Menene Kyamarar TOF? Kuma Yaya Aiki?

Farashin 3DCamera

An gina kyamarar TOF 3D tare da mafi girman fasahar hoto mai girma uku. Kyamarar zurfin TOF (Lokacin Jirgin) sabon ƙarni ne na gano nesa da samfuran fasahar hoto na 3D. Yana ci gaba da aika ƙwanƙwasa haske zuwa ga manufa, sannan yana amfani da firikwensin don karɓar hasken da aka dawo daga abin, kuma yana samun nisan abin da aka nufa ta hanyar gano lokacin tashi (zagaye) na bugun bugun hasken.

Kyamarar TOF yawanci suna amfani da hanyar lokacin tashi a ma'aunin nesa, wato, lokacin amfani da raƙuman ruwa na ultrasonic, da sauransu, tuna don aunawa, kuma zaku iya ƙara fahimtar nesa. Ana iya aiwatar da wannan ma'aunin nisa ta hanyar fitilun haske, don haka fa'idodin da ake amfani da su a zahiri har yanzu suna bayyane. , Lokacin da ake amfani da wannan kyamara, ana iya auna girman girman ta hanyar hoto, wanda ya dace sosai. Kuma wannan hanyar yin amfani da ita ta hanyar haskaka haske, ana iya sanin nisa ta hanyar ƙididdige lokacin dawowa, kuma ana iya samun cikakkiyar fahimta ta hanyar firikwensin. Amfanin amfani da irin wannan kyamarar a bayyane take. Ba wai kawai pixels sun fi girma ba, har ma da ƙari na wannan firikwensin zai iya sa saye akan taswirar girman ya fi dacewa, kuma babu buƙatar sassa masu motsi, kuma ana iya samun sakamako mafi kyau kawai ta hanyar aunawa. Yana da matukar fa'ida a aikace-aikacen aikace-aikacen, ko matsayi ne ko aunawa, muddin kuna da irin wannan kyamarar, zaku iya zama idanun ƙarin injuna da kayan aiki a ainihin aiki, kuma da gaske kammala aikin atomatik.

Kyamarar TOF na iya guje wa cikas a amfani ta atomatik. Ta hanyar aikin ji, ana iya fahimtar amfani da aiki da kai yadda ya kamata, kuma fa'idodin amfani da wannan kyamarar a bayyane take. Ba zai iya sanin ƙarar da bayanai kawai a cikin lokaci ba, har ma a cikin sarrafa kaya, Inganta aikin sarrafa kansa ya fi dacewa, yana iya hanzarta haɓaka haɓakawa, kuma yana iya samun babban fa'ida a cikin ma'aunin nesa da gabatar da hoto. Jigon wannan kyamarar na iya. Yana ba da sakamako mafi kyau, kuma ta hanyar bugun bugun jini, zaku iya sanin cikakken maƙasudin, ba wai kawai za ku iya yin waƙa ba, amma har ma za ku iya yin ƙirar ƙira mai girma uku akan hoton, wanda za'a iya faɗi daidai sosai.

YayaTOFKamara Aiki

Kyamarar TOF suna amfani da gano haske mai aiki kuma yawanci sun haɗa da sassa masu zuwa:

1. Na'urar hasken iska

Naúrar iska mai iska tana buƙatar bugun bugun jini don daidaita tushen hasken kafin fitarwa, kuma mitar bugun hasken da aka canza zai iya kaiwa 100MHz. Sakamakon haka, ana kunna da kashe tushen hasken a lokutan ɗaukar hoto. Kowane bugun bugun haske yana da tsayin nanoseconds kaɗan kawai. Ma'aunin lokacin bayyanar kamara yana ƙayyade adadin bugun jini a kowane hoto.

Don cimma ingantattun ma'aunai, dole ne a sarrafa ƙwanƙolin haske daidai don samun daidai tsawon lokaci ɗaya, lokacin tashi, da lokacin faɗuwa. Domin ko da ƙananan sabani na nanosecond ɗaya na iya haifar da kurakuran auna nisa har zuwa 15 cm.

Irin waɗannan mitoci masu girma da daidaito za a iya samun su tare da nagartattun LEDs ko diodes na Laser.

Gabaɗaya, tushen hasken iska mai haske shine tushen hasken infrared wanda ba zai iya gani ga idon ɗan adam.

2. Ruwan tabarau na gani

Ana amfani da shi don tattara haske mai haske da samar da hoto akan firikwensin gani. Koyaya, ba kamar ruwan tabarau na gani na yau da kullun ba, ana buƙatar ƙara tace bandpass anan don tabbatar da cewa haske kawai mai tsayi iri ɗaya kamar yadda tushen hasken zai iya shiga. Manufar wannan ita ce murkushe hanyoyin hasken da ba a haɗa su ba don rage hayaniya, tare da hana firikwensin daukar hoto daga fitowa fili saboda kutsewar hasken waje.

3. Na'urar firikwensin hoto

Jigon kyamarar TOF. Tsarin firikwensin yana kama da na na'urar firikwensin hoto na yau da kullun, amma yana da rikitarwa fiye da na'urar firikwensin hoto. Ya ƙunshi masu rufewa 2 ko fiye don samfurin haske mai haske a lokuta daban-daban. Don haka, pixel guntu TOF ya fi girma fiye da girman firikwensin hoto na gabaɗaya, gabaɗaya a kusa da 100um.

