Light receiving device and distance measuring device

Abstract

The light receiving device comprises: a light receiving unit (100) comprising a plurality of light receiving elements (10) arranged in a matrix array; and a plurality of read lines transmitting signals read from the plurality of light receiving elements. In the light receiving device, each of the plurality of read lines is connected to at least two of the plurality of light receiving elements.

Description

Technical Field

[0001] The present invention relates to a light receiving device and a distance measuring device. Background Art

[0002] As one of the distance measurement methods for measuring the distance to a measurement object using light, a distance measurement method called a direct time-of-flight (ToF) method is known. In the distance measurement process according to the direct ToF method, reflected light generated as light emitted from a light source is reflected by a measurement object is received by a light receiving element, and the distance to the target is measured based on the time between the emission of the light and the reception as the reflected light. In addition, a configuration is known in the direct ToF method in which distance measurement is performed using a pixel array in which light receiving elements are arranged in a two-dimensional dot matrix.

[0003] As one of distance measurement methods according to the direct ToF method, there is a method of linearly scanning a target in a horizontal direction (or a vertical direction) using light emitted from a light source and detecting reflected light thereof using the above-mentioned pixel array.

[0004] Reference List

[0005] Patent Literature

[0006] Patent Document 1: JP 2018-044923 A Summary of the invention

[0007] Technical issues

[0008] When performing distance measurement by linearly scanning light from a light source and receiving reflected light using a pixel array according to a direct ToF method, there is a case where the scanning trajectory of the light emitted from the light source is not linear, and the reflected light generated as the light is reflected from the target has distortion or deviation. Therefore, considering these distortions and deviations, it is necessary to widen the light receiving range that can be read simultaneously in the pixel array in order to perform distance measurement with higher accuracy, which leads to an increase in the number of wirings.

[0009] Solution to the problem

[0010] An object of the present disclosure is to provide a light receiving device and a distance measuring device capable of performing high-precision distance measurement with a smaller number of wirings.

[0011] In order to solve the above-mentioned problems, according to one aspect of the present disclosure, an optical receiving device has: an optical receiving unit, which includes a plurality of optical receiving elements arranged in a matrix-like array; and a plurality of read lines, which send each of the signals read from the plurality of optical receiving elements, wherein each of the plurality of read lines is connected to two or more of the plurality of optical receiving elements. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 is a view schematically illustrating distance measurement using a direct ToF method applicable to an embodiment.

[0013] Figure 2 is a diagram showing an example of a histogram based on the time of receiving light, which is applicable to the embodiment.

[0014] Figure 3 is a block diagram showing a configuration of an example of an electronic device including a distance measuring device according to an embodiment.

[0015] Figure 4 is a block diagram showing a more detailed configuration of an example of a distance measurement device applicable to the embodiment.

[0016] Figure 5 is a diagram showing a basic configuration example of a pixel circuit applicable to the embodiment.

[0017] Figure 6 : is a schematic diagram showing an example of a device configuration applicable to a distance measurement device according to the embodiment.

[0018] Figure 7 is a view showing a more specific configuration example of the pixel array unit according to the embodiment.

[0019] Fig. 8A is a view showing an example of a detailed configuration of a pixel array unit according to the embodiment.

[0020] Figure 8B is a view showing an example of a detailed configuration of a pixel array unit according to the embodiment.

[0021] Fig. 9 is a view showing an example of a configuration for reading a signal Vpls from each pixel circuit according to an embodiment

[0022] Fig.10 is a view showing an example of a scanning method of a pixel array unit according to the related art.

[0023] Fig.11 is a view showing an example of a scanning method of a pixel array unit according to an embodiment.

[0024] Fig. 12A is a diagram showing an example of a histogram when reading of each pixel circuit is performed by a related art scanning method.

[0025] Fig. 12B is a diagram showing an example of a histogram when reading of each pixel circuit is performed by the scanning method according to the embodiment.

[0026] Fig.13: is a diagram showing a setting example of a reading area corresponding to the trajectory of the bent reflected light.

[0027] Fig.14A is a view for more specifically describing sharing of read wirings between respective pixel circuits according to the embodiment.

[0028] Fig. 14B is a view for more specifically describing sharing of read wirings between respective pixel circuits according to the embodiment.

[0029] Fig.15 is a view showing an example of a method for specifying each read area according to the embodiment.

[0030] Fig.16 : is a view showing an example of specifying a plurality of reading areas assuming division of a light source according to the embodiment.

[0031] Fig.17 is a flowchart illustrating an example of a calibration process of a read area according to an embodiment.

[0032] Fig.18 is a schematic diagram for describing a calibration process of a read area according to an embodiment.

[0033] Fig.19 : is a view showing a use example according to the second embodiment, in which the distance measuring device according to the first embodiment is used.

[0034] Fig. 20 is a block diagram showing a schematic configuration example of a vehicle control system, which is an example of a mobile object control system to which the technology according to the present disclosure can be applied.

[0035] Fig.21 is a view showing an example of an installation position of an imaging unit. DETAILED DESCRIPTION

[0036] Hereinafter, each embodiment of the present disclosure will be described in detail with reference to the accompanying drawings. Note that in the following respective embodiments, the same parts are denoted by the same reference numerals, and repeated descriptions thereof will be omitted.

[0037] (Techniques applicable to each embodiment)

[0038] The present disclosure relates to a technique for performing distance measurement using light. Prior to the description of each embodiment of the present disclosure, for ease of understanding, the technique applicable to each embodiment will be described. In each embodiment, a direct time-of-flight (ToF) method is applied as a distance measurement method in this case. The direct ToF method is a method of performing distance measurement based on the time difference between the light emission timing and the light reception timing, by receiving reflected light generated by the light emitted from the light source by a light receiving element and reflecting the light emitted by the light receiving element.

[0039] Will refer to Figure 1 and Figure 2 Distance measurement using the direct ToF method is schematically described. Figure 1 3 is a diagram schematically showing distance measurement using a direct ToF method applicable to each embodiment. A distance measuring device 300 includes a light source unit 301 and a light receiving unit 302. The light source unit 301 is, for example, a laser diode, and is driven so as to emit laser light in a pulsed manner. The light emitted from the light source unit 301 is reflected by a measurement object 303, and is received by the light receiving unit 302 as reflected light. The light receiving unit 302 includes a light receiving element that converts light into an electrical signal by photoelectric conversion, and outputs a signal in response to the received light.

[0040] Here, the time when the light source unit 301 emits light (light emission timing) is time t0, and the time when the light receiving unit 302 receives the reflected light generated when the light emitted from the light source unit 301 is reflected by the measuring object 303 (light reception timing) is time t1. Assume that the constant c is the speed of light (2.9979×10 8 [m / sec]), the distance D between the distance measuring device 300 and the measurement object 303 is calculated by the following formula (1).

[0041] D=(c / 2)×(t1-t0) (1)

[0042] The distance measuring device 300 repeats the above process multiple times. The light receiving unit 302 may include a plurality of light receiving elements, and the distance D may be calculated based on each light receiving timing when each light receiving element receives the reflected light. The distance measuring device 300 calculates the distance D from the time t0 of the light emission timing to the time t of the light receiving timing when the light receiving unit 302 receives the light based on bins. m (called light receiving time t m ) are classified to generate a histogram.

[0043] Note that during the light receiving time t mThe light received by the light receiving unit 302 during the period is not limited to the reflected light generated by being reflected by the measurement object of the light emitted by the light source unit 301. For example, ambient light around the distance measurement device 300 (light receiving unit 302) is also received by the light receiving unit 302.

[0044] Figure 2 is a graph showing a histogram of an example based on the time when the light receiving unit 302 receives light, and this graph is applicable to each embodiment. In Figure 2 it, the horizontal axis represents bins and the vertical axis represents the frequency of each bin. A bin is a classification of the light reception time t m for each predetermined unit time d. Specifically, bin #0 is 0 ≤ t m < d, bin #1 is d ≤ t m < 2×d, bin #2 is 2×d ≤ t m < 3×d,..., and bin #(N - 2) is (N - 2)×d ≤ t m < (N - 1)×d. When the exposure time of the light receiving unit 302 is the time t ep then, t ep = N×d.

[0045] The distance measurement device 300 counts the number of times of obtaining the light reception time t m based on the bins to obtain the frequency 310 of each bin, so as to generate a histogram. Here, the light receiving unit 302 also receives light other than the reflected light generated by being reflected from the light source unit 301. An example of such light other than the target reflected light is the above-mentioned ambient light. The portion indicated by the range 311 in the histogram includes the ambient light component of the ambient light. The ambient light is light that randomly impinges on the light receiving unit 302 and becomes noise with respect to the target reflected light.

[0046] At the same time, the target reflected light is light received according to a specific distance, and appears as an active light component 312 in the histogram. The bin corresponding to the frequency of the peak in the active light component 312 is the bin corresponding to the distance D of the measurement object 303. The distance measurement device 300 can calculate the distance D to the measurement object 303 according to the above formula (1) by obtaining the representative time of the bin (for example, the time at the center of the bin) as the above time t1. In this way, appropriate distance measurement can be performed on random noise.

[0047] Figure 3 is a block diagram showing an example of the configuration of an electronic device including a distance measurement device according to each embodiment. In Figure 3 it, the electronic device 6 includes a distance measurement device 1, a light source unit 2, a storage unit 3, a control unit 4, and an optical system 5.

[0048] The light source unit 2 corresponds to the above-mentioned light source unit 301, and is a laser diode, and is driven so as to emit laser light in a pulsed manner, for example. A vertical cavity surface emitting laser (VCSEL) that emits laser light can be applied to the light source unit 2 as a surface light source. A configuration in which an array of laser diodes arranged in a line is used as the light source unit 2 and the laser light emitted from the laser diode array is scanned in a direction perpendicular to the line can be applied, but is not limited thereto. In addition, a configuration in which a laser diode is used as a single light source and the laser light emitted from the laser diode is scanned in the horizontal and vertical directions can also be applied.

