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Lolu chungechunge luhlose ukunikeza abafundi ukuqonda okujulile nokuqhubekayo kohlelo lwe-Time of Flight (TOF). Okuqukethwe kuhlanganisa ukubuka konke kwezinhlelo ze-TOF, okuhlanganisa izincazelo ezinemininingwane yakho kokubili i-TOF engaqondile (iTOF) kanye ne-TOF eqondile (dTOF). Lezi zigaba zihlolisisa imingcele yesistimu, izinzuzo zayo kanye nokubi, kanye nama-algorithms ahlukahlukene. I-athikili iphinde ihlole izingxenye ezihlukene zezinhlelo ze-TOF, njenge-Vertical Cavity Surface Emitting Lasers (VCSELs), amalensi okudlulisela nokwamukela, ukuthola izinzwa ezifana ne-CIS, APD, SPAD, SiPM, namasekhethi abashayeli njengama-ASIC.
Isingeniso se-TOF(Isikhathi Sendiza)
Izimiso Eziyisisekelo
I-TOF, imele i-Time of Flight, iyindlela esetshenziswa ukukala ibanga ngokubala isikhathi esisithathayo ukuze ukukhanya kuhambe ibanga elithile endaweni ethile. Lesi simiso sisetshenziswa ngokuyinhloko kuzimo ze-Optical TOF futhi siqonde ngqo. Inqubo ibandakanya umthombo wokukhanya okhipha umsebe wokukhanya, kanye nesikhathi sokukhishwa esirekhodwa. Lokhu kukhanya bese kukhombisa ngaphandle kwethagethi, kuthathwe umamukeli, futhi isikhathi sokwamukela siyaphawulwa. Umehluko kulezi zikhathi, ochazwa ngokuthi t, unquma ibanga (d = isivinini sokukhanya (c) × t / 2).
Izinhlobo zezinzwa ze-ToF
Kunezinhlobo ezimbili eziyinhloko zezinzwa ze-ToF: i-optical ne-electromagnetic. Izinzwa ze-Optical ToF, ezivame kakhulu, zisebenzisa ama-pulses okukhanya, ngokuvamile ebangeni le-infrared, ukuze kukale ibanga. Lawa ma-pulses akhishwa kunzwa, abonise into, futhi abuyele kunzwa, lapho isikhathi sokuhamba silinganiswa futhi sisetshenziselwa ukubala ibanga. Ngokuphambene, izinzwa ze-electromagnetic ToF zisebenzisa amaza kagesi, njenge-radar noma i-lidar, ukukala ibanga. Basebenza ngomgomo ofanayo kodwa basebenzisa i-medium ehlukileukulinganisa ibanga.
Izicelo zezinzwa ze-ToF
Izinzwa ze-ToF ziyahlukahluka futhi zihlanganiswe emikhakheni ehlukahlukene:
Amarobhothi:Isetshenziselwa ukuthola izithiyo nokuzulazula. Isibonelo, amarobhothi afana ne-Roomba kanye ne-Boston Dynamics' Atlas asebenzisa amakhamera ajulile we-ToF ukuze enze imephu yendawo ezungezile nokuhlela ukunyakaza.
Amasistimu Okuphepha:Izinzwa ezijwayelekile ezinyakazayo zokuthola izihlaseli, ama-alamu acuphayo, noma amasistimu ekhamera asebenze.
Imboni Yezimoto:Ifakwe ezinhlelweni zokusiza abashayeli ukuze i-adaptive cruise control nokugwema ukushayisana, iya ngokuya idlanga kumamodeli ezimoto ezintsha.
Inkambu Yezokwelapha: Kuqashwe ekucabangeni okungahlanyisi nasekuxilongeni, okufana ne-optical coherence tomography (OCT), ekhiqiza izithombe zethishu ezinokulungiswa okuphezulu.
I-Consumer Electronics: Kuhlanganiswe kuma-smartphones, amathebulethi, namakhompyutha aphathekayo ezicini ezifana nokubonwa kobuso, ukuqinisekiswa kwe-biometric, nokubonwa kokuthinta.
Ama-Drones:Isetshenziselwa ukuzulazula, ukugwema ukushayisana, kanye nokubhekana nobumfihlo kanye nokukhathazeka kwezindiza
I-TOF System Architecture
Isistimu ye-TOF evamile iqukethe izingxenye ezimbalwa ezibalulekile ukuze kufinyelelwe isilinganiso sebanga njengoba kuchaziwe:
· I-Transmitter (Tx):Lokhu kuhlanganisa umthombo wokukhanya we-laser, ikakhulukazi aVCSEL, isekethe yomshayeli i-ASIC yokushayela i-laser, kanye nezingxenye ze-optical zokulawula imishayo njengamalensi ahlanganayo noma izakhi ze-optical diffractive, nezihlungi.
· Umamukeli (Rx):Lokhu kuqukethe amalensi nezihlungi ekugcineni kokwamukela, izinzwa ezifana ne-CIS, i-SPAD, noma i-SiPM kuye ngohlelo lwe-TOF, kanye ne-Image Signal Processor (ISP) yokucubungula inani elikhulu ledatha evela ku-chip yomamukeli.
·Ukuphathwa kwamandla:Ukuphatha okuzinzileukulawula kwamanje kwama-VCSEL namandla kagesi aphezulu kuma-SPAD kubalulekile, kudinga ukuphathwa kwamandla okuqinile.
