Optical module, robot and communication system

Abstract

The invention discloses an optical module, a robot and a communication system. The optical module comprises two optical receiving units, two optical transmitting units and an interface unit, the first optical receiving unit is used for receiving the first downloading optical signal and converting the first downloading optical signal into a final downloading electric signal; the first light emitting unit is electrically connected with the first light receiving unit and is used for converting the final downloading electric signal into a second downloading optical signal; the interface unit is electrically connected with the first optical receiving unit and external equipment respectively, and is used for sending a final downloading electric signal to the external equipment and receiving a first return electric signal fed back by the external equipment; the second optical receiving unit is used for converting the received first return optical signal into a second final return electric signal; the second light emitting unit is electrically connected with the interface unit and the second light receiving unit, and is used for converting the first return electric signal or the second final return electric signal into a second return optical signal. The optical module can be applied to data mutual transmission of two or more equipment ends.

Description

Technical Field

[0001] The present invention relates to the field of optical communication technologies, and in particular, to an optical module, a robot, and a communication system. Background Art

[0002] With the continuous development of modern communication technologies, optical communication technologies have become the mainstream for constructing modern communication networks. Optical communication not only dominates in professional fields such as communication networks and data centers, but also continuously extends to new fields such as intelligent equipment, consumer electronics, and medical devices.

[0003] An optical module is used to implement the conversion and transmission of optical and electrical signals and is the basis for high-speed transmission in optical communication technologies. Compared with traditional data transmission using electrical signals such as HDMI and USB, the optical module has obvious advantages in transmission rate, and the optical module transmits optical signals through optical fibers, with higher signal stability.

[0004] In addition, in new application scenarios such as intelligent equipment and medical devices, such as intelligent robots, the internal communication connections are very complex. Adopting traditional electrical signal transmission schemes will result in multiple communication interfaces, messy wiring, and long signal delays. However, current standardized optical modules are only applied to data intertransmission between two device ends. If directly applied to new application scenarios such as intelligent robots and automated production lines, the internal communication connections will also be very complex, and the single two-point intertransmission communication will also cause problems such as multiple master control end interfaces and messy wiring during traditional electrical signal transmission. Summary of the Invention

[0005] The present invention provides an optical module, a robot, and a communication system to solve the problem that existing optical modules can only be applied to data intertransmission between two device ends.

[0006] In a first aspect, an embodiment of the present invention provides an optical module, which includes a first optical receiving unit, a first optical transmitting unit, an interface unit, a second optical receiving unit, and a second optical transmitting unit;

[0007] The first optical receiving unit is optically coupled to a first optical fiber in a cable assembly, and is configured to receive a first downlink optical signal output by the first optical fiber and convert the first downlink optical signal into a final downlink electrical signal;

[0008] The first optical transmitting unit is electrically connected to the first optical receiving unit, and is configured to receive the final downlink electrical signal, convert the final downlink electrical signal into a second downlink optical signal, and transmit the second downlink optical signal to a second optical fiber in the cable assembly;

[0009] The interface unit is electrically connected to the first optical receiving unit and an external device respectively, and is configured to receive the final downlink electrical signal and send the final downlink electrical signal to the external device, and is further configured to receive a first feedback electrical signal from the external device;

[0010] The second optical receiving unit is optically coupled to a third optical fiber in the cable assembly, and is configured to receive a first feedback optical signal output by the third optical fiber and convert the first feedback optical signal into a second final feedback electrical signal;

[0011] The second optical transmitting unit is electrically connected to the interface unit and the second optical receiving unit respectively, and is configured to receive the first feedback electrical signal and the second final feedback electrical signal, and convert the first feedback electrical signal or the second final feedback electrical signal into a second feedback optical signal and then transmit the second feedback optical signal to a fourth optical fiber in the cable assembly.

[0012] Optionally, the interface unit includes a power terminal, a first signal terminal, and a second signal terminal;

[0013] The power terminal is electrically connected to a power supply in the external device, and is configured to receive electrical energy from the power supply in the external device to supply power to the optical module;

[0014] The first signal terminal is electrically connected to the first optical receiving unit and the external device respectively, and is configured to receive the final downlink electrical signal and send the final downlink electrical signal to the external device;

[0015] The second signal terminal is electrically connected to the external device and the second optical transmitting unit respectively, and is configured to receive the first feedback electrical signal and send the first feedback electrical signal to the second optical transmitting unit.

[0016] Optionally, the optical module further includes a signal splitting unit;

[0017] The signal splitting unit includes a signal splitting input end, a first signal splitting output end, and a second signal splitting output end;

[0018] The signal splitting input end is electrically connected to an output end of the first optical receiving unit, and is configured to receive the final downlink electrical signal;

[0019] The first signal splitting output end is electrically connected to an input end of the first optical transmitting unit, and is configured to output the final downlink electrical signal to the first optical transmitting unit;

[0020] The second signal splitting output end is electrically connected to the interface unit, and is configured to output the final downlink electrical signal to the interface unit.

[0021] Optionally, the optical module further includes a signal selection unit and a control unit;

[0022] The signal selection unit includes a first signal selection input terminal, a second signal selection input terminal, a signal selection output terminal, and a signal selection control terminal;

[0023] The first signal selection input terminal is electrically connected to the interface unit for receiving the first feedback electrical signal;

[0024] The second signal selection input terminal is electrically connected to the output terminal of the second optical receiving unit for receiving the second final feedback electrical signal;

[0025] The control unit is electrically connected to the interface unit and the signal selection control terminal respectively, for receiving the request signal output from the external device to the interface unit, and outputting a control signal to the signal selection control terminal according to the request signal to control the opening of the first signal selection input terminal or the second signal selection input terminal;

[0026] The signal selection output terminal is electrically connected to the input terminal of the second optical transmitting unit for outputting the first feedback electrical signal or the second final feedback electrical signal to the second optical transmitting unit.

[0027] Optionally, the optical module further includes a signal selection unit;

[0028] The signal selection unit includes a first signal selection input terminal, a second signal selection input terminal, a signal selection output terminal, and a signal selection control terminal;

[0029] The first signal selection input terminal is electrically connected to the interface unit for receiving the first feedback electrical signal;

[0030] The second signal selection input terminal is electrically connected to the output terminal of the second optical receiving unit for receiving the second final feedback electrical signal;

[0031] The signal selection control terminal is electrically connected to the interface unit for receiving the request signal output from the external device to the interface unit, so as to control the opening of the first signal selection input terminal or the second signal selection input terminal according to the request signal;

[0032] The signal selection output terminal is electrically connected to the input terminal of the second optical transmitting unit for outputting the first feedback electrical signal or the second final feedback electrical signal to the second optical transmitting unit.

