CN110381479B

CN110381479B - Magnetic ring communication equipment and method and laser radar

Info

Publication number: CN110381479B
Application number: CN201910866688.4A
Authority: CN
Inventors: 陈智华
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2019-09-12
Filing date: 2019-09-12
Publication date: 2020-01-17
Anticipated expiration: 2039-09-12
Also published as: CN110381479A

Abstract

The embodiment of the invention relates to the technical field of laser radars, and discloses magnetic ring communication equipment, a method and a radar, wherein the equipment comprises the following components: the distance measuring unit is used for sending the acquired distance measuring data information to the data communication magnetic ring unit as downlink data; the data communication magnetic ring unit comprises at least two paths of communication magnetic rings and is used for transmitting downlink data to the data transmission and processing unit; the power supply unit is used for supplying power to the ranging unit under the control of the data processing and control unit; the data processing and controlling unit is used for controlling the data communication magnetic ring unit to receive the downlink data and process the downlink data; the power supply unit is also used for restarting the power supply unit when receiving the control instruction information; and after receiving a restart success command of the power supply unit, sending the control command information as uplink data to the data communication magnetic ring unit. By the mode, the data transmission rate of the laser radar is improved.

Description

Magnetic ring communication equipment and method and laser radar

Technical Field

The embodiment of the invention relates to the technical field of laser radars, in particular to magnetic ring communication equipment and method and a laser radar.

Background

With the development of the technology, the laser radar is widely used in the fields of intelligent equipment such as automatic driving, intelligent robot navigation and unmanned aerial vehicles, and is applied to scenes such as environment detection and space modeling. The laser radar is a radar system which emits laser beams to detect characteristic quantities such as the position, the speed and the like of a target object, and the working principle of the radar system is that the detection laser beams are emitted to the target object, then received reflection signals reflected from the target object are compared with the emission signals, and after processing, relevant information of the target object, such as parameters of target distance, direction, height, speed, posture, shape and the like, is obtained.

In the process of implementing the embodiment of the present invention, the inventors found that: with the development of the laser radar technology, the demand of the laser radar for data transmission is higher and higher, and therefore, how to solve the problem of data transmission of the laser radar becomes more and more important.

Disclosure of Invention

In view of the above, embodiments of the present invention provide a magnetic loop communication device, method and lidar that overcome or at least partially solve the above problems.

According to an aspect of an embodiment of the present invention, there is provided a magnetic loop communication device including: the device comprises a distance measuring unit, a data communication magnetic ring unit, a data processing and control unit and a power supply unit;

the distance measuring unit is used for sending the acquired distance measuring data information as downlink data to the data communication magnetic ring unit;

the data communication magnetic ring unit comprises at least two paths of communication magnetic rings, forms at least two paths of data communication magnetic ring channels and is used for transmitting the downlink data to the data processing and control unit;

the power supply unit is used for supplying power to the ranging unit under the control of the data processing and control unit;

the data processing and control unit is configured to receive the downlink data and process the downlink data; the data processing and control unit is further configured to restart the power supply unit when receiving control instruction information, so that the ranging unit suspends sending downlink data, and send the control instruction information as uplink data to the data communication magnetic ring unit after receiving a command that the power supply unit is restarted successfully.

Further, the data communication magnetic ring unit transmits the uplink data to the ranging unit under the control of the data processing and controlling unit by using a magnetic ring channel.

Furthermore, the magnetic ring communication equipment also comprises an uplink and downlink data switching unit and a timing unit;

the uplink and downlink data switching unit is used for suspending the transmission of the downlink data by the data communication magnetic ring unit and monitoring the uplink data when the power supply unit is restarted;

the timing unit is connected with the uplink and downlink data switching unit and used for starting to monitor uplink data transmission signals of the uplink and downlink data switching unit for timing when the power supply unit is restarted;

and the timing unit is further configured to stop timing when the ranging unit completes receiving the uplink data, and notify the uplink and downlink data switching unit to start the data communication magnetic ring unit to transmit the downlink data.

Further, the uplink and downlink data switching unit is further configured to determine whether the ranging unit receives the uplink data when the timing time of the timing unit reaches a preset time length;

the uplink and downlink data switching unit is further configured to send an uplink data reception failure message to the data processing and control unit when the ranging unit does not receive the uplink data.

Further, the magnetic ring communication equipment further comprises a control instruction communication magnetic ring unit;

the control instruction communication magnetic ring unit comprises at least one path of communication magnetic ring and is used for forming at least one path of control instruction magnetic ring channel; the control instruction communication magnetic ring unit is used for transmitting the uplink data sent by the data processing and control unit to the ranging unit;

and the ranging unit is used for receiving the uplink data and processing the uplink data.

Further, the magnetic ring communication device further comprises a data dividing unit;

the data dividing unit is configured to acquire the data communication magnetic ring channel information before transmitting the downlink data, and divide the downlink data according to the data communication magnetic ring channel information;

the data division unit is further configured to distribute the divided downlink data to the data communication magnetic ring unit for transmission.

Further, the magnetic ring communication equipment further comprises a data recombination unit;

the data recombination unit is used for receiving the downlink data transmitted by the at least two paths of data communication magnetic ring channels, recombining the downlink data and transmitting the recombined downlink data to the data processing and control unit;

and the data processing and control unit is used for receiving the recombined downlink data and processing the recombined downlink data.

Furthermore, the power supply unit includes a magnetic ring for forming an energy magnetic ring channel, and is configured to transmit the energy signal sent by the data processing and control unit to the ranging unit, so as to supply power to the ranging unit.

The embodiment of the invention also provides a laser radar which adopts the magnetic ring communication equipment.

