Patent Application
20230082039
This application claims priority to European Patent Application No. 21196466 filed on Sep. 14, 2021, the content of which is incorporated by reference herein in its entirety.
The present disclosure relates to Time-of-Flight (ToF) sensing. In particular, examples relate to ToF sensors, an electronic device and methods for operating a ToF sensor.
Conventional Continuous Wave (CW) ToF sensors have a distance ambiguity problem. Resolving the ambiguity conventionally requires additional power and additional measurements (e.g. another set of four images with a different modulation frequency). These additional measurements are not always necessary as the scene might not contain any objects at longer distances.
Hence, there may be a demand for improved ToF sensing.
The demand may be satisfied by the subject-matter of the appended claims.
An example relates to a ToF sensor. The ToF sensor includes a plurality of photo-sensitive sensor pixels each including at least two charge storages and a drain terminal. Further, the ToF sensor includes a common charge storage coupled to the respective drain terminal of at least a first subset of the plurality of photo-sensitive sensor pixels. For at least one of a plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset are configured to, via the respective drain terminal, drain part of charge carriers generated in the respective photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light caused by one or more object outside a target measurement range of the ToF sensor. Further, for the at least one of the plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset are configured to selectively store another part of the charge carriers in the at least two charge storages of the respective photo-sensitive sensor pixel. The common charge storage is configured to accumulate electrical energy conveyed by currents output by the coupled drain terminals and output first data indicative of the accumulated electrical energy.
Another example relates to an electronic device including a ToF sensor as described herein and an application processor coupled to the ToF sensor. The ToF sensor further includes interface circuitry configured to output the first data to the application processor. The application processor is configured to determine based on the first data whether one or more object outside the target measurement range of the ToF sensor is present in a scene.
Some examples of apparatuses and/or methods will be described in the following by way of example only, and with reference to the accompanying figures, in which
Some examples are now described in more detail with reference to the enclosed figures. However, other possible examples are not limited to the features of these implementations described in detail. Other examples may include modifications of the features as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe certain examples should not be restrictive of further possible examples.
Throughout the description of the figures same or similar reference numerals refer to same or similar elements and/or features, which may be identical or implemented in a modified form while providing the same or a similar function. The thickness of lines, layers and/or areas in the figures may also be exaggerated for clarification.
When two elements A and B are combined using an “or”, this is to be understood as disclosing all possible combinations, e.g. only A, only B as well as A and B, unless expressly defined otherwise in the individual case. As an alternative wording for the same combinations, “at least one of A and B” or “A and/or B” may be used. This applies equivalently to combinations of more than two elements.
If a singular form, such as “a”, “an” and “the” is used and the use of only a single element is not defined as mandatory either explicitly or implicitly, further examples may also use several elements to implement the same function. If a function is described below as implemented using multiple elements, further examples may implement the same function using a single element or a single processing entity. It is further understood that the terms “include”, “including”, “comprise” and/or “comprising”, when used, describe the presence of the specified features, integers, steps, operations, processes, elements, components and/or a group thereof, but do not exclude the presence or addition of one or more other features, integers, steps, operations, processes, elements, components and/or a group thereof
Each photo-sensitive sensor pixel comprises a semiconductor material/substrate (e.g. silicon). Incident light 101 penetrates the semiconductor material of the respective photo-sensitive sensor pixel and causes generation of charge carriers (e.g. electrons or holes) in the semiconductor material.
Further, each photo-sensitive sensor pixel comprises at least two charge storages such as the charge storages 111-1, 112-1, 111-2 and 112-2 illustrated in
Additionally, each photo-sensitive sensor pixel comprises a drain terminal such as the drain terminals 113-1 and 113-2 illustrated in
Optionally, each photo-sensitive sensor pixel may comprise one or more further elements such as control gates for controlling the flow of the generated charge carriers inside the photo-sensitive sensor pixel (e.g. two or more modulation gates and/or one or more drain gates) and/or read-out terminals for reading out the at least two charge storages. For example, at least one of the plurality of photo-sensitive sensor pixels may be a Photonic Mixer Device (PMD) or a Charge-Coupled Device (CCD).
The ToF sensor 100 further comprises a common charge storage 120 coupled to the respective drain terminal of all of the plurality of photo-sensitive sensor pixels. In the example of
The ToF sensor 100 is configured to perform a plurality of first ToF measurements of a scene (e.g. two or more). The ToF sensor may comprise an illumination element (device, circuitry) configured to illuminate the scene with modulated light for a respective one of the plurality of first ToF measurements. The illumination element is not illustrated in
The ToF sensor 100 may optionally comprise further components such as, e.g., optics (e.g. one or more lenses) and electronic circuitry (e.g. read-out circuitry or Analog-to-Digital Converter, ADC, circuitry).
At least part of the incident light 101 may be caused by one or more object within a target measurement range of the ToF sensor 100. Further, at least part of the incident light 101 may be caused by one or more object outside the target measurement range of the ToF sensor 100. In other words, at least part of the reflections included in the incident light 101 may be caused by one or more object within the target measurement range and/or at least part of the reflections included in the incident light 101 may be caused by one or more object outside the target measurement range. The target measurement range of the ToF sensor 100 is a distance range in which a respective quantity of one or more object (e.g. a respective distance to the one or more object) is to be measured by the ToF sensor 100.
For at least one of the plurality of first ToF measurements, the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . are configured to drain part of the charge carriers generated in the respective photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements via the respective drain terminal 113-1, 113-2, . . . . In particular, the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . are configured to drain part of the charge carriers generated in the respective photo-sensitive sensor pixel 110-1, 110-2, . . . during the at least one of the plurality of first ToF measurements by incident light 101 caused by one or more object outside the target measurement range of the ToF sensor 100. In other words, the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . drain part of the charge carriers generated by reflections received from one or more object outside the target measurement range of the ToF sensor 100. For example, the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . may be configured to drain at least 5%, 10%, 15%, 20% or 25% of the charge carriers generated in the respective photo-sensitive sensor pixel 110-1, 110-2, . . . during the at least one of the plurality of first ToF measurements by incident light 101 that is caused by one or more object outside the target measurement range of the ToF sensor 100.