[0033] Optionally, the first optical receiving unit includes a first photodetector and a first amplifier; the first optical transmitting unit includes a first laser and a first driver;

[0034] The first optical detector is optically coupled to the first optical fiber and is configured to convert the received first downlink optical signal into a primary downlink electrical signal; the first amplifier is electrically connected to the first optical detector and is configured to amplify the received primary downlink electrical signal to obtain the final downlink electrical signal;

[0035] The first driver is electrically connected to the first amplifier and the first laser respectively, and is configured to receive the final downlink electrical signal and drive the first laser to generate the second downlink optical signal according to the final downlink electrical signal.

[0036] Optionally, the second optical receiving unit includes a second optical detector and a second amplifier; the second optical transmitting unit includes a second laser and a second driver;

[0037] The second optical detector is optically coupled to the third optical fiber and is configured to convert the received first optical return signal into a second primary return electrical signal; the second amplifier is electrically connected to the second optical detector and is configured to amplify the received second primary return electrical signal to obtain the second final return electrical signal;

[0038] The second driver is electrically connected to the interface unit, the second amplifier and the second laser respectively, and is configured to receive the first return electrical signal and the second final return electrical signal, and drive the second laser to generate the second return optical signal according to the first return electrical signal or the second final return electrical signal.

[0039] Optionally, the optical module further includes a power supply unit;

[0040] The power supply unit is electrically connected to the wire in the cable assembly and is configured to convert the external voltage output by the wire into a working voltage to supply power to the optical module.

[0041] In a second aspect, an embodiment of the present invention provides a robot, which includes a main controller, at least one controlled branch line, and at least two optical modules as described in any embodiment of the first aspect;

[0042] At least one controlled node is included on the controlled branch line;

[0043] At least two of the optical modules include a first optical module and a second optical module. The main controller is electrically connected to the interface unit in the first optical module, the controlled node is electrically connected to the interface unit in the second optical module, and the first optical module is connected to the second optical module through a cable assembly;

[0044] The optical module is configured to implement communication connections between the main controller and each of the controlled nodes.

[0045] Optionally, the robot further includes at least one optical splitter; the optical splitter includes an optical splitting input end and at least two optical splitting output ends;

[0046] The optical splitting input end is connected to the first optical module, and the optical splitting output ends are respectively and correspondingly connected to the controlled branch lines. The optical splitter is configured to split the optical signal output by the first optical module into at least two identical optical signals; and / or, the controlled branch line includes a main controlled branch line and at least two sub-controlled branch lines. The optical splitting input end is connected to the main controlled branch line, and the optical splitting output ends are respectively and correspondingly connected to the sub-controlled branch lines. The optical splitter is configured to split the optical signal output by the main controlled branch line into at least two identical optical signals.

[0047] In a third aspect, an embodiment of the present invention provides a communication system, which includes a host, at least one slave branch line, and at least two optical modules as described in any embodiment of the first aspect;

[0048] At least one slave is included on the slave branch line;

[0049] At least two of the optical modules include a third optical module and a fourth optical module. The host is electrically connected to the interface unit in the third optical module, the slave is electrically connected to the interface unit in the fourth optical module, and the third optical module and the fourth optical module are connected through a cable assembly;

[0050] The optical module is configured to implement communication connections between the host and each slave.

[0051] With the technical solution of the embodiment of the present invention, the signal output by the first optical fiber in the cable assembly can be transmitted to the external device connected to the current optical module and the first optical fiber in the cable assembly through the first optical receiving unit, the first optical transmitting unit, and the interface unit. It can be understood that if the first transmitting unit of the current optical module is connected to the first receiving unit of the next optical module through an optical fiber, the signal received by the first receiving unit of the current optical module can be transmitted to the next optical module. Through the second optical receiving unit, the second optical transmitting unit, and the interface unit, the signal output by the third optical fiber in the cable assembly and the signal fed back by the external device can be transmitted to the fourth optical fiber of the cable assembly. It can be understood that if the second transmitting unit of the current optical module is connected to the receiving unit of the previous optical module through an optical fiber, the signal received by the second receiving unit of the current optical module can be transmitted back to the previous optical module. It can be seen that through the optical module including the first optical receiving unit, the first optical transmitting unit, the second optical receiving unit, the second optical transmitting unit, and the interface unit in the embodiment of the present invention, communication between the current optical module and the previous optical module and the next optical module can be realized, and further communication between three or more devices can be realized, solving the problem that the existing optical module can only be applied to data intertransmission between two device ends.

[0052] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0054] Figure 1 Schematic structural diagram of an optical module provided by an embodiment of the present invention;

[0055] Figure 2 Schematic structural diagram of another optical module provided by an embodiment of the present invention;

[0056] Figure 3 Schematic structural diagram of yet another optical module provided by an embodiment of the present invention;

[0057] Figure 4 Schematic structural diagram of yet another optical module provided by an embodiment of the present invention;

[0058] Figure 5 Schematic structural diagram of a robot provided by an embodiment of the present invention;

[0059] Figure 6 Schematic connection diagram of a main controller and each controlled node on a controlled branch line provided by an embodiment of the present invention;

[0060] Figure 7 Schematic structural diagram of a communication system provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0061] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0062] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only used to illustrate the relative positional relationship between each component or component part, and does not specifically limit the specific installation orientation of each component or component part.

[0063] Figure 1 FIG. is a schematic structural diagram of an optical module provided by an embodiment of the present invention. Refer to Figure 1 In this regard, the optical module 100 in the embodiment of the present invention includes a first optical receiving unit 10, a first optical transmitting unit 20, an interface unit 30, a second optical receiving unit 40, and a second optical transmitting unit 50. The first optical receiving unit 10 is optically coupled to the first optical fiber 201 in the cable assembly 200, and is configured to receive the first downlink optical signal output by the first optical fiber 201 and convert the first downlink optical signal into a final downlink electrical signal. The first optical transmitting unit 20 is electrically connected to the first optical receiving unit 10, and is configured to receive the final downlink electrical signal, convert the final downlink electrical signal into a second downlink optical signal, and transmit the second downlink optical signal to the second optical fiber 202 in the cable assembly 200. The interface unit 30 is electrically connected to the first optical receiving unit 10 and the external device 300 respectively, and is configured to receive the final downlink electrical signal and send the final downlink electrical signal to the external device 300, and is further configured to receive the first feedback electrical signal fed back by the external device 300. The second optical receiving unit 40 is optically coupled to the third optical fiber 203 in the cable assembly 200, and is configured to receive the first feedback optical signal output by the third optical fiber 203 and convert the first feedback optical signal into a second final feedback electrical signal. The second optical transmitting unit 50 is electrically connected to the interface unit 30 and the second optical receiving unit 40 respectively, and is configured to receive the first feedback electrical signal and the second final feedback electrical signal, and convert the first feedback electrical signal or the second final feedback electrical signal into a second feedback optical signal and transmit the second feedback optical signal to the fourth optical fiber 204 in the cable assembly 200.

