A communication system and method for a photovoltaic pod using a conductive slip ring

Abstract

The application discloses a kind of overconducting slip ring communication system and method for optoelectronic pod, belong to electronic technical field;Including conductive slip ring, microcontroller connected to one side of conductive slip ring, and analog switch and multiple sensor devices connected to the other side of conductive slip ring;The microcontroller and multiple sensor devices can carry out full duplex RS422 communication, and the communication line is switched by the analog switch;The RS422 communication pin of the multiple sensor device is connected with the independent input / output pin of analog switch chip, and the RS422 communication pin of microcontroller is connected with the common input / output pin of analog switch chip by conductive slip ring, and the GPIO pin of microcontroller is connected with the selection input end of analog switch by conductive slip ring.The application has the characteristics of saving slip ring line number, to reduce the volume, weight, cost of product.

Description

Technical Field

[0001] This invention belongs to the field of electronic technology, specifically relating to a transconductive slip ring communication system and method for optoelectronic pods. Background Technology

[0002] Conductive slip rings are crucial components in optoelectronic pods. When the pod needs to rotate 360 ​​degrees continuously, slip rings are essential for connecting the upper and lower conductive signals. The microcontroller on the control board is the "brain" of the entire optoelectronic pod, responsible for protocol transcoding, task scheduling, servo motion control, and sensor control of the entire optoelectronic system. Because the control board also needs to interface with other boards, such as image tracking boards and motor drive boards, it is generally mounted on top of the slip ring. Infrared cameras, visible light cameras, and laser sensors constitute the main controlled objects of the system, mounted on the motion platform. Their communication interfaces are mostly RS422. Communication between the sensors and the microcontroller on the control board requires a slip ring to establish signal connection. We know that an RS422 interface requires at least four signal lines: transmit positive, transmit negative, receive positive, and receive negative. When three sensors need to communicate, 12 lines are needed through the slip ring; when four sensors need to communicate, 16 lines are needed. Each additional line increases the size and weight of the slip ring, which is very disadvantageous for optoelectronic pods. Therefore, reducing the number of conductive slip ring lines during RS422 communication for multiple sensors is a key technology that needs to be addressed. Summary of the Invention

[0003] The technical problem to be solved:

[0004] To overcome the shortcomings of existing technologies, this invention provides a conductive slip ring communication system and method for optoelectronic pods. It uses analog switches to dynamically switch between communication lines, achieving up to four full-duplex RS422 slip ring communications using six conductive slip ring lines. This invention saves on the number of slip ring lines, thereby reducing the product's size, weight, and cost.

[0005] The technical solution of the present invention is: a conductive slip ring communication system for an optoelectronic pod, comprising a conductive slip ring, a microcontroller connected to one side of the conductive slip ring, and an analog switch and multiple sensor devices connected to the other side of the conductive slip ring; the microcontroller and the multiple sensor devices are capable of full-duplex RS422 communication, and the communication line is switched through the analog switch;

[0006] The RS422 communication pin of the multi-channel sensor device is connected to the independent input / output pin of the analog switch chip. The RS422 communication pin of the microcontroller is connected to the common input / output pin of the analog switch chip through a conductive slip ring. The GPIO pin of the microcontroller is connected to the selection input terminal of the analog switch through a conductive slip ring.

[0007] A further technical solution of the present invention is as follows: the microcontroller and the RS422 protocol conversion chip are connected in the same circuit board. The two GPIO signals of the microcontroller and the four communication signals (transmit positive, transmit negative, receive positive, receive negative) of the RS422 protocol conversion chip are connected to two analog switch chips through slip rings. The selection input terminals of the two analog switch chips are connected together. The two GPIO pins of the microcontroller are respectively connected to the selection input terminals of the two analog switch chips. The four communication signals (transmit positive, transmit negative, receive positive, receive negative) are respectively connected to the common input / output terminals of the two analog switch chips.

[0008] A further technical solution of the present invention is: the analog switch includes two analog switch chips U1 and U2, both of which are CD4052. CD4052 is a dual-channel 4-channel digital control analog switch, which is installed at the lower end of the slip ring of the photoelectric pod and is set on the same side of the slip ring together with multiple sensor devices.

