Data transmission device, lidar and intelligent device

Abstract

A data transmission device (10) is applied to a lidar (100). The lidar system (100) includes a rotating body (151, 42) and a central axis (161, 41); the device (10) includes: a first optical module (11, 441) and a second optical module (12, 442); the first optical module (11, 441) is configured to receive a first digital signal output by a radar front-end device (20), convert the first digital signal into an optical signal, and transmit the optical signal to the receiving end of the second optical module (12, 442) through the transmitting end of the first optical module (11, 441); the second optical module (12, 442) receives the optical signal transmitted by the first optical module (11, 441) through the receiving end, and converts the optical signal into the first digital signal; the transmitting end of the first optical module (11, 441) and the receiving end of the second optical module (12, 442) are oppositely arranged on the central axis (161, 41). Through this data transmission device (10), the data transmission efficiency is improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of lidar, and particularly to a data transmission device, a lidar, and an intelligent device. Background Art

[0002] A lidar (Light Detection And Ranging) is a sensor that uses lasers for detection and ranging. It measures the distance and reflectivity of a target by emitting laser pulses towards the target and measuring the delay and intensity of the returned pulses. Lidars generally use a mechanical rotating device to achieve 360-degree spatial scanning. Each pair of devices that continuously emit and receive laser pulses as they rotate mechanically is called a scanning "line" of the lidar. Due to its wide application in technical fields such as autonomous driving and intelligent perception, lidars are required to have higher spatial resolution, which in turn requires a higher number of lines.

[0003] In a lidar, the part that rotates with the mechanical rotating device is called the radar front-end system. The detected laser pulses are converted into point cloud data after passing through the radar front-end system, and the point cloud data needs to be wirelessly transmitted through a communication device.

[0004] However, during the implementation of the present application by the inventors of the present application, it was found that: currently, lidars use a wireless communication device based on electromagnetic coupling to achieve the above-mentioned point cloud data transmission. However, due to the nature of the physical transmission medium, the wireless communication device based on electromagnetic coupling cannot meet the requirements of a high number of lines, resulting in low data transmission efficiency. Summary of the Invention

[0005] The purpose of embodiments of the present invention is to provide a data transmission device, a lidar, and an intelligent device, which use light as the data transmission medium and can improve data transmission efficiency.

[0006] Embodiments of the present invention propose a data transmission device applied to a lidar.

[0007] The lidar system includes a rotating body and a central axis.

[0008] The device includes: a first optical module and a second optical module.

[0009] The first optical module is configured to receive a first digital signal output by a radar front-end device, convert the first digital signal into an optical signal, and transmit the optical signal to the receiving end of the second optical module through the transmitting end of the first optical module.

[0010] The second optical module receives the optical signal sent by the first optical module through the receiving end and converts the optical signal into the first digital signal.

[0011] The transmitting end of the first optical module and the receiving end of the second optical module are oppositely arranged on the central axis.

[0012] Preferably, the lidar system includes a fixed seat; the central axis is arranged on the fixed seat;

[0013] The rotating body is rotatably connected to the fixed seat and can rotate around the central axis of the central axis. The rotating body and the central axis jointly define a hollow structure;

[0014] Both the first optical module and the second optical module are arranged in the hollow structure, and the first optical module is arranged on the rotating body, and the second optical module is arranged on the fixed seat.

[0015] Preferably, the rotating body includes a rotating shaft, the central axis of the rotating shaft coincides with the central axis of the central axis, the rotating shaft is arranged in the hollow structure, and is rotatably connected to the inner peripheral wall of the central axis.

[0016] Preferably, the rotating shaft is a hollow shaft, and the first optical module is arranged inside the rotating shaft; the second optical module is arranged inside the central axis.

[0017] Preferably, the rotating body and the fixed seat are rotationally connected by a driving device;

[0018] The driving device includes a stator and a rotor coupled to the stator. The stator is sleeved on the outer peripheral wall of the central axis, the rotor is arranged around the stator, and the rotor is connected to the rotating body.

[0019] Preferably, the data transmission device further includes a third optical module and a fourth optical module;

[0020] The third optical module is configured to receive the second digital signal output by the upper application device, convert the second digital signal into an optical signal, and send the optical signal to the receiving end of the fourth optical module through the transmitting end of the third optical module;

[0021] The fourth optical module receives the optical signal sent by the third optical module through the receiving end, and converts the optical signal into the second digital signal;

[0022] The transmitting end of the third optical module and the receiving end of the fourth optical module are oppositely arranged on the central axis.

[0023] Preferably, both the third optical module and the fourth optical module are arranged in the hollow structure, and the fourth optical module is arranged on the rotating body, and the third optical module is arranged on the fixed seat.

[0024] Preferably, the data transmission device further includes a coupling optical system; the coupling optical system is configured to transmit the optical signal output by the first optical module to the second optical module; and is further configured to transmit the optical signal output by the third optical module to the fourth optical module.

[0025] Preferably, the coupling optical system is composed of optical lenses, and the number of the optical lenses is 0 - N, and is configured to perform light homogenization or focusing processing on the received optical signal.

[0026] Preferably, the coupling optical system includes a first light homogenization module and a second light homogenization module;

[0027] The first light homogenization module is encapsulated with the first optical module, and is configured to perform light homogenization processing on the optical signal emitted by the first optical module;

[0028] The second light homogenization module is encapsulated with the third optical module, and is configured to perform light homogenization processing on the optical signal emitted by the third optical module.

[0029] Preferably, the first optical module and the fourth optical module are respectively disposed on both sides of the center axis of the hollow structure with respect to the rotating body;

[0030] The second optical module and the third optical module are respectively disposed on both sides of the center axis of the hollow structure with respect to the fixed seat;

[0031] The second optical module is located within the light spot formed on the fixed seat when the first optical module transmits an optical signal;

[0032] The fourth optical module is located within the light spot formed on the rotating body when the third optical module transmits an optical signal.

[0033] Preferably, the coupling optical system includes a first collimation module and a third light homogenization module;

[0034] The first collimation module is encapsulated with the first optical module, and is configured to perform collimation processing on the optical signal emitted by the first optical module;

[0035] The third light homogenization module is encapsulated with the third optical module, and is configured to perform light homogenization processing on the optical signal emitted by the third optical module.

[0036] Preferably, the first optical module is disposed at the position where the center axis of the hollow structure intersects the rotating body, and the second optical module is disposed at the position where the center axis of the hollow structure intersects the fixed seat;

[0037] The first optical module transmits parallel light parallel to the center axis of the hollow structure to the second optical module;

[0038] The third optical module and the fourth optical module are disposed at a position on one side of the central axis of the hollow structure, and the fourth optical module is located within the light spot formed on the rotating body when the third optical module transmits an optical signal;

[0039] The optical signal transmitted by the third optical module is homogenized and then directed towards the fourth optical module.

[0040] Preferably, the coupling optical system includes a second collimation module and a third collimation module;

[0041] The second collimation module is arranged together with the first optical module and is used for collimating the optical signal emitted by the optical module;

[0042] The third collimation module is arranged together with the third optical module and is used for collimating the optical signal emitted by the optical module.

[0043] Preferably, the coupling optical system further includes an annular lens, and the annular lens is arranged around the central axis of the hollow structure;

[0044] The first optical module is disposed on the rotating body at a position relative to the annular lens;

[0045] The second optical module is disposed at the focal point of the annular lens on the fixed seat;

[0046] The first optical module emits parallel light to the annular lens, and the annular lens receives the parallel light and converges the parallel light to the second optical module.

