CN110441757A - Data transmission device and laser radar system - Google Patents
Data transmission device and laser radar system Download PDFInfo
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- CN110441757A CN110441757A CN201910956308.6A CN201910956308A CN110441757A CN 110441757 A CN110441757 A CN 110441757A CN 201910956308 A CN201910956308 A CN 201910956308A CN 110441757 A CN110441757 A CN 110441757A
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- optical module
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Optical Communication System (AREA)
Abstract
The present invention relates to laser radar technique field, a kind of data transmission device and laser radar system are disclosed.Wherein, described device is located in laser radar system, and the laser radar system includes rotary body and central axis；Described device includes: the first optical module and the second optical module；First optical module is used to receive the first digital signal of the radar front end device output, and first digital signal is converted to optical signal, and the optical signal is sent to the receiving end of second optical module by the transmitting terminal of the first optical module;Second optical module receives the optical signal that the first optical module is sent by receiving end, and the optical signal is converted to first digital signal;The receiving end of the transmitting terminal of first optical module and second optical module is relatively arranged on the central axis.By the above-mentioned means, can be improved data transmission efficiency as data transmission medium using light.
Description
Technical field
The present embodiments relate to laser radar technique field, in particular to a kind of data transmission device and laser radar system
System.
Background technique
Laser radar (Light Dectection And Ranging, LiDAR) is a kind of lidar light detection and ranging
Sensor.Its distance that target is measured by returning to delay and the intensity of pulse to objective emission laser pulse and measuring and anti-
Penetrate rate.Laser radar generally uses the spacescan of 360 degree of mechanical rotation device realization, every a pair of continuous with machinery rotation
Transmitting, the device for receiving laser pulse are known as the scanning " line " of a laser radar.Due to being widely used in automatic Pilot, intelligence
Technical fields, the laser radars such as perception are required higher spatial resolution, thus it requires having higher line number.
In laser radar, it is known as radar front end system with the part that mechanical rotation device rotates, the laser arteries and veins detected
Punching is converted into point cloud data after radar front end system, and point cloud data needs to realize that wireless data passes by communication device
It is defeated.
But during present inventor realizes the application, discovery: current laser radar, which uses, is based on electromagnetism
The wireless communication device of coupling realizes above-mentioned point cloud data transmission, but is limited to the property of physical transport medium, is based on electromagnetism
The wireless communication device of coupling is unable to satisfy the requirement of high line number, so that data transmission efficiency is lower.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of data transmission device and laser radar system, using light as number
According to transmission medium, data transmission efficiency can be improved.
According to a first aspect of the embodiments of the present invention, a kind of data transmission device is provided, described device is located at laser thunder
Up in system, the laser radar system includes rotary body and central axis；
Described device includes: the first optical module and the second optical module；
First optical module is used to receive the first digital signal of radar front end device output, and by first digital signal
Optical signal is converted to, the optical signal is sent to the receiving end of second optical module by the transmitting terminal of the first optical module;
Second optical module receives the optical signal that the first optical module is sent by receiving end, and the optical signal is converted
For first digital signal;
The receiving end of the transmitting terminal of first optical module and second optical module is relatively arranged on the central axis.
Further, first optical module includes: the first modulation circuit, for export the radar front end device
First digital signal modulated is the optical signal；
First transmitter is connect with first modulation circuit, for receiving the light letter of the first modulation circuit output
Number, and emit the optical signal to second optical module as the transmitting terminal of the first optical module；
Second optical module includes: second receiver, as the receiving end of the second optical module, receives the optical signal, and will
The optical signal is exported；
Second demodulator circuit is connect with the second receiver, the optical signal solution for exporting the second receiver
It is adjusted to first digital signal and exports to upper application apparatus.
Further, described device further comprises the first optical fiber and the second optical fiber；
First optical fiber is connect with first optical module, and the transmitting terminal of first optical fiber is as first optical module
Transmitting terminal, for the optical signal of first optical module to be sent to second optical module；
Second optical fiber is connect with second optical module, reception of the receiving end of second optical fiber as the second optical module
End, for receiving the optical signal.
Further, the rotary body is connect by bearing and the center axis connection, the rotary body with bearing rotor,
The central axis is connect with bearing stator, and the transmitting terminal of first optical module is set on the bearing rotor, second light
The receiving end of module is set to the bearing stator.
Further, described device further includes coupling optical system, and the coupling optical system is set to first optical mode
Between the transmitting terminal of block and the receiving end of second optical module, the coupling optical system is equipped with optical lens group, described
The optical signal that optical lens group is used to that the transmitting terminal of first optical module to be made to emit is coupled to the reception of second optical module
End.
Further, the optical lens group is collimation microscope group, and the collimation microscope group is used for first optical module
The optical signal of transmitting terminal transmitting becomes collimated light signal, and the collimated light signal is converged to the reception of second optical module
End.
Further, the optical lens group is sphere lens, and the sphere lens are used for first optical module
The optical signal of transmitting terminal transmitting converges to the receiving end of second optical module.
Further, described device further includes the first communication port and the second communication port, first communication port point
First modulation circuit and the radar front end device are not connected, and second communication port connects second demodulator circuit
With the upper application apparatus.
Further, second optical module is also used to receive the second digital signal of upper application apparatus output, and will
Second digital signal is converted to optical signal and is emitted by the transmitting terminal of second optical module；First optical module is also
The optical signal is received for the receiving end by first optical module, and the optical signal is converted into second number
Signal simultaneously exports.
The embodiment of the present invention also proposed a kind of data transmission device, and described device is located in laser radar system, described
Laser radar system includes rotary body and central axis；
Described device includes: the first optical module and the second optical module；
Second optical module is used to receive the second digital signal of upper application apparatus output, and by second digital signal
Optical signal is converted to, the optical signal is sent to the receiving end of first optical module by the transmitting terminal of the second optical module;
First optical module receives the optical signal that the second optical module is sent by receiving end, and the optical signal is converted
For second digital signal;
The receiving end of the transmitting terminal of second optical module and first optical module is relatively arranged on the central axis.
