower than the determination level at a time tb between the time t5 and the time t6, the signal change detection circuit 44 starts the output of the change detection signal. Then, when the reception of the measurement light ends and the differential signal is equal to or higher than the determination level at time t6, the signal change detection circuit 44 stops the output of the change detection signal. That is, in this example, a rise in the measurement light is detected.

Note that, for example, when the differentiated signal is equal to or higher than the determination level at the time t4 and the time t6, the signal change detection circuit 44 may output a pulse-like change detection signal. In this case, a drop in the reference light and the measurement light is detected.

Here, the operation of the time measurement circuit 45 shown in fig. 8 around the period from the time ta to the time t6 shown in fig. 9 will be described in detail with reference to fig. 12.

Fig. 12 is a timing chart showing a change detection signal output from the signal change detection circuit 44, a clock signal CK output from the timing control circuit 41, an F/F output signal from the flip-flop circuit 261, an output signal TCK from the AND circuit 262, AND a count period of the counter 263.

At time ta, as described above with reference to fig. 9, the output of the change detection signal is started in correspondence with the reception of the reference light. Then, the F/F output signal changes from the Low level to the Hi level, and the output of the output signal TCK starts.

At time t4, as described above with reference to fig. 9, the output of the change detection signal is stopped in correspondence with the stop of the reception of the reference light.

At time tb, as described above with reference to fig. 9, the output of the change detection signal is started in accordance with the reception of the measurement light. Then, the F/F output signal changes from the Hi level to the Low level, and the output of the output signal TCK stops.

For example, at time t1 when light is emitted, the timing control circuit 41 supplies a start signal to the counter 263. Then, the counter 263 starts counting the number of clocks in the output signal TCK. However, the output signal TCK is actually output during a period from the time ta to the time tb, and the counter 263 counts the number of clocks in the output signal TCK during the period from the time ta to the time tb.

Then, before the subsequent light emission, the timing control circuit 41 supplies a stop signal to the counter 263. Then, the counter 263 stops counting the number of clocks in the output signal TCK, and supplies a count signal Dcount indicating a count value up to that time to the control unit 22.

The count value of the count signal Dcount is the count value of the number of clocks in the output signal TCK during the count period from the time ta to the time tb. In addition, the clock interval of the output signal TCK is the same as the clock interval of the clock signal CK. Therefore, the control unit 22 calculates the ranging time as the period from the time ta to the time tb based on the count value of the count signal Dcount and the clock interval of the clock signal CK. That is, the ranging time is substantially equal to the time from when the pixel P receives the reference light to when the pixel P receives the measurement light.

Then, the control unit 22 calculates the distance measurement time for each pixel P of the light receiving unit 43, and calculates the distance to the object based on the calculated distance measurement time.

Here, the response characteristics of the pixel signals of the pixels P of the light receiving unit 43 are different from each other.

For example, the response characteristic of the pixel signal of each pixel P varies according to the resistance component of the vertical signal line VSL between each pixel P and the column amplification circuit 132. For example, the pixel P on the upper portion of the light receiving unit 43 is distant from the column amplification circuit 132, and the resistance value of the vertical signal line VSL is large. Therefore, the delay time of the pixel signal of the pixel P is long. In contrast, the pixel P in the lower portion of the light receiving unit 43 is close to the column amplification circuit 132, and the resistance value of the vertical signal line VSL is small. Therefore, the delay time of the pixel signal of the pixel P is short. In addition, a variation in response characteristics of the pixel signal in the vertical signal line VSL increases due to, for example, a variation in power supply voltage, a variation in ambient temperature, or a variation in manufacturing. For example, the variation of the response characteristic of the pixel signal between the pixels P is in the range of 10nS to 100nS and is converted into the range of 1.5m to 15m in distance.

In addition, for example, the circuit characteristics of the column amplification circuit 132 and the signal change detection circuit 44 change according to the pixel column.

Further, for example, the operation of the time measurement circuit 45 varies depending on the pixel column. For example, the delay time of the clock signal CK varies according to the difference in wiring length between the timing control circuit 41 and the time measurement circuit 45 of each pixel column, and the operation of the time measurement circuit 45 varies according to the pixel column.

In contrast, a configuration in which the same pixel P receives the reference light and the measurement light and calculates the difference between the detection time of the reference light and the detection time of the measurement light makes it possible to mitigate the influence of variations in response characteristics and circuit characteristics between pixels P. Then, the distance to the object 12 is measured based on the ranging time between the detection time of the reference light and the detection time of the measurement light. Therefore, the accuracy of ranging is improved.

At time t6, the output of the change detection signal is stopped corresponding to the stop of the reception of the measurement light as described above with reference to fig. 9.

Returning to fig. 9, then, the control signal TG is turned off, the control signal RS is turned on, and the potential of the FD unit 154 is reset, which is not shown in the figure. Then, the processing after time t0 is repeatedly executed.

Here, the effect of the integration operation is explained with reference to fig. 13 and 14, in which the electric charges generated by the photoelectric conversion element 151 are continuously accumulated in the FD unit 154 regardless of the sampling timing of the pixel signal and the pixel signal is output based on the accumulated electric charges (integrated value of the electric charges).

A of fig. 13 shows a time-series change of the pixel signal in the case where the integration operation is not performed. The horizontal axis of the graph represents time, and the vertical axis represents the level of the signal and the light amount. The waveform S1 represents the waveform of the pixel signal, and the waveform S2 represents the waveform of the measurement light. Hereinafter, the average level of the background light component contained in the pixel signal S1 is denoted by L1. The period from the time t31 to the time t36 is a time when the signal change detection circuit 44 detects a change in the pixel signal.

The amplitude of the pixel signal S1 is drastically changed by random noise, which is mainly light shot noise contained in the background light.

Here, in the period from the time t33 to the time t34, in the case of receiving the measurement light S2 whose amount is substantially the same as the average level of the background light, the level of the pixel signal S1 slightly increases as a whole. However, since the components of the measurement light S2 and the background light contained in the pixel signal S1 are substantially at the same level, it is difficult to accurately detect the reception timing of the measurement light S2 using the sample value of the pixel signal S1 during the period from the time t31 to the time t36 as shown in fig. 13.

In contrast, B of fig. 13 shows a time-series change of the pixel signal and the differential signal in the case where the integration operation is performed. The horizontal axis of the graph represents time and the vertical axis represents signal level. The waveform S3 represents a waveform of the pixel signal (integrated signal), and the waveform S4 represents a waveform of a differential signal of the pixel signal S3. Hereinafter, the average level of the background light component contained in the differential signal S4 is denoted by L2.

In the pixel signal S3, variations of random noise contained in the background light are averaged and prevented by integration of the background light component. As a result, the pixel signal S3 slowly increases.

In contrast, during the period from the time t33 to the time t34, the amount of change in the differential signal S4 significantly changes by the reception of the measurement light. Then, the peak value of the differentiated signal S4 is approximately twice the signal level L2, and at the time tc between the time t33 and the time t34, the differentiated signal S4 is higher than the determination level Lth. Then, at time t34, reception of the measurement light S2 is detected.

In this way, even in the case where the amount of the measurement light is significantly smaller than the amount of the background light, the reception timing of the measurement light can be accurately detected by using the integration signal S3 and the differentiation signal S4.

Fig. 14 shows an example of a pixel signal as an integrated signal and a differential signal of the pixel signal. The horizontal axis of the graph represents time and the vertical axis represents signal level. Waveforms Sp1 to Sp3 indicate pixel signals. Waveforms Sd1 to Sd3 represent differential signals of the pixel signals Sp1 to Sp 3. The waveform Sb represents the waveform of the background light.

Note that, in this example, it is assumed that the measurement light is received during a period from a time slightly before the time t41 to a time slightly before the time t 44. In addition, it is assumed that the amounts of the measurement lights are different from each other and satisfy the following relationship: the pixel signal Sp1> the pixel signal Sp2> the pixel signal Sp 3.

First, a case will be described in which the pixel signals Sp1 to Sp3 and the determination level Lth1 are used to detect the reception of measurement light when the level of the pixel signal rises due to the measurement light.

In the case of using the pixel signal Sp1, at the time t42, the pixel signal Sp1 is higher than the determination level Lth1, and the reception of the measurement light is detected. In the case of using the pixel signal Sp2, at the time t43, the pixel signal Sp2 is higher than the determination level Lth1, and the reception of the measurement light is detected. In contrast, in the case of using the pixel signal Sp3, the pixel signal Sp3 is not higher than the determination level Lth 1. Therefore, the reception of the measurement light is not detected.

Next, a case will be described in which the pixel signals Sp1 to Sp3 and the determination level Lth1 are used to detect the reception of measurement light when the level of the pixel signal drops due to the measurement light.

In the case of using the pixel signal Sp1, at the time t45, the pixel signal Sp1 is equal to or lower than the determination level Lth1, and the reception of the measurement light is detected. In the case of using the pixel signal Sp2, at the time t46, the pixel signal Sp2 is equal to or lower than the determination level Lth1, and the reception of the measurement light is detected. In contrast, in the case of using the pixel signal Sp3, the pixel signal Sp3 is not higher than the determination level Lth 1. Therefore, the reception of the measurement light is not detected.

In this way, in the case of using the pixel signals Sp1 to Sp3 as the integration signals, the detection timing changes depending on the amount of the measurement light, or the measurement light is not detected depending on the amount of the measurement light.

Next, a case will be described in which the reception of the measurement light is detected using the differential signals Sd1 to Sd3 and the determination level Lth2 when the level of the differential signal rises due to the measurement light.

In the case of using the differential signals Sd1 to Sd3, at time t41, the differential signals Sd1 to Sd3 are all higher than the determination level Lth2, and the reception of the measurement light is detected.

Next, a case will be described in which the reception of the measurement light is detected using the differential signals Sd1 to Sd3 and the determination level Lth3 when the level of the differential signal decreases due to the measurement light.

In the case of using the differential signals Sd1 to Sd3, at time t44, the differential signals Sd1 to Sd3 are equal to or lower than the determination level Lth3, and reception of the measurement light is detected.

In this way, reception of the measurement light can be detected at substantially the same timing regardless of the amount of the measurement light by using the differential signals Sd1 to Sd 3.

The above configuration makes it possible to improve the accuracy of ranging using ToF. That is, variations in the detection result of the distance to the object 12 according to the amount of measurement light or the position of the pixel P in the light receiving unit 43 can be reduced. Further, even in the case where the amount of measurement light is extremely small or the amount of background light is large, the distance of the object 12 can be accurately detected.

In addition, since the cover glass 63 is made of glass or plastic and is less likely to deform according to temperature, the distance can be stably measured with high accuracy regardless of temperature change.

Further, as the cover glass 63, for example, a cover glass on the market may be used without being processed. Therefore, the cover glass 63 can be easily obtained at low cost. In addition, for example, the ranging module 23 may be formed only by adding the light source unit 31 and the lens 32 for a light source to a module having a structure according to the related art. Further, the required assembly accuracy level of the lens 32 for the light source is lower than that of the lens 33 for imaging. Further, a dedicated light receiving unit for reference light is not required to be provided. Therefore, the ranging module 23 can prevent an increase in the number of materials and manufacturing costs and an increase in size, as compared to the ranging module according to the related art.