[0049] The distance measuring device 1 includes a plurality of light receiving elements corresponding to the above-mentioned light receiving unit 302. The plurality of light receiving elements are arranged in, for example, a two-dimensional lattice (matrix) to form a light receiving surface. The optical system 5 guides light incident from the outside to the light receiving surface included in the distance measuring device 1.

[0050] The control unit 4 controls the overall operation of the electronic device 6. For example, the control unit 4 provides a light emission trigger, which is a trigger for causing the light source unit 2 to emit light, to the distance measuring device 1. The distance measuring device 1 causes the light source unit 2 to emit light at a timing based on the light emission trigger, and stores a time t0 indicating the light emission timing. In addition, the control unit 4 sets a mode for distance measurement for the distance measuring device 1 in response to, for example, an instruction from the outside.

[0051] The distance measuring device 1 collects time information (light receiving time t m ) is obtained, and the frequency of each bin is obtained to generate the above-mentioned histogram. The distance measurement device 1 further calculates the distance D to the measurement object based on the generated histogram. Information indicating the calculated distance D is stored in the storage unit 3.

[0052] Figure 4 1 is a block diagram showing a more detailed configuration of an example of the distance measurement device 1 applicable to each embodiment. Figure 4 In the embodiment, the distance measuring device 1 includes a pixel array unit 100, a distance measurement processing unit 101 and a pixel control unit 102, an overall control unit 103, a clock generating unit 104, a light emission timing control unit 105, and an interface (I / F) 106. These pixel array unit 100, the distance measurement processing unit 101, the pixel control unit 102, the overall control unit 103, the clock generating unit 104, the light emission timing control unit 105, and the interface (I / F) 106 are arranged on, for example, one semiconductor chip.

[0053] exist Figure 4In the embodiment, the overall control unit 103 controls the overall operation of the distance measuring device 1 according to, for example, a pre-embedded program. In addition, the overall control unit 103 can also perform control according to an external control signal provided from the outside. The clock generation unit 104 generates one or more clock signals used in the distance measuring device 1 based on a reference clock signal provided from the outside. The light emission timing control unit 105 generates a light emission control signal indicating the light emission timing according to a light emission trigger signal provided from the outside. The light emission control signal is provided to the light source unit 2 and is also provided to the distance measurement processing unit 101.

[0054] The pixel array unit 100 includes a plurality of pixel circuits 10, 10, etc., which are arranged in a two-dimensional dot matrix and respectively include light receiving elements. The operation of each pixel circuit 10 is controlled by the pixel control unit 102 according to the instruction of the overall control unit 103. For example, the pixel control unit 102 can control the reading of the pixel signal from each pixel circuit 10 for each block including (p×q) pixel circuits 10, wherein the pixel circuit 10 has p pixels in the row direction and q pixels in the column direction. In addition, the pixel control unit 102 can scan each pixel circuit 10 in the row direction and further in the column direction in units of blocks to read the pixel signal from each pixel circuit 10. The pixel control unit 102 can also independently control each pixel circuit 10 without being limited thereto. In addition, the pixel control unit 102 can set a predetermined area of ​​the pixel array unit 100 as a target area, and set the pixel circuit 10 included in the target area as the pixel circuit 10 as the reading target of the pixel signal. Furthermore, the pixel control unit 102 may collectively scan a plurality of rows (a plurality of lines), and further scan a plurality of lines in the column direction, to read pixel signals from the respective pixel circuits 10 .

[0055] The pixel signal read from each pixel circuit 10 is supplied to the distance measurement processing unit 101. The distance measurement processing unit 101 includes a conversion unit 110, a generation unit 111, and a signal processing unit 112.

[0056] The pixel signal read from each pixel circuit 10 and output from the pixel array unit 100 is supplied to the conversion unit 110. Here, the pixel signal is asynchronously read from each pixel circuit 10 and supplied to the conversion unit 110. That is, the pixel signal is read from the light receiving element and output according to the timing of receiving light in each pixel circuit 10.

[0057] The conversion unit 110 converts the pixel signal supplied from the pixel array unit 100 into digital information. That is, the pixel signal supplied from the pixel array unit 100 is output in response to the timing at which light is received by the light receiving element included in the pixel circuit 10 corresponding to the pixel signal. The conversion unit 110 converts the supplied pixel signal into time information indicating the timing.

[0058] The generation unit 111 generates a histogram based on time information in which a pixel signal is converted by the conversion unit 110. Here, the generation unit 111 counts time information based on the unit time d set by the setting unit 113 to generate a histogram. Details of the histogram generation process of the generation unit 111 will be described later.

[0059] The signal processing unit 112 performs predetermined arithmetic processing based on the data of the histogram generated by the generating unit 111, and calculates, for example, distance information. The signal processing unit 112 creates, for example, a curve approximation of the histogram based on the data of the histogram generated by the generating unit 111. The signal processing unit 112 can detect the peak of the curve obtained by approximating the histogram, and obtain the distance D based on the detected peak.

[0060] When performing curve approximation of the histogram, the signal processing unit 112 may apply filter processing to the curve obtained by approximating the histogram. For example, the signal processing unit 112 may suppress noise components by performing low-pass filter processing on the curve obtained by approximating the histogram.

[0061] The distance information obtained by the signal processing unit 112 is provided to the interface 106. The interface 106 outputs the distance information provided from the signal processing unit 112 as output data to the outside. As the interface 106, for example, a Mobile Industry Processor Interface (MIPI) may be applied.

[0062] Note that in the above description, the distance information obtained by the signal processing unit 112 is output to the outside via the interface 106, but the present invention is not limited to this example. That is, it can be configured so that histogram data, which is data of the histogram generated by the generating unit 111, is output to the outside from the interface 106. In this case, the information indicating the filter coefficient can be omitted from the distance measurement condition information set by the setting unit 113. The histogram data output from the interface 106 is provided to, for example, an external information processing device, and is appropriately processed.

[0063] Figure 5 is a diagram showing a basic configuration example of a pixel circuit 10 applicable to each embodiment. Figure 5, the pixel circuit 10 includes a light receiving element 1000 , transistors 1100 , 1102 , and 1103 , an inverter 1104 , a switch unit 1101 , and an AND circuit 1110 .

[0064] The light receiving element 1000 converts the incident light into an electrical signal by photoelectric conversion, and outputs the electrical signal. In each embodiment, the light receiving element 1000 converts the incident photon (photon) into an electrical signal by photoelectric conversion, and outputs a pulse in response to the incidence of the photon. In each embodiment, a single photon avalanche diode is used as the light receiving element 1000. Hereinafter, the single photon avalanche diode is referred to as a single photon avalanche diode (SPAD). SPAD has such a characteristic that when the electrons generated in response to the incidence of a photon cause avalanche multiplication, if a large negative voltage is applied to the cathode causing the avalanche multiplication, a large current flows. By utilizing this characteristic of SPAD, the incidence of a photon can be detected with high sensitivity.

[0065] exist Figure 5 In the embodiment, the light receiving element 1000 as a SPAD has a cathode connected to a coupling portion 1120 and an anode connected to a voltage source of a voltage (-Vbd). The voltage (-Vbd) is a large negative voltage to generate avalanche multiplication of the SPAD. The coupling portion 1120 is connected to one end of a switch unit 1101 that is controlled to be turned on (closed) and off (turned off) according to a signal EN_PR. The other end of the switch unit 1101 is connected to the drain of a transistor 1100 that is a P-channel metal oxide semiconductor field effect transistor (MOSFET). The source of the transistor 1100 is connected to a power supply voltage Vdd. In addition, a coupling portion 1121 that provides a reference voltage Vref is connected to the gate of the transistor 1100.

[0066] The transistor 1100 is a current source that outputs a current corresponding to the power supply voltage Vdd and the reference voltage Vref from the drain. By such a configuration, a reverse bias is applied to the light receiving element 1000. When a photon is incident on the light receiving element 1000 in the on state of the switch unit 1101, avalanche multiplication starts, and a current flows from the cathode of the light receiving element 1000 to the anode.

[0067] A signal extracted from a connection point between the drain of the transistor 1100 (one end of the switch unit 1101) and the cathode of the light receiving element 1000 is input to the inverter 1104. The inverter 1104 determines, for example, a threshold value of the input signal, inverts the signal whenever the signal exceeds the threshold value in the positive direction or the negative direction, and outputs the signal as a pulse signal Vpls.

[0068] The signal Vpls output from the inverter 1104 is input to a first input terminal of the AND circuit 1110. The signal EN_F is input to a second input terminal of the AND circuit 1110. The AND circuit 1110 outputs the signal Vpls from the pixel circuit 10 via the terminal 1122 when both the signal Vpls and the signal EN_F are in a high state.

[0069] exist Figure 5 , the coupling portion 1120 is further connected to the drains of transistors 1102 and 1103, which are N-channel MOSFETs, respectively. The sources of transistors 1102 and 1103 are connected to, for example, a ground potential. The signal XEN_SPAD_V is input to the gate of transistor 1102. In addition, the signal XEN_SPAD_H is input to the gate of transistor 1103. When at least one of these transistors 1102 and 1103 is in an off state, the cathode of the light receiving element 1000 is forcibly set to the ground potential, and the signal Vpls is fixed in a low state.

[0070] The signals XEN_SPAD_V and XEN_SPAD_H are used as vertical and horizontal control signals, respectively, in a two-dimensional dot matrix in which the respective pixel circuits 10 are arranged in the pixel array unit 100. As a result, the on-state and the off-state of each pixel circuit 10 included in the pixel array unit 100 can be controlled for each pixel circuit 10. Note that the on-state of the pixel circuit 10 is a state in which the signal Vpls can be output, and the off-state of the pixel circuit 10 is a state in which it is impossible to output the signal Vpls.