Further, second optical module includes: the second modulation circuit, for export the upper application apparatus
Second digital signal modulated is the optical signal；
Second transmitter is connect with second modulation circuit, for receiving the light letter of the second modulation circuit output
Number, and emit the optical signal as the transmitting terminal of the second optical module；
First optical module includes:
First receiver receives the optical signal as the receiving end of the first optical module, and the optical signal is exported；
First demodulator circuit is connect with first receiver, the optical signal solution for exporting first receiver
It is adjusted to second digital signal and exports to radar front end device.
Further, described device further comprises third optical fiber and the 4th optical fiber；
The third optical fiber is connect with second optical module, and the transmitting terminal of the third optical fiber is as second optical module
Transmitting terminal, for the optical signal of second optical module to be sent to first optical module；
4th optical fiber is connect with first optical module, reception of the receiving end of the 4th optical fiber as the first optical module
End, for receiving the optical signal.
Further, the rotary body is connect by bearing and the center axis connection, the rotary body with bearing rotor,
The central axis is connect with bearing stator, and the receiving end of first optical module is set to the bearing rotor, second optical mode
The transmitting terminal of block is set to the bearing stator.
The embodiment of the present invention also proposes a kind of laser radar system, comprising: radar front end device, upper application apparatus and on
State the data transmission device；
The radar front end device is used to receive the optical information of target object reflection, and the optical information is converted to the first number
Signal；
The data transmission device is used for first digital data transmission to the upper application apparatus；
The upper application apparatus is converted to the second digital signal for that will control information；
The data transmission device is also used to second digital data transmission to the radar front end device.
The embodiment of the present invention is by the way that the receiving end of the transmitting terminal of the first optical module and the second optical module to be oppositely arranged and institute
State on central axis, thus laser radar rotary body and central axis relatively rotate when, the transmitting terminal of first optical module and
Relative displacement will not occur for the receiving end of the second optical module, and only relative rotation, thereby may be ensured that the hair of the first optical module
The optical signal for penetrating end transmitting can be emitted directly toward the receiving end of second optical module, greatly improve the transmission effect of optical signal
Rate, moreover, structure is very simple.
Above description is only the general introduction of technical solution of the embodiment of the present invention, in order to better understand the embodiment of the present invention
Technological means, and can be implemented in accordance with the contents of the specification, and in order to allow above and other mesh of the embodiment of the present invention
, feature and advantage can be more clearly understood, the followings are specific embodiments of the present invention.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing:
Fig. 1 shows a kind of structural schematic diagram of laser radar system provided in an embodiment of the present invention；
Fig. 2 shows a kind of structural schematic diagrams of data transmission device provided in an embodiment of the present invention；
Fig. 3 shows the first optical module of Fig. 2 and the structural schematic diagram of the second optical module；
Fig. 4 a to Fig. 4 d shows the structural schematic diagram of the data transmission device of axis exterior design provided in an embodiment of the present invention；
Fig. 5 a to Fig. 5 e shows the structural schematic diagram of the data transmission device of axis mo(u)ld top half design provided in an embodiment of the present invention；
Fig. 6 show another embodiment of the present invention provides data transmission device structural schematic diagram.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
Fig. 1 shows a kind of structural schematic diagram of laser radar system provided in an embodiment of the present invention.As shown in Figure 1, should
Laser radar system 100 includes: data transmission device 10, radar front end device 20 and upper application apparatus 30.
Wherein, radar front end device 20 is connect with 10 one end of data transmission device, the other end of data transmission device 10 with
Upper application apparatus 30 connects.Radar front end device 20 is used to receive the optical information of target object reflection, and the optical information is turned
It is changed to the first digital signal, the first digital data transmission that data transmission device 10 is used to export in radar front end device 20 is supreme
Position application apparatus 30, upper application apparatus 30 are handled first digital signal for receiving first digital signal.
In the above manner, the detection data for the target object that radar front end device 20 detects is transmitted by data transmission device 10
It is handled to upper application apparatus 30, to obtain object detection information.
Wherein, radar front end device 20 is used to receive the optical information of target object reflection, and the optical information is converted to the
One digital signal, specifically includes: radar front end device receives the optical information of target object reflection, and the light of target object reflection is believed
Breath is converted to electric signal, and the electric signal is converted to the first digital signal.The radar front end device 20 believes first number
Number it is transferred to data transmission device 10.
Wherein, upper application apparatus 30 can set for any kind of terminal with integration of user interaction functionality and operational capability
It is standby, for example, intelligent automobile terminal, unmanned plane terminal or other be mountable to the terminal device on intelligent automobile or unmanned plane.
In some embodiments, upper application apparatus 30 is also used to receive control instruction information, and the control that will be received
Command information is converted to the second digital signal, the second number that data transmission device 10 is also used to export upper application apparatus 30
Signal is transferred to radar front end device 20, and radar front end device 20 is also used to receive second digital signal, and responds described
Two digital signal.In the above manner, the control instruction that upper application apparatus 30 inputs user passes through data transmission device 10
It is transferred to radar front end device 20, to control radar front end device 20.
Wherein, as shown in Fig. 2, the data transmission device 10 includes the first optical module and the second optical module, wherein first
Optical module 11 and radar front end device 20 communicate to connect, and the second optical module 12 is communicated to connect with upper application apparatus 30.Simultaneously such as
Shown in Fig. 3, all there is transmitting-receiving mould group therefore may be implemented to carry out uplink signal simultaneously simultaneously for the first optical module and the second optical module
With downlink signal simultaneous transmission, i.e. simultaneous transmission radar range finding data and control data.
Following embodiment is illustrated by taking transmission of downlink signal as an example:
Fig. 2 shows a kind of structural schematic diagrams of data transmission device provided in an embodiment of the present invention.As shown in Fig. 2, the data
Transmitting device 10 includes: the first optical module 11, the second optical module 12 and coupling optical system 13.
