1. Iyini inzwa yesikhathi sendiza (ToF)?

Ithini ikhamera yesikhathi sendiza? Ingabe ikhamera ethwebula ukuhamba kwendiza? Ingabe kunento yokwenza nezindiza noma izindiza? Yebo, kusekude ngempela!

I-ToF isilinganiso sesikhathi esisithathayo ukuze into, izinhlayiyana noma igagasi lihambe ibanga. Ubuwazi ukuthi isistimu ye-sonar yelulwane iyasebenza? Uhlelo lwesikhathi sendiza luyefana!

Kunezinhlobo eziningi zezinzwa zesikhathi sendiza, kodwa eziningi amakhamera esikhathi sendiza nezikena ze-laser, ezisebenzisa ubuchwepheshe obubizwa nge-lidar (ukutholwa kokukhanya nokusukela) ukukala ukujula kwamaphoyinti ahlukahlukene esithombeni ngokusikhanyisa. ngokukhanya kwe-infrared.

Idatha ekhiqizwe futhi yathwetshulwa kusetshenziswa izinzwa ze-ToF iwusizo kakhulu njengoba inganikeza ukutholwa kwabahamba ngezinyawo, ukufakazela ubuqiniso komsebenzisi ngokusekelwe ezicini zobuso, imephu yendawo kusetshenziswa ama-algorithms e-SLAM (ukwenziwa kwasendaweni kanye kanye nokwenza imephu), nokunye.

Lolu hlelo lusetshenziswa kakhulu kumarobhothi, ezimotweni ezizishayelayo, futhi ngisho namanje iselula yakho. Isibonelo, uma usebenzisa i-Huawei P30 Pro, i-Oppo RX17 Pro, i-LG G8 ThinQ, njll., ifoni yakho inekhamera ye-ToF!

Ikhamera ye-ToF

2. Inzwa yesikhathi sendiza isebenza kanjani?

Manje, singathanda ukunikeza isingeniso esifushane sokuthi iyini inzwa yesikhathi sendiza nokuthi isebenza kanjani.

I-ToFizinzwa zisebenzisa amalaser amancane ukuze zikhiphe ukukhanya kwe-infrared, lapho ukukhanya okuvelayo kubhampa kunoma iyiphi into bese kubuyela kunzwa. Ngokusekelwe kumehluko wesikhathi phakathi kokukhishwa kokukhanya nokubuyela kunzwa ngemva kokuboniswa into, inzwa ingakala ibanga phakathi kwento nenzwa.

Namuhla, sizohlola izindlela ezi-2 ukuthi i-ToF isebenzisa kanjani isikhathi sokuhamba ukuze inqume ibanga nokujula : sisebenzisa ama-timing pulses, nokusebenzisa ukuguqulwa kwesigaba samaza aguquliwe we-amplitude.

Sebenzisa ama-pulses anesikhathi

Isibonelo, isebenza ngokukhanyisa ithagethi ngelaser, bese ikala ukukhanya okubonisiwe ngesithwebuli, bese isebenzisa isivinini sokukhanya ukuze ikhiphe ibanga lento ukuze ubale kahle ibanga elihanjiwe. Ukwengeza, umehluko wesikhathi sokubuya kwe-laser nobude beza beza bube sesetshenziselwa ukwenza ukumelwa okunembile kwedijithali kwe-3D nezici zangaphezulu zethagethi, futhi ngokubukeka kumephu izici zayo ngazinye.

