US 11,996,894 B2
Modulation method, apparatus, and system for imaging scanning signal synchronization
Ting Wang, Beijing (CN); Yu Guo, Beijing (CN); Xiangru Wang, Beijing (CN); Youshuang Ding, Beijing (CN); and Tianlan Shao, Beijing (CN)
Assigned to MECH-MIND ROBOTICS TECHNOLOGIES LTD., Beijing (CN)
Filed by MECH-MIND ROBOTICS TECHNOLOGIES LTD., Beijing (CN)
Filed on Jan. 26, 2022, as Appl. No. 17/584,912.
Application 17/584,912 is a continuation of application No. PCT/CN2020/115309, filed on Sep. 15, 2020.
Claims priority of application No. 202010954762.0 (CN), filed on Sep. 11, 2020.
Prior Publication US 2022/0149951 A1, May 12, 2022
Int. Cl. H04B 10/556 (2013.01); H04B 10/50 (2013.01); H04B 10/69 (2013.01)
CPC H04B 10/5563 (2013.01) [H04B 10/503 (2013.01); H04B 10/697 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A modulation method for imaging scanning signal synchronization, comprising:
transmitting control signals, wherein the control signals comprise a galvanometer driving signal, a laser scanning signal, and a camera exposure signal, the galvanometer driving signal and the camera exposure signal have a same period, and the laser scanning signal enables laser to be emitted for N times within time for enabling positive oscillation of a galvanometer in one period of the galvanometer driving signal;
measuring an actual signal waveform of the galvanometer, and obtaining a noise-reduced waveform by filtering and de-noising the actual signal waveform;
performing a waveform comparison detection on the noise-reduced waveform and a corresponding control waveform for the galvanometer driving signal to obtain a waveform deviation; and
adjusting the laser scanning signal and the camera exposure signal based on the waveform deviation and transmitting the adjusted laser scanning signal and the adjusted camera exposure signal.