Further, for the at least one of the plurality of first ToF measurements, the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . are configured to selectively store another part of the charge carriers (e.g. the charge carriers that are not drained via the respective drain terminal) in the at least two charge storages of the respective photo-sensitive sensor pixel. For example, the photo-sensitive sensor pixel 110-1 selectively stores the other part of the charge carriers in the at least two charge storages 111-1 and 112-1. The output data of the respective photo-sensitive sensor pixel are determined based on the charge levels of the at least two charge storages of the respective photo-sensitive sensor pixel. For example, the output data of the photo-sensitive sensor pixel 110-1 may be based on the difference between the charge levels of the two charge storages 111-1 and 112-1 for the respective first ToF measurement.
The drained charge carriers cause a respective current at the drain terminal of the respective photo-sensitive sensor pixel. For example, the charge carriers drained at the photo-sensitive sensor pixel 110-1 cause a current 114-1 at the drain terminal 113-1, whereas the charge carriers drained at the photo-sensitive sensor pixel 110-2 cause a current 114-2 at the drain terminal 113-2. The common charge storage 120 is configured to accumulate (integrate) the electrical energy conveyed by the currents output by the coupled drain terminals. In the example of
For the at least one of the plurality of first ToF measurements, the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . are configured to drain, via the respective drain terminal, almost none of the charge carriers generated by incident light 101 originating from inside the measurement range of the ToF sensor 100. For example, less than 5%, 4%, 3%, 2% or 1% of the charge carriers generated in the respective photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light 101 caused by one or more object inside the measurement range of the ToF sensor 100 may be drained. In some examples, none of the charge carriers generated in the respective photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light 101 that is caused by one or more object inside the measurement range are drained. In other words, the charge carriers generated in the respective photo-sensitive sensor pixel by incident light 101 caused by one or more object inside the measurement range of the ToF sensor 100 are substantially not drained. That is, almost exclusively charge carriers generated in the respective photo-sensitive sensor pixel by incident light 101 caused by one or more object outside the measurement range are drained.
Overt time, the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . may, e.g., alternatingly store and drain the charge carriers generated by the incident light 101 during the the at least one of the plurality of first ToF measurements. By alternatingly draining and storing the charge carriers over time and by selecting (adjusting) appropriate durations for the integration period(s) and the drain period(s) during the at least one of the plurality of first ToF measurements, the timing(s) and duration(s) of the drain period(s) during the at least one of a plurality of first ToF measurements may be adjusted such that at least part of the incident light 101 (e.g. reflections) arriving at the ToF sensor 100 from an object outside the target measurement range are drained and that substantially none of the incident light 101 (e.g. reflections) arriving at the ToF sensor 100 from an object within the target measurement range are drained.
The common charge storage 120 is charged based on currents proportional to the amount of drained charge carriers. The drained charge carriers are charge carriers caused substantially exclusively by one or more object outside the target measurement range of the ToF sensor 100. Accordingly, the electrical energy accumulated (integrated) by the common charge storage 120 is indicative of whether one or more object outside the target measurement range of the ToF sensor 110 is present in the sensed scene. Accordingly, the first data 121 may allow to efficiently determine whether any ambiguity is present in the output data of the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . (e.g. the ToF sensor 100) for the at least one of the plurality of first ToF measurements.
It is to be noted that the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . and the common charge storage 120 may optionally be configured to perform the above described behavior for more than one ToF measurement of the plurality of first ToF measurements (e.g. for all of the plurality of first ToF measurements).
The analysis of the first data 121 may be done within the ToF sensor 100 as illustrated in
The ToF sensor 100 may react in various ways if it is determined that one or more object outside the target measurement range of the ToF sensor is present in the scene. In the following, some example reactions are described. However, it is to be noted that the present disclosure is not limited thereto. Further, several of the below examples may be combined with each other.
For example, if it is determined that one or more object outside the target measurement range of the ToF sensor 100 is present in the scene, the processing circuitry 130 may be configured to flag distance (depth) data indicating one or more distance (depth of) to one or more object in the scene as potentially ambiguous. The distance data is generated by the processing circuitry 130 based on outputs (output data) of the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . for the plurality of first ToF measurements. Similar to what is described above, the outputs (output data) of the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . for the plurality of first ToF measurements are determined based on the charge levels of the at least two charge storages of the respective photo-sensitive sensor pixel for the plurality of first ToF measurements. Accordingly, circuitry (e.g. an application processor) receiving and processing the distance data may be informed that the distance data is potentially ambiguous. Flagging the distance data may allow to increase an overall fidelity of the ToF sensor 100 as it makes the distance data more predictable.
Alternatively or additionally, if it is determined that one or more object outside the target measurement range of the ToF sensor 100 is present in the scene, the processing circuitry 130 may be configured to control the ToF sensor 100 to perform a plurality of second ToF measurements with a modulation frequency other than that used for the first ToF measurements (e.g. two or more additional ToF measurements with a lower or higher modulation frequency). Further, the processing circuitry 130 may be configured to generate distance data indicating one or more distance to one or more object in the scene based on outputs of the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . for the plurality of first ToF measurements and the plurality of second ToF measurements. In other words, the first (e.g. short-range) ToF measurements with the actively monitored common charge storage (element) 120 may be combined with additional ToF measurements. The resulting distance data may, hence, exhibit an extended measurement range and no ambiguities.
Further alternatively or additionally, if it is determined that one or more object outside the target measurement range of the ToF sensor 100 is present in the scene, the processing circuitry 130 may be configured to control the ToF sensor 100 to perform a plurality of second ToF measurements using a second target measurement range that extends beyond the target measurement range of the ToF sensor 100 for the plurality of first ToF measurements. Further, the processing circuitry 130 may be configured to generate distance data indicating one or more distance to one or more object in the scene based on outputs (output data) of the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . for the plurality of second ToF measurements. For example, the target measurement range of the ToF sensor 100 for the plurality of first ToF measurements may be rather short range. In case, the first data 121 indicate the presence of one or more out-of-range object, additional ToF measurements with longer measurement range are performed. The plurality of second ToF measurements may, e.g., use two different modulation frequencies (e.g. eight images in total) to obtain the extended second target measurement range. In some examples, an exposure time used for the plurality of second ToF measurements may optionally be increased compared to an exposure time used for the plurality of first ToF measurements.