[0064] Exemplarily, the cable assembly 200 connected to the optical module 100 includes a first optical fiber 201, a second optical fiber 202, a third optical fiber 203, and a fourth optical fiber 204. The first optical receiving unit 10 in the optical module 100 is optically coupled to the first optical fiber 201, and can receive the first downlink optical signal output by the first optical fiber 201, and convert the received first downlink optical signal into a final downlink electrical signal. The first optical transmitting unit 20 in the optical module 10 is electrically connected to the first optical receiving unit 10, and can receive the final downlink electrical signal output by the first optical receiving unit 10, and after converting the received final downlink electrical signal into a second downlink optical signal, transmit it to the second optical fiber 202. The interface unit 30 in the optical module 10 is electrically connected to the first optical receiving unit 10 and the external device 300 respectively, and can receive the final downlink electrical signal output by the first optical receiving unit 10, and send the received final downlink electrical signal to the external device 300.

[0065] It should be noted that if the external device connected to the current optical module is a controlled device, and there are a previous optical module and a next optical module connected to the current optical module. The first downlink optical signal received by the first receiving unit of the current optical module may come from the second downlink optical signal emitted by the first transmitting unit of the previous optical module, or may come from the optical signal emitted by the second transmitting unit of the previous optical module. If the external device connected to the current optical module is a controlled device, and the external device connected to the previous optical module is also a controlled device, then the first downlink optical signal received by the first receiving unit of the current optical module comes from the second downlink optical signal emitted by the first transmitting unit of the previous optical module. If the external device connected to the current optical module is a controlled device, but the external device connected to the previous optical module is a control device, then the first downlink optical signal received by the first receiving unit of the current optical module comes from the optical signal emitted by the second transmitting unit of the previous optical module, and the optical signal emitted by the second transmitting unit of the previous optical module is converted from the electrical signal output by the control device to its interface unit. The second downlink signal emitted by the first transmitting unit of the current optical module can be transmitted to the first receiving unit of the next optical module. Among them, the optical signal emitted by the optical module whose connected external device is a control device, the first downlink optical signal received by the optical module whose connected external device is a controlled device, and the second downlink optical signal emitted by the optical module whose connected external device is a controlled device should be the same.

[0066] The second optical emission unit 50 in the optical module 100 is electrically connected to the interface unit 30 and is also optically coupled to the fourth optical fiber 204. It can receive the first feedback electrical signal from the external device 300 fed back to the interface unit 30, and after converting the received first feedback electrical signal into a second feedback optical signal, it is transmitted to the fourth optical fiber 204. The second optical reception unit 40 in the optical module 100 is optically coupled to the third optical fiber 203. It can receive the first feedback optical signal output by the third optical fiber 203 and convert the received first feedback optical signal into a second final feedback electrical signal. The second optical emission unit 50 is electrically connected to the second optical reception unit 40 and is also optically coupled to the fourth optical fiber 204. It can receive the second final feedback electrical signal output by the second optical reception unit 40, and after converting the received second final feedback electrical signal into a second feedback optical signal, it is transmitted to the fourth optical fiber 204.

[0067] It should be noted that if the external device connected to the current optical module is a controlled device, and there are a previous optical module and a next optical module connected to the current optical module. The first feedback optical signal received by the second optical reception unit of the current optical module can come from the second feedback optical signal emitted by the second optical emission unit of the next optical module. The second feedback optical signal emitted by the second optical emission unit 50 of the current optical module can be transmitted to the second optical reception unit of the previous optical module or to the first optical reception unit of the previous optical module. If the external device connected to the current optical module is a controlled device and the external device connected to the previous optical module is also a controlled device, then the second feedback optical signal emitted by the second optical emission unit of the current optical module can be transmitted to the second optical reception unit of the previous optical module. If the external device connected to the current optical module is a controlled device, but the external device connected to the previous optical module is a control device, then the second feedback optical signal emitted by the second optical emission unit of the current optical module can be transmitted to the first optical reception unit of the previous optical module.

[0068] It should be noted that if the external device connected to the current optical module is a control device, then there is only a next optical module connected to the current optical module. The first reception unit of the current optical module receives the second feedback optical signal output by the second emission unit of the next optical module, and its first emission unit is vacant and does not emit an optical signal. The optical signal emitted by the second emission unit of the current optical module to the first reception unit of the next optical module is the second feedback optical signal converted from the first feedback electrical signal output by the control device to its interface unit, and its second reception unit is vacant and does not receive an optical signal.

[0069] It should be noted that if the external device connected to the current optical module is a controlled device, but there is only the previous optical module connected to the current optical module. The first receiving unit of the current optical module receives the second downlink optical signal output by the first transmitting unit of the previous optical module, and its first transmitting unit is vacant and does not transmit optical signals. The optical signal transmitted by the second transmitting unit of the current optical module to the second receiving unit of the previous optical module is the second feedback optical signal converted from the first feedback electrical signal output by the controlled device to its interface unit, and its second receiving unit is vacant and does not receive optical signals.

[0070] In the embodiment of the present invention, through the first optical receiving unit 10, the first optical transmitting unit 20 and the interface unit 30, the signal output by the first optical fiber 201 in the cable assembly 200 can be transmitted to the external device 300 connected to the current optical module 100 and the second optical fiber 202 in the cable assembly 200. It can be understood that if the first transmitting unit of the current optical module is connected to the first receiving unit of the next optical module through an optical fiber, the signal received by the first receiving unit of the current optical module can be transmitted to the next optical module. Through the second optical receiving unit 40, the second optical transmitting unit 50 and the interface unit 30, the signal output by the third optical fiber 203 in the cable assembly 200 and the signal fed back by the external device 300 can be transmitted to the fourth optical fiber 204 in the cable assembly 200. It can be understood that if the second transmitting unit of the current optical module is connected to the receiving unit of the previous optical module through an optical fiber, the signal received by the second receiving unit of the current optical module can be transmitted back to the previous optical module. It can be seen that through the optical module including the first optical receiving unit, the first optical transmitting unit, the second optical receiving unit, the second optical transmitting unit and the interface unit in the embodiment of the present invention, the current optical module can communicate with the previous optical module and the next optical module respectively, and further realize the communication of three or more devices, solving the problem that the existing optical module can only be applied to the data intertransmission between two device ends.