[0047] Preferably, the fourth optical module is disposed at the focal point of the annular lens on the rotating body relative to the annular lens;

[0048] The third optical module is disposed on the fixed seat at a position relative to the annular lens;

[0049] The third optical module emits parallel light to the annular lens, and the annular lens receives the parallel light and converges the parallel light to the fourth optical module.

[0050] Preferably, the wavelengths of the optical signals emitted by the first optical module and the third optical module are different.

[0051] Preferably, a first circuit board is provided on the rotating body, and the first optical module and the fourth optical module are respectively disposed on the first circuit board;

[0052] A second circuit board is provided on the fixed seat, and the second optical module and the third optical module are respectively disposed on the second circuit board.

[0053] An embodiment of the present invention also provides a lidar, including: a radar front-end device, an upper application device, and the data transmission device described in the above embodiment;

[0054] The radar front-end device is configured to receive the optical information reflected by the target object and convert the optical information into a first digital signal;

[0055] The data transmission device is configured to transmit the first digital signal to the upper application device;

[0056] The upper application device is configured to convert the control information into a second digital signal;

[0057] The data transmission device is further configured to transmit the second digital signal to the radar front-end device.

[0058] An embodiment of the present invention also provides an intelligent device, including the above lidar.

[0059] In this embodiment, by using light as the data transmission medium for data transmission, since optical communication has a large communication capacity, good anti-electromagnetic interference and transmission quality, the data transmission efficiency can be improved.

[0060] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to be able to understand the technical means of the embodiment of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and understandable, the specific embodiments of the present invention are given below. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, the drawings in the figures do not constitute a scale limitation:

[0062] Figure 1 Shows a schematic structural diagram of a lidar system provided by an embodiment of the present invention;

[0063] Figure 2 Shows a schematic structural diagram of a data transmission device provided by an embodiment of the present invention;

[0064] Figure 3 Shows Figure 2 The structural schematic diagrams of the first optical module and the second optical module of;

[0065] Figures 4a to 4d Shows a schematic structural diagram of an externally shaft-shaped data transmission device provided by an embodiment of the present invention;

[0066] Figures 5a to 5eShows a schematic structural diagram of an on-axis type designed data transmission device provided by an embodiment of the present invention;

[0067] Figure 6 Shows a schematic structural diagram of a data transmission device provided by another embodiment of the present invention;

[0068] Figure 7 Shows a lidar provided by another embodiment of the present invention;

[0069] Figure 8 Shows a schematic structural diagram of a data transmission device provided by another embodiment of the present invention;

[0070] Figure 9 Shows a package structure diagram of an optical module and a coupling optical system provided by another embodiment of the present invention;

[0071] Figure 10 Shows an optical path diagram of a data transmission device provided by another embodiment of the present invention;

[0072] Figure 11 Shows another optical path diagram of a data transmission device provided by another embodiment of the present invention. Detailed implementation manners

[0073] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present invention can be more thoroughly understood and the scope of the present invention can be fully conveyed to those skilled in the art.

[0074] Figure 1 Shows a schematic structural diagram of a lidar system provided by an embodiment of the present invention. As Figure 1 shown, the lidar system 100 includes: a data transmission device 10, a radar front-end device 20, and an upper application device 30.

[0075] Among them, the radar front-end device 20 is connected to one end of the data transmission device 10, and the other end of the data transmission device 10 is connected to the upper application device 30. The radar front-end device 20 is configured to receive the optical information reflected by the target object and convert the optical information into a first digital signal. The data transmission device 10 is configured to transmit the first digital signal output by the radar front-end device 20 to the upper application device 30. The upper application device 30 is configured to receive the first digital signal and process the first digital signal. In the above manner, the detection data of the target object detected by the radar front-end device 20 is transmitted to the upper application device 30 through the data transmission device 10 for processing, so as to obtain the object detection information.

[0076] Among them, the radar front-end device 20 is used to receive the optical information reflected by the target object and convert the optical information into a first digital signal. Specifically, the radar front-end device receives the optical information reflected by the target object, converts the optical information reflected by the target object into an electrical signal, and converts the electrical signal into a first digital signal. The radar front-end device 20 transmits the first digital signal to the data transmission device 10.

[0077] Among them, the upper application device 30 can be any type of terminal device with user interaction functions and computing capabilities. For example, an intelligent vehicle terminal, a drone terminal, or other terminal devices that can be installed on an intelligent vehicle or a drone.

[0078] In some embodiments, the upper application device 30 is further configured to receive control instruction information and convert the received control instruction information into a second digital signal. The data transmission device 10 is further configured to transmit the second digital signal output by the upper application device 30 to the radar front-end device 20. The radar front-end device 20 is further configured to receive the second digital signal and respond to the second digital signal. In the above manner, the upper application device 30 transmits the control instruction input by the user to the radar front-end device 20 through the data transmission device 10, thereby controlling the radar front-end device 20.

[0079] Among them, as Figure 2 shown, the data transmission device 10 includes a first optical module and a second optical module. The first optical module 11 is communicatively connected to the radar front-end device 20, and the second optical module 12 is communicatively connected to the upper application device 30. At the same time, as Figure 3 shown, both the first optical module and the second optical module have transceiver modules, so they can simultaneously transmit uplink signals and downlink signals, that is, simultaneously transmit radar ranging data and control data.

[0080] The following embodiments will be described by taking the transmission of downlink signals as an example:

[0081] Figure 2 shows a schematic structural diagram of a data transmission device provided by an embodiment of the present invention. As Figure 2 shown, the data transmission device 10 includes: a first optical module 11, a second optical module 12, and a coupling optical system 13.

[0082] Among them, the coupling optical system 13 is arranged between the first optical module 11 and the second optical module 12. The first optical module 11 is communicatively connected to the radar front-end device 20, and the second optical module 12 is communicatively connected to the upper application device 30. The first optical module 11 is configured to receive the first digital signal output by the radar front-end device 20 and convert the first digital signal into an optical signal. The coupling optical system 13 is configured to transmit the optical signal output by the first optical module 11 to the second optical module 12. The second optical module 12 is configured to convert the optical signal into a first digital signal and output it to the upper application device 30 for processing.

[0083] Specifically, please refer to Figure 3 together. The first optical module 11 includes: a first modulation circuit 111 and a first transmitter 112. Among them, one end of the first modulation circuit 111 is connected to the radar front-end device 20, and the other end is connected to the first transmitter 112. The second optical module 12 includes: a second receiver 121 and a second demodulation circuit 122. Among them, one end of the second demodulation circuit 122 is connected to the second receiver 121, and the other end is connected to the upper application device 30. In this embodiment, the first modulation circuit 111 is configured to modulate the first digital signal output by the radar front-end device 20 into an optical signal. The first transmitter 112 is configured to receive the optical signal output by the first modulation circuit 111 and transmit the optical signal to the coupling optical system 13. The coupling optical system 13 transmits the optical signal to the second receiver 121. The second receiver 121 is configured to receive the optical signal transmitted by the coupling optical system 13. The second demodulation circuit 122 is configured to demodulate the optical signal output by the second receiver 121 into a first digital signal and output it to the upper application device 30. The upper application device 30 processes the received first digital signal to obtain ranging data.

