1. Niki gihe-cyo guhaguruka (ToF) sensor?

Kamera yigihe-cyo kuguruka nikihe? Ese kamera ifata indege yindege? Hoba hari aho bihuriye n'indege cyangwa indege? Nibyiza, mubyukuri ni inzira ndende!

ToF ni igipimo cyigihe bifata kugirango ikintu, agace cyangwa umuraba bigendere kure. Wari uzi ko sisitemu ya sonar ikora? Igihe-cyo guhaguruka sisitemu irasa!

Hariho ubwoko bwinshi bwigihe-cyo-kuguruka, ariko ibyinshi ni kamera-yindege-kamera na laser scaneri, ikoresha ikoranabuhanga ryitwa lidar (gutahura urumuri no kugereranya) kugirango bipime ubujyakuzimu bwibintu bitandukanye mumashusho ubimurika. n'umucyo utagira urumuri.

Amakuru yatanzwe kandi yafashwe akoresheje sensor ya ToF ni ingirakamaro cyane kuko irashobora gutanga abanyamaguru, kwemeza abakoresha bishingiye kumiterere yo mumaso, gushushanya ibidukikije ukoresheje SLAM (icyarimwe icyarimwe na mapping) algorithms, nibindi byinshi.

Sisitemu mubyukuri ikoreshwa cyane muri robo, imodoka zitwara wenyine, ndetse nubu igikoresho cyawe kigendanwa. Kurugero, niba ukoresha Huawei P30 Pro, Oppo RX17 Pro, LG G8 ThinQ, nibindi, terefone yawe ifite kamera ya ToF!

Kamera ya ToF

2. Nigute sensor-time-yindege ikora?

Noneho, turashaka gutanga intangiriro yerekana icyo igihe-cyo guhaguruka icyo aricyo nuburyo ikora.

TOFsensor ikoresha lazeri ntoya kugirango isohore urumuri rwa infragre, aho urumuri ruvuyemo rusunika ikintu icyo aricyo cyose hanyuma kigasubira kuri sensor. Ukurikije itandukaniro ryigihe hagati yo gusohora urumuri no kugaruka kuri sensor nyuma yo kugaragazwa nikintu, sensor irashobora gupima intera iri hagati yikintu na sensor.

Uyu munsi, tuzareba uburyo 2 uburyo ToF ikoresha igihe cyurugendo kugirango tumenye intera nuburebure: gukoresha igihe cyimpiswi, no gukoresha icyiciro cyo guhinduranya amplitude yahinduwe.

Koresha impiswi zigihe

Kurugero, ikora mukumurikira intego hamwe na lazeri, hanyuma igapima urumuri rwerekanwe hamwe na scaneri, hanyuma igakoresha umuvuduko wumucyo kugirango uhindure intera yikintu kugirango ubare neza intera yagenze. Mubyongeyeho, itandukaniro mugihe cyo kugaruka kwa laser hamwe nuburebure bwumurongo noneho bikoreshwa mugukora neza imibare ya 3D igereranya hamwe nubuso bwibintu byerekanwe, kandi ugashushanya muburyo bugaragara ibintu byihariye.

Nkuko mubibona hejuru, urumuri rwa laser rurashya hanyuma rugahita rusubira mubintu kuri sensor. Hamwe na laser yo kugaruka, kamera ya ToF irashobora gupima intera nyayo mugihe gito ukurikije umuvuduko wurugendo rworoheje. (ToF ihindura intera) Iyi niyo formula isesengura ikoresha kugirango igere ku ntera nyayo yikintu:

(umuvuduko wumucyo x igihe cyo guhaguruka) / 2

ToF ihindura intera

Nkuko mubibona, ingengabihe izatangira mugihe urumuri ruzimye, kandi iyo uwakiriye yakiriye itara ryo kugaruka, ingengabihe izagaruka igihe. Iyo ukuyemo kabiri, "igihe cyo guhaguruka" cyumucyo kiboneka, kandi umuvuduko wurumuri uhoraho, bityo intera irashobora kubarwa byoroshye ukoresheje formula iri hejuru. Muri ubu buryo, ingingo zose hejuru yikintu zirashobora kugenwa.

Koresha icyiciro cya shift ya AM wave

Ibikurikira ,.TOFIrashobora kandi gukoresha umurongo uhoraho kugirango umenye icyiciro cyo guhinduranya urumuri rwerekanwe kugirango umenye uburebure nintera.

Guhindura icyiciro ukoresheje AM wave

Muguhindura amplitude, ikora urumuri rwumucyo wa sinusoidal hamwe numurongo uzwi, bituma disikete igena ihinduka ryicyiciro cyumucyo ugaragara ukoresheje formula ikurikira:

aho c ni umuvuduko wumucyo (c = 3 × 10 ^ 8 m / s), λ ni uburebure bwumuraba (λ = 15 m), na f ni inshuro, buri ngingo kuri sensor irashobora kubarwa byoroshye mubwimbitse.

Ibi bintu byose bibaho byihuse cyane nkuko dukora kumuvuduko wumucyo. Urashobora kwiyumvisha neza n'umuvuduko hamwe na sensor zishobora gupima? Reka ntange urugero, urumuri rugenda ku muvuduko wa kilometero 300.000 ku isegonda, niba ikintu kiri 5m kure yawe, itandukaniro ryigihe hagati yumucyo uva kamera ukagaruka ni nka nanosekondi 33, bihwanye n'amasegonda 0.000000033! Wow! Tutibagiwe, amakuru yafashwe azaguha amakuru ya 3D yerekana neza kuri buri pigiseli mu ishusho.