< example of Performance of ranging Module 23 >

Next, an example of the performance of the ranging module 23 will be explained.

The ranging resolution of the ranging module 23 is determined by the period of the clock signal CK of the timing control circuit 41, and the maximum ranging range is determined by the period of the clock signal CK and the maximum count value of the counter 263 in the time measurement circuit 45.

For example, in the case of preventing a collision of a vehicle using the ranging module 23, the accuracy of ranging is not required to be high. Therefore, for example, the period of the clock signal CK is set to 200 picoseconds, and the ranging resolution is set to 30 mm. In this case, in the case of setting the maximum count value of the counter 263 to 100 counts, the maximum ranging range is 3m and the maximum count time is 20 nanoseconds. In the case where the maximum count value of the counter 263 is set to 1,000 counts, the maximum ranging range is 30m and the maximum count time is 200 nanoseconds.

In contrast, for example, in the case of creating architectural design drawing data requiring accurate 3D data or creating a 3D drawing for a bronze image or a doll, higher distance resolution is required. Therefore, for example, the period of the clock signal CK is set to 20 picoseconds, and the ranging resolution is set to 3 mm. In this case, in the case of setting the maximum count value of the counter 263 to 100 counts, the maximum ranging range is 0.3m and the maximum count time is 20 nanoseconds. In the case where the maximum count value of the counter 263 is set to 1,000 counts, the maximum ranging range is 3m and the maximum count time is 200 nanoseconds.

In addition, for example, in the case of detecting the object 12 at a longer distance, the period of the clock signal CK is set to 2 nanoseconds and the maximum count value of the counter 263 is set to 1,000 counts. In this case, the ranging resolution is 300mm, the maximum ranging range is 300m, and the maximum count time is 2 microseconds.

Here, it is necessary to increase the amount of emitted light to irradiate a distant object with the emitted light. For example, in the case where the pulse width Tpw of the emitted light is set to 20 nanoseconds, the amount of the emitted light is 100 times as large as that in the case where the pulse width Tpw is set to 200 picoseconds. In contrast, since the amount of emitted light is attenuated by (1/square root of the flight distance) times, the irradiation distance of the emitted light is about 10 times as much as in the comparative example.

In contrast, in the case where the pulse width Tpw increases and the amount of emitted light increases, it is assumed that the amount of reference light is too large and the FD unit 154 is saturated when the reference light is received, which makes it difficult to measure the distance.

Here, a countermeasure example of the saturation of the FD unit 154 by the reference light will be described with reference to fig. 15.

Fig. 15 is a timing chart showing a modification of the operation of the ranging module 23.

The timing chart shown in fig. 15 differs from the timing chart shown in fig. 9 in processing during reception of measurement light from reception of reference light.

Specifically, after the reception of the reference light is ended at time t4, the control signal RS is turned on at time t 61. Then, the electric charge in the FD unit 154 is transferred to the power supply VDD, and the potential of the FD unit 154 is reset.

Then, at time t62, the control signal RS is turned off, and the charge accumulation to the FD unit 154 is restored.

Therefore, even in the case where the FD unit 154 is saturated with the reference light, since the FD unit 154 is reset before receiving the measurement light, the reception of the measurement light can be detected.

However, in this method, it is difficult to detect the reception of the measurement light during the period from the time t1 to the time t 62. However, as described above, since this method aims to increase the amount of emitted light and measure the distance to the distant object 12, there is no practical problem.

Note that, in any case, the pulse width Tpw of the emitted light is set to be equal to or smaller than the period of the clock signal CK to prevent the period of light emission from being lengthened during the output of the plurality of clock signals CK. As a result, the variation of the ranging result can be significantly reduced.

<2. variation of the first embodiment >

Next, a modification of the first embodiment of the present technology will be described with reference to fig. 16 to 25.

< modification of cover glass 63 >

First, a modification of the cover glass 63 will be explained with reference to fig. 16 and 17.

Fig. 16 shows an example of the structure of a cover glass 63a as a first modification of the cover glass 63.

In the cover glass 63a, a reflection portion 301a is provided between the light source unit 31 and the distance measuring sensor 34. The reflection portion 301a is provided in the vicinity of a region where the reference light incident on the light receiving unit 43 of the distance measuring sensor 34 is reflected. In the reflection portion 301a, no antireflection film is provided on the incident surface and the reflection surface of the cover glass 63 a.

Therefore, the amount of light reflected from the reflection portion 301a is larger than that in the case where the antireflection film is provided. As a result, the amount of the reference light incident on the light receiving unit 43 of the distance measuring sensor 34 increases, and the detection accuracy of the reference light is improved.

In the reflection portion 301a, at least one of the incident surface and the reflection surface of the cover glass 63a may be processed to have a rough glass shape. In this case, since the reference light reflected from the reflection portion 301a is diffused, the reference light is reliably incident on the entire light receiving unit 43 of the distance measuring sensor 34.

Fig. 17 shows an example of the structure of a cover glass 63b as a second modification of the cover glass 63.

In the cover glass 63b, the reflection portion 301b is provided above the light source unit 31. The reflection portion 301b is disposed so as to surround the light source unit 31 and its periphery. In the reflection portion 301b, no antireflection film is provided on the incident surface and the reflection surface of the cover glass 63 b.

In the case where the directivity of the emitted light is strong (the irradiation angle is narrow), most of the reference light incident on the light receiving unit 43 of the distance measuring sensor 34 is reflected by the cover glass 63b above the light source unit 31. Therefore, the reflection portion 301b is disposed above the light source unit 31.

Note that, for example, in the reflection portion 301b, at least one of the incident surface and the reflection surface of the cover glass 63b may be processed to be concave-convex in a ground glass shape. In this case, since the reference light reflected from the reflection portion 301b is diffused, the reference light is reliably incident on the entire light receiving unit 43 of the distance measuring sensor 34.

It should be understood that the exemplary cover glasses 63a and 63b shown in fig. 16 and 17 may be used as cover glasses in any of the electronic devices described herein. Either of the cover glasses 63a or 63b may be used as the cover glass 63 in the apparatus of fig. 1, or may be used as the cover glass 553 in the apparatus of fig. 27, as two examples. Further, in some embodiments, a cover glass 63a or 63b as shown in fig. 16 and 17 may be used, but the reflective portion 301a or 301b is not included on the glass.

< modification of distance measuring module 23 >

Next, a modification of the distance measuring module 23 will be explained with reference to fig. 18 and 19.

Fig. 18 schematically shows an example of a cross-section of a distance measuring module 23a as a first modification of the distance measuring module 23. Note that, in fig. 18, portions corresponding to the ranging module 23 shown in fig. 2 are denoted by the same reference numerals.

The distance measuring module 23a is different from the distance measuring module 23 in that an antireflection film 331 and a reflection film 332 are provided.

The antireflection film 331 is made of, for example, the same material as that of the cover glass 63. The antireflection film 331 is disposed on the mounting surface of the substrate 61 so as to surround the periphery of the light source unit 31.

In the case where strong light is incident on the light source lens 32 from the outside, the antireflection film 331 prevents the incident light from reflecting from the mounting surface of the substrate 61 and propagating to the light receiving unit 43 of the distance measuring sensor 34. Therefore, the background light incident on the light receiving unit 43 is reduced, and the detection accuracy of the reference light and the measurement light is improved.

For example, the reflective film 332 is provided on the reflective surface of the cover glass 63 at substantially the same position as the reflective portion 301a shown in fig. 16. The reflective film 332 is obtained by forming a metal film on the reflective surface of the cover glass 63 by evaporation, for example, and has a reflectance of 80% or more, for example. Therefore, the amount of the reference light incident on the light receiving unit 43 of the distance measuring sensor 34 increases, and the detection accuracy of the reference light is improved.

Fig. 19 schematically shows a configuration example of a cross section of a distance measuring module 23b as a second modification of the distance measuring module 23. Note that, in fig. 19, portions corresponding to the ranging module 23 shown in fig. 2 are denoted by the same reference numerals.

The distance measuring module 23b is different from the distance measuring module 23 in that a light emitting diode 352 is provided in place of the light source unit 31 and the lens 32 for a light source, a lens holder 351 and a cover glass 353 are provided in place of the lens holder 62 and the cover glass 63, and a reflection film 354 and a reflection film 355 are added.

The lens holder 351 and the cover glass 353 have substantially the same shape as the lens holder 62 and the cover glass 63 shown in fig. 2. However, the cover glass 353 is disposed above the ranging sensor 34 via a gap to cover (the light receiving unit 43 of) the entire ranging sensor 34, but does not cover the light emitting diode 352. The shape of the lens holder 351 and the shape of the lens holder 62 are slightly different due to the difference in the coverage of the cover glass 353.

The light emitting diode 352 is attached to (supported by) the lens holder 351 and mounted on the mounting surface of the substrate 61. In addition, the light emitting diode 352 is formed by molding a light emitting element with a transparent resin. The molded resin is formed in a convex shape, and also functions as a lens for a light source.

In addition, a cavity is formed between the light emitting diode 352 of the lens holder 351 and the ranging sensor 34, and the light emitting diode 352 and the ranging sensor 34 are spatially connected to form a light guiding path. In the light guiding path between the light emitting diode 352 and the distance measuring sensor 34, a reflection film 354 is formed on the mounting surface of the substrate 61, and a reflection film 355 is formed on the lower surface of the lens holder 351 facing the mounting surface of the substrate 61. The reflective films 354 and 355 are formed by coating a paint or a metal having a high reflectivity.

Then, a part of the emitted light irregularly reflected within the transparent resin of the light emitting diode 352 is transmitted in the light guiding path between the light emitting diode 352 and the distance measuring sensor 34, and then is incident on the light receiving unit 43 of the distance measuring sensor 34 as reference light. In this case, the reference light is easily transmitted within the light guiding path by the reflection films 354 and 355 covering the upper and lower sides of the light guiding path.

In addition, the space of the distance measuring sensor 34 included between the mounting surface of the substrate 61 and the reflection surface of the cover glass 353 facing the mounting surface of the substrate 61 is sealed by, for example, the lens holder 351, the light emitting diode 352, and resin. Therefore, for example, dust or dirt is prevented from being mixed into the space where the distance measuring sensor 34 is present. In addition, the space is filled with air or nitrogen, for example, if necessary.

Note that, for example, a reflection film identical to the reflection film 354 and the reflection film 355 shown in fig. 19 may be provided between the light source unit 31 and the ranging sensor 34 of the ranging module 23 shown in fig. 2.

< modification of the pixel P >

Next, a modification of the pixel P will be explained with reference to fig. 20 and 21.

Fig. 20 shows an example of the configuration of a pixel Pa as a modified example of the pixel P. Note that in fig. 20, portions corresponding to the pixels P shown in fig. 5 are denoted by the same reference numerals.