[0071] For example, in the pixel array unit 100, the signal XEN_SPAD_H is set to a state where the transistor 1103 is turned on for consecutive q columns of the two-dimensional dot matrix, and the signal XEN_SPAD_V is set to a state where the transistor 1102 is turned on for consecutive p rows. As a result, the output of each light receiving element 1000 can be enabled in a block shape of p rows × q columns. In addition, the signal Vpls is output from the pixel circuit 10 as a logical product with the signal EN_F obtained by the AND circuit 1110, and therefore, for the output of each light receiving element 1000 enabled by the signals XEN_SPAD_V and XEN_SPAD_H, enable / disable can be controlled in more detail.

[0072] In addition, when the signal EN_PR of the off-switch unit 1101 is supplied to the pixel circuit 10 including the light receiving element 1000 whose output is disabled, for example, the supply of the power supply voltage Vdd to the light receiving element 1000 can be stopped, and the pixel circuit 10 can be turned off. As a result, the power consumption of the pixel array unit 100 can be reduced.

[0073] These signals XEN_SPAD_V, XEN_SPAD_H, EN_PR, and EN_F are generated, for example, by the overall control unit 103 based on parameters stored in a register or the like of the overall control unit 103. The parameters may be stored in the register in advance, or may be stored in the register according to an external input. Each of the signals XEN_SPAD_V, XEN_SPAD_H, EN_PR, and EN_F generated by the overall control unit 103 is provided to the pixel array unit 100 by the pixel control unit 102.

[0074] Note that the control according to the signals EN_PR, XEN_SPAD_V, and XEN_SPAD_H using the above-described switch unit 1101 and transistors 1102 and 1103 is control according to analog voltage. On the other hand, the control according to the signal EN_F using the AND circuit 1110 is control according to logic voltage. Therefore, compared with the control according to the signals EN_PR, XEN_SPAD_V, and XEN_SPAD_H, the control according to the signal EN_F can be performed at a lower voltage and is easy to process.

[0075] Figure 6 1 is a schematic diagram showing an example of a device configuration applicable to the distance measurement device 1 according to each embodiment. Figure 6 In the embodiment, the distance measuring device 1 is configured by stacking a light receiving chip 20 and a logic chip 21 each made of a semiconductor chip. For ease of description, note that Figure 5 The light receiving chip 20 and the logic chip 21 are shown in a separated state.

[0076] In the light receiving chip 20, the light receiving elements 1000 included in the plurality of pixel circuits 10 are respectively arranged in a two-dimensional lattice in the region of the pixel array unit 100. In addition, transistors 1100, 1102, and 1103, a switch unit 1101, an inverter 1104, and an AND circuit 1110 are formed on the logic chip 21 in the pixel circuit 10. The cathode of the light receiving element 1000 is connected between the light receiving chip 20 and the logic chip 21 via, for example, a coupling portion 1120 by a copper-copper connection (CCC) or the like.

[0077] The logic chip 21 is provided with a logic array unit 200 including a signal processing unit that processes a signal acquired by the light receiving element 1000. The signal processing circuit unit 201 that processes a signal acquired by the light receiving element 1000 and the element control unit 203 that controls an operation may be provided with the logic chip 21 in close proximity to the logic array unit 200 as the distance measuring device 1.

[0078] For example, the signal processing circuit unit 201 may include the above-mentioned distance measurement processing unit 101. Furthermore, the element control unit 203 may include the above-mentioned pixel control unit 102, overall control unit 103, clock generation unit 104, light emission timing control unit 105, and interface 106.

[0079] Note that the configuration on the light receiving chip 20 and the logic chip 21 is not limited to this example. In addition, in addition to the control of the logic array unit 200, the element control unit 203 may be arranged, for example, near the light receiving element 1000 for other purposes of driving or controlling. Figure 6 In addition to the arrangement shown, it is also possible to set so as to have any functions in any areas on the light receiving chip 20 and the logic chip 21 .

[0080] Figure 7 1 is a diagram showing a more specific configuration example of the pixel array unit 100 according to each embodiment. Figure 4 The pixel control unit 102 is shown as Figure 7 The control unit 102a is separated into a horizontal control unit 102a and a vertical control unit 102b.

[0081] exist Figure 7 , the pixel array unit 100 includes a total of (x×y) pixel circuits 10 in x columns in the horizontal direction and y rows in the vertical direction. In addition, in each embodiment, each pixel circuit 10 included in the pixel array unit 100 is controlled for each element 11 including a total of nine pixel circuits 10 (including three in the horizontal direction and three in the vertical direction).

[0082] For example, a signal EN_SPAD_H corresponding to the above-mentioned signal XEN_SPAD_H for controlling each pixel circuit 10 in the row direction (horizontal direction), that is, in units of columns, is output from the overall control unit 103 and provided to the horizontal control unit 102a through a 3-bit signal (indicated as [2:0]) in units of the element 11. That is, the signals EN_SPAD_H[0], EN_SPAD_H[1], and EN_SPAD_H[2] for three pixel circuits 10 arranged continuously in the horizontal direction are combined and transmitted through this one 3-bit signal.

[0083] exist Figure 7In the example of FIG. 1 , signals EN_SPAD_H#0[2:0], EN_SPAD_H#1[2:0], ..., EN_SPAD_H#(x / 3)[2:0] are sequentially generated by the overall control unit 103 starting from the leftmost element 11 of the pixel array unit 100, and are provided to the horizontal control unit 102a. The horizontal control unit 102a controls each column of the corresponding element 11 according to the 3-bit values ​​(indicated as [0], [1], [2]) of the respective signals EN_SPAD_H#0[2:0], EN_SPAD_H#1[2:0], ..., EN_SPAD_H#(x / 3)[2:0].

[0084] Similarly, for example, a signal EN_SPAD_V corresponding to the above-mentioned signal XEN_SPAD_V for controlling each pixel circuit 10 in the column direction (vertical direction), that is, in units of rows, is output from the overall control unit 103 by a 3-bit signal in units of elements 11, and is provided to the vertical control unit 102b. That is, the signals EN_SPAD_V[0], EN_SPAD_V[1], and EN_SPAD_V[2] for three pixel circuits 10 arranged consecutively in the vertical direction are combined and transmitted by this one 3-bit signal.

[0085] exist Figure 7 In the example of FIG. 1 , signals EN_SPAD_V#0[2:0], EN_SPAD_V#1[2:0], ..., EN_SPAD_V#(y / 3)[2:0] are sequentially generated by the overall control unit 103 starting from the bottom element 11 of the pixel array unit 100, and are provided to the vertical control unit 102b. The vertical control unit 102b controls each row of the corresponding element 11 according to the 3-bit values ​​of the respective signals EN_SPAD_V#0[2:0], EN_SPAD_V#1[2:0], ..., EN_SPAD_V#(y / 3)[2:0].

[0086] Note that the signal EN_PR is output from the overall control unit 103 as a 3-bit signal in units of element 11 and is provided to the vertical control unit 102b, for example, similar to the above-mentioned signal EN_SPAD_V, although not shown. The vertical control unit 102b controls each row of the corresponding element according to the 3-bit value of each signal EN_PR.

[0087] Fig. 8A and Figure 8B is a view showing an example of a detailed configuration of the pixel array unit 100 according to each embodiment. More specifically, Fig. 8A and Figure 8B The control according to the signal EN_F is shown.

[0088] like Fig. 8A As shown, the signal EN_F is a signal provided to each control target 130 including a plurality of adjacent columns of the pixel array unit 100. Here, the control target 130 is shown as one including three columns according to the size of the element 11. In addition, as the signal EN_F, for each row with a predetermined cycle, the same signal is provided to each row included in the control target 130. That is, in this example in which the control target 130 includes three columns, the same signal EN_F is provided to three pixel circuits 10 in the same row. Fig. 8A In , as an example, the signal EN_F is a 42-bit (shown as [41:0]) signal, and the same signal is provided every 42 rows (7 rows×6). Fig. 8A In the example, signals EN_F#0[41:0], EN_F#1[41:0], ..., EN_F#(x / 3)[41:0] are output from the overall control unit 103 every three columns from the left end of the pixel array unit 100 and provided to the horizontal control unit 102a.

[0089] The horizontal control unit 102a provides each bit of each of the signals EN_F#0[41:0], EN_F#1[41:0], ..., EN_F#(x / 3)[41:0] to each corresponding row of the control target 130. Figure 8B As shown, for example, the horizontal control unit 102a provides the signal EN_F#0[0] to the leftmost control target 130 of the pixel array unit 100 every 42 rows, that is, the first row, the 42(m+1)th row (m is an integer of one or more), ..., the 42(n+1)th row, ..., etc. Similarly, the horizontal control unit 102a provides the signal EN_F#0[2] every 42 rows, that is, the second row, the 42(m+2)th row, etc. Note that the top row of the control target 130 is the first half of the unit of 42 rows, and is provided with Figure 8B Signal EN_F#0

[20] in.

[0090] That is, using the 42-bit signal EN_F[41:0], 42 groups of signals EN_F[0], EN_F[1], ..., EN_F

[41] obtained by arranging groups each including three pixel circuits 10 arranged continuously in the horizontal direction and continuously in the vertical direction are merged and sent.

[0091] In this way, the pixel array unit 100 can be controlled differently for each of the multiple columns by the signal EN_F. In addition, the pixel array unit 100 is provided with the same signal EN_F for each of the multiple rows in the multiple columns. Therefore, each pixel circuit 10 included in the pixel array unit 100 can be controlled with multiple columns as the minimum unit in the width direction and multiple rows as a cycle.

[0092] Fig. 9 1 is a diagram showing an example of a configuration for reading a signal Vpls from each pixel circuit 10 according to each embodiment. Note that the horizontal direction of the drawing is Fig. 9 The column direction is as indicated by the arrows in the accompanying drawings.