Wherein, coupling optical system 13 is set between the first optical module 11 and the second optical module 12.First optical module 11 with
Radar front end device 20 communicates to connect, and the second optical module 12 is communicated to connect with upper application apparatus 30.First optical module 11 is used for
The first digital signal that radar front end device 20 exports is received, and first digital signal is converted into optical signal, coupling optical
The optical signal transmission that system 13 is used to export the first optical module 11 to the second optical module 12, the second optical module 12 is used for the light
Signal is converted to the first digital signal and exports to upper application apparatus 30 and handled.
Specifically, also referring to Fig. 3, the first optical module 11 includes: the first modulation circuit 111 and first transmitter 112.
Wherein, 111 one end of the first modulation circuit is connect with radar front end device 20, and the other end is connect with first transmitter 112.Second light
Module 12 includes: second receiver 121 and the second demodulator circuit 122.Wherein, 122 one end of the second demodulator circuit is received with second
Device 121 connects, and the other end is connect with upper application apparatus 30.In the present embodiment, the first modulation circuit 111 is for will be before radar
The first digital signal modulated that end device 20 exports is optical signal, and first transmitter 112 is defeated for receiving the first modulation circuit 111
Optical signal out, and by the optical signal launch to coupling optical system 13.Coupling optical system 13 is by optical signal transmission to second
Receiver 121.Second receiver 121 is used to receive the optical signal of the transmission of coupling optical system 13, and the second demodulator circuit 122 is used for
The optical signal demodulation that second receiver 121 is exported is the first digital signal, and is exported to upper application apparatus 30, upper application
Device 30 handles the first digital signal received, obtains ranging data.
Wherein, referring again to Fig. 2, the device 10 further include: the first communication port 141 and the second communication port 142.First
Communication port 141 is separately connected the first optical module 11 and radar front end device 20.Specifically, the first communication port 141 connects respectively
The first modulation circuit 111 and the first demodulator circuit 114 are connect, the second communication port 142 is separately connected the second demodulator circuit 122 and
Two modulation circuits 123.First communication port 141 is for the data transmission between the first optical module 11 and radar front end device 20.
Second communication port 142 is separately connected the second optical module 12 and upper application apparatus 30.Second communication port 142 is used for the second light
Data transmission between module 12 and upper application apparatus 30.
Data transmission device 10 in the embodiment of the present invention receives radar front end device 20 by the first optical module 11 and exports
The first digital signal, and the first digital signal is converted into optical signal, coupling optical system 13 exports the first optical module 11
Optical signal transmission to the second optical module 12, the second optical module 12 convert optical signals to the first digital signal and export to upper
Application apparatus 30 is handled.As can be seen that the present embodiment carries out the transmission of data by using light as data transmission medium,
Since the message capacity of optic communication is big, electromagnetism interference and transmission quality are good, so as to improve data transfer efficiency.
Specifically, a to Fig. 5 e, the data transmission device 10 are located in laser radar system 100 referring to Figure 4 together, institute
Stating laser radar system 100 includes rotor 15, stator 16 and shell 17, and rotor 15 and stator 16 are contained in shell 17, rotor
15 include rotary body 151, and stator 16 includes central axis 161, and rotor 15 is rotated around central axis 161, and stator 16 and shell 17 are fixed
Connection.First optical module 11 is set to rotor 15, and the second optical module 12 is set to stator 16.First optical module 11 is rotated with rotor 15,
Second optical module 12, stator 16 and shell 17 keep opposing stationary.
Wherein, as shown in fig. 4 a, which can be axis exterior design, and coupling optical path does not exist in the design
On central axis, also, the first transmitter 112 of the first optical module 11 and the second receiver 121 of the second optical module 12 is opposite
Position has significant change when device 10 rotates.First optical module 11 is set to rotary body 151, and the second optical module 12 is set to central axis
161.Wherein it is possible to understand, data transmission device 10 further includes coupling optical system 13, wherein coupling optical system 13
It is set between the first optical module 11 and the second optical module 12.Coupling optical system 13 is used to form coupling light by optical device
Road, the optical signal transmission that the first optical module 11 is exported to second optical module 12.Wherein it is possible to understand, the coupling
Light combination road can be the direction for being parallel to central axis, perpendicular to the direction of central axis or segmented setting, herein with no restrictions.This
The explanation of following embodiments is carried out for the coupling optical path of specification axis external form data transmission device shown in Fig. 4 a.
Wherein it is possible to understand, which further includes the first communication port 141 and the second communication port
142, first communication port 141 is separately connected first modulation circuit 111 and the radar in the first optical module 11
Fore device 20, second communication port 142 connect the second demodulator circuit 122 described in the second optical module 12 and described upper answer
With device 30.
In some other embodiments, the coupling optical system 13 of the data transmission device 10 may include lens ring
181, wherein central axis 161 passes through the hollow parts of lens ring 181, and lens ring 181 and the second optical module 12 are relatively quiet
Only.When rotary body 151 rotates, the first optical module 11 is rotated around central axis 161, central axis 161, shell 17, the second optical module
12 and lens ring 181 keep opposing stationary.The first transmitter 112 that lens ring 181 is used to receive the first optical module 11 is sent out
The optical signal penetrated simultaneously is adjusted optical signal, so that optical signal enters the second optical module 12, the second of the second optical module 12 is connect
Device 121 is received for receiving optical signal adjusted.
