CN110441757B - Data transmission device and laser radar system - Google Patents
Data transmission device and laser radar system Download PDFInfo
- Publication number
- CN110441757B CN110441757B CN201910956308.6A CN201910956308A CN110441757B CN 110441757 B CN110441757 B CN 110441757B CN 201910956308 A CN201910956308 A CN 201910956308A CN 110441757 B CN110441757 B CN 110441757B
- Authority
- CN
- China
- Prior art keywords
- optical
- optical module
- module
- data transmission
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- 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 invention relates to the technical field of laser radars, and discloses a data transmission device and a laser radar system. Wherein the apparatus is located in a lidar system comprising a rotating body and a central shaft; the device comprises: a first optical module and a second optical module; the first optical module is used for receiving a first digital signal output by the radar front-end device, converting the first digital signal into an optical signal and sending the optical signal to a receiving end of the second optical module through a transmitting end of the first optical module, the second optical module receives the optical signal sent by the first optical module through the receiving end and converts the optical signal into the first digital signal, and the transmitting end of the first optical module and the receiving end of the second optical module are oppositely arranged on the central shaft. By the mode, light is used as a data transmission medium, and data transmission efficiency can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of laser radars, in particular to a data transmission device and a laser radar system.
Background
LiDAR (Light detection And Ranging) is a sensor that uses laser detection And Ranging. Which measures the range and reflectivity of a target by emitting a laser pulse to the target and measuring the delay and intensity of the return pulse. Lidar generally uses mechanical rotation devices to achieve 360-degree spatial scanning, and each pair of devices that continuously transmits and receives laser pulses as a result of mechanical rotation is referred to as a "line" of scanning for the lidar. Due to the wide application in the technical fields of automatic driving, intelligent sensing and the like, the laser radar is required to have higher spatial resolution, so that higher line number is required.
In the laser radar, a part rotating along with a mechanical rotating device is called a radar front-end system, detected laser pulses are converted into point cloud data after passing through the radar front-end system, and the point cloud data needs to be transmitted wirelessly through a communication device.
However, in the process of the inventor of the present application to realize the present application, it was found that: the existing laser radar uses a wireless communication device based on electromagnetic coupling to realize the point cloud data transmission, but the wireless communication device based on electromagnetic coupling cannot meet the requirement of high line number due to the property of a physical transmission medium, so that the data transmission efficiency is low.
Disclosure of Invention
An embodiment of the present invention provides a laser radar system, which uses light as a data transmission medium to improve data transmission efficiency.
According to a first aspect of the embodiments of the present invention, there is provided a lidar system including a first data transmission apparatus and a second data transmission apparatus;
the first data transmission device and the second data transmission device are positioned in a laser radar system, the laser radar system comprises a rotating body and a central shaft, the rotating body is connected with the central shaft through a bearing, the rotating body is connected with a bearing rotor, and the central shaft is connected with a bearing stator;
the first data transmission device includes: a first optical module and a second optical module;
the first light module includes: a first demodulation circuit and a first receiver;
the second light module includes: a second transmitter and a second modulation circuit;
the second optical module is arranged on the bearing stator;
the second modulation circuit is used for modulating a second digital signal output by the upper application device into an optical signal;
the second transmitter is used for receiving the optical signal output by the second modulation circuit and transmitting the optical signal to the first receiver as a transmitting end of a second optical module;
the first optical module is arranged on the bearing rotor, and a first receiver of the first optical module is used as a receiving end of the first optical module for receiving the optical signal and outputting the optical signal to a first demodulation circuit;
the first demodulation circuit is used for demodulating the optical signal into the second digital signal and sending the second digital signal to a radar front-end device; the first receiver and the second transmitter are oppositely arranged on the central shaft axis;
the second data transmission apparatus includes: the optical coupling device comprises a third optical module, a coupling optical system and a fourth optical module; the third optical module is disposed on the rotating body, and the fourth optical module is disposed on the center shaft;
the coupling optical system includes an annular lens eccentrically disposed about the central axis;
the receiving end of the fourth optical module is arranged at the image space focal plane of the annular lens;
the third optical module is used for receiving a first digital signal output by a radar front-end device, converting the first digital signal into an optical signal, and transmitting the optical signal to the annular lens in parallel to the optical axis of the annular lens;
the annular lens converges the propagation direction of the optical signal output by the third optical module and transmits the optical signal to a receiving end of the fourth optical module;
the fourth optical module is configured to convert the optical signal into the first digital signal and output the first digital signal to the upper application device.
Further, the first data transmission device further includes a coupling optical system, the coupling optical system is disposed between the receiving end of the first optical module and the transmitting end of the second optical module, and an optical lens group is disposed on the coupling optical system and is used for coupling an optical signal transmitted by the transmitting end of the second optical module to the receiving end of the first optical module.
Further, the optical lens group is a collimating lens group, and the collimating lens group is configured to convert an optical signal emitted by the emitting end of the second optical module into a collimated optical signal, and converge the collimated optical signal to the receiving end of the first optical module.
Further, the optical lens group is a spherical lens, and the spherical lens is used for converging the optical signal emitted by the emitting end of the second optical module to the receiving end of the first optical module.
Further, the device further includes a first communication port and a second communication port, the first communication port is connected to the first modulation circuit and the radar front-end device, respectively, and the second communication port is connected to the second demodulation circuit and the upper application device.