The embodiment of the invention also provides a magnetic ring communication method, which comprises the following steps:

the ranging unit acquires ranging data information;

the ranging unit sends the ranging data information as downlink data to a data processing and control unit through at least two paths of data communication magnetic ring channels;

and the data processing and controlling unit receives the downlink data and processes the downlink data, and when the data processing and controlling unit receives control instruction information, the power supply unit is restarted to enable the ranging unit to suspend sending the downlink data and send the control instruction information as uplink data to the ranging unit through the data communication magnetic ring channel.

The method further comprises:

and when the data processing and control unit receives the control instruction information, the control instruction information is used as uplink data and is sent to the ranging unit through one path of data communication magnetic ring channel.

Further, when the data processing and control unit receives the control instruction information, the power supply unit is restarted to make the ranging unit suspend sending downlink data, and the method further includes:

monitoring the uplink data and timing the monitoring;

and when the ranging unit finishes the uplink data receiving, stopping timing and starting to send downlink data.

Further, after monitoring the uplink data and timing the monitoring, the method further includes:

when the timing time reaches a preset time length, judging whether the ranging unit receives the uplink data or not;

and when the ranging unit does not receive the uplink data, sending an uplink data receiving failure message to the data processing and control unit.

Further, before the sending the ranging data information as downlink data to the data processing and control unit through at least two data communication magnetic ring channels, the method further includes:

and the ranging unit acquires the information of a data communication magnetic ring channel and divides the downlink data according to the information of the data communication magnetic ring channel.

Further, the receiving, by the data processing and control unit, the downlink data and processing the downlink data specifically includes:

and the data processing and control unit receives the downlink data and recombines the received downlink data.

The magnetic ring communication device provided by the embodiment of the invention is provided with a data processing and control unit, a data communication magnetic ring unit, a distance measuring unit and a power supply unit, wherein the data communication magnetic ring unit comprises at least two paths of communication magnetic rings to form at least two paths of data communication magnetic ring channels, the data processing and control unit controls the data communication magnetic ring unit to transmit distance measuring data information acquired by the distance measuring unit as downlink data through the at least two paths of communication magnetic ring channels, when the data processing and control unit receives control instruction information, the power supply unit is restarted, and after receiving a successful restart instruction of the power supply unit, the control instruction information is transmitted to the data communication unit as uplink data, so that the transmission rate of the uplink data and the downlink data is improved, the data transmission efficiency is improved, and the transmission requirements of the uplink data and the downlink data are met at the same time, the requirement of the current high-line-number laser radar on high data transmission rate is well met.

The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 shows a structure diagram of a magnetic ring communication device provided in embodiment 1 of the present invention;

fig. 2 shows a magnetic ring downlink data communication flow chart provided in embodiment 1 of the present invention;

fig. 3 shows a structure diagram of a magnetic ring communication device provided in embodiment 2 of the present invention;

fig. 4 shows a magnetic ring downlink and uplink data communication flow diagram provided in embodiment 2 of the present invention;

fig. 5 shows a structure diagram of a magnetic ring communication device provided in embodiment 3 of the present invention;

fig. 6 shows a magnetic ring downlink and uplink data communication flow diagram provided in embodiment 3 of the present invention;

fig. 7 shows a flowchart of a magnetic ring communication method provided in embodiment 4 of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In the case of a rotary mechanical lidar, the rotating part and the fixed part are required to maintain rapid relative movement, and if the rotating part and the fixed part are directly connected by a contact type wire, the contact part is very easy to damage, and the stability of signal transmission is not ensured. Therefore, the embodiment of the invention carries out data transmission in a short-distance wireless communication mode. Magnetic loop transmission is one such means for near field wireless communication through electromagnetic field coupling. In principle, this transmission is applicable to all devices that cannot transmit data via direct electrical connections, whether fixed or moving relative to each other.

When a single magnetic ring performs communication, the number of transmission bits per bandwidth needs to be increased in order to increase the data transmission rate. The limit of bandwidth efficiency of the binary transmission scheme used in the prior art is 2 bits per hertz according to the communication principle, which can be improved by using some efficient coding or modulation scheme. For example, a modulation scheme such as multilevel data transmission coding or multi-subband frequency division multiplexing is adopted, but in the concrete implementation, a circuit is required to be added with components such as a DAC, an ADC, a data modem, an equalizer and the like, and the defects of long development time and high cost exist. The embodiment of the invention provides a method for forming a plurality of paths of data communication magnetic ring channels by simultaneously using a plurality of pairs of magnetic rings in a laser radar, so that the plurality of paths of data communication magnetic ring channels are mutually matched to serve as media for data transmission, and the purpose of improving the transmission rate is achieved.

Example 1:

fig. 1 shows a schematic structural diagram of a magnetic loop communication device according to an embodiment of the present invention, where the magnetic loop communication device includes: a data processing and control unit 110, a data communication magnetic ring unit 120 and a ranging unit 130;

the distance measuring unit 130 is configured to send the obtained distance measuring data information to the data communication magnetic ring unit 120 as downlink data;

the data communication magnetic ring unit 120 includes at least two communication magnetic rings, which constitute at least two data communication magnetic ring channels, and is configured to transmit the downlink data to a data processing and control unit; the data processing and controlling unit 110 is configured to control the data communication magnetic ring unit to receive the downlink data and process the downlink data.

In the embodiment of the invention, the operating frequency of the at least two-way communication magnetic ring is 1-300MHz, nickel-zinc ferrite is preferably adopted, the magnetic ring is suitable for data transmission, other impurity components can be added into the material to adjust the magnetic core characteristics, and the magnetic core material generally requires high magnetic conductivity, high saturation magnetic induction, low coercive force, second power loss and the like. In the embodiment of the invention, at least two paths of communication magnetic rings are arranged in the data communication magnetic ring unit 10 in the magnetic ring communication equipment to form at least two paths of data communication magnetic ring channels, and when the distance measurement unit sends the collected downlink data, the downlink data is sent through the multiple paths of data communication magnetic ring channels, so that the number of the data sending channels is increased, and the data sending rate is increased.