Wherein, there are many set-up modes of lens ring 181.Optionally, in some other embodiments, such as Fig. 4 b institute
Show, 181 eccentric setting of lens ring is on central axis 161.Optical signal is parallel to lens ring 181 by first transmitter 112
Optical axis A emits to lens ring 181, and lens ring 181 reflects optical signal, and optical signal convergence directive second is received
Device 121, so that second receiver 121 be made to receive the optical signal that first transmitter 112 emits.Wherein it is possible to understand, first
Transmitter 112 can be by setting collimating mirror in transmitting terminal, so that the optical axis A of the parallel lens ring 181 of optical signal is emitted.Wherein,
It is understood that the receiving end of second receiver 121 can be set at the image space focal plane of lens ring 181, connect when second
When receiving the receiving end of device 121 at the rear focus of lens ring 181, the receiving efficiency of second receiver 121 is maximum.It is revolving
During turning, the optical signal that first transmitter 112 emits focuses on second receiver 121 forever, to ensure that signal beams
Energy.
Optionally, in some embodiments, as illustrated in fig. 4 c, the optical center of lens ring 181 can be located at central axis 161
On.For first transmitter 112 by optical signal launch to lens ring 181, lens ring 181 receives what first transmitter 112 emitted
Optical signal, and by directive second receiver 121 after the even light of the optical signal received progress, to be received by second receiver 121.
Optionally, the lens ring 181 in Fig. 4 c can also be replaced with the even mating plate of scatter-type.Wherein it is possible to understand, the first transmitting
Device 112 can be set to the object focus plane of lens ring 181.When the object space that first transmitter 112 is set to lens ring 181 is burnt
When at point, optical signal exiting parallel after lens ring 181, i.e. lens ring 181 play the role of even light to optical signal.
Wherein it is possible to understand, it is optimal in order to avoid the light that first transmitter 112 emits is blocked by central axis 161
, the quantity of first transmitter 112 is set as at least two, and at least two first transmitters 112 are uniformly set along central axis 161
It sets.In Fig. 4 b and Fig. 4 c, by taking the quantity of first transmitter 112 is two as an example, two first transmitters 112 are respectively symmetrically set to
The two sides of central axis 161, two first transmitters 112 are used to transmitting optical signal, and the light of two first transmitters 112 transmitting
The content of signal is identical, so that central axis 161 be avoided to block and interrupt optical signal.Wherein, in Fig. 4 c, two first hairs
The optical signal that emitter 112 emits equal exiting parallel but not parallel each other after lens ring 181, therefore two first are sent out
The optical signal that emitter 112 emits segment beam irradiated region after lens ring 181 covers each other, it is to be understood that
In some alternative embodiments, second receiver 121 can be set to the region that mutually covers of light beam, so as to guarantee the
The energy for the signal beams that two receivers 121 receive, and reduce the influence that transmitting light beam is blocked by central axis 161.
In yet other embodiment, lens ring 181 be can be omitted.Fig. 4 d is please referred to, data transmission device 10
Coupling optical system 13 may include sidelight optical fiber 182.Wherein, sidelight optical fiber 182 is connected with first transmitter 112, and ring
It is arranged around central axis 161.The optical signal that the sidelight optical fiber 182 is used to emit the first transmitter 112 received carries out even light,
So that optical signal enters second receiver.Optionally, in some other embodiments, arc-shaped reflecting mirror 1821 can be set to
Side of the sidelight optical fiber 182 far from second receiver 121, the arc-shaped reflecting mirror 1821 can increase sidelight optical fiber to receiving direction
Light intensity, to guarantee the energy for the signal beams that second receiver 121 receives.Wherein, optimal first transmitter 112
Quantity can be set at least two, and two first transmitters 112 are respectively symmetrically set to the two sides of central axis 161, to avoid
Central axis 161 blocks and optical signal is interrupted.Optionally, in some embodiments, second receiver may be set to be more
It is a, to guarantee the energy for the signal beams that second receiver receives.
Wherein, optionally, the scheme as described in Fig. 4 d, can also be using multiple first transmitters 112 and more sidelight light
Fibre connection, the setting that more sidelight optical fiber emits simultaneously form the even light emitting surface of an annulus shape.
Wherein, in yet other embodiment, the data transmission device 10 or the design of axis mo(u)ld top half, the present invention
The data transmission device 10 that embodiment proposes is located in laser radar system 100, and the laser radar system 100 includes rotary body
151 and central axis 161, comprising: the first optical module 11 and the second optical module 12；First optical module 11 is for receiving the thunder
The first digital signal exported up to fore device 20, and first digital signal is converted into optical signal, pass through the first optical mode
The optical signal is sent to the receiving end of second optical module 12 by the transmitting terminal of block 11;Second optical module 12 is by connecing
Receiving end receives the optical signal that the first optical module 11 is sent, and the optical signal is converted to first digital signal;Institute
The receiving end of the transmitting terminal and second optical module 12 of stating the first optical module 11 is relatively arranged on the central axis 161.
The embodiment of the present invention is by the way that the receiving end of the transmitting terminal of the first optical module and the second optical module to be oppositely arranged and institute
State on central axis, thus laser radar rotary body and central axis relatively rotate when, the transmitting terminal of first optical module and
Relative displacement will not occur for the receiving end of the second optical module, and only relative rotation, thereby may be ensured that the hair of the first optical module
The optical signal for penetrating end transmitting can be emitted directly toward the receiving end of second optical module, greatly improve the transmission effect of optical signal
Rate, moreover, structure is very simple.