According to the embodiment of the invention, the transmitting end of the first optical module and the receiving end of the second optical module are oppositely arranged on the central shaft, so that when the rotating body and the central shaft of the laser radar rotate relatively, the transmitting end of the first optical module and the receiving end of the second optical module do not generate relative displacement but only rotate relatively, and therefore, an optical signal transmitted by the transmitting end of the first optical module can be ensured to be directly transmitted to the receiving end of the second optical module, the transmission efficiency of the optical signal is greatly improved, and the structure is very simple.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and the embodiments of the present invention can be implemented according to the content of the description in order to make the technical means of the embodiments of the present invention more clearly understood, and the detailed description of the present invention is provided below in order to make the foregoing and other objects, features, and advantages of the embodiments of the present invention more clearly understandable.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to be construed as limiting the embodiments, and in which:
fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a data transmission apparatus according to an embodiment of the present invention;
fig. 3 shows a schematic structural diagram of the first and second light modules of fig. 2;
fig. 4a to 4d are schematic structural diagrams illustrating an axially-configured data transmission device according to an embodiment of the present invention;
FIGS. 5a to 5e are schematic structural diagrams of a data transmission device of an on-axis design according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a data transmission apparatus according to another embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 shows a schematic structural diagram of a laser radar system according to an embodiment of the present invention. As shown in fig. 1, the laser radar system 100 includes: the data transmission device 10, the radar front-end device 20, and the upper application device 30.
The radar front-end device 20 is connected to one end of the data transmission device 10, and the other end of the data transmission device 10 is connected to the upper application device 30. The radar front-end device 20 is configured to receive optical information reflected by a target object and convert the optical information into a first digital signal, the data transmission device 10 is configured to transmit the first digital signal output by the radar front-end device 20 to the upper application device 30, and the upper application device 30 is configured to receive the first digital signal and process the first digital signal. In this way, the detection data of the target object detected by the radar front-end device 20 is transmitted to the upper application device 30 through the data transmission device 10 and processed, so as to obtain the object detection information.
The radar front-end device 20 is configured to receive light information reflected by a target object, and convert the light information into a first digital signal, and specifically includes: the radar front-end device receives the optical information reflected by the target object, converts the optical information reflected by the target object into an electrical signal, and converts the electrical signal into a first digital signal. The radar front-end device 20 transmits the first digital signal to the data transmission device 10.
The upper application device 30 may be any type of terminal device with user interaction function and operation capability, for example, a smart car terminal, a drone terminal, or other terminal devices that can be installed on a smart car or a drone.
In some embodiments, the upper application device 30 is further configured to receive the control instruction information and convert the received control instruction information into a second digital signal, the data transmission device 10 is further configured to transmit the second digital signal output by the upper application device 30 to the radar front-end device 20, and the radar front-end device 20 is further configured to receive the second digital signal and respond to the second digital signal. In this way, the host application device 30 transmits the control command input by the user to the radar front-end device 20 via the data transmission device 10, thereby controlling the radar front-end device 20.
As shown in fig. 2, the data transmission device 10 includes a first optical module 11 and a second optical module, where the first optical module 11 is connected to the radar front-end device 20 in a communication manner, and the second optical module 12 is connected to the upper application device 30 in a communication manner. Meanwhile, as shown in fig. 3, the first optical module and the second optical module both have a transceiver module at the same time, so that uplink signals and downlink signals can be simultaneously transmitted, that is, radar ranging data and control data are simultaneously transmitted.
The following embodiments take downlink signal transmission as an example for explanation:
fig. 2 is a schematic structural diagram of a data transmission apparatus according to an embodiment of the present invention. As shown in fig. 2, the data transmission device 10 includes: a first optical module 11, a second optical module 12, and a coupling optical system 13.
The coupling optical system 13 is provided between the first optical module 11 and the second optical module 12. The first optical module 11 is in communication connection with the radar front end device 20, and the second optical module 12 is in communication connection with the upper application device 30. The first optical module 11 is configured to receive a first digital signal output by the radar front-end device 20 and convert the first digital signal into an optical signal, the coupling optical system 13 is configured to transmit the optical signal output by the first optical module 11 to the second optical module 12, and the second optical module 12 is configured to convert the optical signal into a first digital signal and output the first digital signal to the upper application device 30 for processing.
Specifically, referring to fig. 3, the first optical module 11 includes: a first modulation circuit 111 and a first transmitter 112. The first modulation circuit 111 has one end connected to the radar front-end device 20 and the other end connected to the first transmitter 112. The second light module 12 includes: a second receiver 121 and a second demodulation circuit 122. The second demodulation circuit 122 has one end connected to the second receiver 121 and the other end connected to the upper application device 30. In the present embodiment, the first modulation circuit 111 is configured to modulate the first digital signal output from the radar front-end device 20 into an optical signal, and the first transmitter 112 is configured to receive the optical signal output from the first modulation circuit 111 and transmit the optical signal to the coupling optical system 13. The coupling optical system 13 transmits the optical signal to the second receiver 121. The second receiver 121 is configured to receive the optical signal transmitted by the coupling optical system 13, the second demodulation circuit 122 is configured to demodulate the optical signal output by the second receiver 121 into a first digital signal and output the first digital signal to the upper application device 30, and the upper application device 30 processes the received first digital signal to obtain the ranging data.
Referring to fig. 2 again, the apparatus 10 further includes: a first communication port 141 and a second communication port 142. The first communication port 141 is connected to the first optical module 11 and the radar front-end device 20, respectively. Specifically, the first communication port 141 is connected to the first modulation circuit 111 and the first demodulation circuit 114, respectively, and the second communication port 142 is connected to the second demodulation circuit 122 and the second modulation circuit 123, respectively. The first communication port 141 is used for data transmission between the first light module 11 and the radar front-end device 20. The second communication port 142 is connected to the second optical module 12 and the upper application device 30, respectively. The second communication port 142 is used for data transmission between the second optical module 12 and the upper application device 30.