As described above, an example reaction of the ToF sensor 100, which initially uses a limited measurement range, may be to dynamically extend the measurement range based on the content (e.g. the accumulated electrical energy) of the common charge storage 120.
Also for the common charge storage 120, various configurations are possible. In the following, some example configurations are described. However, it is to be noted that the present disclosure is not limited thereto.
For example, the common charge storage 120 may be configured to accumulate the electrical energy conveyed by the currents output by the coupled drain terminals for only one of the plurality of first ToF measurements such that the first data are indicative of the amount of electrical energy accumulated for the one of the plurality of first ToF measurements. Analyzing the accumulated electrical energy of only one ToF measurement may allow for low complexity out-of-range object detection.
In alternative examples, the electrical energy conveyed by the currents output by the coupled drain terminals may be accumulated over multiple first ToF measurements.
For example, the common charge storage 120 may be configured to accumulate the electrical energy conveyed by the currents output by the coupled drain terminals for at least two of the plurality of first ToF measurements (e.g. all first ToF measurements) such that the first data are indicative of the amount of electrical energy accumulated for the at least two of the plurality of first ToF measurements. Presence of one or more out-of-range object may—similar to what is described above—be determined by comparing the amount of current accumulated for the at least two of the plurality of first ToF measurements to a threshold value.
In some examples, the processing circuitry 130 may be configured to determine, based on the amount of electrical energy accumulated for the at least two of the plurality of first ToF measurements, an average accumulated electrical energy for a single one of the at least two of the plurality of first ToF measurements. For example, the processing circuitry 130 may divide the amount of electrical energy indicated by the first data by the number of ToF measurements for which the electrical energy is accumulated. Accordingly, the processing circuitry 130 may be configured to determine whether one or more object outside the target measurement range of the ToF sensor 101 is present in the scene by comparing the determined average accumulated electrical energy to a threshold value.
Accumulating and optionally averaging the electrical energy conveyed by the currents output by the coupled drain terminals of multiple first ToF measurements may allow to reduce noise and, hence, increase a Signal-to-Noise Ratio (SNR) for the out-of-range object detection.
In the example of
In the example of
The first subset comprises the first m−1 photo-sensitive sensor pixels 110-1, 110-2, . . . of the plurality of photo-sensitive sensor pixels, whereas to the second subset comprises the remaining photo-sensitive sensor pixels 110-m, 110-m+1, . . . of the plurality of photo-sensitive sensor pixels. The first subset and the second subset comprise different ones of the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . , e.g., the first subset and the second subset do not both comprise a same photo-sensitive sensor pixel. The first subset and the second subset may each comprise any number L≥2 of photo-sensitive sensor pixels. The first subset and the second subset may both comprise the same number of photo-sensitive sensor pixels or comprises different numbers of pixels. For example, first subset and the second subset may each comprise 32×32 photo-sensitive sensor pixels.
The first common charge storage 120 is coupled to only the first subset of the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . . In comparison to the example of
The plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . are configured as described above with respect to
As described above, the first common charge storage 120 is configured to accumulate electrical energy conveyed by the currents 114-1, 114-2, . . . output by the coupled drain terminals 113-1, 113-2, . . . of the first subset of the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . . Analogously, the second common charge storage 125 is configured to accumulate electrical energy conveyed by the currents output by the coupled drain terminals 113-m, 113-m+1, . . . of the second subset of the plurality of photo-sensitive sensor pixels 110-m, 110-m+1, . . . .
Similar to what is described above, the first common charge storage 120 is configured to output first data 121 indicative of the accumulated electrical energy of the first subset of the plurality of photo-sensitive sensor pixels 110-1, 110-2, . . . . Analogously, the second common charge storage 125 is configured to output second data 126 (e.g. digital or analog data) indicative of the accumulated electrical energy of the second subset of the plurality of photo-sensitive sensor pixels 110-m, 110-m+1, . . . .
The respective accumulated electrical energy may be accumulated by the respective one of the first common charge storage 120 and the second common charge storage 125 according to the principles described above with respect to
The processing circuitry 130 is—analogously to what is described above—configured to determine whether one or more object outside the target measurement range of the ToF sensor is present in the scene based on the first data 121 and the second data 126. For example, the processing circuitry 130 may be configured to determine whether one or more object outside the target measurement range of the ToF sensor 100 is present in the scene by comparing each of the accumulated electrical energy indicated by the first data 121 and the accumulated electrical energy indicated by the second data 126 to a threshold value.
Accordingly, the processing circuitry 130 may determine whether one or more object outside the target measurement range of the ToF sensor 100 is present in the scene at all. Further, the processing circuitry 130 may determine whether one or more object outside the target measurement range of the ToF sensor 100 is present in a respective part of the scene sensed by the photo-sensitive sensor pixels of the respective one of the first subset and the second subset. Accordingly, it may be determined for each subset (cluster), whether ambiguity exists (e.g. whether ambiguous distances are measured).
For example, if the first data 121 indicate that one or more object outside the target measurement range of the ToF sensor 200 is present in the scene and the second data 126 indicate that no objects outside the target measurement range of the ToF sensor 200 is present in the scene, the processing circuitry 130 may be configured to control the ToF sensor 200 to perform a plurality of second ToF measurements by controlling read-out circuitry (not illustrated) of the ToF sensor 200 to read-out the photo-sensitive sensor pixels of the first subset 110-1, 110-2, . . . but not the photo-sensitive sensor pixels of the second subset 110-m, 110-m+1, . . . for the plurality of second ToF measurements. Reading-out only the photo-sensitive sensor pixels of the subset related to the potentially ambiguous measurement values may allow to save energy. For example, less analog to digital conversions may be needed for the read-out process. Alternatively or additionally, the processing circuitry 130 may be configured to control the ToF sensor 200 to perform the plurality of second ToF measurements by controlling the illumination element of the ToF sensor 200 to emit light to a first part of the scene sensed by the photo-sensitive sensor pixels of the first subset 110-1, 110-2, . . . but not to a second part of the scene sensed by the photo-sensitive sensor pixels of the second subset 110-m, 110-m+1, . . . . Illuminating only those parts of the scene, which are sensed by the potentially ambiguous subset(s) may allow to save even more energy. The proposed selective illumination of the scene may, e.g., be enabled by using an addressable array of light sources (e.g. a VCSEL or LED array) in combination with suitable optics for the illumination element, an illumination element that supports steerable illumination beams, or in general any illumination element that supports selective illumination.
