1. Yintoni isivamvo sexesha lokubhabha (ToF)?

Yintoni ikhamera yexesha lokubhabha? Ngaba yikhamera ebamba ukubhabha kwenqwelomoya? Ngaba inento yokwenza neenqwelomoya okanye iinqwelomoya? Ewe, kusekude kakhulu!

I-ToF ngumlinganiselo wexesha elithathwayo ukuba into, isuntswana okanye iliza lihambe umgama. Ubusazi ukuba inkqubo ye-sonar yelulwane iyasebenza? Inkqubo yexesha lokuhamba ngenqwelomoya iyafana!

Kukho iintlobo ezininzi zezivamvo zexesha lokubhabha, kodwa uninzi ziikhamera zexesha lokubhabha kunye ne-laser scanners, ezisebenzisa itekhnoloji ebizwa ngokuba yi-lidar (ukubona ukukhanya kunye nokusukela) ukulinganisa ubunzulu bamanqaku ahlukeneyo emfanekisweni ngokuwukhanyisa. ngokukhanya kwe-infrared.

Idatha eveliswe kwaye ibanjwe kusetyenziswa i-ToF sensors iluncedo kakhulu njengoko inokubonelela ngokuchongwa kwabahambi ngeenyawo, ukuqinisekiswa komsebenzisi ngokusekelwe kwiimpawu zobuso, imephu yendawo usebenzisa i-SLAM (indawo yangaxeshanye kunye nemephu) i-algorithms, kunye nokunye.

Le nkqubo isetyenziswa kakhulu kwiirobhothi, kwiimoto eziziqhubayo, kwaye nangoku isixhobo sakho esiphathwayo. Umzekelo, ukuba usebenzisa iHuawei P30 Pro, Oppo RX17 Pro, LG G8 ThinQ, njl., ifowuni yakho inekhamera yeToF!

Ikhamera yeToF

2. Isivamvo sexesha lokuhamba sisebenza njani?

Ngoku, singathanda ukunika intshayelelo emfutshane yokuba yintoni isivamvo sexesha lokubhabha kunye nendlela esebenza ngayo.

ToFabenzi boluvo basebenzisa iilaser ezincinci ukukhupha ukukhanya kwe-infrared, apho ukukhanya okunesiphumo kugqabhuka kuyo nayiphi na into kwaye kubuyela kwisivamvo. Ngokusekelwe kumahluko wexesha phakathi kokukhutshwa kokukhanya kunye nokubuyela kwinzwa emva kokubonakaliswa yinto, inzwa inokulinganisa umgama phakathi kwento kunye nenzwa.

Namhlanje, siza kuphonononga iindlela ezi-2 zokuba i-ToF ilisebenzisa njani ixesha lokuhamba ukujonga umgama kunye nobunzulu: kusetyenziswa iipulse zexesha, kunye nokusebenzisa ukutshintshwa kwesigaba samaza amodareyithiweyo amplitude.

Sebenzisa imibhobho yexesha

Umzekelo, isebenza ngokukhanyisa ithagethi ngelaser, emva koko ilinganise ukukhanya okubonakalisiweyo ngeskena, emva koko isebenzise isantya sokukhanya ukukhupha umgama wento ukubala ngokuchanekileyo umgama ohanjiweyo. Ukongeza, umahluko kwixesha lokubuya kwe-laser kunye nobude be-wavelength emva koko kusetyenziselwa ukwenza umboniso ochanekileyo wedijithali we-3D kunye neempawu zomphezulu wethagethi, kunye nemephu ebonakalayo ngaphandle kweempawu zayo.

Njengoko ubona ngasentla, ukukhanya kwelaser kucinywa kwaye emva koko kugxumeke kwinto ukubuyisela kwinzwa. Ngexesha lokubuya kwe-laser, iikhamera ze-ToF ziyakwazi ukulinganisa imigama echanekileyo ngexesha elifutshane elinikwe isantya sokuhamba kokukhanya. (I-ToF iguqulela kumgama) Le yifomula esetyenziswa ngumhlalutyi ukufika kumgama ochanekileyo wento:

(isantya sokukhanya x ixesha lokubhabha) / 2

I-ToF iguqulela kumgama

Njengoko ubona, isibali-xesha siya kuqalisa ngelixa isibane sicinyiwe, kwaye xa umamkeli efumana isibane sokubuya, isibali-xesha siya kubuyisela ixesha. Xa ukhupha kabini, "ixesha lokuhamba" lokukhanya lifunyenwe, kwaye isantya sokukhanya sihlala sihlala, ngoko ke umgama unokubalwa ngokulula usebenzisa ifomula engentla. Ngale ndlela, zonke iingongoma kumphezulu wento zinokumiselwa.

Sebenzisa ukutshintshwa kwesigaba se-AM wave

Okulandelayo, iToFinokusebenzisa amaza aqhubekayo ukubona ukutshintshwa kwesigaba sokukhanya okubonakalisiweyo ukumisela ubunzulu kunye nomgama.

Ukutshintsha kwenqanaba usebenzisa i-AM wave

Ngokumodareyitha i-amplitude, yenza umthombo wokukhanya we-sinusoidal kunye ne-frequency eyaziwayo, ivumela umtshini ukuba umise ukutshintshwa kwesigaba sokukhanya okubonakalisiweyo usebenzisa le fomula ilandelayo:

apho i-c isantya sokukhanya (c = 3 × 10 ^ 8 m / s), i-λ yi-wavelength (λ = 15 m), kunye ne-f yi-frequency, inqaku ngalinye kwi-sensor ingabalwa ngokulula ngobunzulu.

Zonke ezi zinto zenzeka ngokukhawuleza okukhulu njengoko sisebenza ngesantya sokukhanya. Ngaba unokuthelekelela ukuchaneka kunye nesantya abenzi boluvo abanokulinganisa ngaso? Makhe ndenze umzekelo, ukukhanya kuhamba ngesantya seekhilomitha ezingama-300,000 ngomzuzwana, ukuba into i-5m kude nawe, umahluko wexesha phakathi kokukhanya okushiya ikhamera nokubuya kumalunga nama-nanoseconds angama-33, elilingana nemizuzwana eyi-0.000000033 kuphela! Wowu! Ungasathethi ke, idatha efakiweyo iya kukunika umboniso ochanekileyo we-3D wedijithali kuyo yonke ipixel emfanekisweni.

Kungakhathaliseki ukuba umgaqo osetyenzisiweyo, ukubonelela ngomthombo wokukhanya okhanyisa yonke indawo ivumela inzwa ukuba inqume ubunzulu bamanqaku onke. Isiphumo esinjalo sikunika imephu yomgama apho ipixel nganye ifaka umgama ukuya kwindawo ehambelanayo kwindawo. Oku kulandelayo ngumzekelo wegrafu yoluhlu lwe-ToF:

Umzekelo wegrafu yoluhlu lweToF

Ngoku siyazi ukuba i-ToF iyasebenza, kutheni ilungile? Kutheni uyisebenzisa? Zilungele ntoni? Sukuba nexhala, zininzi izibonelelo zokusebenzisa inzwa ye-ToF, kodwa ngokuqinisekileyo kukho imida.

3. Iinzuzo zokusebenzisa izinzwa zexesha lokuhamba ngenqwelomoya

Umlinganiselo ochanekileyo kunye nokhawulezayo

Xa kuthelekiswa nezinye iinzwa zomgama ezifana ne-ultrasound okanye i-lasers, ii-sensor zexesha lokubhabha ziyakwazi ukuqulunqa umfanekiso we-3D wendawo ngokukhawuleza. Umzekelo, ikhamera ye-ToF inokwenza oku kube kanye kuphela. Akunjalo kuphela, i-sensor ye-ToF iyakwazi ukubona izinto ngokuchanekileyo ngexesha elifutshane kwaye ayichatshazelwa ngumswakama, uxinzelelo lomoya kunye nokushisa, okwenza ukuba ilungele ukusetyenziswa kwangaphakathi nangaphandle.

umgama omde

Kuba izinzwa ze-ToF zisebenzisa iilaser, ziyakwazi ukulinganisa imigama emide kunye noluhlu ngokuchaneka okuphezulu. Abenzi boluvo be-ToF babhetyebhetye kuba bayakwazi ukubona izinto ezikufutshane nezikude zazo zonke iimilo kunye nobukhulu.

Ikwabhetyebhetye ngengqiqo yokuba uyakwazi ukwenza ngokwezifiso i-optics yenkqubo yokusebenza kakuhle, apho ungakhetha khona umthumeli kunye neentlobo zamamkeli kunye neelensi ukufumana indawo yokujonga oyifunayo.

Ukhuseleko

Ixhala lokuba laser evela kwiToFInzwa iyakwenzakalisa amehlo akho? subanexhala! Uninzi lwezinzwa ze-ToF ngoku zisebenzisa i-laser ye-infrared yamandla aphantsi njengomthombo wokukhanya kwaye uyiqhube ngeepulses ezimoduliweyo. Inzwa idibana nemigangatho yokhuseleko lwe-laser yeClass 1 ukuqinisekisa ukuba ikhuselekile kwiliso lomntu.

isebenza kakuhle emalini

Xa kuthelekiswa nobunye ubunzulu boluhlu lwe-3D lobuchwephesha bokuskena obunje ngenkqubo yekhamera yokukhanya ecwangcisiweyo okanye i-laser rangefinders, izinzwa ze-ToF zixabiso eliphantsi kakhulu xa zithelekiswa nazo.

Ngaphandle kwayo yonke le mida, i-ToF isathembeke kakhulu kwaye iyindlela ekhawulezayo yokubamba ulwazi lwe-3D.

4. Unyino lweToF

Nangona i-ToF ineenzuzo ezininzi, ikwanazo nemida. Eminye imida ye-ToF ibandakanya:

• Ukukhanya okuthe saa

Ukuba iindawo eziqaqambe kakhulu zisondele kakhulu kwisivamvo sakho se-ToF, zinokusasaza ukukhanya okuninzi kummkeli wakho kwaye zenze izinto zakudala kunye nembonakalo engafunekiyo, kuba isivamvo sakho se-ToF sifuna kuphela ukubonakalisa ukukhanya xa umlinganiselo sele ulungile.

• Iingcinga ezininzi

Xa usebenzisa ii-sensors ze-ToF kwiikona kunye neemilo ze-concave, zinokubangela ukubonakaliswa okungafunekiyo, njengoko ukukhanya kunokugqabhuka amaxesha amaninzi, ukuphazamisa umlinganiselo.

• Ukukhanya kwendawo

Ukusebenzisa ikhamera ye-ToF ngaphandle ekukhanyeni kwelanga kunokwenza kube nzima ukusebenzisa ngaphandle. Oku kungenxa yobukhulu obuphezulu bokukhanya kwelanga okubangela ukuba iipikseli zoluvo zihluthe ngokukhawuleza, nto leyo eyenza kube nzima ukubona ukukhanya okukokwenyani okubonakaliswe kwinto.

• Isiphelo

Iinzwa zeToF kunyeIlensi yeToFinokusetyenziswa kwiintlobo ngeentlobo zezicelo. Ukusuka kwi-3D Mapping, i-Automation ye-Industrial, ukuFumana imiqobo, iimoto eziziqhubayo, ezoLimo, iirobhothi, ukuNavigation ngaphakathi, ukuNqatshelwa kweGesture, ukuskena into, imilinganiselo, ukuHlola ukuya kwiNyaniso eyongeziweyo! Usetyenziso lwetekhnoloji ye-ToF ayinasiphelo.

Ungaqhagamshelana nathi ngazo naziphi na iimfuno zeelensi zeToF.

I-Chuang An Optoelectronics igxile kwiilensi zamehlo ezinengcaciso ephezulu ukwenza uphawu olubonakalayo olugqibeleleyo.

I-Chuang An Optoelectronics ngoku ivelise iindidi ezahlukeneyoIilensi ze-TOFnjenge:

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