[0009] A further technical solution of the present invention is: the common input / output terminal X of the analog switch U1 is connected to the positive signal TX+ of the RS422 protocol conversion chip U3 through a conductive slip ring, and the common input / output terminal Y of the analog switch U1 is connected to the negative signal TX- of the RS422 protocol conversion chip U3 through a conductive slip ring;

[0010] The common input / output terminal X of the analog switch U2 is connected to the positive signal RX+ of the RS422 protocol conversion chip U3 via a conductive slip ring, and the common input / output terminal Y of the analog switch U2 is connected to the negative signal RX- of the RS422 protocol conversion chip U3 via a conductive slip ring.

[0011] The selection input terminal A of analog switch U1 is connected to the selection input terminal A of analog switch U2, and then connected to the general-purpose IO pin PA0 of microcontroller U4 via a conductive slip ring. The selection input terminal B of analog switch U1 is connected to the selection input terminal B of analog switch U2, and then connected to the general-purpose IO pin PA1 of microcontroller U4 via a conductive slip ring. The channels of analog switches U1 and U2 are respectively connected to the RS422 control interface of multiple sensor devices. The enable terminals of analog switches U1 and U2 are connected to the ground signal GND, and analog switches U1 and U2 are always enabled.

[0012] A further technical solution of the present invention is as follows: the multiple sensor devices send data to the microcontroller at the same period, and their communication baud rate, data bits, parity bits, and stop bits are set in the same way; the microcontroller achieves cyclic timing switching of the communication channels of each sensor by controlling the selection input terminal of the analog switch; the maximum value of the data feedback period of the multiple sensor devices plus the data transmission time of the feedback data of each sensor should be less than half of the period of the microcontroller cyclically switching each communication channel.

[0013] A further technical solution of the present invention is that the plurality of sensor devices are an infrared camera, a visible light camera, and a laser sensor.

[0014] A further technical solution of the present invention is: the microcontroller U4 controls the level signals of GPIO pins PA0 and PA1 to complete the selection of RS422 communication channels for multiple sensors. When PA1 is low and PA0 is low, channel 0 is selected, i.e., the infrared camera channel is selected; when PA1 is low and PA0 is high, channel 1 is selected, i.e., the visible light camera channel is selected; when PA1 is high and PA0 is low, channel 2 is selected, i.e., the laser sensor channel is selected.

[0015] A further technical solution of the present invention is that the control commands received by the microcontroller from the host computer and forwarded to each sensor are uniformly scheduled and sent through a FIFO buffer queue.

[0016] A further technical solution of the present invention is as follows: the data transmission method of the FIFO buffer queue operates as follows:

[0017] Create a structure data type whose members include instruction destination, instruction data, and instruction length, and assign a number to the instruction destination marker;

[0018] A FIFO buffer queue is established, and the queue length is determined according to the density of instructions. Each time the microcontroller on the control board receives a control instruction from a sensor, it adds the data packet to the end of the FIFO buffer queue.

[0019] Data is read from the head of the FIFO buffer queue and sent. First, the destination of the instruction is determined. Then, it is determined whether the full dual channel of the RS422 leading to that destination is currently open. If it is open, it is determined whether the total transmission time of the current data packet is less than the remaining closing time of the channel. If it is less than the remaining closing time of the channel, the data is sent immediately to ensure that the transmission is completed before the channel closes. If the total transmission time of the current data packet is greater than the remaining closing time of the channel or the channel is closed, the data packet is sent immediately after the channel opens again. Once the data packet is sent, it is removed from the queue and the next data packet is sent. This process is repeated.

[0020] A transconductive slip ring communication method for optoelectronic pods.

[0021] Install the various components of the overconducting slip ring communication system for the optoelectronic pod;

[0022] The microcontroller receives an operation command from a sensor on the host computer and then forwards it to the sensor.

[0023] Open the channel of the sensor to receive the above command, set a timer inside the microcontroller, and when the timer expires, switch to the RS422 full-duplex channel of the next sensor. When the timer expires again, switch to the RS422 full-duplex channel of the next sensor after that. When the timer expires again after that, switch back to the channel of the first sensor to receive the command, and so on.

[0024] Each sensor also has a timer set up inside it to periodically report the status information that needs to be reported.

[0025] Beneficial effects

[0026] The beneficial effects of this invention are as follows: The microcontroller of this invention uses the selection input terminals of two analog switch chips CD4052 to time-division select the conduction of a certain RS422 signal, thereby achieving full-duplex communication of up to 4 RS422 channels while ensuring a certain level of real-time performance. When conducting RS422 communication between conductive slip rings and multiple sensors, the number of conductive slip rings used can be significantly reduced. Only 6 conductive slip rings are needed to achieve the function of up to 16 wire slip rings (4-channel RS422 communication) while ensuring a certain level of real-time performance.

