Time of flight camera device and driving method thereof

Abstract

A Time of Flight (TOF) camera device and a method for driving the same are provided. The TOF camera device includes a pulse generator that generates a pulse signal, a light irradiation device that irradiates output light onto a subject in response to the pulse signal, a 3D sensor that receives reflected light reflected from the subject during a first frame, a distance calculation device that receives the output of the 3D sensor and generates a distance data signal, and a light density control device that receives the distance data signal from the distance calculation device and outputs a light density control signal that determines the size of the area where the output light irradiated by the light irradiation device irradiates onto the subject based thereon, wherein the light irradiation device irradiates output light of a density corresponding to the light density control signal onto the subject during the first frame.

Description

Technology Field

[0001] The present invention relates to a TOF camera device and a method for driving the same. Background Technology

[0002] Time of Flight (TOF) cameras detect objects by utilizing the phase delay that occurs during the process of light modulated at a predetermined frequency being reflected back from the object, and are widely used in fields such as topographic surveying and object attitude control.

[0003] Looking at the operating principle of a TOF camera, the TOF camera includes a light source that emits light with a predetermined center wavelength, and the light emitted from such a source is modulated to a predetermined frequency and irradiated onto a target to be detected. Subsequently, the light irradiated onto the target is reflected back to the TOF camera, and the TOF camera detects the returning light using a built-in sensor. In this case, by comparing the phases of the light emitted from the TOF camera and the light reflected back from the target, the distance to the target can be determined.

[0004] At this time, the accuracy of the TOF camera is affected by the modulation frequency, dynamic range, or sensitivity of the light emitted from the TOF camera. Consequently, in order to secure accuracy above the desired level, the light must be modulated with a frequency suitable for the distance and emitted onto the subject. Conventional TOF cameras have a problem in that the modulation frequency is fixed, so accuracy cannot be guaranteed when the distance to the subject exceeds a predetermined distance. The problem to be solved

[0005] The problem that the present invention aims to solve is to provide a TOF camera device that accurately determines the position of a subject by controlling light density.

[0006] Another problem that the present invention aims to solve is to provide a method for driving a TOF camera device that accurately determines the position of a subject by controlling light density.

[0007] The technical problems of the present invention are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0008] A TOF camera device according to one embodiment for solving the above problem comprises a pulse generator that generates a pulse signal, a light irradiation device that irradiates output light onto a subject in response to the pulse signal, a 3D sensor that receives reflected light reflected from the subject during a first frame, a distance calculation device that receives the output of the 3D sensor and generates a distance data signal, and a light density control device that receives the distance data signal from the distance calculation device and outputs a light density control signal that determines the size of the area where the output light irradiated by the light irradiation device irradiates onto the subject based thereon, wherein the light irradiation device irradiates output light of a density corresponding to the light density control signal onto the subject during the first frame.

[0009] A driving method for a TOF camera device according to one embodiment for solving the above problem comprises generating a pulse signal, irradiating an output light onto a subject in response to the pulse signal, receiving reflected light reflected from the subject during a first frame, generating a distance data signal from the received reflected light, and outputting a light density control signal that determines the size of the area where the output light is irradiated onto the subject based on the distance data signal, wherein during the first frame, output light of a density corresponding to the light density control signal is irradiated onto the subject.

[0010] A driving method for a TOF camera device according to another embodiment for solving the above problem comprises, during a first frame, irradiating a first output light from a light irradiation device onto a first area of ​​a first subject, and during the first frame, changing the area where the first output light is irradiated onto the first subject from a first area to a second area based on a first reflected light reflected from the first subject, and during a second frame following the first frame, irradiating a second output light from a light irradiation device onto a third area of ​​a second subject, and during the second frame, changing the area where the second output light is irradiated onto the second subject from a third area to a fourth area based on a second reflected light reflected from the second subject, wherein the size of the second area and the size of the fourth area are different from each other.

