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Wannan jerin yana da nufin samar wa masu karatu fahimtar tsarin Lokacin Jirgin Sama (TOF) mai zurfi da ci gaba. Abubuwan da ke ciki sun ƙunshi cikakken bayani game da tsarin TOF, gami da cikakkun bayanai game da TOF kai tsaye (iTOF) da TOF kai tsaye (dTOF). Waɗannan sassan sun zurfafa cikin sigogin tsarin, fa'idodi da rashin amfanin su, da kuma algorithms daban-daban. Labarin ya kuma bincika sassa daban-daban na tsarin TOF, kamar Lasers na Sama Mai Fitar da Kogo (VCSELs), ruwan tabarau na watsawa da karɓa, na'urori masu auna karɓa kamar CIS, APD, SPAD, SiPM, da da'irori na direba kamar ASICs.
Gabatarwa ga TOF (Lokacin Jirgin Sama)
Ka'idoji na Asali
TOF, wanda ke nufin Lokacin Tashi, hanya ce da ake amfani da ita don auna nisa ta hanyar ƙididdige lokacin da haske ke ɗauka don tafiya wani nisa a cikin wani matsakaici. Wannan ƙa'ida galibi ana amfani da ita a cikin yanayin TOF na gani kuma tana da sauƙi. Tsarin ya ƙunshi tushen haske wanda ke fitar da hasken, tare da rikodin lokacin fitar da hayaki. Wannan hasken yana nuna abin da aka nufa, mai karɓa yana kama shi, kuma an lura da lokacin karɓa. Bambancin da ke cikin waɗannan lokutan, wanda aka nuna a matsayin t, yana ƙayyade nisa (d = saurin haske (c) × t / 2).
Nau'ikan Na'urori Masu auna ToF
Akwai manyan nau'ikan na'urori masu auna ToF guda biyu: na gani da na lantarki. Na'urori masu auna ToF na gani, waɗanda suka fi yawa, suna amfani da bugun haske, yawanci a cikin kewayon infrared, don auna nisa. Ana fitar da waɗannan bugun daga firikwensin, suna nuna wani abu, sannan a mayar da su zuwa firikwensin, inda ake auna lokacin tafiya kuma ana amfani da shi don ƙididdige nisa. Sabanin haka, na'urori masu auna ToF na lantarki suna amfani da raƙuman lantarki, kamar radar ko lidar, don auna nisa. Suna aiki akan irin wannan ƙa'ida amma suna amfani da matsakaici daban donauna nisa.
Aikace-aikacen na'urori masu auna ToF
Na'urori masu auna ToF suna da amfani sosai kuma an haɗa su cikin fannoni daban-daban:
Fasahar Robobi:Ana amfani da shi don gano cikas da kewayawa. Misali, robot kamar Roomba da Boston Dynamics' Atlas suna amfani da kyamarorin zurfin ToF don zana taswirar yanayinsu da tsara motsinsu.
Tsarin Tsaro:Na'urori masu auna motsi na yau da kullun don gano masu kutse, kunna ƙararrawa, ko kunna tsarin kyamara.
Masana'antar Motoci:An haɗa shi cikin tsarin taimakon direbobi don daidaita tsarin tafiyar jiragen ruwa da gujewa karo, wanda ke ƙara zama ruwan dare a cikin sabbin samfuran motoci.
Bangaren LikitanciAna amfani da shi a cikin hotunan da ba sa yin illa ga lafiya, kamar su hoton haɗin kai na gani (OCT), yana samar da hotunan nama masu ƙuduri mai girma.
Kayan Lantarki na Masu AmfaniAn haɗa shi cikin wayoyin komai da ruwanka, kwamfutar hannu, da kwamfyutocin tafi-da-gidanka don fasaloli kamar gane fuska, tantancewar biometric, da kuma gane motsin hannu.
Jiragen sama marasa matuki:Ana amfani da shi don kewayawa, guje wa haɗurra, da kuma magance matsalolin sirri da jiragen sama
Tsarin Tsarin TOF
Tsarin TOF na yau da kullun ya ƙunshi wasu muhimman abubuwa don cimma ma'aunin nisa kamar yadda aka bayyana:
· Mai watsawa (Tx):Wannan ya haɗa da tushen hasken laser, galibiVCSEL, da'irar direba ASIC don tuƙa laser, da kuma abubuwan gani don sarrafa hasken rana kamar ruwan tabarau masu haɗaka ko abubuwan gani masu canzawa, da matattara.
· Mai karɓa (Rx):Wannan ya ƙunshi ruwan tabarau da matattara a ƙarshen karɓa, na'urori masu auna firikwensin kamar CIS, SPAD, ko SiPM dangane da tsarin TOF, da kuma na'urar sarrafa siginar hoto (ISP) don sarrafa bayanai masu yawa daga guntu mai karɓa.
