Communication system for laser radar, laser radar and carrier

Abstract

A communication system for a lidar, a lidar, and a vehicle are disclosed. The communication system includes a transmitting coil, a receiving coil, a control circuit, and a detection circuit. The first circuit board of the laser radar and the second circuit board of the laser radar transmit data through the transmitting coil and the receiving coil, and the first circuit board supplies power to the second circuit board through the transmitting coil and the receiving coil. And the control circuit is arranged on the first circuit board, is electrically connected with the transmitting coil, and is configured to transmit data by controlling the voltage at the two ends of the transmitting coil. And the detection circuit is arranged on the second circuit board, electrically connected with the receiving coil and configured to detect a first signal of the first end of the receiving coil and a second signal of the second end of the receiving coil, and the first duty ratio of the first signal and the second duty ratio of the second signal are used for determining a transmission value of data. According to the communication system, hardware configuration of the laser radar can be reduced, so that cost reduction and miniaturization of the laser radar are realized.

Description

Technical Field

[0001] This disclosure relates to the field of optical detection technology, and more particularly to a communication system, lidar, and carrier for lidar. Background Technology

[0002] Optical detection technology uses light as a medium to detect objects. Compared to ordinary light sources, lasers have characteristics such as monochromaticity and good directionality, making them widely used for object detection. For example, LiDAR (Light Detection and Ranging) uses lasers as a medium for object detection and has been widely used in fields such as autonomous driving, drones, robot recognition, geographic mapping, and environmental monitoring.

[0003] Multiple circuit boards can be set up in a lidar system. How to achieve communication between the circuit boards at a low cost is a problem of concern in the field of optical detection technology. Summary of the Invention

[0004] This disclosure provides a communication system, a lidar, and a carrier for lidar, enabling communication between lidar circuit boards at a lower cost.

[0005] In a first aspect, a communication system for a lidar is provided, the communication system comprising: a transmitting coil and a receiving coil, wherein a first circuit board and a second circuit board of the lidar transmit data through the transmitting coil and the receiving coil, and the first circuit board supplies power to the second circuit board through the transmitting coil and the receiving coil; a control circuit disposed on the first circuit board and electrically connected to the transmitting coil, configured to transmit data by controlling the voltage across the transmitting coil; and a detection circuit disposed on the second circuit board and electrically connected to the receiving coil, configured to detect a first signal at a first end and a second signal at a second end of the receiving coil, wherein a first duty cycle of the first signal and a second duty cycle of the second signal are used to determine the transmitted data value.

[0006] The communication system utilizes the principle of electromagnetic induction to fully leverage wireless power supply coils (including transmitting and receiving coils) to power a first circuit board to a second circuit board, and to facilitate data communication between the two boards. For example, the control circuit transmits data by controlling the voltage across the transmitting coil. Due to electromagnetic induction, voltage changes across the transmitting coil are reflected as changes in the signal duty cycle across the receiving coil. Thus, the transmitting and receiving coils can be used to achieve both power supply and data transmission, reducing the hardware configuration of the lidar and enabling cost reduction and miniaturization. Furthermore, the control circuit, by controlling the voltage across the transmitting coil, offers a simpler circuit structure compared to modulation schemes such as frequency modulation used for data transmission. It features simpler control logic, lower cost, and better transmission accuracy. Compared to optical communication, this system reduces mutual interference during two-way lidar communication. Moreover, during data transmission, changes in magnetic flux are largely confined between the transmitting and receiving coils, enhancing the confidentiality of internal lidar communication and improving its security.

[0007] Optionally, the operating frequency of the transmitting coil remains unchanged during data transmission.

[0008] Optionally, the difference in equivalent inductance between the transmitting coil and the receiving coil is less than or equal to 20%.

[0009] Optionally, the control circuit controls the voltage across the transmitting coil by varying the duty cycle of the pulse control signal.

[0010] Optionally, the transmitted data value includes a first value and a second value; the voltage across the transmitting coil includes a first state and a second state; wherein, in the first state, the duration of the positive voltage across the transmitting coil is the same as the duration of the negative voltage, and in the second state, the duration of the positive voltage across the transmitting coil is different from the duration of the negative voltage; the control circuit is configured to control the voltage across the transmitting coil to be in the first state when transmitting the first value; and to control the voltage across the transmitting coil to be in the second state when transmitting the second value; a matched first duty cycle and a matched second duty cycle are used to determine that the transmitted data value is the first value; a mismatched first duty cycle and a matched second duty cycle are used to determine that the transmitted data value is the second value.

[0011] Optionally, the control circuit is further configured to control the voltage across the transmitting coil to a first state in an idle state; and to control the voltage across the transmitting coil to a second state when data transmission begins.

[0012] The idle state refers to the first circuit board supplying power to the second circuit board, but not transmitting data.

[0013] Optionally, the control circuit is also configured to control the voltage across the transmitting coil to be in a first state for multiple consecutive cycles when the data transmission ends.

[0014] Optionally, the control circuit includes: a first switching circuit connected to a first end of the transmitting coil and configured to control a third duty cycle of a third signal at the first end of the transmitting coil; and a second switching circuit connected to a second end of the transmitting coil and configured to control a fourth duty cycle of a fourth signal at the second end of the transmitting coil; wherein, when transmitting a first value, the third duty cycle and the fourth duty cycle are the same, and when transmitting a second value, the third duty cycle and the fourth duty cycle are different.

[0015] Optionally, a first switching circuit is coupled to a first voltage and a second voltage; a second switching circuit is coupled to a third voltage and a fourth voltage; wherein the first voltage is greater than the second voltage and the fourth voltage, and the third voltage is greater than the second voltage and the fourth voltage; the first switching circuit is configured to be coupled to a first control signal, and under the control of the first control signal, time-divisionally conducts the first voltage and the second voltage to provide a third signal with a third duty cycle to the first end of the transmitting coil; the second switching circuit is configured to be coupled to a second control signal, and under the control of the second control signal, time-divisionally conducts the third voltage and the fourth voltage to provide a fourth signal with a fourth duty cycle to the second end of the transmitting coil.

[0016] Optionally, the first voltage is equal to the third voltage, and the second voltage is equal to the fourth voltage.

[0017] Optionally, the third duty cycle and the fourth duty cycle are not equal to 50%.

[0018] Optionally, the absolute value of the difference between the third duty cycle and 50% is less than or equal to 5%, and the absolute value of the difference between the fourth duty cycle and 50% is less than or equal to 5%.

[0019] Optionally, the first switching circuit includes a first switch and a second switch, and the first switch and the second switch are not turned on at the same time; the second switching circuit includes a third switch and a fourth switch, and the third switch and the fourth switch are not turned on at the same time.

[0020] Optionally, during data transmission, the control circuit is also configured to control the voltage across the transmitting coil to remain constant for multiple consecutive cycles.

[0021] Secondly, a data transmission device is provided for lidar. This data transmission device includes, for example, a first circuit board, a transmitting coil, and a control circuit. The transmitting coil is electrically connected to or disposed on the first circuit board and configured to couple with a receiving coil; wherein the first circuit board supplies power to a second circuit board and transmits data to the second circuit board through the transmitting and receiving coils; the control circuit is disposed on the first circuit board, electrically connected to the transmitting coil, and configured to control the voltage across the transmitting coil to transmit data during data transmission.

[0022] Thirdly, a data receiving device is provided for use with lidar. The data receiving device includes a second circuit board, a receiving coil, and a detection circuit. The receiving coil is electrically connected to or disposed on the second circuit board and configured to be coupled to a transmitting coil; wherein the second circuit board receives power from a first circuit board through the receiving coil and the transmitting coil, and receives data from the first circuit board. The detection circuit is disposed on the second circuit board and electrically connected to the receiving coil, and is configured to detect a first signal at a first end and a second signal at a second end of the receiving coil, wherein a first duty cycle of the first signal and a second duty cycle of the second signal are used to determine the data transmission value or transmission state.

[0023] Fourthly, a communication control method for a lidar is provided, the communication control method comprising: controlling a transmitting coil to transmit radio frequency signals for powering a second circuit board; controlling the voltage across the transmitting coil to transmit data; wherein the lidar includes a first circuit board and a second circuit board, the first circuit board and the second circuit board communicating through a transmitting coil and a receiving coil.

[0024] Optionally, the operating frequency of the transmitting coil remains unchanged during data transmission.

[0025] Optionally, the transmitted data value includes a first value and a second value; the voltage state across the transmitting coil includes a first state and a second state; controlling the voltage across the transmitting coil to transmit data includes: when transmitting the first value, controlling the voltage across the transmitting coil to be in the first state; when transmitting the second value, controlling the voltage across the transmitting coil to be in the second state; wherein, in the first state, the duration of the voltage across the transmitting coil being positive and the duration of the voltage being negative are the same, and in the second state, the duration of the voltage across the transmitting coil being positive and the duration of the voltage being negative are different.

[0026] Optionally, the communication control method further includes: in an idle state, controlling the voltage across the transmitting coil to a first state; and when data transmission begins, controlling the voltage across the transmitting coil to a second state.

[0027] Optionally, the communication control method further includes: at the end of data transmission, controlling the voltage across the transmitting coil to a first state for multiple consecutive cycles.

[0028] Optionally, controlling the voltage across the transmitting coil to transmit data includes: providing a signal with a third duty cycle to a first end of the transmitting coil and a signal with a fourth duty cycle to a second end of the transmitting coil to control the voltage across the transmitting coil.

[0029] Optionally, the absolute value of the difference between the third duty cycle and 50% is less than or equal to 5%, and the absolute value of the difference between the fourth duty cycle and 50% is less than or equal to 5%.

[0030] Optionally, the communication control method further includes: controlling the voltage state across the transmitting coil to remain constant for multiple consecutive cycles during data transmission.

[0031] Fifthly, a data processing method for a lidar is provided, the data processing method comprising: determining a first signal, the first signal being from a first end of a receiving coil; determining a second signal, the second signal being from a second end of a receiving coil; and determining a data transmission value or transmission state based on a first duty cycle of the first signal and a second duty cycle of the second signal; wherein the lidar includes a first circuit board and a second circuit board, the first circuit board and the second circuit board communicating with each other via a transmitting coil and a receiving coil.

[0032] Optionally, the data transmission value includes a first value and a second value; determining the data transmission value based on the first duty cycle of the first signal and the second duty cycle of the second signal includes: when the first duty cycle and the second duty cycle match, determining the data transmission value as the first value;

[0033] Optionally, the data transmission value includes a first value and a second value; determining the data transmission value based on the first duty cycle of the first signal and the second duty cycle of the second signal includes: when the first duty cycle and the second duty cycle do not match, determining the data transmission value as the second value.

[0034] Optionally, the data transmission state is determined based on the first duty cycle of the first signal and the second duty cycle of the second signal, including: determining the start of data transmission when the first duty cycle and the second duty cycle change from matched to mismatched.

[0035] Optionally, determining the data transmission status based on the first duty cycle of the first signal and the second duty cycle of the second signal further includes: determining the end of data transmission when the first duty cycle and the second duty cycle match within multiple consecutive cycles.

[0036] Sixthly, a communication control device is provided for a lidar. The lidar includes a first circuit board and a second circuit board, which communicate with each other via a transmitting coil and a receiving coil. The communication control device may include an interface and a processor, the interface being configured to be electrically connected to the transmitting coil, and the processor being configured to execute the communication control method provided in the fourth aspect above.

[0037] In a seventh aspect, a data processing apparatus is provided for a lidar. The lidar includes a first circuit board and a second circuit board, which communicate with each other via a transmitting coil and a receiving coil. The data processing apparatus may include an interface and a processor. The interface is configured to be electrically connected to the receiving coil, and the processor is configured to execute the data processing method provided in the fifth aspect above.

[0038] Eighthly, a lidar is provided, including the communication system provided in the first aspect above.

[0039] Ninth aspect, a carrier is provided, comprising: a main body; and a lidar as provided in the fourth aspect above, mounted on the main body. Attached Figure Description

[0040] The accompanying drawings used in the description of the embodiments of this disclosure are briefly introduced below:

[0041] Figure 1 An example block diagram of a lidar consistent with some embodiments of this disclosure is shown.

[0042] Figure 2 An example block diagram of a communication system consistent with some embodiments of this disclosure is shown.

[0043] Figure 3 An example block diagram of a communication system for a lidar that is consistent with some embodiments of this disclosure is shown.

[0044] Figure 4 Example diagrams are shown showing the voltage states at both ends of the transmitting coil and the signals at both ends of the receiving coil, consistent with some embodiments of this disclosure.

[0045] Figure 5 A structural example diagram of a communication system consistent with some embodiments of this disclosure is shown.

[0046] Figure 6 An example diagram is shown of a control signal and a signal at both ends of a receiving coil for a switching circuit consistent with some embodiments of this disclosure.

[0047] Figure 7 An example flowchart of a communication control method consistent with some embodiments of this disclosure is shown.

[0048] Figure 8 An example flowchart of another communication control method consistent with some embodiments of this disclosure is shown.

[0049] Figure 9 An example flowchart of a data processing method consistent with some embodiments of this disclosure is shown.

[0050] Figure 10 A structural example diagram of a communication control device consistent with some embodiments of this disclosure is shown.

[0051] Figure 11 A structural example diagram of a data processing apparatus consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0052] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the specific implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0053] To keep the drawings simple, only the parts related to the corresponding embodiments are shown schematically in each figure, and they do not represent the actual structure of the product. In addition, for the sake of simplicity and ease of understanding, some structures or parts are schematically drawn in the figures, and there may be more or fewer similar structures or parts in reality.

[0054] LiDAR (Light Detection and Ranging) uses laser light as a medium to detect objects. During detection, the lidar emits a laser beam; upon encountering an object, the laser is reflected from the object's surface; a portion of the reflected light (called the echo) is received by the lidar and converted into an electrical signal. The lidar then processes this electrical signal to determine information about the object, such as its distance, position, or velocity, or its three-dimensional structure.

[0055] LiDAR has found applications in many fields. For example, it can be used in autonomous driving, drones, robot recognition, geographic mapping, and environmental monitoring. Autonomous driving, also known as automated driving or assisted driving, includes any level of automated driving, such as L1-L5. In applications, LiDAR can be mounted on vehicles to provide them with perception data, such as point cloud data, enabling the vehicles to perform one or more functions such as analysis, decision-making, or control. Vehicles include, but are not limited to, vehicles, ships, aircraft (such as flying vehicles or drones), robots (such as industrial robots or home robots), or surveying equipment.

[0056] Figure 1 An example block diagram of a lidar system consistent with some embodiments of this disclosure is shown. Please refer to... Figure 1 The lidar 100 includes a laser emitting circuit 110, a laser receiving circuit 120, an optical system 130, a preprocessing circuit 140, and a control and processing system 150. The laser emitting circuit 110 emits a laser beam, which is then emitted after the optical system 130 adjusts the optical path. When the emitted laser encounters an object, it is reflected back to the lidar 100 by the object's surface; this reflected light is called an echo. The echo is then directed to the laser receiving circuit 120 after the optical system 130 adjusts the optical path. The laser receiving circuit 120 receives the echo and converts it into an electrical signal. The electrical signal is processed by the preprocessing circuit 140 to obtain echo data, which is then provided to the control and processing system 150. The control and processing system 150 processes the echo data to obtain sensing data (e.g., point cloud data). The control and processing system 150 sends the sensing data to a vehicle, which can then use the sensing data to perform one or more functions such as analysis, decision-making, or control.

[0057] The laser emitting circuit 110 includes, for example, a driving circuit 111 and a laser 112. The laser 112 emits laser light under the drive of the driving circuit 111, and the laser light exits through the optical system 130. The laser 112 may include, for example, a semiconductor laser, a fiber laser, or other types of laser. Semiconductor lasers may include, for example, laser emitting circuits, vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), distributed feedback lasers (DFBs), or similar devices. The above are merely examples, and the embodiments disclosed herein do not limit the type of laser.

[0058] The laser receiving circuit 120 includes, for example, a detector 121 and a readout circuit 122. The optical system 130 can focus the echo reflected from the object onto the photosensitive surface of the detector 121; the detector 121 uses the photoelectric effect to convert the optical signal into an electrical signal. The readout circuit 122 is used to read out the electrical signal converted by the detector 121. Optionally, the laser receiving circuit 120 may also include a gating circuit 123. The gating circuit 123 can be used to select some or all of the detectors 121, and the selected detectors 121 are in a state that can respond to optical signals and convert the echo into an electrical signal. The detector 121 includes, for example, a photodetector circuit, a PIN photodiode (PINPD), an avalanche photodiode (APD), a single photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or similar devices. The above are merely examples, and the embodiments disclosed herein do not limit the type of detector.

[0059] The optical system 130 includes, for example, a transmitting optical element and a receiving optical element. The transmitting optical element, located in the emission path of the laser, is used to shape the laser emitted by the laser 112 and adjust its exit path. The receiving optical element, located in the receiving path of the laser, is used to collect the echo reflected back from the object and converge the echo onto the photosensitive surface of the detector 121. For example, the transmitting optical element may include one or more optical elements such as a transmitting lens, a mirror, a homogenizer, or a beam splitter. For example, the receiving optical element may include one or more optical elements such as a receiving lens, a mirror, a filter, or a beam splitter (or beam splitter). The transmitting and receiving optical elements can be independent, partially multiplexed, or fully multiplexed. For example, a lidar may include independent transmitting and receiving optical elements, such as independent transmitting and receiving lenses. For example, a lidar may include optical elements shared by the transmitting and receiving optical paths, such as a beam splitter, for separating the transmitting and receiving optical paths; for example, a lidar may include a shared lens for shaping the beams in the transmitting and receiving optical paths.

[0060] Preprocessing, also known as analog front-end processing, includes one or more of the following: amplification, filtering, and digitization. Preprocessing is implemented by a preprocessing circuit 140, which can also be called an analog front-end circuit, and may include one or more of the following: amplification circuit, filtering circuit, and digitization circuit. The amplification circuit, for example, includes an amplifier that amplifies the electrical signal converted by the detector. The filtering circuit, for example, includes a filter used to remove noise or interference. The digitization circuit includes one or more of the following: an analog-to-digital converter (ADC) or a time-to-digital converter (TDC). For example, the ADC converts the analog electrical signal into a digital signal representing the echo waveform by periodically sampling the detector output signal, thus obtaining echo data. Alternatively, the electrical signal converted by the detector can be converted (e.g., amplified into a voltage and compared with a reference voltage to generate an over-threshold signal) and provided to the TDC. The TDC, based on the received electrical signal, performs timing to measure the echo arrival time, thus obtaining echo data. The echo data may include data reflecting the echo time and / or echo intensity.

[0061] The control and processing system 150 includes, for example, at least one processing circuit. For instance, the control and processing system 150 includes a first processing circuit for processing echo data to obtain sensing data. Alternatively, the control and processing system 150 may also include a second processing circuit for sending a first control signal to the drive circuit 111 to control the drive circuit 111 to drive the laser 112 to emit light. Furthermore, the control and processing system 150 may also include a third processing circuit for sending a first control signal to the gating circuit 123 to select some or all of the detectors 121, putting them in a state that responds to the light signal. All or part of the first, second, and third processing circuits may be implemented by the same processor; for example, the second and third processing circuits may be implemented by the same processor. In some embodiments, the control and processing system 150 may include one or more processors. Processors include, but are not limited to, hardware circuits implemented with application-specific integrated circuits (ASICs), programmable logic devices (PLDs), microcontroller units (MCUs), microprocessor units (MPUs), digital signal processors (DSPs), and central processing units (CPUs). Hardware circuits implemented with PLDs may include, for example, field-programmable gate arrays (FPGAs). When the control and processing system 150 includes multiple processors, the types of processors can be the same or different. For example, the control and processing system 150 may include MCUs and FPGAs; or, the control and processing system 150 may include MCUs, FPGAs, and CPUs; or, the control and processing system 150 may include CPUs and FPGAs, and so on. When the control and processing system 150 includes multiple processors, these processors can be configured separately, partially integrated, or fully integrated. For example, the control and processing system 150 can be implemented as a system-on-a-chip (SoC) or an ASIC.

[0062] Optionally, the lidar 100 (e.g., a mechanical lidar or a semi-solid-state lidar) may further include a scanning system 160. The scanning system 160 may include, for example, a scanner and a driving device, the driving device being used to drive the scanner to rotate, enabling the laser to scan one or all of the vertical or horizontal field of view. For example, the laser is emitted through the scanner, and the rotation of the scanner can change the laser's emission path; or, the laser echo can be incident on the scanner and guided to the light receiving path. This disclosure does not limit the type of scanner, and may include, but is not limited to, rotating mirrors, tilting mirrors, galvanometers, or other components that can direct the laser towards different directions in the environment. Furthermore, the scanning system 160 may include a rotating platform; one or more of a laser emitting circuit, a laser receiving circuit, or an optical system may be disposed on the rotating platform, and as the rotating platform rotates, one or all of the vertical or horizontal field of view is scanned. When the lidar 100 includes the scanning system 160, the control and processing system 150 may further include a fourth processing circuit for controlling the movement of the scanning system 160. All or part of the first, second, third, and fourth processing circuits can be implemented by the same processor.

[0063] LiDAR can be applied in fields such as autonomous driving, drones, robot recognition, geographic mapping, and environmental monitoring. Autonomous driving, also known as automatic driving or assisted driving, includes any level of autonomous driving, such as L1-L5. In applications, LiDAR can be mounted on vehicles to provide them with perception data, such as point cloud data, enabling the vehicles to perform one or more functions such as analysis, decision-making, or control. Vehicles include, but are not limited to, vehicles, ships, aircraft (such as flying vehicles or drones), robots (such as industrial robots or home robots), or surveying equipment.

[0064] The lidar includes numerous internal circuits, such as a laser emitting circuit 110, a laser receiving circuit 120, a preprocessing circuit 140, and at least one processing circuit of a control and processing system 150. The internal circuits of the lidar can be arranged on more than one circuit board, thus making more efficient use of the lidar's internal space and facilitating miniaturization. For example, the laser emitting circuit 110 and the laser receiving circuit 120 can be arranged on a first circuit board; the preprocessing circuit 140 can be arranged on either a first or a second circuit board; and the entire latter part of the control and processing system 150 can be arranged on the second circuit board. For instance, the control portion of the control and processing system 150 (e.g., the second to fourth processing circuits) is arranged on the second circuit board, while the information processing portion (e.g., the first processing circuit) is arranged on the first circuit board; or, for another example, the control portion of the control and processing system 150 (e.g., the second to fourth processing circuits) is arranged on the first circuit board, while the information processing portion (e.g., the first processing circuit) is arranged on the second circuit board. The embodiments disclosed herein do not limit the number of circuit boards of the lidar, or the layout of the circuits on different circuit boards.

[0065] For ease of description, the following description uses the first and second circuit boards as examples. There is no limit to the number of circuit boards in the LiDAR. Communication between more circuit boards can be similar. Figure 2 An example block diagram of a communication system consistent with some embodiments of this disclosure is shown. Please refer to... Figure 2 The lidar 200 includes a first circuit board 210 and a second circuit board 220. Please refer to [link / reference needed]. Figure 2 The communication system of the lidar 200 includes a transmitting coil 230 and a receiving coil 240. The first circuit board 210 can supply power to the second circuit board 220 through the transmitting coil 230 and the receiving coil 240. This wireless power supply method can reduce the wiring requirements of the lidar and is more conducive to the miniaturization of the lidar.

[0066] Data communication between the first circuit board 210 and the second circuit board 220 can be achieved using optical communication. For example, the communication system of the lidar 200 also includes an optical emitting element 250 and an optical receiving element 260. The first circuit board 210 carries the data to be transmitted on an optical signal, and the optical emitting element 250 is used to emit the optical signal; the optical signal is received by the optical receiving element 260 and converted into an electrical signal, and the second circuit board 220 determines the data to be transmitted by analyzing the electrical signal. The transmission medium between the first circuit board 210 and the second circuit board 220 may include, for example, optical fiber, optical waveguide, or free space.

[0067] The power supply and data communication between the circuit boards mentioned above are achieved through different hardware structures, which increases the hardware cost of the LiDAR and hinders its miniaturization. This disclosure provides several solutions, including a communication system, communication control method, data processing method, LiDAR, and carrier. These solutions can achieve data communication and wireless power supply between different circuit boards in the LiDAR through transmitting and receiving coils. This reduces the hardware structure of the LiDAR without affecting its power supply or data communication efficiency, thereby lowering its cost and promoting miniaturization. Furthermore, when bidirectional communication is required between two circuit boards, the two optical communication paths may interfere with each other, posing further challenges to LiDAR design.

[0068] Figure 3 An example block diagram of a communication system for a lidar system consistent with some embodiments of this disclosure is shown. Please refer to... Figure 3 The communication system is used in a lidar 300, which includes a first circuit board 310 and a second circuit board 320. The communication system includes a transmitting coil 330, a receiving coil 340, a control circuit 350, and a detection circuit 360. Data is transmitted between the first circuit board 310 and the second circuit board 320 via the transmitting coil 330 and the receiving coil 340, and the first circuit board 310 supplies power to the second circuit board 320 through the transmitting coil 330 and the receiving coil 340. The control circuit 350 is disposed on the first circuit board 310, electrically connected to the transmitting coil 330, and configured to transmit data by controlling the voltage across the transmitting coil 330. The detection circuit 360 is disposed on the second circuit board 320 and electrically connected to the receiving coil 340. It is configured to detect a first signal (which can be referred to as the first signal for the sake of distinction) at the first end of the receiving coil 340 and a second signal (which can be referred to as the second signal for the sake of distinction) at the second end. The first duty cycle of the first signal (which can be referred to as the first duty cycle for the sake of distinction) and the second duty cycle of the second signal (which can be referred to as the second duty cycle for the sake of distinction) are used to determine the data transmission value.

[0069] In the above embodiments, the communication system can utilize the principle of electromagnetic induction to fully utilize the wireless power supply coils (including the transmitting coil 330 and the receiving coil 340) to achieve power supply from the first circuit board 310 to the second circuit board 320, as well as data communication between the first circuit board 310 and the second circuit board 320. For example, the control circuit 350 achieves data transmission by controlling the voltage across the transmitting coil 330. Due to the principle of electromagnetic induction, a change in voltage across the transmitting coil can be reflected as a change in the signal duty cycle across the receiving coil. In this way, the functions of power supply and data transmission can be integrated using the transmitting coil 330 and the receiving coil 340, reducing the hardware configuration of the lidar and achieving cost reduction and miniaturization of the lidar. In addition, the control circuit 350 achieves data transmission by controlling the voltage across the transmitting coil 330. Compared with modulation schemes such as frequency modulation used for data transmission, it has a simpler circuit structure, simpler control logic, lower cost, better transmission accuracy, and less impact on the efficiency of wireless power supply. Compared to optical communication, this communication system reduces mutual interference between the two optical communication paths during bidirectional communication between the two circuit boards, thereby reducing the complexity of the lidar's structural design and decreasing its size. Furthermore, during data transmission, the change in magnetic flux can be largely confined between the transmitting coil 330 and the receiving coil 340, resulting in better confidentiality of the lidar's internal communication and improving its security.

[0070] The detection circuit 360 detects a first signal and a second signal at both ends of the receiving coil. Optionally, the detection circuit 360 can output the detected first and second signals to a subsequent circuit, which uses the duty cycle of the first and second signals to determine the data transmission value; alternatively, the detection circuit 360 can detect the first and second signals and use their duty cycle to determine the data transmission value. Optionally, the detection circuit 360 can directly output the first and second signals to the subsequent circuit; or the detection circuit 360 can process the first and second signals before outputting them to the subsequent circuit, such processing including noise reduction, waveform shaping, jitter removal, or amplification, or one or more of these processes. The subsequent circuit may, for example, include a processing circuit in the control and processing system of the lidar, such as the first processing circuit.

[0071] This disclosure does not limit the form and arrangement of the transmitting coil 330 and the receiving coil 340. For example, the transmitting coil 330 may include a printed circuit board coil or a planar coil, disposed on the first circuit board 310. Alternatively, the transmitting coil 330 may include a coil winding configured to be electrically connected to the first circuit board 310. Similarly, the receiving coil 340 may include a printed circuit board coil or a planar coil, disposed on the second circuit board 320. Alternatively, the receiving coil 340 may include a coil winding configured to be electrically connected to the second circuit board 320. Placing the coils (transmitting coil 330 or receiving coil 340) on the corresponding circuit boards can shorten the signal transmission path, reduce signal attenuation or interference, and provide better signal quality. Furthermore, this design can reduce the size of the hardware structure, making the hardware structure more compact and improving the mechanical stability of the circuit board. Electrically connecting the coils to the corresponding circuit boards can improve design flexibility, facilitate the individual replacement or maintenance of the coils or circuit boards, and also reduce the impact of heat generated by the coils during operation on the circuit board. The connection method between the coils and the circuit boards can be selected according to actual design requirements, and this disclosure does not impose any limitations.

[0072] Based on the principle of electromagnetic induction, the voltage Us across the transmitting coil 330 is equal to the magnetic induced electromotive force, for example, satisfying the following formula (1):

[0073]

[0074] Where Us represents the magnetic induction electromotive force, i.e. the voltage across the transmitting coil 330; N represents the number of turns of the coil; dφ represents the change in magnetic flux; and dt represents the change in time. represents the rate of change of magnetic flux with time, i.e., the derivative of magnetic flux with respect to time; A represents the effective area of ​​the coil; dB represents the change in magnetic induction intensity. dH represents the rate of change of magnetic flux density with time, i.e., the derivative of magnetic flux density with respect to time; μ represents magnetic permeability; dH represents the change in magnetic field strength (also known as magnetization). This represents the rate of change of magnetic field strength with time, i.e., the derivative of magnetic field strength with respect to time; p 1 represents the current flowing through the coil; l represents the length of the coil.

[0075] Inductance is directly proportional to the square of the number of turns of the coil, the effective area of ​​the coil, and the permeability, and inversely proportional to the length of the coil. In some embodiments of this disclosure, the transmitting coil 330 and the receiving coil 340 are similar, for example, the inductance (or equivalent inductance) of the transmitting coil 330 and the receiving coil 340 are equal or similar, and the above formula (1) can be converted into the following formula (2):

[0076]

[0077] Where Up represents the voltage across the receiving coil 340, and Lp represents the inductance of the receiving coil.

[0078] As can be seen from formula (2), the voltage Us across the transmitting coil 330 is approximately equal to the voltage Up across the receiving coil, meaning the voltage across the receiving coil changes with the transmitting coil. In some embodiments of this disclosure, the equivalent inductances of the transmitting coil 330 and the receiving coil 340 are equal or similar, for example, the difference between the equivalent inductances of the transmitting coil 330 and the receiving coil 340 is less than or equal to 20%. In some embodiments of this disclosure, the control circuit 350 controls the voltage across the transmitting coil 330 with a pulse control signal; the change in the duty cycle of the pulse control signal is reflected across the receiving coil 340; by adjusting the duty cycle of the pulse control signal of the transmitting coil 330 to change the magnitude of the voltage across the transmitting coil 330, the signal (e.g., voltage signal) across the receiving coil 340 changes along with the voltage across the transmitting coil 330. By detecting the change in the duty cycle of the signal across the receiving coil 340, the transmission value of the data transmitted by the first circuit board 310 can be determined, thereby enabling data transmission using the transmitting coil 330 and the receiving coil 340.

[0079] In some embodiments of this disclosure, the lidar includes an upper plate and a lower plate. The upper plate is disposed in the upper part of the lidar's internal space and rotates with the lidar's rotating structure, while the lower plate is fixedly disposed in the lower part of the lidar's internal space. For example, a first circuit board 310 is the lower plate, and a second circuit board 320 is the upper plate. For instance, the lidar 300 includes a scanning system. The driving device of the scanning system includes, for example, a rotor and a stator. The stator is fixedly disposed relative to the lidar 300, and the rotor can rotate relative to the stator. The scanner is fixedly connected to the rotor and rotates under the drive of the rotor. The first circuit board 310 is, for example, the lower plate, fixedly disposed relative to the stator; the second circuit board 320 is, for example, the upper plate, fixedly disposed relative to the rotor, and can rotate with the rotor. Data transmission from the upper plate to the lower plate can be referred to as downlink transmission or downlink communication; data transmission from the lower plate to the upper plate can be referred to as uplink transmission or uplink communication. Optionally, the lower plate can receive power from an external power source and supply power to the upper plate through the transmitting coil 330 and the receiving coil 340. It can also transmit data to the upper plate based on the principle of electromagnetic induction. This allows data transmission between the lower and upper plates without affecting the power supply from the lower plate to the upper plate, reducing the cost of the lidar. This disclosure does not limit the layout of the circuitry on the upper and lower plates. For example, in some embodiments, the upper plate may be equipped with a laser transmitting circuit, a laser receiving circuit, and a preprocessing circuit. For example, the control section and information processing section of the lidar's control and processing system can be located on either the upper or lower plate. For instance, in downlink transmission, the upper plate converts the echo into an electrical signal, which is then preprocessed and converted back into echo data before being sent to the lower plate. The lower plate then processes the echo into point cloud data and sends it to the lidar carrier. For example, during uplink transmission, the lower circuit board can access the registers of the upper circuit board or send an upgrade package to the upper circuit board for software or firmware upgrades; or, the lower circuit board can send control signaling to the upper circuit board to configure the upper circuit board's operating mode, etc. In some embodiments of this disclosure, data transmission from the first circuit board 310 to the second circuit board 320 can be achieved using the transmitting coil 330 and the receiving coil 340, and data transmission from the second circuit board 320 to the first circuit board 310 can be achieved using the transmitting coil 330 and the receiving coil 340, or optical communication can be used.

[0080] In some embodiments of this disclosure, the operating frequency of the transmitting coil 330 remains constant during data transmission. It should be noted that a constant operating frequency includes fluctuations within a certain range. For example, a constant operating frequency can mean that the operating frequency is stable within a certain range. By keeping the operating frequency of the transmitting coil 330 constant during data transmission, the impact on the power supply process from the first circuit board 310 to the second circuit board 320 via the transmitting coil 330 can be reduced, thus minimizing the impact of data transmission on power supply efficiency. In this way, data transmission and power supply can occur simultaneously without interference, resulting in high stability for both communication and power supply in the lidar. Optionally, the transmitting coil 330 can form a resonant circuit with other circuit elements (e.g., capacitors), and during data transmission, the operating frequency of the transmitting coil 330 can be maintained at the resonant frequency of the resonant circuit. Similarly, the receiving coil 340 can form a resonant circuit with other circuit elements (e.g., capacitors), and during data transmission, the operating frequency of the receiving coil 340 can be maintained at the resonant frequency of the resonant circuit.

[0081] Data can be converted into digital signals during transmission, which can be represented and transmitted using different values ​​of binary "0" and "1". In some embodiments of this disclosure, the transmitted data value includes a first value and a second value. The first value is, for example, "0", and the second value is, for example, "1". Alternatively, the first value is, for example, "1", and the second value is, for example, "0". The voltage across the transmitting coil 330 includes a first state and a second state. The first state can correspond to the first value, and the second state can correspond to the second value. In some embodiments of this disclosure, in the first state, the duration of the positive voltage across the transmitting coil 330 is the same as the duration of the negative voltage; in the second state, the duration of the positive voltage across the transmitting coil 330 is different from the duration of the negative voltage. The control circuit 350 is configured to control the voltage across the transmitting coil 330 to be in the first state when transmitting the first value; and to control the voltage across the transmitting coil 330 to be in the second state when transmitting the second value. Matched first and second duty cycles are used to determine the data transmission value as a first value; mismatched first and second duty cycles are used to determine the data transmission value as a second value. Matched first and second duty cycles mean, for example, that the first and second duty cycles are the same, similar, or that their difference is within a preset error range. It should be noted that "the same" includes both being completely identical and being identical within the error range. For example, the same duration of positive voltage and negative voltage includes both the positive and negative voltage durations being exactly the same, and the difference between the positive and negative voltage durations being within the allowable error range.

[0082] In some embodiments of this disclosure, the duty cycle refers, for example, to the proportion of a signal's effective time within one cycle, and its value may be expressed as a percentage. The effective time of a signal is, for example, the time during which the signal is at a high or low level. Please continue to refer to... Figure 3 In the diagram, 'a' represents the first end of the transmitting coil 330, 'b' represents the second end of the transmitting coil 330, 'c' represents the first end of the receiving coil 340, and 'd' represents the second end of the receiving coil 340. The voltage across the transmitting coil can be, for example, the voltage from end a to end b or from end b to end a. Taking the voltage from end a to end b as an example, based on the principle of electromagnetic induction, when the voltage across the transmitting coil 330 is positive, the voltage from end c to end d of the receiving coil 340 is negative. At this time, the first signal corresponding to end c is low, and the second signal corresponding to end d is high. When the voltage across the transmitting coil 330 is negative, the voltage from end c to end d of the receiving coil 340 is positive. At this time, the first signal corresponding to end c is high, and the second signal corresponding to end d is low. The first duty cycle of the first signal corresponding to end c is positively correlated with the duration of the negative voltage across the transmitting coil 330. The second duty cycle of the second signal corresponding to terminal d is positively correlated with the duration of a positive voltage across the transmitting coil 330. Thus, in the first state, the first and second duty cycles match; in the second state, they do not match. The transmitted data value can be determined by comparing whether the first and second duty cycles match. This implementation not only reuses the wireless power supply coil for data transmission but also achieves data transmission control through a simple circuit structure, reducing the cost of the lidar and providing good data transmission efficiency.

[0083] In some embodiments of this disclosure, the control circuit 350 can control the voltage state across the transmitting coil 330 by adjusting the signal at one end of the transmitting coil 330. For example, the voltage across the transmitting coil 330 can be controlled to a first state or a second state by adjusting the signal at the first end or the second end of the transmitting coil 330. Optionally, controlling the voltage across the transmitting coil 330 to be in the first state or the second state can be controlled by adjusting the signal at the same end, or by adjusting the signals at different ends. For example, when controlling the voltage across the transmitting coil 330 to be in the first state or the second state, the signal at the first end is adjusted, or the signal at the second end is adjusted. Furthermore, when controlling the voltage across the transmitting coil 330 to be in the first state, the signal at the first end (or the second end) is adjusted; when controlling the voltage across the transmitting coil 330 to be in the second state, the signal at the second end (or the first end) is adjusted. In other embodiments of this disclosure, the control circuit 350 can control the voltage state across the transmitting coil 330 by simultaneously adjusting the signals at the first end and the second end of the transmitting coil 330.

[0084] Figure 4 Example diagrams showing the voltage states across the transmitting coil and the signals across the receiving coil, consistent with some embodiments of this disclosure, are provided. Please refer to... Figure 4 T represents the period, which may include, for example, the period of the voltage signal across the transmitting coil 330, or the control period of the control circuit 350. When the voltage across the transmitting coil 330 is in the first state, the duration t1 of the positive voltage across the transmitting coil 330 is the same as the duration t2 of the negative voltage across the transmitting coil 330. Thus, in the first state, the duty cycle of the positive voltage across the transmitting coil 330 is 0%, and the duty cycle of the negative voltage across the transmitting coil 330 is 0%. When the voltage across the transmitting coil 330 is in the first state, the first duty cycle at terminal c of the receiving coil 340 is 0%, and the second duty cycle at terminal d is 0%. The first and second duty cycles are matched, and the data transmission value within the period T can be determined to be the first value. When the voltage across the transmitting coil 330 is in the second state, the duration t3 of the positive voltage across the transmitting coil 330 is different from the duration t4 of the negative voltage across the transmitting coil 330. Thus, in the second state, the duty cycle when the transmitting coil 330 is positively charged is (OP)%, and the duty cycle when the transmitting coil 330 is negatively charged is 0%. When the voltage across the transmitting coil 330 is in the second state, the first duty cycle at terminal c of the receiving coil 340 is 0%, and the second duty cycle at terminal d is (OP)%. Since the first and second duty cycles are mismatched, it can be determined that the data transmission value within period T is the second value.

[0085] In some embodiments of this disclosure, the period T also includes a safety time, also known as dead time. Please refer to [link / reference needed]. Figure 4 Within the safe time period, the voltages at both ends a and b of the transmitting coil 330 are at a low level, or one end is floating, or both ends are floating. Setting a safe time period provides a certain safety margin for the communication system circuit, reducing the risk of circuit abnormalities during voltage transitions between positive and negative voltages at the transmitting coil 330.

[0086] In some embodiments of this disclosure, the control circuit 350 is further configured to control the voltage across the transmitting coil 330 to a first state in an idle state. The idle state refers to a state in which the first circuit board 310 supplies power to the second circuit board 320 through the transmitting coil 330 and the receiving coil 340, but does not transmit data through the transmitting coil 330 and the receiving coil 340. When data transmission begins, the voltage across the transmitting coil 330 is controlled to a second state.

[0087] In some embodiments of this disclosure, the control circuit 350 is also configured to control the voltage across the transmitting coil 330 to be in a first state for a series of consecutive cycles when the data transmission ends.

[0088] The first and second states of the voltage across the transmitting coil 330 are only used to distinguish whether the time for which the voltage across the transmitting coil is positive or negative is the same, and do not limit the specific voltage value. For example, the voltage at the first and second ends of the transmitting coil can be the same or different. Furthermore, the magnitude of the voltage across the transmitting coil 330 can be the same or different in two different states during different transmission processes (e.g., transmission start, transmission process, transmission end). Also, the proportion of time for positive voltage across the transmitting coil 330 during different transmission processes (e.g., transmission start, transmission process, transmission end) can be the same or different. For example, during the transmission of the first value and in the idle state, the voltage across the transmitting coil is in the first state, but the magnitude of the voltage across the transmitting coil corresponding to the first state in these two scenarios can be the same or different, or the proportion of time for positive voltage can be the same or different. The first or second state in other different scenarios is similar. For examples, please refer to [link to relevant documentation]. Figure 3Let's assume the first duration is defined as the time during which the voltage at the first terminal (terminal a) of the transmitting coil 330 is higher than the voltage at the second terminal (terminal b) (the time during which the voltage across the transmitting coil is positive), and the second duration is defined as the time during which the voltage at the second terminal (terminal b) is higher than the voltage at the first terminal (terminal a) (the time during which the voltage across the transmitting coil is negative). The first and second states are distinguished only by whether the first and second durations are the same; there is no restriction on whether the first duration (or second duration) is the same during the idle state and when transmitting the first value. For example, the first duration of the idle state and the first duration during transmitting the first value can be the same or different. Similarly, the second duration of the idle state and the second duration during transmitting the first value can be the same or different. Likewise, there is no restriction on whether the first duration (or second duration) is the same at the start of transmission and when transmitting the second value. There is no restriction on whether the first duration (or second duration) is the same at the end of transmission and when transmitting the first value, and so on.

[0089] The operation of the above communication system is described below. Initially, the communication system is idle; the transmitter does not transmit data to the receiver, but only supplies power. At this time, the voltage across the transmitter coil 330 is in the first state. When data transmission begins, the control circuit 350 adjusts the voltage across the transmitter coil 330 to the second state. This change in voltage from the first state to the second state indicates the start of transmission. When data transmission ends, the control circuit 350 adjusts the voltage across the transmitter coil 330 back to the first state. This first state can be maintained for multiple consecutive cycles, thus distinguishing the transmission of a first value during data transmission. For example, maintaining the first state for multiple consecutive cycles or transmitting a first value for multiple cycles indicates the end of data transmission. The detection circuit 360 detects the first signal at the first end and the second signal at the second end of the receiver coil. The detection circuit 360 or subsequent circuits can use the detected first and second signals to determine the current transmission state, such as the start or end of transmission.

[0090] In other embodiments of this disclosure, a third state may be additionally set to identify the start of transmission, and a fourth state may be additionally set to identify the end of transmission. The difference between the third state and the first state may include a different proportion of time when the voltage across the transmitting coil is positive (or negative), or a different voltage magnitude, etc., which are not limited in the embodiments of this disclosure.

[0091] The communication method, which uses a second state identifier to indicate the start of transmission and a first state identifier to indicate the end of transmission, can achieve communication between the transmitter and receiver without additional states, thus reducing the complexity of data communication.

[0092] In some embodiments of this disclosure, during data transmission, the control circuit 350 is also configured to control the voltage state across the transmitting coil 330 to remain constant for multiple consecutive cycles.

[0093] During data transmission, factors such as the propagation time of electromagnetic waves in the air or signal attenuation may cause a certain delay in the voltage change across the receiving coil 340 compared to the voltage change across the transmitting coil 330. By controlling the voltage state across the transmitting coil 330 to remain constant for multiple consecutive cycles, the same transmitted data value can be repeatedly transmitted multiple times. This reduces data reading errors caused by the delay in voltage change across the receiving coil 340, improving the accuracy of data transmission. This embodiment does not limit the number of cycles in which the voltage state across the transmitting coil 330 remains constant, nor does it limit the number of times data is repeatedly transmitted. The number of cycles in which the voltage state across the transmitting coil 330 remains constant is related to the delay of the receiving coil 340 relative to the transmitting coil 330: a larger delay allows for an increase in the number of cycles in which the voltage state remains constant, while a smaller delay allows for a decrease in the number of cycles in which the voltage state remains constant. Optionally, a suitable number of cycles can be selected based on the delay of the receiving coil 340 relative to the transmitting coil 330. This reduces data reading errors caused by the delay in voltage change across the receiving coil 340, improving both data transmission accuracy and efficiency. Optionally, the number of cycles or the number of repeated transmissions may be in the range of 2 to 5, including boundary values.

[0094] For example, if the transmission is repeated three times, assuming the data to be transmitted includes binary "010", the data transmission is equivalent to transmitting binary "000111000". Optionally, the receiving end can determine the transmission value of the data based on the first signal and the second electrical signal detected at the first end of the receiving coil 340 in the first or last cycle, or based on the first signal and the second electrical signal detected at the first end of the receiving coil 340 in any intermediate cycle. Using the first signal and the second electrical signal detected at the first end of the receiving coil 340 in any intermediate cycle provides better accuracy. For example, when the transmission is repeated three times, the data transmission value can be determined by detecting the first duty cycle of the first signal and the second duty cycle of the second signal in the second cycle. As another example, the control circuit 350 can control the voltage state across the transmitting coil 330 to remain constant for five consecutive cycles. The receiving end can determine the data transmission value by detecting the first duty cycle of the first signal and the second duty cycle of the second signal in the second, third, or fourth cycle.

[0095] Figure 5A structural example diagram of a communication system consistent with some embodiments of this disclosure is shown. Please refer to... Figure 5 The control circuit 550 may include a first switching circuit 551 and a second switching circuit 552. The first switching circuit 551 is connected to a first terminal A of the transmitting coil 530 and is configured to control the duty cycle (referred to as the third duty cycle) of a signal (for distinction) at the first terminal A of the transmitting coil 530. The second switching circuit 552 is connected to a second terminal B of the transmitting coil 530 and is configured to control the duty cycle (referred to as the fourth duty cycle) of a signal (for distinction) at the second terminal B of the transmitting coil 530. When transmitting a first value, the third duty cycle and the fourth duty cycle are the same; when transmitting a second value, the third duty cycle and the fourth duty cycle are different.

[0096] In the above embodiments, data is transmitted by adjusting the duty cycle of the drive signal of the transmitting coil 530, and the data transmission value is determined by comparing the duty cycles of the signals at both ends of the receiving coil 540. Thus, data transmission can be achieved by reusing the wireless power supply coil through simple adjustment, greatly reducing the communication cost of the lidar and providing good data transmission accuracy.

[0097] The control circuit 550 controls the voltage across the transmitting coil 530 by controlling the third duty cycle of the third signal at the first end and the fourth duty cycle of the fourth signal at the second end. For example, when transmitting a first value, the third and fourth duty cycles are controlled to be the same, so that the voltage across the transmitting coil 530 is in a first state; when transmitting a second value, the third and fourth duty cycles are controlled to be different, so that the voltage across the transmitting coil 530 is in a second state. Similar to the above embodiment, the first state and the second state only distinguish whether the duty cycles of the signals at the two ends of the transmitting coil 530 are the same, and do not limit the magnitude of the duty cycles. For example, in the idle state, the third and fourth duty cycles are the same, assuming that the third duty cycle is P1 and the fourth duty cycle is P2; when transmitting the first value, the third and fourth duty cycles are the same, assuming that the third duty cycle is P3 and the fourth duty cycle is P4. P1 and P3 can be the same or different, and P2 and P4 can be the same or different. For example, at the start of transmission, the third and fourth duty cycles are different; let's assume the third duty cycle is P21 and the fourth duty cycle is P22. When transmitting the second value, the third and fourth duty cycles are different again; let's assume the third duty cycle is P23 and the fourth duty cycle is P24. P21 and P23 can be the same or different, and P22 and P24 can be the same or different. Similarly, when transmitting the first value, the third and fourth duty cycles are the same; let's assume the third duty cycle is P31 and the fourth duty cycle is P32. At the end of transmission, the third and fourth duty cycles are the same again; let's assume the third duty cycle is P33 and the fourth duty cycle is P34. P31 and P33 can be the same or different, and P32 and P34 can be the same or different.

[0098] For example, at the start of transmission, the third duty cycle is 45% and the fourth duty cycle is 49%. When transmitting the second value, the third duty cycle is 45% and the fourth duty cycle is 49%; or, the third duty cycle is 43% and the fourth duty cycle is 47%. For example, at the end of transmission, both the third and fourth duty cycles are 49%. When transmitting the first value, both the third and fourth duty cycles are 49%; or, both the third and fourth duty cycles are 47%. Through the above duty cycle control method, the switching between the first and second states can be flexibly achieved, no longer limited to a fixed duty cycle size.

[0099] Please continue to refer to this. Figure 5In some embodiments of this disclosure, a first switching circuit 551 is coupled to a first voltage U1 and a second voltage U2; a second switching circuit 552 is coupled to a third voltage U3 and a fourth voltage U4. The first voltage U1 is greater than the second voltage U2 and the fourth voltage U4, and the third voltage U3 is greater than the second voltage U2 and the fourth voltage U4. The first switching circuit 551 is configured to be coupled to a first control signal, and under the control of the first control signal, time-division multiplexes the first voltage U1 and the second voltage U2 to provide a third signal with a third duty cycle to the first terminal A of the transmitting coil 511. The second switching circuit 552 is configured to be coupled to a second control signal, and under the control of the second control signal, time-division multiplexes the third voltage U3 and the fourth voltage U4 to provide a fourth signal with a fourth duty cycle to the second terminal B of the transmitting coil 530.

[0100] When the first switching circuit 551 controls the voltage at the first terminal A to be the first voltage U1, and the second switching circuit 552 controls the voltage at the second terminal B to be the fourth voltage U4, the first voltage U1 is greater than the fourth voltage U4, current flows from the first terminal A to the second terminal B, and the voltage across the transmitting coil 530 is positive. When the first switching circuit 551 controls the voltage at the first terminal A to be the second voltage U2, and the second switching circuit 552 controls the voltage at the second terminal B to be the third voltage U3, the first voltage U1 is greater than the second voltage U2, current flows from the second terminal B to the first terminal A, and the voltage across the transmitting coil 530 is negative.

[0101] The first switching circuit 551 includes, for example, a first switch S1 and a second switch S2. The first control signal includes, for example, a first sub-control signal controlling the first switch S1 to be on or off, and a second sub-control signal controlling the second switch S2 to be on or off. Similarly, the second switching circuit 552 includes, for example, a third switch S3 and a fourth switch S4. The second control signal includes, for example, a third sub-control signal controlling the third switch S3 to be on or off, and a fourth sub-control signal controlling the fourth switch S4 to be on or off. The third sub-control signal may be the same as or different from the second sub-control signal; the fourth sub-control signal may be the same as or different from the first sub-control signal. Optionally, the fourth sub-control signal and the first sub-control signal may be, for example, the same control signal WPT_A; the third sub-control signal and the second sub-control signal may be, for example, the same control signal WPT_B. Thus, the structure and control logic of the control circuit 550 are simple, which can further reduce the cost of the lidar. In some embodiments of this disclosure, the first to fourth control sub-signals include, for example, pulse width modulation (PWM) signals. For example, control signal WPT_A includes a PWM signal, and control signal WPT_B includes a PWM signal. In this case, the voltage across the transmitting coil 530 can be controlled by adjusting the duty cycle of control signals WPT_A and WPT_B.

[0102] This disclosure does not limit the type of switch. For example, the first switch S1 to the fourth switch S4 include semiconductor switching devices. Semiconductor switching devices include, for example, N-type metal-oxide-semiconductor (NMOS) transistors, NPN transistors, or N-channel GaN (gallium nitride) transistors; or semiconductor switching devices include, for example, P-type metal-oxide-semiconductor (PMOS), PNP transistors, or P-channel GaN transistors.

[0103] In some embodiments of this disclosure, the first switch S1 and the second switch S2 are not turned on at the same time, which can prevent the occurrence of a direct current flow, that is, prevent the current from flowing directly from the high voltage end to the low voltage end without passing through the transmitting coil 530, for example, from the end coupled to the first voltage U1 to the end coupled to the second voltage U2, or from the end coupled to the third voltage U3 to the end coupled to the fourth voltage U4.

[0104] In some embodiments of this disclosure, the first voltage U1 is equal to the third voltage U3, and the second voltage U2 is equal to the fourth voltage U4. The first voltage U1 and the third voltage U3 can be provided by the same voltage source or by different voltage sources. Similarly, the second voltage U2 and the fourth voltage U4 can be provided by the same voltage source or by different voltage sources. When the same voltage is provided by the same voltage source, the wiring design of the circuit can be simplified, further reducing the complexity of the LiDAR communication system, and thus further reducing the cost of the LiDAR.

[0105] In some embodiments of this disclosure, the first voltage U1 and the third voltage U3 are, for example, high level (12V), and the second voltage U2 and the fourth voltage U4 are, for example, low level (0V). This disclosure does not limit the specific values ​​of the high and low levels, as long as the voltage levels can be distinguished and the data transmission value can be determined by detecting the high-level duty cycle of the first terminal A1 and the high-level duty cycle of the second terminal B1 of the receiving coil 540.

[0106] In some embodiments of this disclosure, the third duty cycle and the fourth duty cycle are not equal to 50%. When the third duty cycle and the fourth duty cycle are not equal to 50%, a certain safety time can be provided as a buffer within the transmission cycle. For example, when the signal at the first terminal A undergoes level switching, the first switch S1 and the second switch S2 may be turned on simultaneously due to the delay, causing the current to flow directly from the high voltage terminal to the low voltage terminal without passing through the transmitting coil 530, affecting circuit stability. Therefore, the voltage at the first terminal A can be allowed to float for a period of time, and the third duty cycle can be controlled to be not equal to 50%, so that the first switch S1 and the second switch S2 can both be turned off during the aforementioned time period, thereby improving circuit stability. Similarly, the fourth duty cycle of the second terminal B can be not equal to 50%. By setting the third duty cycle and the fourth duty cycle to be not equal to 50%, a certain amount of time can be reserved for a buffer safety time to improve circuit stability.

[0107] In some embodiments of this disclosure, the absolute value of the difference between the third duty cycle and 50% is less than or equal to 5%, and the absolute value of the difference between the fourth duty cycle and 50% is less than or equal to 5%. By limiting the third and fourth duty cycles to a range around 50%, the voltage across the transmitting coil 511 can be switched between the first and second states, or during data transmission, without significant signal fluctuations. This improves the overall stability of the communication system, ensuring that the power supply function of the communication system is unaffected by data transmission.

[0108] Figure 6 An example diagram showing the control signal and the signal at both ends of the receiving coil of a switching circuit consistent with some embodiments of this disclosure is provided. Please refer to the reference. Figure 5 and Figure 6Initially, the communication system is in an idle state; the transmitter does not transmit data to the receiver, but only provides power. The duty cycle of the first sub-control signal WPT_A at the first terminal of the transmitting coil 530 is 49%, and the duty cycle of the second sub-control signal WPT_B is 49%. The duty cycle of the fourth sub-control signal WPT_A at the second terminal B of the transmitting coil 530 is 49%, and the duty cycle of the third sub-control signal WPT_B is 49%. That is, the third duty cycle at the first terminal of the transmitting coil is 49%, and the fourth duty cycle at the second terminal of the transmitting coil is 49%. At this time, the high-level percentage at the first terminal A1 of the receiving coil 540 is approximately 49%, and the low-level percentage is approximately 51%, meaning the first duty cycle at the first terminal of the receiving coil 540 is 49%. The high-level percentage at the second terminal B1 of the receiving coil 540 is approximately 49%, and the low-level percentage is approximately 51%, meaning the second duty cycle at the second terminal of the receiving coil 540 is 49%. The duty cycles of the first signal at the first terminal A1 of the receiving coil 540 and the second signal at the second terminal B1 of the receiving coil 540 are close to or equal to each other, or in other words, the high-level pulse width of the first signal is close to or equal to the high-level pulse width of the second signal.

[0109] When data is to be transmitted at the transmitting end, i.e., when transmission begins, the transmitting end can first transmit a start signal, which may include, for example, a start bit. For an example, please refer to... Figure 6 The duty cycle of the control signal WPT_A corresponding to this start bit is 49%-X%, where the high level accounts for 49%-X% and the low level accounts for 51%+X%. This start bit can be transmitted repeatedly for N1 cycles, where N1 is a positive integer greater than or equal to 1. For example, N1∈[1,5].

[0110] When the value of the data to be transmitted is the first value, the duty cycle of the control signal WPT_A is 49%; when the value of the data to be transmitted is the second value, the duty cycle of the control signal WPT_A is 49%-X%. The same transmission value can be transmitted repeatedly for N2 cycles, where N2 is a positive integer greater than 1. For example, N1 ∈ (1, 5). N1 can be equal to N2 or not equal to N2. In this way, a certain degree of redundancy can be provided when there is a delay in the voltage change of the receiving coil 540 compared with the voltage change of the transmitting coil 530, reducing data reading errors and improving the accuracy of data transmission. The detection circuit 560 or the subsequent circuit 570 at the receiving end can determine the transmitted value based on the first signal at the first end A1 and the second signal at the second end B1 of the receiving coil 540 in any intermediate cycle. The determination method is the same as described in the above embodiment. For example, when the duty cycle of the first signal at end A1 and the duty cycle of the second signal at end A2 are both about 49%, it is determined that the first value has been received; when the duty cycle of the first signal at end A1 is about 49%-X%, and the duty cycle of the second signal at end B1 is about 49%, it is determined that the second value has been received.

[0111] Once data transmission is complete at the transmitting end, i.e., the transmission is finished, the transmitting end can send a stop signal, which may include, for example, a stop bit. For an example, please refer to [link to example]. Figure 6 The duty cycle of the control signal WPT_A corresponding to this stop bit is 49%, with 49% being high and 51% being low. This stop bit can be transmitted repeatedly for N3 cycles, where N3 is a positive integer greater than 1. For example, N3 ∈ (1, 8). N3 can be the same as or different from N1, and N3 can be the same as or different from N2. Setting N3 to be greater than N2 can reduce misjudgments of consecutive first values ​​and the end of transmission.

[0112] In some embodiments of this disclosure, X% is, for example, greater than or equal to 2% and less than or equal to 5%. If X% is too large, it may cause significant voltage fluctuations in the receiving coil; if X% is too small, it may cause misjudgment at the receiving end when determining the transmitted value due to the small difference in duty cycle. The above range of X% can reduce voltage fluctuations in the receiving coil 540 while meeting the duty cycle difference requirement. In other embodiments of this disclosure, X% may also take larger or smaller values.

[0113] exist Figure 6 In the example shown, only the duty cycle of the control signal WPT_A is adjusted to control different transmission values ​​or transmission states. In other embodiments, only the duty cycle of the control signal WPT_B can be adjusted to control different transmission values ​​or transmission states; alternatively, the duty cycles of both control signals WPT_A and WPT_B can be adjusted simultaneously to control different transmission values ​​or transmission states.

[0114] In some embodiments of this disclosure, control signals WPT_A and WPT_B are not simultaneously high. This prevents the switches at the same end of the transmitting coil 530 from being simultaneously turned on, reducing the likelihood of current flowing directly from the high-level end to the low-level end through the same-end switch instead of flowing through the transmitting coil 530. Optionally, the high-level percentage of the PWM signal can be set to be less than the low-level percentage (i.e., duty cycle less than 50%). This allows for a safety time even with a delay in switch control, significantly reducing the probability of the switches at the same end of the transmitting coil 530 being turned on simultaneously.

[0115] In some embodiments of this disclosure, the frequency of the control signal is the resonant frequency. Please continue to refer to... Figure 5 The circuit containing the transmitting coil 530 of the communication system can be equivalent to an LC resonant circuit. Figure 5 C1 in the circuit includes, for example, the equivalent capacitance or the actual capacitance, and L1 is the equivalent inductance of the transmitting coil 530. Similarly, the circuit containing the receiving coil 540 can be equivalent to an LC resonant circuit. Figure 5C2 in the figure includes, for example, the equivalent capacitance or actual capacitance, and L2 is the equivalent inductance of the receiving coil 540. The resonant frequencies of the transmitting and receiving ends are, for example, the same. The resonant frequency is the resonant frequency of the LC resonant circuit at the transmitting or receiving end.

[0116] Please continue to refer to this. Figure 5 In some embodiments of this disclosure, the detection circuit 560 includes, for example, a Schmitt trigger 561, which includes, for example, a first input terminal and a second input terminal. The first input terminal can be connected to the first terminal A1 of the receiving coil 540, and the second input terminal can be connected to the second terminal B1 of the receiving coil 540. The Schmitt trigger 561 shapes the first signal at the first terminal A1 and the second signal at the second terminal B1 and outputs them to the subsequent circuit 570. The subsequent circuit 570 is, for example, the processing circuit of a lidar control and processing system. The subsequent circuit 570 can determine the data transmission value based on the received shaped first and second signals.

[0117] Optionally, the first input of the Schmitt trigger 561 can receive a divided voltage signal of the first signal through a voltage divider circuit. This voltage divider circuit, for example, includes multiple resistors, such as a first resistor R1 and a second resistor R2 connected in series. The first resistor R1 is connected to the first terminal A1 of the receiving coil 540, and the second resistor R2 is grounded. The first input of the Schmitt trigger 561 is connected between the first resistor R1 and the second resistor R2. Similarly, the second input of the Schmitt trigger 561 can receive a divided voltage signal of the second signal through a voltage divider circuit. This voltage divider circuit, for example, includes multiple resistors, such as a third resistor R3 and a fourth resistor R4 connected in series. The third resistor R3 is connected to the first terminal B1 of the receiving coil 540, and the fourth resistor R4 is grounded. The second input of the Schmitt trigger 561 is connected between the third resistor R3 and the fourth resistor R4.

[0118] Figure 7 An example flowchart of a communication control method consistent with some embodiments of this disclosure is shown. This communication control method is used for a lidar system, which includes a first circuit board and a second circuit board, communicating with each other via a transmitting coil and a receiving coil. Please refer to... Figure 7 The communication control method includes:

[0119] S710 controls the transmitting coil to transmit radio frequency signals for powering the second circuit board;

[0120] The S720 controls the voltage across the transmitting coil to transmit data.

[0121] During data transmission, different voltage states can be used to transmit different data values.

[0122] Thus, while the first circuit board supplies power to the second circuit board, data transmission can be achieved by controlling the voltage across the transmitting coil. For example, different voltage states across the transmitting coil can characterize different transmitted data values. In this way, the functions of power supply and data transmission can be multiplexed using the transmitting and receiving coils. Compared to using optical communication for data transmission, this reduces the hardware configuration on the circuit board, enabling cost reduction and miniaturization of the lidar. Furthermore, controlling the voltage across the transmitting coil for data transmission, compared to modulation schemes such as frequency modulation used for data transmission, has a simpler circuit structure, simpler control logic, lower cost, and better transmission accuracy. Compared to optical communication, this communication system reduces mutual interference between the two optical communication paths during bidirectional communication between the two circuit boards, reducing the complexity of the lidar's structural design and decreasing its size. Moreover, during data transmission, the change in magnetic flux can be largely constrained between the transmitting and receiving coils, resulting in better confidentiality of the lidar's internal communication and improving the security of lidar communication.

[0123] The communication control of the transmitting end can be referred to the description in the above embodiments.

[0124] For example, in some embodiments of this disclosure, the operating frequency of the transmitting coil remains constant during data transmission. It should be noted that a constant operating frequency includes fluctuations within a certain range. For instance, a constant operating frequency can mean that the operating frequency is stable within a specific range.

[0125] For example, in some embodiments of this disclosure, the transmitted data value includes a first value and a second value, and the voltage across the transmitting coil includes a first state and a second state. The process of controlling the voltage across the transmitting coil to transmit data may include: when transmitting the first value of the data, controlling the voltage across the transmitting coil to be in the first state; and when transmitting the second value of the data, controlling the voltage across the transmitting coil to be in the second state. In the first state, the duration of the positive voltage and the duration of the negative voltage across the transmitting coil are the same; in the second state, the duration of the positive voltage and the duration of the negative voltage across the transmitting coil are different.

[0126] Figure 8 An example flowchart of another communication control method consistent with some embodiments of this disclosure is shown. Please refer to... Figure 8 The above communication control methods may also include:

[0127] S810: In the idle state, the voltage across the transmitting coil is controlled to be in the first state;

[0128] S820: When data transmission begins, the voltage across the transmitting coil is controlled to the second state.

[0129] Please continue to refer to this. Figure 8 In some embodiments of this disclosure, the above communication control method further includes:

[0130] S830: At the end of data transmission, the voltage across the transmitting coil is controlled to the first state for multiple consecutive cycles.

[0131] In some embodiments of this disclosure, step S720 above, which controls the voltage across the transmitting coil to transmit data, may include: providing a signal with a third duty cycle to the first end of the transmitting coil and a signal with a fourth duty cycle to the second end of the transmitting coil, to control the voltage across the transmitting coil.

[0132] In some embodiments of this disclosure, during data transmission, the voltage across the transmitting coil is kept constant for multiple consecutive cycles to achieve repeated transmission of the same data value.

[0133] In some embodiments of this disclosure, the absolute difference between the third duty cycle and 50% is less than or equal to 5%, and the absolute difference between the fourth duty cycle and 50% is less than or equal to 5%, to improve circuit stability.

[0134] Figure 9 An example flowchart of a data processing method consistent with some embodiments of this disclosure is shown. This data processing method is used for a lidar system, which includes a first circuit board and a second circuit board. The first and second circuit boards communicate with each other via a transmitting coil and a receiving coil. Please refer to... Figure 9 The data processing method includes:

[0135] S910, determine the first signal, the first signal comes from the first end of the receiving coil;

[0136] S920, determine the second signal, the second signal comes from the second end of the receiving coil;

[0137] S930, determine the data transmission value or transmission status based on the first duty cycle of the first signal and the second duty cycle of the second signal.

[0138] In this way, the functions of power supply and data transmission can be multiplexed using the transmitting and receiving coils. Compared to using optical communication for data transmission, this reduces the hardware configuration on the circuit board, enabling cost reduction and miniaturization of the lidar. Furthermore, controlling the voltage across the transmitting coil to transmit data offers a simpler circuit structure, simpler control logic, lower cost, and better transmission accuracy compared to modulation schemes such as frequency modulation used for data transmission. Compared to optical communication, this communication system reduces mutual interference between the two optical communication paths during bidirectional communication between two circuit boards, lowering the complexity of the lidar's structural design and reducing its size. Moreover, during data transmission, changes in magnetic flux can be largely confined between the transmitting and receiving coils, resulting in better confidentiality of the lidar's internal communication and improving its security.

[0139] For information on data detection at the receiving end, please refer to the description in the above embodiments.

[0140] For example, in some embodiments of this disclosure, the transmitted data value includes a first value and a second value. Determining the transmitted data value based on a first duty cycle of the first signal and a second duty cycle of the second signal may include: determining the transmitted data value as the first value when the first duty cycle and the second duty cycle match. Matching the first duty cycle and the second duty cycle includes, for example, that the absolute value of the difference between the first duty cycle and the second duty cycle is less than a first threshold, or that the absolute value of the difference between the first duty cycle and the second duty cycle is equal to the first threshold, indicating that the first duty cycle and the second duty cycle match or do not match. Embodiments of this disclosure do not limit the size of the first threshold; the first threshold can be set with a tolerance value based on the actual error generated by the circuit.

[0141] In some embodiments of this disclosure, the transmitted data value includes a first value and a second value. Determining the transmitted data value based on a first duty cycle of the first signal and a second duty cycle of the second signal may include: when the first duty cycle and the second duty cycle do not match, determining the transmitted data value as the second value. A mismatch between the first duty cycle and the second duty cycle may include, for example, that the absolute value of the difference between the first duty cycle and the second duty cycle is greater than a second threshold. If the absolute value of the difference between the first duty cycle and the second duty cycle is equal to the second threshold, it can be considered that the first duty cycle and the second duty cycle match or do not match. Embodiments of this disclosure do not limit the size of the second threshold; the first threshold can be set with a tolerance value based on the actual error generated by the circuit.

[0142] In some embodiments of this disclosure, determining the data transmission state based on a first duty cycle of a first signal and a second duty cycle of a second signal may include: determining the start of data transmission when the first duty cycle and the second duty cycle change from matched to mismatched. For example, in an idle state, determining the start of data transmission when the absolute value of the difference between the first duty cycle and the second duty cycle is greater than or equal to a second threshold. The second threshold may be the same as or different from the first threshold, and this disclosure does not impose any limitations.

[0143] In some embodiments of this disclosure, determining the data transmission state based on a first duty cycle of a first signal and a second duty cycle of a second signal may further include: determining the end of data transmission when the first duty cycle and the second duty cycle match within a series of consecutive periods. For example, determining the end of data transmission when the absolute value of the difference between the first duty cycle and the second duty cycle is greater than, less than, or equal to a first threshold within a series of consecutive periods.

[0144] This disclosure also provides a data transmission device for lidar. The data transmission device includes, for example, a first circuit board, a transmitting coil, and a control circuit. The transmitting coil is electrically connected to or disposed on the first circuit board and configured to couple with a receiving coil; wherein the first circuit board supplies power to a second circuit board and transmits data to the second circuit board through the transmitting and receiving coils; the control circuit is disposed on the first circuit board, electrically connected to the transmitting coil, and configured to control the voltage across the transmitting coil to transmit data during data transmission.

[0145] This disclosure also provides a data receiving device for lidar. The data receiving device includes a second circuit board, a receiving coil, and a detection circuit. The receiving coil is electrically connected to or disposed on the second circuit board and configured to be coupled to a transmitting coil; wherein the second circuit board receives power from a first circuit board through the receiving coil and the transmitting coil, and receives data from the first circuit board. The detection circuit is disposed on the second circuit board and electrically connected to the receiving coil, configured to detect a first signal at a first end and a second signal at a second end of the receiving coil, wherein a first duty cycle of the first signal and a second duty cycle of the second signal are used to determine the data transmission value or transmission state.

[0146] This disclosure also provides a communication control device for a lidar. The lidar includes a first circuit board and a second circuit board, which communicate with each other via a transmitting coil and a receiving coil. Figure 10 A structural example diagram of a communication control device consistent with some embodiments of this disclosure is shown. Please refer to... Figure 10The communication control device 1000 may include an interface 1010 and a processor 1020. The interface 1010 is configured to be electrically connected to a transmitting coil, and the processor 1020 is configured to execute the communication control method provided in any of the above embodiments.

[0147] This disclosure also provides a data processing apparatus for a lidar system. The lidar system includes a first circuit board and a second circuit board, which communicate with each other via a transmitting coil and a receiving coil. Figure 11 A structural example diagram of a data processing apparatus consistent with some embodiments of this disclosure is shown. Please refer to... Figure 11 The data processing device 1100 may include an interface 1110 and a processor 1120. The interface 1110 is configured to be electrically connected to a receiving coil, and the processor 1120 is configured to execute the data processing method provided in any of the above embodiments.

[0148] In this disclosure, "connection" includes direct or indirect connection between objects: connected objects can be directly connected through a medium (e.g., wires, traces, etc.), or indirectly connected through other components, or can be an internal connection. "Coupling" includes signal connection between objects, which can be achieved directly through a medium (e.g., wires, traces, etc.), or through other components. "Grounding" includes direct grounding or indirect grounding, with indirect grounding including, for example, grounding through other components.

[0149] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as "first," "second," etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects. Furthermore, ordinal numbers do not represent the quantity of related objects. For example, "first lidar" may include one lidar or multiple lidars.

[0150] "Multiple" includes two or more, and other classifiers are similar.

[0151] The terms "or" and "and / or" in this disclosure are used to describe relationships between related objects, indicating a non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone," "B alone," or "A and B," where "A" and "B" can include a single object or multiple objects. Similarly, "A, B and / or C," "A, B or C," and "A, B and C" can both include: "A alone," "B alone," "C alone," "A and B," "A and C," "B and C," or "A, B and C," where "A," "B," and "C" can include a single object or multiple objects. Additionally, the " / " in this disclosure is used to indicate an "or" relationship between preceding and following related objects. The meanings of "at least one of A or B" and "one or more of A and B" in this disclosure are the same as the meaning of "A or B" above. The meanings of "one or more of A, B, and C" and "at least one of A, B, or C" are the same as the meaning of "A, B, or C" above. The meaning of "one or more of A, B, and C" is the same as the meaning of "A, B, or C" above.

[0152] The term "identical" in this disclosure includes both complete identicalness and identicalness within the allowable margin of error. For example, A and B being identical includes both A and B being completely identical and A and B differing within the allowable margin of error.

[0153] The term "equal to" in this disclosure includes exact equality and equality within a tolerance range. For example, "A equals B" includes both exact equality between A and B and equality within a tolerance range between A and B.

[0154] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. A communication system for a lidar, characterized by, The communication system comprises: a transmitting coil and a receiving coil, a first circuit board of the lidar and a second circuit board of the lidar transmit data through the transmitting coil and the receiving coil, and the first circuit board supplies power to the second circuit board through the transmitting coil and the receiving coil; a control circuit arranged on the first circuit board and electrically connected with the transmitting coil, configured to transmit data by controlling the voltage across the transmitting coil; a detection circuit arranged on the second circuit board and electrically connected with the receiving coil, configured to detect a first signal at a first end of the receiving coil and a second signal at a second end of the receiving coil, a first duty cycle of the first signal and a second duty cycle of the second signal being used to determine the transmission value of the data.

2. The communication system of claim 1, wherein, The operating frequency of the transmitting coil is constant during the data transmission.

3. The communication system according to claim 1 or 2, characterized by The difference between the equivalent inductances of the transmitting coil and the receiving coil is less than or equal to 20%.

4. The communication system of claim 3, wherein, The control circuit controls the voltage across the transmitting coil by changing the duty cycle of a pulse control signal.

5. The communication system according to any of claims 1-4, characterized in that, The transmission value of the data includes a first value and a second value; The voltage across the transmitting coil includes a first state and a second state; in the first state, the time length of the positive voltage across the transmitting coil is the same as the time length of the negative voltage, and in the second state, the time length of the positive voltage across the transmitting coil is different from the time length of the negative voltage; The control circuit is configured to control the voltage across the transmitting coil to be in the first state when transmitting the first value, and control the voltage across the transmitting coil to be in the second state when transmitting the second value; The matched first duty cycle and the second duty cycle are used to determine that the transmission value of the data is the first value, and the unmatched first duty cycle and the second duty cycle are used to determine that the transmission value of the data is the second value.

6. The communication system of claim 5, wherein, The control circuit is further configured to control the voltage across the transmitting coil to be in the first state in an idle state, and control the voltage across the transmitting coil to be in the second state when the data transmission starts.

7. The communication system according to claim 5 or 6, characterized by The control circuit is further configured to control the voltage across the transmitting coil to be in the first state for a plurality of consecutive periods when the data transmission ends.

8. The communication system of any of claims 5-7, wherein, The control circuit comprises: a first switch circuit connected with a first end of the transmitting coil and configured to control a third duty cycle of a third signal at the first end of the transmitting coil; a second switch circuit connected with a second end of the transmitting coil and configured to control a fourth duty cycle of a fourth signal at the second end of the transmitting coil; wherein the third duty cycle and the fourth duty cycle are the same when transmitting the first value, and the third duty cycle and the fourth duty cycle are different when transmitting the second value.

9. The communication system of claim 8, wherein, The first switch circuit is coupled with a first voltage and a second voltage, and the second switch circuit is coupled with a third voltage and a fourth voltage; wherein the first voltage is greater than the second voltage and the fourth voltage, and the third voltage is greater than the second voltage and the fourth voltage. The first switch circuit is configured to be coupled with a first control signal, and under the control of the first control signal, the first voltage and the second voltage are conducted in time to provide the third signal with the third duty cycle to the first end of the transmitting coil. The second switch circuit is configured to be coupled with a second control signal, and under the control of the second control signal, the third voltage and the fourth voltage are conducted in time to provide the fourth signal with the fourth duty cycle to the second end of the transmitting coil.

10. The communication system of claim 9, wherein, The first voltage is equal to the third voltage, and the second voltage is equal to the fourth voltage.

11. A communication system according to any of claims 8-10, characterised in that The third duty cycle and the fourth duty cycle are not equal to 50%.

12. The communication system of claim 11, wherein, The absolute value of the difference between the third duty cycle and 50% is less than or equal to 5%, and the absolute value of the difference between the fourth duty cycle and 50% is less than or equal to 5%.

13. The communication system of any of claims 1-12, wherein, During the transmission of the data, the control circuit is further configured to control the state of the voltage across the transmitting coil to remain unchanged in a plurality of consecutive periods.

14. A communication control method for a laser radar, characterized by, The communication control method comprises: controlling the transmitting coil to transmit a radio frequency signal for powering a second circuit board; controlling the voltage across the transmitting coil to transmit data; The laser radar comprises a first circuit board and the second circuit board, and the first circuit board and the second circuit board communicate through the transmitting coil and a receiving coil.

15. The communication control method according to claim 14, characterized by, The operating frequency of the transmitting coil is unchanged during the transmission of the data.

16. The communication control method according to claim 14 or 15, characterized by, The transmission value of the data comprises a first value and a second value; and the voltage across the transmitting coil comprises a first state and a second state. The control of the voltage across the transmitting coil to transmit data comprises: when the first value is transmitted, the voltage across the transmitting coil is controlled to be in the first state; and when the second value is transmitted, the voltage across the transmitting coil is controlled to be in the second state. In the first state, the time length of the positive voltage and the time length of the negative voltage across the transmitting coil are the same, and in the second state, the time length of the positive voltage and the time length of the negative voltage across the transmitting coil are different.

17. The communication control method according to claim 16, wherein Further comprising: in an idle state, the voltage across the transmitting coil is controlled to be in the first state; at the beginning of the transmission of the data, the voltage across the transmitting coil is controlled to be in the second state.

18. The communication control method according to claim 16 or 17, characterized by, Further comprising: at the end of the transmission of the data, the voltage across the transmitting coil is controlled to be in the first state in a plurality of consecutive periods.

19. The communication control method according to any one of claims 14-18, characterized by, The control of the voltage across the transmitting coil to transmit data comprises: providing a signal with a third duty cycle to the first end of the transmitting coil and providing a signal with a fourth duty cycle to the second end of the transmitting coil to control the voltage across the transmitting coil.

20. The communication control method according to claim 19, wherein The absolute value of the difference between the third duty cycle and 50% is less than or equal to 5%, and the absolute value of the difference between the fourth duty cycle and 50% is less than or equal to 5%.

21. The communication control method according to any one of claims 14-20, characterized by, Further comprising: during the transmission of the data, the state of the voltage across the transmitting coil is controlled to remain unchanged in a plurality of consecutive periods.

22. A data processing method for a lidar, characterized by, The data processing method comprises: determining a first signal, the first signal being from the first end of the receiving coil; determining a second signal from a second end of the receiving coil; determining a transmission value or a transmission state of the data according to a first duty cycle of the first signal and a second duty cycle of the second signal; wherein the lidar includes a first circuit board and a second circuit board, the first circuit board and the second circuit board being in communication through a transmitting coil and the receiving coil.

23. The data processing method according to claim 22, characterized in that, The transmission value of the data includes a first value and a second value; and determining the transmission value of the data according to the first duty cycle of the first signal and the second duty cycle of the second signal includes: determining the transmission value of the data as the first value when the first duty cycle and the second duty cycle match.

24. The data processing method of claim 22, wherein, The transmission value of the data includes a first value and a second value; and determining the transmission value of the data according to the first duty cycle of the first signal and the second duty cycle of the second signal includes: determining the transmission value of the data as the second value when the first duty cycle and the second duty cycle do not match.

25. The data processing method according to claim 23 or 24, characterized in that, determining a transmission state of the data according to the first duty cycle of the first signal and the second duty cycle of the second signal includes: determining the transmission of the data to start when the first duty cycle and the second duty cycle change from matching to not matching.

26. The data processing method of claim 25, wherein, determining a transmission state of the data according to the first duty cycle of the first signal and the second duty cycle of the second signal includes: determining the transmission of the data to end when the first duty cycle and the second duty cycle match for a plurality of consecutive cycles.

27. A lidar, comprising: including the communication system of any one of claims 1-13.

28. A vehicle characterized by, including: a body; the lidar of claim 27 mounted on the body.

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