[0011] Specific details of other embodiments are included in the detailed description and drawings. Brief explanation of the drawing

[0012] Figure 1 is a block diagram illustrating a TOF camera device. FIG. 2 is a diagram showing the light area of ​​a subject according to the size of the light density control unit aperture according to some embodiments. FIG. 3 is a diagram showing the light area of ​​a subject according to the size of the light density control unit aperture according to several other embodiments. FIG. 4 is a diagram showing the light area of ​​a subject according to the size of the light density control unit aperture according to some other embodiments. FIG. 5 is a diagram illustrating the process of a 3D sensor generating a 3D depth map according to some embodiments. FIG. 6 is a diagram illustrating the process of a 3D sensor generating a 3D depth map according to several other embodiments. Figure 7 is a flowchart illustrating the operation method of a TOF camera device. FIG. 8 is a diagram showing the light area of ​​a first subject and a second subject according to the size of the light density control unit aperture according to some embodiments. FIG. 9 is a diagram showing depth maps of the first subject and the second subject. Figure 10 is a drawing showing the case where the first subject of Figure 8 is selected. FIG. 11 is a drawing showing the light area of ​​the first subject and the second subject according to FIG. 10. FIG. 12 is a drawing showing the case where the second subject of FIG. 8 is selected. FIG. 13 is a drawing showing the light area of ​​the first subject and the second subject according to FIG. 12. FIG. 14 is a flowchart of a method for driving a TOF camera device according to several other embodiments. FIG. 15 is a drawing showing the light area of ​​a first subject and a second subject according to the size of the light density control unit aperture according to some other embodiments. FIG. 16 is a diagram showing the output light irradiated onto the first subject during the first frame. FIG. 17 is a drawing showing the light area of ​​the first subject according to FIG. 16. FIG. 18 is a diagram showing the output light irradiated onto the second subject during the second frame. FIG. 19 is a drawing showing the light area of ​​the second subject according to FIG. 18. FIG. 20 shows some embodiments of a computer system including a TOF camera device illustrated in FIG. 1. FIG. 21 shows several other embodiments of a computer system including the TOF camera device illustrated in FIG. 1. FIG. 22 shows several other embodiments of a computer system including the TOF camera device illustrated in FIG. 1. Specific details for implementing the invention

[0013] Hereinafter, embodiments according to the technical concept of the present invention will be described with reference to the attached drawings.

[0014] FIG. 1 is a block diagram illustrating a TOF camera device. FIG. 2 is a diagram showing the light area of ​​a subject according to the size of the light density control unit aperture according to some embodiments. FIG. 3 is a diagram showing the light area of ​​a subject according to the size of the light density control unit aperture according to some other embodiments. FIG. 4 is a diagram showing the light area of ​​a subject according to the size of the light density control unit aperture according to yet another set of embodiments.

[0015] Referring to FIG. 1, the TOF camera device (100) may include a light module (110), a light density control device (120), a distance calculator (130), a 3D sensor (140), a memory device (150), an image signal processor (ISP, 160), and a pulse generator (170).

[0016] The light irradiation device (110) may include a light source (111) and a light density controller (LDC: Light Density Controller, 112).

[0017] The light source (111) can ray output light (OL) onto a subject (OJ) in response to a pulse signal (P) generated from a pulse generator (170).

[0018] The light density control unit (112) can control the size of the opening through which the output light (OL) is irradiated in response to a light density control signal (LCON) generated by the light density control device (120). Specifically, the light density control unit (112) can control the size of the opening through which the output light (OL) is irradiated in response to a light density control signal (LCON) according to the position of the subject (OJ).

[0019] For example, referring to FIG. 2, the light irradiation device (110) can irradiate output light (OL) onto a subject (OJ). At this time, the spacing of the light density control unit (112) may be a first spacing (d1). And, the size of the light area where the output light (OL) is irradiated onto the subject (OJ) may be a first area (S11).

[0020] For example, referring to FIG. 3, if the distance between the light irradiation device (110) and the subject (OJ) is closer than the distance between the light irradiation device (110) and the subject (OJ) shown in FIG. 2, the light density control signal (LCON) may change. And, the light density control unit (112) may increase the size of the light density control unit (112) opening in response to the light density control signal (LCON).

[0021] That is, the light density control unit (112) can adjust the size of the aperture through which the output light (OL) is irradiated in response to the light density control signal (LCON).

[0022] In FIG. 3, the spacing of the light density control unit (112) may be a second spacing (d2). The size of the second spacing (d2) may be larger than the size of the first spacing (d1 in FIG. 2).

[0023] As a result, the light area of ​​the output light (OL) irradiated onto the subject (OJ) can be increased. That is, the size of the light area of ​​the output light (OL) irradiated onto the subject (OJ) can be increased from the first area (S11 in FIG. 2) to the second area (S12).

[0024] Conversely, for example, referring to FIG. 4, if the distance between the light irradiation device (110) and the subject (OJ) is farther than the distance between the light irradiation device (110) and the subject (OJ) shown in FIG. 2, the size of the light density control unit (112) opening may be reduced in response to the light density control signal (LCON).