[0093] In each embodiment, the read wiring for reading the signal Vpls is shared by every predetermined number of pixel circuits 10 in the column direction. Fig. 9 In the example of , the readout wiring is shared for each of v pixel circuits 10. For example, consider a group 12 each including v pixel circuits 10 arranged in a column. u , 12 u+1 , 12 u+2 etc. Group 12 u The pixel circuit 10 includes 11 Up to 10 1v , Group 12 u+1 The pixel circuit 10 includes 21 Up to 10 2v , Group 12 u+2 Includes 10 31 Up to 10 3v .

[0094] In group 12 u , 12 u+1 , 12 u+2 In each of the groups, the readout wiring is shared by the pixel circuits 10 corresponding to each other in positions in the group. Fig. 9 In the example, the right side of the drawing is set to the head side of the position, and in group 12 u The first pixel circuit 10 11 , Group 12 u+1 The first pixel circuit 10 21 , Group 12 u+2 The first pixel circuit 10 31 etc. to share the read wiring. Fig. 9 In the example of 11 , 10 21 , 10 31 The read wiring of the like is connected via an OR circuit 41 11 , 41 21 , 41 31 etc. are connected in sequence, thereby sharing multiple read wirings.

[0095] For example, regarding group 12 u , for group 12 u The pixel circuit 10 included in 11 Up to 10 1v OR circuits 41 are provided respectively11 , 41 12 , …, 41 1v , and the pixel circuit 10 11 Up to 10 1v The read wiring of group 12 is connected to its first input terminal. u+1 , respectively for group 12 u+1 The pixel circuit 10 included in 21 Up to 10 2v Provide OR circuit 41 21 Up to 41 2v Similarly, for group 12 u+2 , respectively for group 12 u+2 The pixel circuit 10 included in 31 Up to 10 3v Provide OR circuit 41 31 Up to 41 3v .

[0096] Note that each OR circuit 41 11 Up to 41 1v The output of is input to, for example, the distance measurement processing unit 101.

[0097] When the pixel circuit 10 11 , 10 21 and 10 31 For example, the OR circuit 41 11 Having a pixel circuit 10 11 The first input terminal of the read wiring is connected to the OR circuit 41 21 The output of the OR circuit 41 is connected to the second input terminal. 21 Having a pixel circuit 10 21 The first input terminal of the read wiring is connected to the OR circuit 41 31 The output of the OR circuit 41 is connected to the second input terminal. 31 etc. are configured similarly.

[0098] for Fig. 9 In the configuration shown in FIG. 1 , for example, the vertical control unit 102 b performs control so that the vertical signal EN_SPAD_V is not transmitted from each group 12 to the vertical control unit 102 b. u , 12 u+1 , 12 u+2 In other words, the vertical control unit 102b performs control so that only the pixel circuit 10 that is one of the plurality of pixel circuits 10 arranged in each (v-1) column can be read. Fig. 9 In the example of FIG. 1 , the vertical control unit 102 b performs control so that the pixel circuits 102 b and 102 c are not simultaneously executed. 11 , pixel circuit 1021 and pixel circuit 10 31 The horizontal control unit 102a can also perform control for simultaneous reading in the column direction using the signal EN_F.

[0099] On the other hand, Fig. 9 In the configuration shown, the vertical control unit 102b can specify to read simultaneously from v pixel circuits 10 arranged consecutively in a column. At this time, the vertical control unit 102b can specify the pixel circuits 10 to be read across the group 12. u , 12 u+1 , 12 u+2 That is, v pixel circuits 10 that are continuous in the column direction can be read at the same time. Fig. 9 For example, it is possible to specify that v pixel circuits 10 are read simultaneously, with v pixel circuits 10 being read from a group 12. u The third pixel circuit 10 of the head included in 13 To from group 12 u+1 The second pixel circuit 10 of the head included in 22 Arranged continuously.

[0100] Furthermore, when simultaneous reading from v pixel circuits 10 arranged continuously in a column is specified, the vertical control unit 102 b performs control so that reading is not performed from pixel circuits 10 other than the row. Therefore, for example, the OR circuit 41 11 The output from the pixel circuit 10 becomes 11 , 10 21 , 10 31 The pixel circuit 10 of any one of the above reads the signal Vpls.

[0101] In this way, by performing connection of the reading wiring for each pixel circuit 10 and reading control for each pixel circuit 10 , the number of reading wirings in units of columns can be reduced.

[0102] (Example of Scanning Method of Pixel Array According to Prior Art)

[0103] Next, a scanning method of the pixel array unit 100 according to the related art will be schematically described before the description of the present disclosure. Fig.10 is a view showing an example of a scanning method of the pixel array unit 100 according to the related art.

[0104] When the light from the light source is linearly scanned and its reflected light is received by the pixel array unit 100, there is a case where the scanning trajectory of the light emitted from the light source has a distortion or deviation and does not become linear. Such distortion or deviation of the scanning trajectory occurs due to, for example, the accuracy of the mechanism for scanning the light emitted from the light source, and is a distortion or deviation unique to the device. The distortion or deviation of the scanning trajectory of the light emitted from the light source is reflected in the reflected light received by the pixel array unit 100. Fig.10 An example is shown in which the trajectory 50 of the reflected light received by the pixel array unit 100 is curved. In this case, considering the curvature of the trajectory 50, it is necessary to set the width (height) of the reading area 51a for performing reading to be wider than the width for desirably acquiring the reflected light (the width of the trajectory 50 of the reflected light).

[0105] exist Fig.10 In the example of , reading is performed in units of pixels 531, 532, 533, and 534 each including a plurality of pixel circuits 10. More specifically, in each of the pixels 531 to 534, exposure and photon detection are performed in each of the pixel circuits 10 included in each of the pixels 531 to 534 to generate a signal Vpls. For example, in the pixel 531, histogram generation and peak detection are performed based on the signal Vpls read from each of the pixel circuits 10 included in the pixel 531, and distance measurement is performed.

[0106] Here, according to the prior art, the reading region 51a is set to include the locus 50 of the reflected light, and therefore, the signal Vpls is also read from the pixel circuits 10 included in the regions 52a and 52b that do not receive the reflected light. The pixel circuits 10 included in the regions 52a and 52b are pixel circuits 10 that do not receive the reflected light of the light emitted from the light source and are not necessarily used for distance measurement.

[0107] When reading from unnecessary pixel circuits 10 is performed, unnecessary power is consumed in the pixel array unit 100 and the distance measurement processing unit 101 that performs signal processing on the signal Vpls read from the pixel array unit 100. In addition, since the reading range is widened relative to the trajectory 50 of the reflected light, the number of read wirings for reading from each pixel circuit 10 that requires signal timing maintenance increases compared to the number of wirings originally required. In addition, since reading from unnecessary pixel circuits 10 is performed, there is a possibility that the influence of interference light (ambient light) increases.

[0108] [First embodiment]

[0109] Next, a first embodiment of the present disclosure will be described. In the first embodiment of the present disclosure, the pixel array unit 100 can select a pixel circuit 10 to perform reading according to the trajectory 50 of the reflected light.

[0110] Fig.11 1 is a view showing an example of a scanning method of the pixel array unit 100 according to the first embodiment. In the first embodiment, a reading area is set in units of pixel circuits 10 or in units of elements 11 including a plurality of pixel circuits 10 according to a trajectory 50 of reflected light. Fig.10 In the example of FIG. 5 , each of the read areas 51 b 1 to 51 b 8 is set in units of the pixel circuit 10 according to the locus 50 of the reflected light emitted to the pixel array unit 100 .

[0111] For example, for the pixel 531, the respective pixel circuits 10 included in the read regions 51b1 and 51b2 on the trajectory 50 of the reflected light in the pixel circuit 10 included in the pixel 531 are designated as the pixel circuits 10 that perform reading. Similarly, for the pixel 532, the respective pixel circuits 10 included in the read regions 51b3 and 51b4 on the trajectory 50 of the reflected light in the pixel circuit 10 included in the pixel 532 are designated as the pixel circuits 10 that perform reading. Similarly, for the pixels 533 and 534, the respective pixel circuits 10 included in the read regions 51b5 and 51b6 and the read regions 51b7 and 51b8 are designated as the pixel circuits 10 that perform reading.

[0112] Since each of the read regions 51b1 to 51b8 is set in this manner, the width (height) of each of the read regions 51b1 to 51b8 can be made substantially equal to the width for desirably acquiring the reflected light (the width of the trajectory 50 of the reflected light). As a result, compared with the above-mentioned scanning method of the prior art, the number of pixel circuits 10 that perform reading can be suppressed to a required minimum, and power consumption can be reduced. In addition, the width of each of the read regions 51b1 to 51b8 is smaller than that of the scanning method of the prior art, and the number of read wirings for reading from each pixel circuit 10 can be reduced.

[0113] Furthermore, in the scanning method according to the first embodiment, Fig.10 The regions 52a and 52b shown not receiving reflected light are very small, so that the influence of disturbance light and the like can be suppressed.

[0114] Will refer to Fig. 12A and Fig. 12B Suppression of the influence of disturbance light by the scanning method according to the first embodiment is described more specifically. Fig. 12A It shows that when Fig.10 The scanning method of the prior art shown is a diagram of an example of a histogram when reading each pixel circuit 10 is performed. In addition, Fig. 12B It is shown that when according to Fig.11 The illustrated scanning method of the first embodiment is a diagram showing an example of a histogram when reading of each pixel circuit 10 is performed.

[0115] Notice, Fig. 12A and Fig. 12B For example, the reference Figure 2 The described histogram is low-pass filtered to make the histogram approximate to a curve.