[0027] This invention is applied to one-to-many slip ring full-duplex RS422 communication. It includes an analog switch chip, with the analog switch chip and multiple sensor devices requiring RS422 full-duplex communication located on one side of the slip ring, and a microcontroller communicating with these sensor devices via RS422 on the other side. The purpose of this invention is to reduce the number of slip rings used in one-to-many slip ring full-duplex RS422 communication, thereby reducing the size, weight, and cost of the optoelectronic pod. This invention proposes a slip ring communication method for optoelectronic pods, using an analog switch to dynamically switch each communication line, achieving up to four full-duplex RS422 slip ring communication channels using six conductive slip ring lines. Attached Figure Description

[0028] Figure 1 Schematic diagram of the slip ring communication method;

[0029] Figure 2 Implementation circuit schematic;

[0030] Figure 3 Flowchart of the microcontroller sending data to the sensor via the slip ring. Detailed Implementation

[0031] The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0032] Addressing the issue that existing technologies increase the size and weight of slip rings due to excessive transmission lines when multiple sensors are mounted on optoelectronic pods, this invention provides an overconducting slip ring communication system for optoelectronic pods. The system is used for one-to-many slip rings performing full-duplex RS422 communication. It includes a microcontroller, an analog switch chip CD4052, and an RS422 protocol conversion chip. The analog switch chip and the multiple sensor devices requiring full-duplex RS422 communication are located on one side of the slip ring, while the microcontroller for RS422 communication with the multiple sensor devices is located on the other side of the slip ring.

[0033] When the size and weight of the conductive slip rings in the optoelectronic pod are constrained and the number of lines is insufficient, an analog switch is used to switch the communication lines of each sensor. This allows up to 4 sensors to communicate with the microcontroller via RS422 full-duplex using only 6 conductive slip rings.

[0034] Specifically, the RS422 communication pin of the multi-channel sensor is connected to the independent input / output pin of the analog switch chip, the RS422 communication pin of the microcontroller is connected to the common input / output pin of the analog switch chip through a conductive slip ring, and the GPIO pin of the microcontroller is connected to the selection input terminal of the analog switch through a conductive slip ring.

[0035] Specifically, the microcontroller and the RS422 protocol conversion chip are connected via RS422 on the same circuit board (control board). The two GPIO signals of the microcontroller and the four communication signals (transmit positive, transmit negative, receive positive, receive negative) of the RS422 protocol conversion chip are connected to two analog switch chips CD4052 via slip rings. The selection input terminals of the two analog switch chips CD4052 are connected together, and the two GPIO pins of the microcontroller are connected to the selection input terminals of the two analog switch chips CD4052 respectively. The four communication signals (transmit positive, transmit negative, receive positive, receive negative) are connected to the common input / output terminals of the two analog switch chips CD4052 respectively.

[0036] Specifically, the data transmission period from the multiple sensor devices to the microcontroller is the same, and their communication baud rate, data bits, parity bits, and stop bits are set identically. The microcontroller achieves cyclical switching of the communication channels of each sensor by controlling the selection input of the analog switch. The maximum value of the data feedback period of the multiple sensors plus the data transmission time of each sensor's feedback data should be less than half of the cycle of the microcontroller switching the communication channels.

[0037] Specifically, the microcontroller receives control commands from the host computer and forwards them to each sensor through a FIFO buffer queue for unified scheduling and transmission.

[0038] The above technical solution will be further explained below with reference to the accompanying drawings:

[0039] Reference Figure 1 The diagram illustrates the structure of a photoelectric pod communication method via a slip ring, as disclosed in this embodiment. The method includes a microcontroller, a conductive slip ring, an analog switch, and optical sensors such as infrared, visible light cameras, and lasers. The microcontroller can be a general-purpose microcontroller, a DSP, or an ARM microcontroller integrating a microprocessor and peripherals. The conductive slip ring is an electrical component used to connect the rotating body and transmit energy and signals. The analog switch performs signal switching in the signal link. Due to its low power consumption, high speed, lack of mechanical contacts, small size, and long service life, the analog switch can be used to switch communication lines. The infrared, visible light cameras, and lasers represent sensors that need to communicate with the microcontroller via 422. The serial communication signal of the microcontroller is converted into a 422 signal by a protocol conversion chip and connected to the upper connection terminal of the slip ring. The corresponding lower connection terminal signal of the slip ring is connected to the common input / output terminal of the analog switch. The independent input / output terminals of the analog switch are connected to the 422 interfaces of the infrared, visible light cameras, and laser sensors, respectively. The selection input signal of the analog switch is connected to the GPIO of the microcontroller via the slip ring.

