Abnormal field of view recognition method and device, storage medium and MEMS LiDAR
AssigneeSuteng Innovation Technology Co., Ltd.
InventorZhaohui Shi
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Abstract
The present application discloses an abnormal field of view recognition method and device, a storage medium, and a MEMS LiDAR. The method includes respectively adjusting angles of a galvanometer in an X axis and a Y axis when the MEMS LiDAR is started; acquiring echo data from scanning a window at the adjusted angles of the galvanometer in the X axis and the Y axis; acquiring distances, from the echo data, between an upper edge, a lower edge, a left edge, and a right edge of the window and the MEMS LiDAR; and determining whether a field of view of the galvanometer is abnormal or not based on the distances between the upper edge, the lower edge, the left edge, and the right edge of the window and the MEMS LiDAR.
Claims6
An abnormal field of view recognition method applied to a MEMS LiDAR comprising a galvanometer, comprising:
- in response to the MEMS LiDAR being started, respectively adjusting angles of the galvanometer in an X axis and a Y axis, wherein the galvanometer is unable to scan edges of a window during normal operation, and the angles of the galvanometer in the X axis and the Y axis are increased to scan the edges of the window for detection;
- acquiring echo data from scanning a window at the adjusted angles of the galvanometer in the X axis and the Y axis;
- acquiring distances, from the echo data, between an upper edge, a lower edge, a left edge, and a right edge of the window and the MEMS LiDAR;
- and
- determining whether a field of view of the galvanometer is abnormal or not based on the distances between the upper edge, the lower edge, the left edge, and the right edge of the window and the MEMS LiDAR,
- wherein the determining whether a field of view of the galvanometer is abnormal or not based on the distances between the upper edge, the lower edge, the left edge, and the right edge of the window and the MEMS LiDAR comprises:
- respectively comparing the distances between the upper edge, the lower edge, the left edge, and the right edge of the window and the MEMS LiDAR with a preset distance range;
- and
- wherein after the determining whether a field of view of the galvanometer is abnormal or not based on the distances between the upper edge, the lower edge, the left edge, and the right edge of the window and the MEMS LiDAR, the method further comprises:
- adjusting the angles of the galvanometer in the X axis and the Y axis to previous angles before the MEMS LiDAR is started if the field of view of the galvanometer is determined to be normal, and driving the galvanometer to scan at the previous angles;
- and
- outputting a fault code to a master computer if the field of view of the galvanometer is determined to be abnormal.
An abnormal field of view recognition device applied to a MEMS LiDAR comprising a galvanometer, comprising:
- an angle adjustment module, configured to respectively adjust angles of the galvanometer in an X axis and a Y axis in response to the MEMS LiDAR being started, wherein the galvanometer is unable to scan edges of a window during normal operation, and the angles of the galvanometer in the X axis and the Y axis are increased to scan the edges of the window for detection;
- a data acquisition module, configured to acquire echo data from scanning a window at the adjusted angles of the galvanometer in the X axis and the Y axis;
- a distance acquisition module, configured to acquire distances, from the echo data, between an upper edge, a lower edge, a left edge, and a right edge of the window and the MEMS LiDAR;
- and
- a field of view determination module, configured to determine whether a field of view of the galvanometer is abnormal or not based on the distances between the upper edge, the lower edge, the left edge, and the right edge of the window and the MEMS LiDAR,
- wherein the field of view determination module comprises:
- a distance comparison unit, configured to respectively compare the distances between the upper edge, the lower edge, the left edge, and the right edge of the window and the MEMS LiDAR with a preset distance range;
- and
- the device also comprising:
- an angle recovery module, configured to adjust the angles of the galvanometer in the X axis and the Y axis direction to previous angles before the MEMS LiDAR starting if the field of view of the galvanometer is determined to be normal, and driving the galvanometer to scan at the previous angles;
- and
- a fault notification module, configured to output a fault code to a master computer if the field of view of the galvanometer is determined to be abnormal.
Dependencies are inferred from the claim text.