Scanner control for Lidar systems
A scanner and a method for controlling the scanner for a Lidar system are provided. The method comprises: producing a trigger signal by a positional sensor of the scanner; generating a single drive signal comprising a first component at a first frequency and a second component at a second frequency, the first component and the second component are superposed with a fixed phase relationship with aid of the trigger signal; transmitting the single drive signal to the scanner, and the scanner has resonant responses at the first frequency; and actuating the scanner to move in a first periodic motion at the first frequency about a first axis, and move in a second periodic motion at the second frequency about a second axis.
1. A scanner for a Lidar system comprising:
a scanner comprising a scan plate coupled to an actuator via a plurality of torsion arms, wherein the plurality of torsion arms comprise a first torsion arm and a third torsion arm allowing the scan plate to move about a slow scan axis, and a second torsion arm allowing the scan plate to move about a fast scan axis; and
a controller configured to generate a drive signal to the actuator to drive a motion of the scanner, wherein the drive signal comprises a first component at a first frequency to drive a motion of the scanner about the fast scan axis, and a second component at a second frequency and a third component at a third frequency to drive a motion of the scanner about the slow axis, and wherein a value of the third frequency is twice of a value of the first frequency.
2. The scanner of claim 1 , wherein the second and the third torsion arm couple the scan plate to a gimbal.
3. The scanner of claim 1 , wherein the second and the third torsion form an H shape.
4. The scanner of claim 1 , wherein the first torsion arm couples the scan plate to the actuator.
5. The scanner of claim 1 , wherein the drive signal comprises a ramp waveform.
6. The scanner of claim 1 , wherein the first component and the second component of the drive signal have a predetermined phase relationship.
7. The scanner of claim 6 , wherein the first component and the second component of the drive signal are superposed based on the predetermined phase relationship with an aid of a trigger signal.
8. The scanner of claim 7 , wherein the trigger signal comprises a positional signal generated by a sensor.
9. The scanner of claim 1 , wherein the motion of the scanner about the slow scan axis comprises oscillation.
10. The scanner of claim 9 , wherein the first frequency comprises a resonant frequency of the fast scan axis.
11. The scanner of claim 1 , wherein a raster pinch distortion is corrected at least by the third component of the drive signal.
12. A method for controlling scanner of a Lidar system comprising:
generating a drive signal to an actuator to drive a motion of the scanner, wherein the drive signal comprises a first component at a first frequency to drive a motion of the scanner about a fast scan axis, and a second component at a second frequency and a third component at a third frequency to drive a motion of the scanner about a slow axis, and wherein a value of the third frequency is twice of a value of the first frequency,
wherein the scanner comprising a scan plate coupled to the actuator via a plurality of torsion arms, wherein the plurality of torsion arms comprise a first torsion arm and a third torsion arm allowing the scan plate to move about the slow scan axis, and a second torsion arm allowing the scan plate to move about the fast scan axis.
13. The method of claim 12 , wherein the second and the third torsion arm couple the scan plate to a gimbal.
14. The method of claim 12 , wherein the second and the third torsion form an H shape.
15. The method of claim 12 , wherein the first torsion arm couples the scan plate to the actuator.
16. The method of claim 12 , wherein the drive signal comprises a ramp waveform.
17. The method of claim 12 , wherein the first component and the second component of the drive signal have a predetermined phase relationship.
18. The method of claim 17 , wherein the first component and the second component of the drive signal are superposed based on the predetermined phase relationship with an aid of a trigger signal.
19. The method of claim 18 , wherein the trigger signal comprises a positional signal generated by a sensor.
20. The method of claim 12 , wherein a raster pinch distortion is corrected at least by the third component of the drive signal.