EP3563467A1 - Interface permettant de transférer de l'énergie et des données entre un corps non rotatif et un corps rotatif - Google Patents

Interface permettant de transférer de l'énergie et des données entre un corps non rotatif et un corps rotatif

Info

Publication number
EP3563467A1
EP3563467A1 EP17835971.7A EP17835971A EP3563467A1 EP 3563467 A1 EP3563467 A1 EP 3563467A1 EP 17835971 A EP17835971 A EP 17835971A EP 3563467 A1 EP3563467 A1 EP 3563467A1
Authority
EP
European Patent Office
Prior art keywords
rotating body
data
support
axis
receiver
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.)
Pending
Application number
EP17835971.7A
Other languages
German (de)
English (en)
Inventor
Denis NIKITIN
Adam Lee BERGER
Brian PILNICK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoox Inc
Original Assignee
Panosense Inc
Panosense Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from US15/487,110 external-priority patent/US10742088B2/en
Priority claimed from US15/487,044 external-priority patent/US10122416B2/en
Application filed by Panosense Inc, Panosense Inc filed Critical Panosense Inc
Priority claimed from PCT/US2017/067553 external-priority patent/WO2018125709A1/fr
Publication of EP3563467A1 publication Critical patent/EP3563467A1/fr
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • 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
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/20—Near-field transmission systems, e.g. inductive or capacitive transmission systems characterised by the transmission technique; characterised by the transmission medium
    • H04B5/24—Inductive coupling
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/70—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes
    • H04B5/72—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes for local intradevice communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B5/00—Near-field transmission systems, e.g. inductive or capacitive transmission systems
    • H04B5/70—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes
    • H04B5/79—Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes for data transfer in combination with power transfer
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations

Definitions

  • the present disclosure relates to interfaces for transferring power and/or data between a non-rotating body and a rotating body.
  • FIG. 1A is a partial schematic side view of an example non-rotating body, an example rotating body, and an example interface for transferring power and data between the non-rotating body and the rotating body.
  • FIG. IB is a schematic bottom view of the example rotating body and a portion of the example interface shown in FIG. 1 A.
  • FIG. 1C is a partial schematic top view of the example non-rotating body and a portion of the example interface shown in FIG. 1 A.
  • FIG. 2A is a partial schematic side view of an example non-rotating body, an example rotating body, and another example interface for transferring power and data between the non-rotating body and the rotating body.
  • FIG. 2B is a schematic bottom view of the example rotating body and a portion of the example interface shown in FIG. 2A.
  • FIG. 2C is a partial schematic top view of the example non-rotating body and a portion of the example interface shown in FIG. 2A.
  • FIG. 3 is a schematic perspective view of an example sensor assembly.
  • FIG. 4 is a schematic perspective view of a portion of the example sensor assembly shown in FIG. 3.
  • FIG. 5 is a schematic perspective view of a portion of the example sensor assembly shown in FIG. 3 shown from a different angle.
  • FIG. 6 is a schematic perspective view of a portion of the example sensor assembly shown in FIG. 3, including a portion of an example interface, shown from the same angle as FIG. 5.
  • FIG. 7 is a schematic perspective view of a portion of the example sensor assembly shown in FIG. 3, including the example interface shown from the same angle as FIG. 5.
  • FIG. 8 is a partial schematic side section view of an example system including an example rotating body and an example support assembly for supporting the rotating body.
  • FIG. 9 is a schematic perspective view of an example system including a sensor assembly.
  • FIG. 10 is a schematic perspective view of a portion of the example sensor assembly shown in FIG. 9.
  • FIG. 11 is a schematic perspective view of a portion of the example sensor assembly shown in FIG. 11 shown from a different angle.
  • FIG. 12 is a schematic perspective view of a portion of the example sensor assembly shown in FIG. 9, including a portion of an example interface, shown from the same angle as FIG. 11.
  • FIG. 13 is a schematic perspective view of a portion of the example sensor assembly shown in FIG. 9, including the example interface shown from the same angle as FIG. 11.
  • FIG. 14 is a schematic perspective view of the example sensor assembly shown in FIG. 13 shown from a reverse angle.
  • FIG. 15 is a schematic perspective view of the example sensor assembly shown in FIG. 14 with example electronic circuitry. DETAILED DESCRIPTION
  • the rotating body may be beneficial to transfer electric power and data between a non-rotating body and a rotating body.
  • the rotating body includes electronic devices that require electric power for operation, it may be beneficial to transfer electric power from a non-rotating body coupled to an electric power source to the rotating body.
  • the electronic devices included in the rotating body generate data signals, it may be beneficial to transfer the data signals from the electronic devices associated with the rotating body to a non-rotating body.
  • rotation of the rotating body may prevent the use of hard-wired connections between the rotating body and the non-rotating body.
  • a rotating body may include one or more sensors generating data signals in the form of sensor signals. Operation of the one or more sensors may require electrical power, and thus, it may be necessary to transfer electrical power from a non-rotating body coupled to an electrical power source to the one or more sensors carried by the rotating body. In addition, it may be beneficial to control the electrical power transferred to the rotating body in order to provide appropriate power characteristics for the one or more sensors and any other electrically powered devices carried by the rotating body. It may also be beneficial to transfer the sensor signals generated by the one or more sensors to a location remote from the rotating body, such as to a non-rotating body. In addition, for some applications, it may be beneficial to prevent interference from altering or corrupting the power and sensor signals as they are transferred between the non-rotating body and the rotating body.
  • the disclosure is generally directed to an interface for transferring power and data between a non-rotating body and a rotating body.
  • an interface may transfer electrical power from the non-rotating body to a rotating body.
  • the non-rotating body may be electrically coupled to an electrical power source, and the interface may transfer the electrical power from the power source to the rotating body.
  • Some examples of the interface may transfer data signals from the rotating body to the non-rotating body.
  • the rotating body may carry one or more sensors configured to generate sensor signals, and the interface may transfer the sensor signals in the form of data signals from the rotating body to the non-rotating body.
  • Some examples of the interface may transfer data signals from the non-rotating body to the rotating body.
  • the data signals may be used for controlling characteristics of the electrical power used by the one or more sensors and other electrically-powered devices carried by the rotating body.
  • the transfer of the electrical power and/or the data signals between the non-rotating body and the rotating body may be resistant to alteration or corruption from interference.
  • the interface may be used with a vehicle to provide the transfer of electrical power and data signals between the vehicle and one or more sensors carried by a rotating body.
  • the interface may be configured to be coupled to a non-rotating body coupled to the vehicle and the rotating body.
  • the interface may be configured to transfer electrical power to the one or more sensors and other electrically-powered devices carried by the rotating body.
  • the interface may be configured to transfer sensor signals in the form of data signals from the one or more sensors carried by the rotating body to the non-rotating body, for example, so that a controller of the vehicle may incorporate the sensor signals into a strategy for controlling an aspect of operation of the vehicle.
  • an interface may be provided for transferring power and data between a non-rotating body and a rotating body having an axis of rotation.
  • the interface may include a power transfer device coupled to the non-rotating body and configured to transfer electrical power, and a power receiver coupled to the rotating body and configured to receive electrical power from the power transfer device via a wireless coupling.
  • the interface may further include a first data transmitter coupled to the rotating body and configured to transmit data signals, and a first data receiver coupled to the non-rotating body and configured to receive data signals from the first data transmitter via a wireless coupling.
  • the interface may also include a second data transmitter coupled to the non-rotating body and configured to transmit data signals, and a second data receiver coupled to the rotating body and configured to receive data signals from the second data transmitter via a wireless coupling.
  • the wireless coupling between the power transfer device and the power receiver may include an inductive coupling.
  • the first data transmitter and the first data receiver may each include an optical communication device, and the wireless coupling between the first data transmitter and the first data receiver may include an optical coupling.
  • the optical coupling may be a free-space optical coupling.
  • the power transfer device and the power receiver may each include an inductive coil.
  • the power transfer device and the power receiver may be axially aligned with the axis of rotation of the rotating body.
  • the first data transmitter and the first data receiver may be axially aligned with the axis of rotation of the rotating body.
  • the wireless coupling between the second data transmitter and the second data receiver may include an inductive coupling.
  • the second data transmitter and the second data receiver may each include an inductive coil.
  • the second data transmitter and the second data receiver may be axially aligned with the axis of rotation of the rotating body.
  • the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include an optical communication device.
  • the wireless coupling between the first data transmitter and the first data receiver may include an optical coupling
  • the wireless coupling between the second data transmitter and the second data receiver may include an optical coupling.
  • the optical couplings may be free-space optical couplings.
