3D Time-of-flight distance measurement with custom - Universität ...

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IMAGING TOF RANGE CAMERAS 153 control both the lock-in line sensor and the lock-in imager by programming different firmware . Photographs of the digital high-speed sequencer are in Figure 6.1. Figure 6.1 Digital high-speed sequencer. Left: top-view with microcontroller and 40 PIN connector to driver board; right: bottom view with CPLD and freely programmable control switches. (Size: 90 mm x 110 mm). In addition, the sequencer board contains two DC/DC converters that generate the DC voltages 5 V and 8 to be supplied to the LED-drivers and the sensor drivers. All 24 digital channels and the DC voltages are available at a 40 Pin plug, the connection to the driving electronics board.
154 CHAPTER 6 VCC GND VCC R 4.7k Connector to program PIC (F877) GND 4 PICreset clock_P 13(30) ITS FRAME 7 PIX 6 GND 3, 4 PIC 16F877/C74 DIP or (TQFP) 1(18) 10(27) RE2 GND 12,31(6,29) VCC 11,32(7,28) RC0 15(32) Connector to EPPI RA5 7(24) RA4 6(23) FRAME RA3 5(22) RA2 4(21) 3 status signals RA1 3(20) PIX VCC R 4.7k TAP0 TAP1 IE RE1 9(26) ST2 2 additional status signals RE0 8(25) ST1 RA0 2(19) LED_P RB0 33(8) row0 RB1 34(9) row1 RB2 35(10) row2 RB3 36(11) row3 RB4 37(14) row4 RB5 38(15) PGL RB6 39(16) PGR RB7 40(17) INTG col0 RC1 16(35) col1 RC2 17(36) col2 RC3 18(37) col3 RC4 23(42) col4 RC5 24(43) col5 RC6 25(44) free1 RC7 26(1) free2 RD0 19(38) res0 RD1 20(39) res1 RD2 21(40) res2 RD3 22(41) res3 RD4 27(2) res4 RD5 28(3) free3 RD6 29(4) free4 RD7 30(5) free5 16 (slow) outputs VCC 1 SDO 2 SDI 3 ispEN 4 5 MODE GND SCLK Crystal 80MHz GND 7 8 MCLK VCC 14 Connector to program LATTICE 6 7 8 FREE- I/O's ispEN SDI SDO SCLK MODE TAP0 TAP1 IE 11 65 14 16 39 60 37 67 68 69 ST2 58 ST1 57 LED_P 59 ROW0 81 ROW1 80 ROW2 79 ROW3 78 ROW4 85 PGL_P 84 PGR_P 83 INTG 82 GND 1, 22, 43, 64 VCC 21, 65 41 42 43 44 45 46 47 48 72 LED_L 91 ROW0 92 ROW1 93 ROW2 94 ROW3 95 ROW4 96 PGL_L 97 PGR_L 98 INTG 17 HEX- 18 19 20 35 34 73 PIC_CLK Connector to LEDs LED_L 3 GND 2 +19.5V 1 +8V 4 70 FUTURE_2 71 FUTURE_1 28 29 30 31 32 33 21 22 23 40 86 90 FREE- SWITCH FREQ- SWITCH SWITCH 6 x Control LED red green red green red green Figure 6.2 Digital high-speed sequencer: Block diagram. 20, 10, 4, 2 MHz TP TP SMA BNC SMA BNC DC/DC +5V, +8V POWER VCC (+5V) Connector to camera 1 ROW0 2 ROW1 3 ROW2 4 ROW3 5 ROW4 6 PGL_L 7 PGR_L 8 INTG 9 COL0 10 COL1 11 COL2 12 COL3 13 COL4 14 COL5 15 (-) 16 (-) 17 RES0 18 RES1 19 RES2 20 RES3 21 RES4 22 (-) 23 (-) 24 (-) GND 25, 26, 31, 32 +19.5V 37, 38 VCC 39, 40 33 (ana out) N.C. 34 (AGND) N.C. In Figure 6.2 we show the block diagram of the sequencer board. With several freely programmable control switches for both the CPLD and the microcontroller, the board offers flexible adaptation to different needs. For example, it can be programmed in such a way that the integration time or the readout speed for the single pixels can be changed during operation by different switches. Other variations are possible. A total number of eight (+1 for the LED control) fast control signals (80 MHz) can be generated by the CPLD (or simply fed through the CPLD if the microcontroller should take control). Additionally, the operation mode of the CPLD can be controlled by the microcontroller via five separate status lines. GND +8V + 19.5V GND 19.5V 19.5V GND
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3D Time-of-flight distance measurem
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To my parents
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Meinen Eltern
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II 4. Power budget and resolution l
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Abstract Since we are living in a t
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centimeter accuracy. With the singl
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X Eine elegantere Methode zur Entfe
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INTRODUCTION 1 1. Introduction One
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INTRODUCTION 3 light source observe
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INTRODUCTION 5 Propagation time, ho
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INTRODUCTION 7 Chapter 3 gives a sh
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OPTICAL TOF RANGE MEASUREMENT 9 2.
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OPTICAL TOF RANGE MEASUREMENT 13 pr
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OPTICAL TOF RANGE MEASUREMENT 15 hi
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OPTICAL TOF RANGE MEASUREMENT 17 Pu
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OPTICAL TOF RANGE MEASUREMENT 19 Ad
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OPTICAL TOF RANGE MEASUREMENT 21 pr
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OPTICAL TOF RANGE MEASUREMENT 23 wh
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OPTICAL TOF RANGE MEASUREMENT 25 δ
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OPTICAL TOF RANGE MEASUREMENT 27 c(
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OPTICAL TOF RANGE MEASUREMENT 29 A
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OPTICAL TOF RANGE MEASUREMENT 31 ph
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OPTICAL TOF RANGE MEASUREMENT 33 Ts
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OPTICAL TOF RANGE MEASUREMENT 35 f1
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OPTICAL TOF RANGE MEASUREMENT 37 an
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OPTICAL TOF RANGE MEASUREMENT 39 in
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OPTICAL TOF RANGE MEASUREMENT 41 Ss
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OPTICAL TOF RANGE MEASUREMENT 43 Fr
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OPTICAL TOF RANGE MEASUREMENT 45 1
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50 CHAPTER 3 the smearing effect, r
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52 CHAPTER 3 3.1 Silicon properties
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54 CHAPTER 3 (a) Figure 3.3 Optical
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56 CHAPTER 3 Quantum efficiency in
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58 CHAPTER 3 The different operatio
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60 CHAPTER 3 (a) (b) Depletion widt
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62 CHAPTER 3 Very special processes
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64 CHAPTER 3 1 kT Dn = ⋅ vth ⋅
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66 CHAPTER 3 The proportionality fa
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68 CHAPTER 3 difference of only 1 V
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70 CHAPTER 3 Flicker noise is cause
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72 CHAPTER 3 A s = sf ⋅ q C ⎡ V
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74 CHAPTER 3 amount of the charge p
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76 CHAPTER 3 substrate (Equation 3.
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78 CHAPTER 3 charge carriers the CT
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80 CHAPTER 3 without causing short
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82 CHAPTER 3 Over an address decode
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84 CHAPTER 3 Orbit’s 2.0µm CMOS/
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86 CHAPTER 4 Figure 4.1 P lens Lamb
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88 CHAPTER 4 Required optical power
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90 CHAPTER 4 4.2 Noise limitation o
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92 CHAPTER 4 number of pseudo-backg
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94 CHAPTER 4 Cmod = 1 QE(λ) = 0.65
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96 CHAPTER 4 Range accuracy (std) i
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DEMODULATION PIXELS IN CMOS/CCD 99
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DEMODULATION PIXELS IN CMOS/CCD 101
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Page 196 and 197: IMAGING TOF RANGE CAMERAS 179 #5 #6
Page 198 and 199: SUMMARY AND PERSPECTIVE 181 7. Summ
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Page 213 and 214: 196 [BRK] Brockhaus, “Naturwissen
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ACKNOWLEDGMENTS 203 Acknowledgments
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206 Publication list 1. R. Lange, P
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