Communication system for lidar, lidar, and vehicle

Abstract

A lidar and a vehicle. The lidar comprises a base (210), an optical cover (220), a main shaft (230), a rotary mount (240), a first circuit board (261), a second circuit board (262), a transmitting circuit board, and a receiving circuit board. The base (210) is configured to support mounting of internal components of the lidar. The optical cover (220) is snap-fitted onto the base (210), and allows for transmission of light at the working wavelength of the lidar. The main shaft (230) is provided on the base (210). The rotary mount (240) is rotatably connected to the main shaft (230). The first circuit board (261) is provided on the rotary mount (240), and the second circuit board (262) is provided on the base (210). The first circuit board (261) is arranged parallel to the second circuit board (262). The second circuit board (262) is provided with an interface circuit for external communication. A wireless communication device is provided in the main shaft (230). The wireless communication device is configured to implement communication between the first circuit board (261) and the second circuit board (262). The transmitting circuit board and the receiving circuit board are arranged above the rotary mount (240). A laser is provided on the transmitting circuit board, and a detector is provided on the receiving circuit board. The laser includes a vertical cavity surface emitting laser. The detector includes a single photon avalanche diode.

Description

Communication systems for lidar, lidar and carriers

[0001] This disclosure claims priority to Chinese patent applications filed on July 14, 2024, entitled "LiDAR and Vehicle," application number 202410943663.0, 2024; Chinese patent applications filed on July 14, 2024, entitled "LiDAR and Vehicle," application number 202410942298.1, 2024; Chinese patent applications filed on July 14, 2024, entitled "LiDAR and Vehicle," application number 202421665973.2, 2024; and Chinese patent applications filed on July 14, 2024, entitled "LiDAR and Vehicle," application number 202521159519.4. Priority claims to the following Chinese patent applications are included in this disclosure: priority claims to Chinese patent application No. 202410942311.3, filed on July 14, 2024, entitled "LiDAR and Vehicle", application No. 202421666076.3, filed on July 14, 2024, entitled "Communication System for LiDAR, LiDAR and Vehicle", application No. 202411244545.7, filed on September 5, 2024, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0002] This disclosure relates to the field of optical detection technology, and more particularly to lidar and its carriers. Background Technology

[0003] Optical detection technology uses light as a medium for object detection. Compared to ordinary light sources, lasers possess characteristics such as monochromaticity and good directionality, making them a widely recognized medium for object detection. For example, LiDAR (Light Detection and Ranging) uses lasers as a medium for object detection, and it has found applications in fields such as autonomous driving, industrial manufacturing, drones, robot recognition, geographic mapping, and environmental monitoring. However, the applicability of LiDAR is still limited by cost and size. Summary of the Invention

[0004] This disclosure provides a communication system, a lidar, and a carrier for lidar, in order to reduce the cost or size of lidar.

[0005] In a first aspect, a lidar is provided, comprising a base, a photomask, a spindle, a rotating frame, a first circuit board, a second circuit board, a transmitting circuit board, and a receiving circuit board. The base is configured to support the mounting of the lidar's internal components. The photomask is mounted on the base, allowing light of the lidar's operating wavelength to pass through. The spindle is mounted on the base. The rotating frame is rotatably connected to the spindle. The first circuit board is mounted on the rotating frame, and the second circuit board is mounted on the base. The first and second circuit boards are arranged parallel to each other. The second circuit board has an interface circuit for external communication. A wireless communication device is disposed within the spindle. The wireless communication device is configured to enable communication between the first and second circuit boards. The transmitting and receiving circuit boards are disposed above the rotating frame. A laser is disposed on the transmitting circuit board, and a detector is disposed on the receiving circuit board. The laser includes a vertical-cavity surface-emitting laser (VCSEL). The detector includes a single-photon avalanche diode (SPDB).

[0006] Optionally, the transmitting circuit board includes a laser transmitting circuit, and the receiving circuit board includes a laser receiving circuit. The transmitting circuit board is electrically connected to the first circuit board, and the receiving circuit board is electrically connected to the first circuit board.

[0007] Optionally, the first circuit board includes at least one of a processing circuit, a second control circuit, or a third control circuit. The processing circuit is configured to generate point cloud data. The second control circuit is configured to control the laser emitting circuit. The third control circuit is configured to control the laser receiving circuit.

[0008] Optionally, the second control circuit is configured to generate a first control signal and send the first control signal to the laser emitting circuit. The laser emitting circuit is configured to drive the laser to emit laser light according to the first control signal. The third control circuit is configured to generate a second control signal and send the second control signal to the laser receiving circuit. The laser receiving circuit is configured to select a detector according to the second control signal so that the detector receives the echo. The detector selected and the laser emitting the laser within the same time window correspond to the same sub-field of view.

[0009] Optionally, the lidar also includes a support structure and a sensor. The support structure extends along the main axis. The sensor includes an interferometer and a sensing element. The interferometer is disposed at the end of the support structure, and the sensing element is disposed opposite to the interferometer. When the rotating frame rotates relative to the base, the interferometer interferes with the sensing signal of the sensing element, thus changing the output signal of the sensing element.

[0010] Optionally, the interference element includes an encoder. The encoder includes multiple code tracks arranged circumferentially at the ends of the support. The sensing element includes a photoelectric sensing element.

[0011] Optionally, the lidar also includes a wireless power supply. The wireless power supply includes a transmitting coil and a receiving coil. The transmitting coil is mounted on the base, and the receiving coil is mounted on the rotating frame.

[0012] Optionally, the lidar also includes an optomechanical structure, which is positioned above the rotating frame. The optomechanical structure includes an end face that is angled relative to the rotating frame.

[0013] Optionally, the lidar further includes a driving device. The driving device is configured to drive a rotating frame to rotate. The driving device includes a first magnetic element and a second magnetic element. The first magnetic element is fixed relative to the base, and the second magnetic element is disposed on the rotating frame. Under the influence of a magnetic field, the second magnetic element rotates relative to the first magnetic element. Alternatively, the second magnetic element is fixed relative to the base, and the first magnetic element is disposed on the rotating frame. Under the influence of a magnetic field, the first magnetic element rotates relative to the second magnetic element.

[0014] Optionally, the second magnetic element is disposed inside the first magnetic element.

[0015] Secondly, a lidar is provided, including a base, a main shaft, a rotating frame, a drive device, and a first circuit board. The main shaft is mounted on the base. The rotating frame is rotatably connected to the main shaft. The drive device is configured to drive the rotating frame to rotate, and the drive device includes a first magnetic component and a second magnetic component. The first magnetic component is fixedly mounted relative to the base, and the second magnetic component is mounted on the rotating frame. Under the action of a magnetic field, the second magnetic component drives the rotating frame to rotate around the main shaft, and the magnetic field includes a first magnetic field of the first magnetic component and a second magnetic field of the second magnetic component. The first circuit board is mounted on the rotating frame and includes a first control circuit configured to control the second magnetic component to generate the second magnetic field.

[0016] The base of a lidar system houses structures such as a main shaft. Compared to the upper compartment of the lidar, the base has less usable space. The lidar disclosed in this invention mounts the magnetic field control unit of the drive device and the controlled magnetic components on a rotatable frame, thus moving the magnetic field control function to the upper compartment of the lidar. This upward movement of the control function allows for better utilization of the lidar's internal space, reducing its size and increasing its integration.

[0017] Optionally, the first circuit board may further include one or more of the following circuits: a processing circuit configured to generate point cloud data; a second control circuit configured to control the laser emitting circuit of the lidar; and a third control circuit configured to control the laser receiving circuit of the lidar.

[0018] Optionally, a second magnetic element is provided on the side of the rotating frame facing the base.

[0019] Optionally, the first circuit board is located on the side of the rotating frame away from the base.

[0020] Optionally, the lidar may also include a wireless power supply. The wireless power supply includes a transmitting coil and a receiving coil, which are arranged opposite each other along the radial direction of the main axis.

[0021] Optionally, the receiving coil is electrically connected to the first circuit board, and the transmitting coil is electrically connected to the second circuit board, which is mounted on the base. The second circuit board includes a fourth control circuit configured to control the transmission power of the transmitting coil.

[0022] Optionally, the lidar also includes a third circuit board mounted on the base. The third circuit board includes interface circuitry configured to communicate with a data receiving device to transmit point cloud data to the data receiving device.

[0023] Optionally, the second circuit board includes an interface circuit configured to communicate with a data receiving device to transmit point cloud data to the data receiving device.

[0024] Optionally, the lidar also includes an encoder and a reader. The encoder is fixed relative to the base. The reader is mounted on the rotating frame and faces the encoder. The reader is electrically connected to a first circuit board, and its output signal is used to indicate the rotation angle of the rotating frame.

[0025] Optionally, the lidar's mount, spindle, and base can all be made of metal.

[0026] Optionally, the lidar also includes a mounting bracket disposed on the base and configured to secure the first magnetic element.

[0027] Optionally, the fastener includes at least two fastening sections evenly distributed around the spindle.

[0028] Optionally, the fixing portion in at least two fixing sections includes a first surface and a second surface. The edge of the first magnetic element facing the base is disposed on the first surface, and the outer edge of the first magnetic element rests on the second surface. The fixing portion is provided with a glue groove, which is located in one or more of the following positions: on the first surface, on the second surface, or between the first and second surfaces.

[0029] Optionally, the base and spindle can be molded as a single unit.

[0030] Thirdly, a lidar system is provided, comprising a base, a main shaft, a rotating frame, a support member, and a sensor. The main shaft is mounted on the base. The rotating frame is rotatably connected to the main shaft. The bottom of the support member is mounted on the base, and the support member extends towards the rotating frame. The sensor includes an interferometer and a sensing element. The interferometer is mounted on the support member, and the sensing element is mounted on the rotating frame. When the rotating frame rotates relative to the main shaft, the interferometer interferes with the sensing of the sensing element, changing the output signal of the sensing element.

[0031] By designing the support components and rotating frame, the vertical space inside the lidar can be better utilized, improving the compactness of the internal structure and reducing the lidar's size, thus facilitating its miniaturization. The support components extend towards the rotating frame, allowing their tops to align with it. This facilitates the placement of sensing elements on the rotating frame, simplifying the lidar's assembly process.

[0032] Optionally, the interference element includes an encoder. The encoder includes multiple code tracks arranged circumferentially on top of the support. The sensing element includes a photoelectric sensing element.

[0033] Optionally, the encoder and support are molded as a single unit.

[0034] Optionally, the rotating frame has an opening, a sensing element is disposed in the opening, and one end of the sensing element extends into the support member inside the opening.

[0035] Optionally, the lidar also includes a wireless power supply unit, which comprises a transmitting coil and a receiving coil. The transmitting coil is mounted on a support, and the receiving coil is mounted on a rotating frame. The transmitting and receiving coils are arranged radially opposite each other along the main shaft.

[0036] Optionally, the lidar also includes a first circuit board and a second circuit board. The first circuit board is mounted on a rotating frame, and the receiving coil is electrically connected to the first circuit board. The second circuit board is mounted on a base, and the transmitting coil is electrically connected to the second circuit board.

[0037] Optionally, the first circuit board also includes a sensing circuit that is electrically connected to a sensing element.

[0038] Optionally, the transmitting coil is wound around the outer wall of the support.

[0039] Optionally, the rotating frame includes an extension. The extension extends toward the base, and a receiving coil is wound around the outer wall of the extension.

[0040] Optionally, the lidar also includes a magnetic structure disposed on the extension. A receiving coil is wound around the outer wall of the magnetic structure.

[0041] Optionally, the lidar also includes a driving device configured to drive a rotating frame. The driving device includes a first magnetic element and a second magnetic element. The first magnetic element is fixed relative to the base, and the second magnetic element is disposed on the rotating frame. Under the influence of a magnetic field, the second magnetic element rotates relative to the first magnetic element. Alternatively, the second magnetic element is fixed relative to the base, and the first magnetic element is disposed on the rotating frame. Under the influence of a magnetic field, the first magnetic element rotates relative to the second magnetic element.

[0042] Optionally, the second magnetic element is disposed on the inner or outer side of the support element.

[0043] Fourthly, a lidar is provided, including a base and a spindle. The base includes a first mounting portion and a second mounting portion. The first mounting portion is located in the outer periphery of the base and is used to mount the lidar's photomask. The second mounting portion is located inside the first mounting portion. A sealing groove is provided on the first mounting portion, surrounding the second mounting portion, and a first sealing element is provided within the sealing groove. The spindle is mounted on the second mounting portion, and a rotating bracket is provided on the spindle, rotatably connected to the spindle, with the spindle protruding from the base.

[0044] Optionally, the height of one or more of the first mounting portion or the second mounting portion is less than or equal to the first threshold.

[0045] Optionally, the first threshold includes 20 millimeters.

[0046] Optionally, the sealing groove matches the shape of the first seal.

[0047] Optionally, one or both of the outer and inner walls of the first seal may be provided with multiple raised structures.

[0048] Optionally, multiple raised structures are evenly distributed on the outer wall of the first seal. Alternatively, multiple raised structures are evenly distributed on the inner wall of the first seal. Or, multiple raised structures are evenly distributed on both the inner and outer walls of the first seal.

[0049] Optionally, the lidar also includes a cable, and the side wall of the first mounting part is provided with a first opening. A circuit board is mounted on the second mounting part, the first end of the cable is electrically connected to the circuit board, and the second end of the cable extends out of the base through the first opening.

[0050] Optionally, the lidar also includes a second seal having a through hole. The first mounting portion further includes a receiving structure protruding from the first opening. The receiving structure has a receiving groove and a second opening, the second opening being opposite to the first opening. The second seal is disposed in the receiving groove. A first end of the cable passes through the second opening, the through hole, and the first opening, and is fixed to the second mounting portion.

[0051] Optionally, the cable is interference-fitted with the through hole, and the second seal is interference-fitted with the receiving groove.

[0052] Optionally, the receiving groove and the sealing groove are connected. The first seal and the second seal are integrally formed.

[0053] Optionally, the first mounting portion includes a main body and a plurality of flanges. The main body is disposed outside the second mounting portion, and the plurality of flanges extend outward from the outer side wall of the main body and are spaced apart circumferentially on the main body.

[0054] Optionally, the receiving structure is located between the first and second flanges of the plurality of flanges.

[0055] Optionally, the lidar also includes a mounting component. The mounting component, disposed on the second mounting portion, is a fixing magnetic component configured to fix the lidar's drive unit. The rotating bracket is configured to mount the rotating magnetic component of the drive unit.

[0056] Optionally, the fastener includes at least two fastening sections, which are evenly distributed around the spindle.

[0057] Optionally, the base and spindle can be molded as a single unit.

[0058] Optionally, the base can be made of metal, and the light cover can be made of plastic.

[0059] Fifthly, a communication system for a lidar is provided, the communication system including a transmitting coil, a receiving coil, a fifth control circuit, and a detection circuit. A second circuit board and a first circuit board of the lidar transmit data through the transmitting and receiving coils, and the second circuit board supplies power to the first circuit board through the transmitting and receiving coils. The fifth control circuit is disposed on the second circuit board and electrically connected to the transmitting coil. The fifth control circuit is configured to transmit data by controlling the voltage across the transmitting coil. The detection circuit is disposed on the first circuit board and electrically connected to the receiving coil. The detection circuit is configured to detect a first signal at a first end 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 are used to determine the transmitted data value.

