US 12,248,141 B2
Frame synchronization method for scanning galvanometer and lidar
Yongfeng Gao, Shanghai (CN); and Shaoqing Xiang, Shanghai (CN)
Assigned to Hesai Technology Co., Ltd., Shanghai (CN)
Filed by Hesai Technology Co., Ltd., Shanghai (CN)
Filed on May 6, 2022, as Appl. No. 17/738,358.
Application 17/738,358 is a continuation of application No. PCT/CN2020/133534, filed on Dec. 3, 2020.
Claims priority of application No. 201911395881.0 (CN), filed on Dec. 30, 2019.
Prior Publication US 2022/0260828 A1, Aug. 18, 2022
Int. Cl. G02B 26/08 (2006.01); G01S 7/481 (2006.01); G02B 26/10 (2006.01)
CPC G02B 26/105 (2013.01) [G01S 7/4817 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A frame synchronization method for a scanning vibrating mirror, comprising:
obtaining current parameters of a reference signal, wherein the current parameters of the reference signal comprise a reference signal period and a current first phase;
obtaining signal parameters of a frame scanning signal of the scanning vibrating mirror along a first rotation axis of the scanning vibrating mirror, wherein the signal parameters of the frame scanning signal comprise a frame scanning period and a current second phase;
determining a phase difference between the reference signal and the frame scanning signal based on the current parameters of the reference signal and the signal parameters of the frame scanning signal of a current scanning period; and
determining a scanning duration corresponding to a first scanning stage of the frame scanning signal in a next scanning period based on the phase difference, so that the frame scanning signal of the next scanning period tend to be synchronized with the reference signal,
wherein the frame scanning signal comprises the first scanning stage and a second scanning stage, and the scanning durations corresponding to the first scanning stage and a scanning duration corresponding to the second scanning stage are integer multiples of a resonant period of a resonant scanning signal of the scanning vibrating mirror along a second rotation axis of the scanning vibrating mirror.