The pixel Pa differs from the pixel P in that the readout transistor 152 is removed. That is, the pixel Pa is a pixel having a 3-transistor configuration.

In the pixel Pa, the electric charges generated and accumulated by the photoelectric conversion element 151 are directly converted into a voltage, and the voltage is output as a pixel signal to the vertical signal line VSL.

Fig. 21 schematically shows a potential state of the photoelectric conversion element 151 of the pixel Pa.

The photoelectric conversion element 151 converts incident effective light (reference light or measurement light) and background light into electric charges. With the reset transistor 153 turned off, the generated electric charges are accumulated in the photoelectric conversion element 151 without any change. The output circuit 171 outputs a pixel signal indicating a voltage based on the electric charges accumulated in the photoelectric conversion element 151. Similarly to the pixel P, the pixel Pa performs a charge integration operation, and the pixel signal is an integrated signal.

In contrast, when the reset transistor 153 is turned on, the electric charges accumulated in the photoelectric conversion element 151 are transferred to the power supply VDD, and the potential of the photoelectric conversion element 151 is reset.

< modification of the differential circuit 201 >

Next, a modification of the differentiating circuit 201 in the signal change detecting circuit 44 shown in fig. 6 will be described with reference to fig. 22 to 25.

Fig. 22 shows an example of the configuration of a differentiating circuit 201a as a first modification of the differentiating circuit 201. The differentiating circuit 201a is a passive differentiating circuit using a capacitor 401 and a resistor 402.

Fig. 23 shows an example of the configuration of a differentiating circuit 201b as a second modification of the differentiating circuit 201. The differentiating circuit 201b is an active differentiating circuit including a capacitor 421, an amplifier 422, and a resistor 423.

Fig. 24 shows an example of the configuration of a differentiating circuit 201c as a third modification of the differentiating circuit 201.

The differentiating circuit 201c is a differentiating circuit including a sample-and-hold circuit 441a, a sample-and-hold circuit 441b, and a subtracting circuit 442. The sample-and-hold circuit 441a includes a switch 451a and a capacitor 452 a. The sample-and-hold circuit 441b includes a switch 451b and a capacitor 452 b.

There is a predetermined time deviation between the on time of the switch 451a of the sample-and-hold circuit 441a and the on time of the switch 451b of the sample-and-hold circuit 441 b. The differentiating circuit 201c calculates a difference between signal values at two timings at which the pixel signals are separated from each other by a predetermined time to generate a differentiated signal.

Fig. 25 shows an example of a configuration of a differentiating circuit 201d as a fourth modification of the differentiating circuit 201.

The differentiating circuit 201d is a differentiating circuit including Low Pass Filters (LPF)461a, LPF461b, and a subtracting circuit 462.

The time constant of the LPF461b is set larger than the time constant of the LPF461 a. Therefore, the phase of the output signal of the LPF461b lags the phase of the output signal of the LPF461 a. As a result, the subtraction circuit 462 calculates a difference between signal values at two timings at which the pixel signals are separated from each other by a predetermined time to generate a differential signal.

Note that two LPFs 461a and 461b are provided in this example, but the present technique is not limited thereto, and the LPF461 a may be omitted, for example.

<3. second embodiment >

Next, a second embodiment of the present technique will be described with reference to FIGS. 26 to 29.

The second embodiment is different from the first embodiment in that a light source unit for reference light and a light source unit for measurement light are provided.

< example of configuration of electronic device 501 >

Fig. 26 shows an example of the configuration of an electronic apparatus 501 according to the second embodiment of the present technology. Note that in fig. 26, portions corresponding to those of the electronic apparatus 11 shown in fig. 1 are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

The electronic device 501 is different from the electronic device 11 in that a ranging module 511 is provided instead of the ranging module 23.

The ranging module 511 is different from the ranging module 23 in that a light source unit 521 and a light source unit 522 are provided instead of the light source unit 31, and a ranging sensor 523 is provided instead of the ranging sensor 34.

The distance measuring sensor 523 is different from the distance measuring sensor 34 in that a light source control circuit 531 is provided in place of the light source control circuit 42.

The light source unit 521 emits pulsed light (hereinafter referred to as reference emission light) under the control of the light source control circuit 531 of the distance measuring sensor 523. The reference-use emitted light is reflected within the ranging module 511, and a part of the reference light as reflected light is incident on the light receiving unit 43 of the ranging sensor 523.

The light source unit 522 emits pulsed light (hereinafter referred to as emission light for measurement) under the control of the light source control circuit 531 of the distance measuring sensor 523. The measurement emission light is transmitted through the light source lens 32, irradiated to the object 12, and reflected from the object 12. A part of the measurement light as the reflected light passes through the imaging lens 33 and is incident on the light receiving unit 43.

< example of configuration of distance measuring Module 511 >

Fig. 27 is a sectional view schematically showing an example of the configuration of the distance measuring module 511 shown in fig. 26. Note that in fig. 27, portions corresponding to the ranging module 23 shown in fig. 2 are denoted by the same reference numerals, and description thereof will be appropriately omitted.

As described above, the ranging module 511 is different from the ranging module 23 in that a light source unit 521, a light source unit 522, and a ranging sensor 523 are provided instead of the light source unit 31 and the ranging sensor 34. The distance measuring module 511 is different from the distance measuring module 23 in that a substrate 551, a lens holder 552, and a cover glass 553 are provided instead of the substrate 61, the lens holder 62, and the cover glass 63.

Similar to the substrate 61 of the ranging module 23, a printed wiring board or a printed circuit board is used as the substrate 551. The light source unit 521, the light source unit 522, the distance measuring sensor 523, and the lens holder 552 are mounted on a mounting surface of the substrate 551. A predetermined gap is provided between the light source unit 522 and the ranging sensor 523. The light source unit 521 is disposed between the light source unit 522 and the ranging sensor 523. The light source unit 522 is disposed substantially in the center of the circular opening of the lens holder 552 for mounting the light source lens 32. The light source unit 522 is light-shielded from the light source unit 521 and the distance measuring sensor 523 by a lens holder 552.

Similar to the cover glass 63 shown in fig. 2, a cover glass 553 is attached to (supported by) the lens holder 552. The cover glass 553 faces the mounting surface of the substrate 551 and is disposed parallel to the mounting surface of the substrate 551. Further, a cover glass 553 is provided above the light source unit 521 and the distance measuring sensor 523 (on the side from which the light for reference is emitted from the light source unit 521) via a gap, and covers (the light receiving unit 43 of) the light source unit 521 and the distance measuring sensor 523 in its entirety.

The space of the light source unit 521 and the distance measuring sensor 523 included between the mounting surface of the substrate 551 and the reflection surface of the cover glass 553 facing the mounting surface of the substrate 551 is sealed by, for example, a lens holder 552 and resin. Therefore, for example, dust or dirt is prevented from being mixed into the space in which the light source unit 521 and the distance measuring sensor 523 are present. Also, for example, the space may be filled with air or nitrogen if necessary, or may be evacuated.

The light source lens 32 is attached to (supported by) the lens holder 552, and is disposed above the light source unit 522. The optical axis of the light source unit 522 coincides with the optical axis of the light source lens 32.

The lens barrel 64 is attached to (supported by) the lens holder 552, and is disposed above the distance measuring sensor 523 on the incident surface of the cover glass 553. In addition, the imaging lens 33 is attached to (supported by) the lens barrel 64, and is disposed above the range sensor 523.

Then, a part of the reference light emitted from the light source unit 521 is reflected from the cover glass 553, and a part of the reference light as reflected light is incident on the light receiving unit 43 of the distance measuring sensor 523. In contrast, a part of the measurement light emitted from the light source unit 522 is transmitted through the light source lens 32, and the object 12 (not shown) as a measurement object is irradiated with light. Then, a part of the measurement light as the light reflected from the object 12 is focused on the light receiving surface of the light receiving unit 43 of the ranging sensor 523 by the imaging lens 33.

< example of construction of light source Unit 521 and light source Unit 522 >

Fig. 28 shows an example of the configuration of the light source unit 521 and the light source unit 522.

The light source unit 521 and the light source unit 522 have the same configuration as the light source unit 31 shown in fig. 3.

Specifically, the light source unit 521 includes a light emitting element 601, a driver 602, a current source 603, and a switch 604.

The light emitting element 601 is an LED or an LD, and emits reference light. The light emitting element 601 has an anode to which a voltage VLED is supplied and a cathode connected to one end of a current source 603. The other terminal of the current source 603 is connected to ground through a switch 604.

The driver 602 supplies a control signal Pb1 to the current source 603 based on a control signal Pa1 from the light source control circuit 531 to drive the current source 603.

The current source 603 is, for example, a MOS transistor, and supplies a current having a predetermined value.

The switch 604 is, for example, a MOS transistor, and is turned on and off based on a control signal Pc from the light source control circuit 531.

The light source unit 522 includes a light emitting element 611, a driver 612, a current source 613, and a switch 614.

The light emitting element 611 is an LED or an LD, and emits measurement light. The light emitting element 611 has an anode to which a voltage VLED is supplied and a cathode connected to one end of the current source 613. The other terminal of the current source 613 is connected to ground through a switch 614.

The driver 612 supplies a control signal Pb2 to the current source 613 based on the control signal Pa2 from the light source control circuit 531 to drive the current source 613.

The current source 613 is, for example, a MOS transistor, and supplies a current having a predetermined value.

The switch 614 is, for example, a MOS transistor, and turns on and off based on a control signal Pc from the light source control circuit 531.

Note that the control signal Pa1 and the control signal Pa2 are supplied to the driver 602 and the driver 612 at substantially the same timing. In addition, the common control signal Pc is supplied to the switch 604 and the switch 614. Therefore, the reference light and the measurement light are emitted at the same timing. In addition, since the control signal is divided into the control signal Pa1 and the control signal Pa2, the amount of emitted light for reference and the amount of emitted light for measurement can be controlled individually. Further, since the common control signal Pc is used, the reference emission light and the measurement emission light can be cut off at high speed at the same time.

< operation of ranging module 511 >

Next, the operation of the ranging module 511 will be described with reference to a timing diagram shown in fig. 29.

This timing chart is different from the timing chart shown in fig. 9 in that the reference light and the measurement light are emitted separately in synchronization with each other during the period from the time t1 to the time t2, and the operation in the subsequent period is the same as the timing chart shown in fig. 9.

<4. variation of the second embodiment >

Next, a modification of the second embodiment of the present technology will be described with reference to FIGS. 30 to 34.

< modification of light source unit 522 >

First, a modification of the light source unit 522 for measurement light will be described with reference to fig. 30.

Fig. 30 shows an example of the configuration of a mirror-scanning light source unit 522a as a modification of the light source unit 522.

The light source unit 522a includes a light emitting unit 651 and a scanning unit 661.

The light-emitting unit 651 includes a light-emitting element 671, an LD driver 672, a current source 673, and a switch 674.

The light-emitting element 671 is an LD. The light-emitting element 671 has an anode to which a voltage VLD is supplied and a cathode connected to one end of a current source 673. The other terminal of current source 673 is connected to ground through switch 674.

