1. Yintoni isenzi sexesha lokubhabha (ToF)?

Yintoni ikhamera ethatha ixesha lokubhabha? Ngaba yikhamera ethatha uhambo lwenqwelo-moya? Ngaba inento yokwenza neenqwelo-moya okanye iinqwelo-moya? Kaloku, ikude kakhulu!

I-ToF yindlela yokulinganisa ixesha elithathwa yinto, isuntswana okanye igagasi ukuhamba umgama. Ubusazi na ukuba inkqubo ye-sonar yelulwane iyasebenza? Inkqubo yexesha lokubhabha iyafana!

Kukho iintlobo ngeentlobo zeesensa zexesha lokubhabha, kodwa uninzi lwazo ziikhamera zexesha lokubhabha kunye neeskena zelaser, ezisebenzisa ubuchwepheshe obubizwa ngokuba yi-lidar (ukubona ukukhanya kunye nokuhlela) ukulinganisa ubunzulu bamanqaku ahlukeneyo kumfanekiso ngokuwukhanyisa ngokukhanya kwe-infrared.

Idatha eveliswayo nefunyenweyo kusetyenziswa ii-ToF sensors iluncedo kakhulu kuba inokubonelela ngokuchonga abahambi ngeenyawo, ukuqinisekiswa komsebenzisi ngokusekelwe kwiimpawu zobuso, imephu yendawo kusetyenziswa ii-algorithms ze-SLAM (i-localization and mapping simultaneous), nokunye.

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

Ikhamera ye-ToF

2. Isebenza njani isenzi sexesha lokubhabha?

Ngoku, singathanda ukunika intshayelelo emfutshane yokuba yintoni i-sensor yexesha lokubhabha kunye nendlela esebenza ngayo.

ToFIzinzwa zisebenzisa ii-laser ezincinci ukukhupha ukukhanya kwe-infrared, apho ukukhanya okuvelayo kungena kuyo nayiphi na into kuze kubuyele kwi-sensor. Ngokusekelwe kumahluko wexesha phakathi kokuphuma kokukhanya kunye nokubuyela kwi-sensor emva kokuba iboniswe yinto, i-sensor inokulinganisa umgama phakathi kwento kunye ne-sensor.

Namhlanje, siza kuphonononga iindlela ezimbini i-ToF esebenzisa ngazo ixesha lokuhamba ukumisela umgama kunye nobunzulu: ukusebenzisa ii-timing pulses, kunye nokusebenzisa i-phase shifting yamaza aguquliweyo e-amplitude.

Sebenzisa iipulses ezicwangcisiweyo ngexesha

Umzekelo, isebenza ngokukhanyisa ithagethi nge-laser, emva koko ilinganise ukukhanya okubonakalisiweyo nge-scanner, ize isebenzise isantya sokukhanya ukuze icacise umgama wento ukuze ibale ngokuchanekileyo umgama ohanjiweyo. Ukongeza, umahluko kwixesha lokubuya kwe-laser kunye nobude bomda emva koko usetyenziselwa ukwenza ukubonakaliswa okuchanekileyo kwe-3D yedijithali kunye neempawu zomphezulu wethagethi, kwaye idwebe ngokubonakalayo iimpawu zayo nganye nganye.

Njengoko ubona apha ngasentla, ukukhanya kwelaser kuyacinywa kuze kubuye kusuke kwinto ethile kubuyele kwisensor. Ngexesha lokubuyela kwelaser, iikhamera zeToF ziyakwazi ukulinganisa imigama echanekileyo ngexesha elifutshane ngenxa yesantya sokuhamba kokukhanya. (I-ToF iguqulelwa kumgama) Le yifomyula esetyenziswa ngumhlalutyi ukufikelela kumgama ochanekileyo wento:

(isantya sokukhanya x ixesha lokubhabha) / 2

I-ToF iguqulela kumgama

Njengoko ubona, isibali-xesha siza kuqala ngelixa isibane sicinyiwe, kwaye xa umamkeli efumana isibane esibuyayo, isibali-xesha siza kubuyisela ixesha. Xa uthabatha kabini, kufunyanwa "ixesha lokubhabha" lokukhanya, kwaye isantya sokukhanya asiguquki, ngoko ke umgama unokubalwa ngokulula kusetyenziswa le fomyula ingasentla. Ngale ndlela, onke amanqaku kumphezulu wento anokufunyanwa.