[0025] In FIG. 4, the spacing of the light density control unit (112) may be a third spacing (d3). The size of the third spacing (d3) may be smaller than the size of the first spacing (d1). The size of the third spacing (d3) may be smaller than the size of the second spacing (d2).

[0026] As a result, the light area of ​​the output light (OL) irradiated onto the subject (OJ) can be reduced. That is, the size of the light area of ​​the output light (OL) irradiated onto the subject (OJ) can be reduced from the first area (S11 in FIG. 2) to the third area (S13).

[0027] In this way, the size of the light area of ​​the output light (OL) irradiated onto the subject (OJ) can vary depending on the size of the opening of the light density control unit (112).

[0028] Referring again to FIG. 1, the output light (OL) may have a constant frequency. For example, the light irradiation device (110) may use a light source in the infrared wavelength range, but the embodiments are not limited thereto.

[0029] The output light (OL) irradiated onto the subject (OJ) can be reflected and received by the 3D sensor (140). The phase of the reflected light (RL) reflected from the subject (OJ) can be changed.

[0030] For example, when compared to the phase of the output light (OL) irradiated from the light source (111), the phase of the reflected light (RL) may change depending on the distance from the subject (OJ).

[0031] During the first frame, the 3D sensor (140) can receive reflected light (RL) that is reflected from the subject (OJ) by the output light (OL). The 3D sensor (140) can store phase difference information for the reflected light (RL) in the memory device (150).

[0032] The 3D sensor (140) can generate time information of the received reflected light (RL) based on phase difference information between the output light (OL) of the light irradiation device (110) and the reflected light (RL) reflected from the subject (OJ). Based on the time information, the 3D sensor (140) can generate a 3D depth map (DM) of the subject (OJ).

[0033] The generation of a 3D depth map (DM) by the 3D sensor (140) will be described later with reference to FIGS. 5 and FIGS. 6.

[0034] The distance calculation device (130) can generate a distance data signal (DCON) by receiving the output of the 3D sensor (140). Here, the output of the 3D sensor (140) may be, for example, a 3D depth map (DM).

[0035] The distance data signal (DCON) may be a signal based on time information between the output light (OL) and the reflected light (RL).

[0036] The light density control device (120) receives a distance data signal (DCON) from the distance calculation device (130) and, based on this, can output a light density control signal (LCON) that determines the size of the area where the output light (OL) irradiated by the light irradiation device (110) is irradiated onto the subject.

[0037] The optical density control device (140) can receive a distance data signal (DCON) and generate an optical density control signal (LCON).

[0038] The light density control signal (LCON) can control the size of the aperture through which the output light (OL) of the light density control unit (112) is irradiated.

[0039] The memory device (150) can store information provided by the 3D sensor (140). The memory device (150) can transmit the 3D depth map (DM), image and phase difference information, etc. generated from the 3D sensor (140) to the ISP (160).

[0040] The ISP (160) can calculate the distance between the subject (OJ) and the TOF camera device (100) using the phase difference information. The ISP (160) can transmit the calculated information or the image to the display device (200).

[0041] The display device (200) can play the image.

[0042] FIG. 5 is a diagram illustrating the process of a 3D sensor generating a 3D depth map according to some embodiments. FIG. 6 is a diagram illustrating the process of a 3D sensor generating a 3D depth map according to some other embodiments.

[0043] Referring to FIG. 5, the 3D sensor (140) can generate a 3D depth map (DM) by combining the reflected light (RL) reflected from the subject.

[0044] For example, the 3D sensor (140) can receive reflected light reflected from the subject (OJ) during the first frame. The 3D sensor (140) can combine each of the reflected light to generate a 3D depth map (DM).

[0045] Referring to FIG. 6, unlike FIG. 5, the 3D sensor (140) can generate a 3D depth map (DM) by continuously combining reflected light (RL) reflected from the subject.

[0046] For example, the 3D sensor (140) can receive reflected light reflected from the subject (OJ) during the first frame. The 3D sensor (140) can continuously combine the reflected light to create a single reflected light (SRL1~SRLn) to generate a 3D depth map (DM).

[0047] Figure 7 is a flowchart illustrating the operation method of a TOF camera device.

[0048] Referring to FIG. 7, a pulse signal is generated (S110).

[0049] For example, referring to FIG. 1, the pulse generator (170) can generate a pulse signal (P). Below, a method for driving a TOF camera device according to the technical concept of the present invention will be described using the structure of the TOF camera device (100) described above, but the embodiments are not limited thereto.

[0050] Next, output light is irradiated onto the subject in response to the above pulse signal (S110).