As shown in fig. 2, which is a data transmission flow chart of a magnetic loop communication device, it is preferable here to provide two communication magnetic loops, which form a magnetic loop channel 1 and a magnetic loop channel 2, and are used to transmit downlink data, specifically:

on the ranging side, i.e. the data transmitting end:

step 201: collecting measurement data;

the distance measurement unit continuously collects measurement data and sends the distance measurement data to the data processing and control unit.

Step 203: segmenting the ranging data;

to more efficiently send the ranging data to the data processing and control unit, prior to sending, the ranging unit segments the ranging data according to magnetic loop channel information including, but not limited to, a total bandwidth of data communication magnetic loop channels, a number of data communication magnetic loop channels, a maximum transmission rate of a single data communication magnetic loop channel, a material of a magnetic loop, a magnetic loop air gap, etc., wherein the total bandwidth of the data communication magnetic loop channels is equal to the number of data communication magnetic loop channels multiplied by the maximum transmission rate of a single data communication magnetic loop channel. For example, the number of magnetic loop channels is 2, and the maximum transmission rate of the first data communication magnetic loop channel is twice the maximum transmission rate of the second data communication magnetic loop channel, then the amount of data transmitted by the first magnetic loop channel is 2/3 of the total amount of data transmitted by the data communication magnetic loop channel, and the amount of data transmitted by the second magnetic loop channel is 1/3 of the total amount of data transmitted by the data communication magnetic loop channel.

In the embodiment of the invention, it can be understood that the working frequency of the data communication magnetic ring is generally in the range of tens of megabits to one hundred megabits, and the common magnetic core materials at present comprise manganese zinc ferrite and nickel zinc ferrite, wherein the former generally works at the frequency lower than 1MHz, and the latter generally works at the frequency of 1-300 MHz. Based on the working frequency range of the data communication magnetic ring of the embodiment of the invention, the magnetic core material is preferably nickel-zinc ferrite. It is understood that in order to further adjust the communication efficiency of the magnetic ring, other impurity components can be added into the above materials to adjust the magnetic core characteristics, and the magnetic core materials generally require high magnetic permeability, high saturation magnetic induction, low coercive force, second power loss and the like. For each coil of the communication magnetic ring, under the same magnetic core, the number of turns is large, but the increase of the number of turns brings about the increase of the total inter-turn capacitance, and the increase of the total inter-turn capacitance can affect the transmission of high-frequency data. Meanwhile, the data communication magnetic ring in the embodiment of the invention is divided into the inner magnetic ring and the outer magnetic ring, and the air gap between the inner magnetic ring and the outer magnetic ring can cause magnetic leakage, so that the bandwidth of data transmission is influenced, and a smaller air gap is kept between the inner magnetic ring and the outer magnetic ring, so that higher data transmission bandwidth is provided. Meanwhile, the sectional area of the data communication magnetic ring also affects the data transmission performance of the magnetic ring, so the sectional area of the data communication magnetic ring can be set according to the data transmission characteristic in the embodiment of the invention, and generally the sectional area of the data communication magnetic ring cannot be set too large. Before data transmission, the ranging unit determines information of magnetic ring channels according to the material of the data communication magnetic rings, magnetic ring air gaps, cross sections, the number of turns of coils and the like, and divides downlink data according to the magnetic ring channel information and the number of the magnetic ring channels, so that the characteristics of each data communication magnetic ring are more fully utilized for data transmission, and the data transmission efficiency is improved. It can be understood that before different data are sent through different data communication magnetic ring channels, data processing needs to be performed on the data to be transmitted according to a preset segmentation rule.

The preset segmentation rule can be divided in various ways, such as: the method can adopt a sequential segmentation mode, and the data of one frame are respectively distributed to different channels according to the first half frame and the second half frame; or extracting corresponding data to be distributed to different channels for transmission by adopting an interval extraction mode according to the number of the channels; or, the ranging data may be sampled randomly by a frequency hopping method, and divided according to a frequency hopping rule and a set data structure. In short, there are many ways of data division, which can be divided according to time or preset sampling manner, and are not described herein again, in order to improve the efficiency of data transmission and the robustness of data transmission. As shown in this embodiment, two data communication magnetic ring channels are provided, and the ranging unit divides the ranging data into two parts of data according to the magnetic ring channel information and a preset rule, and transmits the two parts of data through the magnetic ring channel 1 and the magnetic ring channel 2, respectively.

Due to the complexity of the real environment, the data volume collected by the ranging unit of the laser radar has a large variation, such as: in a complex environment, a large amount of environment data needs to be collected, and in a simple environment or an environment with small change, the ranging unit only needs to collect a small amount of data, which results in that the requirement of the laser radar on the data transmission rate changes greatly. Therefore, in the embodiment of the present invention, before sending data, the ranging unit may divide the ranging data according to the data amount of the acquired environment data, and at the same time, according to the number of the data communication magnetic ring channels, the maximum data transmission rate of the data communication magnetic ring channels, and the like. Specifically, multiple modes can be adopted, the laser radar is assumed to have three paths of data communication magnetic ring channels, when the data volume of the acquired ranging data is small, the data processing and control unit can control the ranging unit to only adopt one path of data communication magnetic ring channel to transmit downlink data, and the energy consumption of the system is saved; when the data volume of the acquired ranging data is larger, the data processing and control unit can control the ranging unit to adopt three paths of data communication magnetic ring channels for transmission. Moreover, in the actual control process, the control of the downlink data transmission may also be performed according to the maximum data transmission rate of each data communication magnetic ring channel, for example: in the three data communication magnetic ring channels, the maximum data transmission rate of one channel is 512Kbps, and the maximum data transmission rates of the other two channels are 256Kbps, so that the data transmission and control unit can control the three channels to transmit downlink data at the maximum data transmission rate of 256 Kbps.