Fig. 5 a to Fig. 5 e is please referred to, rotor 15 is rotary body, and the rotary body further includes bearing rotor 152, and stator 16 is
Central axis, the central axis further include bearing stator 162.Bearing stator 162 and bearing rotor 152 are contained in shell 17, institute
It states rotary body and passes through bearing and the center axis connection, the rotor connection of rotary body and bearing, central axis is connect with bearing stator,
The transmitting terminal of first optical module is set on bearing rotor, and the receiving end of second optical module is set to bearing stator
On.Wherein, in some alternative embodiments, data transmission device 10 shown in Fig. 5 a is please referred to, the of the first optical module 11
One transmitter 112 is connected with the first optical fiber, wherein the transmitting terminal 1103 of first optical fiber is fixed on bearing rotor 152,
The second receiver 121 of second optical module 12 is connected with the second optical fiber, wherein the fixation of receiving end 1203 of second optical fiber is set
In on bearing stator 162.Wherein, the coupling optical system 13 is set between bearing rotor 152 and bearing stator 162.First
The transmitting terminal 1103 of optical fiber is used for as the transmitting terminal of the first optical module by the second optical fiber of optical signal directive of the first optical module 11
Receiving end 1203 so that optical signal is transferred to the receiving end 1203 of the second optical fiber from the transmitting terminal 1103 of the first optical fiber, thus
It is received by the second optical module 12.In the present embodiment, transmitting terminal of the transmitting terminal of first optical fiber as the first optical module, with
And receiving end of the receiving end of second optical fiber as the second optical module, can with the optical module by way of zooming out,
It being provided separately, the first modulation circuit of the first optical module and the first transmitter of the first optical module can be set on rotary body,
Transmitting terminal of first optical fiber as the first optical module, is separately provided on center shaft；Second modulation electricity of the second optical module
The second receiver of road and the second optical module can be set on the pedestal of fixed center axis distal end or fixed center axis, and second
Optical fiber is then oppositely arranged on centrally disposed axis on center shaft with first optical fiber.In this way, it is only necessary in
First optical fiber and the second light are set in mandrel, are achieved that sending and receiving for optical signal, structure is simple.
Likewise, first optical module includes: the first modulation circuit in other optional embodiment, it is used for
The first digital signal modulated by radar front end device output is the optical signal；First transmitter is adjusted with described first
Circuit connection processed, for receiving the optical signal of the first modulation circuit output, and the transmitting terminal as the first optical module
Emit the optical signal to second optical module；Second optical module includes: second receiver, as the second optical module
Receiving end receives the optical signal, and the optical signal is exported；Second demodulator circuit connects with the second receiver
It connects, the optical signal demodulation for exporting the second receiver is first digital signal and exports to described upper
Application apparatus.In the present embodiment, by the way that the first transmitter of the first optical module and the second receiver of the second optical module are distinguished
On centrally disposed axis, the separation of modulation circuit and transmitter may be implemented, for example can adjust by way of zooming out by first
Circuit processed and first transmitter separation, the first modulation circuit are arranged on rotary body, first transmitter is arranged in above-mentioned bearing
On rotor 152, equally, the second modulation circuit can also be arranged on the pedestal of fixed center axis, second by way of zooming out
Receiver is arranged on above-mentioned bearing stator 162, and first transmitter and second receiver is thus greatly saved in central axis
On occupied space, simplify the difficulty of setting.
Wherein it is possible to understand, which further includes that the first communication interface 141 and the second communication connect
Mouth 142.Wherein, the first communication interface 141 is connected with the first optical module 11 and radar front end device 20, is used for the first optical module 11
It is communicated with radar front end device 20.Second communication port is connected with the second optical module and the upper application apparatus 30, uses
It is communicated in the second optical module 12 with upper application apparatus 30.
Wherein, in some alternative embodiments, data transmission device shown in Fig. 5 b, the transmitting of the first optical fiber are please referred to
End 1103 is fixed on bearing rotor 152 by the first optical fiber connector 1104；The receiving end 1203 of second optical fiber passes through second
Optical fiber connector 1204 is fixed on bearing stator 162.The optical signal of first optical fiber connector 1104 transmitting is according to it intrinsic
After the distance of angular spread one end, a part of optical signal is radiated on the second optical fiber connector 1204, thus by the second optical module
12 receive.
Wherein, in some alternative embodiments, the coupling optical system 13 between the first transmitting terminal and the second receiving end
May include a series of optical surfaces come between auxiliary transmission end and receiving end optical path coupling, below using optical fiber as transmitting terminal with
It is illustrated for receiving end.
In some embodiments, the quantity of optical surface can use 0-N, such as Fig. 5 c and Fig. 5 d, the coupling of the data transmission device 10
Closing optical system 13 may include optical lens group 191.Optical lens group 191 is for emitting the transmitting terminal 1103 of the first optical fiber
Optical signal be coupled to the receiving end 1203 of the second optical fiber.Pass through the reception of transmitting terminal 1103 and the second optical fiber in the first optical fiber
Optical surface is set between end 1203, to increase the optical signal acceptance rate of the receiving end 1203 of the second optical fiber.
Optionally, in some embodiments, as shown in Figure 5 c, the optical lens group 191 in coupling optical system 13 can be with
To collimate microscope group 192, collimation microscope group 192 is used to becoming the optical signal that the transmitting terminal 1103 of the first optical fiber emits into collimated light letter
Number, and collimated light signal is converged to the receiving end 1203 of the second optical fiber.Specifically, collimation microscope group 192 includes two collimating mirrors,
The diverging optical signal for being used to emit the transmitting terminal 1103 of the first optical fiber close to the collimating mirror of the transmitting terminal 1103 of the first optical fiber becomes
For collimated light signal, the collimating mirror of the transmitting terminal 1103 far from the first optical fiber is used to collimated light signal converging to the second optical fiber
Receiving end 1203.
Optionally, in some embodiments, as fig 5d, the optical lens group 191 in coupling optical system 13 may be used also
Think that sphere lens 193, sphere lens 193 are used to the optical signal that the transmitting terminal 1103 of the first optical fiber emits converging to the second light
Fine receiving end 1203.
It should be noted that the quantity of first transmitter and the quantity of the first optical fiber can be it is multiple, second receiver and
The quantity of second optical fiber may be multiple, as long as the receiving end 1203 of the second optical fiber is enable to receive the transmitting of the first optical fiber
The optical signal of 1103 transmitting of end.
In other optional embodiments, data transmission device shown in Fig. 5 e is please referred to, the of the first optical module 11
One transmitter is fixed on bearing rotor, and the second receiver of optical module 2 is fixed on bearing stator.First optical module and
A series of optical surfaces can be inserted between beam emissions/receiving plane of second optical module to assist the optical coupling between them, light
The quantity in face can take 0-N.To improve reception of second optical module for optical signal.
It should be noted that the data transmission device can also carry out the transmission of uplink signal simultaneously, it is shown in figure 4a
In axis external form data transmission device embodiment, if want to make the first optical module 11 and the second optical module 12 in the outer scheme of axis while carrying out
The transmission of upstream data and downlink data, can make the first optical module 11 first transmitter 112 and the second optical module 12
The dislocation of two transmitters 124 is placed, to avoid the influence between optical path.Simultaneously again because optical path is reversible, it is possible to same
The same coupling optical system of Shi Gongyong realizes the transmission of downlink signal and uplink signal.Wherein it is possible to understand, above-mentioned coupling
Optical system is closed as shown in Fig. 4 b, 4c, 4d.
It is understood that in the axis mo(u)ld top half data transmission device embodiment shown in Fig. 5 a, if wanting to make axis mo(u)ld top half scheme
In the first smooth film block 11 and the second smooth film block 12 carry out the transmission of upstream data and downlink data simultaneously, it is to be understood that should
The data transmission device of axis mo(u)ld top half scheme further includes third optical fiber and the 4th optical fiber.Wherein, second transmitter 124 and third optical fiber
It is connected, the first receiver 113 is connected with the 4th optical fiber.Wherein, the transmitting terminal of the third optical fiber is fixed on bearing stator 162,
The receiving end of 4th optical fiber is fixed on bearing rotor 152, and the transmitting terminal of third optical fiber is used to believe the light of the second optical module 12
The receiving end of number the 4th optical fiber of directive, so that the optical signal of upstream data conversion is transferred to the 4th light from the transmitting terminal of third optical fiber
Fine receiving end, to be received by the first optical module.Wherein it is possible to understand, in order to guarantee that optical path is interference-free, can make
The transmitting terminal of first optical fiber and the transmitting terminal of third optical fiber misplace and arrange.Simultaneously as optical path is reversible, so coupling optical
System 13 can be as shown in Fig. 5 b, 5c, 5d.
It is understood that the data transmission device shown in Fig. 5 e, the first optical module is fixed on bearing rotor, second
Optical module is fixed on bearing stator.Wherein it is possible to understand, in order to guarantee that optical path is interference-free, the first optical mode can be made
The first transmitter of block and the second transmitter of the second optical module dislocation arrangement, simultaneously as optical path is reversible, so this reality
The coupling optical system 13 for applying example is identical with the coupling optical system of 5e embodiment.
Data transmission device 10 in the embodiment of the present invention receives radar front end device 20 by the first optical module 11 and exports
The first digital signal, and the first digital signal is converted into optical signal, is believed the light by the transmitting terminal of the first optical module
Number it is sent to the receiving end of the second optical module；Second optical module, which receives the light that the first optical module is sent by receiving end, to be believed
Number, and the first data-signal is converted optical signals to, the transmitting terminal of first optical module and the receiving end of second optical module
It is relatively arranged on the central axis, it can be seen that the present embodiment carries out data as data transmission medium by using light
Transmission substantially increases the efficiency of transmission of optical signal, simplifies by way of being coaxially disposed transmitting terminal and receiving
Structure, simultaneously because the message capacity of optic communication is big, electromagnetism interference and transmission quality are good, so as to improve data transfer effect
Rate.
In some embodiments, for only transmitting upstream data:
Referring again to Fig. 2, Fig. 2 shows a kind of structural schematic diagrams of data transmission device provided in an embodiment of the present invention.Such as Fig. 2
Shown, which includes: the first optical module 11 and the second optical module 12.
Second optical module is used to receive the second digital signal of upper application apparatus output, and digital by described second
Signal is converted to optical signal, and the optical signal is sent to the reception of first optical module by the transmitting terminal of the second optical module
End;First optical module receives the optical signal that the second optical module is sent by receiving end, and the optical signal is converted
For second digital signal;The receiving end of the transmitting terminal of second optical module and first optical module is relatively arranged on institute
It states on central axis.
Specifically, referring again to Fig. 3, the first optical module 11 further include: the first receiver 113 and the first demodulator circuit 114.
Wherein, 114 one end of the first demodulator circuit is connect with the first receiver 113, and the other end is connect with radar front end devices 20.Second light
Module 12 further include: the second modulation circuit 123 and second transmitter 124.Wherein, 123 one end of second adjustment circuit is answered with upper
It is connected with device 30, the other end is connect with second transmitter 124.In the present embodiment, the second modulation circuit 123 is for receiving
The second digital signal that position application apparatus 30 is sent, and be optical signal by second digital signal modulated, second transmitter 124 is used
In the optical signal launch for exporting the second modulation circuit 123 to coupling optical system 13.Coupling optical system 13 passes optical signal
Transport to the first receiver 113.First receiver 113 is used to receive the optical signal of the transmission of coupling optical system 13, the first demodulation electricity
Road 114, which is used for, to be the second digital signal by optical signal demodulation and exports to radar front end device 20, and radar front end device 20 docks
The second digital signal received is handled, and the control instruction information from upper application apparatus 30 is obtained.
Wherein it is possible to understand, the data transmission device is located in laser radar system, the laser radar system
Including rotor (15) and stator (16), first optical module is set to the rotor (15), and second optical module is set to described
Stator (16).
Wherein it is possible to understand, the embodiment of specific transmitting uplink data includes axis external form (as shown in fig. 4 a),
Axis mo(u)ld top half (as shown in Fig. 5 a, 5e).
Wherein, being reversible due to optical path, the setting of shown coupling optical system and the data of transmission downlink data pass
Defeated device is identical.I.e. axis external form is refering to Fig. 4 b, Fig. 4 c and Fig. 4 d.Axis mo(u)ld top half is refering to Fig. 5 b, Fig. 5 c and Fig. 5 d, then this is not being answered
It states.
In some alternative embodiments, it is to be understood that the transmission of the upstream data and the transmission of downlink data
Same set of data transmission device can be selected, as shown in Figure 6.It is understood that the transmission of the upstream data and it is described under
The transmission of row data can also be distinguished each using a set of data transmission device.Wherein it is possible to understand, when the biography of upstream data
When defeated and downlink data the transmission difference a set of data transmission device of each use.Two sets of data transmitting devices can be identical, such as
Axis mo(u)ld top half scheme can be all used, and coupling optical system also selects identical scheme.Optionally, two sets of data transmitting device
It can also be different.Such as the outer scheme of axis is selected in the transmission of upstream data, the transmission of downlink signal is using scheme on axis.For another example
Two sets of data transmitting devices can select different coupling optical systems all using the outer scheme of axis.It is understood that working as
When using two sets of different data transmission devices, interference when uplink and downlink Simultaneous Transmission of Data can be more effectively avoided.
The embodiment of the present invention also provides a kind of intelligent-induction equipment.The intelligent-induction equipment includes: laser radar system.
Wherein, the structure of the laser radar system 100 in the present embodiment and the laser radar system 100 in above-described embodiment
All the same with function, specific structure and function for laser radar system 100 see above-described embodiment, herein no longer one by one
It repeats.
It is that can detect the azimuth-range of periphery object for intelligent-induction equipment, and the orientation based on periphery object
The equipment for carrying out decision with distance, such as: intelligent robot, intelligent automobile, intelligent aircraft etc..
In embodiments of the present invention, it is realized by laser radar system 100 in intelligent-induction equipment by by the first light
The receiving end of the transmitting terminal of module and the second optical module be oppositely arranged on the central axis, thus in the rotary body of laser radar
When relatively rotating with central axis, opposite position will not occur for the transmitting terminal of first optical module and the receiving end of the second optical module
It moves, and only relative rotation, it is described to thereby may be ensured that the optical signal of the transmitting terminal transmitting of the first optical module can be emitted directly toward
The receiving end of second optical module greatly improves the efficiency of transmission of optical signal, moreover, structure is very simple.
It should be noted that unless otherwise indicated, the technical term or scientific term that the embodiment of the present invention uses should
The ordinary meaning understood by one of ordinary skill in the art of the embodiment of the present invention.
In the description of this implementation new embodiment, technical term "center", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " suitable
The orientation or positional relationship of the instructions such as hour hands ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " is side based on the figure
Position or positional relationship are merely for convenience of the description embodiment of the present invention and simplify description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as implementing the present invention
The limitation of example.
In addition, technical term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply opposite
Importance or the quantity for implicitly indicating indicated technical characteristic.In the description of the embodiment of the present invention, the meaning of " multiple "
It is two or more, unless otherwise specifically defined.
In the description of this implementation new embodiment unless specifically defined or limited otherwise, technical term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to detachably connect
It connects, or integral；It is also possible to be mechanically connected, is also possible to be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can be the connection inside two elements or the interaction relationship of two elements.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in embodiments of the present invention can be understood as the case may be.
In the description of the embodiment of the present invention unless specifically defined or limited otherwise, fisrt feature is in second feature
It can be that the first and second features directly contact or the first and second features are by intermediary mediate contact "up" or "down".
Moreover, fisrt feature can be above the second feature " above ", " above " and " above " fisrt feature right above second feature or tiltedly
Top, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature second feature " under ", " lower section " and
" following " can be fisrt feature and be directly under or diagonally below the second feature, or be merely representative of first feature horizontal height less than
Two features.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.Especially, as long as there is no knots
Structure conflict, items technical characteristic mentioned in the various embodiments can be combined in any way.The present invention does not limit to
In specific embodiment disclosed herein, but include all technical solutions falling within the scope of the claims.
Claims (14)
1. a kind of data transmission device, which is characterized in that described device is located in laser radar system, the laser radar system
Including rotary body and central axis；
Described device includes: the first optical module and the second optical module；
First optical module is used to receive the first digital signal of radar front end device output, and by first digital signal
Optical signal is converted to, the optical signal is sent to the receiving end of second optical module by the transmitting terminal of the first optical module；
Second optical module receives the optical signal that the first optical module is sent by receiving end, and the optical signal is converted
For first digital signal；
The receiving end of the transmitting terminal of first optical module and second optical module is relatively arranged on the central axis.
2. the apparatus according to claim 1, which is characterized in that
First optical module includes: the first modulation circuit, the first digital signal modulated for exporting radar front end device
For the optical signal；
First transmitter is connect with first modulation circuit, for receiving the light letter of the first modulation circuit output
Number, and emit the optical signal to second optical module as the transmitting terminal of the first optical module；
Second optical module includes: second receiver, as the receiving end of the second optical module, receives the optical signal, and will
The optical signal is exported；
Second demodulator circuit is connect with the second receiver, the optical signal solution for exporting the second receiver
It is adjusted to first digital signal and exports to upper application apparatus.
3. device as described in claim 1, which is characterized in that described device further comprises the first optical fiber and the second optical fiber；
First optical fiber is connect with first optical module, and the transmitting terminal of first optical fiber is as first optical module
Transmitting terminal, for the optical signal of first optical module to be sent to second optical module；
Second optical fiber is connect with second optical module, reception of the receiving end of second optical fiber as the second optical module
End, for receiving the optical signal.
4. device according to claim 1-3, which is characterized in that the rotary body passes through bearing and the center
Axis connection, the rotary body are connect with bearing rotor, and the central axis is connect with bearing stator, the transmitting of first optical module
End is set on the bearing rotor, and the receiving end of second optical module is set to the bearing stator.
5. device according to claim 4, which is characterized in that described device further includes coupling optical system, the coupling
Optical system is set between the transmitting terminal of first optical module and the receiving end of second optical module, the coupling optical system
System is equipped with optical lens group, the optical signal coupling that the optical lens group is used to that the transmitting terminal of first optical module to be made to emit
To the receiving end of second optical module.
6. device according to claim 5, which is characterized in that the optical lens group is collimation microscope group, the collimating mirror
Group converges the collimated light signal for the optical signal of the transmitting terminal transmitting of first optical module to be become collimated light signal
Gather the receiving end of second optical module.
7. device according to claim 5, which is characterized in that the optical lens group is sphere lens, described spherical saturating
Mirror is used to converge to the optical signal that the transmitting terminal of first optical module emits the receiving end of second optical module.
8. the apparatus of claim 2, which is characterized in that described device further includes the first communication port and the second communication
Port, first communication port are separately connected first modulation circuit and the radar front end device, second communication
Port connects second demodulator circuit and upper application apparatus.
9. the apparatus according to claim 1, which is characterized in that second optical module is also used to receive upper application apparatus
Second digital signal of output, and second digital signal is converted into optical signal and by the transmitting of second optical module
End transmitting；First optical module is also used to receive the optical signal by the receiving end of first optical module, and will be described
Optical signal is converted to second digital signal and exports.
10. a kind of data transmission device, which is characterized in that described device is located in laser radar system, the laser radar system
System includes rotary body and central axis；
Described device includes: the first optical module and the second optical module；
Second optical module is used to receive the second digital signal of upper application apparatus output, and by second digital signal
Optical signal is converted to, the optical signal is sent to the receiving end of first optical module by the transmitting terminal of the second optical module;
First optical module receives the optical signal that the second optical module is sent by receiving end, and the optical signal is converted
For second digital signal;
The receiving end of the transmitting terminal of second optical module and first optical module is relatively arranged on the central axis.
11. device according to claim 10, which is characterized in that
Second optical module includes: the second modulation circuit, the second digital signal for exporting the upper application apparatus
It is modulated to the optical signal；
Second transmitter is connect with second modulation circuit, for receiving the light letter of the second modulation circuit output
Number, and emit the optical signal to first optical module as the transmitting terminal of the second optical module；
First optical module includes:
First receiver receives the optical signal as the receiving end of the first optical module, and the optical signal is exported；
First demodulator circuit is connect with first receiver, the optical signal solution for exporting first receiver
It is adjusted to second digital signal and exports to radar front end device.
12. device as claimed in claim 10, which is characterized in that described device further comprises third optical fiber and the 4th light
It is fine；
The third optical fiber is connect with second optical module, and the transmitting terminal of the third optical fiber is as second optical module
Transmitting terminal, for the optical signal of second optical module to be sent to first optical module；
4th optical fiber is connect with first optical module, reception of the receiving end of the 4th optical fiber as the first optical module
End, for receiving the optical signal.
13. 0 to 12 described in any item devices according to claim 1, which is characterized in that the rotary body by bearing with it is described
Center axis connection, the rotary body are connect with bearing rotor, and the central axis is connect with bearing stator, first optical module
Receiving end is set to the bearing rotor, and the transmitting terminal of second optical module is set to the bearing stator.
14. a kind of laser radar system characterized by comprising radar front end device, upper application apparatus and claim 1-
13 described in any item data transmission devices；
The radar front end device is used to receive the optical information of target object reflection, and the optical information is converted to the first number
Signal；
The data transmission device is used for first digital data transmission to the upper application apparatus；
The upper application apparatus is converted to the second digital signal for that will control information；
The data transmission device is also used to second digital data transmission to the radar front end device.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910956308.6A CN110441757B (en) | 2019-10-10 | 2019-10-10 | Data transmission device and laser radar system |
| CN202080005405.8A CN114041065A (en) | 2019-10-10 | 2020-04-03 | Data transmission device, laser radar and intelligent equipment |
| PCT/CN2020/083357 WO2021051784A1 (en) | 2019-10-10 | 2020-04-03 | Data transmission apparatus, lidar, and smart device |
| CN202080005501.2A CN112840230B (en) | 2019-10-10 | 2020-09-17 | Data transmission device, laser radar and intelligent equipment |
| PCT/CN2020/115989 WO2021068724A1 (en) | 2019-10-10 | 2020-09-17 | Data transmission appparatus, lidar and smart device |
| EP20873968.0A EP4043913A4 (en) | 2019-10-10 | 2020-09-17 | Data transmission apparatus, lidar and smart device |
| US17/715,907 US11679803B2 (en) | 2019-10-10 | 2022-04-07 | Data transmission apparatus, LiDAR, and intelligent device |
| US18/144,830 US20230271646A1 (en) | 2019-10-10 | 2023-05-08 | Data transmission apparatus, lidar, and intelligent device |
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| CN201910956308.6A CN110441757B (en) | 2019-10-10 | 2019-10-10 | Data transmission device and laser radar system |
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| WO2021051784A1 (en) * | 2019-10-10 | 2021-03-25 | 深圳市速腾聚创科技有限公司 | Data transmission apparatus, lidar, and smart device |
| WO2021068724A1 (en) * | 2019-10-10 | 2021-04-15 | 深圳市速腾聚创科技有限公司 | Data transmission appparatus, lidar and smart device |
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| CN113490170A (en) * | 2021-07-09 | 2021-10-08 | 中国飞机强度研究所 | Airplane strength test data sending terminal and sending method |
| CN115694652A (en) * | 2022-11-03 | 2023-02-03 | 中国南方电网有限责任公司超高压输电公司广州局 | Optical communication system and optical communication method |
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| WO2021051784A1 (en) * | 2019-10-10 | 2021-03-25 | 深圳市速腾聚创科技有限公司 | Data transmission apparatus, lidar, and smart device |
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| CN112840230B (en) * | 2019-10-10 | 2024-04-09 | 深圳市速腾聚创科技有限公司 | Data transmission device, laser radar and intelligent equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021051784A1 (en) | 2021-03-25 |
| CN114041065A (en) | 2022-02-11 |
| CN110441757B (en) | 2020-10-02 |
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