[0116] exist Fig. 12A In FIG. 5 , the offset 55 a includes a measured value based on the signal Vpls read from the unnecessary pixel circuits 10 included in the regions 52 a and 52 b that do not receive the reflected light. On the other hand, in Fig. 12B No reading is performed from each pixel circuit 10 included in these regions 52a and 52b, and therefore, the offset 55b is less than Fig. 12A Offset 55a is shown.

[0117] Here, consider the small peaks 56a and 56b in the histogram. Fig. 12B The peak 56b and the offset of the scanning method according to the first embodiment shown do not include Fig.10 1 and 12 show the measured values ​​of the regions 52a and 52b that do not receive the reflected light. Therefore, according to the scanning method of the prior art, the value of the ratio of the peak 56b to the offset 55b is greater than the value of the ratio of the peak 56a to the offset 55a. Therefore, it is easy to detect the peak in the histogram based on the scanning method according to the first embodiment, compared with the histogram based on the scanning method according to the prior art, and the distance measurement can be performed with higher accuracy by applying the scanning method according to the first embodiment.

[0118] (More Specific Description of Scanning Method According to First Embodiment)

[0119] Next, the scanning method in the pixel array unit 100 according to the first embodiment will be described in more detail. Fig.13 , Fig.14A and Fig. 14B The sharing of the readout wirings of the respective pixel circuits 10 will be described.

[0120] Fig.13 is the same as above Fig.11 An equivalent view is shown, and an example in which each of the reading areas 51b1 to 51b8 is set according to the trajectory 50 of the bent reflected light is shown. Here, it is assumed that the area in which each column in the pixel array unit 100 is expected to be read includes v pixel circuits 10, and v is the number of pixel circuits 10 that are continuously arranged in the column and can be simultaneously read by the horizontal control unit 102a. In addition, it is assumed that the maximum width (height) of the deviation of each column according to the trajectory 50 in the area expected to be read includes r (r>v) pixel circuits 10.

[0121] Here, according to the reference Fig.10 The described prior art requires setting r pixel circuits 10 per column to an on state (readable state) and preparing a read wiring for each of the r pixel circuits 10 when performing reading of the pixel circuit 10 at a position irradiated with reflected light.

[0122] On the other hand, in the first embodiment, the signals XEN_SPAD_V and XEN_SPAD_H and the signal EN_F can be used to control the reading in units of pixel circuits 10. In addition, the vertical control unit 102b can specify the simultaneous reading of v pixel circuits 10 arranged continuously in the column direction, as shown in FIG. Fig. 9 Furthermore, the vertical control unit 102b may designate only one pixel circuit 10 among the plurality of pixel circuits 10 arranged every (v-1) columns to perform reading.

[0123] Fig.14A and Fig. 14B 1 is a diagram for more specifically describing the sharing of the readout wiring of each pixel circuit 10 according to the first embodiment. Fig.14A and 14B In FIG. 1 , a black square indicates that the pixel circuit 10 for reading is not performed or is controlled to be turned off by the vertical control unit 102 b , and a white square indicates that the pixel circuit 10 is controlled to perform reading.

[0124] like Fig.14A As shown, the vertical control unit 102b specifies to simultaneously read v pixel circuits 102a which are arranged consecutively in a column and correspond to the area desired to be read in the column. 11 Up to 10 1v . Pixel circuit 10 11 Up to 10 1v Be included in a group of 12 u middle.

[0125] For example, the vertical control unit 102b sends a signal to the pixel circuit 10 11 Up to 10 1v Each of the horizontal control unit 102a provides signals XEN_SPAD_V and XEN_SPAD_H for turning off the transistors 1102 and 1103, respectively, and provides a signal EN_PR for turning on the switch unit 1101. In addition, the horizontal control unit 102a provides the horizontal control unit 102a to each pixel circuit 10 11 Up to 10 1v As a result, the pixel circuit 10 can be 11 Up to 10 1v Each of them is set to a state that can be read simultaneously.

[0126] In addition, the vertical control unit 102b controls the other pixel circuits 10 arranged in the column not to perform reading. For example, the horizontal control unit 102a provides the other pixel circuits 10 with, for example, a signal XEN_SPAD_V for turning on the transistor 1102 and a signal EN_PR for turning off the switch unit 1101. In addition, the horizontal control unit 102a sets the signal EN_F provided to the other pixel circuits 10 to a low state. As a result, the other pixel circuits 10 are set to a state in which reading is not performed.

[0127] Fig. 14B is shown in Fig.14A The columns shown are different from the columns in the specified example view (for example, with Fig.14A columns adjacent to the columns shown). Fig. 14B In the example of FIG. 1 , for v pixel circuits 10 corresponding to the areas desired to be read in different columns, 13 Up to 10 22 To specify simultaneous reading. Across two groups 12 u and 12 u+1 The pixel circuit 10 includes 13 Up to 10 22 Furthermore, the horizontal control unit 102 a and the vertical control unit 102 b perform control so that reading is not performed on other pixel circuits 10 arranged in a column using the signals XEN_SPAD_H, XEN_SPAD_V, EN_F, and EN_PR.

[0128] By such a configuration, it is sufficient to prepare read wiring for v pixel circuits 10 in the configuration of the first embodiment, and the number of read wirings can be reduced compared to the prior art. In addition, each pixel circuit 10 arranged in an area outside the area to be read is controlled so that it cannot be read at the same time. The read wiring that needs to be noted for wiring delay is shared in units of 100psec or less. Therefore, the number of subsequent circuits that require wiring delay maintenance targets and high-speed operation can be reduced.

[0129] In addition, the vertical control unit 102b stops supplying the power supply voltage Vdd to each pixel circuit 10 arranged in an area other than the area desired to be read using the signal EN_PR. As a result, power consumption in the pixel circuit 10 not irradiated with reflected light is suppressed, and power consumption of the entire pixel array unit 100 is also reduced.

[0130] Note that in the above description, whether to perform reading (on / off of the pixel circuit 10) is controlled in units of pixel circuits 10, but this is not limited to this example. For example, the horizontal control unit 102a and the vertical control unit 102b may control on / off of the pixel circuit 10 for each block of (p×q) pixel circuits 10 included in p rows×q columns. Figure 7 The on / off of the pixel circuit 10 is controlled in units of blocks of elements 11 of nine pixel circuits 10 in 3 rows×3 columns. In such block-based control, the unit of on / off control can be adjusted by a tradeoff with a signal line (e.g., a signal line for a signal EN_F) for turning on / off the pixel circuit 10 in units of blocks.

[0131] (Specific Example of Designation of Reading Area According to First Embodiment)

[0132] refer to Fig.15 and Fig.16 , the specification of the reading area according to the trajectory 50 of the reflected light will be described in more detail. Fig.15 is a view showing an example of a method for specifying each read area according to the first embodiment. Fig.15 , the reading area 61 is specified using the effective area 60 in the pixel array unit 100 as a reference. The base point position 62 of the reading area 61 is set to, for example, the position of the left end and the lower end of the left end of the reading area 61, and the base point position 62 is specified based on the position from the left end and the lower end of the effective area 60.

[0133] In addition, Fig.15 In the example of Fig.15 68 and the range 69 on the right side. The division reference position 65 is horizontally specified as a horizontal offset 63 relative to the base point position 62 of the read area 61. In addition, the reference position 65 is vertically specified as a height 64 with the lower end of the effective area 60 as a reference. In addition, the position of the height change in the vertical direction in the range 68 is specified using an adjustment interval 66, and the height of the change is specified using an adjustment amount 67. The same applies to the range 69.

[0134] exist Fig.15 In the example of FIG. 1 , for example, each parameter (each specified value) in range 68 is stored in adjustment register #0 which is one of the registers of overall control unit 103, and each parameter in range 69 is stored in adjustment register #1 which is one of the registers of overall control unit 103. Parameters (specified values) in ranges 68 and 69 may be stored in adjustment registers #0 and #1 in advance, or may be stored by external input to overall control unit 103.

[0135] For example, the overall control unit 103 reads the parameters for executing each of the above-mentioned designations from the register, and generates, for example, signals EN_SPAD_H, EN_SPAD_V, EN_F, and EN_PR based on the read parameters. The overall control unit 103 transmits the generated signals EN_SPAD_H and EN_F to the horizontal control unit 102a. The horizontal control unit 102a provides the signal XEN_SPAD_H to a predetermined column of the pixel array unit 100 based on the transmitted signal EN_SPAD_H. In addition, the horizontal control unit 102a provides the transmitted signal EN_F to a plurality of predetermined columns (e.g., 3 columns) and a predetermined row of the pixel array unit 100 in a predetermined cycle. Further, the overall control unit 103 transmits the generated signals EN_SPAD_V and EN_PR to the vertical control unit 102b. The vertical control unit 102b provides the transmitted signals EN_PR and the signal XEN_SPAD_V to a predetermined line of the pixel array unit 100 based on the signal EN_SPAD_V.

[0136] Fig.16 1 is a diagram showing an example of specifying a plurality of reading areas according to the division of the assumed light source according to the first embodiment. Figure 3 ) is composed of four laser diodes, and specifies the reading areas 611, 612, 613, and 614 corresponding to the respective laser diodes. In this case, the base point positions 651, 652, and 653 of the reading areas 612, 613, and 614 are specified, for example, for the base point position 62 of the leftmost reading area 611.

[0137] For example, the base point position 651 of the read region 612 is specified by a horizontal offset 631 relative to the base point position 62 and a height 641 with reference to the lower end of the effective region 60. Similarly, the base point positions 652 and 653 of the read regions 613 and 614 are specified by horizontal offsets 632 and 633 relative to the base point position 62 and heights 642 and 643 with reference to the lower end of the effective region 60, respectively.

[0138] Furthermore, in each of the read areas 611 to 614, the position of the height change in the vertical direction is specified using the adjustment interval 66, and although Fig.16 Omitted, but use an adjustment of 67 to match Fig.15 Each specified value is stored in the adjustment register as a parameter for specifying the read area.

