公开(公告)号：US11733360B2

公开(公告)日：2023-08-22

申请号：US16663016

申请日：2019-10-24

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Yichang Wang ,  Karthik Rajagopal Ganapathy ,  Raja Reddy Patukuri

IPC: G01S7/486 ,  G05D1/00 ,  G01S17/89 ,  B25J9/16 ,  G01S7/4865

CPC classification number: G01S7/4865 ,  B25J9/163 ,  G01S17/89 ,  G05D1/0088

Abstract: A time of flight (ToF) system comprises three photoemitters, a photosensor, and a controller. The first photoemitter transmits light onto objects at first height, the second photoemitter onto objects at second, lower height, and the third photoemitter onto objects at third, lowest height. The controller causes one of the photoemitters to transmit modulated light and the photosensor to receive reflections from the scene. The controller determines a depth map for the corresponding height based on phase differences between the transmitted and reflected light. In some examples, the ToF system is included in an autonomous robot's navigation system. The navigation system identifies overhanging objects at the robot's top from the depth map at the first height, obstacles in the navigation route from the depth map at the second height, and cliffs and drop-offs in the ground surface in front of the robot from the depth map at the third height.

公开(公告)号：US20230061912A1

公开(公告)日：2023-03-02

申请号：US17578219

申请日：2022-01-18

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Karthik Rajagopal Ganapathy

IPC: G05D25/02 ,  G01J3/28 ,  G01J3/10

Abstract: In an example, a system includes a surface including one or more light sources and one or more sensors. The system also includes a dome structure configured to cover the surface. The system includes an output port on the surface configured to provide light from the one or more light sources to a device under test. The system also includes a controller coupled to the one or more sensors and configured to adjust the one or more light sources based at least in part on feedback from a sensor.

公开(公告)号：US12200367B2

公开(公告)日：2025-01-14

申请号：US17827645

申请日：2022-05-27

Applicant: TEXAS INSTRUMENTS INCORPORATED

Inventor： Karthik Rajagopal Ganapathy

IPC: H04N23/71 ,  G01J1/42 ,  H04N23/55 ,  H04N23/56 ,  H04N23/72

Abstract: A camera system includes a camera, an illumination source, a first light sensor having a first light sensor output, and a second light sensor having a second light sensor output. A processor has inputs coupled to the camera's output, the first light sensor output, and the second light sensor output, and the processor has an output coupled to the input of the illumination source. The processor receives a first light signal from the first light sensor output, receive a second light signal from the second light sensor output, determine a first weight for the first light signal and a second weight for the second light signal based on a difference between the first and second light signals, calculate a weighted average of the first and second light signals using the first and second weights, and determine whether to turn on the illumination source based on the weighted average.

公开(公告)号：US20230341528A1

公开(公告)日：2023-10-26

申请号：US18343159

申请日：2023-06-28

Applicant: Texas Instruments Incorporated

Inventor： Yichang Wang ,  Karthik Rajagopal Ganapathy ,  Raja Reddy Patukuri

IPC: G01S7/4865 ,  G05D1/00 ,  G01S17/89 ,  B25J9/16

CPC classification number: G01S7/4865 ,  G05D1/0088 ,  G01S17/89 ,  B25J9/163

Abstract: A system comprises a photosensor and a controller. A first photoemitter transmits light onto objects at first height, a second photoemitter onto objects at second, lower height, and a third photoemitter onto objects at third, lowest height. The controller causes one of the photoemitters to transmit modulated light and the photosensor to receive reflections from a scene. The controller determines a depth map for the corresponding height based on phase differences between the transmitted and reflected light. In some examples, the system is included in an autonomous robot's navigation system. The navigation system identifies overhanging objects at the robot's top from the depth map at the first height, obstacles in the navigation route from a second depth map at the second height, and cliffs and drop-offs in the ground surface in front of the robot from the third depth map at the third height.