LiDAR mirror control method and device and LiDAR
AssigneeSuteng Innovation Technology Co., Ltd.
InventorsShaodong Yang, Jingyang Zheng
Life of this patent
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Abstract
Embodiments of this application disclose a mirror control method and device and a LiDAR, pertaining to the field of LiDAR. The method includes: outputting a control signal configured to control a mirror to scan; detecting a feedback signal of the scanning mirror; determining an actual amplitude gain of the mirror based on the feedback signal, and determining an error of the actual amplitude gain relative to a preset amplitude gain threshold; and determining a frequency adjustment based on the error, adjusting frequency based on the frequency adjustment, and obtaining an output signal. In the embodiments of this application, stability of a scanning angle of the mirror can be maintained when resonance frequency of the mirror deviates.
Claims9
A method for controlling a mirror, comprising:
- outputting a control signal configured to control the mirror to scan;
- detecting a feedback signal of the scanning mirror;
- determining an actual amplitude gain of the mirror based on the feedback signal;
- obtaining a preset amplitude threshold and a preset pulse width threshold, wherein the preset pulse width threshold is a pulse width corresponding to the preset amplitude threshold when the mirror works on preset resonance frequency;
- determining an actual pulse width corresponding to the feedback signal based on the preset amplitude threshold;
- comparing the actual pulse width with the preset pulse width threshold, to obtain the error;
- determining a frequency adjustment based on the error, adjusting frequency based on the frequency adjustment, and obtaining an output signal.
A device for controlling a mirror, comprising:
- a signal generator, configured to output a control signal, wherein the control signal is used to control the mirror to scan;
- a signal detector, configured to detect a feedback signal of the scanning mirror;
- a signal comparator, configured to determine an actual amplitude gain of the mirror based on the feedback signal, and obtain a preset amplitude threshold and a preset pulse width threshold, wherein the preset pulse width threshold is a pulse width corresponding to the preset amplitude threshold when the mirror works on preset resonance frequency, and determine an actual pulse width corresponding to the feedback signal based on the preset amplitude threshold, and compare the actual pulse width with the preset pulse width threshold, to obtain the error;
- and
- a linear controller, configured to determine a frequency adjustment based on the error, adjust frequency based on the frequency adjustment, and obtain an output signal.
Dependencies are inferred from the claim text.