Njengoba ubona ngenhla, isibani se-laser siyacishwa bese sigxumela entweni sibuyisele inzwa. Ngesikhathi sokubuya kwe-laser, amakhamera e-ToF ayakwazi ukukala amabanga anembile ngesikhathi esifushane uma kubhekwa ijubane lokuhamba kokukhanya. (I-ToF iguqulela ebangeni) Lena ifomula umhlaziyi ayisebenzisayo ukuze afike ebangeni eliqondile lento:

(isivinini sokukhanya x isikhathi sokundiza) / 2

I-ToF iguqulela ebangeni

Njengoba ubona, isibali sikhathi sizoqala ngenkathi ukukhanya kuvaliwe, futhi lapho umamukeli ethola ukukhanya okubuyayo, isibali sikhathi sizobuyisela isikhathi. Uma ususa kabili, "isikhathi sokundiza" sokukhanya siyatholakala, futhi ijubane lokukhanya lihlala njalo, ngakho ibanga lingabalwa kalula kusetshenziswa ifomula engenhla. Ngale ndlela, wonke amaphuzu ebusweni bento anganqunywa.

Sebenzisa ukushintshwa kwesigaba kwegagasi le-AM

Okulandelayo, iI-ToFingase futhi isebenzise amagagasi aqhubekayo ukuze ithole ukushintsha kwesigaba sokukhanya okubonisiwe ukuze inqume ukujula nebanga.

Ukushintsha kwesigaba kusetshenziswa igagasi le-AM

Ngokulungisa i-amplitude, idala umthombo wokukhanya we-sinusoidal onefrikhwensi eyaziwayo, okuvumela umtshina ukuthi unqume ukugudluka kwesigaba sokukhanya okubonisiwe usebenzisa ifomula elandelayo:

lapho u-c ijubane lokukhanya (c = 3 × 10^8 m/s), u-λ ubude be-wavelength (λ = 15 m), futhi u-f yimvamisa, iphuzu ngalinye kwinzwa lingabalwa kalula ngokujula.

Zonke lezi zinto zenzeka ngokushesha okukhulu njengoba sisebenza ngesivinini sokukhanya. Ungacabanga ukunemba nesivinini izinzwa ezikwazi ukukala ngaso? Ake ngenze isibonelo, ukukhanya kuhamba ngesivinini esingamakhilomitha angu-300,000 ngomzuzwana, uma into iku-5m kude nawe, umehluko wesikhathi phakathi kokukhanya okushiya ikhamera nokubuya cishe ngama-nanoseconds angu-33, okulingana kuphela nemizuzwana engu-0.000000033! Hewu! Ingasaphathwa, idatha ethwebuliwe izokunikeza ukumelwa okunembile kwedijithali kwe-3D yawo wonke amaphikseli asesithombeni.

Ngaphandle komgomo osetshenzisiwe, ukuhlinzeka ngomthombo wokukhanya okhanyisa yonke indawo kuvumela inzwa ukuthi inqume ukujula kwawo wonke amaphuzu. Umphumela onjalo ukunika imephu yebanga lapho iphikseli ngayinye ibhala khona ibanga eliya endaweni ehambisanayo endaweni yesigameko. Okulandelayo isibonelo segrafu yobubanzi be-ToF:

Isibonelo segrafu yebanga le-ToF

Manje njengoba sesazi ukuthi i-ToF iyasebenza, kungani ilungile? Uyisebenziselani? Zilungele ini? Ungakhathazeki, ziningi izinzuzo zokusebenzisa inzwa ye-ToF, kodwa-ke kukhona ukulinganiselwa okuthile.

3. Izinzuzo zokusebenzisa izinzwa zesikhathi sendiza

Isilinganiso esinembile nesisheshayo

Uma kuqhathaniswa nezinye izinzwa zebanga njenge-ultrasound noma ama-laser, izinzwa zesikhathi sendiza ziyakwazi ukuqamba isithombe se-3D sesigcawu ngokushesha okukhulu. Isibonelo, ikhamera ye-ToF ingenza lokhu kanye kuphela. Akukhona lokho kuphela, inzwa ye-ToF iyakwazi ukubona izinto ngokunembile ngesikhathi esifushane futhi ayithinteki umswakama, ukucindezela komoya kanye nezinga lokushisa, okuyenza ifaneleke kokubili ukusetshenziswa kwangaphakathi nangaphandle.

ibanga elide

Njengoba izinzwa ze-ToF zisebenzisa ama-lasers, ziyakwazi futhi ukukala amabanga amade nobubanzi ngokunemba okuphezulu. Izinzwa ze-ToF ziyavumelana nezimo ngoba ziyakwazi ukubona izinto eziseduze nezikude zazo zonke izinhlobo nosayizi.

Iyakwazi futhi nezimo ngomqondo wokuthi uyakwazi ukwenza ngendlela oyifisayo okokubona kwesistimu ukuze kusebenze kahle, lapho ungakhetha khona isidlulisi kanye nezinhlobo zamamukeli namalensi ukuze uthole indawo yokubuka oyifunayo.

Ukuphepha

Ukhathazekile ngokuthi laser kusukelaI-ToFinzwa izolimaza amehlo akho? ungakhathazeki! Izinzwa eziningi ze-ToF manje zisebenzisa i-laser ye-infrared enamandla aphansi njengomthombo wokukhanya futhi ziyishayele ngamapulses ashintshiwe. Inzwa ihlangabezana namazinga okuphepha e-laser Ekilasi 1 ukuze kuqinisekiswe ukuthi iphephile emehlweni omuntu.

kuqiza kahle

Uma kuqhathaniswa nobunye ubuchwepheshe bokuskena bebanga lokujula kwe-3D njengamasistimu amakhamera alula ahlelekile noma ama-laser rangefinder, izinzwa ze-ToF zishibhe kakhulu uma ziqhathaniswa nazo.

Naphezu kwayo yonke le mikhawulo, i-ToF isethembekile kakhulu futhi iyindlela eshesha kakhulu yokuthwebula imininingwane ye-3D.

4. Imikhawulo ye-ToF

Nakuba i-ToF inezinzuzo eziningi, futhi inemikhawulo. Eminye yemikhawulo ye-ToF ifaka:

• Ukukhanya okuhlakazekile

Uma izindawo ezikhanya kakhulu ziseduze kakhulu nenzwa yakho ye-ToF, zingasabalalisa ukukhanya okuningi kusitholi sakho futhi zidale ama-artifact kanye nezibonisi ezingadingeki, njengoba inzwa yakho ye-ToF idinga kuphela ukubonisa ukukhanya uma ukukala sekulungile.

• Ukucabangisisa okuningi

Uma usebenzisa izinzwa ze-ToF emakhoneni nasekubunjweni kwe-concave, zingabangela ukubonakala okungafuneki, njengoba ukukhanya kungabhampa izikhathi eziningi, kuhlanekezele ukulinganisa.

• Ukukhanya kwe-ambient

Ukusebenzisa ikhamera ye-ToF ngaphandle ekukhanyeni kwelanga okukhanyayo kungenza ukusebenzisa ngaphandle kube nzima. Lokhu kungenxa yobukhulu obuphezulu bokukhanya kwelanga okubangela ukuthi amaphikseli enzwa agcwale ngokushesha, okwenza kube nzima ukubona ukukhanya kwangempela okuvela entweni.

• Isiphetho

Izinzwa ze-ToF kanyeIlensi ye-ToFingasetshenziswa ezinhlelweni ezihlukahlukene. Kusukela kumephu ye-3D, i-Industrial Automation, Ukutholwa Kwezithiyo, Izimoto Ezizishayelayo, Ezokulima, Amarobhothi, Ukuzulazula Ngasendlini, Ukuqaphela Ukuthinta, Ukuskena Kwento, Izilinganiso, Ukubhekwa kuya Kungokoqobo Okungathandwa Ngumuntu! Ukusetshenziswa kobuchwepheshe be-ToF akupheli.

Ungasithinta nganoma yiziphi izidingo zamalensi e-ToF.

I-Chuang An Optoelectronics igxile kumalensi okukhanya anencazelo ephezulu ukuze yakhe uhlobo olubonakalayo oluphelele.

I-Chuang An Optoelectronics manje isikhiqize izinhlobonhlobo zeAmalensi e-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