Certainly, under the condition that the number of channels is large, if the data volume is small, in order to fully utilize the channel resources, the ranging unit determines the number of the required data communication magnetic ring channels according to the rate requirement of the ranging data and the maximum transmission rate of each path of data communication magnetic ring channel, and only selects a plurality of channels for data transmission, so as to ensure that the channel resources can be fully utilized. It is to be understood that in some alternative embodiments, in the case of channel redundancy, non-adjacent channels may be selected for data transmission in order to avoid interference between channels.

Preferably, before data segmentation, data can be processed, and a check code is inserted to improve the robustness of the data and reduce the probability of errors in the transmission process, so that when the system receives the data, the data can be checked.

Step 205: and framing the divided data according to a preset data transmission protocol.

There are various framing manners, and in the embodiment of the present invention, framing may be performed according to the following data frame structure:

synchronization bit

Frame numbering

Data payload

Check bit

The synchronization bit is used for receiving end data synchronization to identify whether data or noise is received;

the frame number is used for identifying the position of the received frame so that a receiving end can carry out correct data recovery according to the frame number;

the data load is data information to be transmitted;

the check bits are used for checking the received data so as to enable the data to be transmitted correctly, and the check modes are various, and may adopt CRC check or other check modes.

Step 207: each channel carries out line coding on the received data;

in order to ensure the correct transmission of data, each channel performs channel coding on the data to be transmitted before sending the data, and there are various channel coding modes, and a simple and fast coding mode can be adopted for data coding. Of course, in order to reduce the interference between the channels, in an actual implementation, the interference between the channels of different data communication magnetic rings may be reduced by means of physical isolation. Meanwhile, the interference between different channels can be reduced by adopting different coding modes of the different channels, so that the accuracy of channel transmission is improved.

The downlink ranging data after channel coding is sent to the data processing and control side through the magnetic ring channel 1 and the magnetic ring channel 2, namely the data receiving side.

Data processing and control side:

step 209: the data processing and control unit receives ranging data sent by a ranging side through a data communication magnetic ring channel, and performs clock recovery and decoding;

corresponding to the data sending process of the ranging side, the data processing and control side processes the received data by adopting the corresponding process. The data processing and control unit receives data of different channels through the magnetic ring channel 1 and the magnetic ring channel 2, synchronizes the received data according to the corresponding channel coding mode, and then starts decoding to recover the data.

Step 211: the data processing and control unit performs data unframing;

and after frame synchronization is carried out according to a data frame structure adopted by a data sending side, extracting check bit information, checking the received data frame, and carrying out the next step of data recombination after the data frame passes the data check.

Step 213: the data processing and control unit performs data recombination on the received data;

the data processing and control unit extracts the frame number from the received data frame, and recombines the data according to the frame number information to recover the original data information sent by the ranging unit.

Step 215: processing ranging data;

the data processing and control unit analyzes and processes the received ranging data.

As can be seen from the above, in the magnetic ring communication device provided in the embodiment of the present invention, at least two paths of communication magnetic rings are arranged in the data communication magnetic ring unit to form at least two paths of data communication magnetic ring channels, so that the sending rate of the ranging data is increased, and the data transmission efficiency is greatly improved. Meanwhile, the ranging unit can adaptively select the corresponding data communication magnetic ring channel for data transmission according to the data transmission rate, so that the utilization rate of the channel is improved.

Example 2:

through the embodiment 1, fast sending of downlink data is achieved, and data transmission efficiency is improved, and further, another embodiment 2 of the present invention provides a magnetic ring communication device, which is used for transmitting downlink data and uplink data. Although the ranging unit is mostly in the process of data acquisition and downlink ranging data transmission, it is sometimes necessary to receive the control command sent by the data processing and control unit as uplink data. For example, the software of the ranging unit is updated by receiving the control command sent by the data processing and control unit, or the parameter of the ranging data is adjusted by receiving the control command sent by the data processing and control unit. The traditional scheme mainly operates in a mode of manually inserting a USB flash disk or disassembling the USB flash disk to update the software of the ranging unit, and the efficiency is very low. On the basis of the foregoing embodiment 1, another embodiment 2 of the present invention provides a magnetic loop communication device capable of performing uplink data transmission through a data communication magnetic loop channel, wherein one path of the data communication magnetic loop channel is selected to perform the data transmission, specifically as shown in fig. 3, the magnetic loop communication device further includes a power supply unit 140, in addition to the ranging unit 130, the data communication magnetic loop unit 120, and the data processing and control unit 110 in the foregoing embodiment, the power supply unit is configured to supply power to the ranging unit under the control of the data processing and control unit; the data processing and control unit 110 is further configured to restart the power supply unit when receiving the control instruction information, and send the control instruction information as uplink data to the data communication magnetic ring unit after receiving a command that the power supply unit is restarted successfully, so that the data communication magnetic ring unit performs switching between uplink data transmission and downlink data transmission.

The magnetic loop communication equipment further comprises an uplink and downlink data switching unit 150 and a timing unit 160; the uplink and downlink data switching unit 150 is configured to suspend the data communication magnetic ring unit from transmitting downlink data and monitor uplink data when the power supply unit is restarted, and receive uplink data through the data communication magnetic ring unit when uplink data is transmitted;

the timing unit 160 is connected to the uplink and downlink data switching unit 150, and when the power supply unit is restarted, a timing function is started to monitor uplink data transmission signals of the uplink and downlink data switching unit;

when the ranging unit completes the reception of the uplink data through the data communication magnetic ring unit, the ranging unit can send a timing stopping message to the timing unit, the timing unit stops timing, and the uplink and downlink data switching unit starts the data communication magnetic ring unit to transmit the downlink data;

and when the timing time reaches a preset time length, judging whether the ranging unit receives the uplink data, and if not, sending an uplink data receiving failure message to the data processing and control unit.

It is understood that, when the ranging unit completes uplink data reception, the timing unit may not stop the timing of the timing unit; and the uplink and downlink data switching unit waits until the timing is finished, and starts the data communication magnetic ring unit to transmit the downlink data.