[0051] For example, referring to FIG. 1, in response to a pulse signal (P) generated by a pulse generator (170), the light irradiation device (110) can irradiate output light (OL) onto a subject (OJ). The light source (111) can irradiate output light (OL) onto a subject (OJ) in response to a pulse signal (P).

[0052] Next, reflected light reflected from the subject is received (S120).

[0053] For example, referring to FIG. 1, the 3D sensor (140) can receive reflected light (RL) reflected from the subject (OJ).

[0054] Next, a 3D depth map is generated using the received reflected light (S130).

[0055] For example, referring to FIG. 1, the 3D sensor (140) can generate time information of the received reflected light (RL) based on phase difference information between the output light (OL) of the light irradiation device (110) and the reflected light (RL) reflected from the subject (OJ). Based on the time information, the 3D sensor (140) can generate a 3D depth map (DM) of the subject (OJ).

[0056] For example, referring to FIG. 6, when the 3D sensor (140) generates a 3D depth map (DM), the reflected light (RL) reflected from the subject (OJ) may be continuously combined to generate a 3D depth map (DM) with a single reflected light (SRL1~SRLm). That is, a 3D depth map (DM) may be generated with a single reflected light (SRL1~SRLm) for each frame (F1~Fn).

[0057] Referring to FIG. 5, when the 3D sensor (140) generates a 3D depth map (DM), the 3D depth map (DM) can be generated by combining the reflected lights reflected from the subject (OJ).

[0058] Next, a distance data signal is generated from the generated 3D depth map (S140).

[0059] For example, referring to FIG. 1, the distance calculation device (130) can generate a distance data signal (DCON). The distance calculation device (130) can generate a distance data signal (DCON) by receiving a 3D depth map (DM), which is the output of a 3D sensor (140).

[0060] Finally, a light density control signal is output from the distance data signal to determine the size of the area where the output light is irradiated onto the subject (S150).

[0061] For example, referring to FIG. 1, the light density control device (120) can generate a light density control signal (LCON). The light density control signal (120) can determine the size of the area where the output light (OL) irradiated by the light irradiation device (110) is irradiated onto the subject. The light density device (120) can receive a distance data signal (DCON) and output a light density control signal (LCON) based thereon.

[0062] Accordingly, the light density control unit (120) can adjust the size of the aperture through which the output light (OL) is irradiated in response to the light density control signal (DCON). The output light (OL) corresponding to the light density control signal (DCON) can be irradiated onto the subject (OJ).

[0063] While FIGS. 1 to 7 described the case where there is one subject (OJ) during the first frame, the following description uses the case where there are two or more subjects during the first frame as an example. In the following, explanations that overlap with FIGS. 1 to 7 will be omitted, and the differences will be explained primarily.

[0064] FIG. 8 is a diagram showing the light area of ​​a first subject and a second subject according to the size of the light density control unit aperture according to some embodiments. FIG. 9 is a diagram showing the depth map of the first subject and the second subject. FIG. 10 is a diagram showing the case where the first subject of FIG. 8 is selected. FIG. 11 is a diagram showing the light area of ​​the first subject and the second subject according to FIG. 10. FIG. 12 is a diagram showing the case where the second subject of FIG. 8 is selected. FIG. 13 is a diagram showing the light area of ​​the first subject and the second subject according to FIG. 12.

[0065] Referring to FIG. 8, the first subject (OJ1) is located at a first distance (D1) from the light irradiation device (110), and the second subject (OJ2) may be located at a second distance (D2) from the light irradiation device (110) that is further than the first distance (D1).

[0066] In response to the pulse signal (P) during the first frame, the light source (111) can irradiate output light (OL) to the first subject (OJ1) and the second subject (OJ2). That is, the output light (OL) irradiated from the light irradiation device (110) can be irradiated to both the first subject (OJ1) and the second subject (OJ2).

[0067] At this time, the area where the output light (OL) is irradiated on the first subject (OJ1) may be the first area (S1), and the area where the output light (OL) is irradiated on the second subject (OJ2) may be the second area (S2).

[0068] The 3D sensor (140) can receive the first reflected light (RL1) reflected from the first subject (OJ1) and the second reflected light (RL2) reflected from the second subject (OJ2) during the first frame of the output light (OL). The 3D sensor (140) can generate a 3D depth map (OJS) by combining the depth of the first subject (OJ1) and the depth of the second subject (OJ2).