[0040] Reference Figure 2 As shown in the diagram, the right side of the conductive slip ring in the schematic diagram is the circuit part of the control board, which is installed on the upper end of the optoelectronic pod slip ring. It includes a microcontroller U4, model STM32F103C8T6, and an RS422 protocol conversion chip U3, model MAX3490. The left side of the conductive slip ring in the schematic diagram is the analog switch switching circuit part, which mainly includes two analog switch circuit chips U1 and U2, model CD4052. The CD4052 is a dual-channel 4-channel digital control analog switch, which is installed on the lower end of the optoelectronic pod slip ring, along with multiple sensors on one side of the slip ring.

[0041] The common input / output terminal X of analog switch U1 is connected to the positive transmit signal TX+ of protocol conversion chip U3 via a conductive slip ring. The common input / output terminal Y of analog switch U1 is connected to the negative transmit signal TX- of protocol conversion chip U3 via a conductive slip ring. The common input / output terminal X of analog switch U2 is connected to the positive receive signal RX+ of protocol conversion chip U3 via a conductive slip ring. The common input / output terminal Y of analog switch U2 is connected to the negative receive signal RX- of protocol conversion chip U3 via a conductive slip ring. The selection input terminal A of analog switch U1 is connected to the selection input terminal A of analog switch U2 via a conductive slip ring. The loop is connected to the general-purpose I / O pin PA0 of the microcontroller U4. The selection input terminal B of the analog switch U1 is connected to the selection input terminal B of the analog switch U2, and then connected to the general-purpose I / O pin PA1 of the microcontroller U4 via a conductive slip ring. Channel 0 of the analog switches U1 and U2 is connected to the RS422 control interface of the infrared camera. Channel 1 of the analog switches U1 and U2 is connected to the RS422 control interface of the visible light camera. Channel 2 of the analog switches U1 and U2 is connected to the RS422 control interface of the laser sensor. The enable terminal of the analog switches U1 and U2 is connected to the ground signal GND, and the analog switches U1 and U2 are always enabled.

[0042] The microcontroller U4 selects RS422 communication channels for multiple sensors by controlling the level signals of GPIO pins PA0 and PA1. When PA1 is low and PA0 is low, channel 0 is selected, i.e., the infrared camera channel is selected. When PA1 is low and PA0 is high, channel 1 is selected, i.e., the visible light camera channel is selected. When PA1 is high and PA0 is low, channel 2 is selected, i.e., the laser sensor channel is selected. When PA1 is high and PA0 is high, channel 3 is selected, but this is not used in this example. This invention uses only 6 conductive slip ring wires to support a maximum of 4 RS422 connections.

[0043] Specifically, the communication method flow is as follows.

[0044] As those skilled in the art will understand, control commands for sensors such as infrared cameras, visible light cameras, and lasers are generally generated by human intervention through a host computer. These are trigger-based commands or periodically sent at a relatively low frequency. The microcontroller on the control board receives the operation command for a specific sensor from the host computer and then forwards it to that sensor. At any given moment, only the control command for a single sensor is issued by the microcontroller on the control board. Even if two or more sensors are controlled simultaneously, their control commands are sent in a time-division manner, albeit at very high speeds, making them difficult to distinguish. The sensor feedback information, such as focal length information and laser ranging distance information, is periodically sent to the microcontroller on the control board. As long as the microcontroller on the control board can receive the feedback information periodically, very high real-time performance is not required.

[0045] First, the infrared camera channel is activated. A timer is set within the microcontroller. When the timer expires, the system switches to the visible light camera's RS422 full-duplex channel. The next time the timer expires, it switches to the laser sensor's RS422 full-duplex channel. The timer after that switches back to the infrared camera channel, and so on, in a continuous cycle. Each sensor also has its own timer to periodically report the necessary status information.

[0046] Assuming the microcontroller's timer period is Tms and the number of sensors is N, let the feedback period of the infrared camera be equal to that of the visible light camera, which in turn is equal to that of the laser sensor. That is, the feedback period from each sensor to the microcontroller on the control board is set to be the same, denoted as t. The data transmission time for the infrared camera feedback data is Δt1, for the visible light camera feedback data is Δt2, for the laser sensor feedback data is Δt3, and for the fourth sensor feedback data is Δt4. The following relationship must be satisfied:

[0047] When N=2, t+max{Δt1, Δt2}<0.5T,

[0048] When N=3, t+max{Δt1, Δt2, Δt3}<0.5T,

[0049] When N=4, t+max{Δt1, Δt2, Δt3, Δt4}<0.5T.

