TOF 3DCāmera
Kua hangaia te kāmera TOF 3D ki te hangarau whakaahua toru-ahu matatau rawa atu. Ko te kāmera hōhonu TOF (Time of Flight) he whakatupuranga hou o ngā hua hangarau kimi tawhiti me te whakaahua 3D. Ka tukuna tonutia e ia ngā pāoro mārama ki te ūnga, kātahi ka whakamahia te pūoko ki te whiwhi i te mārama e whakahokia mai ana i te mea, ā, ka whiwhi i te tawhiti o te mea ūnga mā te kimi i te wā rere (haere-hoki) o te pāoro mārama.
Ko te tikanga o te ine tawhiti, arā, ina whakamahia ngā ngaru ultrasonic, me ētahi atu, kia mahara ki te ine, ā, ka taea e koe te mārama ake ki te tawhiti. Ka taea te ine i tēnei tawhiti mā roto i ngā hihi mārama, nō reira kei te kitea tonu ngā painga o te whakamahinga tūturu. , ina whakamahia tēnei kāmera, ka taea te ine i te rahi mā te whakaahua, he tino watea. Ā, ko tēnei huarahi whakamahinga mā te whakaata mārama, ka taea te mōhio ki te tawhiti mā te tatau i te wā hoki mai, ā, ka taea te whiwhi i tētahi tirohanga tika ake mā te pūoko. He tino mārama te painga o te whakamahi i tēnei momo kāmera. Ehara i te mea ko ngā pika anake he teitei ake, engari ko te tāpiri o tēnei pūoko ka taea te hanga i te hopunga i runga i te mahere rahi kia tino pono ake, ā, kāore he hiahia mō ngā wāhanga neke, ā, ka taea te whiwhi hua pai ake mā te ine anake. He tino painga i roto i ngā tono mahi, ahakoa he tūnga, he ine rānei, mena kei a koe tēnei momo kāmera, ka taea e koe te noho hei kanohi mō ētahi atu mīhini me ngā taputapu i roto i te mahi tūturu, ā, ka tino whakaoti i te mahi aunoa.
Ka taea e ngā kāmera TOF te karo aunoa i ngā arai e whakamahia ana. Mā te mahi pūoko, ka taea te whakamahi i te aunoatanga, ā, he tino kitea ngā painga o te whakamahi i tēnei kāmera. Ehara i te mea ka taea anake te mōhio ki te rōrahi me ngā mōhiohio i te wā, engari ki te whakahaere utanga hoki. He pai ake te whakapai ake i te aunoatanga, ka taea te tere ake te whakapai ake i te whai huatanga, ā, ka taea te whiwhi painga nui i roto i te ine tawhiti me te whakaaturanga whakaahua. Ka taea e te uho o tēnei kāmera. He pai ake ngā hua e whakaatuhia ana, ā, mā te whakaoho pao, ka taea e koe te mōhio ki te ūnga taipitopito, ehara i te mea ka taea te whai i te pikitia anake, engari ka taea hoki te mahi tauira toru-ahu i runga i te pikitia, e taea te kī he tino tika.
Me pēheaTOFNgā Mahi Kāmera
Ka whakamahia e ngā kāmera TOF te kimi mārama hohe, ā, ko ngā wāhanga e whai ake nei te nuinga o te wā:
1. Wāhanga whakamātao
Me whakapūtā te waeine whakamārama i te pūtake mārama i mua i te tukunga, ā, ka taea e te auau whakapūtā te tae ki te 100MHz. Nō reira, ka tahurihia, ka whakawetohia hoki te pūtake mārama i ngā mano tini o ngā wā i te wā e hopu whakaahua ana. He torutoru noa ngā nanohekona te roa o ia whakapūtā mārama. Ko te tawhā wā whakaatu o te kāmera te whakatau i te maha o ngā whakapūtā mō ia whakaahua.
Hei whakatutuki i ngā inenga tika, me whakahaere tika ngā pāorooro mārama kia rite tonu te roa, te wā piki, me te wā heke. Nā te mea ahakoa he iti noa ngā pekanga o te kotahi nanohekona ka taea te whakaputa hapa ine tawhiti tae atu ki te 15 cm.
Ka taea anake te whakatutuki i ēnei auau whakarerekētanga teitei me te tika mā te whakamahi i ngā LED matatau, i ngā diode taiaho rānei.
Ko te tikanga, ko te pūtake mārama whakākā he pūtake mārama pūwhero e kore e kitea e te kanohi tangata.
2. Arotahi whatu
Ka whakamahia hei kohikohi i te mārama whakaata me te hanga i tētahi ahua ki runga i tētahi pūoko whatu. Heoi, he rerekē ki ngā karāhe whatu noa, me tāpiri he tātari whakawhiti roopu ki konei kia mōhio ai ko te mārama anake he rite te roangaru ki te pūtake whakamārama ka taea te tomo. Ko te kaupapa o tēnei he pehi i ngā pūtake mārama koretake hei whakaiti i te haruru, me te ārai hoki i te pūoko whakaahua-tairongo kei nui rawa te kanapa nā te pokanoa o te mārama o waho.