[0060] The communication system utilizes wireless power supply coils (including transmitting and receiving coils) to power the second circuit board to the first circuit board, as well as to facilitate data communication between the two circuit boards. Using transmitting and receiving coils for power supply and data transmission reduces the amount of hardware required for the lidar, leading to cost reduction and miniaturization. Furthermore, the fifth control circuit transmits data by controlling the voltage across the transmitting coil, offering advantages over modulation schemes like frequency modulation for data transmission, including a simpler circuit structure, 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.

[0061] Optionally, the operating frequency of the transmitting coil remains unchanged during data transmission.

[0062] Optionally, the difference in equivalent inductance between the transmitting coil and the receiving coil is less than or equal to 20%.

[0063] Optionally, the fifth control circuit controls the voltage across the transmitting coil by changing the duty cycle of the pulse control signal.

[0064] 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. In the first state, the duration of the positive voltage across the transmitting coil is the same as the duration of the negative voltage. In the second state, the duration of the positive voltage across the transmitting coil is different from the duration of the negative voltage. The fifth control circuit is configured to control the voltage across the transmitting coil to be in the first state when transmitting the first value. The fifth control circuit is also configured to control the voltage across the transmitting coil to be in the second state when transmitting the second value. Matched first and second duty cycles are used to determine the transmitted data value as the first value, and mismatched first and second duty cycles are used to determine the transmitted data value as the second value.

[0065] Optionally, the fifth control circuit is also 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.

[0066] Optionally, the idle state means that the second circuit board supplies power to the first circuit board, but does not transmit data.

[0067] Optionally, the fifth 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.

[0068] Optionally, the fifth control circuit includes a first switching circuit and a second switching circuit. The first switching circuit is connected to a first end of the transmitting coil and is configured to control the third duty cycle of a third signal at the first end of the transmitting coil. The second switching circuit is connected to a second end of the transmitting coil and is configured to control the fourth duty cycle of a fourth signal at the second end of the transmitting coil. When transmitting a first value, the third and fourth duty cycles are the same; when transmitting a second value, the third and fourth duty cycles are different.

[0069] 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. The first voltage is greater than the second and fourth voltages, and the third voltage is greater than the second and fourth voltages. The first switching circuit is configured to be coupled to a first control signal, and under the control of the first control signal, time-division multiplexes the first and second voltages to provide a third signal with a third duty cycle to a first terminal 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-division multiplexes the third and fourth voltages to provide a fourth signal with a fourth duty cycle to a second terminal of the transmitting coil.

[0070] Optionally, the first voltage is equal to the third voltage, and the second voltage is equal to the fourth voltage.

[0071] Optionally, the third duty cycle and the fourth duty cycle are not equal to 50%.

[0072] 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%.

[0073] Optionally, the first switching circuit includes a first switch and a second switch, wherein the first switch and the second switch are not simultaneously turned on. The second switching circuit includes a third switch and a fourth switch, wherein the third switch and the fourth switch are not simultaneously turned on.

[0074] Optionally, during data transmission, the fifth control circuit is also configured to control the voltage state across the transmitting coil to remain constant for multiple consecutive cycles.

[0075] A sixth aspect provides a data transmission device for lidar. The data transmission device includes a second circuit board, a transmitting coil, and a fifth control circuit. The transmitting coil is electrically connected to or disposed on the second circuit board and configured to couple with a receiving coil. The second circuit board supplies power to a first circuit board via the transmitting and receiving coils and transmits data to the first circuit board. The fifth control circuit is disposed on the second circuit board and electrically connected to the transmitting coil. The fifth control circuit is configured to control the voltage across the transmitting coil to transmit data during data transmission.

[0076] A seventh aspect provides a data receiving device for lidar. The data receiving device includes a first circuit board, a receiving coil, and a detection circuit. The receiving coil is electrically connected to or disposed on the first circuit board and configured to be coupled to a transmitting coil. The first circuit board receives power from a second circuit board via the receiving and transmitting coils and receives data from the second circuit board. The detection circuit is disposed on the first circuit board and electrically connected to the receiving coil. The detection circuit is configured to detect a first signal at a first end 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 are used to determine the data transmission value or transmission state.

[0077] Eighthly, 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 first circuit board; controlling the voltage across the transmitting coil to transmit data; wherein the lidar includes a second circuit board and a first circuit board, the second circuit board and the first circuit board communicating through a transmitting coil and a receiving coil.

[0078] Optionally, the operating frequency of the transmitting coil remains unchanged during data transmission.

[0079] 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: controlling the voltage across the transmitting coil to be in the first state when transmitting the first value; and controlling the voltage across the transmitting coil to be in the second state when transmitting the second value. In the first state, the duration of the positive voltage and the duration of the negative voltage across the transmitting coil are the same, while in the second state, the duration of the positive voltage and the duration of the negative voltage across the transmitting coil are different.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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%.

[0084] 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.

[0085] A ninth aspect provides a data processing method for a lidar, the data processing method comprising: determining a first signal, the first signal originating from a first end of a receiving coil; determining a second signal, the second signal originating from a second end of the 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. The lidar includes a second circuit board and a first circuit board, the second circuit board and the first circuit board communicating via a transmitting coil and a receiving coil.

[0086] Optionally, 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 includes: determining the transmitted data value as the first value when the first duty cycle and the second duty cycle match.

[0087] Optionally, 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 includes: when the first duty cycle and the second duty cycle do not match, determining the transmitted data value as the second value.

[0088] Optionally, determining the data transmission state based on the first duty cycle of the first signal and the second duty cycle of the second signal includes: determining the start of data transmission when the first duty cycle and the second duty cycle change from matched to mismatched.

[0089] 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.

[0090] In a tenth aspect, a communication control device for a lidar is provided. The lidar includes a second circuit board and a first 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 seventh aspect above.

[0091] Eleventhly, a data processing apparatus for a lidar is provided. The lidar includes a second circuit board and a first 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 being configured to be electrically connected to the receiving coil, and the processor being configured to perform the data processing method provided in the eighth aspect above.

[0092] In a twelfth aspect, a lidar is provided, including the communication system provided in the fourth aspect above.

[0093] In a thirteenth aspect, a vehicle is also provided, including a connecting device and any one of the above-mentioned lidar, wherein the lidar is mounted on the vehicle via the connecting device. Attached Figure Description

[0094] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be introduced as examples below. The accompanying drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The accompanying drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure.

[0095] Figure 1 shows an example block diagram of a lidar consistent with some embodiments of the present disclosure;

[0096] Figure 2 shows an example structural diagram of a lidar consistent with some embodiments of the present disclosure;

[0097] Figure 3 shows an example exploded view of a lidar consistent with some embodiments of this disclosure;

[0098] Figure 4 shows a structural example of the internal components of a lidar consistent with some embodiments of this disclosure;

[0099] Figure 5 shows a structural example of a lidar frame and a second magnetic component consistent with some embodiments of this disclosure from one view.

[0100] Figure 6 shows a structural example of a lidar frame and a second magnetic component consistent with some embodiments of the present disclosure from another perspective.

[0101] Figure 7 shows a cross-sectional example of some components of a lidar consistent with some embodiments of the present disclosure;

[0102] Figure 8 shows a structural example of a support member consistent with some embodiments of this disclosure;

[0103] Figure 9 shows an example of a support member mounted on a base, consistent with some embodiments of this disclosure;

[0104] Figure 10 shows an example of mounting a first magnetic element on a fixture, consistent with some embodiments of the present disclosure;

[0105] Figure 11 shows a partial cross-sectional example of a fixing part consistent with some embodiments of the present disclosure;

[0106] Figure 12 shows a structural example of a lidar base consistent with some embodiments of this disclosure;

[0107] Figure 13 shows an example diagram of a sealing structure consistent with some embodiments of the present disclosure;

[0108] Figure 14 shows an example diagram of another sealing structure consistent with some embodiments of this disclosure;

[0109] Figure 15 shows an example diagram of another sealing structure consistent with some embodiments of the present disclosure.

[0110] Figure 16 shows an example block diagram of another lidar system consistent with some embodiments of this disclosure.

[0111] Figure 17 shows an example block diagram of a communication system consistent with some embodiments of this disclosure.

[0112] Figure 18 shows an example block diagram of a communication system for a lidar that is consistent with some embodiments of this disclosure.

[0113] Figure 19 shows an example diagram of the voltage state at both ends of the transmitting coil and the signal at both ends of the receiving coil, consistent with some embodiments of this disclosure.

[0114] Figure 20 shows a structural example of a communication system consistent with some embodiments of this disclosure.

[0115] Figure 21 shows an example diagram of the control signal and the signal at both ends of the receiving coil of a switching circuit consistent with some embodiments of this disclosure.

[0116] Figure 22 shows an example flowchart of a communication control method consistent with some embodiments of this disclosure.

[0117] Figure 23 shows an example flowchart of another communication control method consistent with some embodiments of this disclosure.

[0118] Figure 24 shows an example flowchart of a data processing method consistent with some embodiments of this disclosure.

[0119] Figure 25 shows a structural example of a communication control device consistent with some embodiments of this disclosure.

[0120] Figure 26 shows a structural example of a data processing apparatus consistent with some embodiments of this disclosure. Detailed Implementation

[0121] To more clearly illustrate the technical solutions in 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 merely 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.

[0122] To keep the drawings simple, each figure only schematically shows the parts related to the corresponding embodiment. They do not represent the actual structure of the product, and there may be more or fewer structures or parts in reality.

[0123] The terms "installation," "setting up," and "connection" should be interpreted broadly. For example, "installation" can mean direct installation or installation through other components; "setting up" can mean direct setting or setting through other components; and "connection" can mean direct connection or connection through other components.

[0124] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) are relative rather than absolute when describing the structure or movement of the various components, and are not intended to limit the direction of the product during actual use.

[0125] LiDAR (Light Detection and Ranging) uses laser light as a medium for object detection and can be applied in fields such as autonomous driving, industrial manufacturing, 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. LiDAR can be mounted on vehicles to provide them with perception data (e.g., point cloud data). Vehicles can then use this perception data to perform analysis, decision-making, or control functions. Vehicles can include vehicles, manufacturing terminals, ships, aircraft (e.g., flying vehicles or drones), robots (e.g., industrial robots or home robots), or surveying equipment.

[0126] Figure 1 shows an example block diagram of a lidar consistent with some embodiments of this disclosure. Referring to Figure 1, lidar 100 includes a laser emitting circuit 110, a laser receiving circuit 120, an optical system 130, and a control and processing system 140. Optionally, lidar 100 may also include a scanning system 150. For example, mechanical lidar or semi-solid-state lidar includes a scanning system. In some embodiments, scanning system 150 may include a scanner 151 and a driving device 152, the driving device 152 being used to drive the scanner 151 to rotate, so that the laser can achieve scanning of 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 emission path of the laser. Furthermore, the laser echo can be incident on the scanner and guided to the light receiving path. Embodiments of this disclosure do not limit the type of scanner; the scanner may include, but is not limited to, rotating mirrors, tilting mirrors, galvanometers, or other devices that can change the orientation of the laser beam in the environment. In some embodiments, scanning system 150 may include a rotating platform. For example, one or more of the laser emitting circuit, laser receiving circuit, or optical system can be set on the rotating platform, so that as the rotating platform rotates, scanning of one or all of the vertical or horizontal field of view can be achieved.

[0127] The laser emitting circuit 110 emits a laser beam. When the laser beam encounters object 001, it is reflected by the surface of object 001. The reflected light returned to the lidar 100 is called an echo. The laser receiving circuit 120 receives the echo and converts it into an electrical signal. After preprocessing, the electrical signal yields echo data, which can be provided to the control and processing system 140. The control and processing system 140 processes the echo data to obtain sensing data (e.g., point cloud data). The control and processing system 140 can then transmit the sensing data to a vehicle, which can use the sensing data to perform analysis, decision-making, or control functions.

[0128] The laser emitting circuit 110 includes a driving circuit 112 and a laser 111. Driven by the driving circuit 112, the laser 111 emits laser light, which exits through the optical system 130. The laser 111 may include at least one of a semiconductor laser, a fiber laser, or other types of lasers. The semiconductor laser may include at least one of a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a distributed feedback laser (DFB), or similar devices. The above are merely examples, and the embodiments disclosed herein do not limit the type of laser.

[0129] The laser receiving circuit 120 includes a detector 121 and a preprocessing circuit 122. The optical system 130 can focus the echo onto the photosensitive surface of the detector 121. The detector 121 can convert the optical signal into an electrical signal using the photoelectric effect. The detector 121 may include at least one of the following: 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.

[0130] Preprocessing can also be referred to as analog front-end processing. For example, preprocessing may include one or more of amplification, filtering, and digitization. Preprocessing circuit 122 can also be referred to as analog front-end circuit. For example, preprocessing circuit 122 may include one or more of amplification circuit, filtering circuit, and digitization circuit. Amplification circuit may include an amplifier that amplifies the electrical signal converted by the detector. Filtering circuit may include a filter used to filter out noise or interference. Digitization circuit may include one or more of an analog-to-digital converter (ADC) or a time-to-digital converter (TDC). For example, an ADC periodically samples the detector output signal to convert the analog electrical signal into a digital signal representing the echo waveform, obtaining echo data. Alternatively, the electrical signal converted by the detector can be converted (e.g., the converted voltage signal is compared with a reference voltage to generate an over-threshold signal) and provided to the TDC. The TDC then measures the echo arrival time to obtain echo data. Echo data may include data reflecting echo time and / or echo intensity.

[0131] The optical system 130 may include a transmitting optical element and a receiving optical element. The transmitting optical element, located in the laser emission path (hereinafter referred to as the emission optical path), is used to shape the laser emitted by the laser and adjust its exit path. The receiving optical element, located in the laser reception path (hereinafter referred to as the reception optical path), is used to collect the echo reflected back from the object and converge the echo onto the photosensitive surface of the detector. For example, the transmitting optical element may include one or more optical elements such as a mirror, lens, beam splitter, homogenizer, or beam splitter. For example, the receiving optical element may include one or more optical elements such as a mirror, lens, beam splitter, or filter. The transmitting and receiving optical elements may be independent, partially multiplexed, or fully multiplexed. For example, in a coaxial transmit / receive lidar, the optical system 130 may include independent transmitting and receiving optical elements. For example, independent transmitting and receiving lenses. The optical system 130 may also include optical elements shared by the transmitting and receiving optical paths. For example, a beam splitter (or beam splitter) is used to separate the transmitting and receiving optical paths. For example, a shared lens is used to shape or adjust the light beam in the transmitting and receiving optical paths.