Sebenzisa i-phase shift ye-AM wave

Okulandelayo,ToFangasebenzisa namaza aqhubekekayo ukubona utshintsho lwesigaba sokukhanya okubonakalisiweyo ukuze abone ubunzulu kunye nomgama.

Utshintsho lwesigaba kusetyenziswa i-AM wave

Ngokuguqula i-amplitude, idala umthombo wokukhanya we-sinusoidal onomlinganiselo owaziwayo, ovumela i-detector ukuba imisele utshintsho lwesigaba sokukhanya okubonakalisiweyo isebenzisa le fomyula ilandelayo:

apho u-c sisantya sokukhanya (c = 3 × 10^8 m/s), u-λ bubude bomda (λ = 15 m), kwaye u-f bubuninzi, inqaku ngalinye kwi-sensor linokubalwa ngokulula ngobunzulu.

Zonke ezi zinto zenzeka ngokukhawuleza kakhulu njengoko sisebenza ngesantya sokukhanya. Ungacinga ngokuchaneka kunye nesantya iisensa ezikwaziyo ukulinganisa ngaso? Makhe ndinike umzekelo, ukukhanya kuhamba ngesantya seekhilomitha ezingama-300,000 ngomzuzwana, ukuba into ikude nge-5m ukusuka kuwe, umahluko wexesha phakathi kokukhanya okushiya ikhamera nokubuya umalunga ne-33 nanoseconds, nto leyo elingana ne-0.0000000033 seconds kuphela! Wow! Ingasathethwa ke into yokuba idatha ebanjiweyo iya kukunika umfanekiso wedijithali we-3D ochanekileyo kwi-pixel nganye kumfanekiso.

Nokuba yeyiphi na imigaqo esetyenzisiweyo, ukubonelela ngomthombo wokukhanya okhanyisa yonke indawo kuvumela i-sensor ukuba imisele ubunzulu bazo zonke iindawo. Isiphumo esinjalo sikunika imephu yomgama apho i-pixel nganye ifaka umgama ukuya kwindawo ehambelanayo kwindawo. Umzekelo olandelayo wegrafu yoluhlu lwe-ToF:

Umzekelo wegrafu yoluhlu lwe-ToF

Ngoku ekubeni sisazi ukuba iToF iyasebenza, kutheni ilungile? Kutheni uyisebenzisa? Ilungele ntoni? Ungakhathazeki, zininzi iingenelo zokusebenzisa isenzi seToF, kodwa ewe kukho imida ethile.

3. Iingenelo zokusebenzisa izinzwa zexesha lokubhabha

Ukulinganisa ngokuchanekileyo nangokukhawuleza

Xa kuthelekiswa nezinye izinzwa zomgama ezifana ne-ultrasound okanye ii-laser, izinzwa zexesha lokubhabha ziyakwazi ukwenza umfanekiso we-3D wesiganeko ngokukhawuleza kakhulu. Umzekelo, ikhamera ye-ToF ingakwenza oku kube kanye kuphela. Ayipheleli apho, isinzwa se-ToF siyakwazi ukubona izinto ngokuchanekileyo ngexesha elifutshane kwaye asichaphazeleki bubushushu, uxinzelelo lomoya kunye nobushushu, nto leyo eyenza ukuba ifaneleke ukusetyenziswa ngaphakathi nangaphandle.

umgama omde

Ekubeni ii-ToF sensors zisebenzisa ii-laser, ziyakwazi nokulinganisa imigama emide kunye nomgama ngokuchanekileyo. Ii-ToF sensors ziguquguquka kuba ziyakwazi ukubona izinto ezikufutshane nezikude zazo zonke iimilo kunye nobukhulu.