[0050] For example, with N=3, T=20ms, and max{Δt1, Δt2, Δt3}=0.5ms, the timing feedback period t<9.5ms for each sensor can be obtained.

[0051] Satisfying the above relationship, the actual data feedback period for each sensor is N*T. Within one feedback period N*T, at least one feedback data transmission from each sensor can be received. The following describes the process of the microcontroller sending instructions to each sensor. Because the data communication channels of each sensor are opened cyclically by the microcontroller through a timer, only one sensor channel is open at any given time. The source of each sensor's control instructions is trigger-based or periodic, with unpredictable timing. If the microcontroller on the control board receives a control instruction from a sensor and immediately forwards it to that sensor, it is very likely that the sensor's channel is closed at that time. To solve this problem, this invention proposes a data transmission method based on a FIFO queue buffer, which uses this queue to uniformly schedule the instruction transmission process. The operation steps are as follows:

[0052] 1. Create a structure data type whose members include the destination of the instruction. For example, the operation instruction for infrared is marked as number 1, the operation instruction for visible light camera is marked as number 2, the operation instruction for laser sensor is marked as number 3, etc. It also includes the instruction data and the instruction length.

[0053] 2. Establish a FIFO buffer queue. The queue length depends on the frequency of commands; generally, 500 is sufficient. If the queue becomes full while adding data, increase the queue length appropriately until it no longer becomes full. The microcontroller on the control board adds each control command received from a sensor to the end of the FIFO buffer queue.

[0054] 3. Read data from the head of the FIFO buffer queue and send it. First, determine the destination of the instruction, and then determine whether the full dual channel of RS422 leading to that destination is currently open. If it is open, determine whether the total transmission time of the current data packet is less than the remaining closing time of the channel. If it is less than the remaining closing time of the channel, send the data immediately to ensure that the transmission is completed before the channel closes. If the total transmission time of the current data packet is greater than the remaining closing time of the channel or the channel is closed, wait for the channel to open again and send the data immediately. After the data packet is sent, remove it from the queue and continue to send the next data packet. Repeat this process.

[0055] Reference Figure 3 The diagram illustrates the process by which the microcontroller sends data to each sensor via the slip ring. The process of the microcontroller receiving sensor control commands from the external host computer and the process of the microcontroller sending RS422 commands to each sensor are relatively independent. Figure 3 There are two processes, but both processes operate on the same FIFO buffer queue. One adds data to the tail of the queue, and the other retrieves data from the head of the queue.

[0056] Generally, the microcontroller uses a timer to periodically switch up to four full-duplex RS422 channels to receive status feedback from sensors such as infrared cameras, visible light cameras, and laser sensors. For the execution of new control commands, the receiving and sending are handled in a FIFO buffer queue to ensure the periodicity and real-time nature of communication.

[0057] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. A conductive slip ring communication system for an optoelectronic pod, characterized in that: It includes a conductive slip ring, a microcontroller connected to one side of the conductive slip ring, an analog switch connected to the other side of the conductive slip ring, and multiple sensor devices; the microcontroller and the multiple sensor devices are capable of full-duplex RS422 communication, and the communication line is switched through the analog switch; The RS422 communication pins of the multiple sensor devices are connected to the independent input / output pins of the analog switch chip. The RS422 communication pin of the microcontroller is connected to the common input / output pin of the analog switch chip through a conductive slip ring. The GPIO pin of the microcontroller is connected to the selection input terminal of the analog switch through a conductive slip ring. The analog switch includes two analog switch chips, U1 and U2, both of which are CD4052. The CD4052 is a dual-channel 4-channel digital control analog switch, which is installed at the lower end of the photoelectric pod slip ring and is set on the same side of the slip ring together with multiple sensor devices. The common input / output terminal X of the analog switch U1 is connected to the positive signal TX+ of the RS422 protocol conversion chip U3 through a conductive slip ring, and the common input / output terminal Y of the analog switch U1 is connected to the negative signal TX- of the RS422 protocol conversion chip U3 through a conductive slip ring. The common input / output terminal X of the analog switch U2 is connected to the positive signal RX+ of the RS422 protocol conversion chip U3 via a conductive slip ring, and the common input / output terminal Y of the analog switch U2 is connected to the negative signal RX- of the RS422 protocol conversion chip U3 via a conductive slip ring. The selection input terminal A of analog switch U1 is connected to the selection input terminal A of analog switch U2, and then connected to the general-purpose IO pin PA0 of microcontroller U4 via a conductive slip ring. The selection input terminal B of analog switch U1 is connected to the selection input terminal B of analog switch U2, and then connected to the general-purpose IO pin PA1 of microcontroller U4 via a conductive slip ring. The channels of analog switches U1 and U2 are respectively connected to the RS422 control interface of multiple sensor devices. The enable terminals of analog switches U1 and U2 are connected to the ground signal GND, and analog switches U1 and U2 are always enabled.

2. The over-conducting slip ring communication system for an optoelectronic pod according to claim 1, characterized in that: The microcontroller and the RS422 protocol conversion chip are connected on the same circuit board. The microcontroller's two GPIO signals and the RS422 protocol conversion chip's four communication signals (transmit positive, transmit negative, receive positive, and receive negative) are connected to two analog switch chips via slip rings. The selection input terminals of the two analog switch chips are connected together, and the microcontroller's two GPIO pins are connected to the selection input terminals of the two analog switch chips respectively. The four communication signals (transmit positive, transmit negative, receive positive, and receive negative) are connected to the common input / output terminals of the two analog switch chips respectively.

3. The over-conducting slip ring communication system for an optoelectronic pod according to claim 1, characterized in that: The multiple sensor devices send data to the microcontroller at the same period, and their communication baud rate, data bits, parity bits, and stop bits are set in the same way. The microcontroller controls the selection input of the analog switch to achieve cyclic timing switching of the communication channels of each sensor. The maximum value of the data feedback period of the multiple sensor devices plus the data transmission time of each sensor feedback data should be less than half of the cycle of the microcontroller switching each communication channel.

4. The over-conducting slip ring communication system for an optoelectronic pod according to claim 3, characterized in that: The multiple sensor devices are an infrared camera, a visible light camera, and a laser sensor.

5. The over-conducting slip ring communication system for an optoelectronic pod according to claim 4, characterized in that: The microcontroller U4 controls the level signals of GPIO pins PA0 and PA1 to select RS422 communication channels for multiple sensors. When PA1 is low and PA0 is low, channel 0 is selected, i.e., the infrared camera channel is selected. When PA1 is low and PA0 is high, channel 1 is selected, i.e., the visible light camera channel is selected. When PA1 is high and PA0 is low, channel 2 is selected, i.e., the laser sensor channel is selected.

6. The over-conducting slip ring communication system for an optoelectronic pod according to claim 1, characterized in that: The microcontroller receives control commands from the host computer and forwards them to each sensor through a FIFO buffer queue for unified scheduling and transmission.

7. The over-conducting slip ring communication system for an optoelectronic pod according to claim 6, characterized in that: The data transmission method for the FIFO buffer queue operates as follows: Create a structure data type whose members include instruction destination, instruction data, and instruction length, and assign a number to the instruction destination marker; A FIFO buffer queue is established, and the queue length is determined according to the density of instructions. Each time the microcontroller on the control board receives a control instruction from a sensor, it adds the data packet to the end of the FIFO buffer queue. Data is read from the head of the FIFO buffer queue and sent. First, the destination of the instruction is determined. Then, it is determined whether the full dual channel of the RS422 leading to that destination is currently open. If it is open, it is determined whether the total transmission time of the current data packet is less than the remaining closing time of the channel. If it is less than the remaining closing time of the channel, the data is sent immediately to ensure that the transmission is completed before the channel closes. If the total transmission time of the current data packet is greater than the remaining closing time of the channel or the channel is closed, the data packet is sent immediately after the channel opens again. Once the data packet is sent, it is removed from the queue and the next data packet is sent. This process is repeated.

8. A method for communication via a conductive slip ring for an optoelectronic pod, characterized in that: Install the components of the overconducting slip ring communication system for the optoelectronic pod as described in any one of claims 1-7; The microcontroller receives an operation command from a sensor on the host computer and then forwards it to the sensor. Open the channel of the sensor, set a timer inside the microcontroller, and when the timer expires, switch to the RS422 full-duplex channel of the next sensor. When the timer expires again, switch to the RS422 full-duplex channel of the next sensor after that. When the timer expires again after that, switch back to the channel of the sensor that first received the command, and so on. Each sensor also has a timer set up inside it to periodically report the status information that needs to be reported.

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