[0132] The control and processing system 140 can be used to process echo data to obtain sensing data. The control and processing system 140 can also be used to send control signals to the drive circuit to control the drive circuit to drive the laser to emit light. When the lidar 100 includes a scanning system 150, the control and processing system 140 can also be used to control the scanning system 150. In some embodiments, the control and processing system 140 may include one or more processors. Processors include, but are not limited to, one or more of the following: application-specific integrated circuits (ASICs), hardware circuits implemented with programmable logic devices (PLDs), microcontroller units (MCUs), microprocessor units (MPUs), digital signal processors (DSPs), or central processing units (CPUs). Hardware circuits implemented with PLDs may include field-programmable gate arrays (FPGAs). When the control and processing system 140 includes multiple processors, the types of processors may be the same or different. For example, the control and processing system 140 may include MCUs and FPGAs. For example, the control and processing system 140 may include an MCU, an FPGA, and a DSP. Or, for another example, the control and processing system 140 may include a CPU and an FPGA. When the control and processing system 140 includes multiple processors, these processors may be configured separately, partially integrated, or fully integrated. For example, the control and processing system 140 may be implemented as a system-on-chip (SOC) or an ASIC.

[0133] LiDAR includes numerous components, such as optical elements, electronic devices, and mechanical parts. This disclosure describes the design of the mechanical components or electromechanical structure of the LiDAR, resulting in a lower cost or a more compact structure, thus reducing the limitations imposed by cost or size on its application range.

[0134] Figure 2 shows an example structural diagram of a lidar consistent with some embodiments of the present disclosure. Figure 3 shows an example exploded view of a lidar consistent with some embodiments of the present disclosure. In some embodiments, referring to Figures 2 and 3, the lidar 200 includes a base 210 and a photomask 220. The base 210 supports the internal components of the lidar 200, such as optical elements, electronic devices, and mechanical parts. The photomask 220 is fastened to the base 210 to protect the internal components of the lidar 200. The photomask 220 can also be referred to as a housing, and it can be made wholly or partially of a light-transmitting material (e.g., light-transmitting glass or light-transmitting plastic). The photomask 220 may be provided with an anti-reflection coating to improve the transmittance of laser light. The photomask 220 can allow light of the lidar's operating wavelength to pass through, for example, light with wavelengths around 905nm, 940nm, 1310nm, or 1550nm to pass through. The photomask 220 may also be provided with a filter film to at least partially block the transmission of visible light. In some embodiments, the photomask 220 includes a main body and a window. The main body may be made of a non-transparent material with high mechanical strength, and the window is made of a transparent material. An anti-reflection coating may be provided in the window area, allowing laser light to pass through and return through the window. In some embodiments, the photomask 220 as a whole is made of a transparent material, and an anti-reflection coating may be provided on the entire photomask 220. In this way, the laser light can be emitted from the photomask 220 over a larger range, which is beneficial to improving the field of view of the lidar 200. In some embodiments, the connecting portion for mounting the photomask 220 to the base 210 is made of a material with high mechanical strength or adopts a structurally reinforced design. This can enhance the structural strength of the photomask 220, increase the connection stability between the base 210 and the photomask 220, and reduce the probability of damage to the photomask 220. The embodiments disclosed herein do not limit the material and structure of the photomask 220. For example, the photomask may include one or more of metal, plastic, alloy, glass, or other composite materials.

[0135] In some embodiments of this disclosure, the lidar 200 includes a base 210, a spindle 230, and a rotating frame 240. The spindle 230 is disposed on the base 210, and the rotating frame 240 is rotatably connected to the spindle 230. This allows the rotating frame to rotate relative to the base, thereby enabling the lidar to scan the field of view in at least one dimension.

[0136] In some embodiments of this disclosure, the driving device of the lidar is configured to improve the integration of the lidar and reduce its cost and size. Referring to Figure 3, the lidar 200 includes a base 210, a main shaft 230, a rotating frame 240, a driving device 250, and a first circuit board 261. The main shaft 230 is mounted on the base 210, and the rotating frame 240 is rotatably connected to the main shaft 230. The driving device 250 can drive the rotating frame 240 to rotate. The driving device 250 includes a first magnetic element 251 and a second magnetic element 252. The first magnetic element 251 is fixed relative to the base 210, and the second magnetic element 252 is mounted on the rotating frame 240. Under the action of a magnetic field, the second magnetic element 252 drives the rotating frame 240 to rotate around the main shaft 230. The magnetic field includes a first magnetic field of the first magnetic element 251 and a second magnetic field of the second magnetic element 252. Alternatively, the second magnetic element 252 is fixed relative to the base 210, and the first magnetic element 251 is mounted on the rotating frame 240. Under the influence of the magnetic field, the first magnetic component 251 can rotate relative to the second magnetic component 252.

[0137] In some embodiments, a first circuit board 261 is disposed on a rotating frame 240. The first circuit board 261 may include a first control circuit, which can control the second magnetic component 252 to generate a second magnetic field.

[0138] A magnetic component refers to an element, assembly, or object that can generate or respond to a magnetic field or store energy in a magnetic field. A magnetic component may be magnetic when energized, or it may be made of a magnetic material. This disclosure does not limit the structure or type of the magnetic component; for example, a magnetic component may include, but is not limited to, coil structures (e.g., printed circuit board coils or windings), magnets made of conductors or magnetic materials, etc. In some embodiments, the first magnetic component 251 includes a magnet, and the second magnetic component 252 includes, for example, a coil structure that generates a magnetic field when energized. A first control circuit can change the magnetic field by altering the magnitude or direction of the current flowing through the coil. The magnetic field of the magnet and the magnetic field of the coil structure interact, driving the coil structure to rotate. The first magnetic component 251 and the second magnetic component 252 in FIG3 are merely illustrative, and this disclosure does not impose any limitations on the structure of the first magnetic component 251 and the second magnetic component 252. For example, the first magnetic component 251 may include a one-piece permanent magnet or a segmented permanent magnet. For example, the first magnetic element 251 may include a coil structure, which may include a core and a coil wound on the core. The core is used to increase the magnetic flux of the magnetic field generated when the coil is energized. Alternatively, the first magnetic element 251 may include a coil structure, which may include a coreless structure. Using a permanent magnet in the first magnetic element 251 can reduce the number of electronic components in the lidar, thus reducing the cost and size of the lidar. In some embodiments, the second magnetic element 252 may employ a magnetically conductive structure that generates a magnetic field when energized. For example, the second magnetic element 252 includes a coil structure, which may include a core and a coil wound on the core. Alternatively, the second magnetic element 252 includes a coil structure, which may include a coreless structure. In some embodiments, the second magnetic element 252 may include a permanent magnet. This disclosure does not limit the shape of the first magnetic element 251 and the second magnetic element 252; they can be regular or irregular shapes, with outlines including, for example, circles, arcs, rectangles, ellipses, or racetrack shapes. This disclosure does not impose any limitation on the number of the first magnetic element 251 and the second magnetic element 252, and there can be one or more of them. The number of the first magnetic element 251 and the number of the second magnetic element 252 can be the same or different.

[0139] In the embodiments of this disclosure, a second magnetic component 252 and a first control circuit for controlling the magnetic field of the second magnetic component 252 are mounted on a rotating frame 240. The first magnetic component 251 is fixedly mounted relative to the base 210. When the second magnetic component 252 is energized, it generates a magnetic field, which interacts with the magnetic field of the first magnetic component 251 to generate a torque, thereby driving the second magnetic component 252 to rotate. When the second magnetic component 252 rotates, it causes the rotating frame 240 to rotate relative to the base 210 or the main shaft 230. The base of the lidar is equipped with structures such as a main shaft, and the base portion of the lidar has less usable space compared to the upper compartment of the lidar. The lidar provided in this disclosure mounts the magnetic field control part of the driving device and the controlled magnetic component on a rotatable rotating frame, thereby moving the magnetic field control function to the upper compartment of the lidar. This upward movement of the control function allows for better utilization of the internal space of the lidar, reducing its size and improving its integration.

[0140] Furthermore, moving the control functions upwards can reduce the pressure on uplink transmission. For example, the internal structure of a lidar system can include an upper and lower compartment. The lower compartment can house a lower circuit board, and the upper compartment can house an upper circuit board. Transmission from the lower circuit board to the upper circuit board is called uplink transmission, and transmission from the upper circuit board to the lower circuit board is called downlink transmission. Moving the control functions upwards allows more interaction between control circuits to be concentrated on the upper circuit board, and this can be achieved using on-board communication, reducing the need for uplink transmission and thus lowering the pressure on uplink transmission.

[0141] In some embodiments of this disclosure, the first circuit board 261 (also referred to as the upper control circuit board) may further include one or more of a processing circuit, a second control circuit, and a third control circuit. The processing circuit is configured to generate point cloud data. The second control circuit is configured to control the laser emitting circuit of the lidar. The third control circuit is configured to control the laser receiving circuit of the lidar. For example, referring to FIG1, the second control circuit generates a first control signal and sends the first control signal to the driving circuit of the laser emitting circuit 110, and the driving circuit drives the laser to emit laser light under the control of the first control signal. As another example, the laser receiving circuit 120 includes a gating circuit, the third control circuit generates a second control signal and sends the second control signal to the gating circuit of the laser receiving circuit 120, and the gating circuit selects the detector under the control of the second control signal to receive the echo. The detector selected and the laser emitting laser light within the same time window may correspond to the same sub-field of view. For example, the laser receiving circuit 120 includes a readout circuit. A third control circuit generates a third control signal and sends the third control signal to the readout circuit of the laser receiving circuit 120. Under the control of the third control signal, the readout circuit reads out the echo signal from the detector. The detector read out within the same time window and the laser emitting the laser can correspond to the same sub-field of view. Moving more control or processing functions to the upper compartment of the lidar can make full use of the upper compartment space of the lidar, which is beneficial to reducing the overall size of the lidar.

[0142] In some embodiments, the first circuit board 261 may integrate one or more of a sensing circuit, a processing circuit, a first control circuit, a second control circuit, and a third control circuit. This reduces the number of circuit boards in the LiDAR, improving the integration of the LiDAR's control and processing system. A smaller number of circuit boards also reduces the overall vertical height of the LiDAR unit. Furthermore, interaction between circuits can be achieved using on-board communication, simplifying the connection design and reducing costs. Moving more control and processing functions to the upper compartment also reduces the pressure on uplink data transmission.

[0143] The optical system of the lidar includes an optomechanical structure 270, which is disposed above the rotating frame 240. In some embodiments, the lidar may further include a transmitting circuit board and a receiving circuit board, with the laser transmitting circuit and the laser receiving circuit all or partly disposed on the transmitting circuit board. In some embodiments, the lidar may further include a transmitting and receiving circuit board, with the laser transmitting circuit and the laser receiving circuit all or partly disposed on the transmitting and receiving circuit board. In some embodiments, the laser transmitting circuit or the laser receiving circuit may be all or partly disposed on the first circuit board 261. The laser transmitting circuit board, the laser receiving circuit board, or the laser transmitting and receiving circuit board may be disposed on the optomechanical structure 270 or on the rotating frame 240. Disposing both the second and third control circuits on the first circuit board 261 allows the second and third control circuits to be closer to the laser transmitting circuit and the laser receiving circuit, simplifying the connection design between the control circuit and the controlled part.

[0144] Optionally, the processing circuit, the first control circuit, the second control circuit, and the third control circuit can all be housed on the first circuit board 261. This allows functions such as laser emission control, laser reception control, drive device control, and data processing to be centralized on the same circuit board. This reduces the number of circuit boards in the lidar, improves the integration of the lidar's control and processing system, reduces costs, and simplifies assembly. Furthermore, a smaller number of circuit boards also reduces the overall vertical height of the lidar unit. Moving more control and processing power to the upper compartment also reduces the pressure on uplink transmission.

[0145] Optionally, the lidar may also include a lower compartment circuit board, which is mounted on the base 210. The lower compartment circuit board may have an interface circuit for external communication to transmit point cloud data. Alternatively, the lower compartment circuit board may also receive control information, upgrade commands, upgrade packages, or configuration parameters from the vehicle's controller or a remote server.

[0146] Figure 4 shows a structural example of the internal components of a lidar consistent with some embodiments of this disclosure. Referring to Figures 3 and 4, a second magnetic element 252 is disposed on the side of the rotating frame 240 facing the base 210. This increases the weight under the rotating frame 240, lowering the overall center of gravity of the lidar, reducing the torque during scanning, and improving the stability of the lidar.

[0147] In some embodiments of this disclosure, the first circuit board 261 may be disposed on the side of the rotating frame 240 away from the base 210. No space needs to be reserved for the spindle on the side of the rotating frame 240 away from the base 210. Disposing the first circuit board 261 on the side of the rotating frame 240 away from the base 210 allows for a larger circuit board area. This facilitates the integration of more functions onto a single circuit board and reduces the number of circuit boards required.

[0148] Figure 5 shows a structural example of a lidar frame and a second magnetic component consistent with some embodiments of this disclosure from one view. Figure 6 shows a structural example of a lidar frame and a second magnetic component consistent with some embodiments of this disclosure from another view. Referring to Figures 5 and 6, the frame 240 includes, for example, a support portion 241 and an extension portion 242. The support portion 241 and the extension portion 242 can be integrally formed or separately formed and then fixedly connected together. The extension portion 242 can be rotatably connected to the main shaft 230. For example, a bearing can be provided in the extension portion 242, and the extension portion 242 is rotatably connected to the main shaft 230 through the bearing. The support portion 241 is disposed above the extension portion 242, and the cross-sectional area of ​​the support portion 241 in the direction perpendicular to the main shaft 230 can be larger than the cross-sectional area of ​​the extension portion 242.

[0149] In some embodiments, the first circuit board 261 is disposed on the side of the support portion 241 away from the extension portion 242, and the second magnetic element 252 is disposed on the side of the support portion 241 facing the extension portion 242. This lowers the overall center of gravity of the rotating frame 240 and the components disposed on it, reducing torque during rotation, improving structural stability and load-bearing capacity, and making the lidar more stable during scanning. The rotating frame 240 structure shown in Figures 5 and 6 is merely an example. This disclosure does not limit the shape or structure of the rotating frame 240; for example, the vertical cross-sectional shape of the rotating frame 240 can be T-shaped, trapezoidal, or rectangular, etc.

[0150] In some embodiments of this disclosure, a bracket 243 may be provided on the rotating frame 240, and the bracket 243 may be used to mount the second magnetic element 252. In some embodiments, there may be multiple second magnetic elements 252, and multiple second magnetic elements 252 may be disposed on the bracket 243. Optionally, multiple second magnetic elements 252 may be evenly spaced on the outer side wall of the bracket 243. Optionally, multiple second magnetic elements 252 may be disposed independently or integrally formed. For example, the core of multiple second magnetic elements 252 may be integrally formed, and the coil structure of multiple second magnetic elements 252 may be disposed on the core. In some embodiments, the second magnetic element 252 includes a coil and a silicon steel sheet, and the coil is wound on the silicon steel sheet. In some embodiments, the second magnetic element 252 may include a permanent magnet.

[0151] In some embodiments of this disclosure, the spindle 230 and the base 210 can be integrated into a single unit. For example, the base 210 is integrally formed with the spindle 230. This reduces the number of independent components of the lidar and the assembly process of the lidar. Optionally, the spindle 230 can be slotted to accommodate communication cables or wireless communication devices, enabling communication (e.g., uplink or downlink communication) between the upper circuit board (e.g., the first circuit board 261) and the lower circuit board (e.g., the second circuit board 262 or the third circuit board).

[0152] In some embodiments of this disclosure, the support 243 may be made of plastic. This can further reduce the cost of the lidar. Furthermore, using plastic facilitates a lightweight design of the rotating frame 240, reducing the support force required for the spindle 230 and providing better adaptability to the integrated structure of the spindle 230 and base 210. In some embodiments, the rotating frame 240 may be made of other lighter materials, such as aluminum alloy. In some embodiments, the optomechanical structure 270 may also adopt a lightweight design; for example, some or all of the optical components in the optomechanical structure 270 may be made of materials such as plastic, and the mechanical structure may be made of lighter alloys or plastics.

[0153] Figure 7 shows a cross-sectional example of some components of a lidar consistent with some embodiments of this disclosure. Referring to Figures 3 and 7, in some embodiments of this disclosure, the rotating frame 240 is rotatably connected to the main shaft 230 via bearings. For example, the lidar includes bearings 281 and 282, the upper end of the rotating frame 240 is rotatably connected to the main shaft 230 via bearing 281, and the lower end of the rotating frame 240 is rotatably connected to the main shaft 230 via bearing 282.

[0154] By placing the second magnetic element 252 on the side of the rotating frame 240 facing the base 210, the center of gravity of the rotating part of the lidar can be lowered. The rotating part includes all components that can rotate with the rotating frame 240 relative to the main shaft 230, such as the rotating frame 240, the optomechanical structure 270, the first circuit board 261, and the second magnetic element 252. In some embodiments, the center of gravity of the rotating part is located below the upper surface of the bearing 2011. In some embodiments, the center of gravity of the rotating part of the lidar can be located 2 mm above or below the upper surface of the bearing 281. For example, the center of gravity of the rotating part of the lidar is located above the upper surface of the bearing 281, and the height difference between it and the upper surface of the bearing 281 is less than or equal to 1 mm. This structural design achieves a short lever arm and small bending moment, making the rotating frame 240 of the lidar more stable during rotation. The rotatable connection between the rotating frame 240 and the main shaft 230 described above is only one example. The rotating frame 240 can also be rotatably connected to the main shaft 230 via one or more bearings. This embodiment does not impose any limitation on the number of bearings, and the number of bearings can be set according to actual assembly needs.

[0155] In some embodiments of this disclosure, when the rotating frame 240 is assembled with the main shaft 230 via bearings, the outer ring of the bearing can be fixed to the rotating frame 240 by adhesive bonding, interference fit, or a combination of adhesive bonding and interference fit, thereby reducing fretting wear between the bearing and the bearing housing. Optionally, the rotating frame 240 can serve as both a bearing housing and a support for the second magnetic component 252. This diversifies the function of the rotating frame 240, reduces the number of components in the lidar, lowers the cost of the lidar, and facilitates the miniaturization of the lidar.

[0156] Referring to Figures 3 and 7, in some embodiments of this disclosure, the lidar 200 may further include a wireless power supply device 290 to enable wireless power supply between internal circuit boards of the lidar. Optionally, the wireless power supply device 290 may also enable data transmission between circuit boards. For example, in the lidar 200, power can be supplied from the lower chamber circuit board (i.e., the circuit board mounted on the base, such as the second circuit board 262) to the upper chamber circuit board (i.e., the circuit board mounted on the rotating frame, such as the first circuit board 261). The wireless power supply device 290 may include a transmitting coil 291 and a receiving coil 292. When alternating current passes through the transmitting coil 291, a changing magnetic field is generated. Within the range of the changing magnetic field, the receiving coil 292 can generate an induced current, thereby transferring energy from the transmitting end to the receiving end, thus providing wireless power supply. Using wireless power supply can reduce wiring within the lidar, simplify the lidar wiring design, and further reduce the cost and size of the lidar.

[0157] In some embodiments of this disclosure, the transmitting coil 291 and the receiving coil 292 are arranged opposite each other along the radial direction of the main axis 230. Alternatively, the transmitting coil 291 and the receiving coil 292 are arranged opposite each other in a direction perpendicular to the main axis 230. For example, referring to FIG7, the transmitting coil 291 may be disposed outside the receiving coil 292. In other embodiments of this disclosure, the receiving coil may be disposed outside the transmitting coil. The fact that the transmitting coil 291 and the receiving coil 292 are arranged opposite each other along the radial direction of the lidar's main axis 230 allows the power supply coil (including the transmitting coil 291 and the receiving coil 292) to be wound vertically, resulting in a tighter winding. The arrangement of the transmitting coil 291 and the receiving coil 292 opposite each other along the radial direction of the main axis 230, and their winding in a direction parallel to the main axis 230, fully utilizes the space of the lidar perpendicular to the main axis 230, reducing the volume occupied by the transmitting coil 291 and the receiving coil 292 along the axial direction of the main axis 230, which is beneficial for the miniaturization of the lidar. In some embodiments, the transmitting coil 291 and the receiving coil 292 are arranged opposite each other along the axial direction of the main shaft 230, which can make full use of the space of the lidar in the direction parallel to the main shaft 230, reduce the volume occupied by the transmitting coil 291 and the receiving coil 292 in the radial direction of the main shaft 230, and facilitate the miniaturization of the lidar.

[0158] Optionally, the rotating bracket 240 can also be used to support the receiving coil 292, eliminating the need for an additional support structure for the receiving coil 292. This further reduces the number of components in the lidar, lowers the cost of the lidar, and facilitates the miniaturization of the lidar.

[0159] In some embodiments of this disclosure, the receiving coil 292 is electrically connected to the first circuit board 261. The transmitting coil 291 is electrically connected to the second circuit board 262. The second circuit board 262 may be disposed on the base 210. In some embodiments, the second circuit board 262 may be disposed on the support member 201. The second circuit board 262 may include a fourth control circuit configured to control the transmission power of the transmitting coil 291. The receiving coil 292, being electrically connected to the first circuit board 261, can supply power to the first circuit board 261. Powering the lidar from an external device (e.g., a vehicle) can be achieved, for example, by supplying power to the second circuit board 262. The electrical connection between the transmitting coil 291 and the second circuit board 262 facilitates power supply to the external device and also facilitates the second circuit board 262 supplying power to the first circuit board 261. For example, the fourth control circuit being disposed on the second circuit board 262 facilitates the electrical connection between the external device and the second circuit board 262, enabling the external device to supply power to the lidar with a simple wiring design. The transmitting coil 291 is wound around the outer wall of the support member 201, which can facilitate electrical connection with the second circuit board 262 and reduce the complexity of wiring.

[0160] In some embodiments of this disclosure, the second circuit board 262 can also transmit data to the first circuit board 261 via the transmitting coil 291 and the receiving coil 292. This allows for synchronous data transmission using a wireless power supply, reducing the number of communication components in the lidar, further lowering the lidar cost, and improving its integration. For example, the fourth control circuit can modulate information onto the carrier wave of the transmitting coil 291 to transmit data to the receiving coil 292. Embodiments of this disclosure do not limit the modulation method; for example, it may include, but is not limited to, adjusting one or more parameters such as the amplitude, frequency, and phase of the carrier wave.

[0161] The lidar may include one or more lower-side circuit boards. For example, in some embodiments of this disclosure, the second circuit board 262 may further include interface circuitry configured to communicate with a data receiving device to transmit point cloud data to the data receiving device. The interface circuitry and the fourth control circuitry may be integrated on the same circuit board, reducing the number of lower-side circuit boards, lowering the cost of the lidar, and improving the integration of the lidar. The data receiving device may be located on a vehicle. For example, the data receiving device may include the vehicle's controller. The processing circuitry on the first circuit board 261 may process the echo data into point cloud data and transmit the point cloud data to the second circuit board 262, and then transmit it to the data receiving device through the interface circuitry on the second circuit board 262. Downlink transmission between the first circuit board 261 and the second circuit board 262 may be wireless or wired, including but not limited to using wireless optical communication, fiber optic cables, twisted-pair cables, coaxial cables, and other communication cables for downlink transmission.

[0162] In other embodiments of this disclosure, the interface circuit and the fourth control circuit can be disposed on different circuit boards. For example, the lidar may also include a third circuit board disposed on the base 210. The third circuit board includes an interface circuit configured to communicate with a data receiving device and transmit point cloud data to the data receiving device. In this way, the lower compartment space of the lidar can be flexibly utilized, and the positions of the circuit boards can be reasonably arranged as needed. The communication mode of the first circuit board 261 and the third circuit board in downlink transmission is similar to the communication mode of the first circuit board 261 and the second circuit board 262 in downlink transmission.

[0163] In some embodiments of this disclosure, the mechanical structure of the lidar is designed to support the installation of lidar components, reducing the overall volume occupied and thus the size of the lidar, which is beneficial for the miniaturization of the lidar. Referring again to Figure 3, in some embodiments, the lidar 200 may further include a support member 201. The bottom of the support member 201 is disposed on the base 210 and extends towards the rotating frame 240. Through the arrangement of the support member 201 and the rotating frame 240, the lidar can better utilize the internal vertical space, improve the compactness of the internal structure, reduce the size of the lidar, and facilitate miniaturization. In some embodiments, a main shaft 230 may be disposed on the support member 201. Optionally, the main shaft 230 may be integrally formed with the support member 201.

[0164] In some embodiments of this disclosure, the lidar 200 further includes a sensor, and the support member 201 can be used to support the sensor components. The sensor is used for position sensing during the rotation of the rotating frame 240 driven by the drive device. The sensor may include an interference element and a sensing element, with the interference element disposed on the support member 201 and the sensing element disposed on the rotating frame 240. When the rotating frame 240 rotates relative to the main shaft 230, the interference element interferes with the sensing of the sensing element, and the output signal of the sensing element may change accordingly. The support member 201 extends toward the rotating frame 240, and its top may face the rotating frame 240 to facilitate the placement of the sensing element on the rotating frame 240, simplifying the assembly process of the lidar. In other embodiments, the interference element may be disposed on the rotating frame 240, and the sensing element may be disposed on the support member 201.

[0165] In some embodiments of this disclosure, the sensing element can be electrically connected to the first circuit board 261 or the second circuit board 262. The optical system of the lidar may include an optomechanical structure 270, which is disposed above the rotating frame 240. Optionally, the laser emitting circuit or the laser receiving circuit may be wholly or partially disposed on the optomechanical structure 270. The first circuit board 261 is disposed above the rotating frame 240. The first circuit board 261 may include part or all of the circuitry of the lidar's control and processing system. Optionally, the laser emitting circuit or the laser receiving circuit may be wholly or partially disposed on the first circuit board 261. Disposing the sensing element on the rotating frame 240 allows the sensing element to be closer to the first circuit board 261. This facilitates the placement of the sensing circuit on the first circuit board 261, eliminating the need for a separate circuit board for the sensing circuit and improving the integration of the lidar. Furthermore, by electrically connecting the sensing element to the first circuit board 261, the output signal of the sensing element can be transmitted through the board and provided to the first circuit board 261. The first circuit board 261 can then be used to control the laser emitting circuit or the laser receiving circuit, which helps to simplify the connection design between circuits.

[0166] When the sensing element or interference element rotates with the rotating frame 240, the output signal of the sensing element changes. This output signal can be used to reflect position information such as the rotation angle of the rotating frame 240. This position information can be used to control the laser emission time of the laser emitting circuit, or to control the laser emission time of the laser emitting circuit and the working time of the laser receiving circuit. The working time may include the activation time or output time of the detector. For example, the scanner or rotating platform of the lidar can be mounted on the rotating frame 240. During the detection process of the lidar, the driving device can drive the scanner or rotating platform to rotate. During the rotation of the scanner or rotating platform, the control and processing system 140 can control the laser emitting circuit 110 according to the position information of the rotating frame 240, so that the laser is emitted at different field-of-view angles of the lidar, realizing the scanning of one or all of the vertical or horizontal field of view of the lidar. The sensor can sense the position of the rotating part of the lidar (e.g., the rotating frame 240), and the lidar can control the laser emitting circuit according to the sensor's sensing signal to achieve laser emission at the corresponding scanning angle during the rotation of the scanner or rotating platform. Similarly, a lidar system can control the gating or readout of the laser receiving circuit based on the sensor's sensing signal. The control and processing system 140 can also control the laser receiving circuit 120 during the rotation of the scanner or rotating platform. For example, the laser receiving circuit 120 may include a gating circuit. The control and processing system 140 can control the gating circuit to select the corresponding detector to receive the laser echo. Furthermore, the control and processing system 140 can control the readout circuit of the corresponding detector to read out the detector's signal. In a lidar system, detectors selected and laser emitters emitting lasers within the same time window can correspond to the same sub-field of view. The number of lasers and detectors corresponding to the same sub-field of view can be the same or different.

[0167] Sensors can include photoelectric sensors, magnetic induction sensors, or capacitive induction sensors, etc. Interference elements are used to interfere with the sensor's output signal, such as photoelectric interference or electromagnetic induction interference. For example, as the sensing element or interference element rotates with the rotating frame 240, the interference element changes the magnitude of the light signal incident on the sensing element, and the photoelectric effect is used to obtain an electrical signal reflecting the position change of the rotating frame 240. As another example, as the sensing element or interference element rotates with the rotating frame 240, the relative distance between the interference element and the sensing element changes, and electromagnetic induction is used to change the voltage, inductance, or capacitance parameters of the sensing circuit where the sensing element is located.

[0168] For photoelectric sensors, the interfering element may include an encoder (or encoding structure), such as a code disk. The sensing element may include a code reader. For magnetic sensors, the interfering element may include a conductive target, and the sensing element may include a magnetic component. Alternatively, the interfering element may include a magnetic component, and the sensing element may include, for example, a Hall element, etc. For capacitive sensors, the interfering element may include a target, and the sensing element may include sensing electrodes.

[0169] In some embodiments of this disclosure, the sensor may be a photoelectric sensor. Figure 8 shows an example structural diagram of a support consistent with some embodiments of this disclosure. Figure 9 shows an example mounting structure of a support consistent with some embodiments of this disclosure on a base. Referring to Figures 7 to 9, the interference element may include an encoder 2021, such as a code disk or code track structure. The sensing element may be a photoelectric sensing element, such as a reader 2022. The encoder 2021 is fixedly disposed relative to the base 210, and the reader 2022 is disposed on the rotating frame 240 and faces the encoder 2021. For example, the encoder 2021 may include multiple code tracks, which are arranged circumferentially on the top of the support 201. The reader 2022 emits an optical signal, which is read by the reader 2022 after passing through the encoder 2021. During the rotation of the rotating frame 240, the reader 2022 rotates with the rotating frame 240. During the rotation of the rotating frame 240, the light flux through the encoder 2021 changes, and the output signal of the reader 2022 changes. The output signal can be used to indicate position information such as the rotation angle of the rotating frame 240. In some embodiments of this disclosure, the barcode reader 2022 is electrically connected to the first circuit board 261, and the output signal of the barcode reader 2022 can be output as a sensing signal through the sensing circuit and provided to the first circuit board 261.

[0170] Setting a code track at the top of the support member 201 reduces the number of components in the LiDAR, thus lowering its cost. Furthermore, this structural design better utilizes the vertical space inside the LiDAR, facilitating miniaturization. The support member 201 extends towards the rotating frame 240, and its top can face the rotating frame 240, facilitating the mounting of sensing elements on the rotating frame 240. In some embodiments, the code track can also be located at the bottom of the rotating frame 240. The rotating frame 240 extends towards the support member 201. The bottom of the rotating frame can face the support member 201, facilitating the mounting of sensing elements on the support member 201.

[0171] In some embodiments of this disclosure, the interference element is set up through an integrated support member 201, reducing the number of components in the lidar and the installation process, further reducing the cost and size of the lidar. Referring again to Figures 8 and 9, the encoder 2021 can be integrally formed with the support member 201. The support member 201 is fixedly mounted on the base 210. The encoder 2021 includes multiple code tracks, which are circumferentially arranged on the top of the support member 201 and extend upwards towards the rotating frame 240 or the first circuit board 261.

[0172] In some embodiments of this disclosure, referring to FIG7, the rotating frame 240 is provided with an opening O. A sensing element (e.g., a barcode reader 2022) is disposed within the opening O, and one end of the sensing element extends into the support member 201 within the opening O, corresponding to the area on the support member 201 where an interference element is disposed. Thus, the rotating frame 240 can also support the mounting of the sensing element of the sensor, and the opening design saves mounting space for the sensing element, making the structure of the lidar more compact and beneficial for the miniaturization of the lidar. For example, the barcode reader 2022 is mounted across both sides of the encoder 2021. The barcode reader 2022 emits an optical signal, and as the rotating frame 240 rotates, the light flux through the encoder 2021 changes. The intensity of the optical signal received by the barcode reader 2022 changes accordingly, causing the output signal of the barcode reader 2022 to change accordingly. The output signal of the barcode reader 2022 can be used to characterize positional information such as the rotation angle of the rotating frame 240.

[0173] In some embodiments of this disclosure, the support member 201 can also be used to support the mounting of the transmitting coil 291. The support member 201 can be multifunctional, supporting multiple devices. This eliminates the need for separate mechanical support structures for the transmitting coil 291 and the interferometer, and consequently, eliminates the need for separate arrangements of the mechanical support structures for the transmitting coil 291 and the interferometer. This helps reduce the space required for mounting the transmitting coil 291 and the interferometer, thus reducing the size of the lidar. Furthermore, it reduces the number of structural components in the lidar, lowering the cost and assembly process. For example, continuing to refer to Figures 3, 7 through 9, the transmitting coil 291 is mounted on the support member 201, and the receiving coil 292 is mounted on the rotating frame 240. Similar to the description of the above embodiments, the transmitting coil 291 and the receiving coil 292 can be arranged opposite each other in the radial direction along the main axis 230.

[0174] By integrating the sensor's components (e.g., interference elements) with the fixtures of the wireless power supply device 290 (e.g., the support for the transmitting coil 291), the number of mechanical structural components within the lidar can be greatly reduced, the lidar's size can be reduced, and costs and assembly complexity can be lowered.

[0175] In some embodiments of this disclosure, the support member 201 may have a hollow internal structure, with the receiving coil 292 disposed inside the support member 201. This allows for both the inner and outer opposing arrangement of the transmitting coil 291 and the receiving coil 292 along the radial direction of the main axis 230 and effective utilization of the internal space of the lidar. For example, the extension 242 of the rotating frame 240 extends towards the base 210 and is rotatably connected to the main axis 230. The support member 201 surrounds the outer side of the extension 242 of the rotating frame 240. The transmitting coil 291 of the wireless power supply device 290 may be wound around the outer wall of the support member 201, and the receiving coil 292 may be wound around the outer wall of the extension 242 of the rotating frame 240 and located inside the support member 201.

[0176] In other embodiments of this disclosure, the rotating frame 240 may include an extension 242. The extension 242 may be disposed on the outer or inner side of the support member 201. The transmitting coil 291 of the wireless power supply device 290 may be wound around the outer wall of the support member 201, and the receiving coil 292 may be wound around the outer wall of the extension 242 of the rotating frame 240 and located on the outer side of the support member 201.

[0177] In some embodiments of this disclosure, the receiving coil 292 may be directly wound around the outer wall of the extension 242. For example, the extension 242 may be made of silicon steel sheets, with an insulating coating separating the silicon steel sheets. Alternatively, magnetic materials may be bonded or sintered on the outer side of the extension 242 to give at least a portion of the extension 242 magnetically permeable but non-conductive properties. In some embodiments, referring further to Figures 5 to 7, a magnetic structure 244 may also be provided on the extension 242 of the rotating frame 240. For example, the magnetic structure 244 may be disposed on the outer wall of the extension 242. The receiving coil 292 may be wound around the outer wall of the magnetic structure 244. The magnetic structure 244 may be made of a magnetically permeable but non-conductive material. For example, the material of the magnetic structure 244 may include, but is not limited to, one or more of ferrite, silicon steel sheets, nickel-zinc ferrite, soft magnetic materials, permanent magnets, magnetic shielding materials, or magnetic plastics. The magnetic structure 244 can concentrate the magnetic flux more within the coil, thereby improving the receiving efficiency of the receiving coil 292.

[0178] In some embodiments of this disclosure, the first magnetic element 251 and the second magnetic element 252 may be disposed on the outer or inner side of the support member 201. For example, referring to Figures 3 and 9, the first magnetic element 251 and the second magnetic element 252 surround the outer side of the support member 201. The support member 201 may surround the outer or inner side of the extension 242 of the rotating frame 240. The embodiments of this disclosure do not limit the relative positional relationship between the drive device 250 and the wireless power supply device 290. In some embodiments, along the radial direction of the main shaft 230, the drive device 250 is disposed radially outer of the wireless power supply device 290. In some embodiments, along the radial direction of the main shaft 230, the drive device 250 is disposed radially inner of the wireless power supply device 290. In some embodiments, the support member 201 surrounds the outer side of the extension 242 of the rotating frame 240, and along the radial direction of the main shaft 230, the wireless power supply device 290 is disposed radially outer of the drive device 250. In some embodiments, the extension 242 of the rotating frame 240 surrounds the outside of the support member 201, and the wireless power supply device 290 is disposed on the radial outside of the drive device 250 along the radial direction of the main shaft 230.

[0179] This disclosure does not limit the materials of the base 210, spindle 230, and rotating frame 240. These structures can be made of the same or different materials, and can be made of metal or non-metal, or partially of metal and partially of non-metal. In some embodiments of this disclosure, one or more of the main structures of the rotating frame 240, spindle 230, and base 210 can be made of metal. For example, the metal material can be an alloy, such as, but not limited to, die-cast aluminum alloy, zinc alloy, or magnesium alloy. For example, the rotating frame 240 can be made of aluminum alloy. This facilitates the lightweighting of the rotating frame 240 and reduces the rigidity requirements of the spindle 230. Furthermore, when the main bodies of the rotating frame 240, spindle 230, and base 210 are all made of metal, the heat generated on the first circuit board 261 can be conducted to the base 210 through the metal parts of the rotating frame 240 and spindle 230, thus achieving good heat dissipation for the first circuit board 261. In addition, the rotation of the rotating frame 240 can accelerate heat exchange with air convection to achieve good heat dissipation for the first circuit board C1.

[0180] In some embodiments of this disclosure, the main heat dissipation area (hereinafter referred to as the first area) of the first circuit board 261 is also coated with thermally conductive adhesive. The thermally conductive adhesive is used to conduct heat from the first area to the transfer frame 240, thereby improving the heat dissipation effect on the first circuit board 261. The first area of ​​the first circuit board 261 may include the area corresponding to power consumption components (e.g., chips, lasers) on the first circuit board 261. The heat generated by the power consumption components can be quickly conducted to the transfer frame 240 through the thermally conductive adhesive. In the embodiments of this disclosure, the number of areas coated with thermally conductive adhesive, the size or shape of the coated areas, etc., are not limited and can be set according to actual heat dissipation requirements.

[0181] In some embodiments of this disclosure, the mechanical structure of the lidar is designed, such as the mounting structure within the lidar, to make the installation of the internal components of the lidar more stable. Referring again to Figure 3, the lidar also includes a fixing member 203. The fixing member 203 is disposed on the base 210 and configured to fix the magnetic components of the drive device 250 (e.g., a first magnetic component 251 or a second magnetic component 252). For example, the fixing member 203 is configured to fix the first magnetic component 251 of the drive device 250, and the rotating frame 240 can mount the second magnetic component 252. Alternatively, the fixing member 203 can fix the second magnetic component 252 of the drive device 250, and the rotating frame 240 can mount the first magnetic component 251.

[0182] In some embodiments, the fixing member 203 can be an integral structure or a segmented structure. A segmented structure for the fixing member 203 can further reduce the area occupied by the mechanical structure on the base 210, reducing the cost and weight of the lidar. Furthermore, this segmented structure can leave assembly space for the drive device 250 and the wireless power supply device 290, increasing the ease of lidar assembly. Figure 10 shows an example of the installation of a first magnetic element on the fixing member consistent with some embodiments of this disclosure. Referring to Figure 10, the fixing member 203 is disposed on the base 210 and includes at least two fixing sections; three fixing sections are used as an example in the figure. The at least two fixing sections can be circumferentially spaced on the base 210 along the main shaft 230 and arranged around the main shaft 230. The first magnetic element 251 can be fixed to the top of the at least two fixing sections. The number of fixing parts in Figure 10 is just an example. This disclosure does not limit the number of fixing parts. The number of fixing parts can be one, two, four or more, as long as the fixing of the first magnetic component 251 can be achieved.

[0183] In some embodiments of this disclosure, the fixing portions of the fixing member 203 can be evenly distributed around the spindle 230. This allows the fixing member 203 to provide more stable support for the magnetic components of the drive device, resulting in more stable installation of the magnetic components.

[0184] In some embodiments of this disclosure, the fixing member 203 can provide support in more than one direction for the magnetic component of the drive device 250 to improve the stability of the drive device 250. For example, FIG11 shows a partial cross-sectional example of a fixing part consistent with some embodiments of this disclosure. Referring to FIG9 and FIG11, the fixing part includes, for example, a first surface 2031 and a second surface 2032. The edge of the first magnetic component 251 facing the base 210 is disposed on the first surface 2031, and the outer edge of the first magnetic component 251 rests against the second surface 2032. The fixing part is provided with an adhesive groove 2033, which can be located in one or more of the following positions: on the first surface 2031, on the second surface 2032, or between the first surface 2031 and the second surface 2032. In this way, the stability of the first magnetic component 251 mounted on the fixing member 203 can be increased by adhesive. For example, the bottom surface of the first magnetic component 251 can be fixed to the first surface 2031 by adhesive. For example, the outer edge of the first magnetic component 251 can be fixedly connected to the second surface 2032 using glue.

[0185] In conjunction with the above embodiments of the driving device disclosed herein, the fixing member 203 can be configured to fix the first magnetic member 251.

[0186] In some embodiments of this disclosure, the mechanical structure of the lidar is designed, such as the lidar base, to reduce the cost of the lidar. For example, FIG12 shows a structural example of a lidar base consistent with some embodiments of this disclosure. Referring to FIGS. 2, 3, 10, and 12, the lidar 200 includes a base 210 and a spindle 230. The base 210 includes, for example, a first mounting portion 211 and a second mounting portion 212. The first mounting portion 211 is located in the peripheral area of ​​the base 210 and is used to mount the photomask 220 of the lidar 200. The second mounting portion 212 is located inside the first mounting portion 211. Referring to FIGS. 10 and 12, a sealing groove G is provided on the first mounting portion 211, the sealing groove G surrounds the second mounting portion 212, and a first sealing element 204 is provided in the sealing groove G. The spindle 230 is disposed on the second mounting portion 212 and protrudes from the base 210.

[0187] The lidar design features a main shaft 230 protruding from the base 210, and the height of the first mounting part 211 is reduced. This lowers the cost of the base 210 and facilitates the assembly of the lidar's internal components. Thus, cost reduction is achieved while simultaneously increasing production efficiency.

[0188] Referring to the description of the above embodiments, a rotating bracket 240 can be provided on the main shaft 230, and the rotating bracket 240 is rotatably connected to the main shaft 230. As shown in Figures 7, 9, and 12, the main shaft 230 is disposed on the second mounting portion 212 of the base 210, and the main shaft 230 protrudes from the first mounting portion 211 and the second mounting portion 212 of the base 210 along the height direction of the base 210. In this way, it is convenient to install the rotating bracket 240 on the main shaft 230. As shown in Figure 7, the rotating bracket 240 also protrudes from the base 210. The lower height of the base 210 reduces interference of the base 210 during installation, making the installation of internal components of the lidar (e.g., the rotating bracket 240, the first magnetic component 251, the second magnetic component 252, the support component 201, etc.) more convenient.

[0189] The photomask 220 is mounted on the first mounting portion 211 of the base 210, and the first mounting portion 211 is located outside the second mounting portion 212. After the internal components of the lidar are installed, the photomask 220 can be mounted on the first mounting portion 211, thereby protecting the internal components of the lidar using the photomask 220.

[0190] The sealing groove G and the first sealing element 204 enable a sealed connection between the photomask 220 and the base 210, preventing external dust, moisture, or other contaminants from entering the lidar and reducing the impact of the external environment on its normal operation. Furthermore, the effective seal between the base 210 and the photomask 220 also protects the internal optical or electronic components of the lidar, minimizing their impact and extending their lifespan.

[0191] In some embodiments of this disclosure, the height of the first mounting portion 211 is less than or equal to a first threshold. A lower height for the first mounting portion 211 reduces its obstruction of the second mounting portion 212, facilitating the installation of internal components of the lidar, simplifying lidar assembly, and improving assembly efficiency. Furthermore, a lower height for the first mounting portion 211 reduces the cost of the lidar. In some embodiments of this disclosure, the height of the second mounting portion 212 is less than or equal to the first threshold. A lower height for the second mounting portion 212 reduces the thickness of the base 210, thereby reducing the cost of the base 210. In some embodiments of this disclosure, the heights of both the first mounting portion 211 and the second mounting portion 212 are less than or equal to the first threshold. A lower height for both the first mounting portion 211 and the second mounting portion 212 reduces the overall thickness of the base 210, thereby reducing the cost of the base 210. Additionally, this facilitates a flattened overall design of the base 210, making the installation of internal components of the lidar easier. For example, the first threshold is 20mm, meaning the height of the first mounting portion 211 is less than or equal to 20mm. The above is just one example of the first threshold. The first threshold can also be any other value less than or equal to 25mm. For example, 25mm, 18mm, 15mm, or 12mm, etc.