  • first data transmitter and the second data transmitter may be axially aligned with the axis of rotation of the rotating body, and the first data receiver and the second data receiver may be axially offset from the axis of rotation of the rotating body.
  • first data receiver and the second data receiver may be axially aligned with the axis of rotation of the rotating body, and the first data transmitter and the second data transmitter may be axially offset from the axis of rotation of the rotating body.
  • the first data transmitter may be configured to send data signals relating to sensor data from the rotating body to the first data receiver.
  • the second data transmitter may be configured to send data signals for regulating power to the second data receiver.
  • the second data transmitter may be configured to send data signals for controlling operation of the rotating body to the second data receiver.
  • the rotating body may be substantially cylindrical, and the non-rotating body may be a substantially planar surface.
  • the first data transmitter and the first data receiver may be configured to provide unidirectional data transfer, and the second data transmitter and the second data receiver may be configured to provide bi-directional data transfer.
  • an interface may be provided for transferring power and data between a non-rotating body and a rotating body having an axis of rotation.
  • the interface may include a power transfer device coupled to the non-rotating body and configured to transfer electrical power, and a power receiver coupled to the rotating body and configured to receive electrical power from the power transfer device via a wireless coupling.
  • the interface may also include a first data transmitter coupled to the rotating body and configured to transmit data signals, and a first data receiver coupled to the non-rotating body and configured to receive data signals from the first data transmitter via a wireless coupling.
  • the first data transmitter and the first data receiver may each include an optical communication device, and the wireless coupling between the first data transmitter and the first data receiver may include an optical coupling.
  • the optical coupling may be a free-space optical coupling.
  • the wireless coupling between the power transfer device and the power receiver may include an inductive coupling.
  • the power transfer device and the power receiver may each include an inductive coil.
  • the first data transmitter may be configured to send data signals relating to sensor data from the rotating body to the first data receiver.
  • the interface may also include a second data transmitter coupled to the non-rotating body and configured to transmit data signals, and a second data receiver coupled to the rotating body and configured to receive data signals from the second data transmitter via a wireless coupling.
  • the second data transmitter may be configured to send data signals for regulating power to the second data receiver.
  • the second data transmitter may be configured to send data signals for controlling operation of the rotating body to the second data receiver.
  • the wireless coupling between the second data transmitter and the second data receiver may include an inductive coupling.
  • the second data transmitter and the second data receiver may each include an inductive coil, and the second data transmitter and the second data receiver may be axially aligned with the axis of rotation of the rotating body.
  • the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include an optical communication device.
  • the wireless coupling between the first data transmitter and the first data receiver may include an optical coupling
  • the wireless coupling between the second data transmitter and the second data receiver may include an optical coupling.
  • the optical couplings may be free-space optical couplings.
  • a sensor assembly may include a rotating body including at least one sensor configured to generate sensor data signals obtained during rotation of the rotating body.
  • the sensor assembly may also include a non-rotating body associated with the rotating body, such that the rotating body rotates about an axis of rotation that passes through the non-rotating body.
  • the rotating body may be configured to rotate through an angle of 360 degrees or more in either direction about its axis of rotation, and in some examples, the rotating body may be configured to rotate through and angle of less than 360 degrees and reverse its direction of rotation about its axis of rotation.
  • the sensor assembly may also include an interface for transferring power and data between the non-rotating body and the rotating body.
  • the interface may include a power transfer device coupled to the non-rotating body and configured to transfer electrical power, and a power receiver coupled to the rotating body and configured to receive electrical power from the power transfer device via a wireless coupling.
  • the interface may also include a first data transmitter coupled to the rotating body and configured to transmit data signals, and a first data receiver coupled to the non-rotating body and configured to receive data signals from the first data transmitter via a wireless coupling.
  • the wireless coupling between the power transfer device and the power receiver may include an inductive coupling.
  • the power transfer device and the power receiver may each include an inductive coil.
  • the first data transmitter may be configured to send data signals relating to sensor data from the rotating body to the first data receiver.
  • the interface may include any of the interfaces disclosed herein.
  • the at least one sensor may include a light detection and ranging (LIDAR) sensor.
  • LIDAR light detection and ranging
  • the interface may be configured to supply electrical power to the at least one sensor and at least partially control operation of the at least one sensor.
  • the sensor assembly may include a housing associated with the rotating body and configured to protect the at least one sensor.
  • the housing may include a lens configured to provide an optical path from the at least one sensor to the surroundings.
  • non-rotating body may define a substantially planar surface, and the axis of rotation of the rotating body may be substantially perpendicular to the planar surface (e.g., the axis of rotation of the rotating body may be perpendicular to the planar surface within technical tolerances). In some examples, the axis of rotation of the rotating body may be orthogonal to the planar surface. In some examples, the non-rotating body and the rotating body may be coupled to one another.
  • a rotating body may include one or more sensors generating data signals in the form of sensor signals. Operation of the one or more sensors may require electrical power, and thus, it may be necessary to transfer electrical power from a non-rotating body coupled to an electrical power source to the one or more sensors carried by the rotating body. In addition, it may be beneficial to control the electrical power transferred to the rotating body in order to provide appropriate power characteristics for the one or more sensors and any other electrically powered devices carried by the rotating body. It may also be beneficial to transfer the sensor signals generated by the one or more sensors to a location remote from the rotating body, such as to a non-rotating body. In addition, for some applications, it may be beneficial to prevent interference from altering or corrupting the power and sensor signals as they are transferred between the non-rotating body and the rotating body.
  • This disclosure is generally directed to a support assembly for supporting a rotating body having a rotation axis about which it rotates.
  • the support assembly may include a first support defining a first longitudinal support axis and configured to support the rotating body, such that the rotating body is rotatable relative to the first support.
  • the rotation axis may be transverse to the first longitudinal support axis.
  • the support assembly may also include a second support defining a second longitudinal support axis and configured to support the rotating body, such that the rotating body is rotatable relative to the second support.
  • the rotation axis may be transverse to the second longitudinal support axis.
  • the support assembly may also include a spine defining a longitudinal spine axis.
  • the spine may be coupled to the first and second supports, and may extend between the first and second supports.
  • the longitudinal spine axis may be transverse to the first and second longitudinal support axes.
  • the support assembly may include a motor associated with at least one of the first support or the second support. The motor may be configured to supply torque to rotate the rotating body.
  • at least one of the spine, the first support, or the second support may define a recess configured to receive at least one of an electrical conductor or a data signals link associated with operation of the rotating body.
  • the motor may be coupled to the first support and include a drive shaft configured to be coupled to the rotating body to supply torque to the rotating body.
  • the motor may be coupled to the first support on a side of the first support adjacent the rotating body.
  • the first support may include a first support recess configured to provide a passage between the spine and the motor for receiving an electrical conductor to provide electrical power to the motor.
  • first and second longitudinal support axes may be parallel to one another. In some examples, the first and second longitudinal support axes may lie in a common plane. In some examples, at least one of the first longitudinal support axis or the second longitudinal support axis may be perpendicular with respect to the longitudinal spine axis. For example, both the first and second longitudinal support axes may be perpendicular with respect to the longitudinal spine axis. In some examples, the spine, the first support, and the second support may be coupled to one another, such that the spine axis is configured to be spaced from and parallel to the rotation axis of the rotating body.
  • At least one of the first support or the second support may include a bearing configured to facilitate rotation of the rotating body.
  • at least one of the first support or the second support may include a bore that receives a bearing.
  • the spine may define a recess configured to receive at least one of the electrical conductor, the data signals link, or electronic circuitry related to operation of the rotating body.
  • the spine may define a recess on a side of the spine opposite the first and second supports.
  • the spine may include one or more apertures configured to provide passages for receiving one or more of the electrical conductor and the data signals link in the recess.
  • the one or more apertures may be aligned with at least one of the first support or the second support to provide respective passages from the first and second supports to the recess of the spine.
  • Some examples may include a cover configured to cover the recess of the spine.
  • the cover may include one or more cover passages configured to provide a passage from the recess of the spine to exterior the cover.
  • these passages may facilitate transfer of electrical power and/or data signals between the support assembly and other portions of a machine, such as, for example, a vehicle.
  • At least one of the first support or the second support may define a support recess configured to receive at least one of the electrical conductor or the data signals link.
  • both the first and second supports may define respective support recesses.
  • the support recesses may provide a passage for at least one of the electrical conductor or the data signals link to pass from the respective support recess to the recess of the spine.
  • the support assembly may also include a third support associated with the spine, such that the third support is spaced from and on a side of the second support opposite the first support.
  • the third support may be coupled to the spine and may define a third longitudinal support axis transverse to the longitudinal spine axis.
  • the second longitudinal support axis and the third longitudinal support axis may be parallel to one another.
  • the third support may define a support recess configured to receive at least one of an electrical conductor and a data signals link.
  • the support recess of the third support may provide a passage for at least one of the electrical conductor or the data signals link to pass from the support recess of the third support to the recess of the spine.
  • This disclosure is also generally directed to a system including a rotating body defining a rotational axis and configured to support at least one sensor configured to generate sensor signals.
  • the system may also include a support assembly coupled to and supporting the rotating body, such that the rotating body rotates about the rotational axis.
  • the support assembly may include a first support defining a first longitudinal support axis and supporting the rotating body, such that the rotating body is rotatable relative to the first support.
  • the rotation axis may be transverse to the first longitudinal support axis.
  • the support assembly may also include a second support defining a second longitudinal support axis and supporting the rotating body, such that the rotating body is rotatable relative to the second support.
  • the rotation axis may be transverse to the second longitudinal support axis.
  • the support assembly may also include a spine defining longitudinal spine axis, with the spine being coupled to the first and second supports, and extending between the first and second supports.
  • the longitudinal spine axis may be transverse to the first and second longitudinal support axes.
  • the support assembly may include a motor associated with at least one of the first support or the second support, and the motor may be configured to supply torque to rotate the rotating body.
  • the system may also include a second bearing associated with the second support, and configured to facilitate rotation of the rotating body.
  • the rotating body may include a stub received by the second bearing, such that the second bearing and the stub facilitate rotation of the rotating body.
  • the system may also include an adapter coupled to the stub on a side of the second support opposite the rotating body, such that the adapter rotates with the rotating body.
  • the second bearing may be part of the motor.
  • the system may also include an interface including a first interface portion coupled to the adapter and configured to transfer at least one of power or data signals between the rotating body and a second interface portion.
  • the system may include at least one of an electrical conductor or a data signals link coupled to the first interface portion and passing through the second bearing between the rotating body and the first interface portion.
  • the system may also include a third support associated with the spine, such that the third support is spaced from and on a side of the adapter opposite the second support.
  • the system may include a second interface portion coupled to the third support and configured to transfer at least one of electrical power or data signals between the third support and the first interface portion.
  • the third support may define a support recess configured to receive at least one of an electrical conductor or a data signals link configured to transfer at least one of electrical power or data signals between the spine and the second interface portion.
  • the support recess of the third support may provide a passage for at least one of the electrical conductor or the data signals link to pass from the second interface to the recess of the spine.
  • the support assembly and the system including a rotating body and the support assembly may be used with a vehicle to provide for transfer of electrical power and/or data signals between the vehicle and one or more sensors carried by the rotating body.
  • respective interface portions may be configured to be coupled to a non-rotating body, such as a support, coupled to the vehicle and to the rotating body.
  • the interface portions may be configured to transfer electrical power to the one or more sensors and other electrically-powered devices carried by the rotating body.
  • the interface portions may also be configured to transfer sensor signals in the form of data signals from the one or more sensors carried by the rotating body to the support, for example, so that a controller of the vehicle may incorporate the sensor signals into a strategy for controlling an aspect of operation of the vehicle. This is merely an example use, and other suitable uses are contemplated.
  • the interface may include a power transfer device coupled to the third support and configured to transfer electrical power, and a power receiver coupled to the rotating body and configured receive electrical power from the power transfer device via a wireless coupling.
  • the interface may further include a first data transmitter coupled to the rotating body and configured to transmit data signals, and a first data receiver coupled to the non-rotating body and configured to receive data signals from the first data transmitter via a wireless coupling.
  • the interface may also include a second data transmitter coupled to the non-rotating body and configured to transmit data signals, and a second data receiver coupled to the rotating body and configured to receive data signals from the second data transmitter via a wireless coupling.
  • the power transfer device and the power receiver may each include an inductive coil, and the wireless coupling between the power transfer device and the power receiver may include an inductive coupling.
  • the power transfer device and the power receiver may be axially aligned with the axis of rotation of the rotating body.
  • the first data transmitter and the first data receiver may each include an optical communication device, and the wireless coupling between the first data transmitter and the first data receiver may include an optical coupling.
  • the first data transmitter and the first data receiver may be axially aligned with the axis of rotation of the rotating body.
  • the second data transmitter and the second data receiver may each include an inductive coil, and the wireless coupling between the second data transmitter and the second data receiver may include an inductive coupling.
  • the second data transmitter and the second data receiver may be axially aligned with the axis of rotation of the rotating body.
  • the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include an optical communication device.
  • the wireless coupling between the first data transmitter and the first data receiver may include an optical coupling
  • the wireless coupling between the second data transmitter and the second data receiver may include an optical coupling.
  • first data transmitter and the second data transmitter may be axially aligned with the axis of rotation of the rotating body, and the first data receiver and the second data receiver may not be axially aligned with the axis of rotation of the rotating body.
  • first data receiver and the second data receiver may be axially aligned with the axis of rotation of the rotating body, and the first data transmitter and the second data transmitter may not be axially aligned with the axis of rotation of the rotating body.
  • the first data transmitter may be configured to send data signals relating to sensor data from the rotating body to the first data receiver.
  • the second data transmitter may be configured to send data signals for regulating power to the second data receiver.
  • the second data transmitter may be configured to send data signals for controlling operation of the rotating body to the second data receiver.
  • FIG. 1A is a schematic side view of an example assembly 100 including a non-rotating body 102 and a rotating body 104.
  • the non-rotating body 102 is associated with the rotating body 104, such that the rotating body 104 rotates about an axis of rotation X that passes through the non-rotating body 102.
  • the rotating body 104 may be configured to rotate through an angle of 360 degrees or more in either direction about its axis of rotation X, and in some examples, the rotating body 104 may be configured to rotate through an angle of less than 360 degrees and reverse its direction of rotation about its axis of rotation X.
  • the rotating body 104 may be configured to oscillate about its axis X without completing a 360-degree rotation.
  • the non-rotating body 102 may define a substantially planar surface 106, and the axis of rotation X of the rotating body 104 may be substantially perpendicular to the planar surface 106, for example, such that the axis of rotation X of the rotating body 104 may be substantially perpendicular to the planar surface 106 within technical tolerances.
  • the rotating body 104 may be substantially cylindrical.
  • the axis of rotation X of the rotating body 104 may be orthogonal to the planar surface 106.
  • the non- rotating body 102 and the rotating body 104 may be coupled to one another.
  • the non-rotating body 102 may be coupled to the rotating body 104, for example, such that the non-rotating body 102 at least partially supports the rotating body 104.
  • the assembly 100 includes a support 108 configured to at least partially support the rotating body 104, such that the rotating body 104 is able to rotate about its axis of rotation
  • a bearing 110 may be provided in a bore 112 of the support 108, and a shaft 114 may extend through the bearing 110 and be coupled to the rotating body 104.
  • the example shown includes a motor 116 (e.g., an electric motor) coupled to the shaft 114 and configured to apply torque to the shaft 114 to rotate the rotating body about the axis X.
  • a motor 116 e.g., an electric motor
  • the motor 116 may be located remotely from the shaft 114, and torque from the motor 116 may be provided by a device for transmitting torque from the motor 116 to the shaft 114, such as, for example, one or more gears, one or more shafts, one or more belts, and/or one or more chain drives.
  • the motor 116 may be located between the support 108 and the rotating body 104.
  • the motor 116 may be located at the other end of the rotating body 104, for example, between the non-rotating body 102 and the rotating body 104, or on the opposite side of the non-rotating body 102 from the rotating body 104.
  • the non-rotating body 102 may include a bore and/or a bearing therein (not shown in FIG. 1A) (e.g., similar to the bearing 110 associated with the support 108), and may at least partially support the rotating body 104, such that it may rotate about the axis X of the rotating body 104.
  • the rotating body 104 may be associated with one or more electronic devices 1 18.
  • the electronic devices 1 18 may be carried by or within the rotating body 104.
  • the electronic devices 1 18 may include any devices that use electrical power to perform functions, such as, for example, sensors configured to generate sensor signals in the form of data signals, processors configured to manipulate the data signals (e.g., processors that filter, compress, and/or transform the data signals), and/or controllers to control operation of the sensors and/or the rotating body 104.
  • Other types and functions of electronic devices 1 18 are contemplated.
  • the example assembly 100 shown in FIG. 1A also includes an interface 120 for transferring power and data between the non-rotating body 102 and the rotating body 104.
  • the example interface 120 shown in FIGS. 1 A-1 C includes a power transfer device 122 associated with (e.g., coupled to) the non-rotating body 102 and configured to transfer electrical power.
  • the power transfer device 122 is coupled to the planar surface 106 of the non-rotating body 102.
  • the example interface 120 also includes a power receiver 124 associated with (e.g., coupled to) the rotating body 104 and configured to receive electrical power from the power transfer device 122 via a wireless coupling.
  • the wireless coupling between the power transfer device 122 and the power receiver 124 may include an inductive coupling.
  • the power receiver 124 is associated with the end of the rotating body 104 facing the planar surface 106.
  • the power transfer device 122 and the power receiver 124 may each include an inductive coil 126a and 126b, respectively.
  • the power is transferred from the inductive coil 126a to the inductive coil 126b by electrical induction.
  • the power transfer device 122 and the power receiver 124 are axially aligned with the axis X of rotation of the rotating body 104.
  • the power transfer device 122 and the power receiver 124 may be configured to transfer electrical power ranging from about 15 watts to about 60 watts, or from about 20 watts to about 50 watts, or from about 30 watts to about 40 watts.
  • the inductive coupling shown in FIGS. 1 A-2C includes inductive coils 126a and 126b
  • other forms of inductive couplings are contemplated, such as, for example, near-field power transfer devices and far-field power transfer devices.
  • the inductive coupling may include resonant inductive coupling, non-resonant inductive coupling, capacitive coupling, resonant capacitive coupling, magnetodynamic coupling, a rotary transformer, and/or coupling via radio waves, microwaves, and/or light waves.
  • the example interface 120 shown in FIGS. 1 A-1 C also includes a first data transmitter 128 associated with (e.g., coupled to) the rotating body 104 and configured to transmit data signals, and a first data receiver 130 associated with (e.g., coupled to) the non-rotating body 102 and configured to receive data signals from the first data transmitter 128 via a wireless coupling.
  • the first data transmitter 128 is associated with the end of the rotating body 104 facing the planar surface 106
  • the first data receiver 130 is coupled to the planar surface 106.
  • the first data transmitter 128 may be configured to send data signals (e.g., sensor data and/or other data signals) from the rotating body 104 to the first data receiver 130, which is associated with the non-rotating body 102.
  • the first data transmitter 128 and the first data receiver 130 may be configured to provide uni-directional data transfer.
  • the first data transmitter 128 and the first data receiver 130 may be configured to wirelessly transfer data signals via a high-speed wireless link (e.g., a wireless link having a data transfer rate of greater than or equal to 50 kilobits per second (kbps)).
  • a high-speed wireless link e.g., a wireless link having a data transfer rate of greater than or equal to 50 kilobits per second (kbps)
  • the first data transmitter 128 and the first data receiver 130 may each include an optical communication device and the wireless coupling between the first data transmitter 128 and the first data receiver 130 provides an optical coupling.
  • the optical coupling may be a free-space optical coupling.
  • the first data transmitter 128 may include an optical transmitter, such as, for example, a light-emitting diode (LED) or a laser diode
  • the first data receiver 130 may include an optical receiver, such as, for example, a photo detector.
  • the first data transmitter 128 and the first data receiver 130 are axially aligned with the axis of rotation X of the rotating body 104.
  • the first data transmitter 128 and the first data receiver 130 may be transceivers configured to both transmit data and receive data, such as, for example, transceivers that include photodiodes configured to operate in both transmitting and receiving modes, rendering them bi-directional.
  • the optical transmission may include visible light and/or invisible light (e.g., infrared light). Other types of high-speed wireless links are contemplated.
  • the interface 120 also includes a second data transmitter 132 coupled to the non-rotating body 102 and configured to transmit data signals, and a second data receiver 134 coupled to the rotating body 104 and configured to receive data signals from the second data transmitter 132 via a wireless coupling.
  • the second data transmitter 132 is configured to send data signals for regulating power supplied to the electronic devices 118 to the second data receiver 134.
  • the second data transmitter 132 is configured to send data signals for controlling operation of the rotating body 104 to the second data receiver 134, such as, for example, control signals related controlling rotation of the rotating body 104, such as, for example, how fast and/or what direction the rotating body 104 should rotate.
  • the second data transmitter 132 and the second data receiver 134 may be configured to provide bi-directional data transfer.
  • the second data transmitter 132 may be configured to receive data
  • the second data receiver 134 may be configured to transmit data, thus reversing functions.
  • both the second data transmitter 132 and the second data receiver 134 may be configured to send and receive data.
  • the second data transmitter 132 and the second data receiver 134 may be configured to wirelessly transfer data signals via a low-speed wireless link (e.g., a wireless link having a data transfer rate of less than 20 kbps).
  • the second data transmitter 132 and the second data receiver 134 may be configured to wirelessly transfer data signals via a medium- speed wireless link (e.g., a wireless link having a data transfer rate ranging from about 25 kbps to about 30 kbps (e.g., about 28 kbps)).
  • a medium- speed wireless link e.g., a wireless link having a data transfer rate ranging from about 25 kbps to about 30 kbps (e.g., about 28 kbps)
  • the second data transmitter 132 and the second data receiver 134 each include an inductive coil 136a and 136b, respectively, and the wireless coupling between the second data transmitter 132 and the second data receiver 134 provides an inductive coupling.
  • the second data transmitter 132 and the second data receiver 134 are axially aligned with the axis of rotation X of the rotating body 104.
  • the first data transmitter 128, the first data receiver 130, the second data transmitter 132, and the second data receiver 134 may be configured to wirelessly transfer data signals via a high-speed wireless link.
  • the first data transmitter 128, the first data receiver 130, the second data transmitter 132, and the second data receiver 134 each include an optical communication device, the wireless coupling between the first data transmitter 128 and the first data receiver 130 provides an optical coupling, and the wireless coupling between the second data transmitter 132 and the second data receiver 134 provides an optical coupling.
  • the optical coupling may be a free-space optical coupling.
  • the first data transmitter 128 and the second data transmitter 132 may each include an optical transmitter, such as, for example, an LED or a laser diode, and the first data receiver 130 and the second data receiver 134 may each include an optical receiver, such as, for example, a photo detector.
  • the first data transmitter 128, the first data receiver 130 may be configured to provide uni-directional data transfer, and the second data transmitter 132 and the second data receiver 134 may be configured to provide uni-directional data transfer.
  • the first data transmitter 128, the first data receiver 130, the second data transmitter 132, and the second data receiver 134 may be transceivers configured to both transmit data and receive data, such as, for example, transceivers that include photodiodes configured to operate in both transmitting and receiving modes, rendering them bi-directional.
  • the first data transmitter 128 and the second data transmitter 132 are positioned along the axis of rotation X of the rotating body 104, and the first data receiver 130 and the second data receiver 134 are axially offset from the axis of rotation X of the rotating body 104.
  • the first data transmitter 128 is associated with the rotating body 104, such that it is located on the axis of rotation X
  • the first data receiver 130 is associated with the planar surface 106 of the non-rotating body 102, such that it is not located on the axis of rotation
  • the first data receiver 130 which is stationary, is oriented such that it receives the data signals (e.g., optical data signals) from the first data transmitter 128 as the first data transmitter 128 rotates with the rotating body 104.
  • the second data receiver 134 which revolves about and is spaced from the axis X of the rotating body 104 as the rotating body 104 rotates, is oriented such that it receives the data signals (e.g., optical data signals) from the second data transmitter 132, which is stationary.
  • the data signals e.g., optical data signals
  • one or more of the first data transmitter 128, the first data receiver 130, the second data transmitter 132, and the second data receiver 134 may be supplemented with reflectors and/or lenses to assist with maintaining the communication link between the first data transmitter 128 and the first data receiver 130, and/or the communication link the between the second data transmitter 132 and the second data receiver 134.
  • cross-talk or interference between the first data transmitter 128 and the first data receiver 130 pair, and the second data transmitter 132 and the second data receiver 134 pair may be mitigated or eliminated via, for example, time sharing techniques and/or by use of bandpass filtering and differences in the communication signals of the pairs (e.g., different frequencies and/or wavelengths of the signals between the pairs). Other techniques are contemplated.
  • the first data receiver 130 and the second data receiver 134 are axially aligned with the axis of rotation X of the rotating body 104, and the first data transmitter 128 and the second data transmitter 132 are axially offset from the axis of rotation X of the rotating body 104.
  • the interface 120 may be resistant to interference with the power transfer and/or the data transfer that might otherwise alter, corrupt, or block the power and/or data transfer. This may be beneficial when the interface 120 is used in association with devices or machines for which interruption of the power and/or data transfer may be particularly undesirable. For example, in machines that operate with little or no human control, interruption of the transfer of power and/or data to a part of the machine may contribute to the occurrence of an accident. For example, for an autonomous vehicle having little or no human control, sensors may be used to assist with guidance and/or object avoidance.
  • FIGS. 3-7 schematically depict an example sensor assembly 300 configured to generate sensor data in the form of data signals, and transmit the data signals from the sensor assembly 300 to one or more processors for use of the data signals.