The LD driver 672 supplies a control signal Pb2 to the current source 673 based on the control signal Pa2 from the light source control circuit 531 to drive the current source 673.

The current source 673 is, for example, a MOS transistor, and supplies a current having a predetermined value.

The switch 674 is, for example, a MOS transistor, and is turned on and off based on a control signal Pc from the light source control circuit 531.

The scanner unit 661 includes an LD lens 681, a motor driver 682, and a scanner 683.

The LD lens 681 converts the measurement light emitted from the light emitting element 671 into parallel light so that the parallel light is incident on the scanner 683.

The motor driver 682 drives the mirror 683A of the scanner 683 in a two-dimensional direction in response to the control signal Pm supplied from the light source control circuit 531.

The measurement light emitted from the light emitting element 671 is converted into parallel light by the LD lens 681 and is incident on the mirror 683A of the scanner 683. Then, in the case where the mirror 683A is driven in the two-dimensional direction by the motor driver 682, scanning is performed in the two-dimensional direction with the emitted light for measurement reflected from the mirror 683A. That is, the light source unit 522a can perform two-dimensional scanning with the emission light for measurement.

< modification of distance measuring Module 511 >

Next, a modification of the ranging module 511 will be described with reference to FIGS. 31 to 34.

Fig. 31 schematically shows a configuration example of a cross section of a distance measuring module 511a as a first modification of the distance measuring module 511. Note that in fig. 31, portions corresponding to the ranging module 511 shown in fig. 27 are denoted by the same reference numerals, and description thereof will be appropriately omitted.

The distance measurement module 511a is different from the distance measurement module 511 in that substrates 701 to 703 and lens holders 704 and 705 are provided instead of the substrate 551 and the lens holder 552, and an antireflection film 706 is added. According to some embodiments, the anti-reflective film 706 (and any other examples of anti-reflective films described herein) may include a film formed by forming a multi-layer coating (e.g., a layer of magnesium fluoride) on silicon; a film comprising a black sponge material and/or a black polyurethane; a film comprising a black plastic plate; or a combination thereof.

The substrate 702 and the substrate 703 are disposed on the mounting surface of the substrate 701 at a predetermined interval.

The light source unit 522 and the lens holder 704 are mounted on the mounting surface of the substrate 702. The light source unit 522 is provided substantially in the center of the circular opening of the lens holder 704 for attaching the light source lens 32, is surrounded by the lens holder 704, and is shielded from the surroundings.

The light source lens 32 is attached to (supported by) the lens holder 704, and is disposed above the light source unit 522. The optical axis of the light source unit 522 coincides with the optical axis of the light source lens 32.

The light source unit 521, the distance measuring sensor 523, and the lens holder 705 are mounted on a mounting surface of the substrate 703. The light source unit 521 and the distance measuring sensor 523 are provided on the mounting surface of the substrate 703 with a predetermined gap therebetween, surrounded by the lens holder 705, and shielded from light from the surroundings.

A cover glass 553 is attached to (supported by) the lens holder 705. Cover glass 553 faces the mounting surface of substrate 703 and is disposed parallel to the mounting surface of substrate 703. Further, a cover glass 553 is provided above the light source unit 521 and the distance measuring sensor 523 (on the side from which the light for reference is emitted from the light source unit 521) via a gap, and covers (the light receiving unit 43 of) the light source unit 521 and the distance measuring sensor 523 in its entirety.

The space between the light source unit 521 and the distance measuring sensor 523 included between the mounting surface of the substrate 703 and the reflection surface of the cover glass 553 is sealed with, for example, a lens holder 705 and resin. Therefore, for example, dust or dirt is prevented from being mixed into the space in which the light source unit 521 and the distance measuring sensor 523 are present. Also, for example, the space may be filled with air or nitrogen if necessary, or may be evacuated.

The lens barrel 64 is attached to (supported by) the lens holder 705, and is disposed above the distance measuring sensor 523 on the incident surface of the cover glass 553. In addition, the imaging lens 33 is attached to (supported by) the lens barrel 64, and is disposed above the range sensor 523.

The antireflection film 706 is provided between the substrate 702 and the substrate 703 on the mounting surface of the substrate 701.

A part of the reference light emitted from the light source unit 521 is reflected from the cover glass 553, and a part of the reference light as reflected light is incident on the light receiving unit 43 of the ranging sensor 523.

In contrast, a part of the measurement light emitted from the light source unit 522 is transmitted through the light source lens 32, and the object 12 is irradiated with light. Then, a part of the measurement light as the light reflected from the object 12 is focused on the light receiving surface of the light receiving unit 43 of the ranging sensor 523 by the imaging lens 33.

Fig. 32 schematically shows a configuration example of a cross section of the ranging module 511a in a case where the ranging module 511a is provided in the housing of the electronic device 501.

The housing of the electronic device 501 includes a case 721, a cover glass 722, a cover glass 723, and a light shielding wall 724.

The housing 721 surrounds the ranging module 511 a. In addition, a cover glass 722 and a cover glass 723 are attached to (supported by) the casing 721. The cover glass 722 is provided above the light source lens 32. The measurement light emitted from the light source unit 522 passes through the cover glass 722 and is emitted to the outside of the casing 721. The cover glass 723 is provided above the imaging lens 33. The measurement light reflected from the object 12 is transmitted through the cover glass 723, the imaging lens 33, and the cover glass 553, and is incident on the ranging sensor 523.

In addition, a light shielding wall 724 is formed on the inner surface of the housing 721 so that it is perpendicular to the inner surface, and the lens holder 704 and the lens holder 705 are light-shielded from each other by the light shielding wall 724.

The light shielding wall 724 prevents external light incident into the casing 721 via the cover glass 722 from being incident on the ranging sensor 523. In addition, the antireflection film 706 prevents external light incident into the casing 721 via the cover glass 722 from being reflected from the substrate 701 and incident on the distance measuring sensor 523. Therefore, the background light is prevented from being incident on the light receiving unit 43 of the ranging sensor 523, and the detection accuracy of the reference light and the measurement light is improved. Note that the light shielding structure is not limited to the light shielding wall 724, and may be provided in a ranging module or an electronic device.

Fig. 33 schematically shows a configuration example of a cross section of a distance measuring module 511b as a second modification of the distance measuring module 511. Note that in fig. 33, portions corresponding to the ranging module 511a shown in fig. 32 are denoted by the same reference numerals, and description thereof will be appropriately omitted.

The distance measurement module 511b is different from the distance measurement module 511a in that a light-shielding pad member 741 is provided instead of the antireflection film 706. According to some embodiments, the light blocking pad member 741 (and any other examples of light blocking pad members described herein) may comprise a black sponge material and/or a black polyurethane.

The light shielding pad member 741 is mounted between the substrate 702 and the substrate 703 on the mounting surface of the substrate 701 at a position matching the position of the light shielding wall 724. When the distance measuring module 511b is accommodated in the housing 721, the lower end of the light shielding wall 724 contacts the light shielding member 741. Therefore, the lens holder 704 and the lens holder 705 are completely shielded from light by the light shielding wall 724 and the light shielding pad member 741. Therefore, the external light incident into the housing 721 via the cover glass 722 is reliably prevented from being incident on the distance measuring sensor 523.

Fig. 34 schematically shows a configuration example of a cross section of a distance measuring module 511c as a third modification of the distance measuring module 511. Note that in fig. 34, portions corresponding to the ranging module 511a shown in fig. 31 are denoted by the same reference numerals, and description thereof will be appropriately omitted.

The distance measurement module 511c is different from the distance measurement module 511a in that a distance measurement sensor 761 is provided instead of the distance measurement sensor 523.

The ranging sensor 761 has the same function as the ranging sensor 523, and is different from the ranging sensor 523 in that it includes a light source unit 762. That is, the distance measuring sensor 761 and the light source unit 762 are integrated.

The light source unit 762 is, for example, provided around the light receiving unit 43 (not shown) of the distance measuring sensor 761. Note that the number of the light source units 762 is not particularly limited, and may be set to any value. For example, four light source units 762 are disposed near four corners of the light receiving unit 43 or near four corners of a chip forming the ranging sensor 761.

With this configuration, the light receiving unit of the distance measuring sensor 761 and the light source unit 762 become close to each other, and the light receiving unit 43 receives more reference light as reflected light of the reference light emitted from the light source unit 762. As a result, the detection accuracy of the reference light is improved. Alternatively, for example, the amount of emitted light for reference may be reduced.

Note that, for example, a thin light shielding film may be used as the light shielding wall 724 shown in fig. 32 and 33. In this case, the gap between the substrate 702 and the lens holder 704 and between the substrate 703 and the lens holder 705 may be set to, for example, about 0.1mm to 3 mm. In this case, the size of the ranging module 511a and the ranging module 511b may be reduced.

It should be understood that in the examples of fig. 31, 32, 33, and 34, one or both of the substrates 702 and 703 on which the light source unit 522 and the ranging sensor 523 are respectively disposed may be omitted in some embodiments. For example, the light source unit 522 may be directly disposed on the substrate 701, and/or the light source unit 521 and the ranging sensor 523 may be directly disposed on the substrate 701.

<5. third embodiment >

Next, a third embodiment of the present technology will be explained with reference to fig. 35 and 36.

< example of configuration of distance measuring Module 801 >

Fig. 35 is a diagram showing an example of the configuration of a ranging module 801 according to a third embodiment of the present technology. Fig. 35 a is a sectional view schematically showing the ranging module 801, and fig. 35B is a plan view schematically showing the ranging module 801. Note that in fig. 35, portions corresponding to the ranging module 511 shown in fig. 27 are denoted by the same reference numerals, and description thereof will be appropriately omitted.

The distance measurement module 801 is different from the distance measurement module 511 in that a light source unit 812, a light source unit 813, a substrate 811, a lens holder 814, and a cover glass 816 are provided instead of the light source unit 521, the light source unit 522, the substrate 551, the lens holder 552, and the cover glass 553, and a lens holder 815 and a lens 817 for a light source are added.

Similar to the substrate 551 of the ranging module 511, a printed wiring board or a printed circuit board is used as the substrate 811. The distance measuring sensor 523, the light source unit 812, the light source unit 813, the lens holder 814, and the lens holder 815 are mounted on a mounting surface of the substrate 811. The distance measuring sensor 523 is disposed between the light source unit 812 and the light source unit 813 with a predetermined gap from the light source unit 812 and the light source unit 813.

The light source unit 812 includes a wide-angle light source having a wider light irradiation angle (e.g., about 60 degrees) than the light source unit 813. The light source unit 812 is disposed substantially at the center of the circular opening of the lens holder 814 for mounting the light source lens 32. The distance measuring sensor 523 and the light source unit 812 are not interrupted by the lens holder 814 and are spatially connected to each other.

The light source unit 813 includes a narrow-angle light source having a narrower light irradiation angle (e.g., about 20 degrees) than the light source unit 812. The light source unit 813 is disposed substantially in the center of a circular opening of the lens holder 815 to which the light source lens 817 is attached. The light source unit 813 is surrounded by the lens holder 815, and the distance measuring sensor 523 and the light source unit 813 are light-shielded by the lens holder 815.