[0139] For example, the overall control unit 103 reads parameters for executing each of the above-mentioned designations from the register, and generates, for example, respective signals EN_SPAD_H, EN_SPAD_V, EN_F, and EN_PR based on the respective read parameters, which are similar to Fig.15 The overall control unit 103 transmits the generated signals EN_SPAD_H and EN_F to the horizontal control unit 102a, and transmits the signal EN_SPAD_VEN_PR to the vertical control unit 102b.

[0140] (Calibration process applicable to the first embodiment)

[0141] Next, the calibration process of the reading area according to the first embodiment will be described. When the distortion or deviation of the trajectory 50 of the reflected light applied to the pixel array unit 100 is unique to the device as described above, the trajectory 50 can be acquired in advance. Based on the acquired information about the trajectory 50, Fig.15 and 16 The various parameters described in are obtained and stored in the adjustment register of the overall control unit 103.

[0142] Fig.17 1 is a flowchart showing an example of the calibration process of the reading area according to the first embodiment. Figure 4 ) at a fixed distance from the object (step S100). The object preferably has high reflectivity and high uniformity, such as white paper or cardboard.

[0143] Next, in step S101, a pixel circuit 10 whose output is to be used is selected. Only one pixel circuit 10 may be specified, or a plurality of pixel circuits 10 included in a narrower range than, for example, the pixel 531 to which the measurement value is added may be selected. Here, a description will be given on the premise that one pixel circuit 10 is selected.

[0144] Fig.18 FIG. 1 is a schematic diagram for describing the calibration process of the read area according to the first embodiment. Fig.18 In step S101, it is assumed that the pixel circuit 10 is selected obj In the subsequent step S102, the distance measuring device 1 causes the light source unit 2 to emit light under the control of the overall control unit 103, for example, and the pixel circuit 10 obj In the subsequent step S103, the distance measurement processing unit 101 in the distance measurement device 1 performs the exposure based on the pixel circuit 10 obj The light reception timing is measured using the output signal Vpls, and the measured value is stored.

[0145] Note that the processing in step S102 and step S103 may be repeated multiple times to obtain a desired result based on the pixel circuit 10. obj The output at the predetermined position is used to generate a histogram.

[0146] In the subsequent step S104, the overall control unit 103 determines whether the processing from steps S101 to S103 has been completed for the predetermined area. For example, when the processing for all pixel circuits 10 or the effective area 60 in the pixel array unit 100 has been completed, the overall control unit 103 determines that the processing for the predetermined area has been completed. Without limitation thereto, when the processing for all pixel circuits 10 included in the pixel 531 has been completed, it may be determined that the processing for the predetermined area has been completed, and another area may be additionally set to determine whether the processing has been completed in the set area.

[0147] When it is determined that the processing for the predetermined area has not been completed (step S104, "No"), the overall control unit 103 transfers the processing to step S105. In step S105, the overall control unit 103 sets the shift amount and direction to specify the pixel circuit 10 whose output is to be used next. For example, the overall control unit 103 sets the pixel circuit 10 to be used next. obj The overall control unit 103 returns the process to step S101, specifies the pixel circuit 10 at the position set in step S105 as the pixel circuit 10 whose output is to be newly used. obj , execute the processing in step S102 and subsequent steps, and store the measured values.

[0148] When it is determined in step S104 that the processing for the predetermined area has been completed (step S104, "Yes"), the overall control unit 103 transfers the processing to step S106. In step S106, the overall control unit 103 analyzes the output results obtained by the processing in steps S101 to S105, that is, the measurement values ​​stored in step S103. In the subsequent step S107, the overall control unit 103 determines the reading area based on the analysis result in step S106. For example, the overall control unit 103 determines the reading area based on the pixel circuit 10 at each position. obj The frequency of responses in the read region determines whether the position is suitable as a position to be included in the read region.

[0149] The overall control unit 103 stores various parameters indicating the read area determined in step S107 in the register. As a result, for example, the read area 51b1 is set.

[0150] according to Fig.17The process of the flowchart can be performed by a user who uses the electronic device 6 including the distance measuring device 1 when using the distance measuring function of the distance measuring device 1 and can be used to correct the reading area. Without being limited to this, the manufacturer can perform the process according to the flowchart to determine the reading area at the time of shipment of the electronic device 6 including the distance measuring device 1. In addition, regardless of Fig.17 According to the processing of the flowchart, during the assembly process of the electronic device 6 including the distance measuring device 1, etc., the trajectory 50 when the reflected light from the light source unit 2 is received by the pixel array unit 100 can be estimated according to the installation position of the light source unit 2, etc., and various parameters indicating the reading area can be generated based on the estimation result and stored in the register.

[0151] [Second embodiment]

[0152] Next, an application example of the first embodiment of the present disclosure will be described as a second embodiment of the present disclosure. Fig.19 : is a diagram showing a use example according to the second embodiment, in which the distance measuring device 1 according to the above-described first embodiment is used.

[0153] The above-described distance measuring device 1 may be used in various cases for sensing light such as visible light, infrared light, ultraviolet light, and X-rays, which will be described below.

[0154] Devices that capture images for viewing, such as digital cameras and mobile devices with camera capabilities.

[0155] Devices for traffic, such as on-board sensors that capture the front, rear, surroundings, interior, etc. of a car to achieve safe driving (such as automatic stopping and recognition of the driver's state), monitoring cameras that monitor traveling vehicles and roads, and distance measurement sensors that measure the distance between vehicles.

[0156] Devices used in home appliances such as televisions, refrigerators, and air conditioners to capture user gestures and operate the device based on the gestures.

[0157] Devices used in medical and health care, such as endoscopes and devices that perform angiography by receiving infrared light.

[0158] Devices for security, such as surveillance cameras for crime prevention and cameras for personal identity verification.

[0159] Devices for beauty care, such as skin measurement devices that capture the skin and microscopes that capture the scalp.

[0160] Devices for sports, such as action cameras and wearable cameras for sports applications.

[0161] • Devices used in agriculture, such as cameras used to monitor the status of fields and crops.

[0162] [Additional application examples of technology according to the present disclosure]

[0163] [Application example to moving objects]

[0164] The technology according to the present disclosure can be further applied to devices mounted on various mobile objects such as vehicles, electric vehicles, hybrid electric vehicles, motorcycles, bicycles, personal mobility devices, airplanes, drones, ships, and robots.

[0165] Fig. 20 is a block diagram showing a schematic configuration example of a vehicle control system, which is an example of a mobile object control system to which the technology according to the present disclosure can be applied.

[0166] The vehicle control system 12000 includes a plurality of electronic control units connected via a communication network 12001. Fig. 20 In the example shown, the vehicle control system 12000 includes a drive system control unit 12010, a body system control unit 12020, an external vehicle information detection unit 12030, an internal vehicle information detection unit 12040, and an integrated control unit 12050. In addition, as a functional configuration of the integrated control unit 12050, a microcomputer 12051, a sound-image output unit 12052, and an in-vehicle network interface (I / F) 12053 are shown.

[0167] The drive system control unit 12010 controls the operation of devices related to the drive system of the vehicle according to various programs. For example, the drive system control unit 12010 serves as a control device for a drive force generating device (such as an internal combustion engine and a drive motor) configured to generate a drive force of the vehicle, a drive force transmitting mechanism configured to transmit the drive force to the wheels, a steering mechanism that adjusts the steering angle of the vehicle, a braking device that generates a braking force of the vehicle, etc.

[0168] The body system control unit 12020 controls the operation of various devices installed on the vehicle body according to various programs. For example, the body system control unit 12020 is used as a control device for a keyless entry system, a smart key system, a power window device, or various lights such as headlights, rear lights, brake lights, turn signal lights, and fog lights. In this case, the body system control unit 12020 can receive input of radio waves or signals of various switches transmitted from a portable device that replaces the key. The body system control unit 12020 receives input of these radio waves or signals to control the door lock device, power window device, lights, etc. of the vehicle.

[0169] The external vehicle information detection unit 12030 detects information about the outside of the vehicle on which the vehicle control system 12000 is installed. For example, the imaging unit 12031 is connected to the external vehicle information detection unit 12030. The external vehicle information detection unit 12030 causes the imaging unit 12031 to capture an image of the outside of the vehicle and receive the captured image. The external vehicle information detection unit 12030 may perform object detection processing or distance detection processing of a person, a car, an obstacle, a sign, a character, etc. on the road surface based on the received image. The external vehicle information detection unit 12030 performs image processing on the received image, and performs object detection processing or distance detection processing based on the result of the image processing.

[0170] The imaging unit 12031 is an optical sensor that receives light and outputs an electrical signal according to the amount of light received. The imaging unit 12031 can output the electrical signal as an image and also as ranging information. In addition, the light received by the imaging unit 12031 can be visible light or invisible light such as infrared light.

[0171] The internal vehicle information detection unit 12040 detects internal vehicle information. The internal vehicle information detection unit 12040 is connected to, for example, a driver state detection unit 12041 that detects the state of the driver. The driver state detection unit 12041 includes, for example, a camera that images the driver, and the internal vehicle information detection unit 12040 can calculate the driver's fatigue level or concentration level based on the detection information input from the driver state detection unit 12041, or can determine whether the driver is dozing off.

[0172] The microcomputer 12051 can calculate the control target value of the driving force generation device, the steering mechanism, or the braking device based on the information about the inside or outside of the vehicle acquired by the external vehicle information detection unit 12030 or the internal vehicle information detection unit 12040, and output a control command to the drive system control unit 12010. For example, the microcomputer 12051 can perform cooperative control to realize the functions of the advanced driver assistance system (ADAS), which includes collision avoidance or impact reduction of the vehicle, driving following the vehicle ahead based on the distance between vehicles, constant speed driving, vehicle collision warning, or warning of vehicle deviation from the lane.

[0173] In addition, the microcomputer 12051 can control the driving force generating device, steering mechanism, braking device, etc. based on the information about the surroundings of the vehicle acquired by the external vehicle information detection unit 12030 or the internal vehicle information detection unit 12040, thereby performing collaborative control for automatic driving, etc., in which the vehicle drives autonomously without relying on the driver's operation.

[0174] In addition, the microcomputer 12051 may output a control command to the body system control unit 12020 based on the information about the outside of the vehicle acquired by the outside vehicle information detection unit 12030. For example, the microcomputer 12051 may control the headlights according to the position of the preceding vehicle or the oncoming vehicle detected by the outside vehicle information detection unit 12030, thereby performing cooperative control for anti-glare such as switching from high beam to low beam.

[0175] The sound-image output unit 12052 sends an output signal of at least one of sound or image to an output device, which can visually or auditorily provide notification of information to the passengers of the vehicle or the outside of the vehicle. Fig. 20 In the example of FIG. 1 , an audio speaker 12061, a display unit 12062, and a dashboard 12063 are illustrated as output devices. The display unit 12062 may include, for example, at least one of an in-vehicle display and a head-up display.

[0176] Fig.21 12031 is a view showing an example of the installation position of the imaging unit 12031. Fig.21 In the figure, vehicle 12100 has imaging units 12101, 12102, 12103, 12104 and 12105 as imaging unit 12031.

[0177] Imaging units 12101, 12102, 12103, 12104, and 12105 are installed at locations such as the front nose, rearview mirror, rear bumper, rear door, and upper portion of the windshield in the cabin of the vehicle 12100, for example. The imaging unit 12101 installed at the front nose and the imaging unit 12105 installed at the upper portion of the windshield in the cabin mainly acquire images of the area in front of the vehicle 12100. The imaging units 12102 and 12103 installed on the rearview mirror mainly acquire images of the side of the vehicle 12100. The imaging unit 12104 installed on the rear bumper or rear door mainly acquires images of the area behind the vehicle 12100. The images of the area in front of the vehicle acquired by the imaging units 12101 and 12105 are mainly used to detect the front vehicle or pedestrians, obstacles, traffic lights, traffic signs, lanes, etc.

[0178] Notice Fig.21An example of the ranges of the captured imaging units 12101 to 12104 is shown. Imaging range 12111 indicates the imaging range of the imaging unit 12101 provided on the front nose, imaging ranges 12112 and 12113 respectively indicate the imaging ranges of the imaging units 12102 and 12103 provided on the rearview mirror, and imaging range 12114 indicates the imaging range of the imaging unit 12104 provided on the rear bumper or the rear door. For example, a bird's-eye view image of the vehicle 12100 viewed from above can be obtained by superimposing the image data captured by the imaging units 12101 to 12104.

[0179] At least one of the imaging units 12101 to 12104 may have a function of acquiring distance information. For example, at least one of the imaging units 12101 to 12104 may be a stereo camera including a plurality of imaging elements, or may be an imaging element having pixels for phase difference detection.

[0180] For example, the microcomputer 12051 obtains the distance to each three-dimensional object within the imaging ranges 12111 to 12114 and the time change of the distance (relative speed with respect to the vehicle 12100) based on the distance information obtained from the imaging units 12101 to 12104, and thus, in particular, can extract the three-dimensional object that is closest on the path of travel of the vehicle 12100 and travels at a predetermined speed (for example, 0 km / h or faster) in the same direction as the vehicle 12100 as the leading vehicle. In addition, the microcomputer 12051 can pre-set the inter-vehicle distance to be ensured behind the leading vehicle, and perform automatic braking control (including follow-up stop control), automatic acceleration control (including follow-up start control), etc. In this way, cooperative control for the purpose of automatic driving for autonomous travel, etc. can be performed without depending on the operation of the driver.

[0181] For example, the microcomputer 12051 classifies the three-dimensional object data related to the three-dimensional object into two-wheeled vehicles, standard-sized vehicles, large vehicles, pedestrians, and other three-dimensional objects such as utility poles, and extracts data for automatic avoidance of obstacles based on the distance information obtained from the imaging units 12101 to 12104. For example, the microcomputer 12051 distinguishes and identifies obstacles near the vehicle 12100 as obstacles that can be visually recognized by the driver of the vehicle 12100 or obstacles that are difficult to visually recognize by the driver. Then, the microcomputer 12051 determines the risk of collision indicating the degree of risk of collision with each obstacle, and can perform driver assistance to avoid the collision in the case where there is a possibility of a collision with a risk of collision equal to or higher than a set value by outputting an alarm to the driver via the audio speaker 12061 and / or the display unit 12062 or performing forced deceleration or evasive steering via the drive system control unit 12010.

[0182] At least one of the imaging units 12101 to 12104 may be an infrared camera that detects infrared light. For example, the microcomputer 12051 may identify a pedestrian by determining whether the pedestrian exists in an image captured by the imaging units 12101 to 12104. Such pedestrian recognition is performed by a process of extracting feature points in an image captured by the imaging units 12101 to 12104, such as infrared cameras, and a process of performing pattern matching on a series of feature points indicating the outline of an object and determining whether the object corresponds to a pedestrian. When the microcomputer 12051 determines that a pedestrian exists in an image captured by the imaging units 12101 to 12104 and identifies the pedestrian, the sound-image output unit 12052 controls the display unit 12062 so that a rectangular outline for emphasis is superimposed and displayed on the identified pedestrian. In addition, the sound-image output unit 12052 may also control the display unit 12062 to display an icon indicating a pedestrian at a desired position, etc.

[0183] An example of a vehicle control system to which the technology according to the present disclosure can be applied has been described above. The technology according to the present disclosure can be applied to, for example, the imaging unit 12031 in the above-mentioned configuration. Specifically, the distance measuring device 1 according to the first embodiment of the present disclosure described above can be applied to the imaging unit 12031. When the technology according to the present disclosure is applied to the imaging unit 12031, a distance measuring device 1 that measures the distance to a traveling vehicle in a smaller-scale configuration can be provided.

[0184] Note that the effects described in this specification are merely examples and do not limit the contents of the present disclosure, and other effects not described herein may also be achieved.

[0185] Note that the present technology may also have the following configurations.

[0186] (1) A light receiving device, comprising:

[0187] a light receiving unit including a plurality of light receiving elements arranged in a matrix-like array; and

[0188] a plurality of read lines that transmit each of the signals read from the plurality of light receiving elements,

[0189] Each of the plurality of read lines

[0190] Connected to two or more light receiving elements among the plurality of light receiving elements.

[0191] (2) The optical receiving device according to (1) above, further comprising:

[0192] a plurality of row control signal lines, the row control signal lines transmitting a row control signal for controlling the plurality of light receiving elements for each row of the array; and

[0193] a plurality of column control signal lines, wherein the column control signal lines transmit column control signals for controlling the plurality of light receiving elements for each column of the array,

[0194] Each of the plurality of row control signal lines is

[0195] sending a row control signal for each of a plurality of rows of the array, and

[0196] Each column control signal line of the plurality of column control signal lines

[0197] A column control signal is sent to each of the plurality of columns of the array.

[0198] (3) The light receiving device according to (2) above, wherein

[0199] At least one of the column control signal and the row control signal includes a power control signal for controlling the supply of power to the light receiving element.

[0200] (4) The optical receiving device according to any one of (1) to (3) above, further comprising:

[0201] a plurality of group control signal lines, the group control signal lines transmitting a group control signal for controlling the plurality of light receiving elements for each group including two or more light receiving elements,

[0202] Each of the plurality of group control signal lines is

[0203] A group control signal is sent for each of the two or more groups.

[0204] (5) The light receiving device according to (1) above, wherein

[0205] Each of the plurality of read lines

[0206] Connected to two or more light receiving elements via an OR circuit.

[0207] (6) The light receiving device according to (5) above, wherein

[0208] The OR circuit includes a first OR circuit and a second OR circuit,

[0209] A first light receiving element of the two or more light receiving elements is connected to a first input terminal of a first OR circuit,

[0210] The output terminal of the second OR circuit among the two or more light receiving elements is connected to the second input terminal of the first OR circuit, and

[0211] A second light receiving element among the two or more light receiving elements is connected to a first input terminal of the second OR circuit.

[0212] (7) The light receiving device according to any one of (1) to (6) above, wherein

[0213] The light receiving unit includes

[0214] A plurality of readout lines are arranged in rows or columns of the array along a predetermined direction, and

[0215] Two or more light receiving elements

[0216] Every (v-1)th row or column (v is an integer greater than or equal to 2) along a predetermined direction of the array is connected to a read line.

[0217] (8) The optical receiving device according to any one of (1) to (7) above, further comprising:

[0218] A specifying unit specifies a light receiving element to be read out among a plurality of light receiving elements, wherein the specifying unit

[0219] Reading of two or more light receiving elements is specified at different timings.

[0220] (9) The light receiving device according to (8) above, wherein

[0221] Specify unit

[0222] Reading of v light receiving elements, among the plurality of light receiving elements, which are arranged successively in a direction in which two or more light receiving elements are connected is specified with the same timing.

[0223] (10) The light receiving device according to (8) or (9) above, wherein

[0224] Specify unit

[0225] Reading of a plurality of light receiving elements included in a rectangular area in an array among a plurality of light receiving elements included in a light receiving unit is specified.

[0226] (11) The light receiving device according to any one of (8) to (10) above, wherein

[0227] Light receiving unit

[0228] receiving light including reflected light, where light emitted from a light source is reflected by an object to generate reflected light, and

[0229] Specify unit

[0230] A light receiving element that performs reading of a signal among a plurality of light receiving elements is specified based on a region estimated to emit reflected light to the light receiving unit acquired in advance.