[0071] Further, continue to refer to Figure 1 , the interface unit 30 includes a power terminal 31, a first signal terminal 32 and a second signal terminal 33. The power terminal 31 is electrically connected to the power supply in the external device 300, and is used to receive the electric energy of the power supply in the external device 300 to supply power to the optical module 100. The first signal terminal 32 is electrically connected to the first optical receiving unit 10 and the external device 300 respectively, and is used to receive the final downlink electrical signal and send the final downlink electrical signal to the external device 300. The second signal terminal 33 is electrically connected to the external device 300 and the second optical transmitting unit 50 respectively, and is used to receive the first feedback electrical signal and send the first feedback electrical signal to the second optical transmitting unit 50.

[0072] Exemplarily, the power supply terminals 31 of the interface unit 30 are respectively electrically connected to the power supply in the external device 300 and the power supply terminal in the optical module 100, and can transmit the electrical energy of the power supply in the external device 300 to the power supply terminal in the optical module 100, thereby realizing the power supply to the optical module 100 and ensuring the normal operation of the optical module 100. The first signal terminals 32 of the interface unit 30 are respectively electrically connected to the first optical receiving unit 10 and the external device 300, and can receive the finally downlink electrical signal output by the first optical receiving unit 10 and send the received finally downlink electrical signal to the external device 300. The second signal terminals 33 of the interface unit 30 are respectively electrically connected to the external device 300 and the second optical transmitting unit 50. The external device � can feedback the first return electrical signal to the second signal terminal 33, and the second signal terminal 33 will send the received first return electrical signal to the second optical transmitting unit 50. The second optical transmitting unit 50 will convert the received first return electrical signal into a second return optical signal and send the second return optical signal to the fourth optical fiber 204. The external device can be a sensing device. The downlink signal received by the external device can be a request signal for reading the sensing information of the sensing device. The first return electrical signal feedback by the external device can be the sensing information of the sensing device.

[0073] Figure 2 The following is a schematic structural diagram of another optical module provided by an embodiment of the present invention. Refer to Figure 2 , the optical module 100 further includes a signal splitting unit 60. The signal splitting unit 60 includes a signal splitting input terminal A1, a first signal splitting output terminal A2, and a second signal splitting output terminal A3. The signal splitting input terminal A1 is electrically connected to the output terminal of the first optical receiving unit 10 and is used to receive the finally downlink electrical signal. The first signal splitting output terminal A2 is electrically connected to the input terminal of the first optical transmitting unit 20 and is used to output the finally downlink electrical signal to the first optical transmitting unit 20. The second signal splitting output terminal A3 is electrically connected to the interface unit 30 and is used to output the finally downlink electrical signal to the interface unit 30.

[0074] Exemplarily, after the first optical receiving unit 10 converts the received first downlink optical signal into a finally downlink electrical signal, it can transmit the finally downlink electrical signal to the signal splitting unit 60. The signal splitting unit 60 can split the received finally downlink electrical signal into two identical finally downlink electrical signals. One finally downlink electrical signal is transported from the first signal splitting output terminal A2 to the first optical transmitting unit 20, and then the first optical transmitting unit 20 converts it into a second downlink optical signal and emits it to the second optical fiber 202. The other finally downlink electrical signal is first transported from the second signal splitting output terminal A3 to the first signal terminal 32 of the interface unit 30, and then sent from the first signal terminal 32 to the external device 300.

[0075] Refer to Figure 2, the optical module 100 further includes a signal selection unit 70 and a control unit 80. The signal selection unit 70 includes a first signal selection input terminal B1, a second signal selection input terminal B2, a signal selection output terminal B3, and a signal selection control terminal B4. The first signal selection input terminal B1 is electrically connected to the interface unit 30 for receiving a first backhaul electrical signal. The second signal selection input terminal B2 is electrically connected to the output terminal of the second optical receiving unit 40 for receiving a second final backhaul electrical signal. The control unit 80 is electrically connected to the interface unit 30 and the signal selection control terminal B4 respectively, for receiving a request signal output from the external device 300 to the interface unit 30, and outputting a control signal to the signal selection control terminal B4 according to the request signal to control the opening of the first signal selection input terminal B1 or the opening of the second signal selection input terminal B2. The signal selection output terminal B3 is electrically connected to the input terminal of the second optical transmitting unit 50 for outputting the first backhaul electrical signal or the second final backhaul electrical signal to the second optical transmitting unit 50.

[0076] Exemplarily, the two input terminals of the signal selection unit 70 are electrically connected to the second signal terminal 33 of the interface unit 30 and the output terminal of the second optical receiving unit 40 respectively, and can receive the first backhaul electrical signal received by the second signal terminal 33 and the second final backhaul electrical signal output by the second optical receiving unit 40. Since the signal selection unit 70 can only receive the electrical signal input by one of the input terminals at the same time, it is necessary to set the control unit 80 to control that only one of the two input terminals is open at the same time, so as to ensure the normal transmission of the electrical signal. Specifically, the control unit 80 is electrically connected to the interface unit 30 and the signal selection control terminal B4 of the signal selection unit 70 respectively. Only when the control unit 80 receives the request signal output by the external device 300, the control unit 80 will control the first signal selection input terminal B1 to open and the second signal selection input terminal B2 to close. At this time, the first backhaul electrical signal output by the external device 300 can be input into the second optical transmitting unit 50 through the signal selection unit 70. If the control unit 80 does not receive the request signal output by the external device 300, it is default to control the second signal selection input terminal B2 to open and the first signal selection input terminal B1 to close. At this time, the second final backhaul electrical signal output by the second optical receiving unit 40 can be input into the second optical transmitting unit 50 through the signal selection unit 70. The second optical transmitting unit 50 will convert the received electrical signal (the first backhaul electrical signal or the second final backhaul electrical signal) into a second backhaul optical signal and transmit it to the fourth optical fiber 204.

[0077] Figure 3 This is a schematic structural diagram of another optical module provided by an embodiment of the present invention. Refer to Figure 3, the optical module 100 further includes a signal selection unit 70. The signal selection unit 70 includes a first signal selection input terminal B1, a second signal selection input terminal B2, a signal selection output terminal B3, and a signal selection control terminal B4. The first signal selection input terminal B1 is electrically connected to the interface unit 30 for receiving a first backhaul electrical signal. The second signal selection input terminal B2 is electrically connected to the output terminal of the second optical receiving unit 40 for receiving a second final backhaul electrical signal. The signal selection control terminal B4 is electrically connected to the interface unit 30 for receiving a request signal output from the external device 300 to the interface unit 30, so as to control the opening of the first signal selection input terminal B1 or the opening of the second signal selection input terminal B2 according to the request signal. The signal selection output terminal B3 is electrically connected to the input terminal of the second optical transmitting unit 50 for outputting the first backhaul electrical signal or the second final backhaul electrical signal to the second optical transmitting unit 50.