Hatitawe ku ihame ryakoreshejwe, gutanga isoko yumucyo umurikira ibyabaye byose bituma sensor igena ubujyakuzimu bwingingo zose. Ibisubizo nkibi biguha ikarita yintera aho buri pigiseli ihuza intera kugera aho ihurira. Ibikurikira nurugero rwibishushanyo bya ToF:

Urugero rwibishushanyo mbonera bya ToF

Noneho ko tuzi ko ToF ikora, kuki ari byiza? Kuki kuyikoresha? Ni izihe nyungu? Ntugire impungenge, hari ibyiza byinshi byo gukoresha sensor ya ToF, ariko birumvikana ko hari aho bigarukira.

3. Inyungu zo gukoresha igihe-cyindege

Ibipimo nyabyo kandi byihuse

Ugereranije nibindi byuma bifata intera nka ultrasound cyangwa laseri, igihe-cyo guhaguruka gishobora gukora ishusho ya 3D yibintu byihuse. Kurugero, Kamera ya ToF irashobora kubikora rimwe gusa. Ntabwo aribyo gusa, sensor ya ToF ibasha gutahura ibintu neza mugihe gito kandi ntabwo ihindurwa nubushuhe, umuvuduko wumwuka nubushyuhe, bigatuma bikoreshwa haba murugo no hanze.

intera ndende

Kubera ko sensor ya ToF ikoresha laseri, irashobora kandi gupima intera ndende kandi iringaniye hamwe nukuri. Rukuruzi ya ToF iroroshye kuko ishoboye kumenya hafi na kure ibintu byose byubunini.

Nibihinduka kandi muburyo ushobora guhitamo optique ya sisitemu kugirango ikore neza, aho ushobora guhitamo imiyoboro ya transmitter hamwe niyakira hamwe na lens kugirango ubone umurima wifuza wo kureba.

Umutekano

Uhangayikishijwe nuko laser iva kuriTOFsensor izakubabaza amaso? ntugire ikibazo! Ibyuma byinshi bya ToF ubu bikoresha ingufu nkeya ya infragre lazeri nkisoko yumucyo kandi ikayitwara hamwe na pulses zahinduwe. Rukuruzi rwujuje ibyiciro byumutekano wa laser yo mu cyiciro cya 1 kugirango irebe ko ifite umutekano ku jisho ryabantu.

igiciro cyiza

Ugereranije nubundi buryo bwimbitse bwa 3D bwa tekinoroji yo gusikana nka sisitemu yumucyo ya kamera yubatswe cyangwa laser rangefinders, sensor ya ToF ihendutse cyane ugereranije nabo.

Nubwo izo mbogamizi zose, ToF iracyizewe cyane nuburyo bwihuse bwo gufata amakuru ya 3D.

4. Imipaka ya TOF

Nubwo ToF ifite inyungu nyinshi, nayo ifite aho igarukira. Bimwe mubibuza ToF harimo:

• Umucyo utatanye

Niba isura nziza cyane yegeranye cyane na sensor ya ToF, irashobora gusasa urumuri rwinshi mubakira hanyuma igakora ibihangano nibitekerezo udashaka, kubera ko sensor yawe ya ToF ikeneye gusa kwerekana urumuri rumaze gupimwa.

• Ibitekerezo byinshi

Iyo ukoresheje sensor ya ToF kumpande no kumiterere, birashobora gutera gutekereza udashaka, kuko urumuri rushobora kuzimya inshuro nyinshi, kugoreka ibipimo.

• Umucyo udukikije

Gukoresha kamera ya ToF hanze mumirasire yizuba irashobora gutuma hanze ikoreshwa bigoye. Ibi biterwa nuburemere bwinshi bwurumuri rwizuba bituma sensor ya pigiseli yuzura vuba, bigatuma bidashoboka kumenya urumuri nyarwo rugaragara mubintu.

• Umwanzuro

Rukuruzi rwa ToF naLensirashobora gukoreshwa muburyo butandukanye bwa porogaramu. Kuva kuri Mapping ya 3D, Automation yinganda, Kumenya Inzitizi, Imodoka Yigenga, Ubuhinzi, Imashini za robo, Kugenda mu nzu, Kumenyekanisha ibimenyetso, Gusikana ibintu, gupima, Gukurikirana kugeza Ukuri kwagutse! Porogaramu ya tekinoroji ya ToF ntigira iherezo.

Urashobora kutwandikira kubikenewe byose bya ToF.

Chuang Optoelectronics yibanda cyane kubisobanuro bihanitse byo guhitamo kugirango bikore neza

Chuang Optoelectronics ubu yatanze umusaruro utandukanyeLensnka:

CH3651A f3.6mm F1.2 1/2 ″ IR850nm

CH3651B f3.6mm F1.2 1/2 ″ IR940nm

CH3652A f3.3mm F1.1 1/3 ″ IR850nm

CH3652B f3.3mm F1.1 1/3 ″ IR940nm

CH3653A f3.9mm F1.1 1/3 ″ IR850nm

CH3653B f3.9mm F1.1 1/3 ″ IR940nm

CH3654A f5.0mm F1.1 1/3 ″ IR850nm

CH3654B f5.0mm F1.1 1/3 ″ IR940nm