[0084] Among them, please refer to Figure 2 again. The device 10 further includes: a first communication port 141 and a second communication port 142. The first communication port 141 is respectively connected to the first optical module 11 and the radar front-end device 20. Specifically, the first communication port 141 is respectively connected to the first modulation circuit 111 and the first demodulation circuit 114. The second communication port 142 is respectively connected to the second demodulation circuit 122 and the second modulation circuit 123. The first communication port 141 is used for data transmission between the first optical module 11 and the radar front-end device 20. The second communication port 142 is respectively connected to the second optical module 12 and the upper application device 30. The second communication port 142 is used for data transmission between the second optical module 12 and the upper application device 30.

[0085] In the data transmission device 10 according to the embodiment of the present invention, the first optical module 11 receives the first digital signal output by the radar front-end device 20, converts the first digital signal into an optical signal, and the coupling optical system 13 transmits the optical signal output by the first optical module 11 to the second optical module 12. The second optical module 12 converts the optical signal into the first digital signal and outputs it to the upper application device 30 for processing. It can be seen that in this embodiment, by using light as the data transmission medium for data transmission, due to the large communication capacity, anti-electromagnetic interference and good transmission quality of optical communication, the data transmission efficiency can be improved.

[0086] Specifically, please refer to Figures 4a to 5e together. The data transmission device 10 is located in the lidar system 100. The lidar system 100 includes a rotor 15, a stator 16 and a housing 17. The rotor 15 and the stator 16 are received in the housing 17. The rotor 15 includes a rotating body 151, and the stator 16 includes a central axis 161. The rotor 15 rotates around the central axis 161, and the stator 16 is fixedly connected to the housing 17. The first optical module 11 is arranged on the rotor 15, and the second optical module 12 is arranged on the stator 16. The first optical module 11 rotates with the rotor 15, and the second optical module 12, the stator 16 and the housing 17 remain relatively stationary.

[0087] Among them, as Figure 4a shown, the data transmission device 10 can be designed with an external-axis type. In this design, the coupling optical path is not on the central axis, and the relative positions of the first transmitter 112 of the first optical module 11 and the second receiver 121 of the second optical module 12 change significantly when the device 10 rotates. The first optical module 11 is arranged on the rotating body 151, and the second optical module 12 is arranged on the central axis 161. Among them, it can be understood that the data transmission device 10 further includes a coupling optical system 13. Among them, the coupling optical system 13 is arranged between the first optical module 11 and the second optical module 12. The coupling optical system 13 is used to form a coupling optical path through optical devices and transmit the optical signal output by the first optical module 11 to the second optical module 12. Among them, it can be understood that the coupling optical path can be in a direction parallel to the central axis, a direction perpendicular to the central axis or a segmented setting, which is not limited here. This specification takes the coupling optical path of the external-axis type data transmission device shown in Figure 4a as an example to illustrate the following embodiments.

[0088] Among them, it can be understood that the data transmission device 10 further includes a first communication port 141 and a second communication port 142. The first communication port 141 is respectively connected to the first modulation circuit 111 in the first optical module 11 and the radar front-end device 20, and the second communication port 142 is connected to the second demodulation circuit 122 in the second optical module 12 and the upper application device 30.

[0089] In some other embodiments, the coupling optical system 13 of the data transmission device 10 may include an annular lens 181. The central axis 161 passes through the hollow part of the annular lens 181, and the annular lens 181 is relatively stationary with respect to the second optical module 12. When the rotating body 151 rotates, the first optical module 11 rotates around the central axis 161, and the central axis 161, the housing 17, the second optical module 12, and the annular lens 181 remain relatively stationary. The annular lens 181 is configured to receive the optical signal emitted by the first transmitter 112 of the first optical module 11 and adjust the optical signal so that the optical signal enters the second optical module 12. The second receiver 121 of the second optical module 12 is configured to receive the adjusted optical signal.

[0090] There are various ways to arrange the annular lens 181. Optionally, in some other embodiments, as Figure 4b shown, the annular lens 181 is eccentrically arranged on the central axis 161. The first transmitter 112 emits the optical signal parallel to the optical axis A of the annular lens 181 to the annular lens 181. The annular lens 181 refracts the optical signal and converges the optical signal to be emitted towards the second receiver 121, so that the second receiver 121 receives the optical signal emitted by the first transmitter 112. It can be understood that the first transmitter 112 can be provided with a collimating mirror at the emission end so that the optical signal exits parallel to the optical axis A of the annular lens 181. It can be understood that the receiving end of the second receiver 121 can be arranged at the image-side focal plane of the annular lens 181. When the receiving end of the second receiver 121 is arranged at the image-side focus of the annular lens 181, the receiving efficiency of the second receiver 121 is the highest. During the rotation process, the optical signal emitted by the first transmitter 112 is always focused on the second receiver 121, thus ensuring the energy of the signal light beam.

[0091] Optionally, in some embodiments, as Figure 4c shown, the optical center of the annular lens 181 can be located on the central axis 161. The first transmitter 112 emits the optical signal to the annular lens 181. The annular lens 181 receives the optical signal emitted by the first transmitter 112, and homogenizes the received optical signal and then emits it towards the second receiver 121, so that it is received by the second receiver 121. Optionally, Figure 4c the annular lens 181 in [[ ]] can also be replaced by a scattering type homogenizing sheet. It can be understood that the first transmitter 112 can be arranged at the object-side focal plane of the annular lens 181. When the first transmitter 112 is arranged at the object-side focus of the annular lens 181, the optical signal exits parallel after passing through the annular lens 181, that is, the annular lens 181 plays a role in homogenizing the optical signal.

[0092] It can be understood that, in order to avoid the light emitted by the first emitter 112 being blocked by the central axis 161, optimally, the number of the first emitters 112 is set to at least two, and at least two first emitters 112 are evenly arranged along the central axis 161. In Figure 4b and Figure 4c , taking the number of the first emitters 112 being two as an example, the two first emitters 112 are respectively symmetrically arranged on both sides of the central axis 161. The two first emitters 112 are both used for emitting optical signals, and the contents of the optical signals emitted by the two first emitters 112 are the same, so as to avoid the interruption of the optical signal caused by the central axis 161 blocking. Among them, in Figure 4c , the optical signals emitted by the two first emitters 112 are both parallelly emitted after passing through the annular lens 181 but are not parallel to each other. Therefore, some of the beam irradiation areas of the optical signals emitted by the two first emitters 112 cover each other. It can be understood that, in some alternative embodiments, the second receiver 121 can be arranged in the area where the beams cover each other, so as to ensure the energy of the signal beam received by the second receiver 121 and reduce the influence of the emission beam being blocked by the central axis 161.

[0093] In some other embodiments, the annular lens 181 can be omitted. Please refer to Figure 4d . The coupling optical system 13 of the data transmission device 10 can include a photometric optical fiber 182. The photometric optical fiber 182 is connected to the first emitter 112 and is arranged around the central axis 161. The photometric optical fiber 182 is used for homogenizing the optical signal received by the first emitter 112 so that the optical signal enters the second receiver. Optionally, in some other embodiments, a curved mirror 1821 can be arranged on the side of the photometric optical fiber 182 away from the second receiver 121. The curved mirror 1821 can increase the light intensity of the photometric optical fiber in the receiving direction, so as to ensure the energy of the signal beam received by the second receiver 121. Among them, the optimal number of the first emitters 112 can be set to at least two, and the two first emitters 112 are respectively symmetrically arranged on both sides of the central axis 161, so as to avoid the interruption of the optical signal caused by the central axis 161 blocking. Optionally, in some embodiments, the second receiver can also be set to multiple, so as to ensure the energy of the signal beam received by the second receiver.

[0094] Among them, optionally, as in Figure 4d the described solution, multiple first emitters 112 can also be connected to multiple photometric optical fibers, and the multiple photometric optical fibers are simultaneously emitted to form an annular homogeneous emission surface.

[0095] Among other embodiments, the data transmission device 10 can also be of an on-axis design. In the embodiment of the present invention, the data transmission device 10 is located in the lidar system 100, and the lidar system 100 includes a rotating body 151 and a central axis 161, and includes: a first optical module 11 and a second optical module 12; the first optical module 11 is configured to receive a first digital signal output by the radar front-end device 20, convert the first digital signal into an optical signal, and transmit the optical signal to the receiving end of the second optical module 12 through the transmitting end of the first optical module 11; the second optical module 12 receives the optical signal transmitted by the first optical module 11 through the receiving end, and converts the optical signal into the first digital signal; the transmitting end of the first optical module 11 and the receiving end of the second optical module 12 are oppositely arranged on the central axis 161.

[0096] In the embodiment of the present invention, by oppositely arranging the transmitting end of the first optical module and the receiving end of the second optical module on the central axis, when the rotating body and the central axis of the lidar rotate relative to each other, the transmitting end of the first optical module and the receiving end of the second optical module do not undergo relative displacement, but only relative rotation, so that it can be ensured that the optical signal emitted by the transmitting end of the first optical module can directly enter the receiving end of the second optical module, greatly improving the transmission efficiency of the optical signal, and moreover, the structure is very simple.

[0097] Please refer to Figures 5a to 5e , the rotor 15 is a rotating body, and the rotating body further includes a bearing rotor 152, and the stator 16 is a central axis, and the central axis further includes a bearing stator 162. The bearing stator 162 and the bearing rotor 152 are received in the housing 17. The rotating body is connected to the central axis through a bearing, the rotating body is connected to the rotor of the bearing, the central axis is connected to the bearing stator, the transmitting end of the first optical module is arranged on the bearing rotor, and the receiving end of the second optical module is arranged on the bearing stator. Among them, in some alternative embodiments, please refer to Figure 5aThe data transmission device 10 shown has a first transmitter 112 of the first optical module 11 connected to a first optical fiber, where the transmitting end 1103 of the first optical fiber is fixedly provided on the bearing rotor 152. A second receiver 121 of the second optical module 12 is connected to a second optical fiber, where the receiving end 1203 of the second optical fiber is fixedly provided on the bearing stator 162. Among them, the coupling optical system 13 is provided between the bearing rotor 152 and the bearing stator 162. The transmitting end 1103 of the first optical fiber serves as the transmitting end of the first optical module to direct the optical signal of the first optical module 11 towards the receiving end 1203 of the second optical fiber, so that the optical signal is transmitted from the transmitting end 1103 of the first optical fiber to the receiving end 1203 of the second optical fiber and thus received by the second optical module 12. In this embodiment, the transmitting end of the first optical fiber serving as the transmitting end of the first optical module and the receiving end of the second optical fiber serving as the receiving end of the second optical module can be separately arranged in a remote manner from the optical module. The first modulation circuit of the first optical module and the first transmitter of the first optical module can be arranged on the rotating body, and the first optical fiber serving as the transmitting end of the first optical module is separately arranged on the central axis; the second modulation circuit of the second optical module and the second receiver of the second optical module can be arranged at the far end of the fixed central axis or on the base of the fixed central axis, and the second optical fiber is arranged on the central axis and is arranged opposite to the first optical fiber on the central axis. In this way, only by arranging the first optical fiber and the second optical fiber on the central axis, the sending and receiving of optical signals are achieved, and the structure is simple.

[0098] Similarly, in some other alternative embodiments, the first optical module includes: a first modulation circuit for modulating the first digital signal output by the radar front-end device into the optical signal; a first transmitter connected to the first modulation circuit for receiving the optical signal output by the first modulation circuit and serving as the transmitting end of the first optical module to transmit the optical signal to the second optical module; the second optical module includes: a second receiver serving as the receiving end of the second optical module to receive the optical signal and output the optical signal; a second demodulation circuit connected to the second receiver for demodulating the optical signal output by the second receiver into the first digital signal and outputting it to the upper application device. In this embodiment, by separately arranging the first transmitter of the first optical module and the second receiver of the second optical module on the central axis, the separation of the modulation circuit and the transmitter can be achieved. For example, through a remote manner, the first modulation circuit and the first transmitter can be separated, with the first modulation circuit arranged on the rotating body and the first transmitter arranged on the bearing rotor 152 mentioned above. Similarly, through a remote manner, the second modulation circuit can be arranged on the base of the fixed central axis and the second receiver can be arranged on the bearing stator 162 mentioned above, thus greatly saving the occupied space of the first transmitter and the second receiver on the central axis and simplifying the difficulty of the setting.

[0099] It can be understood that the data transmission device 10 further includes a first communication interface 141 and a second communication interface 142. Among them, the first communication interface 141 is connected to the first optical module 11 and the radar front-end device 20, and is used for communication between the first optical module 11 and the radar front-end device 20. The second communication port is connected to the second optical module and the upper application device 30, and is used for communication between the second optical module 12 and the upper application device 30.

[0100] Among them, in some alternative embodiments, please refer to Figure 5b the data transmission device shown. The transmitting end 1103 of the first optical fiber is fixed to the bearing rotor 152 through the first optical fiber connector 1104; the receiving end 1203 of the second optical fiber is fixed to the bearing stator 162 through the second optical fiber connector 1204. After the optical signal transmitted by the first optical fiber connector 1104 propagates a certain distance at its inherent angle, a part of the optical signal irradiates on the second optical fiber connector 1204 and is thus received by the second optical module 12.

[0101] Among them, in some alternative embodiments, the coupling optical system 13 between the first transmitting end and the second receiving end may include a series of optical surfaces to assist the optical path coupling between the transmitting end and the receiving end. Here, taking optical fibers as the transmitting end and the receiving end as an example for illustration.

[0102] In some embodiments, the number of optical surfaces can be 0 - N. For example, Figure 5c and Figure 5d the coupling optical system 13 of the data transmission device 10 may include an optical lens group 191. The optical lens group 191 is used to couple the optical signal transmitted by the transmitting end 1103 of the first optical fiber to the receiving end 1203 of the second optical fiber. By arranging optical surfaces between the transmitting end 1103 of the first optical fiber and the receiving end 1203 of the second optical fiber, the optical signal reception rate of the receiving end 1203 of the second optical fiber is increased.

[0103] Optionally, in some embodiments, as Figure 5c shown, the optical lens group 191 in the coupling optical system 13 may be a collimating lens group 192. The collimating lens group 192 is used to change the optical signal transmitted by the transmitting end 1103 of the first optical fiber into a collimated optical signal and converge the collimated optical signal to the receiving end 1203 of the second optical fiber. Specifically, the collimating lens group 192 includes two collimating lenses. The collimating lens close to the transmitting end 1103 of the first optical fiber is used to change the divergent optical signal transmitted by the transmitting end 1103 of the first optical fiber into a collimated optical signal, and the collimating lens far from the transmitting end 1103 of the first optical fiber is used to converge the collimated optical signal to the receiving end 1203 of the second optical fiber.

[0104] Optionally, in some embodiments, as Figure 5dAs shown, the optical lens group 191 in the coupling optical system 13 can also be a spherical lens 193, and the spherical lens 193 is used to converge the optical signal emitted by the emission end 1103 of the first optical fiber to the reception end 1203 of the second optical fiber.

[0105] It should be noted that the number of the first transmitters and the number of the first optical fibers can be multiple, and the number of the second receivers and the number of the second optical fibers can also be multiple, as long as the reception end 1203 of the second optical fiber can receive the optical signal emitted by the emission end 1103 of the first optical fiber.

[0106] In some other alternative embodiments, please refer to Figure 5e the data transmission device shown. The first transmitter of the first optical module 11 is fixed on the bearing rotor, and the second receiver of the optical module 2 is fixed on the bearing stator. A series of optical surfaces can be inserted between the beam emission / reception surfaces of the first optical module and the second optical module to assist the optical coupling between them, and the number of the optical surfaces can be 0–N. Thereby improving the reception of the optical signal by the second optical module.

[0107] It should be noted that the data transmission device can also transmit the uplink signal at the same time. In Figure 4a the embodiment of the off-axis data transmission device shown, if it is desired to enable the first optical module 11 and the second optical module 12 in the off-axis scheme to transmit the uplink data and the downlink data simultaneously, the first transmitter 112 of the first optical module 11 and the second transmitter 124 of the second optical module 12 can be placed out of alignment, so as to avoid the influence between the optical paths. At the same time, because the optical path is reversible, the same coupling optical system can be shared simultaneously to realize the transmission of the downlink signal and the uplink signal. Among them, it can be understood that the above coupling optical system is as Figure 4b 、 4c 、shown in 4d.

[0108] It can be understood that in Figure 5aIn the illustrated embodiment of the on-axis data transmission device, if it is desired to enable the first optical film block 11 and the second optical film block 12 in the on-axis scheme to simultaneously transmit upstream data and downstream data, it can be understood that the data transmission device of the on-axis scheme further includes a third optical fiber and a fourth optical fiber. Among them, the second transmitter 124 is connected to the third optical fiber, and the first receiver 113 is connected to the fourth optical fiber. Among them, the transmitting end of the third optical fiber is fixed on the bearing stator 162, and the receiving end of the fourth optical fiber is fixed on the bearing rotor 152. The transmitting end of the third optical fiber is used to emit the optical signal of the second optical module 12 towards the receiving end of the fourth optical fiber, so that the optical signal converted from the upstream data is transmitted from the transmitting end of the third optical fiber to the receiving end of the fourth optical fiber, and thus is received by the first optical module. Among them, it can be understood that in order to ensure that the optical path is not interfered, the transmitting end of the first optical fiber and the transmitting end of the third optical fiber can be arranged in a staggered manner. At the same time, since the optical path is reversible, the coupling optical system 13 can be as Figure 5b , 5c , as shown in Figure 5d.

[0109] It can be understood that in Figure 5e the illustrated data transmission device, the first optical module is fixed on the bearing rotor, and the second optical module is fixed on the bearing stator. Among them, it can be understood that in order to ensure that the optical path is not interfered, the first transmitter of the first optical module and the second transmitter of the second optical module can be arranged in a staggered manner. At the same time, since the optical path is reversible, the coupling optical system 13 in this embodiment is the same as the coupling optical system in the embodiment of Figure 5e.

[0110] The data transmission device 10 in the embodiment of the present invention receives the first digital signal output by the radar front-end device 20 through the first optical module 11, converts the first digital signal into an optical signal, and sends the optical signal to the receiving end of the second optical module through the transmitting end of the first optical module; the second optical module receives the optical signal sent by the first optical module through the receiving end and converts the optical signal into a first data signal. The transmitting end of the first optical module and the receiving end of the second optical module are relatively arranged on the central axis. It can be seen that in this embodiment, by using light as the data transmission medium for data transmission, and by arranging the transmitting end and the receiving end coaxially, the transmission efficiency of the optical signal is greatly improved, the structure is simplified, and at the same time, due to the large communication capacity, anti-electromagnetic interference and good transmission quality of optical communication, the data transmission efficiency can be improved.

[0111] In some embodiments, taking the case of only transmitting upstream data as an example:

[0112] Please refer to Figure 2 , Figure 2 which shows a schematic structural diagram of a data transmission device provided by an embodiment of the present invention. As Figure 2As shown, the data transmission device 10 includes: a first optical module 11 and a second optical module 12.

[0113] The second optical module is configured to receive a second digital signal output by an upper application device, convert the second digital signal into an optical signal, and transmit the optical signal to the receiving end of the first optical module through the transmitting end of the second optical module; the first optical module receives the optical signal transmitted by the second optical module through the receiving end and converts the optical signal into the second digital signal; the transmitting end of the second optical module and the receiving end of the first optical module are oppositely arranged on the central axis.

[0114] Specifically, please refer to Figure 3 again. The first optical module 11 further includes: a first receiver 113 and a first demodulation circuit 114. Among them, one end of the first demodulation circuit 114 is connected to the first receiver 113, and the other end is connected to the front-end radar device 20. The second optical module 12 further includes: a second modulation circuit 123 and a second transmitter 124. Among them, one end of the second adjustment circuit 123 is connected to the upper application device 30, and the other end is connected to the second transmitter 124. In this embodiment, the second modulation circuit 123 is configured to receive the second digital signal sent by the upper application device 30 and modulate the second digital signal into an optical signal, and the second transmitter 124 is configured to transmit the optical signal output by the second modulation circuit 123 to the coupling optical system 13. The coupling optical system 13 transmits the optical signal to the first receiver 113. The first receiver 113 is configured to receive the optical signal transmitted by the coupling optical system 13, and the first demodulation circuit 114 is configured to demodulate the optical signal into the second digital signal and output it to the radar front-end device 20, and the radar front-end device 20 processes the received second digital signal to obtain the control instruction information from the upper application device 30.

[0115] Among them, it can be understood that the data transmission device is located in a lidar system, the lidar system includes a rotor (15) and a stator (16), the first optical module is disposed on the rotor (15), and the second optical module is disposed on the stator (16).

[0116] Among them, it can be understood that the specific implementation manners of the uplink data transmission include an off-axis type (as shown in Figure 4a ), an on-axis type (as shown in Figure 5a , 5e ).

[0117] Among them, due to the reversibility of the optical path, the setting of the coupling optical system is the same as that of the data transmission device for transmitting downlink data. That is, for the off-axis type, refer to Figure 4b , Figure 4c and Figure 4d . For the on-axis type, refer to Figure 5b , Figure 5c andFigure 5d , which will not be repeated here.

[0118] In some alternative embodiments, it can be understood that the same set of data transmission devices can be selected for the transmission of the uplink data and the downlink data, such as Figure 6 shown. It can be understood that the transmission of the uplink data and the transmission of the downlink data can also each adopt a set of data transmission devices respectively. Among them, it can be understood that when the transmission of the uplink data and the downlink data each adopt a set of data transmission devices respectively. The two sets of data transmission devices can be the same. For example, an on-axis type solution can be adopted for both, and the same solution can also be selected for the coupling optical system. Optionally, the two sets of data transmission devices can also be different. For example, an off-axis solution is selected for the transmission of the uplink data, and an on-axis solution is adopted for the transmission of the downlink signal. Another example is that both sets of data transmission devices can adopt an off-axis solution, but different coupling optical systems are selected. It can be understood that when two different sets of data transmission devices are adopted, the interference during the simultaneous transmission of the uplink and downlink data can be more effectively avoided.

[0119] Based on the above embodiments provided by the present invention, another embodiment of the present invention proposes a lidar, which includes: a radar front-end device for emitting outgoing laser and receiving reflected laser, where the reflected laser is the laser reflected back by an object in the detection area of the outgoing laser; a rotation system disposed on one side of the laser transceiver system and detachably connected to the laser transceiver system, and the rotation system is configured to drive the radar front-end device to rotate so as to change the path of the outgoing laser. For example, as Figure 7 shown in the lidar, it includes a radar front-end device 20 and a rotation system 400. The radar front-end device 20 is disposed at the upper end of the rotation system 400. The radar front-end device 20 includes a laser emission lens, a laser emission board, a laser reception lens, a laser reception board, etc.; the rotation system 400, as Figure 8 shown, includes a fixed seat 41 and a rotating body 42. The radar front-end device 20 is fixed on the upper part of the rotating body 42, and the rotating body 42 drives the radar front-end device 20 to rotate. The radar front-end device 20 is used to receive the optical information reflected by the target object and convert the optical information into a first digital signal; the data transmission device is fixed inside the rotation system 400 and is used to transmit the first digital signal to the upper application device; at the same time, the upper application device is used to convert the control information into a second digital signal; the data transmission device is also used to transmit the second digital signal to the radar front-end device 20.

[0120] The data transmission device provided by the embodiment of the present invention is as Figure 8As shown, the rotation system 400 includes a fixed base 41 and a rotating body 42. The rotating body 42 and the fixed base 41 rotate relative to each other around the central axis of the rotating body 42. The rotating body 42 and the fixed base 41 jointly form a hollow structure at the position of the central axis.

[0121] Preferably, a central shaft 411 is provided on the fixed base 41. The rotating body 42 is rotationally connected to the fixed base 41 and rotates around the central axis of the central shaft 411. The rotating body 42 and the central shaft 411 jointly define a hollow structure. Then, both the first optical module 441 and the second optical module 442 are disposed in the hollow structure. Moreover, the first optical module 441 is disposed on the rotating body 42, and the second optical module 442 is disposed on the fixed base 41. Further, the rotating body 42 also includes a rotating shaft 421. The central axis of the rotating shaft 421 coincides with the central axis of the central shaft 411. The rotating shaft 421 is disposed within the hollow structure and is rotationally connected to the inner peripheral wall of the central shaft 411.

[0122] In the above manner, by respectively providing a rotating shaft and a central shaft on the rotating body and the fixed base, and forming a hollow structure at the position of the central axes of the rotating body and the fixed base, and disposing the first optical module and the second optical module in the hollow structure, the occlusion during the optical transmission process is avoided, and the transmission efficiency of the optical signal is improved.

[0123] As Figure 8 shown, the embodiment of the present application further includes a driving device, such as a motor 43. Hereinafter, the motor will be taken as an example for illustration.

[0124] The motor 43 is disposed in the hollow structure. The rotating body 42 is rotationally connected to the fixed base 41 through the motor 43. The motor 43 also has a hollow structure. When the rotating body 42 is connected to the fixed base 41 through the motor 43, the three also form a hollow structure at the position of the central axis of the rotating body 42. The motor 43 includes a stator 432, a rotor 431 coupled to the stator, and a bearing 433. The motor is an outer-rotor motor. The rotor 431 is sleeved on the stator 432, so that the rotor 431 wraps the stator 432 and the bearing 433. The stator 432 is sleeved on the outer peripheral wall of the central shaft. The rotor 431 is disposed around the stator, and the rotor 431 is connected to the rotating body 42. The bearing 433 is located between the central shaft 411 and the rotating shaft 421, driving the rotating body 42 to rotate relative to the fixed base 41.

[0125] As can be seen from the above description, in the data transmission device provided by the embodiment of the present invention, by arranging the first optical module and the second optical module in the hollow structure jointly defined by the rotating body and the central axis, the occlusion caused during the optical transmission process is avoided, and the transmission efficiency of the optical signal is improved.

[0126] To implement the data transmission of the lidar, the rotating system 400 provided by the embodiment of the present invention arranges a first optical module 441, a second optical module 442, a third optical module 443, and a fourth optical module 444 in the hollow structure to simultaneously perform uplink and downlink data transmission. As Figure 8 shown, the first optical module 441 and the fourth optical module 444 are arranged on the rotating body 42; the second optical module 442 and the third optical module 443 are arranged on the fixed seat 41. The first optical module 441 and the second optical module 442 are arranged opposite to each other in the hollow structure; the third optical module 443 and the fourth optical module 444 are arranged opposite to each other in the hollow structure. The first optical module 441 is used to receive the first digital signal output by the lidar front-end device 20 and convert the first digital signal into an optical signal; the second optical module 442 is used to convert the optical signal into the first digital signal and output it to the upper application device; the third optical module 443 is used to receive the second digital signal output by the upper application device and convert the second digital signal into an optical signal; the fourth optical module 444 is further used to convert the optical signal into the second digital signal and output it to the lidar front-end device 20.

[0127] In the embodiment of the present invention, by arranging multiple optical modules in the hollow structure formed by the rotating body and the fixed seat to perform uplink and downlink data transmission, the mutual interference during the simultaneous transmission of uplink and downlink data is avoided, and the reliability of optical signal transmission is improved.

[0128] Further, to improve the transmission efficiency of the optical signal, the embodiment of the present invention is provided with a coupling optical system. The coupling optical system is used to adjust the optical signal output by the first optical module 441 and then send it to the second optical module 442; it is also used to adjust the optical signal output by the third optical module 443 and then send it to the fourth optical module 444. The coupling optical system is composed of optical devices, and the number of optical surfaces of the optical devices is 0 - N, which is used to perform light homogenization or focusing processing on the received optical signal. It can be understood that the coupling optical system can be packaged together with the optical module (such as Figure 9As shown, it can also be independently arranged in the hollow structure. It can be understood that the coupling optical system can also include a part packaged with the optical module and a part independently arranged in the hollow structure. It can be understood that when the coupling optical system is packaged with the optical module, the coupling optical system can include a light homogenizing module or a collimating module. Among them, the light homogenizing module can be, for example, a light homogenizing sheet, a light homogenizing lens or a photometric optical fiber; the collimating module includes one or more optical lenses.

[0129] Furthermore, a first circuit board 451 is arranged on the rotating body 42, and the first optical module 441 and the fourth optical module 444 are arranged on the circuit board 451 at positions relative to the hollow structure. A second circuit board 452 is arranged on the fixed seat 41, and the second optical module 442 and the third optical module 443 are arranged on the second circuit board 452 at positions relative to the hollow structure. In the embodiment of the present invention, by directly fixing the optical module and the circuit board together, the layout of the optical communication module is made more compact, the assembly complexity is reduced, and the reliability is improved.

[0130] At the same time, in order to better achieve the simultaneous transmission of upstream data and downstream data and avoid transmission interference, the first optical module 441 and the third optical module 443 select different emission wavelengths to send optical signals.

[0131] Even further, in order to improve the reliability of optical signal transmission of the data transmission device, the embodiment of the present invention proposes an arrangement method of the optical module in the data transmission device, as Figure 8As shown in the figure, in the embodiment of the present invention, the first optical module 441 and the fourth optical module 444 are respectively arranged on both sides of the rotating body with respect to the central axis of the hollow structure; the second optical module 442 and the third optical module 443 are respectively arranged on both sides of the fixed seat with respect to the central axis of the hollow structure; the second optical module 442 is located within the light spot formed on the fixed seat when the first optical module 441 emits an optical signal; the fourth optical module 444 is located within the light spot formed on the rotating body when the third optical module 443 emits an optical signal. In the embodiment of the present invention, when the rotating body rotates relative to the fixed seat, the receiving end is always located within the light spot range of the transmitting optical module. Due to the provision of the hollow structure, there will be no optical signal blind area during the rotation process, avoiding the interruption of the transmitted signal. While ensuring the quality of data transmission, the structure of the data transmission device is simplified. Further, in order to improve the transmission efficiency of the optical signal, the embodiment of the present invention is provided with a coupling optical system, and the coupling optical system includes a first light homogenizing module and a second light homogenizing module. For example, the first optical module and the first light homogenizing module are encapsulated together to perform light homogenizing processing on the optical signal emitted by the first optical module, and the third optical module and the second light homogenizing module are encapsulated together. By setting the coupling optical system, the light spot range of the transmitting module is enlarged, the emitted optical signal is made more uniform, and the stability of data transmission is increased. At the same time, as Figure 9 shown, the optical module 4411 and the coupling optical system 4412 are encapsulated together, increasing the compactness of the system and improving the system reliability. Among them, the light homogenizing module can be a light homogenizing sheet, a light homogenizing lens or a photometric optical fiber; among them, the light homogenizing lens group can include one or more optical lenses; it can be understood that the above-mentioned first light homogenizing module and second light homogenizing module can adopt the same structure or different structures. For example, the first light homogenizing module can be a light homogenizing sheet or a light homogenizing lens group, and the second light homogenizing module can be a photometric optical fiber.

[0132] In another optional embodiment, the present invention also proposes another setting method of the optical module in the data transmission device, as Figure 10 shown. Since in the actual application of lidar, the downlink data is ranging data, which often has a relatively large amount of data, while the uplink data is mainly control data for controlling the radar front-end device and has a relatively small amount of data. In order to improve the transmission efficiency of the downlink data, the coupling optical system is set as a first collimating module and a third light homogenizing module. The first collimating module includes one or more optical lenses; the third light homogenizing module can be a light homogenizing sheet, a light homogenizing lens group or a photometric optical fiber; the first collimating module includes one or more optical lenses. In the embodiment of the present application, the first optical module 441 and the first collimating module are encapsulated together, as Figure 9As shown, the optical module 4411 and the coupling optical system 4412 are encapsulated together, with a more compact structure, for collimating the optical signal emitted by the first optical module. Moreover, the first optical module 441 is disposed at the position where the central axis of the hollow structure intersects with the rotating body, and the second optical module 442 is disposed at the position where the central axis of the hollow structure intersects with the fixed base, such that the first optical module 441 and the second optical module are located on the central axis of the rotating body 42. When the rotating body 42 and the fixed shaft 41 rotate relative to each other, the first optical module 441 and the second optical module 442 can be accurately aligned without any positional deviation. Meanwhile, the first optical module 441 sends parallel light parallel to the central axis of the hollow structure to the second optical module 442 through the collimation system. In this case, the transmission efficiency of the optical signal emitted by the first optical module 441 is the highest. Meanwhile, to ensure the transmission of the upstream signal, the third optical module 443 and the third light homogenizing module are encapsulated together, for homogenizing the optical signal emitted by the third optical module 443. The third optical module 443 is disposed at a position on one side of the fixed base relative to the central axis of the hollow structure, and the fourth optical module 444 is disposed at a position on one side of the rotating body relative to the central axis of the hollow structure; the optical signal sent by the third optical module 443, after being homogenized, is directed towards the fourth optical module 444, and the fourth optical module is located within the light spot formed on the rotating body when the third optical module 443 sends the optical signal. In this way, the transmission efficiency of the downstream data is preferentially ensured, and meanwhile, the transmission of the upstream data is not affected.

[0133] In another alternative embodiment, the present invention also proposes a third setting method of the optical module in the data transmission device, as Figure 11 shown, the coupling optical system includes an annular lens. An annular lens 460 is disposed in the hollow structure for converging the incident light rays, and the annular lens 460 is disposed on the rotating shaft. In the embodiment of the present invention, the coupling optical system further includes a second collimation module and a third collimation module, and the second collimation module and the third collimation module include one or more optical lenses; the first optical module 441 and the second collimation module are encapsulated together, and the second collimation module is used for collimating the optical signal emitted by the first optical module; the third optical module 443 and the third collimation module are encapsulated together, and the third collimation module is used for collimating the optical signal emitted by the third optical module. The first optical module is disposed at a position on the rotating body relative to the annular lens;

[0134] The second optical module is disposed at the focal point of the annular lens on the fixed seat; the first optical module emits parallel light to the annular lens, and the annular lens receives the parallel light and converges the parallel light to the second optical module. The fourth optical module is disposed at the position relative to the focal point of the annular lens on the rotating body; the third optical module is disposed at the position relative to the annular lens on the fixed seat; the third optical module emits parallel light to the annular lens, and the annular lens receives the parallel light and converges the parallel light to the fourth optical module.

[0135] When performing downlink data transmission, the first optical module 441 emits parallel light to the annular lens 460. After the annular lens 460 converges the parallel light, it shoots towards the second optical module 442. Since the second optical module 442 is disposed at the focal point of the annular lens 460, the energy of the signal light beam received by the second optical module 442 is ensured, and high-efficiency reception of the optical signal emitted by the first optical module by the second optical module is achieved. At the same time, when the annular lens 460 is disposed on the central axis, when the rotating body 42 rotates relative to the fixed seat 41, the first optical module 441 is driven to rotate. The first optical module 441 rotates relative to the annular lens 460. Since the first optical module 441 emits parallel light to the annular lens 460, and the second optical module 442 is located at the focal point of the annular lens 460, the second optical module 442 can always receive the maximum energy of the optical signal emitted by the first optical module 441. When the annular lens 460 is disposed on the rotating shaft, the annular lens 460 and the first optical module 441 are relatively stationary, and the parallel light emitted by the first optical module 441 can be more effectively converged onto the second optical module 442.

[0136] When performing uplink data transmission, the third optical module 443 emits parallel light to the annular lens 460. After the annular lens 460 converges the parallel light, it shoots towards the fourth optical module 444. Since the fourth optical module 444 is disposed at the focal point of the annular lens 460, the fourth optical module 460 can receive the maximum energy of the optical signal emitted by the third optical module 443, greatly improving the transmission effect of the optical signal. At the same time, when the annular lens 460 is disposed on the rotating shaft, the third optical module 443 and the annular lens 460 rotate relative to each other, and the fourth optical module 444 and the annular lens 460 are relatively stationary. Since the third optical module 443 emits parallel light to the annular lens 460, and the fourth optical module 444 is located at the focal point of the annular lens 460, the fourth optical module 444 can always receive the maximum energy of the optical signal emitted by the third optical module 443.

[0137] As can be seen from the above, through the above embodiments, due to the provision of the annular lens, the receiving optical modules for the uplink and downlink data are both located at the focal points of the annular lens, which can ensure the transmission efficiency of both the uplink data transmission and the downlink data transmission at the same time. Moreover, since different optical paths are adopted for the uplink and downlink optical signal transmissions, the mutual interference between the optical signals is effectively avoided, achieving the optimal optical signal transmission effect.

[0138] The embodiment of the present invention also provides an intelligent sensing device. The intelligent sensing device includes: a lidar system. Among them, the lidar system in this embodiment has the same structure and function as the lidar system in the above embodiment. For the specific structure and function of the lidar system, reference can be made to the above embodiment, and details will not be repeated here.

[0139] For an intelligent sensing device that can detect the azimuth and distance of surrounding objects and make decisions based on the azimuth and distance of the surrounding objects, such as: intelligent robots, intelligent vehicles, intelligent airplanes, and so on.

[0140] It should be noted that unless otherwise specified, the technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings understood by those skilled in the art to which the embodiments of the present invention belong.

[0141] In the description of the embodiments of the present invention, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the azimuth or positional relationship based on the azimuth or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and therefore should not be construed as a limitation to the embodiments of the present invention.

[0142] In addition, the technical terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. In the description of the embodiments of the present invention, the meaning of "a plurality" is more than two, unless otherwise clearly and specifically defined.

[0143] In the description of the embodiments of the present invention, unless otherwise clearly defined and limited, technical terms such as "installation", "connection", "linkage", "fixation" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral one; it may also be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0144] In the description of the embodiments of the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A data transmission device, characterized in that, Applied to a lidar system, The lidar system includes a rotating body and a central axis; The device includes: a first optical module and a second optical module; The first optical module is configured to receive a first digital signal output by a radar front-end device, convert the first digital signal into an optical signal, and transmit the optical signal to the receiving end of the second optical module through the transmitting end of the first optical module; The second optical module receives the optical signal transmitted by the first optical module through the receiving end, and converts the optical signal into the first digital signal; The transmitting end of the first optical module and the receiving end of the second optical module are oppositely arranged on the central axis; The lidar system includes a fixed seat; the central axis is arranged on the fixed seat; The rotating body is rotatably connected to the fixed seat and can rotate around the central axis of the central axis. The rotating body and the central axis jointly define a hollow structure; The rotating body includes a rotating shaft. The central axis of the rotating shaft coincides with the central axis of the central axis. The rotating shaft is arranged in the hollow structure and is rotatably connected to the inner peripheral wall of the central axis; both the first optical module and the second optical module are arranged in the hollow structure. The first optical module is arranged on the rotating body, and the second optical module is arranged on the fixed seat; the rotating shaft is a hollow shaft, and the first optical module is arranged inside the rotating shaft; the second optical module is arranged inside the central axis; The data transmission device further includes a third optical module and a fourth optical module; the third optical module is configured to receive a second digital signal output by an upper application device, convert the second digital signal into an optical signal, and transmit the optical signal to the receiving end of the fourth optical module through the transmitting end of the third optical module; the fourth optical module receives the optical signal transmitted by the third optical module through the receiving end, and converts the optical signal into the second digital signal; the transmitting end of the third optical module and the receiving end of the fourth optical module are oppositely arranged on the central axis; Both the third optical module and the fourth optical module are arranged in the hollow structure. The fourth optical module is arranged on the rotating body, and the third optical module is arranged on the fixed seat; The first optical module and the fourth optical module are respectively arranged on both sides of the central axis of the hollow structure on the rotating body; the second optical module and the third optical module are respectively arranged on both sides of the central axis of the hollow structure on the fixed seat; the second optical module is located within the light spot formed on the fixed seat when the first optical module transmits an optical signal; the fourth optical module is located within the light spot formed on the rotating body when the third optical module transmits an optical signal.

2. The data transmission device according to claim 1, wherein, The rotating body and the fixed seat are rotationally connected through a driving device; The driving device includes a stator and a rotor coupled to the stator. The stator is sleeved on the outer peripheral wall of the central axis. The rotor is arranged around the stator, and the rotor is connected to the rotating body.

3. The data transmission device according to claim 1, characterized in that The data transmission device further includes a coupling optical system; the coupling optical system is configured to send the optical signal output by the first optical module to the second optical module; and is further configured to send the optical signal output by the third optical module to the fourth optical module.

4. The data transmission device according to claim 3, wherein, The coupling optical system is composed of optical devices, and the number of optical surfaces of the optical devices is 0 - N, and is configured to perform light homogenization or focusing processing on the received optical signal.

5. The data transmission device according to claim 4, characterized in that, The coupling optical system includes a first light homogenization module and a second light homogenization module; The first light homogenization module is packaged together with the first optical module, and is configured to perform light homogenization processing on the optical signal emitted by the first optical module; The second light homogenization module is packaged together with the third optical module, and is configured to perform light homogenization processing on the optical signal emitted by the third optical module.

6. The data transmission device according to claim 4, wherein The coupling optical system includes a first collimation module and a third light homogenization module; The first collimation module is packaged together with the first optical module, and is configured to perform collimation processing on the optical signal emitted by the first optical module; The third light homogenization module is packaged together with the third optical module, and is configured to perform light homogenization processing on the optical signal emitted by the third optical module.

7. The data transmission device according to claim 6, wherein The first optical module is disposed at a position where the central axis of the hollow structure intersects the rotating body, and the second optical module is disposed at a position where the central axis of the hollow structure intersects the fixed seat; The first optical module sends parallel light parallel to the central axis of the hollow structure to the second optical module; The third optical module and the fourth optical module are disposed at a position on one side of the central axis of the hollow structure, and the fourth optical module is located within the light spot formed on the rotating body when the third optical module sends an optical signal; The optical signal sent by the third optical module is homogenized and then directed to the fourth optical module.

8. The data transmission device according to claim 3, characterized in that, The coupling optical system includes a second collimation module and a third collimation module; The second collimation module and the first optical module are arranged together, and are configured to perform collimation processing on the optical signal emitted by the optical module; The third collimation module and the third optical module are arranged together, and are configured to perform collimation processing on the optical signal emitted by the optical module.

9. The data transmission device according to claim 8, wherein The coupling optical system further includes an annular lens, and the annular lens is disposed around the central axis of the hollow structure; The first optical module is disposed at a position on the rotating body relative to the annular lens; The second optical module is disposed at the focal point of the annular lens on the fixed seat; The first optical module emits parallel light to the annular lens, and the annular lens receives the parallel light and converges the parallel light to the second optical module.

10. The data transmission device according to claim 9, characterized in that, The fourth optical module is disposed at the focal point of the annular lens on the rotating body; The third optical module is disposed at a position on the fixed seat relative to the annular lens; The third optical module emits parallel light to the annular lens, and the annular lens receives the parallel light and converges the parallel light to the fourth optical module.

11. The data transmission device according to claim 1, wherein The wavelengths of the optical signals emitted by the first optical module and the third optical module are different.

12. The lidar data transmission device according to claim 1, characterized in that, A first circuit board is disposed on the rotating body, and the first optical module and the fourth optical module are respectively disposed on the first circuit board; A second circuit board is provided on the fixed base, and the second optical module and the third optical module are respectively provided on the second circuit board.

13. A lidar, characterized in that, Comprising: A radar front-end device, an upper application device, and the data transmission device according to any one of claims 1-12; The radar front-end device is configured to receive optical information reflected by a target object and convert the optical information into a first digital signal; The data transmission device is configured to transmit the first digital signal to the upper application device; The upper application device is configured to convert control information into a second digital signal; The data transmission device is further configured to transmit the second digital signal to the radar front-end device.

14. An intelligent device, characterized in that, Including the lidar according to claim 13.

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