[0069] Referring to FIG. 9, since the first subject (OJ1) is located at a first distance (D1) that is relatively closer to the light irradiation device (110) than the second subject (OJ2), a depth map can be generated with flood depth. Since the second subject (OJ) is located at a second distance (D2) that is relatively farther from the light irradiation device (110) than the first subject (OJ), a depth map can be generated with spot depth. When the depths of the first subject (OJ1) and the second subject (OJ) are combined, a denser depth map (DMS) can be generated than the depth map of the second subject's spot depth.

[0070] Referring again to FIG. 8, the distance calculation device (130) can generate a distance data signal (DCON) by receiving a 3D depth map (OJS) that combines the first subject (OJ1) and the second subject (OJ2). The light density control device (120) can receive the distance data signal (DCON) and output a light density control signal (LCON) based thereon.

[0071] For example, if there is a first subject (OJ1) and a second subject (OJ2), the light density control device (120) can select either the first subject (OJ1) or the second subject (OJ2) during the first frame and output a light density control signal (LCON) based on the selected subject.

[0072] Hereinafter, with reference to FIGS. 10 and FIGS. 11, an example in which a light density control device (120) selects a first subject (OJ1) and outputs a first light density control signal (LCON1) based on the first subject (OJ1) will be described.

[0073] That is, it explains that the light area where the output light (OL) of the first subject (OJ1) and the second subject (OJ2) is irradiated changes according to the first light density control signal (LCON1).

[0074] Referring to FIGS. 10 and 11, the distance calculation device (130) receives a 3D depth map (DM1) generated from a 3D sensor (140) and can generate a first distance data signal (DCON1). Since the first subject (OJ1) is a first distance (D1) away from the light irradiation device (110), the distance calculation device (130) can generate the first distance data signal (DCON1).

[0075] The light density control device (120) receives a first distance data signal (DCON1) generated from the distance calculation device (130) and can generate a first light density control signal (LCON1). That is, the light density control device (120) can generate a first light density control signal (LCON1) in response to the first distance data signal (DCON1).

[0076] The first light density control signal (LCON1) can determine the size of the area where the output light (OL) irradiated by the light irradiation device (110) is irradiated onto the first subject (OJ1) and the second subject (OJ2) based on the first distance data signal (DCON1).

[0077] The light density control unit (112) can adjust the size of the aperture through which the output light (OL) is irradiated in response to the first light density control signal (LCON1).

[0078] The opening of the light density control unit (112) can be a second gap (d5) by the first light density control signal (LCON1). The size of the second gap (d2) can be larger than the size of the first gap (d4).

[0079] In this way, as the gap of the light density control unit (112) opening becomes the second gap (d5), the light area where the output light (OL) is irradiated onto the first subject (OJ1) can be changed to the third area (S3). That is, the light area irradiated onto the first subject (OJ1) can be changed from the first area (S1) to the third area (S3) according to the first light density control signal (LCON1). The size of the third area (S3) may be larger than the size of the first area (S1). In other words, the size of the first area (S1) may be smaller than the size of the third area (S3).

[0080] Likewise, as the gap of the light density control unit (112) opening becomes the second gap (d5), the light area where the output light (OL) is irradiated onto the second subject (OJ2) can be changed to the fourth area (S4). The light area irradiated onto the second subject (OJ2) can be changed from the second area (S2) to the fourth area (S4) according to the first light density control signal (LCON1). The size of the fourth area (S4) may be larger than the size of the second area (S2). In other words, the size of the second area (S2) may be smaller than the size of the fourth area (S4).

[0081] Next, with reference to FIGS. 12 and FIGS. 13, an example is described in which a light density control device (120) selects a second subject (OJ2) and outputs a second light density control signal (LCON2) based on the second subject (OJ2).

[0082] That is, it explains that the light area where the output light (OL) of the first subject (OJ1) and the second subject (OJ2) is irradiated changes according to the second light density control signal (LCON2).

[0083] The distance calculation device (130) receives a 3D depth map (DM2) generated from a 3D sensor (140) and can generate a second distance data signal (DCON2). Since the second subject (OJ2) is located at a second distance (D2) farther from the light irradiation device (110) than the first distance (D1), the distance calculation device (130) can generate a second distance data signal (DCON2).

[0084] The light density control device (120) receives a second distance data signal (DCON2) generated from the distance calculation device (130) and can generate a second light density control signal (LCON2). That is, in response to the second distance data signal (DCON2), the light density control device (120) can generate a second light density control signal (LCON2).

[0085] The second light density control signal (LCON2) can determine the size of the area where the output light (OL) irradiated by the light irradiation device (110) is irradiated onto the second subject (OJ2) and the first subject (OJ1) based on the second distance data signal (DCON2).