The data transmission device 10 in the embodiment of the present invention receives a first digital signal output by the radar front end device 20 through the first optical module 11, converts the first digital signal into an optical signal, the coupling optical system 13 transmits the optical signal output by the first optical module 11 to the second optical module 12, and the second optical module 12 converts the optical signal into a first digital signal and outputs the first digital signal to the upper application device 30 for processing. It can be seen that, in the embodiment, by using light as a data transmission medium to transmit data, the communication capacity of optical communication is large, and the anti-electromagnetic interference and transmission quality are good, so that the data transmission efficiency can be improved.
Specifically, referring to fig. 4a to 5e together, the data transmission device 10 is located in a laser radar system 100, the laser radar system 100 includes a rotor 15, a stator 16 and a housing 17, the rotor 15 and the stator 16 are accommodated in the housing 17, the rotor 15 includes a rotating body 151, the stator 16 includes a central shaft 161, the rotor 15 rotates around the central shaft 161, and the stator 16 is fixedly connected to the housing 17. The first optical module 11 is provided on the rotor 15, and the second optical module 12 is provided on the stator 16. The first optical module 11 rotates with the rotor 15, and the second optical module 12, the stator 16 and the housing 17 are kept relatively stationary.
As shown in fig. 4a, the data transmission device 10 may be an off-axis design in which the coupling optical path is not on the central axis, and the relative positions of the first transmitter 112 of the first optical module 11 and the second receiver 121 of the second optical module 12 change significantly when the device 10 rotates. The first optical module 11 is provided on the rotating body 151, and the second optical module 12 is provided on the center shaft 161. Therein, it can be understood that the data transmission device 10 further comprises a coupling optical system 13, wherein the coupling optical system 13 is disposed between the first optical module 11 and the second optical module 12. The coupling optical system 13 is configured to form a coupling optical path through an optical device, and transmit an optical signal output by the first optical module 11 to the second optical module 12. It is understood that the coupled optical path may be in a direction parallel to the central axis, a direction perpendicular to the central axis, or a segmented arrangement, which is not limited herein. The description of the following embodiments will be made by taking the coupling optical path of the exterior data transmission device shown in fig. 4a as an example.
It can be understood that the data transmission device 10 further includes a first communication port 141 and a second communication port 142, the first communication port 141 is respectively connected to the first modulation circuit 111 and the radar front-end device 20 in the first optical module 11, and the second communication port 142 is connected to the second demodulation circuit 122 and the upper application device 30 in the second optical module 12.
In some other embodiments, the coupling optical system 13 of the data transmission device 10 may include an annular lens 181, wherein the central axis 161 passes through a hollow portion of the annular lens 181, and the annular lens 181 is stationary relative to the second optical module 12. When the rotating body 151 rotates, the first optical module 11 rotates around the central shaft 161, and the central shaft 161, the housing 17, the second optical module 12, and the ring lens 181 remain relatively stationary. The annular lens 181 is used for receiving the optical signal emitted by the first emitter 112 of the first optical module 11 and adjusting the optical signal so as to enable the optical signal to enter the second optical module 12, and the second receiver 121 of the second optical module 12 is used for receiving the adjusted optical signal.
Among them, the annular lens 181 may be disposed in various ways. Alternatively, in some other embodiments, as shown in FIG. 4b, the annular lens 181 is eccentrically disposed on the central axis 161. The first transmitter 112 transmits the optical signal to the ring lens 181 in parallel with the optical axis a of the ring lens 181, and the ring lens 181 refracts the optical signal and focuses the optical signal toward the second receiver 121, so that the second receiver 121 receives the optical signal transmitted by the first transmitter 112. Here, it is understood that the first emitter 112 may be configured by providing a collimating lens at the emitting end to make the optical signal exit in parallel with the optical axis a of the ring lens 181. It is understood that the receiving end of the second receiver 121 may be disposed at the image focal plane of the ring lens 181, and when the receiving end of the second receiver 121 is disposed at the image focal point of the ring lens 181, the receiving efficiency of the second receiver 121 is the greatest. During the rotation, the optical signal emitted from the first emitter 112 is always focused on the second receiver 121, thereby ensuring the energy of the signal beam.
Alternatively, in some embodiments, as shown in fig. 4c, the optical center of the annular lens 181 may be located on the central axis 161. The first transmitter 112 transmits the optical signal to the ring lens 181, and the ring lens 181 receives the optical signal transmitted by the first transmitter 112, and irradiates the received optical signal to the second receiver 121 after being optically homogenized, thereby being received by the second receiver 121. Alternatively, the ring lens 181 in fig. 4c may be replaced by a scattering type light uniformizing sheet. Therein, it is understood that the first emitter 112 may be disposed at an object focal plane of the annular lens 181. When the first emitter 112 is disposed at the object focus of the ring lens 181, the optical signal passes through the ring lens 181 and then exits in parallel, i.e., the ring lens 181 performs a light-homogenizing function on the optical signal.