A cover glass 816 identical to the cover glass 553 shown in fig. 27 is attached to (supported by) the lens holder 814. The cover glass 816 faces the mounting surface of the substrate 811 and is disposed parallel to the mounting surface of the substrate 811. Further, the cover glass 816 is provided above (on the side from which light is emitted from the light source unit 812) the light source unit 812 and the distance measuring sensor 523 via a gap, and covers (the light receiving unit 43 of) the light source unit 812 and the distance measuring sensor 523 in its entirety.

The space of the light source unit 812 and the distance measuring sensor 523 included between the mounting surface of the substrate 811 and the reflection surface of the cover glass 816 facing the mounting surface of the substrate 811 is sealed by, for example, a lens holder 814 and resin. Therefore, for example, dust or dirt is prevented from being mixed into the space where the light source unit 812 and the distance measuring sensor 523 are present. Also, for example, the space may be filled with air or nitrogen if necessary, or may be evacuated.

The light source lens 32 is attached to (supported by) the lens holder 814 and is disposed above the light source unit 812 on the incident surface of the cover glass 816. The optical axis of the light source unit 812 coincides with the optical axis of the light source lens 32.

The lens barrel 64 is attached to (supported by) the lens holder 814 and is disposed above the range sensor 523 on the incident surface of the cover glass 816. In addition, the imaging lens 33 is attached to (supported by) the lens barrel 64, and is disposed above the range sensor 523.

The light source lens 817 is attached to (supported by) the lens holder 815 and is disposed above the light source unit 813. The optical axis of the light source unit 813 coincides with the optical axis of the light source lens 817.

A part of the light emitted from the light source unit 812 (hereinafter referred to as wide-angle light) is reflected from the reflection surface of the cover glass 816, and a part of the reference light as reflected light is incident on the light receiving unit 43 of the ranging sensor 523. Further, a part of the wide-angle emission light is transmitted through the cover glass 816 and the light source lens 32, emitted to the outside, and the object 12 (not shown) is irradiated with light. A part of the measurement light (hereinafter referred to as wide-angle measurement light) which is light obtained by reflection of the wide-angle emission light from the object 12 is focused on the light receiving surface of the light receiving unit 43 of the ranging sensor 523 by the imaging lens 33.

A part of the light emitted from the light source unit 813 (hereinafter, referred to as narrow-angle light) is transmitted through the light source lens 817 to be emitted to the outside, and the object 12 (not shown) is irradiated with light. A part of the measurement light (hereinafter referred to as narrow-angle measurement light) which is light obtained by reflection of the narrow-angle emission light from the object 12 is focused on the light receiving surface of the light receiving unit 43 of the ranging sensor 523 by the imaging lens 33.

Fig. 36 shows an example of the irradiation ranges of the wide-angle-emission light and the narrow-angle-emission light in the horizontal direction (width direction (lateral direction) and distance direction (depth direction)). Specifically, the irradiation range AL1 represents an example of the irradiation range of the wide-angle emitted light, and the irradiation range AL2 represents an example of the irradiation range of the narrow-angle emitted light. In addition, a broken-line arrow AF1 indicates the angle of view of the imaging lens 33.

The wide-angle emission light is emitted at a wider angle than the narrow-angle emission light. However, the wide-angle emission light increases in the amount of diffusion due to the difference in the irradiation angle, and the irradiation distance of the wide-angle emission light decreases. Therefore, the irradiation range AL1 is wider than the irradiation range AL2 in the width direction and shorter than the irradiation range AL2 in the distance direction.

Therefore, for example, wide-angle emission light and narrow-angle emission light are differently used according to a distance (ranging range) to an object as a measurement target.

For example, in the case where the ranging range is equal to or less than 1m, wide-angle emission light is used. In contrast, in the case where the range of the distance measurement is 1m to 5m, light is emitted using a narrow angle. Note that, for example, wide-angle emission light and narrow-angle emission light may be used at the same time, or they may be used differently depending on the purpose of use.

For example, the distance measurement module 801 is used to implement a collision avoidance function in a self-propelled robot or an automated transport vehicle that automatically transports luggage.

For example, using wide-angle emission light makes it possible to detect the distance of an object in a wide range in the width direction. Thus, for example, collision or contact of the side of the device using the ranging module 801 with a moving body or with a surrounding object in the case of rotation of the device can be avoided.

In contrast, the use of narrow-angle emitted light makes it possible to detect the distance of objects that are farther away in the direction of travel. Thus, for example, collision or contact of the device using the ranging module 801 with an object in the direction of travel can be avoided.

In this way, since the light source unit 812 and the light source unit 813 having different irradiation ranges (irradiation angle and irradiation distance) are used, the ranging range can be easily extended in the width direction and the distance direction. In addition, since the light source unit 812 and the light source unit 813 are differently used according to the use purpose, power consumption may be prevented from increasing or heat generated from the ranging module 801 may be reduced.

<6. fourth embodiment >

Next, a fourth embodiment of the present technique will be described with reference to FIGS. 37-39.

< example of configuration of ranging module 901 >

Fig. 37 is a diagram showing an example of the configuration of a ranging module 901 according to a fourth embodiment of the present technology. Fig. 37 a is a sectional view schematically showing the ranging module 901, and fig. 37B is a plan view schematically showing the ranging module 901. Note that in fig. 37, portions corresponding to the ranging module 511 shown in fig. 27 are denoted by the same reference numerals, and description thereof will be appropriately omitted.

The distance measuring module 901 differs from the distance measuring module 511 in that light source units 912a to 912c, a substrate 911, a lens holder 913a, a lens holder 913b, a lens holder 914, and light source lenses 915a to 915c are provided instead of the light source unit 522, the substrate 551, the lens holder 552, and the light source lenses 32.

Similar to the substrate 551 of the ranging module 511, a printed wiring board or a printed circuit board is used as the substrate 911. The light source unit 521, the distance measuring sensor 523, the light source units 912a to 912c, the lens holder 913a, the lens holder 913b, and the lens holder 914 are mounted on a mounting surface of the board 911. The light source units 912a to 912c, the distance measuring sensor 523, and the light source unit 521 are arranged substantially linearly. A gap between the light source unit 912a and the light source unit 912b, a gap between the light source unit 912b and the light source unit 912c, and a gap between the light source unit 912c and the ranging sensor 523 are substantially equal to each other. The gap between the ranging sensor 523 and the light source unit 521 is smaller than the other gaps.

The light source units 912a to 912c have, for example, the same configuration as the light source unit 522a shown in fig. 30, and can perform scanning in a two-dimensional direction with the emission light for measurement. In contrast, the light source units 912a to 912c differ from each other in the irradiation range, particularly, the irradiation distance of the emission light for measurement. Specifically, the light source unit 912c has the longest irradiation distance of the emitted light for measurement, followed by the light source unit 912b and the light source unit 912a in this order.

The light source unit 912a is provided substantially at the center of a rectangular opening of the lens holder 913a for attaching the light source lens 915 a. The light source unit 912a is surrounded by the lens holder 913a and is shielded from the surroundings.

The light source lens 915a is attached to (supported by) the lens holder 913a, and is disposed above the light source unit 912 a. The optical axis of the light source unit 912a coincides with the optical axis of the light source lens 915 a.

The light source unit 912b is provided substantially at the center of the rectangular opening of the lens holder 913b for attaching the light source lens 915 b. The light source unit 912b is surrounded by the lens holder 913b and is shielded from the surroundings.

The light source lens 915b is attached to (supported by) the lens holder 913b, and is disposed above the light source unit 912 b. The optical axis of the light source unit 912b coincides with the optical axis of the light source lens 915 b.

The light source unit 912c is provided substantially at the center of a rectangular opening of the lens holder 914 for attaching the light source lens 915 c. The light source unit 912c is surrounded by the lens holder 914 and is shielded from the surroundings.

The light source lens 915c is attached to (supported by) the lens holder 914 and is disposed above the light source unit 912 c. The optical axis of the light source unit 912c coincides with the optical axis of the light source lens 915 c.

The cover glass 553 is attached to (supported by) the lens holder 914. The cover glass 553 faces the mounting surface of the substrate 911 and is disposed parallel to the mounting surface of the substrate 911. Further, a cover glass 553 is provided above the light source unit 521 and the distance measuring sensor 523 (on the side from which the light for reference is emitted from the light source unit 521) via a gap, and covers (the light receiving unit 43 of) the light source unit 521 and the distance measuring sensor 523 in its entirety.

The space between the light source unit 521 and the distance measuring sensor 523 included between the mounting surface of the substrate 911 and the reflection surface of the glass cover 553 is sealed with, for example, a lens holder 914 and resin. Therefore, for example, dust or dirt is prevented from being mixed into the space in which the light source unit 521 and the distance measuring sensor 523 are present. Also, for example, the space may be filled with air or nitrogen if necessary, or may be evacuated.

The lens barrel 64 is attached to (supported by) the lens holder 914, and is disposed above the distance measuring sensor 523 on the incident surface of the cover glass 553. In addition, the imaging lens 33 is attached to (supported by) the lens barrel 64, and is disposed above the range sensor 523.

A part of the reference light emitted from the light source unit 521 is reflected from the reflection surface of the cover glass 553, and a part of the reference light as reflected light is incident on the light receiving unit 43 of the distance measuring sensor 523.

A part of the measurement light (hereinafter referred to as long-range light) emitted from the light source unit 912a is transmitted through the light source lens 915a, emitted to the outside, and the object 12 (not shown) is irradiated with light. A part of the measurement light (hereinafter referred to as long-range measurement light) which is light obtained by reflection of the long-range emission light from the object 12 is focused on the light receiving surface of the light receiving unit 43 of the ranging sensor 523 by the imaging lens 33.

A part of the measurement light (hereinafter referred to as intermediate range light) emitted from the light source unit 912b is transmitted through the light source lens 915b, emitted to the outside, and the object 12 is irradiated with light. A part of the measurement light (hereinafter referred to as intermediate range measurement light) which is light obtained by reflection of the intermediate range emission light from the object 12 is focused on the light receiving surface of the light receiving unit 43 of the ranging sensor 523 by the imaging lens 33.

A part of the measurement light (hereinafter referred to as short-range light) emitted from the light source unit 912c is transmitted through the light source lens 915c, emitted to the outside, and the object 12 is irradiated with light. A part of the measurement light (hereinafter referred to as short-range measurement light) which is light obtained by reflection of the short-range emission light from the object 12 is focused on the light receiving surface of the light receiving unit 43 of the distance measuring sensor 523 by the imaging lens 33.

Here, a case where the ranging module 901 performs imaging in a forward oblique lower direction and measures a distance will be described with reference to fig. 38 and 39.

Fig. 38 shows examples of irradiation ranges of long-range emitted light, medium-range emitted light, and short-range emitted light. Specifically, the irradiation range AL11 represents an example of the irradiation range of long-range emitted light, the irradiation range AL12 represents an example of the irradiation range of medium-range emitted light, and the irradiation range AL13 represents an example of the irradiation range of short-range emitted light. A of fig. 38 shows an example of the irradiation range of each emitted light component in the vertical direction (height direction and distance direction), and B of fig. 38 shows an example of the irradiation range of each emitted light component in the horizontal direction.

As shown in a of fig. 38, each emitted light component is emitted in a forward obliquely downward direction. In contrast, the short range emission light has the largest angle of illumination with respect to the ground, followed by the medium range emission light and the long range emission light in sequence. That is, the long-range emitted light is emitted in a direction closer to the horizontal direction than the other emitted light components, and the short-range emitted light is emitted in a direction closer to the vertical direction than the other emitted light components. Therefore, the irradiation distance of the long-range emitted light is longer than that of the other emitted light components, and the irradiation distance of the short-range emitted light is shorter than that of the other emitted light components.

In contrast, as shown in B of fig. 38, the irradiation angles in the width direction of the respective emission light components are substantially equal to each other.

Fig. 39 shows an example of the range of the measurement light incident on the light receiving unit 43. In this example, the light receiving unit 43 is divided into three regions 43A to 43C in the vertical direction (up-down direction).

For example, the long-range measurement light, which is the reflected light of the long-range emission light, is mainly incident on the uppermost region 43A. The intermediate range measuring light, which is reflected light of the intermediate range emitted light, is mainly incident on the intermediate region 43B. The short range measurement light, which is reflected light of the short range emission light, is mainly incident on the lowermost region 43C.

Here, in the case where the amounts of the respective emitted light components are equal to each other, if only the attenuation of the respective emitted light components is considered and the reflection of the object is not considered, the amounts of the measurement light components satisfy the following relationship: the amount of long-range measurement light < the amount of medium-range measurement light < the amount of short-range measurement light.

Here, in the case where the amount of each emitted light component is increased in order to improve the detection accuracy of the distance to a more distant object, the amount of short-range measurement light is increased, and the pixel P in the region 43C of the light receiving unit 43 may be saturated. In contrast, in the case where the amount of each emitted light component is reduced in order to prevent the pixels P in the region 43C of the light receiving unit 43 from being saturated, the amount of long-range measurement light is reduced, and the detection accuracy of the distance to the distant object is lowered.

Therefore, it is desirable to set the amounts of the respective emission light components so as to satisfy the following relationship: the amount of long-range emitted light > the amount of medium-range emitted light > the amount of short-range emitted light.

As described above, using the light source units 912a to 912c having different irradiation ranges makes it possible to easily extend the ranging range in the distance direction. In addition, the type or number of light source units for measurement light may be increased to further extend the range finding range in the distance direction.

Note that, for example, long-range emitted light, intermediate-range emitted light, and short-range emitted light may be used at the same time, or they may be used differently depending on the purpose of use. In addition, since each of the emitted light components is differently used according to the use purpose, power consumption may be prevented from increasing or heat generated from the ranging module 901 may be reduced.

In addition, for example, the light receiving unit 43 is operated in units of rows, and the light source units 912a to 912c used according to the operation area of the light receiving unit are switched to control the emitted light, which makes it possible to further reduce power consumption and reduce the amount of heat generated from the ranging module 901.

<7. fifth embodiment >

Next, a fifth embodiment of the present technology will be explained with reference to fig. 40 and 41.

< example of configuration of distance measuring module 1001 >

Fig. 40 is a plan view schematically illustrating an image side of the ranging module 1001 according to the fifth embodiment of the present technology. Note that in fig. 40, portions corresponding to the ranging module 901 shown in fig. 37 are denoted by the same reference numerals, and description thereof will be omitted as appropriate. In this embodiment, a configuration example is shown in which a plurality of circular emission light sources are used instead of the linear emission light source in the fourth embodiment shown in fig. 37.

The ranging module 1001 is different from the ranging module 901 in the number and arrangement of light source units for measurement light.

Specifically, in the ranging module 1001, 8 light source units for measurement light, i.e., light source units 1013a to 1013h (not shown), are arranged around the barrel 64 in a square shape. The light source units 1013a to 1013h have the same configuration as the light source unit 522 shown in fig. 28 or the light source unit 522a shown in fig. 30, for example.

The lens holders 1011a to 1011h and the light source lenses 1012a to 1012h are provided so as to correspond to the light source units 1013a to 1013h, respectively.

In fig. 40, a lens holder 1011a is disposed on the upper left side of the lens barrel 64, and a light source lens 1012a is attached to (supported by) the lens holder 1011 a. The light source unit 1013a is disposed behind the light source lens 1012a, and the optical axis of the light source unit 1013a coincides with the optical axis of the light source lens 1012 a.

In fig. 40, a lens holder 1011b is provided on the upper side of the lens barrel 64, and a light source lens 1012b is attached to (supported by) the lens holder 1011 b. The light source unit 1013b is disposed behind the light source lens 1012b, and the optical axis of the light source unit 1013b coincides with the optical axis of the light source lens 1012 b.

In fig. 40, a lens holder 1011c is disposed on the upper right side of the lens barrel 64, and a light source lens 1012c is attached to (supported by) the lens holder 1011 c. The light source unit 1013c is disposed behind the light source lens 1012c, and the optical axis of the light source unit 1013c coincides with the optical axis of the light source lens 1012 c.

In fig. 40, a lens holder 1011d is provided on the left side of the lens barrel 64, and a light source lens 1012d is attached to (supported by) the lens holder 1011 d. The light source unit 1013d is disposed behind the light source lens 1012d, and the optical axis of the light source unit 1013d coincides with the optical axis of the light source lens 1012 d.

In fig. 40, a lens holder 1011e is provided on the right side of the lens barrel 64, and a light source lens 1012e is attached to (supported by) the lens holder 1011 e. The light source unit 1013e is disposed behind the light source lens 1012e, and the optical axis of the light source unit 1013e coincides with the optical axis of the light source lens 1012 e.

In fig. 40, a lens holder 1011f is provided on the lower left side of the lens barrel 64, and a light source lens 1012f is attached to (supported by) the lens holder 1011 f. The light source unit 1013f is disposed behind the light source lens 1012f, and the optical axis of the light source unit 1013f coincides with the optical axis of the light source lens 1012 f.

In fig. 40, a lens holder 1011g is provided on the lower side of the lens barrel 64, and a light source lens 1012g is attached to (supported by) the lens holder 1011 g. The light source unit 1013g is disposed behind the light source lens 1012g, and the optical axis of the light source unit 1013g coincides with the optical axis of the light source lens 1012 g.

In fig. 40, a lens holder 1011h is provided on the lower right side of the lens barrel 64, and a light source lens 1012h is attached to (supported by) the lens holder 1011 h. The light source unit 1013h is disposed behind the light source lens 1012h, and the optical axis of the light source unit 1013h coincides with the optical axis of the light source lens 1012 h.

Note that, in the case where it is not necessary to distinguish the light source units 1013a to 1013h from each other, the light source units 1013a to 1013h will be simply referred to as light source units 1013 hereinafter.

Fig. 41 shows a light irradiation range in the horizontal direction of each light source unit 1013 of the ranging module 1001.

For example, the irradiation range of light emitted from the light source units 1013a to 1013c (hereinafter referred to as long-range light) is an irradiation range AL 21. For example, the long-range emitted light is used to measure the distance to an object ranging from 5m to 10m from the ranging module 1001.

The irradiation range of light emitted from the light source units 1013f to 1013h (hereinafter referred to as intermediate range light) is an irradiation range AL 22. For example, the mid-range emitted light is used to measure the distance to an object 2.5m to 5m from the ranging module 1001.

The irradiation range of light emitted from the light source units 1013d to 1013e (hereinafter referred to as short-range light) is an irradiation range AL 23. For example, the short-range emitted light is used to measure the distance to an object ranging from 0m to 2.5m from the ranging module 1001.

In this case, similarly to the example explained with reference to fig. 38, it is desirable to set the light amount emitted by each light source unit 1013 so as to satisfy the following relationship: the amount of long-range emitted light > the amount of medium-range emitted light > the amount of short-range emitted light.

For example, the amount of light emitted from each of the light source units 1013a to 1013c for emitting long-range light is set to be larger than the amount of light emitted from each of the light source units 1013f to 1013h for emitting middle-range light.

In contrast, the number of light source units 1013 for emitting short-range light is smaller than the number of light source units 1013 for emitting medium-range light. Therefore, for example, the amount of light emitted from each of the light source units 1013d and 1013e for emitting short-range light may be set to be equal to or less than the amount of light emitted from each of the light source units 1013f to 1013h for emitting medium-range light.

In this way, the amount of light emitted from each light source unit or the number of light source units to be used is adjusted to control the irradiation range of the emitted light.

<8. sixth embodiment >

Next, a sixth embodiment of the present technology will be explained with reference to fig. 42 and 43.

< example of configuration of distance measuring Module 1101 >

Fig. 42 is a plan view schematically illustrating an imaging side of a ranging module 1101 according to a sixth embodiment of the present technology. Note that in fig. 42, portions corresponding to the ranging module 901 shown in fig. 37 are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

The ranging module 1101 is different from the ranging module 901 in the number and arrangement of light source units for measurement light.

Specifically, in the ranging module 1101, 8 light source units for measurement light, i.e., light source units 1113a to 1113g (not shown) and a light source unit 1116 (not shown) are arranged around the lens barrel 64 in a square shape. The light source units 1113a to 1113g and the light source unit 1116 have the same configuration as the light source unit 522 shown in fig. 28, for example. However, for example, in the light source units 1113a to 1113g, LEDs having a wide irradiation angle are used as light emitting elements. In the light source unit 1116, an LD having a narrow irradiation angle and high directivity is used as a light emitting element.

The lens holders 1111a to 1111g and the light source lenses 1112a to 1112g are provided to correspond to the light source units 1113a to 1113g, respectively. Further, the lens holder 1114 and the lens 1115 for light source are provided so as to correspond to the light source unit 1116.

In fig. 42, a lens holder 1111a is provided on the upper left side of the lens barrel 64, and a light source lens 1112a is attached to (supported by) the lens holder 1111 a. The light source unit 1113a is disposed behind the light source lens 1112a, and the optical axis of the light source unit 1113a coincides with the optical axis of the light source lens 1112 a.

In fig. 42, a lens holder 1111b is provided on the upper right side of the lens barrel 64, and a light source lens 1112b is attached to (supported by) the lens holder 1111 b. The light source unit 1113b is disposed behind the light source lens 1112b, and the optical axis of the light source unit 1113b coincides with the optical axis of the light source lens 1112 b.

In fig. 42, a lens holder 1111c is provided on the left side of the lens barrel 64, and a light source lens 1112c is attached to (supported by) the lens holder 1111 c. The light source unit 1113c is disposed behind the light source lens 1112c, and the optical axis of the light source unit 1113c coincides with the optical axis of the light source lens 1112 c.

In fig. 42, a lens holder 1111d is provided on the right side of the lens barrel 64, and a light source lens 1112d is attached to (supported by) the lens holder 1111 d. The light source unit 1113d is disposed behind the light source lens 1112d, and the optical axis of the light source unit 1113d coincides with the optical axis of the light source lens 1112 d.

In fig. 42, a lens holder 1111e is provided on the lower left side of the lens barrel 64, and a light source lens 1112e is attached to (supported by) the lens holder 1111 e. The light source unit 1113e is disposed behind the light source lens 1112e, and the optical axis of the light source unit 1113e coincides with the optical axis of the light source lens 1112 e.

In fig. 42, a lens holder 1111f is provided on the lower side of the lens barrel 64, and the light source lens 1112f is attached to (supported by) the lens holder 1111 f. The light source unit 1113f is disposed behind the light source lens 1112f, and the optical axis of the light source unit 1113f coincides with the optical axis of the light source lens 1112 f.

In fig. 42, a lens holder 1111g is provided on the lower right side of the lens barrel 64, and a light source lens 1112g is attached to (supported by) the lens holder 1111 g. The light source unit 1113g is disposed behind the light source lens 1112g, and the optical axis of the light source unit 1113g coincides with the optical axis of the light source lens 1112 g.

In fig. 42, a lens holder 1114 is provided on an upper side of the lens barrel 64, and a lens 1115 for a light source is attached to (supported by) the lens holder 1114. The center position of the light source lens 1115 is closer to the lens barrel 64 than the center positions of the other light source lenses 1112a to 1112 g. For example, the light source unit 1116 is disposed behind the light source lens 1115, and the optical axis of the light source unit 1116 coincides with the optical axis of the light source lens 1115.

Note that in the case where it is not necessary to distinguish the light source units 1113a to 1113g from each other, the light source units 1113a to 1113g are simply referred to as light source units 1113 below.

Fig. 43 shows the light irradiation range in the horizontal direction of each of the light source unit 1113 and the light source unit 1116 of the ranging module 1101.

Here, the irradiation angle and the irradiation distance of the light emitted from each light source unit 1113 are different from each other. Specifically, the irradiation angle of light from each light source unit 1113 satisfies the following relationship: the light irradiation angle of the light source unit 1113a is equal to the light irradiation angle of the light source unit 1113b is equal to the light irradiation angle of the light source unit 1113e is equal to the light irradiation angle of the light source unit 1113g < the light irradiation angle of the light source unit 1113c is equal to the light irradiation angle of the light source unit 1113d < the light irradiation angle of the light source unit 1113 f. In contrast, the irradiation distance of light from each light source unit 1113 satisfies the following relationship: the light irradiation distance of the light source unit 1113a is equal to the light irradiation distance of the light source unit 1113b is equal to the light irradiation distance of the light source unit 1113e is equal to the light irradiation distance of the light source unit 1113g > the light irradiation distance of the light source unit 1113c is equal to the light irradiation distance of the light source unit 1113d > the light irradiation distance of the light source unit 1113 f.

For example, the irradiation range of light emitted from the light source unit 1113a, the light source unit 1113b, the light source unit 1113e, and the light source unit 1113g (hereinafter referred to as long-range light) is an irradiation range AL 31. The long-range emitted light is used to measure the distance to an object that is 5m to 10m from the ranging module 1101.

The irradiation range of light emitted from the light source unit 1113c and the light source unit 1113d (hereinafter referred to as intermediate range light) is an irradiation range AL 32. For example, the mid-range emitted light is used to measure the distance to an object that is 2.5m to 5m from the ranging module 1101.

The irradiation range of light emitted from the light source unit 1113f (hereinafter referred to as short range light) is an irradiation range AL 33. For example, the short range emitted light is used to measure the distance to an object that is 0m to 2.5m from the ranging module 1101.

The light emitted from the light source unit 1116 (hereinafter referred to as super-long-range light) is condensed light having high directivity, and is emitted in a substantially linear irradiation range AL 34. The ultra-long range emitted light is used to measure the distance to an object that is 10m or more from the ranging module 1101.

Here, the irradiation angle of each emitted light component satisfies the following relationship: the irradiation angle of the ultra-long range emitted light < the irradiation angle of the intermediate range emitted light < the irradiation angle of the short range emitted light. Therefore, the length of each irradiation range in the width direction satisfies the following relationship: length of irradiation range AL34 < length of irradiation range AL31 < length of irradiation range AL32 < length of irradiation range AL 33.

In contrast, in the case where all the light source units 1113 emit the same amount of light, the amount of light emitted from each light source unit satisfies the following relationship according to the number of light source units corresponding to each emitted light component: the amount of long-range emitted light > the amount of medium-range emitted light > the amount of short-range emitted light. Accordingly, in the case where the reflectivity of the object is the same, the amount of the long-range measurement light corresponding to the long-range emission light, the amount of the middle-range measurement light corresponding to the middle-range emission light, and the amount of the short-range measurement light corresponding to the short-range emission light may be substantially equal to each other in the light receiving unit 43 of the ranging module 1101.

Note that, for example, the amount of the ultra-long range emitted light is set to be larger than the amount of the other emitted light components.

According to this configuration, since each of the emitted light components is used differently according to the purpose of use, the width and distance of the ranging range can be easily switched.

For example, the ranging module 1101 may be mounted on a drone, and the drone may move to a target location to transport baggage.

For example, in the case where the distance to the target position is greater than 10m, the drone is automatically operated or remotely operated while measuring the distance with the ultra-long range emitted light.

In contrast, for example, in the case where the distance to the target position is equal to or less than 10m, in order to avoid collision or contact with surrounding objects or accurately measure the distance to the target position, the drone measures the distance using long-range emitted light.

For example, in the case where the distance to the target position is equal to or less than 5m, in order to monitor a larger range in the horizontal direction, the drone measures the distance using mid-range emitted light.

For example, in the case where the distance to the target position is equal to or less than 2.5m, in order to reliably and quickly find a flat place where the drone can land, the drone measures the distance using short-range emitted light.

As described above, since the light source units 1113a to 1113g and the light source unit 1116 having different irradiation ranges in the width direction and the distance direction are used, the distance measurement range can be easily expanded in the width direction and the distance direction. In addition, the type or number of light source units for measurement light may be increased to further extend the range measurement range in the width direction and the distance direction.

Note that, for example, various types of emitted light may be used at the same time, or they may be used differently depending on the purpose of use. Since various types of emitted light are differently used according to the use purpose, power consumption may be prevented from increasing or heat generated from the ranging module 1101 may be reduced.

<9. seventh embodiment >

Next, a seventh embodiment of the present technology will be explained with reference to fig. 44 and 45.

< example of configuration of ranging module 1201 >

Fig. 44 is a plan view schematically illustrating the imaging side of a ranging module 1201 according to a seventh embodiment of the present technique. Note that in fig. 44, portions corresponding to the ranging module 901 shown in fig. 37 are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

The ranging module 1201 is different from the ranging module 901 in the number and arrangement of light source units for measurement light.

Specifically, in the ranging module 1201, 16 light source units for measurement light, i.e., light source units 1213a to 1213p (not shown), are arranged in a circumferential shape around the lens barrel 64. The light source units 1213a to 1213p have the same configuration as the light source unit 522 shown in fig. 28, for example.

Further, the light source lenses 1212a to 1212p are provided so as to correspond to the light source units 1213a to 1213p, respectively.

The lens holder 1211 surrounds the lens barrel 64 in a circumferential shape. The light source lenses 1212a to 1212p are arranged at regular intervals in the lens holder 1211 and surround the lens barrel 64. The light source units 1213a to 1213p are disposed behind the light source lenses 1212a to 1212p, respectively, and the optical axes of the light source units 1213a to 1213p coincide with the optical axes of the light source lenses 1212a to 1212p, respectively.

Note that, in the case where it is not necessary to distinguish the light source units 1213a to 1213p from each other, the light source units 1213a to 1213p are simply referred to as light source units 1213 hereinafter.

The irradiation angle and the irradiation distance of the irradiation range of the light component emitted from each light source unit 1213 are substantially equal to each other.

Accordingly, the ranging module 1201 adjusts the distance of the ranging range according to the number of light source units 1213 to be used.

Fig. 45 shows an example of an irradiation range of the measurement light emitted from the ranging module 1201 in the horizontal direction.

For example, in the case where one light source unit 1213 emits measurement light, the measurement light is sufficiently emitted within a range of 1m from ranging module 1201. Therefore, in this case, the ranging range is set to be within 1m from the ranging module 1201.

For example, in the case where four light source units 1213 emit measurement light, the measurement light is sufficiently emitted within a range of 2m from ranging module 1201. Therefore, in this case, the ranging range is set to be within 2m from the ranging module 1201.

For example, in the case where 16 light source units 1213 emit measurement light, the measurement light is sufficiently emitted within a range of 4m from ranging module 1201. Therefore, in this case, the ranging range is set to be within 4m from the ranging module 1201.

In this way, the number of light source units 1213 is switched by one unit, so that the distance of the ranging range is easily and appropriately set.

Note that, for example, 16 light source units 1213 may be used simultaneously, and the amount of light emitted from the 16 light source units 1213 may be changed simultaneously to obtain appropriate measurement light.

<10. other modifications >)

The above embodiments may be appropriately combined with each other.

For example, the embodiments shown in FIGS. 16 to 18 may be combined with the second to seventh embodiments.

In addition, for example, in the embodiments shown in fig. 37, 40, 42, and 44, the reference-light-source unit may be omitted, and one or more light components emitted from the plurality of measurement-light-source units may be used to generate the reference light, as in the embodiment shown in fig. 2.

For example, the cover glass may not be provided with an antireflection film. Alternatively, for example, an antireflection film may be provided on the incident surface or the reflection surface of the cover glass.

In addition, for example, a Vertical Cavity Surface Emitting Laser (VCSEL) may be used as the LD for the light source element in the light source unit. In addition, for example, an array light source in which a plurality of VCSELs are arranged in one dimension or two dimensions may be used.

Further, for example, the light source unit 522a shown in fig. 30 may not perform two-dimensional scanning with the emitted light, but may perform scanning only in one-dimensional direction with the emitted light.

In addition, for example, in the case of displaying the ranging result, the distance information may be displayed as three-dimensional data, or may be displayed as superimposed on a color or monochrome image. In the latter case, the color or monochrome images may be captured by, for example, the same ranging module or different cameras.

Further, for example, a transparent member other than glass or plastic may be used as the cover glass. However, it is desired to use a member which is less deformed by heat, strong, and highly durable.

In addition, for example, the pixels P may be arranged one-dimensionally in the light receiving unit 43, or only one pixel P may be provided in the light receiving unit 43.

Note that the embodiments of the present technology are not limited to the above-described embodiments, and various modifications and changes may be made to the embodiments without departing from the scope and spirit of the present technology.

Further, for example, the present technology may have the following configuration.