4. Naúrar sarrafawa

An daidaita jerin nau'ikan fitulun haske da na'urar sarrafa lantarki ta kamara ta yi aiki tare da buɗewa/rufe ma'ajin lantarki na guntu. Yana aiwatar da karantawa da jujjuya cajin firikwensin kuma yana jagorantar su zuwa sashin bincike da mu'amalar bayanai.

5. Na'urar kwamfuta

Naúrar kwamfuta na iya yin rikodin taswira mai zurfi daidai. Taswirar zurfafa yawanci hoto ne mai launin toka, inda kowace ƙima ke wakiltar nisa tsakanin saman mai nuna haske da kamara. Don samun sakamako mai kyau, yawanci ana yin daidaitattun bayanai.

Ta yaya TOF ke auna nisa?

Gabaɗaya ana daidaita tushen hasken hasken ta hanyar bugun bugun murabba'i, saboda yana da sauƙin aiwatarwa tare da da'irori na dijital. Kowane pixel na kyamarar zurfin yana kunshe da na'ura mai ɗaukar hoto (kamar photodiode), wanda zai iya canza hasken abin da ya faru zuwa wutar lantarki. An haɗa naúrar mai ɗaukar hoto tare da manyan maɓalli masu yawa (G1, G2 a cikin hoton da ke ƙasa) don jagorantar halin yanzu zuwa ma'auni daban-daban waɗanda zasu iya adana caji (S1, S2 a cikin adadi na ƙasa).

Naúrar sarrafawa akan kamara tana kunna da kashe tushen hasken, yana aika bugun bugun haske. A daidai wannan lokacin, sashin kulawa yana buɗewa kuma yana rufe murfin lantarki akan guntu. Farashin S₀An samar da ita ta wannan hanyar ta hanyar bugun bugun haske yana adana a kan nau'in mai ɗaukar hoto.

Sa'an nan, naúrar sarrafawa tana kunna da kashe tushen hasken a karo na biyu. A wannan karon ma'aunin yana buɗewa daga baya, a daidai lokacin da aka kashe tushen hasken. Farashin S₁Yanzu an ƙirƙira kuma ana adana shi akan nau'in mai ɗaukar hoto.

Saboda tsawon lokacin bugun bugun haske guda ɗaya yana da ɗan gajeren lokaci, ana maimaita wannan tsari sau dubbai har sai lokacin bayyanarwa ya kai. Ana karanta ƙimar da ke cikin firikwensin haske kuma ana iya ƙididdige ainihin nisa daga waɗannan ƙimar.

Lura cewa saurin haske shine c, t_pshine tsawon lokacin bugun jini, S₀yana wakiltar cajin da mai rufewa na farko ya tattara, kuma S₁yana wakiltar cajin da aka jinkirtar, sannan ana iya ƙididdige nisa d ta hanyar da ke biyowa:

Mafi ƙanƙantar tazarar da za a iya aunawa ita ce lokacin da aka tattara duk cajin a cikin S0 yayin lokacin rufewa na farko kuma ba a karɓar caji a cikin S1 a lokacin jinkirin lokacin rufewa, watau S1 = 0. Canja cikin dabara zai ba da mafi ƙarancin aunawa d=0.

Mafi girman nisa a aunawa shine inda ake tattara duk caji a cikin S1 kuma ba a karɓar caji kwata-kwata a cikin S0. Ƙididdigar sai ta haifar da d = 0.5 xc × tp. Matsakaicin tazarar da za a iya aunawa ana ƙaddara ta wurin faɗin bugun bugun haske. Misali, tp = 50 ns, musanyawa cikin dabarar da ke sama, matsakaicin nisan ma'auni d = 7.5m.

Tsarin kayan aiki da fasalulluka na samfur

Ɗauki mafi ingantaccen kayan aikin TOF a duniya; Laser mai aminci na Class I, babban ƙudurin pixel, kyamarar masana'antu, ƙaramin girman, ana iya amfani da shi don tattara bayanan zurfin nesa na ciki da waje.

Algorithm na sarrafa hoto

Yin amfani da manyan sarrafa hoto da algorithm bincike na duniya, yana da ƙarfin sarrafawa mai ƙarfi, yana ɗaukar ƙasa da albarkatun CPU, yana da daidaito mai kyau da dacewa mai kyau.

Aikace-aikace

Kyamarar masana'antu na dijital galibi ana amfani da su a masana'anta sarrafa kansa, kewayawa AGV, auna sararin samaniya, zirga-zirgar hankali da sufuri (ITS), da kimiyyar likitanci da rayuwa. Ana amfani da sikanin yanki, sikanin layi da kyamarori na cibiyar sadarwa a cikin matsayi na abu da ma'aunin daidaitawa, ayyukan haƙuri da saka idanu, tantance fuska, saka idanu kan zirga-zirga, dubawar lantarki da semiconductor, ƙididdigar mutane da ma'aunin layi da sauran filayen.

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