[0192] The heights of the first mounting portion 211 and the second mounting portion 212 may be the same or different. In some embodiments of this disclosure, the height difference between the first mounting portion 211 and the second mounting portion 212 is less than or equal to a second threshold, and the height of the first mounting portion 211 may be slightly higher or slightly lower than the second mounting portion 212. The value of the second threshold can be any value less than or equal to 10 mm. For example, 10 mm, 8 mm, 5 mm, 3 mm, or 2 mm, etc. For example, the height of the second mounting portion 212 is slightly lower than the height of the first mounting portion 211 to form a recess with a smaller height within the base 210.

[0193] In some embodiments of this disclosure, the sealing groove G matches the shape of the first sealing element 204. The matching shape of the sealing groove G and the first sealing element 204 allows the first sealing element 204 to be uniformly pressurized within the sealing groove G, reducing or avoiding seal failure caused by uneven pressure and improving seal stability. This disclosure does not limit the material of the first sealing element 204; for example, the material of the first sealing element 204 can be a corrosion-resistant flexible material, such as rubber or silicone. This disclosure also does not limit the shape of the first sealing element 204, nor does it limit the shape of the sealing groove G. The sealing groove G can be a regular or irregular shape, such as circular, elliptical, rectangular, polygonal, or racetrack-shaped.

[0194] In some embodiments of this disclosure, one or both of the outer and inner walls of the first sealing member 204 are provided with a plurality of protruding structures. For example, FIG13 shows an example diagram of a sealing structure consistent with some embodiments of this disclosure. FIG14 shows an example diagram of another sealing structure consistent with some embodiments of this disclosure. FIG15 shows an example diagram of yet another sealing structure consistent with some embodiments of this disclosure. Referring to FIG13 to FIG15, the sealing structure includes a first sealing member 204. In some embodiments, a plurality of protruding structures 2041 are provided on the outer wall of the first sealing member 204. Optionally, the plurality of protruding structures 2041 are uniformly or non-uniformly distributed on the outer wall of the first sealing member 204. In some embodiments, a plurality of protruding structures 2042 are provided on the inner wall of the first sealing member 204. Optionally, the plurality of protruding structures 2042 are uniformly or non-uniformly distributed on the inner wall of the first sealing member 204. In some embodiments, combining the above two structures, a plurality of protruding structures are provided on both the inner and outer walls of the first sealing member 204. Protruding structures are provided on one or all of the outer or inner walls of the first seal 204, which can reduce the probability of displacement or rotation of the first seal 204, improve the stability of the first seal 204, reduce wear, and help extend the service life of the first seal 204. This disclosure does not impose any limitations on the shape or thickness of the protruding structures. The protruding structures can be regular or irregular; for example, the protruding surface can be an arc-shaped protruding surface or a non-arc-shaped protruding surface.

[0195] Please continue referring to Figures 10 and 12. In some embodiments of this disclosure, the side wall of the first mounting portion 211 is further provided with a first opening S1 to facilitate the connection between the circuitry inside the lidar and the outside via cables, enabling functions such as communication between the lidar and the outside or power supply to the lidar. For example, a circuit board P is mounted on the second mounting portion 212. The circuit board P may include the lower compartment circuit board in the above embodiments, such as the second circuit board 262 or the third circuit board. The first end of the cable L is electrically connected to the circuit board P (as shown by the dashed box A1 in Figure 12), and the second end of the cable L extends to the outside of the base 210 through the first opening S1.

[0196] Cable L extends from the first opening S1 to the lidar, electrically connecting the lidar's external devices (e.g., a data receiving device or power supply) to the lidar's internal circuitry (e.g., circuitry on the second or third circuit board). This electrical connection can be used for communication between the lidar and the data receiving device, such as sending point cloud data to the data receiving device. Alternatively, this electrical connection can be used for a vehicle to power the lidar. Cable L may include a composite cable, thus enabling both communication between the lidar and external devices and power supply to the lidar.

[0197] Referring to Figures 10, 12, and 13 through 15, in some embodiments of this disclosure, the lidar may further include a second seal 205 having a through hole 2051. The first mounting portion 211 also includes a receiving structure 211-1. The receiving structure 211-1 protrudes from the first opening S1 and has a receiving groove H and a second opening S2. The second opening S2 is disposed opposite to the first opening S1, and the second seal 205 is disposed in the receiving groove H. The first end of the cable L passes through the second opening S2, the through hole 2051, and the first opening S1. The first end of the cable L may also be grounded in the second mounting portion 212 (as shown by the dashed box A2 in Figure 12). The second seal 205 can seal the cable L as it passes through the first opening S1, preventing external dust, moisture, or other contaminants from entering the lidar.

[0198] This disclosure does not impose any limitations on the shape of the second seal 205. For example, the second seal 205 is shaped to match the receiving groove H for ease of installation. Figures 14 and 15 show example diagrams of several other sealing structures provided in some embodiments of this disclosure. For example, the outline shape of the second seal 205 may include, for example, a regular or irregular shape, such as a circle, ellipse, square, or an irregular shape protruding to one side.

[0199] In some embodiments, the first end of the cable L can be fixed to the second mounting part 212 to improve the stability of the connection of the cable L inside the lidar and prevent the connection between the cable L and the circuit board P from becoming loose.

[0200] In some embodiments of this disclosure, the cable L is interference-fitted with the through hole 2051, and the second seal 205 is interference-fitted with the receiving groove H. The interference fit between the cable L and the through hole 2051 allows the cable L and the second seal 205 to fit tightly together, improving the sealing effect between them. The interference fit between the second seal 205 and the receiving groove H allows the second seal 205 to maintain a certain pressure within the receiving groove H, ensuring the second seal 205 is more firmly fixed within the receiving groove H. This prevents the second seal 205 from shifting due to vibration or mechanical movement, maintaining sealing stability and reducing wear.

[0201] In some embodiments of this disclosure, the receiving groove H communicates with the sealing groove G. The first seal 204 and the second seal 205 can be integrally formed. This facilitates the integrated installation of the first seal 203 and the second seal 204. It also reduces production costs, simplifies the assembly process, and improves assembly efficiency. Furthermore, the integral forming of the two seals results in a tighter joint between the seals, reducing the risk of poor sealing.

[0202] In some embodiments of this disclosure, referring to Figures 2 and 12, the first mounting portion 211 includes a main body 211-2 and a plurality of flanges 211-3. The main body 211-2 is disposed outside the second mounting portion 212, and the plurality of flanges 211-3 extend outward from the outer side wall of the main body 211-2, with the flanges 211-3 spaced circumferentially around the main body 211-2. The main body 211-2 surrounds the second mounting portion 212, and a sealing groove G is disposed on the main body 211-2. The bottom of the photomask 220 includes an abutment portion 221 and a plurality of connecting portions 222, with the connecting portions 222 extending outward from the abutment portion 221. The abutment portion 221 abuts against the main body 211-2 and can be pressed against the sealing groove G to press against the first sealing member 204. This achieves a seal between the photomask 220 and the base 210. Multiple connecting portions 222 are disposed on multiple flanges 211-3, and the connecting portions 222 and flanges 211-3 can be fixedly connected by bolts or snap-fits. After the photomask 220 is securely connected to the base 210, the abutting portion 221 presses against the first sealing member 204 to improve the sealing effect between the photomask 220 and the base 210. Optionally, the first sealing member 204 may slightly protrude from the sealing groove G, thereby achieving a better sealing effect. This embodiment does not limit the number of flanges 211-3; four are shown in the figure as an example, but in practice, more or fewer flanges 211-3 may be included. For example, the number of flanges 211-3 may include two, three, four, or more. The flanges facilitate the installation of the photomask.

[0203] Please continue to refer to Figures 10 and 12. In some embodiments of this disclosure, the receiving structure 211-1 may be located between two adjacent flanges 211-3 of a plurality of flanges 211-3. The location of the receiving structure 211-1 between two flanges facilitates the installation of the receiving structure 211-1 and facilitates the installation of the cable L.

[0204] Based on the above embodiments regarding the fastener 203, the fastener 203 is disposed on the second mounting portion 212. The flat structure of the base 210 facilitates the placement of the fastener 203.

[0205] This disclosure also provides a vehicle, including a connecting device and a lidar provided in any of the above embodiments, wherein the lidar is mounted on the vehicle via the connecting device.

[0206] Figure 16 shows an example block diagram of another lidar system consistent with some embodiments of this disclosure. Referring to Figure 16, lidar 1100 includes a laser emitting circuit 1110, a laser receiving circuit 1120, an optical system 1130, a preprocessing circuit 1140, and a control and processing system 1150. The laser emitting circuit 1110 may include a driving circuit 1111 and a laser 1112. The laser 1112 emits laser light under the drive of the driving circuit 1111. The laser receiving circuit 1120 may include a detector 1121 and a readout circuit 1122. The readout circuit 1122 is used to read out the electrical signal converted by the detector 1121. Optionally, the laser receiving circuit 1120 may also include a gating circuit 1123. The gating circuit 1123 may be used to select some or all of the detectors 1121. The selected detectors 1121 are in a state that can respond to optical signals and can convert the echo into an electrical signal.

[0207] The laser emitting circuit 1110 emits a laser beam, which is then emitted after the optical path is adjusted by the optical system 1130. When the emitted laser encounters object 002, it is reflected back to the lidar 1100 by the surface of object 002; this reflected light is called an echo. The echo is then directed to the laser receiving circuit 1120 after the optical path is adjusted by the optical system 1130. The laser receiving circuit 1120 receives the echo and converts it into an electrical signal. The electrical signal is processed by the preprocessing circuit 1140 to obtain echo data, which is then provided to the control and processing system 1150. The control and processing system 1150 processes the echo data to obtain sensing data (e.g., point cloud data). The control and processing system 1150 sends the sensing data to the vehicle, which can then use the sensing data to perform one or more functions such as analysis, decision-making, or control.

[0208] The types of lasers 1112 and detectors can be found in the previous description and will not be repeated here.

[0209] The optical system 1130, preprocessing circuit 1140, control and processing system 1150, and scanning system 1160 are described in the preceding text and will not be repeated here.

[0210] A lidar system includes numerous internal circuits. These include, for example, a laser emitting circuit 1110, a laser receiving circuit 1120, a preprocessing circuit 1140, and at least one processing circuit of a control and processing system 1150. The internal circuits of the lidar can be housed 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 1110 and the laser receiving circuit 1120 can be housed on a second circuit board. The preprocessing circuit 1140 can be housed on either the second or first circuit board. The entire latter part of the control and processing system 1150 can be housed on the first circuit board. For example, the control portion of the control and processing system 1150 (e.g., the second to fourth processing circuits) is housed on the first circuit board, while the information processing portion (e.g., the first processing circuit) is housed on the second circuit board. For example, the control section (e.g., the second to fourth processing circuits) of the control and processing system 1150 is disposed on the second circuit board, and the information processing section (e.g., the first processing circuit) of the control and processing system 1150 is disposed on the first circuit board. This disclosure does not limit the number of circuit boards in the lidar, or the layout of circuits on different circuit boards.

[0211] For ease of description, the following description uses a second circuit board and a first circuit board as examples, without limiting the number of circuit boards in the lidar. Communication between more circuit boards can be similar. Figure 17 shows an example block diagram of a communication system consistent with some embodiments of this disclosure. Referring to Figure 17, the lidar 1200 includes a second circuit board 1210 and a first circuit board 1220. Continuing to refer to Figure 17, the communication system of the lidar 1200 includes a transmitting coil 1230 and a receiving coil 1240. The second circuit board 1210 can supply power to the first circuit board 1220 through the transmitting coil 1230 and the receiving coil 1240. This wireless power supply method can reduce the wiring requirements of the lidar and is more conducive to the miniaturization of the lidar.

[0212] Data communication between the second circuit board 1210 and the first circuit board 1220 can be achieved using optical communication. For example, the communication system of the lidar 1200 also includes an optical emitting element 1250 and an optical receiving element 1260. The second circuit board 1210 carries the data to be transmitted on an optical signal, and the optical emitting element 1250 transmits the optical signal. The optical signal is received by the optical receiving element 1260 and converted into an electrical signal. The first circuit board 1220 determines the data to be transmitted by analyzing the electrical signal. The transmission medium between the second circuit board 1210 and the first circuit board 1220 may include, for example, optical fiber, optical waveguide, or free space.

[0213] Some embodiments of this disclosure provide solutions including communication systems, communication control methods, data processing methods, lidar, and carriers. These solutions can achieve data communication and wireless power supply between different circuit boards in a lidar through transmitting and receiving coils. Without affecting the lidar's power supply efficiency or data communication efficiency, the hardware structure of the lidar can be reduced, thereby lowering its cost and facilitating 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.

[0214] Figure 18 shows an example block diagram of a communication system for a lidar consistent with some embodiments of this disclosure. Referring to Figure 18, the communication system is used for a lidar 300, which includes a second circuit board 310 and a first circuit board 320. The communication system includes a transmitting coil 330, a receiving coil 340, a fifth control circuit 350, and a detection circuit 360. Data is transmitted between the second circuit board 310 and the first circuit board 320 via the transmitting coil 330 and the receiving coil 340, and the second circuit board 310 supplies power to the first circuit board 320 via the transmitting coil 330 and the receiving coil 340. The fifth control circuit 350 is disposed on the second circuit board 310 and electrically connected to the transmitting coil 330. The fifth control circuit 350 is configured to transmit data by controlling the voltage across the transmitting coil 330. The detection circuit 360 is disposed on the first circuit board 320 and electrically connected to the receiving coil 340. The detection circuit 360 is configured to detect a first signal at a first end and a second signal at a second end of the receiving coil 340. The first duty cycle of the first signal and the second duty cycle of the second signal are used to determine the data transmission value.

[0215] In the above embodiments, the communication system can utilize wireless power supply coils (including a transmitting coil 330 and a receiving coil 340) to enable the second circuit board 310 to supply power to the first circuit board 320, and to facilitate data communication between the second circuit board 310 and the first circuit board 320. For example, the fifth control circuit 350 transmits data 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. Thus, the transmitting coil 330 and the receiving coil 340 can be used to achieve both power supply and data transmission functions, reducing the hardware configuration of the lidar and achieving cost reduction and miniaturization. Furthermore, the fifth control circuit 350 transmits data by controlling the voltage across the transmitting coil 330, which, compared to modulation schemes such as frequency modulation used for data transmission, has advantages such as simple circuit structure, simple control logic, lower cost, and higher transmission accuracy. In addition, the above scheme has a relatively small impact on the efficiency of wireless power supply. This communication system can reduce the complexity of lidar structural design and decrease the size of the lidar. Furthermore, during data transmission, the change in magnetic flux can be largely confined between the transmitting coil 330 and the receiving coil 340. This provides better confidentiality for the internal communication of the lidar, thus improving the security of lidar communication.

[0216] 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. The subsequent circuit determines the data transmission value based on the duty cycle of the first and second signals. Alternatively, the detection circuit 360 can detect the first and second signals and determine the data transmission value based on their duty cycle. Optionally, the detection circuit 360 can directly output the first and second signals to the subsequent circuit, or it can process the first and second signals before outputting them to the subsequent circuit. This processing may include one or more of the following: noise reduction, waveform shaping, jitter removal, or amplification. The subsequent circuit may include a processing circuit in the control and processing system of the lidar, such as the first processing circuit.

[0217] 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, and the transmitting coil 330 may be disposed on the second circuit board 310. Alternatively, the transmitting coil 330 may include a coil winding and be configured to be electrically connected to the second circuit board 310. Similarly, the receiving coil 340 may include a printed circuit board coil or a planar coil, and the receiving coil 340 may be disposed on the first circuit board 320. Alternatively, the receiving coil 340 may include a coil winding and be configured to be electrically connected to the first circuit board 320. Distributing 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. 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 boards. 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.

[0218] 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):

[0219] 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. represents the change in magnetic flux. 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. represents the change in magnetic flux density. 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 the permeability. represents the change in magnetic field strength (also called magnetization). represents the rate of change of magnetic field strength with time, i.e., the derivative of magnetic field strength with respect to time. represents the current flowing through the coil. l represents the length of the coil.

[0220] Inductance is directly proportional to the square of the number of turns, 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. Therefore, the above formula (1) can be converted to the following formula (2):

[0221] Where Up represents the voltage across the receiving coil 340, and Lp represents the inductance of the receiving coil.

[0222] 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. Therefore, the voltage across the receiving coil varies with the voltage Us across the transmitting coil 330. 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 fifth 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 in accordance 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 transmitted value of the data transmitted by the second circuit board 310 can be determined. Thus, data transmission can be achieved using the transmitting coil 330 and the receiving coil 340.

[0223] In some embodiments of this disclosure, the lidar includes an upper plate and a lower plate. The upper plate can be disposed in the upper part of the lidar's internal space and rotate with the lidar's rotating structure, while the lower plate can be fixedly disposed in the lower part of the lidar's internal space. For example, the second circuit board 310 is the lower plate, and the first circuit board 320 is the upper plate. For example, the lidar 300 includes a scanning system, and the driving device of the scanning system can include 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 can be fixedly connected to the rotor and rotate under the drive of the rotor. The second circuit board 310 is fixedly disposed relative to the stator. The first circuit board 320 is fixedly disposed relative to the rotor and can rotate with the rotor. The upper plate transmits data to the lower plate, which can be referred to as downlink transmission or downlink communication. The lower plate transmits data to the upper plate, which 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 a transmitting coil 330 and a receiving coil 340. Furthermore, the lower plate can also transmit data to the upper plate based on the principle of electromagnetic induction. This allows data transmission between the lower and upper lidar boards without affecting the power supply from the lower lidar board to the upper lidar board, reducing the cost of the lidar. This disclosure does not limit the layout of the circuitry on the upper and lower lidar boards. For example, in some embodiments, the upper lidar board may be equipped with a laser emitting circuit, a laser receiving circuit, and a preprocessing circuit. For example, the control section and information processing section of the lidar control and processing system may be located on either the upper or lower lidar board. For instance, the upper lidar board converts the echo into an electrical signal and preprocesses the electrical signal before converting it back into echo data, which is then sent to the lower lidar board. The lower lidar board processes the echo into point cloud data and sends it to the lidar carrier. Furthermore, the lower lidar board may access the registers of the upper lidar board or send upgrade packages to the upper lidar board for software or firmware upgrades. Also, the lower lidar board may send control signals to the upper lidar board to configure its operating mode, etc. In some embodiments of this disclosure, the second circuit board 310 can transmit data to the first circuit board 320 using a transmitting coil 330 and a receiving coil 340. The first circuit board 320 can transmit data to the second circuit board 310 using a transmitting coil 330 and a receiving coil 340, or it can use optical communication.

[0224] 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. During data transmission, the second circuit board 310 also supplies power to the first circuit board 320 using the transmitting coil 330. Maintaining a constant operating frequency for the transmitting coil 330 during data transmission reduces the impact of data transmission on the power supply process and minimizes the impact of data transmission on power supply efficiency. Thus, 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). 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). During data transmission, the operating frequency of the receiving coil 340 can be maintained at the resonant frequency of the resonant circuit.

[0225] Data can be converted into digital signals during transmission, which can be represented by binary "0" and "1". In some embodiments of this disclosure, the transmitted data value includes a first value and a second value. For example, the first value is "0" and the second value is "1". Or, for example, the first value is "1" and the second value is "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 fifth 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 that the transmitted data value is the first value, and mismatched first and second duty cycles are used to determine that the transmitted data value is the second value. Matching the first duty cycle and the second duty cycle means that the first duty cycle and the second duty cycle are the same, similar, or the difference between them is within a preset error range. It should be noted that "same" includes both being completely identical and being identical within the error range. For example, the same duration for positive voltage and negative voltage includes both the positive voltage duration and the negative voltage duration being exactly the same, and the difference between the positive voltage duration and the negative voltage duration being within the allowable error range.

[0226] In some embodiments of this disclosure, the duty cycle refers to the proportion of the signal's effective time within one period. The duty cycle value can be expressed as a percentage. The effective time of the signal can be the time when the signal is at a high level or the time when the signal is at a low level. Please continue to refer to Figure 18, where a is labeled as the first end of the transmitting coil 330, b is labeled as the second end of the transmitting coil 330, c is labeled as the first end of the receiving coil 340, and d is labeled as the second end of the receiving coil 340. The voltage across the transmitting coil can include the voltage from end a to end b or the voltage from end b to end a. Taking the voltage across the transmitting coil as the voltage from end a to end b as an example: 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 at a low level, and the second signal corresponding to end d is at a high level. 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 terminal c is at a high level, and the second signal corresponding to terminal d is at a low level. The first duty cycle of the first signal corresponding to terminal c is positively correlated with the duration of 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 positive voltage across the transmitting coil 330. Thus, in the first state, the first and second duty cycles of the voltage across the transmitting coil match. In the second state, the first and second duty cycles do not match. The data transmission 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, which helps reduce the cost of lidar and has good data transmission efficiency.

[0227] In some embodiments of this disclosure, the fifth 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 fifth 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.

[0228] Figure 19 shows an example diagram of the voltage states across the transmitting coil and the signals across the receiving coil, consistent with some embodiments of this disclosure. Referring to Figure 19, T represents a period, which may include, for example, the period of the voltage signal across the transmitting coil 330, or the control period of the fifth control circuit 350, etc. When the voltage across the transmitting coil 330 is in a 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 of the receiving coil 340 at terminal c is 0%, and the second duty cycle of the receiving coil 340 at terminal d is 0%. By matching the first and second duty cycles, the data transmission value within the period T can be determined to be a first value. When the voltage across the transmitting coil 330 is in the second state, the duration t3 during which the voltage across the transmitting coil 330 is positive is different from the duration t4 during which the voltage across the transmitting coil 330 is negative. Therefore, in the second state, the duty cycle when the voltage across the transmitting coil 330 is positive is (OP)%, and the duty cycle when the voltage across the transmitting coil 330 is negative 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 of the receiving coil 340 is (OP)%. Since the first and second duty cycles do not match, it can be determined that the data transmission value within period T is the second value.

[0229] In some embodiments of this disclosure, the period T also includes a safety time, also known as a dead time. Referring to Figure 19, during the safety time, the voltages at both ends a and b of the transmitting coil 330 are at a low level, or the voltage at one end of the transmitting coil 330 is floating, or the voltages at both ends of the transmitting coil 330 are floating. Setting a safety time provides a certain safety margin for the communication system circuitry, reducing the likelihood of circuit anomalies during voltage transitions between positive and negative voltages at the transmitting coil 330.

[0230] In some embodiments of this disclosure, the fifth 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 second circuit board 310 supplies power to the first 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.

[0231] In some embodiments of this disclosure, the fifth 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.

[0232] The first and second states of the voltage across the transmitting coil 330 are only used to distinguish whether the time the voltage across the transmitting coil is positive and the time it is negative are the same, and do not limit the specific voltage values. For example, the voltages at the first and second ends of the transmitting coil can be the same or different. Furthermore, the magnitudes 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 the voltage across the transmitting coil 330 occupies in the voltage across the transmitting coil can be the same or different during different transmission processes (e.g., transmission start, transmission process, transmission end). For example, the voltage across the transmitting coil is in the first state both during the transmission of the first value and in the idle state. However, the magnitudes of the voltages across the transmitting coil corresponding to the first state in these two scenarios can be the same or different. Or, the proportion of time the transmitting coil occupies in the first state corresponding to the positive voltage in these two scenarios can be the same or different. The first or second states in other different scenarios are similar. For example, referring to Figure 18, let's assume the first duration is 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 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; the first duration (or second duration) during the idle state and the first duration (or second duration) during the transmission of the first value are not restricted to be the same. For example, the first duration during the idle state and the first duration during the transmission of the first value can be the same or different. Similarly, the second duration during the idle state and the second duration during the transmission of the first value can be the same or different. Likewise, the first duration (or second duration) at the start of transmission and the first duration (or second duration) during the transmission of the second value are not restricted to be the same. The first duration (or second duration) at the end of transmission and the first duration (or second duration) during the transmission of the first value are not restricted to be the same, and so on.

[0233] 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 fifth control circuit 350 adjusts the voltage across the transmitter coil 330 to the second state, thus changing the voltage from the first state to the second state. This state transition indicates the start of transmission. When data transmission ends, the fifth control circuit 350 adjusts the voltage across the transmitter coil 330 back to the first state, which can be maintained for multiple consecutive cycles. This indicates the end of 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 a first signal at the first end and a 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.

[0234] In other embodiments of this disclosure, a third state can be set to identify the start of transmission, and a fourth state can be set to identify the end of transmission. The difference between the third state and the first and second states may include a different proportion of time during which the voltage across the transmitting coil is positive (or negative), or a different voltage magnitude, etc., and this disclosure does not impose limitations. Similarly, the difference between the fourth state and the first, second, and third states may include a different proportion of time during which the voltage across the transmitting coil is positive (or negative), or a different voltage magnitude, etc., and this disclosure does not impose limitations.

[0235] 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.

[0236] In some embodiments of this disclosure, during data transmission, the fifth control circuit 350 is also configured to control the voltage state across the transmitting coil 330 to remain constant for multiple consecutive cycles.

[0237] 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, a single value in the data 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 the same value in the 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. When the delay is large, the number of cycles in which the voltage state remains constant can be increased. When the delay is small, the number of cycles in which the voltage state remains constant can be decreased. 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 the accuracy and efficiency of data transmission. Optionally, the number of cycles or the number of repeated transmissions can be in the range of 2 to 5, including boundary values.

[0238] For example, the transmission is repeated three times. Taking the data to be transmitted as including binary "010" as an example, the data transmission is equivalent to transmitting binary "000111300". 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. Determining the transmission value based on the first signal and the second electrical signal detected at the first end of the receiving coil 340 in any intermediate cycle has 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 fifth 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.

[0239] Figure 20 shows a structural example of a communication system consistent with some embodiments of this disclosure. Referring to Figure 20, the fifth 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.

[0240] 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.

[0241] The fifth 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, without limiting the magnitude of the duty cycle. For example, in the idle state, the third and fourth duty cycles are the same, at which time the third duty cycle is P1 and the fourth duty cycle is P2. When transmitting a first value, the third and fourth duty cycles are the same, at which time 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; in this case, 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; in this case, 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; in this case, the third duty cycle is P31 and the fourth duty cycle is P32. When transmission ends, the third and fourth duty cycles are the same; in this case, 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.

[0242] 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%. Alternatively, 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%. Alternatively, 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.

[0243] Referring again to Figure 20, in 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. Under the control of the first control signal, the first switching circuit 551 time-divisionally turns on the first voltage U1 and the second voltage U2. Thus, a third signal with a third duty cycle is provided 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. Under the control of the second control signal, the second switching circuit 552 time-divisionally turns on the third voltage U3 and the fourth voltage U4. Thus, a fourth signal with a fourth duty cycle is provided to the second terminal B of the transmitting coil 530.

[0244] The first switching circuit 551 controls the voltage at the first terminal A to be a first voltage U1, and the second switching circuit 552 controls the voltage at the second terminal B to be a fourth voltage U4. At this time, 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. The first switching circuit 551 controls the voltage at the first terminal A to be a second voltage U2, and the second switching circuit 552 controls the voltage at the second terminal B to be a third voltage U3. At this time, 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.

[0245] The first switching circuit 551 may include a first switch K1 and a second switch K2. The first control signal may include a first sub-control signal controlling the first switch K1 to be on or off, and a second sub-control signal controlling the second switch K2 to be on or off. Similarly, the second switching circuit 552 may include, for example, a third switch K3 and a fourth switch K4. The second control signal may include, for example, a third sub-control signal controlling the third switch K3 to be on or off, and a fourth sub-control signal controlling the fourth switch K4 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 are the same control signal WPT_A, and the third sub-control signal and the second sub-control signal are the same control signal WPT_B. Thus, the structure and control logic of the fifth 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 may include 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.

[0246] This disclosure does not limit the type of switch. For example, the first switch K1 to the fourth switch K4 may include semiconductor switching devices. For instance, semiconductor switching devices may include N-type metal-oxide-semiconductor (NMOS) transistors, NPN transistors, or N-channel GaN (gallium nitride) transistors. As another example, semiconductor switching devices may include P-type metal-oxide-semiconductor (PMOS), PNP transistors, or P-channel GaN transistors.

[0247] In some embodiments of this disclosure, the first switch K1 and the second switch K2 are not simultaneously turned on. This prevents shoot-through, i.e., prevents current from flowing directly from the high-voltage end to the low-voltage end without passing through the transmitting coil 530. For example, it can prevent flow from the port coupled to the first voltage U1 to the port coupled to the second voltage U2, or from the port coupled to the third voltage U3 to the port coupled to the fourth voltage U4.

[0248] 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.

[0249] In some embodiments of this disclosure, the first voltage U1 and the third voltage U3 can be high-level (e.g., 12V), and the second voltage U2 and the fourth voltage U4 can be low-level (e.g., 0V). This disclosure does not limit the specific values ​​of the high and low levels, as long as they can distinguish between high and low voltages. Thus, the data transmission value can be determined by detecting the high-level duty cycle of the first terminal A0 and the high-level duty cycle of the second terminal B0 of the receiving coil 540.

[0250] 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 safe period can be reserved as a buffer within the transmission cycle. For example, when the signal at the first terminal A undergoes level switching, the first switch K1 and the second switch K2 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. By controlling the third duty cycle to be not equal to 50%, the first switch K1 and the second switch K2 can both be turned off during the aforementioned time period. In this way, the voltage at the first terminal A of the transmitting coil 540 can be left floating for a period of time, reducing or avoiding the current flowing directly from the high voltage terminal (e.g., the first voltage U1) to the low voltage terminal (e.g., the second voltage U2) without passing through the transmitting coil 530, 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 safe period for buffering can be reserved to improve circuit stability.

[0251] 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%. Limiting the third and fourth duty cycles to a range around 50% prevents significant signal fluctuations in the voltage across the transmitting coil 511 during the transition between the first and second states. This improves the overall stability of the communication system and reduces or avoids the impact of data transmission on the power supply of the communication system.

[0252] Figure 21 shows an example diagram of control signals and signals at both ends of a receiving coil in a switching circuit consistent with some embodiments of this disclosure. Referring to Figures 20 and 21, in the initial state, the communication system is in an idle state. At this time, the transmitting end of the communication system (e.g., transmitting coil 530) does not transmit data to the receiving end of the communication system (e.g., receiving coil 540); the transmitting end is only used to supply power to the receiving end. The duty cycle of the first sub-control signal WPT_A at the first end 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 end 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 end of the transmitting coil is 49%, and the fourth duty cycle at the second end of the transmitting coil is 49%. At this time, the high level percentage at the first end A0 of the receiving coil 540 is approximately 49%, and the low level percentage is approximately 51%, that is, the first duty cycle at the first end of the receiving coil 540 is 49%. The high-level percentage of the second terminal B0 of the receiving coil 540 is approximately 49%, and the low-level percentage is approximately 51%, meaning the second duty cycle of the second terminal of the receiving coil 540 is 49%. The duty cycles of the first signal at the first terminal A0 of the receiving coil 540 and the second signal at the second terminal B0 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.

[0253] When the transmitter begins transmitting data, it may first transmit a start signal. This start signal may include a start bit. For example, referring to Figure 21, the duty cycle of the control signal WPT_A corresponding to this start bit is 49%-X%. Specifically, the high level of the control signal WPT_A accounts for 49%-X% of the total signal, and the low level of the control signal WPT_A 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].

[0254] When the transmitted data value is the first value, the duty cycle of the control signal WPT_A is 49%. When the transmitted data value is the second value, the duty cycle of the control signal WPT_A is 49%-X%. The same transmitted 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 terminal A0 of the receiving coil 540 and the second signal at the second terminal B0 of the receiving coil 540. The determination method is the same as described in the above embodiment. For example, when the duty cycle of the first signal at terminal A0 and the duty cycle of the second signal at terminal A2 are both about 49%, it is determined that the first value has been received. When the duty cycle of the first signal at terminal A0 is about 49%-X%, and the duty cycle of the second signal at terminal B0 is about 49%, it is determined that the second value has been received.

[0255] When the transmitting end completes data transmission, it can transmit a stop signal. This stop signal may include a stop bit. For example, referring to Figure 21, the duty cycle of the control signal WPT_A corresponding to this stop bit is 49%. Specifically, the high level of control signal WPT_A accounts for 49% of the transmission, and the low level accounts for 51%. 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. Optionally, setting N3 to be greater than N2 can reduce the false positives of the transmission end signal.

[0256] In some embodiments of this disclosure, X% is, for example, greater than or equal to 2% and less than or equal to 5%. An excessively large X% may cause significant voltage fluctuations in the receiving coil, while an excessively small X% may lead to misjudgments by the receiver when determining the transmitted value due to insufficient duty cycle difference. The range of X% described above 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.

[0257] In the example shown in Figure 21, 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.

[0258] 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 or preventing current from flowing directly from the high-level end to the low-level end through the same-end switch instead of 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 significantly reduces the probability of the switches at the same end of the transmitting coil 530 being simultaneously turned on. Circuit stability can also be maintained even when there is a delay in switch control.

[0259] In some embodiments of this disclosure, the frequency of the control signal (e.g., a first control signal or a second control signal) is the resonant frequency. Referring again to FIG. 20, the circuit containing the transmitting coil 530 of the communication system can be equivalent to an LC resonant circuit. In FIG. 20, C1 may include an equivalent capacitor or an actual capacitor, and L1 may be the equivalent inductance of the transmitting coil 530. Similarly, the circuit containing the receiving coil 540 can be equivalent to an LC resonant circuit. In FIG. 20, C2 may include an equivalent capacitor or an actual capacitor, and L2 may be the equivalent inductance of the receiving coil 540. The resonant frequencies of the transmitting and receiving ends can be the same. The resonant frequency is the resonant frequency of the LC resonant circuit at the transmitting or receiving end.

[0260] Referring again to Figure 20, in some embodiments of this disclosure, the detection circuit 560 may include a Schmitt trigger 561. The Schmitt trigger 561 may include a first input terminal and a second input terminal. The first input terminal may be connected to the first terminal A0 of the receiving coil 540, and the second input terminal may be connected to the second terminal B0 of the receiving coil 540. The Schmitt trigger 561 shapes the first signal at the first terminal A0 and the second signal at the second terminal B0 and outputs them to the subsequent circuit 570. The subsequent circuit 570 may include the processing circuitry of the lidar control and processing system. The subsequent circuit 570 can determine the transmitted data value based on the received shaped first and second signals.

[0261] Optionally, the first input of the Schmitt trigger 561 can receive a divided voltage signal of the first signal through a first voltage divider circuit. The first voltage divider circuit may include multiple resistors. For example, the first voltage divider circuit includes a first resistor R1 and a second resistor R2 connected in series. The first resistor R1 is connected to the first terminal A0 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 second voltage divider circuit. The second voltage divider circuit may include multiple resistors; for example, the second voltage divider circuit includes a third resistor R3 and a fourth resistor R4 connected in series. The third resistor R3 is connected to the first terminal B0 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.

[0262] Figure 22 shows an example flowchart of a communication control method consistent with some embodiments of this disclosure. This communication control method is used for a lidar system. The lidar system includes a second circuit board and a first circuit board, which communicate with each other via a transmitting coil and a receiving coil. Referring to Figure 22, the communication control method includes:

[0263] S710 controls the transmitting coil to transmit radio frequency signals for powering the first circuit board;

[0264] The S720 controls the voltage across the transmitting coil to transmit data.

[0265] During data transmission, different voltage states can be used to transmit different values ​​of data.

[0266] Thus, while the second circuit board supplies power to the first 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 transmitting and receiving coils can be reused to achieve both power supply and data transmission functions. Compared to schemes using optical communication for data transmission, the scheme of this disclosure reduces the hardware configuration on the circuit board, thereby reducing the cost and miniaturizing 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 advantages such as simple circuit structure, simple control logic, lower cost, and higher transmission accuracy. Compared to bidirectional optical communication, this communication method can reduce mutual interference between the two optical communication paths. This reduces the complexity of the lidar structure and decreases 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.

[0267] The communication control of the transmitting end can be referred to the description in the above embodiments.

[0268] 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.

[0269] 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: controlling the voltage across the transmitting coil to be in the first state when transmitting the first value of the data, and controlling the voltage across the transmitting coil to be in the second state when transmitting the second value of the data. 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.

[0270] Figure 23 shows an example flowchart of another communication control method consistent with some embodiments of this disclosure. Referring to Figure 23, the above communication control method may further include:

[0271] S810: In the idle state, the voltage across the transmitting coil is controlled to the first state.

[0272] S820: When data transmission begins, the voltage across the transmitting coil is controlled to the second state.

[0273] Please continue to refer to Figure 23. In some embodiments of this disclosure, the above communication control method further includes:

[0274] S830: At the end of data transmission, the voltage across the transmitting coil is controlled to the first state for multiple consecutive cycles.

[0275] In some embodiments of this disclosure, step S720 may include: 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.

[0276] 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.

[0277] 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%. This can improve the stability of the circuit.

[0278] Figure 24 shows an example flowchart of a data processing method consistent with some embodiments of this disclosure. This data processing method is used for a lidar system, which includes a second circuit board and a first circuit board, and the second and first circuit boards communicate with each other via a transmitting coil and a receiving coil. Referring to Figure 24, the data processing method includes:

[0279] S910, determine the first signal, the first signal comes from the first end of the receiving coil.

[0280] S920, determine the second signal, the second signal comes from the second end of the receiving coil.

[0281] 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.

[0282] In this way, the transmitting and receiving coils can be reused to achieve both power supply and data transmission functions. Compared to solutions using optical communication for data transmission, the solution of this disclosure reduces the hardware configuration on the circuit board, thereby reducing the cost and miniaturizing the lidar. Furthermore, by controlling the voltage across the transmitting coil to achieve data transmission, compared to modulation schemes such as frequency modulation used for data transmission, it has advantages such as simple circuit structure, simple control logic, lower cost, and higher transmission accuracy. Compared to bidirectional optical communication, this communication method can reduce mutual interference between the two optical communication paths. This reduces the complexity of the lidar structure and decreases 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.

[0283] The communication control of the transmitting end can be referred to the description in the above embodiments.

[0284] For information on data detection at the receiving end, please refer to the description in the above embodiments.

[0285] 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 may include: the absolute value of the difference between the first duty cycle and the second duty cycle being less than a third threshold. If the absolute value of the difference between the first duty cycle and the second duty cycle is equal to the third 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 third threshold, which can be set to a tolerance value based on the actual error generated by the circuit.

[0286] 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: the absolute value of the difference between the first duty cycle and the second duty cycle being greater than a second threshold. When 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 third threshold can be set with a tolerance value based on the actual error generated by the circuit.

[0287] 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 and the third threshold may be the same or different, and this disclosure does not impose any limitations.

[0288] 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 third threshold within a series of consecutive periods.

[0289] This disclosure also provides a data transmission device for lidar. For example, the data transmission device includes a second circuit board, a transmitting coil, and a fifth control circuit. The transmitting coil is electrically connected to or disposed on the second circuit board. The transmitting coil is configured to couple with a receiving coil. The second circuit board supplies power and transmits data to a first circuit board via the transmitting and receiving coils. The fifth control circuit is disposed on the second circuit board. The fifth control circuit is electrically connected to the transmitting coil and configured to control the voltage across the transmitting coil to transmit data during data transmission.

[0290] This disclosure also provides a data receiving device for lidar. The data receiving device includes a first circuit board, a receiving coil, and a detection circuit. The receiving coil is electrically connected to or disposed on the first circuit board. The receiving coil is configured to couple with a transmitting coil. The first circuit board receives power and data from a second circuit board through the receiving coil and the transmitting coil. The detection circuit is disposed on the first circuit board and electrically connected to the receiving coil. The detection circuit is 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 are used to determine the data transmission value or transmission state.

[0291] This disclosure also provides a communication control device for a lidar. The lidar includes a second circuit board and a first circuit board. The second circuit board and the first circuit board communicate with each other via a transmitting coil and a receiving coil. FIG25 shows a structural example diagram of a communication control device consistent with some embodiments of this disclosure. Referring to FIG25, the communication control device 1300 may include an interface 1310 and a processor 1320. The interface 1310 is configured to be electrically connected to the transmitting coil, and the processor 1320 is configured to execute the communication control method provided in any of the above embodiments.

[0292] This disclosure also provides a data processing apparatus for a lidar system. The lidar system includes a second circuit board and a first circuit board, which communicate with each other via a transmitting coil and a receiving coil. FIG26 shows a structural example of a data processing apparatus consistent with some embodiments of this disclosure. Referring to FIG26, the data processing apparatus 1400 may include an interface 1410 and a processor 1420. The interface 1410 is configured to be electrically connected to the receiving coil, and the processor 1420 is configured to execute the data processing method provided in any of the above embodiments.

[0293] 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.

[0294] 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" can include one lidar or multiple lidars. "Multiple" includes two or more, and other quantifiers are similar.

[0295] The terms "or" and "and / or" in this disclosure are used to describe the relationship 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 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, and 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.

[0296] 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 lidar, comprising: The laser radar comprises: a base configured to support the installation of internal components of the laser radar; a light cover buckled on the base; the light cover allows light of a working wavelength of the laser radar to pass through; a main shaft arranged on the base; a rotating frame rotationally connected with the main shaft; a first circuit board and a second circuit board; a transmitting circuit board and a receiving circuit board; wherein the first circuit board is arranged on the rotating frame, the second circuit board is arranged on the base, and the first circuit board and the second circuit board are arranged in parallel; the second circuit board is provided with an interface circuit for external communication; a wireless communication device is arranged in the main shaft, and the wireless communication device is configured to realize communication between the first circuit board and the second circuit board; the transmitting circuit board and the receiving circuit board are arranged above the rotating frame; a laser is arranged on the transmitting circuit board, and a detector is arranged on the receiving circuit board; the laser comprises a vertical cavity surface emitting laser; the detector comprises a single photon avalanche diode.

2. The lidar of claim 1, wherein, the transmitting circuit board comprises a laser transmitting circuit; the receiving circuit board comprises a laser receiving circuit; the transmitting circuit board is electrically connected with the first circuit board; and the receiving circuit board is electrically connected with the first circuit board.

3. The lidar of claim 2, wherein, the first circuit board comprises at least one of a processing circuit, a second control circuit, or a third control circuit; the processing circuit is configured to generate point cloud data; the second control circuit is configured to control the laser transmitting circuit; and the third control circuit is configured to control the laser receiving circuit.

4. The lidar of claim 3, wherein, the second control circuit is configured to generate first control signaling and send the first control signaling to the laser transmitting circuit, and the laser transmitting circuit is configured to drive the laser to emit laser light according to the first control signaling; the third control circuit is configured to generate second control signaling and send the second control signaling to the laser receiving circuit, and the laser receiving circuit is configured to gate the detector according to the second control signaling, so that the detector receives a return wave; wherein the detector gated and the laser emitting laser light in the same time window correspond to the same sub-field of view.

5. The lidar of claim 1, wherein, The laser radar further comprises a support and a sensor; the support extends along the direction of the main shaft; the sensor comprises an interference element and a sensing element; the interference element is arranged at the end of the support, and the sensing element is arranged opposite to the interference element; when the rotating frame rotates relative to the base, the interference element interferes with the sensing of the sensing element, and changes the output signal of the sensing element.

6. The lidar of claim 5, wherein, The interference element comprises an encoder, and the encoder comprises a plurality of code channels arranged circumferentially at the end of the support; the sensing element comprises a photoelectric sensing element.

7. The lidar of claim 1, wherein, The laser radar further comprises a wireless power supply device, and the wireless power supply device comprises a transmitting coil and a receiving coil; the transmitting coil is arranged on the base, and the receiving coil is arranged on the rotating frame.

8. The lidar of claim 1, wherein, The laser radar further comprises an optical-mechanical structure arranged above the turret, and the optical-mechanical structure comprises an end face arranged obliquely relative to the turret.

9. The lidar of any one of claims 1-8, wherein, The laser radar further comprises a driving device configured to drive the turret to rotate. The driving device comprises a first magnetic member and a second magnetic member, the first magnetic member is fixedly arranged relative to the base, and the second magnetic member is arranged on the turret, and under the action of a magnetic field, the second magnetic member rotates relative to the first magnetic member. Alternatively, the second magnetic member is fixedly arranged relative to the base, and the first magnetic member is arranged on the turret, and under the action of a magnetic field, the first magnetic member rotates relative to the second magnetic member.

10. The lidar of claim 9, wherein, The second magnetic member is arranged on the inner side of the first magnetic member.

11. A carrier, characterized by Comprise: A connecting device; The laser radar according to any one of claims 1-10 is mounted on the carrier through the connecting device.

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