Optionally, in some optional embodiments, if the uplink data is not sent completely, but the timing time reaches the preset time length, the uplink and downlink data switching unit may send a delay request to the data processing and control unit, where the delay request includes a data amount that the uplink data has been transmitted, and the data processing and control unit may re-time the timer according to the transmitted data amount. And after the transmission of the uplink data is finished, transmitting the downlink data. Optionally, in other optional embodiments, if the uplink data transmission is not completed, but the timing time reaches the preset time duration, the uplink and downlink data switching unit may send a data volume transmission volume message to the data processing and control unit, the ranging unit may store the transmitted data volume, the data processing and control unit may start transmission of the downlink data according to a preset rule, and additionally arrange the uplink data continuous transmission time, and when the continuous transmission time is reached, the data processing and control unit performs transmission of the remaining data volume according to the previously transmitted data volume. Optionally, in other optional embodiments, if the timing time reaches the preset time duration, but there is no uplink data transmission, the uplink and downlink switching unit sends a data transmission failure message to the data processing and control unit, after receiving the data transmission failure message, the data processing and control unit restarts the uplink and downlink data switching unit to transmit downlink data, determines a reason of the data transmission failure according to the data transmission failure message, and retransmits the uplink data according to a preset rule according to the reason of the data transmission failure. The preset rule may be, for example, that when it is determined that the data communication magnetic ring unit does not receive uplink data and the timing time reaches a preset time length, the data processing and idle control unit may perform corresponding processing in a preset manner. For example, the data processing and controlling unit may send an instruction to the uplink and downlink data switching unit, so that the uplink and downlink switching unit starts the timer again, and the data communication magnetic ring channel is in the uplink data receiving state again. It is understood that the timing duration of the timer may be set according to a preset manner, for example, the timing duration is fibonacci number series, i.e., 1min, 3min, F (N) = F (N-1) + F (N-2) (N > =3, N ∈ N). It can be understood that, when the timing duration or the total waiting duration exceeds a preset threshold, a channel fault alarm is performed, and the data transmission mode is converted into the transmission of downlink data. It can be understood that, for example, the preset manner may also be according to the number of times of starting, that is, when receiving a message that the sending of the uplink data fails, the transmission of the uplink data for the preset number of times is restarted, if the transmission of the uplink data is successful within the preset number of times, the transmission of the uplink data is stopped to be converted into the transmission of the downlink data, and if the transmission of the uplink data fails within the preset number of times, an alarm is given. By the mode, the transmission condition of the uplink data can be effectively controlled through the timer.

In the above embodiment, the data processing and controlling unit controls the switching between sending and receiving of the uplink data and the downlink data by restarting the power supply unit, thereby implementing duplex communication of the data communication magnetic ring channel, so that the data communication magnetic ring channel can transmit both downlink ranging data and uplink data, simplifying the structure of the device, and improving the usability of the device.

Further, the magnetic ring communication device further comprises a data dividing unit 180;

the data dividing unit is used for acquiring the information of the data communication magnetic ring channel before transmitting the downlink data and dividing the downlink data according to the information of the data communication magnetic ring channel;

Further, the magnetic loop communication device further comprises a data reorganizing unit 190;

the data recombination unit is used for receiving the ranging data transmitted by the at least two paths of data communication magnetic ring channels, recombining the ranging data and transmitting the recombined ranging data to the data processing and control unit;

and the data processing and control unit is used for receiving the ranging data and processing the ranging data.

By setting the data dividing unit and the data recombining unit, the multi-path transmission and reception of data are realized, and the specific process has been described in detail in the above embodiments, and is not described herein again.

As shown in fig. 4, a flowchart of the uplink data transmission according to the embodiment of the present invention is applied to the magnetic ring communication device, and specifically includes:

the working process of steps 301 to 315 is the same as that of steps 201 to 215, and is not described herein again, and the process of sending uplink data is described in detail.

Data processing and control side:

step 302: generating control data;

when the system has uplink data to send, the data processing and control unit is notified, for example: and when the software of the ranging unit needs to be updated, the data processing and control unit is informed of the need of sending the uplink data.

And after the data processing and control unit receives the information that the uplink data needs to be sent, the power supply unit is controlled to be restarted, and if the power supply unit is restarted, the ranging unit is restarted in a power failure mode. After the ranging unit is restarted after power failure, a timer is started, the switching of uplink and downlink data transmission is started, and the state of transmitting ranging data is switched to the state of receiving uplink data. Here, the data processing and control unit plays a role of notifying the ranging unit of uplink data reception by restarting the power supply unit. This is simple and effective.

Step 304: framing is carried out according to a preset data transmission protocol.

When uplink data is transmitted, the system selects a path of data communication magnetic ring channel to transmit the uplink data, so that the data does not need to be segmented. The framing process can be performed directly.

synchronization bit

Data payload

Check bit

the data load is data information to be transmitted;

Step 306: carrying out line coding on the received data;

Step 308-1: switching between uplink and downlink;

here, the data processing and control unit will no longer receive the ranging data transmitted by the ranging unit, but control the data communication magnetic ring unit to transmit the uplink data through one of the channels.

Correspondingly, on the ranging side, i.e. the uplink data receiving side:

before the ranging unit starts to receive uplink data, when the ranging unit is restarted after power failure, the ranging unit starts a timer for timing the reception of the uplink data, and simultaneously, a data sending mode is switched to a receiving mode through an uplink and downlink switching unit.

When the timer counts time to reach a preset time length, the ranging unit is always in a state of receiving uplink data, and the uplink and downlink switching unit is always in an uplink receiving state.

Step 310: the ranging unit receives uplink data sent by the data processing and control side through a data communication magnetic ring channel, and performs clock recovery and decoding;

the ranging side will process the received data in the reverse flow, as opposed to the data processing and control side sending data. The ranging unit receives uplink data through the magnetic ring channel 2, synchronizes the received data, and then starts decoding to recover the data.