Here, it is understood that, in order to avoid the light emitted from the first emitters 112 being blocked by the central axis 161, it is preferable that the number of the first emitters 112 is set to be at least two, and at least two first emitters 112 are uniformly arranged along the central axis 161. In fig. 4b and 4c, taking the number of the first emitters 112 as two as an example, two first emitters 112 are symmetrically disposed on two sides of the central axis 161, two first emitters 112 are used for emitting light signals, and the content of the light signals emitted by the two first emitters 112 is the same, so as to avoid interruption of the light signals due to shielding of the central axis 161. In fig. 4c, the optical signals emitted by the two first emitters 112 are emitted in parallel after passing through the annular lens 181, but are not parallel to each other, so that the optical signals emitted by the two first emitters 112 pass through the rear portion of the annular lens 181 and the irradiation regions of the sub-beams cover each other, it is understood that in some alternative embodiments, the second receiver 121 may be disposed in the region where the optical beams cover each other, so as to ensure the energy of the signal beam received by the second receiver 121 and reduce the influence of the emitted optical beam being blocked by the central shaft 161.
In still other embodiments, the annular lens 181 may be omitted. Referring to fig. 4d, the coupling optical system 13 of the data transmission device 10 may include an edge-light optical fiber 182. Wherein the side light fibers 182 are connected to the first emitter 112 and are arranged around the central axis 161. The side optical fiber 182 is used to homogenize the received optical signal emitted from the first emitter 112 so that the optical signal enters the second receiver. Optionally, in some other embodiments, an arc-shaped mirror 1821 may be disposed on a side of the side optical fiber 182 away from the second receiver 121, and the arc-shaped mirror 1821 may increase the light intensity of the side optical fiber in the receiving direction, so as to ensure the energy of the signal beam received by the second receiver 121. The number of the optimal first emitters 112 may be at least two, and the two first emitters 112 are respectively symmetrically disposed on two sides of the central axis 161, so as to avoid the central axis 161 from being blocked to interrupt the optical signal. Optionally, in some embodiments, the second receiver may be provided in plurality, so as to ensure the energy of the signal beam received by the second receiver.
Optionally, as shown in fig. 4d, a plurality of first emitters 112 may be connected to a plurality of side optical fibers, and the plurality of side optical fibers are arranged to emit light simultaneously, so as to form an annular uniform light emitting surface.
In still other embodiments, the data transmission device 10 may also be designed as an on-axis type, and the data transmission device 10 according to an embodiment of the present invention is located in a laser radar system 100, where the laser radar system 100 includes a rotating body 151 and a central shaft 161, and includes: a first optical module 11 and a second optical module 12; the first optical module 11 is configured to receive a first digital signal output by the radar front-end device 20, convert the first digital signal into an optical signal, and send the optical signal to a receiving end of the second optical module 12 through a transmitting end of the first optical module 11, the second optical module 12 receives the optical signal sent by the first optical module 11 through the receiving end and converts the optical signal into the first digital signal, and the transmitting end of the first optical module 11 and the receiving end of the second optical module 12 are relatively disposed on the central shaft 161.
According to the embodiment of the invention, the transmitting end of the first optical module and the receiving end of the second optical module are oppositely arranged on the central shaft, so that when the rotating body and the central shaft of the laser radar rotate relatively, the transmitting end of the first optical module and the receiving end of the second optical module do not generate relative displacement but only rotate relatively, and therefore, an optical signal transmitted by the transmitting end of the first optical module can be ensured to be directly transmitted to the receiving end of the second optical module, the transmission efficiency of the optical signal is greatly improved, and the structure is very simple.
Referring to fig. 5a to 5e, the rotor 15 is a rotating body, the rotating body further includes a bearing rotor 152, the stator 16 is a central shaft, and the central shaft further includes a bearing stator 162. The bearing stator 162 and the bearing rotor 152 are accommodated in the housing 17, the rotating body is connected to the central shaft through a bearing, the rotating body is connected to the rotor of the bearing, the central shaft is connected to the bearing stator, the transmitting end of the first optical module is disposed on the bearing rotor, and the receiving end of the second optical module is disposed on the bearing stator. In some optional embodiments, please refer to the data transmission apparatus 10 shown in fig. 5a, the first transmitter 112 of the first optical module 11 is connected to a first optical fiber, wherein the transmitting end 1103 of the first optical fiber is fixedly disposed on the bearing rotor 152, and the second receiver 121 of the second optical module 12 is connected to a second optical fiber, wherein the receiving end 1203 of the second optical fiber is fixedly disposed on the bearing stator 162. Wherein the coupling optical system 13 is provided between the bearing rotor 152 and the bearing stator 162. The transmitting end 1103 of the first optical fiber is used as a transmitting end of the first optical module for transmitting the optical signal of the first optical module 11 to the receiving end 1203 of the second optical fiber, so that the optical signal is transmitted from the transmitting end 1103 of the first optical fiber to the receiving end 1203 of the second optical fiber, and is received by the second optical module 12. In this embodiment, the transmitting end of the first optical fiber is used as the transmitting end of the first optical module, and the receiving end of the second optical fiber is used as the receiving end of the second optical module, and the first optical fiber and the receiving end of the second optical module can be separately disposed by pulling away from the optical module, the first modulation circuit of the first optical module and the first transmitter of the first optical module can be disposed on the rotating body, and the first optical fiber is used as the transmitting end of the first optical module and is separately disposed on the central axis; the second modulation circuit of the second optical module and the second receiver of the second optical module may be disposed at a distal end of the fixed center shaft, or on a base that fixes the center shaft, and the second optical fiber is disposed on the center shaft, and is disposed opposite to the first optical fiber on the center shaft. By the mode, the optical signal can be transmitted and received only by arranging the first optical fiber and the second optical fiber on the central shaft, and the structure is simple.
Also, in some alternative embodiments, the first light module includes: the first modulation circuit is used for modulating a first digital signal output by the radar front-end device into the optical signal; the first transmitter is connected with the first modulation circuit and used for receiving the optical signal output by the first modulation circuit and transmitting the optical signal to the second optical module as a transmitting end of the first optical module; the second light module includes: the second receiver is used as a receiving end of the second optical module, receives the optical signal and outputs the optical signal; and the second demodulation circuit is connected with the second receiver and used for demodulating the optical signal output by the second receiver into the first digital signal and outputting the first digital signal to the upper application device. In this embodiment, the first transmitter of the first optical module and the second receiver of the second optical module are respectively disposed on the central shaft, so that the modulation circuit and the transmitter can be separated, for example, the first modulation circuit and the first transmitter can be separated by pulling away, the first modulation circuit is disposed on the rotating body, the first transmitter is disposed on the bearing rotor 152, and similarly, the second modulation circuit can be disposed on the base for fixing the central shaft by pulling away, and the second receiver is disposed on the bearing stator 162, so that the occupied space of the first transmitter and the second receiver on the central shaft is greatly saved, and the difficulty of the disposition is simplified.
It is understood that the data transmission device 10 further includes a first communication interface 141 and a second communication interface 142. The first communication interface 141 is connected to the first optical module 11 and the radar front end device 20, and is used for the first optical module 11 and the radar front end device 20 to communicate with each other. The second communication port is connected to the second optical module and the upper application device 30, and is used for the second optical module 12 to communicate with the upper application device 30.
In some alternative embodiments, referring to the data transmission device shown in fig. 5b, the emitting end 1103 of the first optical fiber is fixed on the bearing rotor 152 by a first optical fiber connector 1104; the receiving end 1203 of the second optical fiber is secured to the bearing stator 162 by a second fiber connector 1204. After the optical signal transmitted by the first optical fiber connector 1104 propagates for a certain distance at its own angle, a part of the optical signal is irradiated onto the second optical fiber connector 1204 and is received by the second optical module 12.
In some alternative embodiments, the coupling optical system 13 between the first transmitting end and the second receiving end may include a series of optical surfaces to assist the optical path coupling between the transmitting end and the receiving end, and the following description will take an optical fiber as an example of the transmitting end and the receiving end.
In some embodiments, the number of optical surfaces may be 0-N, as shown in FIGS. 5c and 5d, and the coupling optics 13 of the data transfer device 10 may include an optical lens group 191. The optical lens group 191 is used to couple the optical signal emitted by the emitting end 1103 of the first optical fiber to the receiving end 1203 of the second optical fiber. By providing an optical surface between the emitting end 1103 of the first optical fiber and the receiving end 1203 of the second optical fiber, the optical signal receiving rate of the receiving end 1203 of the second optical fiber is increased.
Alternatively, in some embodiments, as shown in fig. 5c, the optical lens group 191 in the coupling optical system 13 may be a collimating lens group 192, and the collimating lens group 192 is configured to change the optical signal emitted from the emitting end 1103 of the first optical fiber into a collimated optical signal and converge the collimated optical signal to the receiving end 1203 of the second optical fiber. Specifically, the collimator set 192 includes two collimators, the collimator close to the emitting end 1103 of the first optical fiber is used to convert the diverging optical signal emitted by the emitting end 1103 of the first optical fiber into a collimated optical signal, and the collimator far from the emitting end 1103 of the first optical fiber is used to converge the collimated optical signal to the receiving end 1203 of the second optical fiber.
Optionally, in some embodiments, as shown in fig. 5d, the optical lens group 191 in the coupling optical system 13 may also be a ball lens 193, and the ball lens 193 is used for converging the optical signal emitted from the emitting end 1103 of the first optical fiber to the receiving end 1203 of the second optical fiber.
It should be noted that the number of the first emitters and the number of the first optical fibers may be plural, and the number of the second receivers and the number of the second optical fibers may also be plural, as long as the receiving end 1203 of the second optical fiber can receive the optical signal emitted from the emitting end 1103 of the first optical fiber.
In other alternative embodiments, referring to the data transmission device shown in fig. 5e, the first transmitter of the first light module 11 is fixed to the bearing rotor and the second receiver of the light module 2 is fixed to the bearing stator. A series of optical surfaces may be interposed between the light beam emitting/receiving surfaces of the first and second optical modules to assist optical coupling therebetween, and the number of optical surfaces may take on the range of 0-N. Thereby improving the reception of the optical signal by the second optical module.
In the embodiment of the off-axis data transmission apparatus shown in fig. 4a, if the first optical module 11 and the second optical module 12 in the off-axis scheme are to simultaneously transmit uplink data and downlink data, the first transmitter 112 of the first optical module 11 and the second transmitter 124 of the second optical module 12 may be disposed in a staggered manner, so as to avoid the influence between the optical paths. Meanwhile, because the optical path is reversible, the optical path can share the same coupling optical system at the same time, and the transmission of downlink signals and uplink signals is realized. It is to be understood that the above coupling optical system is shown in fig. 4b, 4c, and 4 d.
It is understood that, in the embodiment of the on-axis data transmission device shown in fig. 5a, if it is desired to make the first optical film block 11 and the second optical film block 12 in the on-axis scheme simultaneously perform transmission of the uplink data and the downlink data, it is understood that the data transmission device in the on-axis scheme further includes a third optical fiber and a fourth optical fiber. Wherein the second transmitter 124 is connected to the third optical fiber and the first receiver 113 is connected to the fourth optical fiber. The transmitting end of the third optical fiber is fixed to the bearing stator 162, the receiving end of the fourth optical fiber is fixed to the bearing rotor 152, and the transmitting end of the third optical fiber is used for transmitting the optical signal of the second optical module 12 to the receiving end of the fourth optical fiber, so that the optical signal converted by the uplink data is transmitted from the transmitting end of the third optical fiber to the receiving end of the fourth optical fiber, and is received by the first optical module. It is understood that, in order to ensure that the optical path is not interfered, the emission end of the first optical fiber and the emission end of the third optical fiber may be arranged in a staggered manner. At the same time, since the optical path is reversible, the coupling optical system 13 can be as shown in fig. 5b, 5c, 5 d.