  • the example sensor assembly 300 shown in FIGS. 3-7 includes light detection and ranging (LIDAR) sensors configured to sense objects in an environment surrounding the sensor assembly 300.
  • LIDAR light detection and ranging
  • a LIDAR sensor emits pulses of laser light and estimates to the distance between the sensor and an object in the environment surrounding the sensor based on the time for a reflected return light signal to reach the sensor.
  • the example sensor assembly 300 shown in FIGS. 3-7 may include different or additional types of sensors.
  • the laser light may include visible light and/or invisible light (e.g., infrared light).
  • the optical transmission and the laser light may be at different frequencies or wavelengths, for example, to avoid interference between the sensing and the data transmission.
  • the example sensor assembly 300 includes a spine 302 configured to couple the sensor assembly 300 to a platform, such as, for example, a vehicle for which the sensor signals may be used.
  • a platform such as, for example, a vehicle for which the sensor signals may be used.
  • the sensor assembly 300 may include a protective casing 304 providing a housing configured to protect the sensor assembly 300 from environmental elements and/or provide a specified design appearance.
  • the protective casing 304 may be substantially cylindrical.
  • the example protective casing 304 includes a first shell portion 306 coupled to the support 108 and/or the spine 302 (see FIG. 4).
  • the example first shell portion 306 includes a hat-shaped portion 308 configured to cover an upper end (i.e., in the orientation depicted) of the rotating body 104 of the sensor assembly 300, and an extension 310 configured to extend to the spine 302.
  • the example protective casing 304 also includes a second shell portion 312 coupled to a third support 700 (see FIG. 7) and/or the spine 302.
  • the example second shell portion 312 includes a hollow cylindrical portion 314 having a closed end 316 and an open side 318 configured to fit around the rotating body 104 of the sensor assembly 300.
  • the example protective casing 304 also includes a lens 320 coupled to the spine 302 and the first and second shell portions 306 and 312.
  • the example lens 320 is ring-shaped and facilitates the passage of light to and from the sensor assembly 300 as the rotating body 104 of the sensor assembly 300 rotates within the protective casing 304.
  • One or more O-rings may be provided between the first shell portion 306 and the lens 320, and/or between the lens 320 and the second shell portion 312, where the first shell portion 306, the lens 320, and the second shell portion 312 meet one another in order to prevent dirt and moisture from entering the protective casing 304.
  • Gaskets and/or sealants may be provided between one or more of the first shell portion 306, the lens 320, and the second shell portion 312, and the spine 302 in order to prevent dirt and moisture from entering the protective casing 304.
  • the sensor assembly also includes a support 108 coupled to the spine 302, for example, in a cantilever configuration.
  • the support 108 and the spine 302 may be integrally formed via, for example, a single piece of material, thereby coupling the support 108 and the spine 302 to one another.
  • the spine 302 may include a slot 400 in which an end of the support 108 is received. Fasteners, welds, and/or adhesives may be used to secure the support 108 in the slot 400.
  • the example sensor assembly 300 also includes a motor 1 16 coupled to the support 108, for example, via one or more fasteners 402.
  • the motor 116 is coupled to a rotating body 104 of the sensor assembly 300 via a coupler 404 and one or more fasteners 406.
  • the coupler 404 is configured to transfer torque from the motor 116 to the rotating body 104, so that the rotating body 104 rotates about its axis of rotation X.
  • the rotating body 104 body serves as a substantially hollow housing for carrying electronic devices including components of the LIDAR sensors.
  • the rotating body 104 may carry one or more of laser boards 500 (see FIG. 5) configured to emit laser light, a detector board (not shown) for detecting the return laser signals reflected from an object in the environment surrounding the sensor assembly 300, and one or more reflectors (not shown) configured to deflect the emitted laser light and/or the return signals, and electronic circuitry (not shown) to provide electrical power and control for operation of the sensor assembly 300.
  • the example sensor assembly 300 also includes a lens housing 408 configured to couple two lenses 410 and 412 to the rotating body 104. The lenses 410 and 412 are configured to focus the emitted laser light and the return signals for detecting objects in the environment surrounding the sensor assembly 300.
  • the example sensor assembly 300 also includes a second support 502 coupled to the spine 302, for example, in a cantilever manner.
  • the second support 502 and the spine 302 may be integrally formed via, for example, a single piece of material, thereby coupling the second support 502 and the spine 302 to one another.
  • the spine 302 includes a second slot 504 in which the second support 502 is received. Fasteners, welds, and/or adhesives may be used to secure the second support 502 in the second slot 504.
  • the example second support 502 may include a bore 506 receiving a bearing 508, and the rotating body 104 may include a stub 510 coupled to the bearing 508, such that the stub 510 and the rotating body 104 rotate with the bearing 508.
  • the support 108, the bearing 110, the motor 116, the second support 502, and bearing 508 facilitate rotation of the rotating body 104 about the axis of rotationX
  • the laser light emitted from the sensor assembly 300 may be directed through a 360-degree sweep of the surrounding environment for detection of objects in the surrounding environment (not including the portion of the 360-degrees blocked by the spine 302).
  • the example sensor assembly 300 includes an interface 120 for transferring power and data between a non-rotating body 102 and the rotating body 104.
  • the example sensor assembly 300 includes a non-rotating body 102 in the form of the third support 700 coupled to the spine 302, for example, in a cantilever manner.
  • the spine 302 includes a third slot 600 (see FIG. 6), in which the third support 700 is received. Fasteners, welds, and/or adhesives may be used to secure the third support 700 in the third slot 600.
  • the spine 302 may be coupled to, for example, a vehicle that uses the sensor assembly 300 to detect objects surrounding the vehicle.
  • the spine 302 and/or the third support 700 may provide a conduit for routing fiber optics, wires, and/or cables between the third support 700 and control and/or power systems of the vehicle.
  • a power system of the vehicle may supply electric power to the wires and/or cables received by the spine 302 and/or the third support 700.
  • a control system of the vehicle may provide control signals to the fiber optics, wires, and/or cables received by the spine 302 and/or the third support 700.
  • the data signals received by the fiber optics, wires, and/or cables of the third support 700 from the rotating body 104 may be supplied to the control systems of the vehicle by the fiber optics, wires, and/or cables.
  • electrical power may be supplied via fiber optics, wires, and/or cables of the third support 700
  • data signals may be supplied from the vehicle to the third support 700
  • data signals from the rotating body 104 of the sensor assembly 300 may be supplied via the third support 700 to the control systems of the vehicle.
  • the example interface 120 includes a power transfer device 122 coupled to the third support 700 (see FIG. 7) and configured to transfer electrical power, and a power receiver 124 (see FIGS. 6 and 7) coupled to the rotating body 104 and configured to receive electrical power from the power transfer device 122 via a wireless coupling.
  • the example interface 120 also includes a first data transmitter 128 (FIG. 6) coupled to the rotating body 104 of the sensor assembly 300 and configured to transmit data signals, and a first data receiver 130 (see FIG. 7) coupled to the third support 700 and configured to receive data signals from the first data transmitter 128 via a wireless coupling.
  • the power transfer device 122 and the power receiver 124 each include an inductive coil 602, and the wireless coupling between the power transfer device 122 and the power receiver 124 provides an inductive coupling.
  • the power receiver 124 is coupled to the rotating body 104 of the sensor assembly 300 by a coupling plate 604, for example, as shown in FIGS. 6 and 7.
  • the example coupling plate 604 may be coupled to the bearing 508 associated with the second support 502, for example, so that the coupling plate 604 is on a side of the second support 502 opposite the rotating body 104 of the sensor assembly 300, with the power receiver 124 being on a side of the coupling plate 604 opposite the second support 502, for example, as shown in FIG. 6.
  • the power transfer device 122 and the power receiver 124 are axially aligned with the axis of rotation X of the rotating body 104, and thus, the respective inductive coils 602 of the power transfer device 122 and the power receiver 124 are axially aligned with one another.
  • the example power transfer device 122 and the power receiver 124 also include electronic circuitry, for example, in the form of programmable circuit boards, configured to control operation of the inductive coils 602.
  • electrical power may be transmitted wirelessly via induction from a power source associated with the vehicle to the electrically powered devices carried by the rotating body 102.
  • the power transfer device 122 and the power receiver 124 may be a near-field transfer device.
  • the power transfer device 122 and the power receiver 124 may be configured to transfer electrical power ranging from about 15 watts to about 60 watts, or from about 20 watts to about 50 watts, or from about 30 watts to about 40 watts.
  • the example first data transmitter 128 shown in FIG. 6 is configured to send data signals relating to sensor data from the rotating body 104 of the sensor assembly 300 to the first data receiver 130 (see FIG. 7).
