1. Iyini inzwa yesikhathi sokundiza (i-ToF)?

Iyini ikhamera yesikhathi sokundiza? Ingabe yikhamera ethwebula ukundiza kwendiza? Ingabe ihlobene nezindiza noma izindiza? Empeleni, kusekude kakhulu!

I-ToF iyisilinganiso sesikhathi esithathwayo ukuze into, izinhlayiya noma igagasi lihambe ibanga elithile. Ubuwazi ukuthi uhlelo lwe-sonar lwelulwane luyasebenza? Uhlelo lwesikhathi sokundiza lufana!

Kunezinhlobo eziningi zezinzwa zesikhathi sokundiza, kodwa eziningi zazo amakhamera esikhathi sokundiza kanye nezikena ze-laser, ezisebenzisa ubuchwepheshe obubizwa ngokuthi i-lidar (ukuthola ukukhanya kanye nokuhlela) ukukala ukujula kwamaphuzu ahlukahlukene esithombeni ngokusikhanyisa ngokukhanya kwe-infrared.

Idatha ekhiqizwe futhi yathathwa kusetshenziswa izinzwa ze-ToF iwusizo kakhulu njengoba ingahlinzeka ngokutholwa kwabahamba ngezinyawo, ukuqinisekiswa komsebenzisi ngokusekelwe ezicini zobuso, ukumepha indawo kusetshenziswa ama-algorithms e-SLAM (i-localization and mapping simultaneous), nokuningi.

Lolu hlelo empeleni lusetshenziswa kabanzi kumarobhothi, ezimotweni ezizishayelayo, ngisho namanje kudivayisi yakho yeselula. Isibonelo, uma usebenzisa iHuawei P30 Pro, i-Oppo RX17 Pro, i-LG G8 ThinQ, njll., ifoni yakho inekhamera ye-ToF!

Ikhamera ye-ToF

2. Isebenza kanjani inzwa yesikhathi sokundiza?

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

I-ToFIzinzwa zisebenzisa ama-laser amancane ukukhipha ukukhanya kwe-infrared, lapho ukukhanya okuvelayo kuqhuma khona kunoma iyiphi into bese kubuyela ku-sensor. Ngokusekelwe kumehluko wesikhathi phakathi kokukhishwa kokukhanya nokubuyela ku-sensor ngemva kokuboniswa yinto, i-sensor ingalinganisa ibanga phakathi kwento ne-sensor.

Namuhla, sizohlola izindlela ezimbili i-ToF esebenzisa ngazo isikhathi sokuhamba ukuze inqume ibanga nokujula: sisebenzisa ama-timing pulses, kanye nokusebenzisa ukushintsha kwesigaba kwamagagasi aguquliwe e-amplitude.

Sebenzisa ama-pulse anesikhathi

Isibonelo, isebenza ngokukhanyisa ilitshe nge-laser, bese ilinganisa ukukhanya okubonakalayo ngesikena, bese isebenzisa ijubane lokukhanya ukuze ichaze ibanga lento ukuze ibale ngokunembile ibanga elihanjiwe. Ngaphezu kwalokho, umehluko wesikhathi sokubuya kwe-laser kanye nobude be-wavelength usetshenziswa ukwenza ukumelwa kwe-3D yedijithali okunembile kanye nezici zobuso zelitshe, bese idweba ngokubonakalayo izici zalo ngazinye.

Njengoba ubona ngenhla, ukukhanya kwe-laser kuyacinywa bese kubuyela emuva entweni kuyisensa. Ngesikhathi sokubuya kwe-laser, amakhamera e-ToF ayakwazi ukukala amabanga anembile ngesikhathi esifushane uma kubhekwa isivinini sokuhamba kokukhanya. (I-ToF iguqulwa ibe yibanga) Lena ifomula umhlaziyi ayisebenzisayo ukuze afike ebangeni eliqondile lento:

(isivinini sokukhanya x isikhathi sokundiza) / 2

I-ToF iguqulela ku-distance

Njengoba ubona, isibali sikhathi sizoqala ngenkathi isibani sivaliwe, futhi lapho umamukeli ethola isibani esibuyayo, isibali sikhathi sizobuyisela isikhathi. Uma ususa kabili, kutholakala “isikhathi sokundiza” sokukhanya, futhi ijubane lokukhanya aliguquki, ngakho ibanga lingabalwa kalula kusetshenziswa ifomula engenhla. Ngale ndlela, wonke amaphuzu ebusweni bento anganqunywa.

Sebenzisa ukushintsha kwesigaba kwegagasi le-AM

Okulandelayo,I-ToFingasebenzisa futhi amagagasi aqhubekayo ukuthola ukushintsha kwesigaba sokukhanya okubonakalayo ukuze kutholakale ukujula nebanga.

Ukushintsha kwesigaba kusetshenziswa igagasi le-AM

Ngokushintsha ubukhulu be-amplitude, kudala umthombo wokukhanya we-sinusoidal onemvamisa eyaziwayo, okuvumela i-detector ukuthi inqume ukushintsha kwesigaba sokukhanya okubonakalayo isebenzisa ifomula elandelayo:

lapho u-c kuyijubane lokukhanya (c = 3 × 10^8 m/s), u-λ uyi-wavelength (λ = 15 m), kanti u-f uyimvamisa, iphuzu ngalinye ku-sensor lingabalwa kalula ngokujula.

Zonke lezi zinto zenzeka ngokushesha okukhulu njengoba sisebenza ngesivinini sokukhanya. Ungacabanga ngokunemba kanye nesivinini izinzwa ezikwazi ukulinganisa ngaso? Ake nginikeze isibonelo, ukukhanya kuhamba ngesivinini samakhilomitha angu-300,000 ngomzuzwana, uma into ikude nawe ngamamitha angu-5, umehluko wesikhathi phakathi kokukhanya okushiya ikhamera nokubuya cishe ungamasekhondi angu-33, okulingana kuphela namasekhondi angu-0.000000033! Wow! Ingasaphathwa eyokuthi, idatha ebanjiwe izokunikeza ukumelwa kwedijithali kwe-3D okunembile kwephikseli ngayinye esithombeni.

Kungakhathaliseki ukuthi iyiphi isimiso esisetshenzisiwe, ukuhlinzeka ngomthombo wokukhanya okhanyisa yonke indawo kuvumela inzwa ukuthi inqume ukujula kwawo wonke amaphuzu. Umphumela onjalo ukukunikeza imephu yebanga lapho iphikseli ngayinye ifaka khona ibanga eliya endaweni ehambisanayo endaweni. Okulandelayo yisibonelo segrafu yobubanzi be-ToF:

Isibonelo segrafu yobubanzi be-ToF

Manje njengoba sesiyazi ukuthi i-ToF iyasebenza, kungani ilungile? Kungani kufanele uyisebenzise? Zilungele ini? Ungakhathazeki, kunezinzuzo eziningi zokusebenzisa inzwa ye-ToF, kodwa-ke kunemikhawulo ethile.

3. Izinzuzo zokusebenzisa izinzwa zesikhathi sokundiza

Ukulinganisa okunembile nokusheshayo

Uma kuqhathaniswa nezinye izinzwa zebanga ezifana ne-ultrasound noma ama-laser, izinzwa zesikhathi sokundiza ziyakwazi ukwakha isithombe se-3D sendawo ngokushesha okukhulu. Isibonelo, ikhamera ye-ToF ingakwenza lokhu kanye kuphela. Akukhona lokho kuphela, inzwa ye-ToF iyakwazi ukubona izinto ngokunembile ngesikhathi esifushane futhi ayithinteki umswakama, umfutho womoya kanye nokushisa, okwenza ifaneleke kokubili ukusetshenziswa ngaphakathi nangaphandle.

ibanga elide

Njengoba izinzwa ze-ToF zisebenzisa ama-laser, ziyakwazi futhi ukukala amabanga amade kanye nobubanzi ngokunemba okuphezulu. Izinzwa ze-ToF ziyaguquguquka ngoba ziyakwazi ukubona izinto eziseduze nezikude zazo zonke izinhlobo nobukhulu.

Futhi iyaguquguquka ngomqondo wokuthi uyakwazi ukwenza ngokwezifiso ukukhanya kwesistimu ukuze isebenze kahle, lapho ungakhetha khona izinhlobo zomthumeli kanye nowamukelayo kanye namalensi ukuze uthole umbono owufunayo.

Ukuphepha

Ngikhathazekile ngokuthi i-laser evela ku-I-ToFInzwa izolimaza amehlo akho? ungakhathazeki! Izinzwa eziningi ze-ToF manje zisebenzisa i-laser ye-infrared enamandla aphansi njengomthombo wokukhanya futhi ziyiqhuba ngama-pulse aguquliwe. Inzwa ihlangabezana nezindinganiso zokuphepha ze-laser ye-Class 1 ukuqinisekisa ukuthi iphephile emehlweni omuntu.

kuqiza kahle

Uma kuqhathaniswa nezinye ubuchwepheshe bokuskena ububanzi bokujula be-3D njengezinhlelo zamakhamera okukhanya ezihlelekile noma ama-laser rangefinders, izinzwa ze-ToF zishibhile kakhulu uma ziqhathaniswa nazo.

Naphezu kwayo yonke le mikhawulo, i-ToF isathembekile kakhulu futhi iyindlela esheshayo yokuthola ulwazi lwe-3D.

4. Imikhawulo ye-ToF

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

• Ukukhanya okusakazekile

Uma izindawo ezikhanya kakhulu ziseduze kakhulu nenzwa yakho ye-ToF, zingase zisakaze ukukhanya okuningi kakhulu kumukeli wakho futhi zidale izinto zobuciko kanye nokubonakaliswa okungafuneki, njengoba inzwa yakho ye-ToF idinga kuphela ukubonakalisa ukukhanya uma ukulinganisa sekulungile.

• Ukuzindla okuningi

Uma usebenzisa izinzwa ze-ToF emakhoneni nasezimo ezigobile, zingabangela ukubonakaliswa okungafuneki, njengoba ukukhanya kungagxuma izikhathi eziningi, kuphazamise ukulinganisa.

• Ukukhanya okuzungezile

Ukusebenzisa ikhamera ye-ToF ngaphandle elangeni elikhanyayo kungenza kube nzima ukuyisebenzisa ngaphandle. Lokhu kungenxa yobukhulu bokukhanya kwelanga okubangela ukuthi amaphikseli esenzwa agcwale ngokushesha, okwenza kube nzima ukuthola ukukhanya kwangempela okuboniswa entweni.

• Isiphetho

Izinzwa ze-ToF kanyeIlensi ye-ToFingasetshenziswa ezinhlobonhlobo zezinhlelo zokusebenza. Kusukela ku-3D Mapping, i-Industrial Automation, i-Obstacle Detection, i-Self-Driving Cars, i-Ezolimo, i-Robotics, i-Indoor Navigation, i-Gesture Recognition, i-Object Scanning, i-Measurements, i-Surveillance kuya ku-Augmented Reality! Ukusetshenziswa kobuchwepheshe be-ToF akupheli.

Ungaxhumana nathi nganoma yiziphi izidingo zamalensi e-ToF.

I-Chuang An Optoelectronics igxile kumalensi okukhanya anencazelo ephezulu ukuze idale uphawu oluphelele olubonakalayo

I-Chuang An Optoelectronics manje isikhiqize izinhlobo ezahlukene zemikhiqizo.Amalensi 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

I-CH3654A f5.0mm F1.1 1/3″ IR850nm

I-CH3654B f5.0mm F1.1 1/3″ IR940nm