If more than two subsets are used, more than two common storage elements may be used such that a respective common storage element is provided for each of the subsets. Accordingly, the presence of one or more object outside the target measurement range of the ToF sensor 200 may be determined for smaller parts of the scene such that the plurality of second ToF measurements may be performed only for one or more of those smaller parts of the scene, which may be more energy efficient.
In the above examples, the first data 121 and the second data 126 are analyzed by dedicated processing circuitry 130 of the ToF sensor. However, the present disclosure is not limited thereto. The first data 121 and the second data 126 may alternatively be analyzed by external circuitry. This is exemplarily illustrated in
The application processor 150 is configured to receive the first data 121 and determine, based on the first data 121, whether one or more object outside the target measurement range of the ToF sensor 100′ is present in the scene. The application processor 150 determines whether one or more object outside the target measurement range of the ToF sensor 100′ is present in the scene according to the principles described above with respect to
Also the reactions may be as described above in case it is determined that one or more object outside the target measurement range of the ToF sensor 100′ is present in the scene. For example, if it is determined that one or more object outside the target measurement range of the ToF sensor 100′ is present in the scene, the application processor 150 may be configured to transmit control data to the ToF sensor 100′. That is, the interface circuitry 140 of the ToF sensor 100′ may be configured to receive control data for controlling operation of the ToF sensor 100′ from external circuitry in response to outputting the first data 121. The control data control the ToF sensor 100′ to either:
It is to be noted that the present disclosure is not limited to using a ToF sensor, in which all of the plurality of photo-sensitive sensor pixels are coupled to the same common charge storage. Alternatively, the ToF sensor 200 described above may be modified by replacing the processing circuitry 130 with the interface circuitry 140 and be used for the electronic device.
Accordingly, the application processor 150 may be configured to further receive the second data 126 and determine, further based on the second data 126, whether one or more object outside the target measurement range of the ToF sensor is present in the scene. The application processor 150 determines whether one or more object outside the target measurement range of the ToF sensor is present in the scene according to the principles described above with respect to
For example, the electronic device 300 may be one of a portable user device such as a mobile phone, a smartphone or a tablet-computer. Alternatively, the electronic device 300 may be an electronic device for an automotive vehicle.
In general, ToF sensors according to the present disclosure may be used for any application, where a short measurement range is typically expected, but out-of-range objects would cause trouble by, e.g., introducing ambiguous distances.
For example, for three-dimensional (3D) scanning, the ToF sensor may start by scanning at a short range. If there is one or more object at a further range, the measurement range would be dynamically extended due to the content(s) (e.g. the accumulated electrical energy) of the at least one common charge storage.
For example, for auto focusing or providing an artificial Bokeh effect, a reliable short-range distance (depth) measurement may be provided. Either by determining, based on the content(s) of the at least one common charge storage, that the distance (depth) measurement based on the first ToF measurements alone does not suffer from ambiguity, or by performing the additional second ToF measurements in case the content(s) of the at least one common charge storage indicate one or more out-of-range object.
The respective (light-intensity-independent) correlation function gives the photo-sensitive sensor pixel's distance-dependent correlation of the respectively received incident light 101 with one or more respective reference (drive) signal and without considering (e.g. ignoring, not taking into account) the intensity of the incident light 101. The respective photo-sensitive sensor pixel is driven based on the one or more respective reference (drive) signal. In other words, the respective (light-intensity-independent) correlation function only describes the distance-dependency of the photo-sensitive sensor pixel's output but not the dependency of the photo-sensitive sensor pixel's output on the intensity of the incident light 101.
The respective (light-intensity-independent) correlation function of the photo-sensitive sensor pixels is periodic over distance. The period length dperiod1 of the (light-intensity-independent) correlation functions of the plurality of first ToF measurements further allows to determine the modulation frequency fmod1 for the plurality of first ToF measurements using the speed of light c:
Analogously, the modulation frequency for the plurality of second ToF measurements may be determined.
The correlation function 410 is a correlation function for one of the above described first ToF measurements, e.g., a correlation for a ToF measurement using the proposed charge carrier drainage. The correlation function 420 is a reference correlation function for a ToF measurement that is identical to the ToF measurement of the correlation function 410 except that the proposed charge carrier drainage is not used.
As can be seen from
There are various, substantially infinite ways configuring (shaping) the one or more reference (drive) signals driving the respective photo-sensitive sensor pixel and the illumination signal for driving the illumination element in order to create correlation functions that behave like in the above described example of
As can be seen from the temporal course 510, the illumination element of the ToF sensor emits a plurality of sequences of light pulses to the scene for the first ToF measurement. This is exemplarily illustrated in
As can be seen from the temporal course 520, the photo-sensitive sensor pixel of the ToF sensor selectively stores the generated charge carriers in the at least two charge storages of the photo-sensitive sensor pixel during the time intervals 521 and 523. In other words, the example photo-sensitive sensor pixel of the ToF sensor provides an integration state during which the charge carriers are being selectively stored in the at least two charge storages. During the time interval 522, the photo-sensitive sensor pixel of the ToF sensor drains the generated charge carriers. In other words, the example photo-sensitive sensor pixel of the ToF sensor provides a drain (non-integrating) state during which the charge carriers are drained via the drain terminal of the ToF sensor's photo-sensitive sensor pixel.