  • sensor signals in the form of data signals from the LIDAR sensors may be wirelessly transmitted by the first data transmitter 128 to the first data receiver 130, so that the data signals may be transmitted from the sensor assembly 300 to one or more controllers of the vehicle.
  • the first data transmitter 128 and the first data receiver 130 may be configured to wirelessly transfer data signals via a high-speed wireless link (e.g., a wireless link having a data transfer rate of greater than or equal to 50 kbps).
  • the first data transmitter 128 and the first data receiver 130 may be configured to provide uni-directional data transfer.
  • the first data transmitter 128 and the first data receiver 130 may each include an optical communication device, and the wireless coupling between the first data transmitter 128 and the first data receiver 130 provides an optical coupling.
  • the optical coupling may be a free-space optical coupling.
  • the first data transmitter 128 may include an optical transmitter, such as, for example, an LED or a laser diode
  • the first data receiver 130 may include an optical receiver, such as, for example, a photo detector.
  • the first data transmitter 128 and the first data receiver 130 are axially aligned with the axis of rotation X of the rotating body 104.
  • data signals may be transmitted wirelessly from the LIDAR sensors and electronics carried by the rotating body 104 of the sensor assembly 300 to one or more controllers associated with the vehicle.
  • the first data transmitter 128 and the first data receiver 130 may be transceivers configured to both transmit data and receive data, such as, for example, transceivers that include photodiodes configured to operate in both transmitting and receiving modes, rendering them bi-directional.
  • the optical transmission may include visible light and/or invisible light (e.g., infrared light). Other types of highspeed wireless links are contemplated.
  • the example interface 120 also includes a second data transmitter 132 (not shown in FIGS. 6 and 7; see, e.g., FIGS. 1 A-1C and 2A-2C) coupled to the third support 700 and configured to transmit data signals, and a second data receiver 134 coupled to the rotating body 104 of the sensor assembly 300 and configured to receive data signals from the second data transmitter 132 via a wireless coupling.
  • the second data transmitter 132 is configured to send data signals for regulating power supplied to the electronic devices including components of the LIDAR sensors carried by the rotating body 104 to the second data receiver 134.
  • the second data transmitter 132 is configured to send data signals for controlling operation of the rotating body 104 of the sensor assembly 300 to the second data receiver 134, such as, for example, control signals related to controlling rotation of the rotating body 104 of the sensor assembly 300 via control of the motor 1 16.
  • the second data transmitter 132 and the second data receiver 134 may be configured to provide bi-directional data transfer.
  • the second data transmitter 132 may be configured to receive data
  • the second data receiver 134 may be configured to transmit data, thus reversing functions.
  • both the second data transmitter 132 and the second data receiver 134 may be configured to send and receive data.
  • the second data transmitter 132 and the second data receiver 134 may be configured to wirelessly transfer data signals via a low-speed wireless link (e.g., a wireless link having a data transfer rate of less than 20 kbps.
  • the second data transmitter 132 and the second data receiver 134 may be configured to wirelessly transfer data signals via a medium- speed wireless link (e.g., a wireless link having a data transfer rate ranging from about 25 kbps to about 30 kbps (e.g., about 28 kbps)).
  • a medium- speed wireless link e.g., a wireless link having a data transfer rate ranging from about 25 kbps to about 30 kbps (e.g., about 28 kbps)
  • the second data transmitter 132 and the second data receiver 134 each include an inductive coil (e.g., inductive coils 136a and 136b shown in FIGS. 1A-1C), respectively, and the wireless coupling between the second data transmitter 132 and the second data receiver 134 provides an inductive coupling.
  • the second data transmitter 132 and the second data receiver 134 are axially aligned with the axis of rotation X of the rotating body 104. Other types of low-speed wireless links are contemplated.
  • the first data transmitter 128, the first data receiver 130, the second data transmitter 132, and the second data receiver 134 may be configured to wirelessly transfer data signals via a high-speed wireless link.
  • the first data transmitter 128, the first data receiver 130, the second data transmitter 132, and the second data receiver 134 may each include an optical communication device, the wireless coupling between the first data transmitter 128 and the first data receiver 130 provides an optical coupling, and the wireless coupling between the second data transmitter 132 and the second data receiver 134 provides an optical coupling.
  • the optical couplings may be free- space optical couplings.
  • the first data transmitter 128 and the second data transmitter 132 may each include an optical transmitter, such as, for example, an LED or a laser diode, and the first data receiver 130 and the second data receiver 134 may each include an optical receiver, such as, for example, a photo detector.
  • the first data transmitter 128, the first data receiver 130 may be configured to provide uni-directional data transfer, and the second data transmitter 132 and the second data receiver 134 may be configured to provide uni-directional data transfer.
  • the respective inductive coils 136a and 136b of the second data transmitter 132 and the second data receiver 134 of the sensor assembly 300 may be replaced by respective optical communication devices, for example, as shown in FIGS. 2A-2C.
  • the first data transmitter 128 and the second data transmitter 132 are axially aligned with the axis of rotation X of the rotating body 104 of the sensor assembly 300
  • the first data receiver 130 and the second data receiver 134 are axially offset from the axis of rotation X of the rotating body 104.
  • the first data transmitter 128 is associated with the rotating body 104, such that it is located on the axis of rotation X
  • the first data receiver 130 is associated with the third support 700, such that it is not located on the axis of rotation
  • the first data receiver 130 which is stationary, is oriented such that it receives the data signals (e.g., optical data signals) from the first data transmitter 128 as the first data transmitter 128 rotates with the rotating body 104 of the sensor assembly 300.
  • the second data receiver 134 which revolves about and is spaced from the axis X of the rotating body 104 as the rotating body 104 rotates, is oriented such that it receives the data signals (e.g., optical data signals) from the second data transmitter 132, which is stationary.
  • the data signals e.g., optical data signals
  • one or more of the first data transmitter 128, the first data receiver 130, the second data transmitter 132, and the second data receiver 134 may be supplemented with reflectors and/or lenses to assist with maintaining the communication link between the first data transmitter 128 and the first data receiver 130, and/or the communication link the between the second data transmitter 132 and the second data receiver 134.
  • cross-talk or interference between the first data transmitter 128 and the first data receiver 130 pair, and the second data transmitter 132 and the second data receiver 134 pair may be mitigated or eliminated via, for example, time sharing techniques and/or by use of bandpass filtering and differences in the communication signals of the pairs (e.g., different frequencies and/or wavelengths of the signals between the pairs). Other techniques are contemplated.
  • the first data receiver 130 and the second data receiver 134 are axially aligned with the axis of rotation of the rotating body 104 of the sensor assembly 300, and the first data transmitter 128 and the second data transmitter 132 are axially offset from the axis of rotation X of the rotating body 104.
  • FIG. 8 is a partial schematic side section view of an example system 800 including an example rotating body 802 and an example support assembly 804 for supporting the rotating body 802.
  • the rotating body 802 defines a rotational axis X.
  • the rotating body 802 may be configured to support at least one sensor configured to generate sensor signals in the form of data signals.
  • the support assembly 804 is coupled to and supports the rotating body 802, such that the rotating body 802 rotates about the rotational axis .
  • the rotating body 802 may be configured to rotate through an angle of 360 degrees or more in either direction about its axis of rotation X, and in some examples, the rotating body 802 may be configured to rotate through and angle of less than 360 degrees and reverse its direction of rotation about its axis of rotation For example, the rotating body 802 may be configured to oscillate about its axis X without completing a 360-degree rotation.
  • the example support assembly 804 shown in FIG. 8 includes a first support 806 defining a first longitudinal support axis F and supporting the rotating body 802, such that the rotating body 802 is rotatable relative to the first support 806, with the rotation axis X being transverse to the first longitudinal support axis F.
  • the example support assembly 804 also includes a second support 808 defining a second longitudinal support axis S and supporting the rotating body 802, such that the rotating body 802 is rotatable relative to the second support 808, and the rotation axis X is transverse to the second longitudinal support axis S.
  • the example support assembly 804 also includes a spine 810 defining a longitudinal spine axis SP, with the spine 810 being coupled to the first support 806 and the second support 808, and extending between the first support 806 and the second support 808.
  • the first support 806 and/or the second support 808 may be integrally formed with the spine 810, thereby coupling the first support 806, the second support 808, and the spine 810 to one another.
  • the longitudinal spine axis SP is transverse to the first longitudinal support axis F and the second longitudinal support axis S.
  • first longitudinal support axis F of the first support 806 and the second longitudinal support axis S of the second support 808 are parallel to one another.
  • Other relative orientations are contemplated.
  • the first longitudinal support axis F and the second longitudinal support axis S lie in a common plane.