Step 312: the ranging unit performs data deframing;

and after frame synchronization is carried out according to a data frame structure adopted by the data processing and control side, extracting check bit information, checking the received data frame, and carrying out data processing after the data frame passes the data check.

Step 314: controlling data processing;

the ranging unit analyzes and processes the received uplink data, such as: and updating the system according to the uplink data, and the like.

The setting of the timer is preset, and usually timing according to the transmission condition of the uplink data, when the timer is over, the ranging unit stops the transmission of the uplink data, switches to the ranging mode, and transmits the downlink data.

Furthermore, when the timing time of the timing unit reaches a preset time, the uplink and downlink data switching unit at the ranging side judges whether uplink data are successfully received by the data communication magnetic ring unit; and if not, sending a receiving failure message to the data processing and control unit. In this way, the data processing and control side can be informed of the transmission result of the uplink data, so that the data processing and control side can perform corresponding processing. For example, if the upload is not successful, the data processing and control side may transmit again, and so on. Of course, if the transmission is successful, an uplink data transmission success message may also be sent to the data processing and control unit.

Of course, when it is determined that the data communication magnetic ring unit does not receive the uplink data and the timing time reaches the preset time, the data processing and air control unit may perform corresponding processing in a preset manner. For example, the data processing and controlling unit may send an instruction to the uplink and downlink data switching unit, so that the uplink and downlink switching unit starts the timer again, and the data communication magnetic ring channel is in the uplink data receiving state again. It is understood that the timing duration of the timer may be set according to a preset manner, for example, the timing duration is fibonacci number series, i.e., 1min, 3min, F (N) = F (N-1) + F (N-2) (N > =3, N ∈ N). It can be understood that, when the timing duration or the total waiting duration exceeds a preset threshold, a channel fault alarm is performed, and the data transmission mode is converted into the transmission of downlink data. It can be understood that, for example, the preset manner may also be according to the number of times of starting, that is, when receiving a message that the sending of the uplink data fails, the transmission of the uplink data for the preset number of times is restarted, if the transmission of the uplink data is successful within the preset number of times, the transmission of the uplink data is stopped to be converted into the transmission of the downlink data, and if the transmission of the uplink data fails within the preset number of times, an alarm is given.

Therefore, the magnetic ring communication equipment provided by the embodiment of the invention realizes uplink and downlink sharing of a data communication magnetic ring channel, facilitates transmission of uplink data, improves system performance, simplifies the structure of the system, and enables the magnetic ring communication equipment to work more simply and efficiently.

Example 3:

further, embodiment 3 of the present invention provides another magnetic ring communication device, as shown in fig. 5, including: the distance measuring unit 130, the data communication magnetic ring unit 120, the data processing and control unit 110, the power supply unit 140 and the control instruction communication magnetic ring unit 170;

the distance measuring unit 130 is configured to send the obtained distance measuring data information to the data communication magnetic ring unit as downlink data; the data processing and controlling unit is used for receiving uplink data sent by the data processing and controlling unit through the data communication magnetic ring unit;

the data communication magnetic ring unit 120 comprises at least two communication magnetic rings, which form at least two data communication magnetic ring channels, and is used for sending downlink data under the control of the data processing and control unit;

the data processing and controlling unit 110 is configured to control the data communication magnetic ring unit to receive the downlink data and process the downlink data; controlling the data communication magnetic ring unit to send uplink data to the ranging unit;

the power supply unit 140 is used for supplying power to the ranging unit 130 under the control of the data processing and control unit 110;

the control instruction communication magnetic ring unit 170 includes a communication magnetic ring for forming a control instruction magnetic ring channel; and the control instruction communication magnetic ring unit is used for transmitting the uplink data sent by the data processing and control unit to the ranging unit.

In the embodiment of the invention, at least two paths of data communication magnetic ring channels are arranged for transmitting downlink ranging data, and a control instruction communication magnetic ring channel is also independently arranged for transmitting uplink data to the ranging unit. Due to the fact that the independent control instruction communication magnetic ring unit is arranged, uplink data of the magnetic ring communication equipment can be transmitted more conveniently, the uplink data can be transmitted at any time directly, and the work of the distance measuring unit cannot be influenced.

Further, the magnetic loop communication device further comprises a data dividing unit 180 and a data recombining unit 190;

the data dividing unit 180 is configured to, before downlink data is transmitted, acquire the data communication magnetic ring channel information, and divide the downlink data according to the data communication magnetic ring channel information;

the data dividing unit 180 is further configured to distribute the divided downlink data to the data communication magnetic ring unit for transmission.

The data reconstructing unit 190 is configured to receive the ranging data transmitted by the at least two data communication magnetic ring channels, and reconstruct the ranging data to transmit the ranging data to the data processing and controlling unit;

the data processing and controlling unit 110 is configured to receive the ranging data and perform processing on the ranging data.

Specifically, as shown in fig. 6, in the working flow of the magnetic ring communication device, a magnetic ring channel 1 and a magnetic ring channel 2 are used for transmitting downlink data, and a magnetic ring channel 3 is used for transmitting uplink data, such as uplink control information.

Compared with the above embodiment 1, the process from step 401 to step 415 is the same as the process from step 201 to step 215 in embodiment 1, and is not repeated herein.

Compared with the above embodiment 2, steps 402 to 414 are the sending process of uplink data, and are the same as steps 302 to 314 in embodiment 2, and are not described herein again.

Compared with the embodiments 1 and 2, the transmission of the uplink data and the downlink data of the magnetic ring communication device of the embodiment does not interfere with each other, and the high-efficiency transmission is realized.

Of course, since there are many data communication magnetic ring channels, when the data communication magnetic ring channels are set, mutual interference between them needs to be avoided, and a magnetic isolation sheet or other methods may be set between the data communication magnetic ring channels for anti-interference design.

