Related Manuals for Nuvoton TOF KHKT001
Summary of Contents for Nuvoton TOF KHKT001
- Page 1 TOF KHKT001-Evaluation Module (EVM) Hardware Guide (For Qualcomm’s RB5 Robotics Platform) ｔｈ Apr. 2023 Ver 1.0...
- Page 2 September 1, 2020 to Nuvoton Technology Corporation (hereinafter referred to as "Nuvoton"). Accordingly, Panasonic Semiconductor Solutions Co., Ltd. came under the umbrella of the Nuvoton Group, with the new name of Nuvoton Technology Corporation Japan (hereinafter referred to as "NTCJ").
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Page 3: Table Of Contents
Contents • Introduction • TOF Module – Overview Specifications Block Diagram Dimension of KHKT001-EVM • Connection Image of TOF camera Connection to Qualcomm’s RB5 Mezzanine Board Pin assignment of Adapter Board for KHKT001-EVM side and SoC side ... - Page 4 * The visual appearance of the module may change due to different module suppliers The KHKT001-EVM is a state-of-the-art 3D camera module that utilizes the VGA ToF sensor P/N KM34906 from Nuvoton. It is ideal for creating 3D sensing solutions for short to middle range applications. With a small form-factor and light weight, it can be seamlessly integrated to robotics platforms targeted for consumer and industrial segments.
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Page 5: Tof Module - Overview
Overview of KHKT001-EVM ■ Specifications ■ Block Diagram Parameter KHKT001 – for in-door use* Sensor board SoC Board TOF Sensor 1/4” VGA /IR – TOF PM IC Resolution 640 x 480 (VGA) MIPI Lens Software H: 110° x V: 80° Companion LENS Sensor... -
Page 6: Dimension Of Khkt001-Evm
Dimension of KHKT001-EVM 25.9 Dimension (mm) 25.9 36.4 * The visual appearance/size of the module may change due to different module suppliers... -
Page 7: Connection Image Of Tof Camera
Connection Image of TOF camera <Connection image＞ <Front image＞ <Rear image＞ of TOF camera connected to RB5T of TOF camera mounted of TOF camera mounted Mezzanine board for RB5 Connect TOF camera to RB5 with FFC and adapter board KHKT001-EVM for RB5... -
Page 8: Connection To Qualcomm's Rb5 Mezzanine Board
Connection to Qualcomm’s RB5 Mezzanine Board Adapter Board for RB5 Mezzanine Board FH34SRJ-16S-0.5SH TOF module 96 Board Max 10cm <KHKT001-EVM> Data、I2C Mezzanine board KHKT001-FFC Power (5V・max 3.0A) BM20B(0.8)-30DP-0.4V(51) BM20B(0.8)-30DS-0.4V(51) <KHKT001-EVM Back side> <Adapter Board for RB5 Mezzanine Board> FH34SRJ-16S-0.5SH FH34SRJ-16S-0.5SH BM20B(0.8)-30DS-0.4V(51) on RB5 mezzanine board Pin 1... - Page 9 Pin assignment of Adapter Board for KHKT001-EVM side and SoC side Pin# Pin# Pin Name Function Remark SoC side ToF side CLKP MIPI Clock MIPI clock input of positive CLKN MIPI Clock MIPI clock input of negative DATA0P MIPI data0 MIPI data input of positive for lane#0 DATA0N MIPI data0...
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Page 10: Schematic And Circuit Diagram For Adapter Board
Schematic and Circuit Diagram for Adapter Board FH34SRJ-16S-0.5SH BM20B(0.8)-30DP-0.4V Circuit Diagram of Adapter Board for ToF Module... -
Page 11: Principle Of Time Of Flight
Principle of Time of Flight The distance measuring principle for KHKT001-EVM is based on the Time of Flight concept as shown in the figure below: TOF module Ranging target Emitted IR-LD/Dr light Sensor Δｔ Received light ISP & Controller S0' exposure S1' exposure S2‘... -
Page 12: Depth Measurement Guidelines
Depth Measurement Guidelines Reference Plane: - The front edge of module has been used as the reference plane for calibration of KHKT001-EVM, so all measurements taken by KHKT001-EVM are values of distance (in mm) from this front edge. Refer to the figure below: Target Object Emitter KHKT001... -
Page 13: Multipath Interference
Multipath Interference 1) Example of Multipath Interference Floor Wall Corner Multi reflections path Multi reflections path Direct path Direct path Multi reflections path Direct path Measurement result (Overestimation) Measurement result (Overestimation) Measurement result (Overestimation) 2) Dependency on surface condition of the measured object Influence level of the multi-path reflection depends on not only the reflectance of the multi-path objects and measured object but also the surface condition of the measured object. -
Page 14: Optical Scattering
Optical Scattering Optical scattering occurs due to unwanted reflections within the optics. This cannot be eliminated completely but improvements have been achieved in KHKT001-EVM using advanced lens design. In order to avoid scattered light issue as much as possible, KHKT001-EVM should be placed at the greatest distance possible from disturbing object from which light might be reflected. -
Page 15: Example Of Evaluation Equipment
Example of Evaluation Equipment Evaluation equipment <Back View> Distance changes from <Side View> 200mm to 4500mm TOF camera (b) Target KHKT001-EVM (b) Target (e) Support pillar almost Tripod 1.2m (a) Desk (d) Desk with casters Desk Power Items Detail specs Desk Normal PC desk. -
Page 16: Examples Of Depth Evaluation Results
Examples of Depth Evaluation Results Target object Depth map Measurement area TOF camera (90% reflectivity) 16 pix.(H) x 16 pix.(V) Camera Emitter output Target object KHKT001-EVM image Lens Measured Distance Entire image Reference Plane Depth σ can be further improved by optimal operation of the TOF camera and additional post signal processing. -
Page 17: Depth Uniformity
Depth Uniformity Corners of depth map has large depth error [Phenomena] Due to small mismatch between lens FOV and diffuser FOI of light source in the current TOF module, depth at image corners are prone to have large error as shown in the following depth map example. -
Page 18: Safety Instructions
Safety Instructions Please observe the following condition for the safety operation of KHKT001-EVM. In case of module usage other than stated, any claims will be rendered void. - In any case, it is not allowed to disassemble KHKT001-EVM or to make any changes to the hardware. - Only the power supply provided by Thundercomm's 96-board is allowed to be used with the camera. - Page 19 Record of Changes Date Ver Description Remarks Apr. 4, 2023 issue...
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