[0231] (12) The optical receiving device according to any one of (8) to (11) above, further comprising

[0232] a storage unit storing a parameter for specifying a light receiving element that performs reading among a plurality of light receiving elements,

[0233] Among them, the specified unit

[0234] The designated light receiving element performs reading based on the parameters stored in the storage unit.

[0235] (13) The light receiving device according to (12) above, wherein

[0236] Storage Unit

[0237] Stores parameters based on external input.

[0238] (14) A distance measuring device, comprising:

[0239] a light receiving unit including a plurality of light receiving elements arranged in a matrix-like array;

[0240] a plurality of readout lines that transmit each of the signals read out from the plurality of light receiving elements;

[0241] a time measuring unit that measures time from light emission timing when the light source emits light to light reception timing when the plurality of light receiving elements receive light, and acquires a measured value;

[0242] a generating unit that generates a histogram of the measured values; and

[0243] a calculation unit that calculates the distance to the measurement object based on the histogram,

[0244] Each of the plurality of read lines

[0245] Connected to two or more light receiving elements among the plurality of light receiving elements.

[0246] (15) The distance measuring device according to (14) above, further comprising:

[0247] a plurality of row control signal lines, the row control signal lines transmitting a row control signal for controlling the plurality of light receiving elements for each row of the array; and

[0248] a plurality of column control signal lines, wherein the column control signal lines transmit column control signals for controlling the plurality of light receiving elements for each column of the array,

[0249] Each of the plurality of row control signal lines is

[0250] sending a row control signal for each of a plurality of rows of the array, and

[0251] Each column control signal line of the plurality of column control signal lines

[0252] A column control signal is sent to each of the plurality of columns of the array.

[0253] (16) The distance measuring device according to (15) above, wherein

[0254] At least one of the column control signal and the row control signal includes a power control signal for controlling the supply of power to the light receiving element.

[0255] (17) The distance measuring device according to any one of (14) to (16) above, further comprising:

[0256] a plurality of group control signal lines, the group control signal lines transmitting a group control signal for controlling the plurality of light receiving elements for each group including two or more light receiving elements,

[0257] Each of the plurality of group control signal lines

[0258] A group control signal is sent for each of the two or more groups.

[0259] (18) The distance measuring device according to any one of (14) to (17) above, wherein

[0260] Each of the plurality of read lines

[0261] Connected to two or more light receiving elements via an OR circuit.

[0262] (19) The distance measuring device according to (18) above, wherein

[0263] The OR circuit includes a first OR circuit and a second OR circuit,

[0264] A first light receiving element of the two or more light receiving elements is connected to a first input terminal of a first OR circuit,

[0265] The output terminal of the second OR circuit among the two or more light receiving elements is connected to the second input terminal of the first OR circuit, and

[0266] A second light receiving element among the two or more light receiving elements is connected to a first input terminal of the second OR circuit.

[0267] (20) The distance measuring device according to any one of (14) to (19) above, wherein

[0268] The light receiving unit includes

[0269] A plurality of readout lines are arranged in rows or columns of the array along a predetermined direction, and

[0270] Two or more light receiving elements

[0271] Every (v-1)th row or column (v is an integer greater than or equal to 2) along a predetermined direction of the array is connected to a read line.

[0272] (21) The distance measuring device according to (14) above, further comprising

[0273] A specifying unit specifies a light receiving element to be read out among a plurality of light receiving elements, wherein the specifying unit

[0274] Reading of two or more light receiving elements is specified at different timings.

[0275] (22) The distance measuring device according to (21) above, wherein

[0276] Specify unit

[0277] Reading of v light receiving elements, among the plurality of light receiving elements, which are arranged successively in a direction in which two or more light receiving elements are connected is specified with the same timing.

[0278] (23) The distance measuring device according to (21) or (22), wherein

[0279] Specify unit

[0280] Reading of a plurality of light receiving elements included in a rectangular area in an array among a plurality of light receiving elements included in a light receiving unit is specified.

[0281] (24) The distance measuring device according to any one of (21) to (23) above, wherein

[0282] Light receiving unit

[0283] receiving light including reflected light, where light emitted from a light source is reflected by an object to generate reflected light, and

[0284] Specify unit

[0285] Based on the area in which the reflected light is assumed to be emitted to the light receiving unit acquired in advance, a light receiving element that performs reading of a signal is specified among the plurality of light receiving elements.

[0286] (25) The distance measuring device according to any one of (21) to (24) above, further comprising:

[0287] a storage unit storing a parameter for specifying a light receiving element that performs reading among a plurality of light receiving elements,

[0288] The specified unit

[0289] The designated light receiving element performs reading based on the parameters stored in the storage unit.

[0290] (26) The distance measuring device according to (25) above, wherein

[0291] Storage Unit

[0292] Stores parameters based on external input.

[0293] Reference designator list

[0294] 1 Distance measurement device

[0295] 2 Light source unit

[0296] 3 Storage Unit

[0297] 4 Control unit

[0298] 6 Electronic devices

[0299] 10, 10 11 , 10 13 , 10 1v , 10 21 , 10 22 , 10 2v , 10 31 , 10 3v , 10 obj Pixel circuit

[0300] 11 Components

[0301] 41 11 , 41 1v , 41 21 , 41 2v , 41 31 , 41 3v OR Circuit

[0302] 50 tracks

[0303] 51a, 51b1, 51b2, 51b3, 51b4, 51b5, 51b6, 51b7, 51b8, 61, 611, 612, 613, 614 Reading area

[0304] 55a, 55b Offset

[0305] 56a, 56b Peak

[0306] 60 effective area

[0307] 100 pixel array unit

[0308] 102 pixel control unit

[0309] 102a Horizontal control unit

[0310] 102b Vertical Control Unit

Claims

1. A light receiving device, comprising: a light receiving unit including a plurality of light receiving elements arranged in a matrix-like array; as well as a plurality of readout lines that transmit each of the signals read out from the plurality of the light receiving elements, Each of the plurality of read lines is connected to two or more of the plurality of light receiving elements, and Each of the plurality of read lines is connected to two or more of the light receiving elements via an OR circuit, The OR circuit includes a first OR circuit and a second OR circuit, A first light receiving element among the two or more light receiving elements is connected to a first input terminal of the first OR circuit, The output terminal of the second OR circuit in two or more of the light receiving elements is connected to the second input terminal of the first OR circuit, and A second light receiving element among the two or more light receiving elements is connected to a first input terminal of the second OR circuit.

2. The optical receiving device according to claim 1, further comprising: a plurality of row control signal lines, the row control signal lines transmitting row control signals for controlling the plurality of light receiving elements for each row of the array; as well as a plurality of column control signal lines, wherein the column control signal lines transmit column control signals for controlling the plurality of light receiving elements for each column of the array, Each of the plurality of row control signal lines is sending the row control signal for each of a plurality of the rows of the array, and Each column control signal line of the plurality of column control signal lines The column control signal is sent to each column of a plurality of the columns of the array.

3. The light receiving device according to claim 2, wherein At least one of the column control signal and the row control signal includes a power control signal for controlling power supply to the light receiving element.

4. The optical receiving device according to claim 1, further comprising a plurality of group control signal lines that transmit, for each group including two or more light receiving elements, a group control signal for controlling the plurality of light receiving elements, in, Each of the plurality of group control signal lines The group control signal is sent for each of two or more of the groups.

5. The light receiving device according to claim 1, wherein The light receiving unit includes A plurality of readout lines are arranged in rows or columns of the array along a predetermined direction, and Two or more of the light receiving elements Every v-1 row or column along the predetermined direction of the array is connected to the read line, wherein, v is an integer greater than or equal to 2.

6. The optical receiving device according to claim 1, further comprising a specifying unit that specifies a light receiving element to perform reading among the plurality of light receiving elements, in, The designated unit The reading of two or more of the light receiving elements is specified at different timings.

7. The light receiving device according to claim 6, wherein The designated unit The reading of v light receiving elements, which are arranged successively in a direction in which two or more of the light receiving elements are connected, among the plurality of the light receiving elements is specified at the same timing.

8. The light receiving device according to claim 6, wherein The designated unit The reading of a plurality of light receiving elements included in a rectangular area in the array among the plurality of light receiving elements included in the light receiving unit is specified.

9. The light receiving device according to claim 6, wherein The light receiving unit receiving light including reflected light, where light emitted from a light source is reflected by an object to generate the reflected light, and The designated unit A light receiving element that performs reading of the signal among the plurality of light receiving elements is specified based on a region estimated in advance to emit the reflected light to the light receiving unit.

10. The optical receiving device according to claim 6, further comprising a storage unit storing a parameter for specifying a light receiving element that performs the reading among the plurality of light receiving elements, in, The designated unit The light receiving element is designated to perform the reading based on the parameter stored in the storage unit.

11. The light receiving device according to claim 10, wherein The storage unit The parameters are stored according to external input.

12. A distance measuring device comprising: a light receiving unit including a plurality of light receiving elements arranged in a matrix-like array; a plurality of readout lines that transmit each of signals read out from the plurality of light receiving elements; a time measuring unit that measures a time from a light emission timing when the light source emits light to a light reception timing when the plurality of light receiving elements receive the light, and acquires a measurement value; a generating unit, wherein the generating unit generates a histogram of the measured values; and a calculation unit, wherein the calculation unit calculates a distance to a measurement object based on the histogram, Each of the plurality of read lines is connected to two or more of the plurality of light receiving elements, and Each of the plurality of read lines is connected to two or more of the light receiving elements via an OR circuit, The OR circuit includes a first OR circuit and a second OR circuit, A first light receiving element among the two or more light receiving elements is connected to a first input terminal of the first OR circuit, The output terminal of the second OR circuit in two or more of the light receiving elements is connected to the second input terminal of the first OR circuit, and A second light receiving element among the two or more light receiving elements is connected to a first input terminal of the second OR circuit.

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