  • the first longitudinal support axis F and the second longitudinal support axis S lie in planes offset from one another.
  • the first longitudinal support axis F and the second longitudinal support axis S may be perpendicular with respect to the longitudinal spine axis SP, for example, as shown in FIG. 8.
  • one or more of the first longitudinal support axis F and the second longitudinal support axis S may not be perpendicular with respect to the longitudinal spine axis SP of the spine 810.
  • the spine 810, the first support 806, and the second support 808 are coupled to one another (e.g., directly coupled to one another), such that the spine axis SP is configured to be spaced from and parallel to the rotation axis X of the rotating body 802.
  • one or more of the first support 806 and the second support 808 may be coupled to the spine 810 via fasteners, such as nuts, bolts, and/or screws, welding, and/or adhesives.
  • the first support 806 and the second support 808 may each include threaded studs extending from respective ends adjacent the spine 810, so that the studs can be received in receiver holes in the spine 810.
  • Nuts may be used to secure the remote ends of the studs in the receiver holes, thereby securing the first and second supports 806 and 808 to the spine 810.
  • the first support 806 and/or the second support 808 may be integrally formed with the spine 810, thereby coupling the first support 806, the second support 808, and the spine 810 to one another.
  • the example system 800 shown in FIG. 8 also includes a motor 812 associated with the first support 806 and coupled to the rotating body 802 to supply torque to rotate the rotating body 802.
  • the motor 812 may be associated with the second support 808.
  • the motor 812 may be an electric motor.
  • at least one of the motor 812 or the first support 806 may include a bearing 814 configured to facilitate rotation of the rotating body 802.
  • the first support 806 may include a bore through the support and receiving the bearing.
  • the bearing may be incorporated into the motor 812. In the example shown in FIG.
  • the first support includes a bore 814 through the first support 806, and the motor 812 is coupled to a side of the first support 806 adjacent the rotating body 802.
  • the motor 812 may be coupled to the first support 806 via fasteners, such as nuts, bolts, and/or screws, welding, and/or adhesives.
  • the motor 812 includes a drive shaft 816 coupled to a transfer plate 817 configured to transfer torque supplied by the motor 812 to the rotating body 802.
  • the transfer plate 817 may be an integral portion of the rotating body 802, or it may be a separate part coupled to the rotating body 802.
  • the motor 812 may be located remotely from the drive shaft 816, and torque from the motor 812 may be provided by a device for transmitting torque from the motor 812 to the drive shaft 816, such as, for example, one or more gears, one or more shafts, one or more belts, and/or one or more chain drives.
  • the motor 812 may be located between the first support 806 and the rotating body 802, for example, as shown in FIG. 8. In some examples, the motor 812 may be located at the other end of the rotating body 802.
  • the rotating body 802 may be associated with one or more electronic devices 818.
  • the electronic devices 818 may be carried by or within the rotating body 802.
  • the electronic devices 818 may include any devices that use electrical power to perform functions, such as, for example, sensors configured to generate sensor signals in the form of data signals, processors configured to manipulate the data signals (e.g., processors that filter, compress, fuse, and/or transform the data signals), and/or controllers to control operation of the sensors and/or the rotating body 802. Other types and functions of electronic devices 818 are contemplated.
  • the second support 808 includes a bore 819 through the second support 808, and a bearing 820 is received in the bore 819 and configured to facilitate rotation of the rotating body 802.
  • the example rotating body 802 includes a stub 822 received by the bearing 820, such that the bearing 820 and the stub 822 facilitate rotation of the rotating body 802.
  • the motor 812 may be associated with the second support 808 instead of the first support 806, and the bore 819, the bearing 820, and the stub 822 may be associated with the first support 806 instead of the second support 808.
  • the example system 800 shown in FIG. 8 also includes an interface 824 including a first interface portion 826 and a second interface portion 828, wherein the first interface portion 826 is configured to transfer at least one of power or data signals between the rotating body 802 and the second interface portion 828.
  • the first interface portion 826 is coupled to an adapter 830.
  • the stub 822 extends through the bearing 820 and the second support 808, and the adapter 830 is coupled to the stub 822 on a side of the second support 808 opposite the rotating body 802, such that the adapter 830 rotates with the rotating body 802.
  • the first interface portion 826 is coupled to the adaptor 830 and configured to transfer at least one of power or data signals between the rotating body 802 and the second interface portion 828.
  • the example system 800 shown in FIG. 8 also includes a third support 832 associated with the spine 810, such that the third support 832 is spaced from and on a side of the adapter 830 opposite the second support 808.
  • the second interface portion 828 is coupled to the third support 832 and configured to transfer at least one of electrical power or data signals between the third support 832 and the first interface portion 826.
  • the second interface portion 828 is coupled to the third support 832 on a side of the third support 832 adjacent the first interface portion 826, with a space between the first interface portion 826 and the second interface portion 828, so that the first interface portion 826 is able to rotate with the rotating body 802, and the second interface portion 828 does not rotate with the rotating body 802.
  • the example third support 832 is coupled to the spine 810 and defines a third longitudinal support axis T transverse to the longitudinal spine axis SP.
  • the second longitudinal support axis S and the third longitudinal support axis T are parallel to one another, for example, as shown.
  • the third support 832 may be coupled to the spine 810 via fasteners, such as nuts, bolts, and/or screws, welding, and/or adhesives.
  • the third support 832 may include threaded studs extending from its end adjacent the spine 810, so that the studs can be received in receiver holes in the spine 810. Nuts may be used to secure the remote ends of the studs in the receiver holes, thereby securing the third support 832 directly to the spine 810.
  • the third support 832 may be integrally formed with the spine 810, thereby coupling the third support 832 and the spine 810 to one another.
  • At least one of the spine 810, the first support 806, the second support 808, or the third support 832 defines a recess configured to receive at least one of an electrical conductor or a data signals link associated with operation of the rotating body 802.
  • each of the spine 810, the first support 806, and the third support 832 defines a recess.
  • the spine 810 defines a spine recess 834 configured to receive at least one of an electrical conductor, a data signals link, or electronic circuitry related to operation of the rotating body 802.
  • electronic circuitry 836 is received in the spine recess 834.
  • the electronic circuitry 836 may include one or more of printed circuit boards, computer modules, electric power modules, programmable controllers, and/or any other known electronic-related components.
  • the example first support 806 shown in FIG. 8 defines a first support recess 838 configured to receive an electrical conductor 840 configured to transfer electrical power from the spine 810 to the motor 812.
  • the electrical conductor 840 extends from the electronic circuitry 836 in the spine recess 834, through an aperture 842 in the spine recess 834, and into the first support recess 838 to the motor 812.
  • operation of the motor 812 may be powered and/or at least partially controlled via the electronic circuitry 836.
  • the example third support 832 defines a third support recess 844 configured to receive at least one of an electrical conductor or a data signals link 846 configured to transfer at least one of electrical power or data signals between the spine 810 and the second interface portion 828, which may be coupled to the third support 832.
  • electrical conductor or a data signals link 846 extends from the electronic circuitry 836 in the spine recess 834, through an aperture 848 in the spine recess 834, and into the third support recess 844 to the second interface portion 828.
  • electrical power and/or data signals may be transferred between the electronic circuitry 836 and the second interface portion 828.
  • the stub 822 defines a stub recess 850 providing a passage between the electronic devices 818 carried by the rotating body 802 and the first interface 826.
  • At least one of an electrical conductor or a data signals link 852 configured to transfer at least one of electrical power or data signals between the first interface portion 826 and the rotating body 802 may pass through the stub recess 850 and the bearing 820 from the electronic devices 818 carried by the rotating body 802 to the first interface 826.
  • electrical power and/or data signals may be transferred between the electronic devices 818 and the first interface portion 826.
  • the second interface portion 828 may include a power transfer device coupled to the third support 832 and configured to transfer electrical power
  • the first interface portion 826 may include a power receiver coupled to the rotating body 802 via the stub 822 and adaptor 830 and configured receive electrical power from the power transfer device via a wireless coupling, for example, as discussed herein.
  • the first interface portion 826 may also include a first data transmitter coupled to the rotating body 802 via the stub 822 and/or the adaptor 830 and configured to transmit data signals.
  • the second interface portion 828 may include a first data receiver coupled to the third support 832 and configured to receive data signals from the first data transmitter via a wireless coupling.
  • the second interface portion 826 may also include a second data transmitter coupled to the third support 832 and configured to transmit data signals.
  • the first interface portion 826 may include a second data receiver coupled to the rotating body 802 via the stub 822 and/or the adaptor 830 and configured to receive data signals from the second data transmitter via a wireless coupling.