As illustrated in
The time interval t2 denotes the round trip time for a light pulse from the ToF sensor to a distant (e.g. the far end) end of the target measurement range of the ToF sensor and back. In other words, the time interval t2 denotes twice the propagation time for a light pulse from the ToF sensor to a distant (e.g. the far end) end of the target measurement range of the ToF sensor.
When an object causing the reflections included in the incident light at the ToF sensor is outside the target measurement range, at least part of the reflections arrives at the ToF sensor during the time interval 522 and are, hence, drained to the common charge storage coupled to the drain terminal of the photo-sensitive sensor pixel. On the other hand, when an object is located inside the target measurement range, substantially none of the reflections arrives at the ToF sensor during the time interval 522. Hence, substantially none of the charge carriers generated by reflections originating from within the target measurement range are drained.
The time interval t3 between the beginning of the sequence 512 and the beginning of the time interval 523 may allow to adjust the near (close) end of the target measurement range of the ToF sensor. The longer the time interval t3 is, the further away is the near (close) end of the target measurement range from the ToF sensor.
The signal structures of
In other words, for the at least one of a plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset may operate according a state pattern, the state pattern alternatingly comprising the integration state and the drain state such that each two subsequent integration states are separated by a drain state. By alternatingly draining and storing the charge carriers over time and by selecting (adjusting) appropriate durations for the integration state(s) and the drain state(s), the timing(s) and duration(s) of the drain state(s) during the at least one of a plurality of first ToF measurements may be adjusted such that at least part of the incident light (e.g. reflections) arriving at the ToF sensor from an object outside the target measurement range are drained and that substantially none of the incident light (e.g. reflections) arriving at the ToF sensor from an object within the target measurement range are drained.
As can be seen from
As described above, the correlation functions of the different first ToF measurements are shifted with respect to each other. This is exemplarily illustrated in
T
1=1/fmod1 (2)
For example, time offsets n·T1/4 with n=0, 1 may be used in case two first ToF measurements are performed. Similarly, time offsets n·T1/4 with n=0, 1, 2, 3 may be used in case four first ToF measurements are performed. The modulated light emitted to the scene during the first ToF measurements may be identical. Accordingly, the one or more reference (drive) signal used for the first ToF measurements may time shifted by n·T1/4.
Further,
Further illustrated in
As can be seen from
However, it is to be noted that the measurement ranges of the individual first ToF measurements need not differ from each other. They may be identical in other examples. This is exemplarily illustrated in
Similar to the example of
Contrary to the example of
It is to be noted that the (target) measurement ranges illustrated in
In order to summarize the proposed ToF sensing with charge carrier draining,
The method 800 comprises operating 802, for at least one of a plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset to drain, via the respective drain terminal, part of charge carriers generated in the respective photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light caused by one or more object outside a target measurement range of the ToF sensor.
In addition, the method 800 comprises operating 804, for the at least one of the plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset to selectively store another part of the charge carriers in the at least two charge storages of the respective photo-sensitive sensor pixel.
The method 800 further comprises operating 806 the common charge storage to accumulate electrical energy conveyed by the currents output by the coupled drain terminals and output first data indicative of the accumulated electrical energy.
The method 800 may allow to provide first data that allow to efficiently determine whether any ambiguity is present in the output data of the plurality of photo-sensitive sensor pixels for the at least one of the plurality of first ToF measurements.
More details and aspects of the method 800 are explained in connection with the proposed technique or one or more examples described above. The method 800 may comprise one or more additional optional features corresponding to one or more aspects of the proposed technique or one or more examples described above. For example, the method 800 may further comprise determining, based on the first data, whether one or more object outside the target measurement range of the ToF sensor is present in a scene. Alternatively, the method 800 may further comprise outputting the first data to external processing circuitry, and receiving control data for controlling operation of the ToF sensor from the external circuitry in response to outputting the first data.
In the above examples, electrical energy conveyed by the currents are accumulated during one or more ToF measurements. However, the present disclosure is not limited thereto. Alternatively, the current of each cell may individually be analyzed. This is exemplarily illustrated in
The ToF sensor 900 comprises at least one photo-sensitive sensor pixel 110. The at least one photo-sensitive sensor pixel 110 is formed and configured liked the photo-sensitive sensor pixels described above with respect to
Analogously to what is described above, the ToF sensor 900 is configured to perform a plurality of first ToF measurements and, hence, emit modulated light to the scene. Although not illustrated in
As described above, at least part of the incident light 101 may be caused by one or more object within a target measurement range of the ToF sensor 900. Further, at least part of the incident light 101 may be caused by one or more object outside the target measurement range of the ToF sensor 900. For example, at least part of the reflections included in the incident light 101 may be caused by one or more object within the target measurement range and/or at least part of the reflections included in the incident light 101 may be caused by one or more object outside the target measurement range.
For at least one of a plurality of first ToF measurements, the at least one photo-sensitive sensor pixel 110 is—analogously to what is described above—configured to drain, via the drain terminal 113, part of charge carriers generated in the photo-sensitive sensor pixel 110 during the at least one of the plurality of first ToF measurements by incident light 101 that is caused by one or more object outside a target measurement range of the ToF sensor. For example, the at least one photo-sensitive sensor pixel 110 may be configured to drain at least 5%, 10%, 15%, 20% or 25% of the charge carriers generated in the at least one photo-sensitive sensor pixel 110 during the at least one of the plurality of first ToF measurements by incident light 101 caused by one or more object outside the target measurement range of the ToF sensor 900.
Further, for the at least one of the plurality of first ToF measurements, the at least one photo-sensitive sensor pixel 110 is—analogously to what is described above—configured to selectively store another part of the charge carriers in the at least two charge storages 111 and 112 of the photo-sensitive sensor pixel 110 (e.g. the charge carriers that are not drained via the drain terminal 113).