[0078] Exemplarily, the two input terminals of the signal selection unit 70 are electrically connected to the second signal terminal 33 of the interface unit 30 and the output terminal of the second optical receiving unit 40 respectively, and can receive the first backhaul electrical signal received by the second signal terminal 33 and the second final backhaul electrical signal output by the second optical receiving unit 40. Since the signal selection unit 70 can only receive the electrical signal input by one of the input terminals at the same time, it is necessary to control only one of the two input terminals to be open at the same time, so as to ensure the normal transmission of the electrical signal. Specifically, the signal selection control terminal B4 of the signal selection unit 70 is electrically connected to the interface unit 30. Only when the signal selection control terminal B4 of the signal selection unit 70 receives the request signal output by the external device 300, that is, when the signal selection control terminal B4 of the signal selection unit 70 is at a high level, the signal selection unit 70 will control the first signal selection input terminal B1 to be open and control the second signal selection input terminal B2 to be closed. At this time, the first backhaul electrical signal output by the external device 300 can be input into the second optical transmitting unit 50 through the signal selection unit 70. When the signal selection control terminal B4 of the signal selection unit 70 does not receive the request signal output by the external device 300, that is, when the signal selection control terminal B4 of the signal selection unit 70 is at a low level, the signal selection unit 70 will control the second signal selection input terminal B2 to be open and control the first signal selection input terminal B1 to be closed. At this time, the second final backhaul electrical signal output by the second optical receiving unit 40 can be input into the second optical transmitting unit 50 through the signal selection unit 70. The second optical transmitting unit 50 will convert the received electrical signal (the first backhaul electrical signal or the second final backhaul electrical signal) into a second backhaul optical signal and transmit it to the fourth optical fiber 204.

[0079] Figure 4 A schematic structural diagram of another optical module provided by an embodiment of the present invention is referred to Figure 4, the first optical receiving unit 10 includes a first photodetector 11 and a first amplifier 12. The first optical transmitting unit 20 includes a first laser 21 and a first driver 22. The first photodetector 11 is optically coupled to the first optical fiber 201 and is configured to convert the received first downlink optical signal into a primary downlink electrical signal. The first amplifier 12 is electrically connected to the first photodetector 11 and is configured to amplify the received primary downlink electrical signal to obtain a final downlink electrical signal. The first driver 22 is electrically connected to the first amplifier 12 and the first laser 21 respectively, and is configured to receive the final downlink electrical signal and drive the first laser 21 to generate a second downlink optical signal according to the final downlink electrical signal.

[0080] Exemplarily, the first photodetector 11 is optically coupled to the first optical fiber 201, can receive the first downlink optical signal output by the first optical fiber 201, and convert the received first downlink optical signal into a primary downlink electrical signal. The first amplifier 12 is electrically connected to the first photodetector 11, can receive the primary downlink electrical signal output by the first photodetector 11, and amplify the received primary downlink electrical signal to obtain a final downlink electrical signal. The first driver 22 is electrically connected to the first amplifier 12 and the first laser 21 respectively, can receive the final downlink electrical signal output by the first amplifier 12, and drive the first laser 21 to generate a second downlink optical signal according to the received final downlink electrical signal. The first laser 21 is coupled to the second optical fiber 202 and can transmit the second downlink optical signal to the second optical fiber 202.

[0081] Reference Figure 4 , the second optical receiving unit 40 includes a second photodetector 41 and a second amplifier 42. The second optical transmitting unit 50 includes a second laser 51 and a second driver 52. The second photodetector 41 is optically coupled to the third optical fiber 203 and is configured to convert the received first optical feedback signal into a second primary feedback electrical signal. The second amplifier 42 is electrically connected to the second photodetector 41 and is configured to amplify the received second primary feedback electrical signal to obtain a second final feedback electrical signal. The second driver 52 is electrically connected to the interface unit 30, the second amplifier 42 and the second laser 51 respectively, and is configured to receive the first feedback electrical signal and the second final feedback electrical signal, and drive the second laser 51 to generate a second feedback optical signal according to the first feedback electrical signal or the second final feedback electrical signal.

[0082] Exemplarily, the second optical detector 41 is optically coupled to the third optical fiber 203, and can receive the first feedback optical signal output by the third optical fiber 203, and convert the received first feedback optical signal into a second initial feedback electrical signal. The second amplifier 42 is electrically connected to the second optical detector 41, and can receive the second initial feedback electrical signal output by the second optical detector 41, and amplify the received second initial feedback electrical signal to obtain a second final feedback electrical signal. The second driver 52 is electrically connected to the second amplifier 42 and the second laser 51 respectively, and can receive the second final feedback electrical signal output by the second amplifier 42, and drive the second laser 51 to generate a second feedback optical signal according to the received second final feedback electrical signal. The second laser 51 is optically coupled to the fourth optical fiber 404, and can emit the second feedback optical signal to the fourth optical fiber 404.

[0083] It should be noted that the first optical receiving unit in the embodiments of the present invention may only include a first photodetector, the first optical transmitting unit may only include a first laser, the second optical receiving unit may only include a second photodetector, and the second optical transmitting unit may only include a second laser. Then, the first optical receiving unit and the second optical receiving unit may share a multi-channel amplifier, and the first optical transmitting unit and the second optical transmitting unit may share a multi-channel driver. The output end of the first photodetector in the first optical receiving unit is electrically connected to the first input end of the multi-channel amplifier, the first output end of the multi-channel amplifier is electrically connected to the first input end of the multi-channel driver, and the first output end of the multi-channel driver is electrically connected to the first laser in the first optical transmitting unit. The output end of the second photodetector in the second optical receiving unit is electrically connected to the second input end of the multi-channel amplifier, the second output end of the multi-channel amplifier is electrically connected to the second input end of the multi-channel driver, and the second output end of the multi-channel driver is electrically connected to the second laser in the second optical transmitting unit. In this way, the first optical receiving unit can receive the first downlink optical signal, the first transmitting unit can transmit the second downlink optical signal, the second receiving unit can receive the first uplink optical signal, and the second transmitting unit can transmit the second uplink optical signal. It should be noted that the amplification factor of the amplification channel between the first input end and the first output end of the multi-channel amplifier, and the amplification factor of the amplification channel between the second input end and the second output end of the multi-channel amplifier are both controllable. The amplification factors of the two channels may be the same or different. Specifically, the amplification factor of each amplification channel can be controlled by a control unit connected to the multi-channel amplifier. The driving mode of the driving channel between the first input end and the first output end of the multi-channel driver, and the driving mode of the driving channel between the second input end and the second output end of the multi-channel driver are both controllable. The driving modes of the two channels may be the same or different. Specifically, the driving mode of each driving channel can be controlled by a control unit connected to the multi-channel driver. By replacing the amplifiers in each optical receiving unit with a multi-channel amplifier and replacing the drivers in each transmitting unit with a multi-channel driver, the volume of the optical module can be reduced, which is beneficial to the miniaturization of the optical module.