It will be appreciated that in the data transmission arrangement shown in figure 5e the first optical module is fixed to the bearing rotor and the second optical module is fixed to the bearing stator. It is understood that, in order to ensure that the optical path is not interfered, the first emitter of the first optical module and the second emitter of the second optical module may be arranged in a staggered manner, and meanwhile, since the optical path is reversible, the coupling optical system 13 of the present embodiment is the same as that of the 5e embodiment.
The data transmission device 10 in the embodiment of the present invention receives a first digital signal output by a radar front end device 20 through a first optical module 11, converts the first digital signal into an optical signal, and sends the optical signal to a receiving end of a second optical module through a transmitting end of the first optical module; the second optical module receives the optical signal sent by the first optical module through the receiving end and converts the optical signal into a first data signal, and the transmitting end of the first optical module and the receiving end of the second optical module are arranged on the central shaft relatively.
In some embodiments, taking the example of transmitting only uplink data:
referring to fig. 2 again, fig. 2 is a schematic structural diagram of a data transmission device according to an embodiment of the present invention. As shown in fig. 2, the data transmission device 10 includes: a first optical module 11 and a second optical module 12.
The second optical module is used for receiving a second digital signal output by an upper application device, converting the second digital signal into an optical signal and sending the optical signal to a receiving end of the first optical module through a transmitting end of the second optical module, the first optical module receives the optical signal sent by the second optical module through the receiving end and converts the optical signal into the second digital signal, and the transmitting end of the second optical module and the receiving end of the first optical module are oppositely arranged on the central shaft.
Specifically, referring to fig. 3 again, the first optical module 11 further includes: a first receiver 113 and a first demodulation circuit 114. The first demodulation circuit 114 has one end connected to the first receiver 113 and the other end connected to the front-end radar device 20. The second light module 12 further comprises: a second modulation circuit 123 and a second transmitter 124. One end of the second adjusting circuit 123 is connected to the upper application device 30, and the other end is connected to the second transmitter 124. In the present embodiment, the second modulation circuit 123 is configured to receive the second digital signal sent by the upper application device 30 and modulate the second digital signal into an optical signal, and the second transmitter 124 is configured to transmit the optical signal output by the second modulation circuit 123 to the coupling optical system 13. The coupling optical system 13 transmits the optical signal to the first receiver 113. The first receiver 113 is configured to receive the optical signal transmitted by the coupling optical system 13, the first demodulation circuit 114 is configured to demodulate the optical signal into a second digital signal and output the second digital signal to the radar front-end device 20, and the radar front-end device 20 processes the received second digital signal to obtain the control instruction information from the upper application device 30.
Wherein it is understood that the data transmission device is located in a lidar system comprising a rotor (15) and a stator (16), the first optical module being provided at the rotor (15) and the second optical module being provided at the stator (16).
It is understood that the specific implementation of the uplink data transmission includes an off-axis type (as shown in fig. 4 a) and an on-axis type (as shown in fig. 5a and 5 e).
The optical path is reversible, so the arrangement of the coupling optical system is the same as that of the data transmission device for transmitting downlink data. I.e. an off-axis version, see fig. 4b, 4c and 4 d. The on-axis version is shown in fig. 5b, 5c and 5d, which are not repeated.
In some alternative embodiments, it is understood that the same set of data transmission device may be used for the transmission of the uplink data and the transmission of the downlink data, as shown in fig. 6. It can be understood that a set of data transmission devices may be respectively used for the transmission of the uplink data and the transmission of the downlink data. It can be understood that, when a set of data transmission device is respectively adopted for the transmission of the uplink data and the transmission of the downlink data. The two sets of data transmission means may be identical, for example both may adopt an on-axis version, and the coupling optics may also adopt the same version. Optionally, the two sets of data transmission devices may be different. For example, an off-axis scheme is selected for uplink data transmission, and an on-axis scheme is used for downlink signal transmission. For another example, both sets of data transfer devices may employ an off-axis scheme, but with different coupling optics. It can be understood that when two different sets of data transmission devices are adopted, the interference caused by the simultaneous transmission of the uplink data and the downlink data can be more effectively avoided.
The embodiment of the invention also provides intelligent sensing equipment. This intelligence response equipment includes: a laser radar system.
The structure and function of the laser radar system 100 in this embodiment are the same as those of the laser radar system 100 in the above embodiment, and for the specific structure and function of the laser radar system 100, reference may be made to the above embodiment, which is not described herein again.
For the intelligent sensing device, the device can detect the orientation and distance of the surrounding object and make a decision based on the orientation and distance of the surrounding object, for example: intelligent robots, intelligent cars, intelligent airplanes, and the like.
In the embodiment of the present invention, the transmitting end of the first optical module and the receiving end of the second optical module are relatively disposed on the central shaft by the laser radar system 100 in the intelligent sensing device, so that when the rotating body and the central shaft of the laser radar rotate relatively, the transmitting end of the first optical module and the receiving end of the second optical module do not generate relative displacement, but only rotate relatively, and thus it can be ensured that the optical signal transmitted by the transmitting end of the first optical module can be directly transmitted to the receiving end of the second optical module, the transmission efficiency of the optical signal is greatly improved, and the structure is very simple.