Ikwaguquguquka kuba uyakwazi ukwenza ngokwezifiso i-optics yenkqubo ukuze isebenze kakuhle, apho unokukhetha khona iintlobo kunye neelensi zomthumeli kunye nowamkeli ukuze ufumane umbono owufunayo.

ukhuseleko

Ndixhalabile ukuba i-laser evela kwiToFIngaba i-sensor iya kukwenzakalisa amehlo akho? ungakhathazeki! Ii-sensors ezininzi ze-ToF ngoku zisebenzisa i-laser ye-infrared enamandla aphantsi njengomthombo wokukhanya kwaye ziyiqhuba ngee-pulses eziguquliweyo. I-sensor ihlangabezana nemigangatho yokhuseleko lwe-laser yeKlasi yoku-1 ukuqinisekisa ukuba ikhuselekile emehlweni omntu.

isebenza kakuhle emalini

Xa kuthelekiswa nezinye iiteknoloji zokuskena ze-3D depth range ezifana neenkqubo zekhamera yokukhanya ezicwangcisiweyo okanye ii-laser rangefinders, ii-ToF sensors zibiza kancinci xa zithelekiswa nazo.

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

4. Imida ye-ToF

Nangona i-ToF ineenzuzo ezininzi, ikwanazo neentsilelo. Eminye yemida ye-ToF ibandakanya:

• Ukukhanya okuthe saa

Ukuba iindawo ezikhanyayo kakhulu zikufutshane kakhulu ne-sensor yakho ye-ToF, zinokusasaza ukukhanya okuninzi kwi-receiver yakho kwaye zenze izinto ezingabonakaliyo kunye nokukhanya okungafunekiyo, kuba i-sensor yakho ye-ToF kufuneka ibonise ukukhanya kuphela xa umlinganiselo ulungile.

• Ukubonakalisa okuninzi

Xa usebenzisa ii-ToF sensors kwiikona nakwiimilo ezigobileyo, zinokubangela ukubonakaliswa okungafunekiyo, njengoko ukukhanya kunokutsiba amaxesha amaninzi, kuphazamise umlinganiselo.

• Ukukhanya okungqongileyo

Ukusebenzisa ikhamera ye-ToF ngaphandle elangeni elikhanyayo kunokwenza kube nzima ukuyisebenzisa ngaphandle. Oku kungenxa yobushushu obukhulu bokukhanya kwelanga okubangela ukuba ii-sensor pixels zigcwale ngokukhawuleza, okwenza kube nzima ukubona ukukhanya okubonakaliswa yinto ethile.

• Isiphelo

Izinzwa zeToF kunyeIlensi ye-ToFingasetyenziswa kwiintlobo ngeentlobo zezicelo. Ukusuka kwi-3D Mapping, i-Industrial Automation, i-Obstacle Detection, iiMoto eziziqhubayo, ezolimo, iiRobhothi, i-Indoor Navigation, i-Gesture Recognition, i-Object Scanning, i-Measurements, i-Surveillance ukuya kwi-Augmented Reality! Ukusetyenziswa kwetekhnoloji ye-ToF akunasiphelo.

Ungaqhagamshelana nathi ngazo naziphi na iimfuno zeelensi zeToF.

I-Chuang An Optoelectronics igxile kwiilensi ze-optical ezineenkcazo eziphezulu ukuze yenze uphawu olubonakalayo olugqibeleleyo

I-Chuang An Optoelectronics ngoku ivelise iintlobo ngeentlobo zeekhompyuthaIilensi zeTOFnjenge:

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

I-CH3654A f5.0mm F1.1 1/3″ IR850nm

I-CH3654B f5.0mm F1.1 1/3″ IR940nm