Furthermore, the power supply unit 140 in embodiments 1, 2 and 3 may be a wireless power supply unit that supplies power by electromagnetic waves, or may be an energy magnetic ring unit that supplies power by forming a voltage between magnetic rings to supply power to the distance measuring unit. If the energy magnetic ring mode is adopted, the energy magnetic ring unit comprises a magnetic ring for forming an energy magnetic ring channel, and the energy magnetic ring channel is used for sending an energy signal to the distance measuring unit under the control of the data processing and control unit so as to supply power to the distance measuring unit. In the embodiment of the invention, the working frequency of the energy magnetic ring is 100kHz, so that the preferable energy magnetic ring is made of manganese-zinc ferrite materials. In addition, the proportion of the magnetic core material of the energy magnetic ring and other doped impurity components also have influence on the magnetic core characteristics, and the general requirements of the magnetic core material are high magnetic conductivity, high saturation magnetic induction intensity, low coercive force and low power loss. Because the energy magnetic ring has high requirement on energy transmission, the cross section area is usually larger so as to provide the efficiency of energy transmission. In summary, the magnetic ring communication device provided by the embodiment of the invention forms at least two data communication magnetic ring channels by arranging at least two communication magnetic rings, so that the sending rate of ranging data is improved, and the use of a high-line-number laser radar is well met. Furthermore, in the embodiment of the present invention, the uplink and downlink switching unit and the power supply unit are arranged to share the magnetic ring channel for data communication, so that uplink and downlink time-sharing transmission of the same channel is realized, uplink data transmission is more convenient, the existing channel is fully utilized, and the structure of the magnetic ring communication device is simplified. Furthermore, in order to more efficiently control the distance measuring unit and to influence the sending of the distance measuring data to a lesser extent, the magnetic ring communication device provided by the embodiment of the invention is further provided with a control instruction communication magnetic ring unit which is specially used for transmitting uplink data, so that the uplink data and the downlink data can be respectively and independently transmitted without influencing each other, and the controllability of the system and the efficiency of data transmission are further improved.

It should be noted that, the above embodiments only show several forms of the main magnetic ring communication device, and in specific implementation, the number of the data communication magnetic ring channels, the channel sharing mode, the data transmission mode, and the like may be set according to the product requirement, and are not limited specifically herein.

Example 4:

based on the magnetic ring communication devices proposed in embodiments 1, 2, and 3, embodiment 4 of the present invention proposes a magnetic ring communication method, as shown in fig. 7, including:

step 701: the ranging unit acquires ranging data information;

step 702: sending the ranging data information as downlink data to a data processing and control unit through at least two paths of data communication magnetic ring channels;

step 703: and the data processing and control unit receives the downlink data and processes the downlink data.

According to the magnetic ring communication method provided by the embodiment of the invention, the downlink data is sent to the data processing and control unit through at least two paths of data communication magnetic ring channels, so that the transmission rate of the ranging data is improved, and the method is better suitable for the use of a high-line-number laser radar.

Further, in some optional embodiments, when the data processing and control unit receives the control instruction information, the control instruction information is sent to the ranging unit as uplink data through at least one of the data communication magnetic ring channels.

Further, in some optional embodiments, when the data processing and control unit receives the control instruction information, the sending the control instruction information as uplink data to the ranging unit through at least one of the data communication magnetic ring channels specifically includes: when the data processing and control unit receives the control instruction information, the power supply unit is restarted to enable the ranging unit to suspend sending downlink data; and the data processing and controlling unit sends uplink data to the ranging unit through at least one path of the data communication magnetic ring channel.

Further, in some optional embodiments, after the restarting the power supply unit when the data processing and control unit receives the control instruction information, so that the ranging unit suspends sending downlink data, the method further includes: monitoring the uplink data and timing the monitoring; and when the ranging unit finishes the uplink data receiving, stopping timing and starting to send downlink data.

It is understood that, in some alternative embodiments, when the ranging unit completes receiving the uplink data through the data communication magnetic ring unit, a timing stop message may be sent to the timing unit, and then the timing unit stops timing, and the uplink and downlink data switching unit starts the data communication magnetic ring unit to transmit the downlink data.

Optionally, when the ranging unit completes uplink data reception, the timing unit may not stop timing of the timing unit; and the uplink and downlink data switching unit waits until the timing is finished, and starts the data communication magnetic ring unit to transmit the downlink data.

Optionally, when the timing time reaches a preset time, if the ranging unit does not receive the uplink data, the ranging unit sends an uplink data reception failure message to the data processing and control unit.

Optionally, if the uplink data is not sent in the preset time, but the timing time reaches the preset duration, the uplink and downlink data switching unit may send a delay request to the data processing and control unit, where the delay request includes a data amount of the uplink data that has been transmitted, and the data processing and control unit may re-time the timer according to the transmitted data amount. And after the transmission of the uplink data is finished, transmitting the downlink data. Optionally, in other optional embodiments, if the uplink data transmission is not completed, but the timing time reaches the preset time duration, the uplink and downlink data switching unit may send a data volume transmission volume message to the data processing and control unit, the ranging unit may store the transmitted data volume, the data processing and control unit may start transmission of the downlink data according to a preset rule, and additionally arrange the uplink data continuous transmission time, and when the continuous transmission time is reached, the data processing and control unit performs transmission of the remaining data volume according to the previously transmitted data volume. Optionally, in other optional embodiments, if the timing time reaches the preset time duration, but there is no uplink data transmission, the uplink and downlink switching unit sends a data transmission failure message to the data processing and control unit, after receiving the data transmission failure message, the data processing and control unit restarts the uplink and downlink data switching unit to transmit downlink data, determines a reason of the data transmission failure according to the data transmission failure message, and retransmits the uplink data according to a preset rule according to the reason of the data transmission failure. For example, when it is determined that the data communication magnetic ring unit does not receive uplink data and the timing time reaches a preset time, the data processing and air control unit may perform corresponding processing in a preset manner. For example, the data processing and controlling unit may send an instruction to the uplink and downlink data switching unit, so that the uplink and downlink switching unit starts the timer again, and the data communication magnetic ring channel is in the uplink data receiving state again. It is understood that the timing duration of the timer may be set according to a preset manner, for example, the timing duration is fibonacci number series, i.e., 1min, 3min, F (N) = F (N-1) + F (N-2) (N > =3, N ∈ N). It can be understood that, when the timing duration or the total waiting duration exceeds a preset threshold, a channel fault alarm is performed, and the data transmission mode is converted into the transmission of downlink data. It can be understood that, for example, the preset manner may also be according to the number of times of starting, that is, when receiving a message that the sending of the uplink data fails, the transmission of the uplink data for the preset number of times is restarted, if the transmission of the uplink data is successful within the preset number of times, the transmission of the uplink data is stopped to be converted into the transmission of the downlink data, and if the transmission of the uplink data fails within the preset number of times, an alarm is given.