It is to be noted that technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which embodiments of the present invention belong, unless otherwise specified.
In the description of the present embodiments, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships that are based on the orientations and positional relationships shown in the drawings, and are used only for convenience in describing the embodiments of the present invention and for simplicity in description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the embodiments of the present invention.
Furthermore, the technical terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the novel embodiments of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (5)
1. A lidar system comprising a first data transmission device and a second data transmission device;
the first data transmission device and the second data transmission device are positioned in a laser radar system, the laser radar system comprises a rotating body and a central shaft, the rotating body is connected with the central shaft through a bearing, the rotating body is connected with a bearing rotor, and the central shaft is connected with a bearing stator;
the first data transmission device includes: a first optical module and a second optical module;
the first light module includes: a first demodulation circuit and a first receiver;
the second light module includes: a second transmitter and a second modulation circuit;
the second optical module is arranged on the bearing stator;
the second modulation circuit is used for modulating a second digital signal output by the upper application device into an optical signal;
the second transmitter is used for receiving the optical signal output by the second modulation circuit and transmitting the optical signal to the first receiver as a transmitting end of a second optical module;
the first optical module is arranged on the bearing rotor, and a first receiver of the first optical module is used as a receiving end of the first optical module for receiving the optical signal and outputting the optical signal to a first demodulation circuit;
the first demodulation circuit is used for demodulating the optical signal into the second digital signal and sending the second digital signal to a radar front-end device; the first receiver and the second transmitter are oppositely arranged on the central shaft axis;
the second data transmission apparatus includes: the optical coupling device comprises a third optical module, a coupling optical system and a fourth optical module; the third optical module is disposed on the rotating body, and the fourth optical module is disposed on the center shaft;
the coupling optical system includes an annular lens eccentrically disposed about the central axis;
the receiving end of the fourth optical module is arranged at the image space focal plane of the annular lens;
the third optical module is used for receiving a first digital signal output by a radar front-end device, converting the first digital signal into an optical signal, and transmitting the optical signal to the annular lens in parallel to the optical axis of the annular lens;
the annular lens converges the propagation direction of the optical signal output by the third optical module and transmits the optical signal to a receiving end of the fourth optical module;
the fourth optical module is configured to convert the optical signal into the first digital signal and output the first digital signal to the upper application device.
2. The lidar system according to claim 1, wherein the first data transmission device further comprises a coupling optical system, the coupling optical system is disposed between a receiving end of the first optical module and a transmitting end of the second optical module, and an optical lens group is disposed on the coupling optical system and is configured to couple an optical signal transmitted by the transmitting end of the second optical module to the receiving end of the first optical module.
3. The lidar system of claim 2, wherein the optical lens group is a collimating lens group configured to convert an optical signal emitted from the emitting end of the second optical module into a collimated optical signal and converge the collimated optical signal to the receiving end of the first optical module.
4. The lidar system of claim 2, wherein the optical lens group is a spherical lens configured to focus an optical signal emitted from the emitting end of the second optical module to the receiving end of the first optical module.
5. The lidar system of claim 1, further comprising a first communication port and a second communication port, wherein the first communication port is connected to the first demodulation circuit and the radar front-end device, respectively, and the second communication port is connected to the second modulation circuit and an upper application 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 |
| PCT/CN2020/083357 WO2021051784A1 (en) | 2019-10-10 | 2020-04-03 | Data transmission apparatus, lidar, and smart device |
| CN202080005405.8A CN114041065A (en) | 2019-10-10 | 2020-04-03 | 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 |
| CN202080005501.2A CN112840230B (en) | 2019-10-10 | 2020-09-17 | Data transmission device, laser radar and intelligent equipment |
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910956308.6A CN110441757B (en) | 2019-10-10 | 2019-10-10 | Data transmission device and laser radar system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110441757A CN110441757A (en) | 2019-11-12 |
| CN110441757B true CN110441757B (en) | 2020-10-02 |
Family
ID=68440637
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910956308.6A Active CN110441757B (en) | 2019-10-10 | 2019-10-10 | Data transmission device and laser radar system |
| CN202080005405.8A Pending CN114041065A (en) | 2019-10-10 | 2020-04-03 | Data transmission device, laser radar and intelligent equipment |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080005405.8A Pending CN114041065A (en) | 2019-10-10 | 2020-04-03 | Data transmission device, laser radar and intelligent equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN110441757B (en) |
| WO (1) | WO2021051784A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110441757B (en) * | 2019-10-10 | 2020-10-02 | 深圳市速腾聚创科技有限公司 | Data transmission device and laser radar system |
| US12047119B2 (en) | 2021-06-03 | 2024-07-23 | Lg Innotek Co., Ltd. | Systems and methods for transferring data communication in a rotating platform of a LIDAR system |
| 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 |
| CN115694652B (en) * | 2022-11-03 | 2024-09-06 | 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 |
Family Cites Families (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140091342A (en) * | 2013-01-11 | 2014-07-21 | 삼성테크윈 주식회사 | Panoramic scan ladar and panoramic laser scanning method |
| CN205861895U (en) * | 2016-06-20 | 2017-01-04 | 上海擎朗智能科技有限公司 | Rotary laser range radar |
| CN108107442A (en) * | 2016-11-24 | 2018-06-01 | 武汉万集信息技术有限公司 | A kind of 360 ° of scanning laser range-measurement systems and distance measuring method |
| CN206400103U (en) * | 2016-12-22 | 2017-08-11 | 深圳市镭神智能系统有限公司 | The laser radar of 360 degree of scannings based on optic communication |
| CN106597466A (en) * | 2016-12-22 | 2017-04-26 | 深圳市镭神智能系统有限公司 | 360-DEG scanning laser radar based on optical communication |
| CN106842170B (en) * | 2017-03-16 | 2023-04-07 | 西安交通大学 | Novel multi-line 360-degree scanning type laser radar and implementation method thereof |
| CN106842221A (en) * | 2017-03-16 | 2017-06-13 | 西安交通大学 | A kind of multi-thread 360 ° of scanning type laser radars and its implementation |
| WO2019113368A1 (en) * | 2017-12-07 | 2019-06-13 | Ouster, Inc. | Rotating compact light ranging system |
| CN109932703A (en) * | 2017-12-18 | 2019-06-25 | 保定市天河电子技术有限公司 | A kind of full duplex signaling transmitting device based on optic communication |
| KR102334432B1 (en) * | 2018-01-03 | 2021-12-03 | 주식회사 라이드로 | Lidar optical system |
| CN109472959A (en) * | 2018-01-05 | 2019-03-15 | 嘉兴市恒创电力设备有限公司 | Mutually switch the power test high pressure field protective device of realization by multiband |
| CN208223391U (en) * | 2018-04-01 | 2018-12-11 | 深圳慎始科技有限公司 | Non-slip-ring type rotary color three-dimensional modeling apparatus |
| CN108809424A (en) * | 2018-06-21 | 2018-11-13 | 安徽光纤光缆传输技术研究所(中国电子科技集团公司第八研究所) | A kind of method and device for realizing open-core type optical signal rotary transfer |
| CN209170376U (en) * | 2018-11-16 | 2019-07-26 | 浙江舜宇智能光学技术有限公司 | Optical communication apparatus and laser radar |
| CN109828286B (en) * | 2019-03-08 | 2021-07-30 | 上海禾赛科技有限公司 | Laser radar |
| CN109839647B (en) * | 2019-03-08 | 2020-09-18 | 上海禾赛光电科技有限公司 | Laser radar |
| CN109946678A (en) * | 2019-03-15 | 2019-06-28 | 深圳市速腾聚创科技有限公司 | Laser radar emission system and method |
| CN111366909B (en) * | 2019-04-12 | 2022-12-02 | 上海禾赛科技有限公司 | Laser radar |
| CN111308445A (en) * | 2019-04-12 | 2020-06-19 | 上海禾赛光电科技有限公司 | Laser radar |
| CN113866784B (en) * | 2019-08-08 | 2023-02-03 | 上海禾赛科技有限公司 | Laser radar and control method thereof |
| CN110441757B (en) * | 2019-10-10 | 2020-10-02 | 深圳市速腾聚创科技有限公司 | Data transmission device and laser radar system |
| CN110441756B (en) * | 2019-10-10 | 2020-05-08 | 深圳市速腾聚创科技有限公司 | Data transmission device and laser radar system |
-
2019
- 2019-10-10 CN CN201910956308.6A patent/CN110441757B/en active Active
-
2020
- 2020-04-03 CN CN202080005405.8A patent/CN114041065A/en active Pending
- 2020-04-03 WO PCT/CN2020/083357 patent/WO2021051784A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021051784A1 (en) | 2021-03-25 |
| CN110441757A (en) | 2019-11-12 |
| CN114041065A (en) | 2022-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110441757B (en) | Data transmission device and laser radar system | |
| US20210278510A1 (en) | Distributed laser radar | |
| CN110441756B (en) | Data transmission device and laser radar system | |
| CN102185654A (en) | Laser communication system | |
| CN109031242B (en) | Transmit-receive integrated telecentric optical system applied to three-dimensional scanning fiber laser radar | |
| CN109765542B (en) | Multi-line laser radar | |
| Soltani et al. | Terabit indoor laser-based wireless communications: LiFi 2.0 for 6G | |
| US20230271646A1 (en) | Data transmission apparatus, lidar, and intelligent device | |
| CN212060560U (en) | Optical system, laser radar, intelligent vehicle and unmanned aerial vehicle with symmetrical transmitting and receiving light paths | |
| US20210080551A1 (en) | Lidar system, operating method for a lidar system, and working device | |
| US20240053444A1 (en) | Laser radar | |
| CN112639514A (en) | Laser receiving device, laser radar and intelligent sensing equipment | |
| CN217213121U (en) | Multi-line laser receiving and transmitting detection device | |
| CN103293610B (en) | A kind of object lens of large relative aperture optical receiver antenna for short-distance wireless optical communication | |
| CN112887030B (en) | Optical signal transmission system and method for rotary joint | |
| CN115396028A (en) | Spatial laser communication coupling device based on optical power jitter distribution | |
| CN210894701U (en) | Laser radar | |
| CN114779269A (en) | Prism module, laser radar optical system and frequency modulation continuous wave laser radar | |
| CN217766922U (en) | Optical communication device | |
| CN116930917B (en) | Transmitting-receiving device and frequency modulation continuous wave laser radar | |
| CN111665485B (en) | Laser radar | |
| CN219247846U (en) | Multi-beam coaxial transmission device for free space optical communication | |
| WO2022217764A1 (en) | Panoramic light detection device and panoramic light transceiver system | |
| CN220584397U (en) | Optical system based on laser radar transmitting unit and laser radar | |
| EP4361669A2 (en) | Transmitter module and transceiver module for lidar, lidar, and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |