Distance measurement image pickup apparatus

Abstract

A distance measurement image pickup apparatus can realize high distance measurement precision and a wide distance measurement range at the same time to reduce interference during operation of a plurality of apparatuses. In a first distance measurement period, short pulsed light (1T) is irradiated, and exposure is performed in a plurality of exposure periods (A, B, and C) in which exposure timingsare shifted. In each exposure period, exposure is repeatedly performed by opening the exposure gate a plurality of times from one pulsed light to the next, and a first non-exposure period is providedfrom closing the last exposure gate to irradiating the next pulsed light. In a second distance measurement period, long pulsed light (4T) is irradiated, and exposure is performed in a plurality of exposure periods (A, B, and C) in which exposure timings are shifted. In each exposure period, exposure is performed by opening the exposure gate only once during a period from one pulsed light to a nextpulsed light, and a second non-exposure period is provided from closing the exposure gate to irradiating the next pulsed light.

Description

[0001] This application claims priority from Japanese Patent Application JP2018-187826 filed on October 3, 2018, the contents of which are incorporated herein by reference. technical field [0002] The present invention relates to a distance measuring camera device for measuring the distance to an object based on the time-of-flight of light. Background technique [0003] As a method of measuring a distance to an object, there is known a TOF (Time Of Flight) method in which a distance is measured based on the time of flight until irradiated light is reflected by the object and returns. Specifically, exposure is performed in a plurality of exposure gates in which the exposure timing is shifted from the emission timing of the intensity-modulated irradiation light, and the time delay of the reflected light relative to the irradiation light is calculated from the exposure amount accumulated in each exposure gate. Find the distance. [0004] In the TOF method, ranging accuracy (r...

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Problems solved by technology

[0009] In addition, it is also considered to set the non-exposure period in the continuous method and change the length of the non-exposure period in the same way as the pulse method, but as described later, there are the following problems: it is necessary to increase the continuous number of exposure gates, which is caused by interference light. The ranging error increases

In addition, in the case of changing the pulse width, the distance measurement range changes due to the change of the pulse width, so the pulse width cannot be greatly changed, so it is difficult to reduce the distance measurement error caused by the disturbance light

[0011] In this way, in the method of measuring distance using two kinds of irradiation light with high modulation frequency and low modulation frequency described in International Publication No. 2017 / 022152, high ranging accuracy and wide ranging range can be obtained, but it is difficult to reduce the distance caused by Ranging error caused by interference between multiple ranging cameras

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