3. Pūoko whakaahua
Ko te uho o te kāmera TOF. He rite te hanganga o te pūoko ki te pūoko whakaahua noa, engari he uaua ake i te pūoko whakaahua. E rua, neke atu rānei ngā arai kei roto hei tauira i te mārama whakaata i ngā wā rerekē. Nō reira, he nui ake te rahi o te pika maramara TOF i te rahi o te pika pūoko whakaahua whānui, tata ki te 100um.
4. Wāhanga whakahaere
Ko te raupapa o ngā pā o te mārama e whakaohohia ana e te waeine whakahaere hiko o te kāmera ka tino rite ki te whakatuwheratanga/katinga o te kati hiko o te maramara. Ka pānuihia, ka hurihia hoki ngā utu o te pūoko, ā, ka tukuna atu ki te waeine tātari me te atanga raraunga.
5. Wāhanga rorohiko
Ka taea e te waeine rorohiko te tuhi i ngā mahere hohonu tika. Ko te mahere hohonu he whakaahua hina-kiwi, ko ia uara e tohu ana i te tawhiti i waenga i te mata whakaata-mārama me te kāmera. Hei whiwhi hua pai ake, ka mahia te whakatikatika raraunga.
Me pēhea te ine a TOF i te tawhiti?
Ko te pūtake mārama whakamārama ka whakarerekētia e ngā pāorooro ngaru tapawhā, nā te mea he ngāwari noa te whakatinana me ngā ara iahiko matihiko. Kei ia pika o te kāmera hohonu he waeine whakaahua-tairongo (pērā i te photodiode), ka taea te huri i te mārama taunga mai ki te iahiko hiko. Ka honoa te waeine whakaahua-tairongo ki ngā pana auau-teitei maha (G1, G2 i te ahua i raro nei) hei ārahi i te iahiko ki ngā pūnga rerekē ka taea te penapena utu (S1, S2 i te ahua i raro nei).
Ka tahuri, ka whakaweto hoki te pūtake mārama i te wae whakahaere o te kāmera, ka tukuna he pao o te mārama. I taua wā anō, ka whakatuwhera, ka kati hoki te wae whakahaere i te kati hiko o te maramara. Ko te utu S0ka rongoatia te mea i hangaia i tēnei ara e te pā o te mārama ki te huānga whakaahua-tairongo.
Kātahi ka whakakāhia, ka whakawetohia hoki e te wae whakahaere te pūtake mārama mō te wā tuarua. I tēnei wā ka tuwhera te kati i muri mai, i te wā e whakawetohia ana te pūtake mārama. Ko te utu S1ka rongoatia hoki te mea kua hangaia inaianei ki te huānga whakaahua-tairongo.
Nā te poto o te roanga o te pānga o te mārama kotahi, ka tukuna tēnei tukanga kia mano ngā wā kia tae rā anō ki te wā e whakaatuhia ana. Kātahi ka pānuihia ngā uara o te pūoko mārama, ā, ka taea te tatau i te tawhiti tuturu mai i ēnei uara.
Kia mahara ko te tere o te mārama ko c, tpko te roanga o te pāorooro mārama, S0e tohu ana i te utu i kohia e te kati o mua, ā, ko S1e tohu ana i te utu i kohia e te kati whakaroa, kātahi ka taea te tatau i te tawhiti d mā te tātai e whai ake nei:
Ko te tawhiti iti rawa ka taea te ine ko te wā ka kohia katoatia te utu ki S0 i te wā o mua o te kati, ā, kāore he utu e kohia ki S1 i te wā o te kati kua whakaroahia, arā, S1 = 0. Mā te tāpiri ki te tātai ka puta te tawhiti iti rawa ka taea te ine ko d=0.
Ko te tawhiti ine nui rawa atu ko te wāhi e kohia ai te utu katoa i roto i te S1, ā, kāore he utu e kohia ana i roto i te S0. Nā te tātai ka puta ko te d = 0.5 xc × tp. Nō reira, ko te tawhiti ine mōrahi ka whakatauhia e te whānui o te pāorooro mārama. Hei tauira, tp = 50 ns, mā te whakakapi ki te tātai i runga ake nei, ko te tawhiti ine mōrahi d = 7.5m.
Te hoahoa taputapu me ngā āhuatanga hua
Whakamahia te otinga taputapu TOF tino matatau o te ao; He kāmera taiaho haumaru Akomanga I, he taumira pika teitei, he kāmera taumata-ahumahi, he rahi iti, ka taea te whakamahi mō te kohikohi mōhiohio hohonu i roto, i waho hoki.
Rautaki tukatuka whakaahua
Mā te whakamahi i te pūnaha tukatuka me te tātari whakaahua matua o te ao, he kaha te kaha ki te tukatuka, he iti ake te rauemi CPU e whakamahia ana, he tino tika, ā, he pai te hototahi.
Ngā tono
Ko ngā kāmera ahumahi mamati e whakamahia whānuitia ana i roto i te aunoatanga wheketere, te whakatere AGV, te ine ātea, te waka atamai me te kawe waka (ITS), me ngā pūtaiao hauora me te koiora. E whakamahia whānuitia ana ā mātou kāmera matawai rohe, matawai rārangi me te whatunga ki te ine tūnga me te aronga o ngā mea, te aroturuki mahi me te tūnga o ngā tūroro, te mōhio kanohi, te aroturuki waka, te tirotiro hiko me te haurua-haurua, te tatau tāngata me te ine rarangi me ētahi atu mara.
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Wā tuku: Maehe-07-2023