· Isendlalelo Sesofthiwe:Lokhu kufaka i-firmware, i-SDK, i-OS, nesendlalelo sohlelo lokusebenza.
I-architecture ibonisa ukuthi i-laser beam, evela ku-VCSEL futhi ishintshwe izingxenye ezibonakalayo, ihamba kanjani emkhathini, ibonakalisa entweni, futhi ibuyela kumamukeli. Isibalo sokudlula isikhathi kule nqubo sibonisa ibanga noma ulwazi lokujula. Kodwa-ke, lesi sakhiwo asibandakanyi izindlela zomsindo, njengomsindo obangelwa ukukhanya kwelanga noma umsindo wezindlela eziningi ovela ekukhanyeni, okuxoxwe ngakho kamuva ochungechungeni.
Ukuhlukaniswa kwezinhlelo ze-TOF
Amasistimu e-TOF ahlukaniswa ngokuyinhloko ngamasu awo okulinganisa ibanga: i-TOF eqondile (dTOF) ne-TOF engaqondile (iTOF), ngayinye enezingxenyekazi zekhompuyutha ezihlukile nezindlela ze-algorithmic. Uchungechunge luqale luveze izimiso zabo ngaphambi kokungena ekuhlaziyeni okuqhathanisayo kwezinzuzo zabo, izinselele, kanye nemingcele yesistimu.
Naphezu kwesimiso esibonakala silula se-TOF - ukukhishwa kwe-pulse elula futhi ithole ukubuya kwayo ukuze ubale ibanga - inkimbinkimbi ilele ekuhlukaniseni ukukhanya okubuyayo nokukhanya okuzungezile. Lokhu kusingathwa ngokukhipha ukukhanya okwanele okugqamayo ukuze kufinyelelwe isilinganiso esiphezulu sesignali-kuya-nomsindo nokukhetha ubude begagasi obufanele ukuze kuncishiswe ukuphazamiseka kokukhanya kwemvelo. Enye indlela ukufaka ikhodi ukukhanya okukhishiwe ukuze kuhlukaniseke lapho ubuya, okufana namasiginali we-SOS ngethoshi.
Uchungechunge luyaqhubeka nokuqhathanisa i-dTOF ne-iTOF, ludingida ngokuningiliziwe umehluko wabo, izinzuzo, nezinselele, futhi luphinde luhlukanise ngezigaba izinhlelo ze-TOF ngokusekelwe kunkimbinkimbi yolwazi olunikezayo, kusukela ku-1D TOF kuya ku-3D TOF.
I-dTOF
I-Direct TOF ikala ngokuqondile isikhathi sendiza ye-photon. Ingxenye yayo eyinhloko, i-Single Photon Avalanche Diode (SPAD), izwela ngokwanele ukuthola ama-photon angawodwa. I-dTOF isebenzisa i-Time Correlated Single Photon Counting (TCSPC) ukuze ilinganise isikhathi sokufika kwe-photon, yakhe i-histogram ukuze ithole ibanga okungenzeka kakhulu lisuselwe kwimvamisa ephezulu kakhulu yomehluko wesikhathi othize.
I-iTOF
I-TOF engaqondile ibala isikhathi sendiza ngokusekelwe kumehluko wesigaba phakathi kwamagagasi akhishiwe nawamukelwe, ngokuvamile kusetshenziswa amaza okuguquguqukayo noma amasignali okushintshashintsha kwe-pulse. I-iTOF ingasebenzisa izakhiwo ezijwayelekile zezinzwa zesithombe, ezikala ukuqina kokukhanya ngokuhamba kwesikhathi.
I-iTOF iphinde ihlukaniswe yaba yi-continuous wave modulation (CW-iTOF) kanye ne-pulse modulation (Pulsed-iTOF). I-CW-iTOF ikala ukushintshwa kwesigaba phakathi kwamagagasi e-sinusoidal akhishiwe natholiwe, kuyilapho i-Pulsed-iTOF ibala ukushintshwa kwesigaba kusetshenziswa amasignali amaza esikwele.
Ukufunda Okuqhubekayo:
- I-Wikipedia. (nd). Isikhathi sendiza. Kubuyiswe kusukahttps://en.wikipedia.org/wiki/Time_of_flight
- Iqembu leSony Semiconductor Solutions. (nd). I-ToF (Isikhathi Sendiza) | Ubuchwepheshe obujwayelekile bezinzwa zesithombe. Kubuyiswe kusukahttps://www.sony-semicon.com/en/technologies/tof
- Microsoft. (2021, Februwari 4). Isingeniso se-Microsoft Time Of Flight (ToF) - I-Azure Depth Platform. Kubuyiswe kusukahttps://devblogs.microsoft.com/azure-depth-platform/intro-to-microsoft-time-of-flight-tof
- ESCATEC. (2023, Mashi 2). Izinzwa Zesikhathi Sendiza (TOF): Uhlolojikelele Olujulile Nezinhlelo Zokusebenza. Kubuyiswe kusukahttps://www.escatec.com/news/time-of-flight-tof-sensor-an-in-depth-overview-and-applications
Kusuka ekhasini lewebhuhttps://faster-than-light.net/TOFSystem_C1/
ngumbhali : Chao Guang
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Isikhathi sokuthumela: Dec-18-2023