For the at least one of the plurality of first ToF measurements, the at least one photo-sensitive sensor pixel 110 is—analogously to what is described above—configured to drain, via the respective drain terminal, less than 5%, 4%, 3%, 2% or 1% of the charge carriers generated in the at least one photo-sensitive sensor pixel 110 during the at least one of the plurality of first ToF measurements by incident light 101 caused by one or more object inside the measurement range of the ToF sensor 900. In some examples, none of the charge carriers generated in the at least one photo-sensitive sensor pixel 110 during the at least one of the plurality of first ToF measurements by incident light 101 that is caused by one or more object inside the measurement range are drained. In other words, the charge carriers generated in the at least one photo-sensitive sensor pixel 110 by incident light 101 caused by one or more object inside the measurement range of the ToF sensor 900 are substantially not drained. That is, almost exclusively charge carriers generated in the at least one photo-sensitive sensor pixel 110 by incident light 101 caused by one or more object outside the measurement range are drained.
Unlike in the above examples, the drain terminal 113 is not coupled to a common charge storage. Instead, the ToF sensor 900 comprises processing circuitry 130 coupled to the drain terminal 113. The processing circuitry may be formed analogously to what is described above. The processing circuitry 130 is configured to determine, based on the current 114 output by the drain terminal 113, whether one or more object outside the target measurement range of the ToF sensor is present in the scene. For example, the processing circuitry 130 may be configured to determine whether one or more object outside the target measurement range of the ToF sensor 900 is present in the scene by comparing the current output 114 by the drain terminal 113 to a reference (e.g. a reference current).
The drained charge carriers are charge carriers caused substantially exclusively by one or more object outside the target measurement range of the ToF sensor 900. Accordingly, the current output 114 by the drain terminal 113 is indicative of whether one or more object outside the target measurement range of the ToF sensor 900 is present in the sensed scene. Accordingly, the ToF sensor 900 may allow to efficiently determine whether any ambiguity is present in the output data of the at least one photo-sensitive sensor pixel 110 (e.g. the ToF sensor 900) for the at least one of the plurality of first ToF measurements.
It is to be noted that the at least one photo-sensitive sensor pixel 110 and the processing circuitry 130 may optionally be configured to perform the above described behavior for more than one ToF measurement of the plurality of first ToF measurements (e.g. for all of the plurality of first ToF measurements). Similarly, the ToF sensor 900 may comprises a plurality of photo-sensitive sensor pixels that are formed and configured like the photo-sensitive sensor pixel 110. Separate processing circuitries may be provided for the plurality of photo-sensitive sensor pixels. Alternatively, the drain terminals of plural photo-sensitive sensor pixels may be coupled to one processing circuitry such that the one processing circuitry analyzes the output currents of the plural photo-sensitive sensor pixels. For example, the drain terminals of all of the plurality of photo-sensitive sensor pixels may be coupled to the processing circuitry 130 such that the processing circuitry 130 analyzes the output currents of all of the plurality of photo-sensitive sensor pixels. Alternatively, clustering may be used such that different processing circuitries are provided for (and coupled to) different subsets of the plurality of photo-sensitive sensor pixels.
Analogously to what is described above, the ToF sensor 900 may react in various ways if it is determined that one or more object outside the target measurement range of the ToF sensor is present in the scene. For example, if it is determined that one or more object outside the target measurement range of the ToF sensor 900 is present in the scene, the processing circuitry 130 may be configured to control the ToF sensor 900 to either:
However, it is to be noted that the ToF sensor is not limited the above described example reactions.
Further, it is to be noted that although not explicitly illustrated in
The method 1000 comprises operating 1002, for at least one of a plurality of first ToF measurements, the at least one photo-sensitive sensor pixel to drain, via the drain terminal, part of charge carriers generated in the photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light caused by one or more object outside a target measurement range of the ToF sensor.
Additionally, the method 1000 comprises operating 1004, for the at least one of the plurality of first ToF measurements, the at least one photo-sensitive sensor pixel to selectively store another part of the charge carriers in the at least two charge storages of the photo-sensitive sensor pixel.
The method 1000 further comprises operating 1006 the processing circuitry to determine, based on a current output by the drain terminal, whether one or more object outside the target measurement range of the ToF sensor is present in a scene.
Like the ToF sensor 900, the method 1000 may allow to efficiently determine whether any ambiguity is present in the output data of the at least one photo-sensitive sensor pixel for the at least one of the plurality of first ToF measurements.
More details and aspects of the method 1000 are explained in connection with the proposed technique or one or more examples described above. The method 1000 may comprise one or more additional optional features corresponding to one or more aspects of the proposed technique or one or more examples described above.
Aspects of the present disclosure may provide a ToF sensor with a global pixel terminal for dynamic range extension.
The aspects as described herein may be summarized as follows:
Some aspects relate to a ToF sensor. The ToF sensor includes a plurality of photo-sensitive sensor pixels each including at least two charge storages and a drain terminal. Further, the ToF sensor includes a common charge storage coupled to the respective drain terminal of at least a first subset of the plurality of photo-sensitive sensor pixels. For at least one of a plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset are configured to, via the respective drain terminal, drain part of charge carriers generated in the respective photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light caused by one or more object outside a target measurement range of the ToF sensor. Further, for the at least one of the plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset are configured to selectively store another part of the charge carriers in the at least two charge storages of the respective photo-sensitive sensor pixel. The common charge storage is configured to accumulate electrical energy conveyed by currents output by the coupled drain terminals and output first data indicative of the accumulated electrical energy.
In some aspects, the common charge storage is coupled to the respective drain terminal of all of the plurality of photo-sensitive sensor pixels, wherein, for the at least one of the plurality of first ToF measurements, all of the plurality of photo-sensitive sensor pixels are configured to: via the respective drain terminal, drain part of the charge carriers generated in the respective photo-sensitive sensor pixel by the incident light caused by the one or more object outside the target measurement range of the ToF sensor; and selectively store the other part of the charge carriers in the at least two charge storages.
In alternative aspects, the common charge storage is coupled to only the first subset of the plurality of photo-sensitive sensor pixels, wherein the ToF sensor further includes a second common charge storage coupled to the respective drain terminal of a second subset of the plurality of photo-sensitive sensor pixels, the second subset being different from the first subset, wherein, for the at least one of the plurality of first ToF measurements, the photo-sensitive sensor pixels of the second subset are configured to: via the respective drain terminal, drain part of charge carriers generated in the respective photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by the incident light caused by the one or more object outside the target measurement range of the ToF sensor; and selectively store another part of the charge carriers in the at least two charge storages of the respective photo-sensitive sensor pixel, and wherein the second common charge storage is configured to accumulate electrical energy conveyed by currents output by the coupled drain terminals and output second data indicative of the accumulated electrical energy.
