Chithunzi cha 3DCamera
Kamera ya TOF 3D imapangidwa ndiukadaulo wapamwamba kwambiri wazithunzi zitatu.Kamera yakuzama ya TOF (Time of Flight) ndi m'badwo watsopano wozindikira mtunda ndi zinthu zaukadaulo wazithunzi za 3D.Imatumiza mosalekeza ma pulses opepuka ku chandamale, ndiyeno imagwiritsa ntchito sensa kuti ilandire kuwala kobwerera kuchokera ku chinthucho, ndikupeza mtunda wa chinthu chandamale pozindikira nthawi yowuluka (yozungulira-ulendo) wa kugunda kowala.
Makamera a TOF nthawi zambiri amagwiritsa ntchito njira yanthawi yowuluka poyezera mtunda, ndiko kuti, mukamagwiritsa ntchito mafunde a ultrasonic, ndi zina zotero, kumbukirani kuyeza, ndipo mutha kumvetsetsa mtunda.Muyeso wa mtunda uwu ukhoza kuchitidwa kudzera muzitsulo zowunikira, kotero ubwino wogwiritsira ntchito kwenikweni udakali woonekeratu., kamera ikagwiritsidwa ntchito, kukula kwake kungathe kuyesedwa ndi kujambula, komwe kuli kosavuta kwambiri.Ndipo njira iyi yogwiritsira ntchito ndikuwunikira kuwala, mtunda ukhoza kudziwika mwa kuwerengera nthawi yobwerera, ndipo malingaliro okwanira angapezeke kudzera mu sensa.Ubwino wogwiritsa ntchito kamera yamtunduwu ndiwodziwikiratu.Osati ma pixel okha omwe ali apamwamba, komanso kuwonjezera kwa sensa iyi kungapangitse kupeza pa mapu a kukula kukhala zenizeni, ndipo palibe chifukwa chosunthira mbali, ndipo zotsatira zabwino zingapezeke poyeza.Ndizothandiza kwambiri pazogwiritsa ntchito, kaya ndikuyika kapena kuyeza, bola mutakhala ndi kamera yamtunduwu, mutha kukhala maso amakina ambiri ndi zida zomwe zikugwira ntchito, ndikumaliza ntchitoyo.
Makamera a TOF amatha kupewa zopinga zomwe zikugwiritsidwa ntchito.Kupyolera mu ntchito yomverera, kugwiritsa ntchito makina amatha kuzindikirika bwino, ndipo ubwino wogwiritsa ntchito kamerayi ndi woonekeratu.Sizingangodziwa kuchuluka kwake komanso chidziwitso munthawi yake, komanso pakunyamula katundu, Kuwongolera kwazinthu zodziwikiratu kumakhala kothandiza kwambiri, kumatha kufulumizitsa kuwongolera bwino, ndipo kumatha kupeza zabwino zambiri pakuyezera mtunda ndikuwonetsa zithunzi.Pakatikati pa kamera iyi imatha.Zimapereka zotsatira zabwino, ndipo kupyolera mu kugunda kwa mtima, mukhoza kudziwa chandamale chatsatanetsatane, osati kungoyang'ana, komanso kutha kupanga zojambula zitatu pa chithunzicho, zomwe tinganene kuti ndizolondola kwambiri.
BwanjiTOFMakamera amagwira ntchito
Makamera a TOF amagwiritsa ntchito kuzindikira kwa kuwala ndipo nthawi zambiri amakhala ndi zigawo zotsatirazi:
1. Chigawo choyatsa
Chigawo chowunikira chimayenera kusuntha gwero la kuwala lisanatulutse, ndipo ma frequency modulated light pulse amatha kukhala okwera mpaka 100MHz.Zotsatira zake, gwero lamagetsi limayatsidwa ndikuzimitsidwa kambirimbiri pakujambula zithunzi.Kugunda kulikonse kumakhala ndi nanoseconds zochepa.Nthawi yowonekera pa kamera imatsimikizira kuchuluka kwa ma pulse pachithunzi chilichonse.
Kuti mukwaniritse miyeso yolondola, ma pulse amayenera kuyendetsedwa bwino kuti akhale ndi nthawi yofanana ndendende, nthawi yokwera, ndi nthawi yakugwa.Chifukwa ngakhale kupatuka pang'ono kwa nanosecond imodzi kumatha kubweretsa zolakwika zoyezera mtunda mpaka 15 cm.
Kusinthasintha kwakukulu kotereku komanso kulondola kumatha kutheka ndi ma LED apamwamba kapena ma diode a laser.
Nthawi zambiri, gwero la kuwala kwa radiation ndi gwero la kuwala kwa infrared kosawoneka ndi maso a munthu.
2. Lens ya kuwala
Amagwiritsidwa ntchito kusonkhanitsa kuwala kowonekera ndikupanga chithunzi pa sensor ya kuwala.Komabe, mosiyana ndi ma lens wamba wamba, fyuluta ya bandpass iyenera kuwonjezeredwa pano kuti muwonetsetse kuti kuwala kokhako kokhala ndi utali wofanana ndi komwe kumalowa kungalowe.Cholinga cha izi ndi kupondereza magwero owunikira osagwirizana kuti achepetse phokoso, ndikuletsa sensa ya photosensitive kuti isawonekere chifukwa cha kusokoneza kwakunja kwa kuwala.
3. Sensa yojambula
Pakatikati pa kamera ya TOF.Kapangidwe ka sensayi ndi kofanana ndi kachipangizo kazithunzi wamba, koma ndizovuta kwambiri kuposa chithunzithunzi chazithunzi.Lili ndi zotsekera 2 kapena kupitilira apo kuti muwone kuwala konyezimira nthawi zosiyanasiyana.Chifukwa chake, pixel ya TOF chip ndi yayikulu kwambiri kuposa kukula kwa pixel sensor, nthawi zambiri pafupifupi 100um.
4. Control unit
Kutsatizana kwa ma pulse opepuka oyambitsidwa ndi chowongolera chamagetsi cha kamera kumalumikizidwa ndendende ndi kutsegula/kutseka kwa shutter yamagetsi ya chip.Imawerengera komanso kutembenuka kwa ma sensor amalipiritsa ndikuwatsogolera ku gawo lowunikira ndi mawonekedwe a data.
5. Chigawo cha makompyuta
Makina apakompyuta amatha kujambula mamapu akuya.Mapu akuya nthawi zambiri amakhala chithunzi chotuwa, pomwe mtengo uliwonse umayimira mtunda wapakati pa malo owunikira ndi kamera.Kuti mupeze zotsatira zabwino, kusanja kwa data kumachitika kawirikawiri.
Kodi TOF imayesa bwanji mtunda?
Gwero la kuwala kowunikira nthawi zambiri limasinthidwa ndi ma square wave pulses, chifukwa ndilosavuta kugwiritsa ntchito ndi ma digito.Pixel iliyonse ya kamera yakuzama imapangidwa ndi chithunzi (monga photodiode), chomwe chimatha kusintha kuwala kochitika kukhala magetsi.Chigawo cha photosensitive chimalumikizidwa ndi masiwichi angapo apamwamba kwambiri (G1, G2 pachithunzichi pansipa) kuti atsogolere zamakono kukhala ma capacitor Osiyana omwe amatha kusunga ndalama (S1, S2 pachithunzi pansipa).
Chigawo chowongolera pa kamera chimayatsa ndi kuzimitsa gwero, ndikutumiza kutulutsa kwa kuwala.Nthawi yomweyo, gawo lowongolera limatsegula ndikutseka chotseka chamagetsi pa chip.Mtengo wa S0opangidwa motere ndi kugunda kwa kuwala amasungidwa pa photosensitive element.
Kenako, gawo lowongolera limayatsa gwero lowunikira ndikuzimitsa kachiwiri.Nthawi ino shutter imatsegulidwa pambuyo pake, panthawi yomwe magetsi amazimitsidwa.Mtengo wa S1tsopano kwaiye amasungidwa pa photosensitive element.
Chifukwa nthawi ya kugunda kwa kuwala kumodzi ndi kochepa kwambiri, njirayi imabwerezedwa kambirimbiri mpaka nthawi yowonekera ifike.Miyezo mu sensa ya kuwala imawerengedwa ndipo mtunda weniweni ukhoza kuwerengedwa kuchokera kuzinthu izi.
Dziwani kuti liwiro la kuwala ndi c, tpndi nthawi ya kugunda kwa kuwala, S0imayimira mtengo womwe wasonkhanitsidwa ndi chotsekera choyambirira, ndi S1imayimira mtengo womwe wasonkhanitsidwa ndi chotseka chochedwetsedwa, ndiye mtunda d ukhoza kuwerengedwa motsatira njira iyi:
Mtunda woyezeka wocheperako ndi pamene mtengo wonse umasonkhanitsidwa mu S0 panthawi yotsekera koyambirira ndipo palibe mtengo womwe umasonkhanitsidwa mu S1 panthawi yotseka yochedwa, mwachitsanzo, S1 = 0. Kulowetsa mu fomula kumapereka mtunda woyezeka d=0.
Mtunda waukulu kwambiri woyezeka ndi pomwe ndalama zonse zimasonkhanitsidwa mu S1 ndipo palibe mtengo womwe umasonkhanitsidwa mu S0.Njirayi imatulutsa d = 0.5 xc × tp.Mtunda woyezeka kwambiri umatsimikiziridwa ndi kuchuluka kwa kugunda kwamphamvu.Mwachitsanzo, tp = 50 ns, m'malo mwa chilinganizo pamwamba, pazipita muyeso mtunda d = 7.5m.
Mapangidwe a Hardware ndi mawonekedwe azinthu
Pezani njira zapamwamba kwambiri za TOF padziko lapansi;Class I otetezeka laser, high pixel resolution, mafakitale-grade kamera, kukula kochepa, angagwiritsidwe ntchito m'nyumba ndi kunja kusonkhanitsa zakuya mtunda wautali.
Image processing algorithm
Pogwiritsa ntchito makina otsogola kwambiri padziko lonse lapansi opanga zithunzi ndi kusanthula, ili ndi kuthekera kolimba, imatenga zinthu zochepa za CPU, imakhala yolondola kwambiri komanso yogwirizana bwino.
Mapulogalamu
Makamera opangira mafakitale a digito omwe amagwiritsidwa ntchito kwambiri pakupanga mafakitale, kuyenda kwa AGV, kuyeza kwa malo, magalimoto anzeru ndi zoyendera (ITS), ndi sayansi ya zamankhwala ndi moyo.Kusanthula kwadera lathu, kusanthula mizere ndi makamera a netiweki amagwiritsidwa ntchito kwambiri poyezera chinthu ndi kuyeza koyang'ana, zochitika za odwala ndi kuyang'anira mawonekedwe, kuzindikira nkhope, kuyang'anira magalimoto, kuyang'ana pamagetsi ndi semiconductor, kuwerengera anthu ndi kuyeza kwa mzere ndi magawo ena.
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Nthawi yotumiza: Mar-07-2023