According to some aspects, there is provided an electronic device for detecting a distance from the electronic device to an external object, the device comprising: a substrate; a light receiving sensor disposed above the substrate; one or more light sources disposed above the substrate; a first lens configured to be disposed over a first light source of the one or more light sources and configured to direct light emitted by the first light source; a second lens arranged above the light receiving sensor and configured to guide light received by the second lens onto the light receiving sensor; and a transparent member disposed between the second lens and the light receiving sensor, and configured to: transmitting the light guided by the second lens onto the light receiving sensor; and reflecting light from at least one of the one or more light sources onto the light receiving sensor.

According to some embodiments, the light receiving sensor and/or the one or more light sources are directly disposed on the substrate.

According to some embodiments, the first lens is configured to output said light emitted by the first light source from said electronic device.

According to some embodiments, the electronic device further includes an antireflection film disposed on an incident surface of the transparent member, the incident surface being a surface of the transparent member on which the light guided by the second lens is incident.

According to some embodiments, the electronic device further includes a reflection part disposed on a reflection surface of the transparent member, the reflection surface being opposite to a surface of the transparent member on which the light guided by the second lens is incident.

According to some embodiments, the one or more light sources, the light receiving sensor, the first lens, the second lens, and the transparent member are part of a ranging module of the electronic device.

According to some embodiments, both the light guided onto the light receiving sensor by the second lens and the light reflected onto the light receiving sensor by the transparent member are incident on the same surface of the light receiving sensor.

According to some embodiments, the one or more light sources comprise at least one Vertical Cavity Surface Emitting Laser (VCSEL).

According to some embodiments, the transparent member is disposed directly over at least one of the one or more light sources and directly over the light receiving sensor.

According to some embodiments, the light reflected by the transparent member onto the light receiving sensor is emitted by a first light source.

According to some embodiments, the transparent member is disposed between the first light source and the first lens and transmits light emitted by the first light source to the first lens.

According to some embodiments, the one or more light sources further include a second light source, and the light reflected by the transparent member onto the light receiving sensor is emitted by the second light source.

According to some embodiments, the electronic device further comprises a light-impermeable structure disposed between the first light source and the second light source.

According to some embodiments, the first light source, the second light source, and the light receiving sensor are directly disposed on the substrate.

According to some aspects, there is provided an electronic device for detecting a distance from the electronic device to an external object, the device comprising: a substrate; a light receiving sensor disposed above the substrate; one or more light sources disposed above the substrate, the one or more light sources including a first light source and a second light source; a first lens holder that is light-tight and includes a first lens, the first lens holder being disposed above the first light source, and the first lens being configured to direct light emitted by the first light source; a second lens holder that is light-tight and includes a second lens, the second lens holder being disposed above the light receiving sensor and the second light source, and the second lens being configured to guide light received by the second lens onto the light receiving sensor; and a transparent member disposed between the second lens and the light receiving sensor, and configured to: transmitting the light guided by the second lens onto the light receiving sensor; and reflecting light from the second light source onto the light receiving sensor, wherein at least a portion of the first lens holder and at least a portion of the second lens holder are disposed between the first lens and the second lens.

According to some embodiments, the light receiving sensor and the one or more light sources are disposed directly on the substrate.

According to some embodiments, the substrate is a first substrate, the electronic device further includes a second substrate and a third substrate disposed over the first substrate, the light receiving sensor and the second light source are disposed over the second substrate, and the first light source is disposed over the third substrate.

According to some embodiments, a gap is provided between the first lens holder and the second lens holder.

According to some embodiments, the one or more first light sources and/or the one or more second light sources comprise at least one Vertical Cavity Surface Emitting Laser (VCSEL).

According to some embodiments, the electronic device further includes an antireflection film disposed on an incident surface of the transparent member, the incident surface being a surface of the transparent member on which the light guided by the second lens is incident.

According to some embodiments, the electronic device further includes a reflection part disposed on a reflection surface of the transparent member, the reflection surface being opposite to a surface of the transparent member on which the light guided by the second lens is incident.

According to some embodiments, the transparent member is disposed directly over at least one of the one or more light sources and directly over the light receiving sensor.

According to some embodiments, the electronic device further comprises an antireflection film disposed above the substrate between the first lens holder and the second lens holder.

According to some embodiments, the anti-reflection film is disposed directly on the substrate.

According to some embodiments, the electronic device further comprises a light shielding wall disposed between the first lens holder and the second lens holder.

According to some embodiments, the electronic device further comprises a light shielding pad member configured to be in contact with the light shielding wall and in contact with the substrate.

(1)

A ranging module, comprising:

a first light source unit;

a light receiving unit including at least one pixel; and

a transparent member covering the first light source unit and the light receiving unit via a gap on a side where the first light is emitted from the first light source unit,

the at least one pixel is configured to receive reference light that is reflected light obtained by reflection of the first light from the transparent member and measurement light that is reflected light from an object that is a measurement object.

(2)

The ranging module according to (1), wherein

The transparent member includes a transparent plate.

(3)

The ranging module according to (2), further comprising

A substrate on which the first light source unit and the light receiving unit are mounted,

wherein

The transparent plate faces a mounting surface of the substrate, and the first light source unit and the light receiving unit are mounted on the mounting surface and are disposed parallel to the mounting surface of the substrate.

(4)

The ranging module according to (3), further comprising:

a lens for a light source as a lens for the first light source unit; and

an antireflection film is provided on the mounting surface of the substrate around the first light source unit.

(5)

The ranging module according to any one of (2) to (4), wherein

The transparent plate includes cover glass.

(6)

The ranging module according to any one of (1) to (5), further comprising

A reflection portion provided on the transparent member between the first light source unit and the light receiving unit.

(7)

The ranging module according to (6), further comprising

An antireflection film provided in a portion of the transparent member other than the reflection portion.

(8)

The ranging module according to (6), wherein

The surface of the transparent member is subjected to a concave-convex treatment in the reflection section.

(9)

The ranging module according to (6), wherein

The reflection portion includes a reflection film.

(10)

The ranging module according to any one of (1) to (9), further comprising:

a lens for a light source as a lens for the first light source unit; and

an imaging lens as a lens for the light receiving unit,

wherein

The transparent member is provided between the first light source unit and the light receiving unit and between the light source lens and the imaging lens.

(11)

The ranging module according to any one of (1) to (10), further comprising

Second light source unit

Wherein

The measurement light is reflected light obtained by reflection of second light emitted from a second light source unit from the object.

(12)

The ranging module according to (11), further comprising

An imaging lens as a lens for the light receiving unit,

wherein

The transparent member is provided between the imaging lens and the first light source unit and the light receiving unit.

(13)

The ranging module of claim 12, further comprising:

a lens for a light source as a lens for the second light source unit; and

a first lens holder that supports the light source lens and shields the first light source unit and the light receiving unit from the second light source unit.

(14)

The ranging module of claim 13, further comprising:

a second lens holder that supports the imaging lens; and

a substrate on which the first light source unit, the second light source unit, the light receiving unit, the first lens holder, and the second lens holder are mounted.

(15)

The ranging module as recited in (14), further comprising

An antireflection film provided on the mounting surface of the substrate is provided between the first lens holder and the second lens holder.

(16)

The ranging module as recited in (14), further comprising

A light shielding wall disposed between the first lens holder and the second lens holder.

(17)

The ranging module according to any one of (1) to (10), wherein

The measurement light is reflected light obtained by reflection of the first light from the object.

(18)

The ranging module according to any one of (1) to (17), wherein

The light receiving unit includes a plurality of pixels, an

Each pixel receives the reference light and the measurement light.

(19)

The ranging module according to any one of (1) to (18), further comprising

A time measuring unit that measures a ranging time, which is a time from when the reference light is received from the at least one pixel to when the measurement light is received by the at least one pixel.

(20)

The ranging module according to (19), wherein

The pixel outputs a pixel signal based on an integrated value of electric charges, an

The time measuring unit measures a ranging time based on a variation amount of the pixel signal.

(21)

The ranging module according to (20), wherein

The time measuring unit measures a ranging time based on a differential signal of the pixel signal.

(22)

A ranging module, comprising:

a light source unit;

a light receiving unit including a plurality of pixels;

a transparent plate covering the light source unit and the light receiving unit via a gap on a side where light is emitted from the light source unit; and

a time measuring unit that measures, for each pixel, a ranging time that is a time from when each pixel receives reference light that is reflected light obtained by reflection of emitted light from the transparent plate to when each pixel receives measurement light that is reflected light from an object that is a measurement object.

(23)

A ranging method for a ranging apparatus, the ranging apparatus comprising: a light source unit; a light receiving unit including at least one pixel; and a transparent member covering the light source unit and the light receiving unit via a gap on a side where light is emitted from the light source unit, the method including

Measuring a ranging time, which is a time from when the at least one pixel receives reference light to when the at least one pixel receives measurement light, the reference light being reflected light obtained by reflection of emitted light from the transparent member, the measurement light being reflected light from an object that is a measurement object.

(24)

An electronic device, comprising:

a distance measurement module; and

a control unit performing processing based on a measurement result of the ranging module,

the ranging module comprises

Light source unit

A light receiving unit including at least one pixel, and

a transparent member covering the light source unit and the light receiving unit via a gap on a side where light is emitted from the light source unit,

the at least one pixel is configured to receive reference light that is reflected light obtained by reflection of emitted light from the transparent member and measurement light that is reflected light from an object that is a measurement object.

Note that the effects described in this specification are illustrative, are not limited to the above effects, and other effects may be obtained.

It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and changes may be made within the scope of the appended claims or their equivalents, depending on design requirements and other factors.

[ list of reference numerals ]

11 electronic device

12 object

22 control unit

23, 23a, 23b ranging module

31 light source unit

Lens for 32 light source

33 lens for image formation

34 distance measuring sensor

42 light source control circuit

43 light receiving unit

44 signal change detection circuit

45 time measuring circuit

61 substrate

62 lens holder

63, 63a, 63b cover glass

64 lens barrel

151 photoelectric conversion element

154 FD Unit

301a, 301b reflection part

331 anti-reflection film

332 reflective film

351 lens holder

353 cover glass

354, 355 reflective film

501 electronic device

511, 511 a-511 c distance measuring module

521,522, 522a light source unit

523 distance measuring sensor

531 light source control circuit

551 base plate

552 lens holder

553 cover glass

701 to 703 substrate

704, 705 lens holder

706 anti-reflection film

724 baffle wall

741 shading pad member

761 distance measuring sensor

762 light source unit

801 ranging module

811 base plate

812, 813 light source unit

814, 815 lens holder

816 cover glass

817 lens for light source

901 distance measuring module

911 base plate

912 a-912 c light source unit

913a, 913b, 914 lens holder

915 a-915 c lens for light source

1001 ranging module

1011 a-1011 h lens holder

Lens for 1012 a-1012 h light source

1013a to 1013h light source unit

1101 ranging module

1111a to 1111g lens holder

1112 a-1112 g lens for light source

1113a to 1113g light source unit

1114 lens holder

1115 lens for light source

1116 light source unit

1201 ranging module

1211 lens holder

1211 a-1211 p lens holder

1212 a-1212 p lens for light source

1213a to 1213p light source units

P, Pa pixel