According to some aspects, for the at least one of the plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset are configured to drain, via the respective drain terminal, less than 5% of charge carriers generated in the respective photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light caused by one or more object inside the measurement range of the ToF sensor.
In some aspects, the common charge storage is configured to accumulate the electrical energy conveyed by the currents output by the coupled drain terminals for only one of the plurality of first ToF measurements such that the first data are indicative of the amount of electrical energy accumulated for the one of the plurality of first ToF measurements.
In alternative aspects, the common charge storage is configured to accumulate the electrical energy conveyed by the currents output by the coupled drain terminals for at least two of the plurality of first ToF measurements such that the first data are indicative of the amount of electrical energy accumulated for the at least two of the plurality of first ToF measurements.
According to some aspects, the ToF sensor further includes an illumination element configured to emit a plurality of sequences of light pulses to a scene for the at least one of the plurality of first ToF measurements, wherein the illumination element is configured to pause light emission in a respective pause interval between succeeding ones of the plurality of sequences of light pulses.
In some aspects, each pause interval is longer than twice a propagation time for a light pulse from the ToF sensor to a distant end of the target measurement range of the ToF sensor.
According to some aspects, the ToF sensor further includes interface circuitry configured to: output the first data to external processing circuitry; and receive control data for controlling operation of the ToF sensor from the external circuitry in response to outputting the first data.
In some aspects, the ToF sensor further includes processing circuitry configured to determine, based on the first data, whether one or more object outside the target measurement range of the ToF sensor is present in a scene.
According to some aspects, the processing circuitry is configured to determine whether one or more object outside the target measurement range of the ToF sensor is present in the scene by comparing the accumulated electrical energy indicated by the first data to a threshold value.
In alternative aspects, the processing circuitry is configured determine, based on the amount of electrical energy accumulated for the at least two of the plurality of first ToF measurements, an average accumulated electrical energy for a single one of the at least two of the plurality of first ToF measurements, wherein the processing circuitry is further configured to determine whether one or more object outside the target measurement range of the ToF sensor is present in the scene by comparing the determined average accumulated electrical energy to a threshold value.
In some aspects, if it is determined that one or more object outside the target measurement range of the ToF sensor is present in the scene, the processing circuitry is configured to flag distance data indicating one or more distance to one or more object in the scene as potentially ambiguous, the distance data being generated by the processing circuitry based on outputs of the photo-sensitive sensor pixels of at least the first subset for the plurality of first ToF measurements.
In alternative aspects, if it is determined that one or more object outside the target measurement range of the ToF sensor is present in the scene, the processing circuitry is configured to: control the ToF sensor to perform a plurality of second ToF measurements with a modulation frequency other than that used for the first ToF measurements; and generate distance data indicating one or more distance to one or more object in the scene based on outputs of the photo-sensitive sensor pixels of at least the first subset for the plurality of first ToF measurements and the plurality of second ToF measurements.
In further alternative aspects, if it is determined that one or more object outside the target measurement range of the ToF sensor is present in the scene, the processing circuitry is configured to: control the ToF sensor to perform a plurality of second ToF measurements using a second target measurement range that extends beyond the target measurement range of the ToF sensor for the plurality of first ToF measurements; and generate distance data indicating one or more distance to one or more object in the scene based on outputs of the photo-sensitive sensor pixels of at least the first subset for the plurality of second ToF measurements.
According to some aspects, the processing circuitry is further configured to determine whether one or more object outside the target measurement range of the ToF sensor is present in the scene based on the second data, wherein, if the first data indicate that one or more object outside the target measurement range of the ToF sensor is present in the scene and the second data indicate that no objects outside the target measurement range of the ToF sensor is present in the scene, the processing circuitry is configured to control the ToF sensor to perform the plurality of second ToF measurements by: controlling read-out circuitry of the ToF sensor to read-out the photo-sensitive sensor pixels of the first subset but not the photo-sensitive sensor pixels of the second subset for the plurality of second ToF measurements; and/or controlling an illumination element of the ToF sensor to emit light to a first part of the scene sensed by the photo-sensitive sensor pixels of the first subset but not to a second part of the scene sensed by the photo-sensitive sensor pixels of the second subset.
Other aspects relate to an electronic device including a ToF sensor according to one of the above aspects and an application processor coupled to the ToF sensor. The ToF sensor further includes interface circuitry configured to output the first data to the application processor. The application processor is configured to determine based on the first data whether one or more object outside the target measurement range of the ToF sensor is present in a scene.
In some aspects, if it is determined that one or more object outside the target measurement range of the ToF sensor is present in the scene, the application processor is configured to transmit control data to the ToF sensor, wherein the control data control the ToF sensor to either: a) flag distance data indicating one or more measured distance to one or more object in the scene as potentially ambiguous, the distance data being generated by the ToF sensor based on outputs of the photo-sensitive sensor pixels of at least the first subset for the plurality of first ToF measurements; b) perform a plurality of second ToF measurements with a modulation frequency other than that used for the first ToF measurements, and generate distance data indicating one or more distance to one or more object in the scene based on outputs of the photo-sensitive sensor pixels of at least the first subset for the plurality of first ToF measurements and the plurality of second ToF measurements; or c) perform a plurality of second ToF measurements using a second target measurement range that extends beyond the target measurement range of the ToF sensor for the plurality of first ToF measurements, and generate distance data indicating one or more distance to one or more object in the scene based on outputs of the photo-sensitive sensor pixels of at least the first subset for the plurality of second ToF measurements.