[0084] Optionally, referring to Figure 2 、 Figure 3 and Figure 4 , the optical module 100 further includes a power supply unit 90. The power supply unit 90 is electrically connected to the wire 205 in the cable assembly 200 and is used to convert the external voltage output by the wire 205 into a working voltage to supply power to the optical module 100.

[0085] Exemplarily, the wire 205 in the cable assembly 200 is electrically connected to an external power supply. The power supply unit 90 is respectively electrically connected to the wire 205 in the cable assembly 200 and the power supply terminal in the optical module 100. It can convert the external voltage in the wire 205 into a working voltage and transmit the converted working voltage to the power supply terminal of the optical module, thereby realizing the power supply to the optical module 100. When the external device 300 plugged into the optical module 100 is not working properly and the working voltage of the optical module 100 cannot be obtained from the external device 300 through the interface unit 30, electrical energy can be obtained from the external power supply through the power supply unit 90 to supply power to the optical module 100, thereby ensuring that the optical module 100 can continue to receive the first downlink optical signal, transmit the first downlink optical signal, receive the first uplink optical signal, and transmit the second uplink optical signal without being affected by the damage of the external device 300.

[0086] Based on the same inventive concept, an embodiment of the present invention further provides a robot. Figure 5 The following is a schematic structural diagram of a robot provided by an embodiment of the present invention. Figure 6 The following is a schematic connection diagram of a main controller and each controlled node on a controlled branch line provided by an embodiment of the present invention. Refer to Figure 5 and Figure 6 In the robot in the embodiment of the present invention, there is a main controller 401, at least one controlled branch line 402, and at least two optical modules as described in any of the above embodiments. The controlled branch line 402 includes at least one controlled node 4021. The at least two optical modules include a first optical module 101 and a second optical module 102. The main controller 401 is electrically connected to the interface unit in the first optical module 101, the controlled node 4021 is electrically connected to the interface unit in the second optical module 102, and the first optical module 101 and the second optical module 102 are connected through the cable assembly 200. The optical module 100 is used to realize the communication connection between the main controller 401 and each controlled node 4021.

[0087] Exemplarily, Figure 5 the shown robot includes 1 main controller 401, 4 controlled branch lines 402, 23 controlled nodes 4021, and optical modules respectively connected to the main controller and each controlled node ( Figure 5 not shown in Figure 6, there are two controlled nodes 4021 on the controlled branch line 402, namely the first controlled node 4021A and the second controlled node 4021B. There are two second optical modules 102, namely the second A optical module 102A and the second B optical module 102B. The interface unit of the first optical module 101 is electrically connected to the main controller 401, the interface unit of the second A optical module 102A is electrically connected to the first controlled node 4021A, and the interface unit of the second B optical module 102B is electrically connected to the second controlled node 4021B. The second transmitting unit of the first optical module 101 is connected to the first receiving unit of the second A optical module 102A through an optical fiber, the first transmitting unit of the second A optical module 102A is connected to the first receiving unit of the second B optical module 102B through an optical fiber, the first transmitting unit of the second B optical module 102B is vacant, the second receiving unit of the second B optical module 102B is vacant, the second transmitting unit of the second B optical module 102B is connected to the second receiving unit of the second A optical module 102A through an optical fiber, the second transmitting unit of the second A optical module 102A is connected to the first receiving unit of the first optical module 101, and the first transmitting unit and the second receiving unit of the first optical module 101 are vacant.

[0088] Specifically, the downlink electrical signal generated by the main controller 401 is transmitted from the interface unit of the first optical module 101 to the signal selection unit of the first optical module 101. The signal selection unit of the first optical module 101 transmits the downlink electrical signal to the second optical transmitting unit of the first optical module 101. The second optical transmitting unit of the first optical module 101 converts the received downlink electrical signal into a downlink optical signal and transmits the converted downlink optical signal to the first optical receiving unit of the second A optical module 102A through an optical fiber.

[0089] The first optical receiving unit of the second A optical module 102A converts the received downlink optical signal into a downlink electrical signal and transmits the converted downlink electrical signal to the signal distribution unit of the second A optical module 102A. The signal distribution unit of the second A optical module 102A divides the received downlink electrical signal into two identical downlink electrical signals. One downlink electrical signal is transmitted to the first controlled node 4021A through the interface unit of the second A optical module 102A, and the other downlink electrical signal is transmitted to the first transmitting unit of the second A optical module 102A. The first transmitting unit of the second A optical module 102A converts the received downlink electrical signal into a downlink optical signal and transmits the converted downlink optical signal to the first optical receiving unit of the second B optical module 102B through an optical fiber.

[0090] The first optical receiving unit of the second B optical module 102B converts the received downstream optical signal into a downstream electrical signal, and transmits the converted downstream electrical signal to the signal demultiplexing unit of the second B optical module 102B. The signal demultiplexing unit of the second B optical module 102B divides the received downstream electrical signal into two identical downstream electrical signals. One downstream electrical signal is transmitted to the second controlled node 4021B through the interface unit of the second B optical module 102B, and the other downstream electrical signal is transmitted to the first optical transmitting unit of the second B optical module 102B. The first optical transmitting unit of the second B optical module 102B converts the received downstream electrical signal into a downstream optical signal, and transmits the converted downstream optical signal through an optical fiber to subsequent controlled nodes (if any, Figure 6 in the illustrated embodiment, there are no subsequent controlled nodes, and the output end of the first optical transmitting unit of the second B optical module 102B is left vacant and does not emit an optical signal).

[0091] When the second controlled node 4021B has a need for feedback data, the second controlled node 4021B sends a request signal to the control unit of the second B optical module 102B. The control unit of the second B optical module 102B outputs a control signal to the signal selection unit of the second B optical module 102B according to the received request signal. The signal selection unit of the second B optical module 102B controls its first signal selection input terminal to be turned on and the second signal selection input terminal to be turned off according to the received control signal, so as to receive the feedback return electrical signal from the second controlled node 4021B, and transmit the received return electrical signal to the second transmitting unit of the second B optical module 102B. The second transmitting unit of the second B optical module 102B converts the received return electrical signal into a return optical signal, and transmits the converted return optical signal through an optical fiber to the second receiving unit of the second A optical module 102A.