In this way, further, in some optional embodiments, after monitoring the uplink data and timing the monitoring, the method further includes: when the timing time reaches a preset time length, judging whether the ranging unit receives the uplink data or not; and when the ranging unit does not receive the uplink data, sending an uplink data receiving failure message to the data processing and control unit.

Further, in some optional embodiments, before sending the ranging data information as downlink data to the data processing and control unit through at least two data communication magnetic ring channels, the method further includes: and the ranging unit acquires the information of a data communication magnetic ring channel and divides the downlink data according to the information of the data communication magnetic ring channel.

Further, in some optional embodiments, the receiving, by the data processing and control unit, the downlink data and processing the downlink data specifically include: and the data processing and control unit receives the downlink data and recombines the received downlink data.

In summary, the magnetic ring communication method provided by the embodiment of the invention transmits the ranging data through at least two data communication magnetic ring channels, so that the transmission rate of the ranging data is improved, and the use of a high-line-number laser radar is well met. Furthermore, the embodiment of the invention realizes uplink and downlink time-sharing transmission of the same channel by sharing the data communication magnetic ring channel, more facilitates the transmission of uplink data, fully utilizes the existing channel and simplifies the structure of the magnetic ring communication equipment.

The embodiment of the invention provides a laser radar magnetic ring communication method, and the working process of the method is the same as the magnetic ring communication device described in embodiment 1, embodiment 2 or embodiment 3, and is not described herein again. In practical products, the ranging unit is mounted on a rotating body of the radar and is responsible for generating ranging data and transmitting the ranging data to a data processing and control unit, wherein the data processing and control unit is usually mounted on a fixed base of the radar; the distance measurement data is transmitted to the data processing and control unit through the magnetic ring and then is further transmitted to a computer or other special equipment through an Ethernet or other form of interface for judgment of the automatic driving algorithm. In addition, in actual products, in order to avoid interference between data communication magnetic ring channels, certain intervals are often arranged, and meanwhile, anti-interference spacers are arranged between the data communication magnetic ring channels to reduce interference. Of course, different types of laser radars may be used for the arrangement of the magnetic loop communication device, and are not limited herein.

The algorithms or displays presented herein are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. In addition, embodiments of the present invention are not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limiting the order of execution unless specified otherwise.

Claims

1. A magnetic loop communication device, comprising: the device comprises a distance measuring unit, a data communication magnetic ring unit, a data processing and control unit and a power supply unit;

the data processing and control unit is configured to receive the downlink data and process the downlink data; the data processing and control unit is further configured to restart the power supply unit when receiving the control instruction information, so that the ranging unit suspends sending downlink data; and after receiving the power supply unit restart success command, the data processing and control unit sends the control command information as uplink data to the data communication magnetic ring unit.

2. A magnetic loop communication device as claimed in claim 1, wherein at least one data communication magnetic loop channel of said data communication magnetic loop unit is used for transmitting said uplink data to said ranging unit under control of said data processing and control unit.

3. A magnetic loop communication device as claimed in claim 1, wherein the magnetic loop communication device further comprises an up and down data switching unit and a timing unit;

4. A magnetic loop communication device as claimed in claim 3,

the uplink and downlink data switching unit is further configured to determine whether the ranging unit receives the uplink data when the timing time of the timing unit reaches a preset time length;

5. A magnetic loop communication device as claimed in claim 1, wherein the magnetic loop communication device further comprises a control instruction communication magnetic loop unit;

6. A magnetic loop communication device as claimed in claim 1, wherein the magnetic loop communication device further comprises a data splitting unit;

7. A magnetic loop communication device as claimed in claim 6, wherein the magnetic loop communication device further comprises a data reassembly unit;

8. The magnetic ring communication device as claimed in claim 1, wherein the power supply unit comprises a magnetic ring for forming an energy magnetic ring channel for transmitting the energy signal sent by the data processing and control unit to the distance measurement unit to supply power to the distance measurement unit.

9. A lidar employing a magnetic loop communication device as claimed in any one of claims 1 to 8.

10. A magnetic loop communication method, the method comprising:

the ranging unit acquires ranging data information;

11. A magnetic ring communication method as claimed in claim 10, wherein when the data processing and control unit receives the control command information, the control command information is sent to the distance measuring unit as uplink data through at least one of the data communication magnetic ring channels.

12. The magnetic ring communication method as claimed in claim 10, wherein after the data processing and control unit receives the control command information and restarts the power supply unit to make the ranging unit suspend sending the downlink data, the method further comprises:

monitoring the uplink data and timing the monitoring;

13. A magnetic loop communication method as claimed in claim 12, wherein after said listening for said upstream data and timing said listening, said method further comprises:

14. A magnetic loop communication method as claimed in claim 10, wherein before sending the ranging data information as downlink data to a data processing and control unit over at least two data communication magnetic loop channels, the method further comprises:

15. The magnetic ring communication method as claimed in claim 14, wherein the data processing and control unit receives the downlink data and processes the downlink data, specifically comprising: