TOF 3DCamera
Kamera ya TOF 3D yapangidwa ndi ukadaulo wapamwamba kwambiri wa kujambula zithunzi za mbali zitatu. Kamera ya TOF (Time of Flight) ndi mbadwo watsopano wa zinthu zodziwira mtunda ndi ukadaulo wa kujambula zithunzi za 3D. Imatumiza kuwala kosalekeza ku cholinga, kenako imagwiritsa ntchito sensa kuti ilandire kuwala komwe kwabwezedwa kuchokera ku chinthucho, ndikupeza mtunda wa chinthu chomwe chikufunidwa pozindikira nthawi yowuluka (ulendo wobwerera) ya kuwala.
Makamera a TOF nthawi zambiri amagwiritsa ntchito njira yoyezera nthawi youluka poyesa mtunda, ndiko kuti, mukamagwiritsa ntchito mafunde a ultrasound, ndi zina zotero, kumbukirani kuyeza, ndipo mutha kumvetsetsa mtunda. Kuyeza mtunda kumeneku kumatha kuchitika kudzera mu kuwala, kotero ubwino wogwiritsa ntchito kwenikweni umawonekerabe. , kamera iyi ikagwiritsidwa ntchito, kukula kwake kumatha kuyezedwa ndi kujambula, zomwe ndizosavuta kwambiri. Ndipo njira iyi yogwiritsira ntchito ndi kudzera mu kuwala kowunikira, mtunda ukhoza kudziwika powerengera nthawi yobwerera, ndipo kuzindikira koyenera kungapezeke kudzera mu sensa. Ubwino wogwiritsa ntchito kamera yamtunduwu ndi wodziwikiratu kwambiri. Sikuti ma pixel okha ndi okwera, komanso kuwonjezera kwa sensa iyi kungapangitse kuti kupeza pa mapu a kukula kukhale kowona, ndipo palibe chifukwa chosuntha ziwalo, ndipo zotsatira zabwino zitha kupezeka poyesa kokha. Ndikopindulitsa kwambiri pakugwiritsa ntchito kothandiza, kaya ndi malo kapena muyeso, bola ngati muli ndi kamera yamtunduwu, mutha kukhala maso a makina ndi zida zambiri mukugwira ntchito yeniyeni, ndikumaliza ntchito yokha.
Makamera a TOF amatha kupewa zopinga zomwe zimagwiritsidwa ntchito. Kudzera mu luso lotha kuzindikira, kugwiritsa ntchito makina odziyimira pawokha kumatha kudziwika bwino, ndipo ubwino wogwiritsa ntchito kamera iyi ndi wodziwikiratu. Siingodziwa kuchuluka ndi chidziwitso panthawi yake, komanso poyendetsa katundu, Kuwongolera makina odziyimira pawokha kumakhala kothandiza kwambiri, kungathandize kupititsa patsogolo magwiridwe antchito, komanso kupeza zabwino zazikulu pakuyeza mtunda ndi kuwonetsa zithunzi. Pakati pa kamera iyi imatha. Imapereka zotsatira zabwino, ndipo kudzera mu kugunda kwa mtima, mutha kudziwa cholinga chatsatanetsatane, sikuti kungotsatira kokha, komanso kumatha kuchita chitsanzo cha magawo atatu pachithunzichi, chomwe chinganenedwe kuti ndi cholondola kwambiri.
BwanjiTOFMakamera Akugwira Ntchito
Makamera a TOF amagwiritsa ntchito kuzindikira kuwala ndipo nthawi zambiri amakhala ndi magawo otsatirawa:
1. Chipangizo chowunikira
Chipangizo chowunikira magetsi chiyenera kusintha mphamvu ya kuwala musanatulutse, ndipo ma frequency a kuwala kosinthidwa amatha kufika pa 100MHz. Zotsatira zake, gwero la kuwala limayatsidwa ndi kuzimitsidwa kangapo panthawi yojambula chithunzi. Kugunda kulikonse kwa kuwala kumakhala ndi ma nanoseconds ochepa okha. Nthawi yowonekera ya kamera imatsimikiza kuchuluka kwa ma pulses pa chithunzi chilichonse.
Kuti muyeze molondola, ma pulse a kuwala ayenera kulamulidwa bwino kuti akhale ndi nthawi yofanana, nthawi yokwera, ndi nthawi yogwa. Chifukwa ngakhale kusiyana pang'ono kwa nanosecond imodzi yokha kungapangitse zolakwika zoyezera mtunda kufika pa 15 cm.
Ma frequency apamwamba otere komanso kulondola kwambiri kumatha kuchitika kokha ndi ma LED apamwamba kapena ma laser diode.
Kawirikawiri, gwero la kuwala kwa infrared ndi gwero la kuwala kwa infrared lomwe silikuwoneka ndi maso a munthu.
2. Lenzi yowala
Amagwiritsidwa ntchito kusonkhanitsa kuwala kowala ndikupanga chithunzi pa sensa yowunikira. Komabe, mosiyana ndi magalasi wamba owunikira, fyuluta ya bandpass iyenera kuwonjezeredwa pano kuti zitsimikizire kuti kuwala komwe kuli ndi kutalika kofanana ndi komwe kumachokera ku kuwala kungalowe. Cholinga cha izi ndikuletsa magwero osagwirizana a kuwala kuti achepetse phokoso, pomwe akuletsa sensa yowunikira kuwala kuti isawonekere kwambiri chifukwa cha kusokonezedwa ndi kuwala kwakunja.
3. Chojambulira zithunzi
Pakati pa kamera ya TOF. Kapangidwe ka sensa kamakhala kofanana ndi ka sensa wamba wazithunzi, koma ndi kovuta kwambiri kuposa sensa yazithunzi. Ili ndi ma shutter awiri kapena kuposerapo kuti ayese kuwala kowala nthawi zosiyanasiyana. Chifukwa chake, pixel ya TOF chip ndi yayikulu kwambiri kuposa kukula kwa pixel ya sensa yazithunzi, nthawi zambiri pafupifupi 100um.
4. Chigawo chowongolera
Kutsatana kwa kuwala komwe kumayambitsidwa ndi chipangizo chowongolera zamagetsi cha kamera kumayenderana bwino ndi kutsegula/kutseka kwa shutter yamagetsi ya chip. Imachita kuwerenga ndi kusintha mphamvu za sensa ndikuwatsogolera ku chipangizo chowunikira ndi mawonekedwe a data.
5. Gawo la makompyuta
Chipangizo chowerengera deta chimatha kulemba mamapu olondola a kuzama. Mapu ozama nthawi zambiri amakhala chithunzi chakuda, pomwe mtengo uliwonse umayimira mtunda pakati pa malo owunikira kuwala ndi kamera. Kuti mupeze zotsatira zabwino, nthawi zambiri pamakhala kuwerengera deta.
Kodi TOF imayesa bwanji mtunda?
Gwero la kuwala kowunikira nthawi zambiri limasinthidwa ndi ma square wave pulses, chifukwa n'zosavuta kugwiritsa ntchito ndi ma digital circuits. Pixel iliyonse ya kamera yakuya imapangidwa ndi chipangizo chowunikira kuwala (monga photodiode), chomwe chingasinthe kuwala kwadzidzidzi kukhala magetsi. Chipangizo chowunikira kuwala chimalumikizidwa ndi ma switch angapo apamwamba (G1, G2 pachithunzi chili pansipa) kuti chitsogolere magetsi kukhala ma capacitor osiyanasiyana omwe amatha kusunga ma charge (S1, S2 pachithunzi chili pansipa).
Chipangizo chowongolera chomwe chili pa kamera chimayatsa ndi kuzimitsa gwero la kuwala, zomwe zimatumiza kuwala pang'ono. Nthawi yomweyo, chipangizo chowongolera chimatsegula ndikutseka shutter yamagetsi pa chip. Choyatsira S0Chopangidwa mwanjira imeneyi ndi kuwala kwa kuwala chimasungidwa pa chinthu chozindikira kuwala.
Kenako, chipangizo chowongolera chimayatsa ndikuzimitsa gwero la kuwala kachiwiri. Nthawi ino shutter imatsegulidwa pambuyo pake, panthawi yomwe gwero la kuwala limazimitsidwa.1Chopangidwa tsopano chimasungidwanso pa chinthu chomwe chimalola kuwala kwa dzuwa.
Popeza nthawi ya kugunda kwa kuwala kamodzi ndi yochepa kwambiri, njirayi imabwerezedwa kangapo mpaka nthawi yowonekera itafika. Mitengo yomwe ili mu sensa ya kuwala imawerengedwa ndipo mtunda weniweni ukhoza kuwerengedwa kuchokera ku mitengo iyi.
Dziwani kuti liwiro la kuwala ndi c, tpndi nthawi ya kugunda kwa kuwala, S0ikuyimira ndalama zomwe zasonkhanitsidwa ndi shutter yoyambirira, ndipo S1ikuyimira ndalama zomwe zasonkhanitsidwa ndi shutter yochedwa, ndiye mtunda d ukhoza kuwerengedwa ndi fomula iyi:
Mtunda wocheperako woyezeka ndi pamene mphamvu yonse yasonkhanitsidwa mu S0 panthawi yoyambirira ya shutter ndipo palibe mphamvu yomwe yasonkhanitsidwa mu S1 panthawi yochedwa ya shutter, mwachitsanzo S1 = 0. Kulowetsa mu fomula kudzapereka mtunda wocheperako woyezeka d=0.
Mtunda waukulu kwambiri woyezeka ndi pamene mphamvu yonse imasonkhanitsidwa mu S1 ndipo palibe mphamvu yomwe imasonkhanitsidwa konse mu S0. Fomulayi imapanga d = 0.5 xc × tp. Mtunda waukulu kwambiri woyezeka umatsimikiziridwa ndi m'lifupi mwa kuwala. Mwachitsanzo, tp = 50 ns, m'malo mwa fomula yomwe ili pamwambapa, mtunda wapamwamba kwambiri woyezera d = 7.5m.
Kapangidwe ka zida ndi zinthu zomwe zili muzinthuzo
Gwiritsani ntchito njira yapamwamba kwambiri ya TOF hardware padziko lonse lapansi; laser yotetezeka ya Class I, high pixel resolution, kamera yamakampani, yaying'ono, ingagwiritsidwe ntchito posonkhanitsa zambiri zakuzama kwakutali mkati ndi kunja.
Kachitidwe kokonza zithunzi
Pogwiritsa ntchito njira yotsogola padziko lonse yokonza ndi kusanthula zithunzi, ili ndi luso lotha kukonza zithunzi, imatenga zinthu zochepa za CPU, ili ndi kulondola kwakukulu komanso imagwirizana bwino.
Mapulogalamu
Makamera a digito omwe amagwiritsidwa ntchito kwambiri mu automation ya fakitale, AGV navigation, kuyeza malo, magalimoto anzeru ndi mayendedwe (ITS), komanso sayansi ya zamankhwala ndi moyo. Makamera athu ojambulira malo, kusanthula mzere ndi makamera a netiweki amagwiritsidwa ntchito kwambiri poyesa malo ndi momwe zinthu zilili, kuyang'anira zochitika za wodwala ndi momwe alili, kuzindikira nkhope, kuyang'anira magalimoto, kuyang'anira zamagetsi ndi semiconductor, kuwerengera anthu ndi kuyeza mzere ndi madera ena.
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Nthawi yotumizira: Marichi-07-2023