[0092] The second receiving unit of the second A optical module 102A converts the received feedback optical signal into a feedback electrical signal. If the first controlled node 4021A has no demand for feedback data at this time, the second receiving unit of the second A optical module 102A will transmit the converted feedback electrical signal to the signal selection unit of the second A optical module 102A, and the signal selection unit of the second A optical module 102A will transmit the received feedback electrical signal to the second transmitting unit of the second A optical module 102A. Of course, if the first controlled node 4021A has a demand for feedback data at this time, it is necessary to first transmit the feedback electrical signal from the first controlled node 4021A to the signal selection unit of the second A optical module 102A, and further transmit it to the second transmitting unit of the second A optical module 102A. The second transmitting unit of the second A optical module 102A will convert the received feedback electrical signal (from the first controlled node 4021A or from the second receiving unit of the second A optical module 102A) into a feedback optical-electrical signal, and transmit the converted feedback optical signal to the first optical receiving unit of the first optical module 101 through an optical fiber.

[0093] The first optical receiving unit of the first optical module 101 converts the received feedback optical signal into a feedback electrical signal, and transmits the converted feedback electrical signal to the signal demultiplexing unit of the first optical module 101. The signal demultiplexing unit of the first optical module 101 divides the received feedback electrical signal into two identical feedback electrical signals. One feedback electrical signal is transmitted to the main controller 401 through the interface unit of the first optical module 101, and the other feedback electrical signal is transmitted to the first transmitting unit of the first optical module 101. The first transmitting unit of the first optical module 101 converts the received feedback electrical signal into a feedback optical signal. The first transmitting unit of the first optical module 101 is idle and does not transmit the converted feedback optical signal. The feedback electrical signal finally transmitted back to the main controller 401 may include the feedback electrical signals from each controlled node 4021.

[0094] It should be noted that only one optical transmitting unit and one optical receiving unit are used for the first optical module 101 connected to the main controller 401 and the second optical module 102 connected to the last controlled node 4021 of each controlled branch line 402. Therefore, it can be replaced by an optical module with one optical unit for transmitting and one optical unit for receiving. In this way, it is beneficial to reduce the manufacturing cost of the robot.

[0095] It should also be noted that the number of optical modules is the same as the number of controlled nodes 4021.

[0096] Furthermore, referring to Figure 5, the robot further includes at least one optical splitter 403. The optical splitter 403 includes an optical splitting input end and at least two optical splitting output ends. The optical splitting input end is connected to the first optical module 101, and the optical splitting output ends are respectively and correspondingly connected to the controlled branch lines 402. The optical splitter 403 is configured to split the optical signal output by the first optical module 101 into at least two identical optical signals. And / or, the controlled branch line 402 includes a main controlled branch line 402A and at least two sub-controlled branch lines 402B. The optical splitting input end is connected to the main controlled branch line 402A, and the optical splitting output ends are respectively and correspondingly connected to the sub-controlled branch lines 402B. The optical splitter 403 is configured to split the optical signal output by the main controlled branch line 402 into at least two identical optical signals.

[0097] Exemplarily, Figure 5 The illustrated embodiment includes two optical splitters, namely the first optical splitter 403A and the second optical splitter 403A. The first optical splitter 403A includes 1 optical splitting input end and 4 optical splitting output ends. The optical splitting input end of the first optical splitter 403A is connected to the first optical module 101, and the 4 optical splitting output ends of the first optical splitter 403A are respectively and correspondingly connected to 4 controlled branch lines 402. The first optical splitter 403A can split the downlink optical signal transmitted by the second transmitting unit of the first optical module 101 into 4 identical downlink optical signals, and the 4 identical downlink optical signals can be transmitted to the 4 controlled branch lines by the 4 optical splitting output ends respectively.

[0098] Figure 5 One of the controlled branch lines 402 in the illustrated robot includes 1 main controlled branch line 402A and 2 sub-controlled branch lines 402B. The second optical splitter 403B includes 1 optical splitting input end and 2 optical splitting output ends. The optical splitting input end of the second optical splitter 403B is connected to the main controlled branch line 402A, and the 2 optical splitting output ends of the second optical splitter 403B are respectively and correspondingly connected to the 2 sub-controlled branch lines 402B. The second optical splitter 403B can split the downlink optical signal transmitted on the main controlled branch line 402 into 2 identical downlink optical signals, and the 2 identical downlink optical signals can be transmitted to the 2 sub-controlled branch lines 402B by the 2 optical splitting output ends of the second optical splitter 403B.

[0099] It should be noted that in other embodiments, the robot may include only one optical splitter. The optical splitting input end of the optical splitter may be connected to the first optical module or to the main controlled branch line in a controlled branch line. The present invention does not make any limitation in this regard, and those skilled in the art can set the number and installation position of the optical splitter according to actual requirements.

[0100] Based on the same inventive concept, the embodiment of the present invention further provides a communication system. Figure 7 It is a schematic structural diagram of a communication system provided by an embodiment of the present invention. Refer to Figure 7, the communication system in the embodiment of the present invention includes a host 501, at least one slave branch line 502, and at least two optical modules as described in any of the above embodiments. The slave branch line 502 includes at least one slave 5021. The at least two optical modules include a third optical module 103 and a fourth optical module 104. The host 501 is electrically connected to the interface unit 30 in the third optical module 103, the slave 5021 is electrically connected to the interface unit 30 in the fourth optical module 104, and the third optical module 103 and the fourth optical module 104 are connected through a cable assembly 200. The optical module 100 is used to realize the communication connection between the host 501 and each slave 5021.

[0101] It should be noted that the communication between the host 501 and each slave 5021 in the embodiment of the present invention is basically the same as the communication between the main controller of the robot and each controlled node in the above embodiment, and will not be elaborated here.

[0102] The above specific embodiments do not limit the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An optical module, characterized in that, It includes a first optical receiving unit, a first optical transmitting unit, an interface unit, a second optical receiving unit, and a second optical transmitting unit; The first optical receiving unit is optically coupled to the first optical fiber in the cable assembly, and is configured to receive the first downlink optical signal output by the first optical fiber, and convert the first downlink optical signal into a final downlink electrical signal; The first optical transmitting unit is electrically connected to the first optical receiving unit, and is configured to receive the final downlink electrical signal, and convert the final downlink electrical signal into a second downlink optical signal and transmit it to the second optical fiber in the cable assembly; The interface unit is electrically connected to the first optical receiving unit and an external device respectively, and is configured to receive the final downlink electrical signal and send the final downlink electrical signal to the external device, and is further configured to receive the first feedback electrical signal from the external device; The second optical receiving unit is optically coupled to the third optical fiber in the cable assembly, and is configured to receive the first feedback optical signal output by the third optical fiber, and convert the first feedback optical signal into a second final feedback electrical signal; The second optical transmitting unit is electrically connected to the interface unit and the second optical receiving unit respectively, and is configured to receive the first feedback electrical signal and the second final feedback electrical signal, and convert the first feedback electrical signal or the second final feedback electrical signal into a second feedback optical signal and transmit it to the fourth optical fiber in the cable assembly.

