一, Chii chinonzi nguva yemakamera ekubhururuka?

Makamera eTime-of-flight (ToF) imhando yetekinoroji yekuona zvakadzama inoyera daro riri pakati pekamera nezvinhu zviri panzvimbo nekushandisa nguva inotora kuti chiedza chifambe kuenda kuzvinhu uye kudzokera kukhamera. Anoshandiswa zvakanyanya mumabasa akasiyana-siyana akadai se augmented reality, robotics, 3D scanning, gesture recognition, nezvimwewo.

Makamera eToFkushanda nekubudisa chiratidzo chechiedza, kazhinji chiedza che infrared, uye kuyera nguva inotora kuti chiratidzo chidzoke mushure mekurovera zvinhu panzvimbo yacho. Kuyera nguva uku kunoshandiswa kuverenga daro kubva pazvinhu, kugadzira mepu yekudzika kana mufananidzo we3D wenzvimbo yacho.

Nguva yemakamera ekubhururuka

Zvichienzaniswa nedzimwe tekinoroji dzinoona zvakadzama dzakadai sechiedza chakarongeka kana stereo vision, makamera eToF ane mabhenefiti akati wandei. Anopa ruzivo rwekudzika kwenguva chaiyo, ane dhizaini iri nyore, uye anogona kushanda mumamiriro akasiyana-siyana emwenje. Makamera eToF akamanikanawo uye anogona kubatanidzwa muzvishandiso zvidiki zvakaita semafoni, mapiritsi, uye zvishandiso zvinopfekwa.

Mashandisirwo emakamera eToF akasiyana-siyana. Muchokwadi chakawedzeredzwa, makamera eToF anogona kuona zvakadzama kudzika kwezvinhu uye kuvandudza huchokwadi hwezvinhu zviripo munyika chaiyo. Mumarobhoti, anogonesa marobhoti kuona zvakavapoteredza uye kufamba nezvipingamupinyi zvinobudirira. Mukuongorora kwe3D, makamera eToF anogona kutora nekukurumidza geometry yezvinhu kana nharaunda kune zvinangwa zvakasiyana-siyana senge chokwadi chaicho, mitambo, kana kudhinda kwe3D. Anoshandiswawo mukushandiswa kwebiometric, senge kuzivikanwa kwechiso kana kuzivikanwa kwemaoko.

二,Zvikamu zvenguva yemakamera ekubhururuka

Makamera enguva yekubhururuka (ToF)ine zvinhu zvakakosha zvakasiyana-siyana zvinoshanda pamwe chete kuti zvikwanise kuona kudzika uye kuyera daro. Zvinhu zvacho zvinogona kusiyana zvichienderana nedhizaini nemugadziri, asi hezvino zvinhu zvakakosha zvinowanzo kuwanikwa mumasisitimu emakamera eToF:

Chitubu cheChiedza:

Makamera eToF anoshandisa sosi yechiedza kuti abudise chiratidzo chechiedza, kazhinji muchimiro chechiedza cheinfrared (IR). Sosi yechiedza inogona kuva LED (Light-Emitting Diode) kana laser diode, zvichienderana nekugadzirwa kwekamera. Chiedza chinoburitswa chinofamba chichienda kuzvinhu zviri panzvimbo yacho.

Magirazi ekuona:

Lenzi inounganidza chiedza chinoratidzwa uye inoona nharaunda ichiisa mufananidzo wechinhu chinoona (focal plane array). Sefa ye optical band-pass inongopfuura chiedza newavelength yakafanana neyuniti yekuvhenekesa. Izvi zvinobatsira kudzvinyirira chiedza chisina basa uye kuderedza ruzha.

Chinzwa chemufananidzo:

Uyu ndiwo moyo wekamera yeTOF. Pikseli yega yega inoyera nguva yakatorwa nechiedza kufamba kubva pachikamu chekuvhenekesa (laser kana LED) kuenda kuchinhu chacho uye kudzokera kufocal plane array.

Kutenderera Kwenguva:

Kuti kamera ione nguva yekubhururuka nemazvo, inoda nguva chaiyo yekufamba. Iyi nzira yekufamba inodzora kubuda kwechiratidzo chechiedza uye inoona nguva inotora kuti chiedza chifambe kuenda kuzvinhu zvodzokera kukamera. Inobatanidza nzira dzekufamba nekubuda kwechiedza uye kuona kuti daro racho rinoyerwa zvakanaka.

Kuchinja-chinja:

VamweMakamera eToFbatanidza matekiniki ekuchinja modulation kuti uvandudze kururama uye kusimba kwekuyera daro. Makamera aya anogadzirisa chiratidzo chechiedza chinoburitswa nepatani chaiyo kana frequency. Kuchinja modulation kunobatsira kusiyanisa chiedza chinoburitswa kubva kune mamwe masosi emwenje ari munzvimbo uye kunowedzera kugona kwekamera kusiyanisa pakati pezvinhu zvakasiyana zviri munzvimbo iyi.