[0086] The light density control unit (112) can adjust the size of the aperture through which the output light (OL) is irradiated in response to the second light density control signal (LCON2).

[0087] The gap of the opening of the light density control unit (112) can be a third gap (d6) by the second light density control signal (LCON2). The size of the third gap (d6) may be smaller than the size of the first gap (d4 in FIG. 10). In other words, the size of the first gap (d4 in FIG. 10) may be larger than the size of the third gap (d6).

[0088] Accordingly, as the size of the aperture of the light density control unit (112) becomes the third interval (d3), the light area where the output light (OL) is irradiated onto the second subject (OJ2) can be changed to the sixth area (S6). The light area irradiated onto the second subject (OJ2) can be changed from the second area (S2) to the sixth area (S6) according to the second light density control signal (LCON2). The sixth area (S6) may be smaller than the second area (S2). In other words, the second area (S2) may be larger than the sixth area (S6).

[0089] Likewise, as the size of the aperture of the light density control unit (112) becomes the third interval (d6), the light area where the output light (OL) is irradiated onto the first subject (OJ1) can be changed to the fifth area (S5). The light area irradiated onto the first subject (OJ1) can be changed from the first area (S1) to the fifth area (S5) according to the second light density control signal (LCON2). The fifth area (S5) may be smaller than the first area (S1). In other words, the first area (S1) may be larger than the fifth area (S5).

[0090] FIG. 14 is a flowchart of a method for driving a TOF camera device according to some other embodiments. FIG. 15 is a diagram showing the light area of ​​a first subject and a second subject according to the size of the aperture of a light density control unit according to some other embodiments. FIG. 16 is a diagram showing the output light irradiated onto the first subject during the first frame. FIG. 17 is a diagram showing the light area of ​​the first subject according to FIG. 16. FIG. 18 is a diagram showing the output light irradiated onto the second subject during the second frame. FIG. 19 is a diagram showing the light area of ​​the second subject according to FIG. 18.

[0091] Referring to FIG. 14, during the first frame, a first output light from a light irradiation device is irradiated onto a first subject (S200).

[0092] For example, referring to FIG. 15, during the first frame, the first subject (OJ3) may be positioned at a first distance (D1) from the light irradiation device (110).

[0093] The light source (111) of the light irradiation device (110) can irradiate a first output light (OL3) onto a first subject (OJ3). In this case, the spacing of the opening of the light density control unit (112) into which the first output light (OL3) is irradiated may be a first spacing (d7). The area into which the first output light (OL3) is irradiated onto the first subject (OJ3) may be a first area (S6).

[0094] Next, during the first frame, the area where the first output light is irradiated onto the first subject is changed from the first area to the second area based on the first reflected light reflected from the first subject (S210).

[0095] For example, referring to FIGS. 16 and 17, the 3D sensor (140) can receive a first reflected light (RL3) reflected from a first subject (OJ3). The 3D sensor (140) can generate a third 3D depth map (DM3) based on the first reflected light (RL3). Since the generation of the third 3D depth map (DM3) by the 3D sensor (140) has been explained with reference to FIGS. 5 and 6, a detailed explanation will be omitted.

[0096] The distance calculation device (130) can receive the third 3D depth map (DM3) generated by the 3D sensor (140) and generate a third distance data signal (DCON3). The light density control device (120) can receive the third distance data signal (DCON3) and output a third light density control signal (LCON3).

[0097] The third light density control signal (LCON3) can determine the size of the area where the first output light (OL3) irradiated by the light irradiation device (120) is irradiated onto the first subject (OJ3).

[0098] The light density control unit (112) can adjust the gap of the opening in response to the third light density control signal (LCON3). That is, the gap of the opening of the light density control unit (112) can be changed from a first gap (d7) to a second gap (d8). The size of the first gap (d7) may be smaller than the size of the second gap (d8). The size of the second gap (d8) may be larger than the size of the first gap (d7).

[0099] As the spacing of the aperture of the light density control unit (112) changes, the area where the first output light (OL3) is irradiated onto the first subject (OJ3) can be changed from the first area (S7) to the second area (S8). The size of the first area (S7) may be smaller than the size of the second area (S8).

[0100] Next, referring to FIG. 14, during the second frame following the first frame, a second output light from the light irradiation device is irradiated onto a third area of ​​the second subject (S220).

[0101] For example, referring to FIGS. 15 and FIGS. 18, during the second frame, the second subject (OJ4) may be positioned at a second distance (D2) away from the light irradiation device (110). The second distance (D2) may be different from the first distance (D1). In other words, the second distance (D2) may be farther than the first distance (D1).

[0102] The light source (111) of the light irradiation device (110) can irradiate a second output light (OL4) onto a second subject (OJ4). In this case, the spacing of the light density control unit (112) opening into which the second output light (OL4) is irradiated may be a first spacing (d7). The area into which the second output light (OL4) is irradiated onto the second subject (OJ4) may be a third area (S9).

[0103] Finally, during the second frame, the area where the second output light is irradiated onto the second subject is changed from the third area to the fourth area based on the second reflected light reflected from the second subject (S230).

[0104] For example, referring to FIGS. 18 and 19, during the second frame, the 3D sensor (140) can receive a second reflected light (RL4) reflected from a second subject (OJ4). The 3D sensor (140) can generate a fourth 3D depth map (DM4) based on the second reflected light (RL4). Since the generation of the 3D depth map (DM) by the 3D sensor (140) has been described in FIGS. 5 and 6, it will be omitted.

[0105] The distance calculation device (130) can receive the fourth 3D depth map (DM4) generated by the 3D sensor (140) and generate a fourth distance data signal (DCON4). The light density control device (120) can receive the fourth distance data signal (DCON4) and output a fourth light density control signal (LCON4).

[0106] The fourth light density control signal (LCON4) can determine the size of the area where the second output light (OL4) irradiated by the light irradiation device (110) is irradiated onto the second subject (OJ4).

[0107] The light density control unit (112) can adjust the gap of the opening in response to the fourth light density control signal (LCON4). That is, the gap of the opening of the light density control unit (112) can be changed from the first gap (d7) to the second gap (d9). The size of the first gap (d7) may be larger than the size of the second gap (d9). In other words, the size of the second gap (d9) may be smaller than the size of the first gap (d7).

[0108] As the spacing of the aperture of the light density control unit (112) changes, the area where the second output light (OL4) is irradiated onto the second subject (OJ4) can be changed from the third area (S9) to the fourth area (S10). The size of the third area (S9) may be larger than the size of the fourth area (S10). In other words, the size of the fourth area (S10) may be smaller than the size of the third area (S9).

[0109] Therefore, the size of the second area (S8) projected onto the first subject (OJ3) during the first frame and the size of the fourth area (S10) projected onto the second subject (OJ4) during the second frame may be different. The size of the fourth area (S10) may be smaller than the size of the second area (S8). In other words, the size of the second area (S8) may be larger than the size of the fourth area (S10).

[0110] FIG. 20 shows some embodiments of a computer system including a TOF camera device illustrated in FIG. 1.

[0111] Referring to FIG. 20, the computer system (300) can be implemented as a smartphone, PDA (personal digital assistant), PMP (portable multimedia player), MP3 player, or MP4 player.

[0112] The computer system (300) may include a memory device (301), an application processor (302) including a memory controller that controls the memory device (301), a wireless transceiver (303), an antenna (304), an input device (305), and a display device (306).

[0113] The wireless transceiver (303) can transmit or receive wireless signals through the antenna (304). For example, the wireless transceiver (303) can convert the wireless signal received through the antenna (304) into a signal that can be processed by the application processor (302).

[0114] Accordingly, the application processor (302) can process the signal output from the wireless transceiver (303) and transmit the processed signal to the display device (306). Additionally, the wireless transceiver (303) can convert the signal output from the application processor (3022) into a wireless signal and output the converted wireless signal to an external device through the antenna (304).

[0115] The input device (305) is a device capable of inputting a control signal for controlling the operation of the application processor (302) or data to be processed by the application processor (302), and can be implemented as a pointing device such as a touch pad and a computer mouse, a keypad, or a keyboard.

[0116] Additionally, the computer system (300) may further include a TOF camera device (307) for measuring the distance to a target and an image sensor (308) for capturing a still image or video. The application processor (302) can transmit the still image or video received from the image sensor (308) and the distance information to the target to a display device (306).

[0117] The TOF camera device (307) can be implemented, for example, as the TOF camera device (100) shown in FIG. 1.

[0118] FIG. 21 shows several other embodiments of a computer system including the TOF camera device illustrated in FIG. 1.

[0119] Referring to FIG. 21, the computer system (400) can be implemented as a PC (personal computer), a network server, a tablet PC (personal computer), a net-book, or an e-reader.

[0120] The computer system (400) includes an application processor (402) including a memory device (401) and a memory controller capable of controlling the data processing operation of the memory device (401), an input device (405), and a display device (406).

[0121] The application processor (402) can display data stored in the memory device (401) through the display device (406) according to data input through the input device (405). For example, the input device (405) can be implemented as a pointing device such as a touch pad or computer mouse, a keypad, or a keyboard. The application processor (402) can control the overall operation of the computer system (400).

[0122] Additionally, the computer system (400) may further include a TOF camera device (407) for measuring the distance to a target and an image sensor (408) for capturing a still image or video. The application processor (402) may transmit the still image or video received from the image sensor (408) and the distance information to the target to a display device (406).

[0123] The TOF camera device (407) can be implemented, for example, as the TOF camera device (100) shown in FIG. 1.

[0124] FIG. 22 shows several other embodiments of a computer system including the TOF camera device illustrated in FIG. 1.

[0125] Referring to FIG. 22, the computer system (500) can be implemented as an image processing device, such as a digital camera or a mobile phone, smartphone, or tablet equipped with a digital camera.

[0126] The computer system (500) may include an application processor (502) including a memory device (501) and a memory controller capable of controlling data processing operations of the memory device (501), such as a write operation or a read operation, an input device (501), an image sensor (508), a display device (506), and a TOF camera device (507).

[0127] The image sensor (508) converts the optical image into digital signals, and the converted digital signals are transmitted to the application processor (502). Under the control of the application processor (502), the converted digital signals may be displayed through a display device (506) or stored in a memory device (501).

[0128] The TOF camera device (507) can measure the distance to the target. The application processor (502) can transmit the distance information to the display device (506). Additionally, the application processor (502) can transmit image data stored in the memory device (501) to the display device (506).

[0129] The TOF camera device (507) can be implemented, for example, as the TOF camera device (100) shown in FIG. 1.

[0130] Although embodiments of the present invention have been described above with reference to the attached drawings, the present invention is not limited to the above embodiments and can be manufactured in various different forms, and those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical concept or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. Explanation of the symbols

[0131] 100: TOF camera device 110: Light irradiation device 111: Light source 112: Light density control unit 120: Optical density control device 130: Distance calculation device 140: 3D sensor

Claims

Claim 1 A Time of Flight (TOF) camera device comprising: a pulse generator that generates a pulse signal; a light irradiation device that irradiates output light onto at least one subject in response to the pulse signal; a 3D sensor that receives reflected light reflected from the at least one subject by the output light during a first frame; a distance calculation device that receives the output of the 3D sensor and generates a distance data signal; and a light density control device that receives the distance data signal from the distance calculation device and outputs a light density control signal that determines the size of the area where the output light irradiated by the light irradiation device irradiates onto the at least one subject based thereon, wherein the light irradiation device irradiates the output light onto a first area of ​​the at least one subject during the first frame, and the light density control signal changes the size of the opening of the light irradiation device in response to the distance data signal so that the output light is irradiated onto a second area of ​​the at least one subject different from the first area during the second frame. Claim 2 In claim 1, the 3D sensor generates time information of the received reflected light based on phase difference information between the output light of the light irradiation device and the reflected light reflected from the at least one subject, and generates a 3D depth map of the at least one subject based on the time information. Claim 3 In claim 1, the light irradiation device comprises a light density control unit, and the light density control unit adjusts the size of the aperture through which the output light is irradiated in response to the light density control signal. Claim 4 In paragraph 3, the light density control unit adjusts the size of the aperture from a first size to a second size smaller than the first size in response to the light density control signal. Claim 5 In paragraph 3, the at least one subject includes a first subject located at a first distance from the light irradiation device and a second subject located at a second distance further than the first distance, and the light density control device selects either the first subject or the second subject and outputs the light density control signal based on the selected subject, in a TOF camera device. Claim 6 A method for driving a Time of Flight (TOF) camera device, comprising: generating a pulse signal; irradiating an output light through an opening to a first area of ​​at least one subject during a first frame in response to the pulse signal, wherein the size of the opening determines the area of ​​light irradiated to the at least one subject; receiving reflected light reflected from the at least one subject during the first frame; generating a distance data signal from the received reflected light; receiving the distance data signal and generating a light density control signal based thereon; changing the size of the opening through which the output light is irradiated during a second frame based on the light density control signal; and irradiating the output light through the opening to a second area of ​​the at least one subject different from the first area. Claim 7 In claim 6, the second frame is a driving method of a TOF camera device that follows the first frame. Claim 8 delete Claim 9 delete Claim 10 delete

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