2. The optical module according to claim 1, wherein The interface unit includes a power terminal, a first signal terminal, and a second signal terminal; The power terminal is electrically connected to the power supply in the external device, and is configured to receive the electrical energy of the power supply in the external device to supply power to the optical module; The first signal terminal is electrically connected to the first optical receiving unit and the external device respectively, and is configured to receive the final downlink electrical signal and send the final downlink electrical signal to the external device; The second signal terminal is electrically connected to the external device and the second optical transmitting unit respectively, and is configured to receive the first feedback electrical signal and send the first feedback electrical signal to the second optical transmitting unit.

3. The optical module according to claim 1, wherein The optical module further includes a signal splitting unit; The signal splitting unit includes a signal splitting input end, a first signal splitting output end, and a second signal splitting output end; The signal splitting input end is electrically connected to the output end of the first optical receiving unit, and is configured to receive the final downlink electrical signal; The first signal splitting output end is electrically connected to the input end of the first optical transmitting unit, and is configured to output the final downlink electrical signal to the first optical transmitting unit; The second signal splitting output end is electrically connected to the interface unit, and is configured to output the final downlink electrical signal to the interface unit.

4. The optical module according to claim 1, wherein The optical module further includes a signal selection unit and a control unit; The signal selection unit includes a first signal selection input end, a second signal selection input end, a signal selection output end, and a signal selection control end; The first signal selection input end is electrically connected to the interface unit, and is configured to receive the first feedback electrical signal; The second signal selection input end is electrically connected to the output end of the second optical receiving unit, and is configured to receive the second final feedback electrical signal; The control unit is electrically connected to the interface unit and the signal selection control terminal respectively, and is configured to receive a request signal output from the external device to the interface unit, and output a control signal to the signal selection control terminal according to the request signal to control the first signal selection input terminal to be turned on or the second signal selection input terminal to be turned on; The signal selection output terminal is electrically connected to the input terminal of the second optical emission unit, and is configured to output the first feedback electrical signal or the second final feedback electrical signal to the second optical emission unit.

5. The optical module according to claim 1, wherein The optical module further includes a signal selection unit; The signal selection unit includes a first signal selection input terminal, a second signal selection input terminal, a signal selection output terminal and a signal selection control terminal; The first signal selection input terminal is electrically connected to the interface unit, and is configured to receive the first feedback electrical signal; The second signal selection input terminal is electrically connected to the output terminal of the second optical reception unit, and is configured to receive the second final feedback electrical signal; The signal selection control terminal is electrically connected to the interface unit, and is configured to receive a request signal output from the external device to the interface unit, so as to control the first signal selection input terminal to be turned on or the second signal selection input terminal to be turned on according to the request signal; The signal selection output terminal is electrically connected to the input terminal of the second optical emission unit, and is configured to output the first feedback electrical signal or the second final feedback electrical signal to the second optical emission unit.

6. The optical module according to claim 1, wherein The first optical reception unit includes a first photodetector and a first amplifier; the first optical emission unit includes a first laser and a first driver; The first photodetector is optically coupled to the first optical fiber, and is configured to convert the received first downlink optical signal into an initial downlink electrical signal; The first amplifier is electrically connected to the first photodetector, and is configured to amplify the received initial downlink electrical signal to obtain the final downlink electrical signal; The first driver is electrically connected to the first amplifier and the first laser respectively, and is configured to receive the final downlink electrical signal, and drive the first laser to generate the second downlink optical signal according to the final downlink electrical signal.

7. The optical module according to claim 1, wherein, The second optical reception unit includes a second photodetector and a second amplifier; the second optical emission unit includes a second laser and a second driver; The second photodetector is optically coupled to the third optical fiber, and is configured to convert the received first optical feedback signal into a second initial feedback electrical signal; the second amplifier is electrically connected to the second photodetector, and is configured to amplify the received second initial feedback electrical signal to obtain the second final feedback electrical signal; The second driver is electrically connected to the interface unit, the second amplifier and the second laser respectively, and is configured to receive the first feedback electrical signal and the second final feedback electrical signal, and drive the second laser to generate the second feedback optical signal according to the first feedback electrical signal or the second final feedback electrical signal.

8. The optical module according to claim 1, characterized in that The optical module further includes a power supply unit; The power supply unit is electrically connected to the wires in the cable assembly, and is configured to convert the external voltage output by the wires into an operating voltage to supply power to the optical module.

9. A robot, characterized in that, It includes a main controller, at least one controlled branch line, and at least two optical modules as described in any one of claims 1-8; At least one controlled node is included on the controlled branch line; At least two of the optical modules include a first optical module and a second optical module. The main controller is electrically connected to the interface unit in the first optical module, the controlled node is electrically connected to the interface unit in the second optical module, and the first optical module and the second optical module are connected by a cable assembly; The optical module is configured to implement communication connections between the main controller and each of the controlled nodes.

10. The robot according to claim 9, wherein, The robot further includes at least one optical splitter; the optical splitter includes an optical splitting input end and at least two optical splitting output ends; The optical splitting input end is connected to the first optical module, the optical splitting output ends are respectively connected to the controlled branch lines one-to-one, and the optical splitter is configured to split the optical signal output by the first optical module into at least two identical optical signals; And / or, the controlled branch line includes a main controlled branch line and at least two sub-controlled branch lines. The optical splitting input end is connected to the main controlled branch line, the optical splitting output ends are respectively connected to the sub-controlled branch lines one-to-one, and the optical splitter is configured to split the optical signal output by the main controlled branch line into at least two identical optical signals.

11. A communication system, characterized in that, It includes a host, at least one slave branch line, and at least two optical modules as described in any one of claims 1-8; At least one slave is included on the slave branch line; At least two of the optical modules include a third optical module and a fourth optical module. The host is electrically connected to the interface unit in the third optical module, the slave is electrically connected to the interface unit in the fourth optical module, and the third optical module and the fourth optical module are connected by a cable assembly; The optical module is configured to implement communication connections between the host and each of the slaves.

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