Galvanometer Mirror Zero-Angle Tracking in LiDAR
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Solution Overview
Problem
LiDAR systems face inaccuracies in measuring vertical positions of objects due to shifts in the zero-angle position of the galvanometer mirror caused by vehicle vibrations, leading to potential safety risks as these shifts go undetected between maintenance checks.
Innovation Solution
A method and system for real-time tracking of the zero-angle position shift of the galvanometer mirror using intensity maps and datasets to determine changes in the mirror's position, allowing for prompt identification and correction of any deviations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If real-time monitoring of the galvanometer mirror is implemented, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system uses the LiDAR system's own transmitted light pulses and received return light pulses to monitor the galvanometer mirror position. The method processes data already being collected by the LiDAR system (intensity maps and datasets) to detect zero-angle position shifts, eliminating the need for separate monitoring hardware while maintaining measurement precision.
Solution Approach 2:
The LiDAR system performs dual functions: its primary function of measuring distance to objects and its secondary function of monitoring the galvanometer mirror position. By using the same light pulses and detection infrastructure for both purposes, the system avoids adding separate monitoring equipment, thus reducing overall device complexity while improving measurement precision.
2Reliability
If real-time tracking of zero-angle position shifts is implemented, then reliability is improved, but loss of time is reduced
Solution Approach 1:
The system continuously monitors the galvanometer mirror position in real-time during normal LiDAR operation. By continuously processing intensity maps and datasets from each light pulse transmission, the system maintains constant awareness of mirror position shifts, eliminating gaps in monitoring that would occur with periodic checks, thus improving reliability while minimizing time loss.
Solution Approach 2:
The system uses the detected position shifts as feedback to trigger recalibration actions. When a zero-angle position shift is detected through analysis of intensity maps and return light pulse data, the system can automatically initiate correction procedures, creating a closed-loop feedback mechanism that improves reliability by promptly addressing position deviations.
3Reliability
If maintenance checks are performed frequently, then reliability is improved, but productivity is reduced
Solution Approach 1:
The LiDAR system performs self-diagnosis and self-monitoring of the galvanometer mirror position during normal operation. By using its own transmitted and received light pulses to detect position shifts, the system eliminates the need for external maintenance interventions, allowing continuous operation while maintaining high reliability through real-time self-checks.
Solution Approach 2:
The system detects and monitors position shifts in advance during normal operation, before they accumulate to problematic levels. By continuously tracking the zero-angle position and identifying shifts early, the system can schedule maintenance or recalibration only when necessary, avoiding unnecessary frequent maintenance checks and thus improving productivity while maintaining reliability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables timely detection and correction of zero-angle position shifts, ensuring accurate LiDAR data and enhancing passenger safety by providing continuous monitoring of the galvanometer mirror's position.
Implementation Method 1
The light source generates a light beam that is directed by the light steering system in particular directions when being transmitted from the LiDAR system. When a transmitted light beam is scattered or reflected by an object, a portion of the scattered or reflected light returns to the LiDAR system
Implementation Method 2
Using the difference between the time that the return light pulse is detected and the time that a corresponding light pulse in the light beam is transmitted, the LiDAR system can determine the distance to the object based on the speed of light
Data Source
AI summary
A method for tracking zero-angle position shift of a moveable mirror used in a LiDAR system is provided. The method comprises obtaining a first dataset based on a first intensity map. The first intensity map is associated with internal reflection pulses of a frame scanned by the LiDAR system. The frame comprises a plurality of scan positions. The internal reflection pulses are formed by scattering or reflecting one or more transmission light pulses at positions internal to a housing of the LiDAR system. The first dataset is a calibration dataset comprising representative intensity values and corresponding positions in the frame. The method further comprises obtaining a second intensity map of another frame at a subsequent time and obtaining a second dataset based on the second intensity map. The method further comprises determining the zero-angle position shift of the moveable mirror based on the first dataset and the second dataset.