Still other aspects relate to a method for operating a ToF sensor. The ToF sensor includes a plurality of photo-sensitive sensor pixels each including at least two charge storages and a drain terminal. Further, the ToF sensor includes a common charge storage coupled to the respective drain terminal of at least a first subset of the plurality of photo-sensitive sensor pixels. The method includes operating, for at least one of a plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset to, via the respective drain terminal, drain part of charge carriers generated in the respective photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light caused by one or more object outside a target measurement range of the ToF sensor. In addition, the method includes operating, for the at least one of the plurality of first ToF measurements, the photo-sensitive sensor pixels of at least the first subset to selectively store another part of the charge carriers in the at least two charge storages of the respective photo-sensitive sensor pixel. The method further includes operating the common charge storage to accumulate electrical energy conveyed by currents output by the coupled drain terminals and output first data indicative of the accumulated electrical energy.
According to some aspects, the method further includes determining, based on the first data, whether one or more object outside the target measurement range of the ToF sensor is present in a scene.
In some aspects, the method further includes: outputting the first data to external processing circuitry; and receiving control data for controlling operation of the ToF sensor from the external circuitry in response to outputting the first data.
Further aspects relate to another ToF sensor. The ToF sensor includes at least one photo-sensitive sensor pixel including at least two charge storages and a drain terminal. For at least one of a plurality of first ToF measurements, the at least one photo-sensitive sensor pixel is configured to, via the drain terminal, drain part of charge carriers generated in the photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light caused by one or more object outside a target measurement range of the ToF sensor. Further, for the at least one of the plurality of first ToF measurements, the at least one photo-sensitive sensor pixel is configured to selectively store another part of the charge carriers in the at least two charge storages of the photo-sensitive sensor pixel. Additionally, the ToF sensor includes processing circuitry coupled to the drain terminal and configured to determine, based on a current output by the drain terminal, whether one or more object outside the target measurement range of the ToF sensor is present in a scene.
According to some aspects, the processing circuitry is configured to determine whether one or more object outside the target measurement range of the ToF sensor is present in the scene by comparing the current output by the drain terminal to a reference.
In some aspects, if it is determined that one or more object outside the target measurement range of the ToF sensor is present in the scene, the processing circuitry is configured to control the ToF sensor to either: a) flag distance data indicating one or more measured distance to one or more object in the scene as potentially ambiguous, the distance data being generated by the ToF sensor based on an output of the at least one photo-sensitive sensor pixel for the plurality of first ToF measurements; b) perform a plurality of second ToF measurements with a modulation frequency other than that used for the first ToF measurements, and generate distance data indicating one or more distances to one or more object in the scene based on outputs of the at least one photo-sensitive sensor pixel for the plurality of first ToF measurements and the plurality of second ToF measurements; or c) perform a plurality of second ToF measurements using a second target measurement range that extends beyond the target measurement range of the ToF sensor for the plurality of first ToF measurements, and generate distance data indicating one or more distance to one or more object in the scene based on outputs of the at least one photo-sensitive sensor pixel for the plurality of second ToF measurements.
Still further aspects relate to a method for operating a ToF sensor. The ToF sensor includes at least one photo-sensitive sensor pixel including at least two charge storages and a drain terminal. Further, the ToF sensor includes processing circuitry coupled to the drain terminal. The method includes operating, for at least one of the plurality of first ToF measurements, the at least one photo-sensitive sensor pixel to, via the drain terminal, drain part of charge carriers generated in the photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light caused by one or more object outside a target measurement range of the ToF sensor. Additionally, the method includes operating, for the at least one of the plurality of first ToF measurements, the at least one photo-sensitive sensor pixel to selectively store another part of the charge carriers in the at least two charge storages of the photo-sensitive sensor pixel. The method further includes operating the processing circuitry to determine, based on a current output by the drain terminal, whether one or more object outside the target measurement range of the ToF sensor is present in a scene.
Aspects of the present disclosure may enable to efficiently determine, whether there is any ambiguity and, optionally, whether any additional ToF measurements are necessary. For example, aspects of the present disclosure may enable to conduct a conventional four phase (or similar) ToF measurement, while simultaneously determining whether there are objects located in the fore or background of the target measurement range. Such objects would be measured ambiguously without additional measurement. Due to the technology of the present disclosure, however, it may be determined that these objects exist, and the ambiguity may be resolved by capturing additional images to resolve the ambiguity. For example, a PMD pixel which is able to direct charges to multiple terminals may be used. Some terminals are connected to pixel internal charge storage elements, while there is one terminal connected to a common (e.g. to all pixels) charge storage element. For example, a pixel array with PMD ToF pixels may be used, wherein one PMD tap is globally connected. In combination with one of the above modulation schemes, the presence of objects which are outside the measurement range may be detected.
The aspects and features described in relation to a particular one of the previous aspects may also be combined with one or more of the further aspects to replace an identical or similar feature of that further aspect or to additionally introduce the features into the further aspect.
It is further understood that the disclosure of several steps, processes, operations or functions disclosed in the description or claims shall not be construed to imply that these operations are necessarily dependent on the order described, unless explicitly stated in the individual case or necessary for technical reasons. Therefore, the previous description does not limit the execution of several steps or functions to a certain order. Furthermore, in further aspects, a single step, function, process or operation may include and/or be broken up into several sub-steps, -functions, -processes or -operations.
If some aspects have been described in relation to a device or system, these aspects should also be understood as a description of the corresponding method. For example, a block, device or functional aspect of the device or system may correspond to a feature, such as a method step, of the corresponding method. Accordingly, aspects described in relation to a method shall also be understood as a description of a corresponding block, a corresponding element, a property or a functional feature of a corresponding device or a corresponding system.
The following claims are hereby incorporated in the detailed description, wherein each claim may stand on its own as a separate aspect. It should also be noted that although in the claims a dependent claim refers to a particular combination with one or more other claims, other aspects may also include a combination of the dependent claim with the subject matter of any other dependent or independent claim. Such combinations are hereby explicitly proposed, unless it is stated in the individual case that a particular combination is not intended. Furthermore, features of a claim should also be included for any other independent claim, even if that claim is not directly defined as dependent on that other independent claim.
| Number | Date | Country | Kind |
|---|---|---|---|
| 21196466EP | Sep 2021 | EP | regional |