·Gudanar da Wutar Lantarki:Gudanar da bargaIkon sarrafa wutar lantarki na VCSEL da babban ƙarfin lantarki na SPADs yana da mahimmanci, yana buƙatar ingantaccen sarrafa wutar lantarki.
· Matakan Software:Wannan ya haɗa da firmware, SDK, OS, da kuma aikace-aikacen.
Tsarin ginin yana nuna yadda hasken laser, wanda ya samo asali daga VCSEL kuma aka gyara shi da abubuwan gani, yake tafiya ta sararin samaniya, yana nuna wani abu, sannan ya koma ga mai karɓa. Lissafin ɓata lokaci a cikin wannan tsari yana bayyana bayanai game da nisa ko zurfin. Duk da haka, wannan tsarin ba ya rufe hanyoyin hayaniya, kamar hayaniyar da hasken rana ke haifarwa ko hayaniyar hanyoyi da yawa daga tunani, waɗanda za a tattauna daga baya a cikin jerin.
Rarraba Tsarin TOF
Tsarin TOF galibi ana rarraba su ta hanyar dabarun auna nesa: TOF kai tsaye (dTOF) da TOF kai tsaye (iTOF), kowannensu yana da hanyoyi daban-daban na kayan aiki da algorithm. Da farko jerin sun bayyana ka'idojinsu kafin su yi nazari kan fa'idodinsu, ƙalubalensu, da sigogin tsarin.
Duk da cewa ƙa'idar TOF mai sauƙi ce - tana fitar da bugun haske da gano dawowarsa don ƙididdige nisa - sarkakiyar tana cikin bambance hasken da ke dawowa daga hasken da ke kewaye. Ana magance wannan ta hanyar fitar da isasshen haske mai haske don cimma babban rabon sigina-zuwa-hayaniya da zaɓar raƙuman ruwa masu dacewa don rage tsangwama ga hasken muhalli. Wata hanyar kuma ita ce a sanya hasken da aka fitar don a iya bambanta shi idan ya dawo, kamar siginar SOS tare da walƙiya.
Jerin ya ci gaba da kwatanta dTOF da iTOF, yana tattauna bambance-bambancensu, fa'idodi, da ƙalubalensu dalla-dalla, kuma yana ƙara rarraba tsarin TOF bisa ga sarkakiyar bayanan da suke bayarwa, tun daga 1D TOF zuwa 3D TOF.
dTOF
TOF kai tsaye yana auna lokacin tashi na photon kai tsaye. Babban ɓangarensa, Single Photon Avalanche Diode (SPAD), yana da isasshen ƙarfi don gano photon guda ɗaya. dTOF yana amfani da Time Correlated Single Photon Counting (TCSPC) don auna lokacin isowar photon, yana gina histogram don tantance mafi yuwuwar nisan bisa ga mafi girman mita na wani takamaiman lokaci.
iTOF
TOF kai tsaye yana ƙididdige lokacin tashi bisa ga bambancin mataki tsakanin siffofin raƙuman da aka fitar da kuma waɗanda aka karɓa, yawanci yana amfani da siginar daidaita raƙuman ruwa ko bugun jini. iTOF na iya amfani da tsarin firikwensin hoto na yau da kullun, yana auna ƙarfin haske akan lokaci.
An ƙara raba iTOF zuwa tsarin daidaitawar raƙuman ruwa mai ci gaba (CW-iTOF) da kuma tsarin daidaitawar bugun jini (Pulsed-iTOF). CW-iTOF yana auna canjin yanayin tsakanin raƙuman sinusoidal da aka fitar da kuma waɗanda aka karɓa, yayin da Pulsed-iTOF ke ƙididdige canjin yanayin ta amfani da siginar raƙuman murabba'i.
Karatu Mai Daɗi:
- Wikipedia. (nd). Lokacin tashi. An ɗauko dagahttps://en.wikipedia.org/wiki/Lokacin_flight
- Sony Semiconductor Solutions Group. (nd). ToF (Lokacin Tashi) | Fasahar da Aka Fitar da Na'urori Masu Saurin Hoto. An samo dagahttps://www.sony-semicon.com/en/technologies/tof
- Microsoft. (2021, Fabrairu 4). Gabatarwa ga Lokacin Jirgin Sama na Microsoft (ToF) - Dandalin Zurfin Azure. An ɗauko dagahttps://devblogs.microsoft.com/azure-depth-platform/intro-to-microsoft-time-of-flight-tof
- ESCATEC. (2023, Maris 2). Na'urori Masu auna Lokacin Tashi (TOF): Bayani mai zurfi da Aikace-aikace. An samo dagahttps://www.escatec.com/news/time-of-flight-tof-sensors-an-in-depth-overview-and-applications
Daga shafin yanar gizohttps://faster-than-light.net/TOFSystem_C1/
daga marubucin: Chao Guang
Bayanin Gaskiya:
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Lokacin Saƙo: Disamba-18-2023