Algorithm yekuverenga kudzika:

Kuti vashandure kuyera nguva yekubhururuka kuita ruzivo rwakadzama, makamera eToF anoshandisa maalgorithms akaomarara. Maalgorithms aya anoongorora data renguva rinowanikwa kubva kuphotodetector uye overenga daro riri pakati pekamera nezvinhu zviri munzvimbo yacho. Maalgorithms ekuverenga kudzika anowanzo sanganisira kubhadhara zvinhu zvakaita sekumhanya kwekupararira kwechiedza, nguva yekupindura kwesensa, uye kupindira kwechiedza chiri munzvimbo.

Kudzika kweData Kubuda:

Kana kuverenga kudzika kwaitwa, kamera yeToF inopa data rinobuda. Izvi zvinogona kutora chimiro chemepu yekudzika, gore renzvimbo, kana mufananidzo we3D wenzvimbo. Data rekudzika rinogona kushandiswa nemapurogiramu nemasisitimu kuti zvibatsire mabasa akasiyana-siyana akadai sekutevera zvinhu, augmented reality, kana robotic navigation.

Zvakakosha kuziva kuti mashandiro chaiwo uye zvikamu zvemakamera eToF zvinogona kusiyana kune vagadziri nemamodheru akasiyana. Kufambira mberi mune tekinoroji kunogona kuunza mamwe maficha uye kuvandudzwa kwekuvandudza mashandiro uye kugona kwemasisitimu emakamera eToF.

三、Maapplication

Zvishandiso zvemotokari

Makamera ekufamba kwenguvaAnoshandiswa mukubatsira nekuchengetedza mabasa epamusoro emotokari akadai sekuchengetedza vanofamba netsoka, kuona njodzi isati yaitika uye kushandiswa mukati memota senge kuona kunze kwenzvimbo (OOP).

Kushandiswa kwemakamera eToF

Ma interfaces emuchina wevanhu nemitambo

As makamera enguva yekubhururukakupa mifananidzo yekureba munguva chaiyo, zviri nyore kutevera mafambiro evanhu. Izvi zvinobvumira kutaurirana kutsva nemidziyo yevatengi yakaita seterevhizheni. Imwe nyaya ndeyekushandisa mhando iyi yemakamera kutaurirana nemitambo pamitambo yemavhidhiyo. Sensor yechizvarwa chechipiri yeKinect yakatanga kushandiswa neXbox One console yaishandisa kamera inokwanisa kutora mifananidzo yenzvimbo yayo, ichigonesa ma interface emushandisi chaiwo uye maapplication emitambo achishandisa nzira dzekuona nekubata minwe pakombiyuta.

Creative neIntel zvinopawo mhando yakafanana yekamera yekubata-bata panguva yekubhururuka yekutamba mitambo, iyo Senz3D yakavakirwa paDepthSense 325 kamera yeSoftkinetic. Infineon nePMD Technologies zvinogonesa makamera madiki e3D akabatanidzwa ekudzora mafambiro emidziyo yevatengi yakaita semaPC nemalaptop (Picco flexx nePicco monstar cameras).

Kushandiswa kwemakamera eToF mumitambo

Makamera efoni

Mafoni akati wandei anosanganisira makamera ekufamba nendege. Aya anonyanya kushandiswa kuvandudza mhando yemifananidzo nekupa software yekamera ruzivo nezvemberi uye kumashure. Nharembozha yekutanga kushandisa tekinoroji yakadaro yaive LG G3, yakaburitswa kutanga kwa2014.

Kushandiswa kwemakamera eToF mumafoni

Kuyera uye kuona kwemuchina

Mamwe mashandisirwo acho mabasa ekuyera, semuenzaniso pakukwirira kwekuzadza mumasilos. Mukuona kwemuchina weindasitiri, kamera yenguva yekubhururuka inobatsira kurongedza nekuwana zvinhu zvinoshandiswa nemarobhoti, zvakaita sezvinhu zvinopfuura nepamuchina wekutakura zvinhu. Zvinodzora masuo zvinogona kusiyanisa zviri nyore pakati pemhuka nevanhu vanosvika pamusuwo.

Marobhoti

Imwe nzira yekushandisa makamera aya ndeyekushandisa marobhoti: Marobhoti anofambiswa anogona kugadzira mepu yezvakavapoteredza nekukurumidza, zvichiita kuti vadzivise zvipingamupinyi kana kutevera munhu anotungamira. Sezvo kuverenga daro kuri nyore, simba shoma rekuverenga rinoshandiswa. Sezvo makamera aya achigonawo kushandiswa kuyera daro, zvikwata zveFIRST Robotics Competition zvave zvichizivikanwa nekushandisa michina iyi pakuita mabasa ega ega.

Kugadzira mamiriro epasi

Makamera eToFzvakashandiswa kuwana mamodheru epamusoro penyika edhijitari, muzvidzidzo zve geomorphology.

Kushandiswa kwemakamera eToF mu geomorphology