  • the power transfer device and the power receiver may each include an inductive coil, and the wireless coupling between the power transfer device and the power receiver may include an inductive coupling, for example, as discussed herein.
  • the power transfer device and the power receiver may be axially aligned with the axis of rotation X of the rotating body 802.
  • the first data transmitter and the first data receiver may each include an optical communication device, and the wireless coupling between the first data transmitter and the first data receiver may include an optical coupling.
  • the first data transmitter and the first data receiver may be axially aligned with the axis of rotation X of the rotating body 802.
  • the second data transmitter and the second data receiver may each include an inductive coil, and the wireless coupling between the second data transmitter and the second data receiver may include an inductive coupling.
  • the second data transmitter and the second data receiver may be axially aligned with the axis of rotation X of the rotating body 802.
  • the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include an optical communication device.
  • the wireless coupling between the first data transmitter and the first data receiver may include an optical coupling
  • the wireless coupling between the second data transmitter and the second data receiver may include an optical coupling.
  • first data transmitter and the second data transmitter may be axially aligned with the axis of rotation X of the rotating body 802, and the first data receiver and the second data receiver may be axially offset from the axis of rotation X of the rotating body 802.
  • first data receiver and the second data receiver may be axially aligned with the axis of rotation of the rotating body 802, and the first data transmitter and the second data transmitter may be axially offset from the axis of rotation X of the rotating body 802.
  • the first data transmitter may be configured to send data signals relating to sensor data from the rotating body to the first data receiver.
  • the second data transmitter may be configured to send data signals for regulating power to the second data receiver.
  • the second data transmitter may be configured to send data signals for controlling operation of the rotating body to the second data receiver.
  • the power transfer device and the power receiver may each include an inductive coil, and the wireless coupling between the power transfer device and the power receiver may include an inductive coupling, for example, as discussed herein.
  • the power is transferred from the inductive coil associated with the second interface portion 828 to the inductive coil associated with the first interface portion 826 by electrical induction.
  • the power transfer device and the power receiver are axially aligned with the axis X of rotation of the rotating body 802.
  • the power transfer device and the power receiver may be a near-field transfer devices.
  • the power transfer device and the power receiver may be configured to transfer electrical power ranging from about 15 watts to about 60 watts, or from about 20 watts to about 50 watts, or from about 30 watts to about 40 watts.
  • the first data transmitter and the first data receiver may be configured to wirelessly transfer data signals via a high-speed wireless link (e.g., a wireless link having a data transfer rate of greater than or equal to 50 kilobits per second (kbps)).
  • the first data transmitter and the first data receiver may each include an optical communication device, and the wireless coupling between the first data transmitter and the first data receiver provides an optical coupling, for example, as discussed herein.
  • the first data transmitter may include an optical transmitter, such as, for example, a light-emitting diode (LED) or a laser diode
  • the first data receiver may include an optical receiver, such as, for example, a photo detector.
  • the first data transmitter and the first data receiver may be axially aligned with the axis of rotation X of the rotating body 802.
  • the first data transmitter and the first data receiver may be transceivers configured to both transmit data and receive data, such as, for example, transceivers that include photodiodes configured to operate in both transmitting and receiving modes, rendering them bi-directional. Other types of high-speed wireless links are contemplated.
  • the second data transmitter and the second data receiver may be configured to provide bi-directional data transfer, for example, as discussed herein.
  • the second data transmitter may be configured to receive data
  • the second data receiver may be configured to transmit data, thus reversing functions.
  • both the second data transmitter and the second data receiver may be configured to send and receive data.
  • the second data transmitter and the second data receiver may be configured to wirelessly transfer data signals via a low-speed wireless link (e.g., a wireless link having a data transfer rate of less than 20 kbps).
  • the second data transmitter and the second data receiver may be configured to wirelessly transfer data signals via a medium-speed wireless link (e.g., a wireless link having a data transfer rate ranging from about 25 kbps to about 30 kbps (e.g., about 28 kbps)).
  • the second data transmitter and the second data receiver each include an inductive coil, and the wireless coupling between the second data transmitter and the second data receiver provides an inductive coupling.
  • the second data transmitter and the second data receiver may be axially aligned with the axis of rotation X of the rotating body 802. Other types of low-speed and medium-speed wireless links are contemplated.
  • the second data transmitter and the second data receiver may be configured to wirelessly transfer data signals via a high-speed wireless link (e.g., a wireless link having a data transfer rate of greater than or equal to 50 kilobits per second (kbps)).
  • the second data transmitter and the second data receiver may each include an optical communication device, and the wireless coupling between the second data transmitter and the second data receiver provides an optical coupling.
  • the second data transmitter may include an optical transmitter, such as, for example, an LED or a laser diode
  • the second data receiver may include an optical receiver, such as, for example, a photo detector.
  • the second data transmitter and the second data receiver may be axially aligned with the axis of rotation X of the rotating body 802. Other types of high-speed wireless links are contemplated.
  • the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may be configured to wirelessly transfer data signals via a high-speed wireless link, for example, as discussed herein.
  • the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver each include an optical communication device, the wireless coupling between the first data transmitter and the first data receiver provides an optical coupling, and the wireless coupling between the second data transmitter and the second data receiver provides an optical coupling.
  • the first data transmitter and the second data transmitter may each include an optical transmitter, such as, for example, an LED or a laser diode, and the first data receiver and the second data receiver may each include an optical receiver, such as, for example, a photo detector.
  • the first data transmitter, the first data receiver may be configured to provide uni-directional data transfer
  • the second data transmitter and the second data receiver may be configured to provide uni-directional data transfer
  • the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may be transceivers configured to both transmit data and receive data, such as, for example, transceivers that include photodiodes configured to operate in both transmitting and receiving modes, rendering them bi-directional.
  • the interface 824 may be resistant to interference with the power transfer and/or the data transfer that might otherwise alter, corrupt, or block the power and/or data transfer. This may be beneficial when the interface 824 is used in association with devices or machines for which interruption of the power and/or data transfer may be particularly undesirable. For example, in machines that operate with little or no human control, interruption of the transfer of power and/or data to a part of the machine may contribute to the occurrence of an accident. For example, for an autonomous vehicle having little or no human control, sensors may be used to assist with guidance and/or object avoidance.
  • the interface 824 may be resistant to interference with the power transfer and/or the data transfer that might otherwise alter, corrupt, or block the power and/or data transfer, regardless of whether such interference is accidental or intentional.
  • some examples may include a cover 854 configured to cover the spine recess 834.
  • the cover 854 may include one or more cover passages 856 configured to provide a passage from the spine recess 834 to exterior the cover 854. In some examples, these passages may facilitate transfer of electrical power and/or data signals between the support assembly 804 and other portions of a machine, such as, for example, a vehicle.
  • FIGS. 9-15 schematically depict an example sensor assembly 900 configured to generate sensor data in the form of data signals, and transmit the data signals from the sensor assembly 900 to one or more processors for use of the data signals.
  • the example sensor assembly 900 shown in FIGS. 9-15 includes light detection and ranging (LIDAR) sensors configured to sense objects in an environment surrounding the sensor assembly 900.
  • LIDAR light detection and ranging
  • a LIDAR sensor emits pulses of laser light and estimates to the distance between the sensor and an object in the environment surrounding the sensor based on the time for a reflected return light signal to reach the sensor.
  • the example sensor assembly 900 shown in FIGS. 9-15 may include different or additional types of sensors.
  • the example sensor assembly 900 includes a spine 810 configured to couple the sensor assembly 900 to a platform, such as, for example, a vehicle for which the sensor signals may be used.
  • the sensor assembly 900 may include a protective casing 902 configured to protect the sensor assembly 900 from environmental elements and/or provide a specified design appearance.
  • the example protective casing 902 includes a first shell portion 904 coupled to the spine 810.
  • the example first shell portion 904 includes a hat-shaped portion 906 configured to cover an upper end (i.e., in the orientation depicted) of the rotating body 802 of the sensor assembly 900, and an extension 908 configured to extend to the spine 810.
  • the example protective casing 902 also includes a second shell portion 910 coupled to a third support 832 (see FIG. 13) and/or the spine 810.
  • the example second shell portion 910 includes a hollow cylindrical portion 912 having a closed end 914 and an open side 916 configured to fit around the rotating body 802 of the sensor assembly 900.
  • the example protective casing 902 also includes a lens 918 coupled to the spine 810 and the first and second shell portions 904 and 910.
  • the lens 918 may be coupled to the protective casing 902, which may be coupled to the spine 810. In some examples, the lens 918 may be coupled directly to the spine 810, for example, without being coupled to the protective casing 902.
  • the example lens 918 is ring-shaped and facilitates the passage of light to and from the sensor assembly 900 as the rotating body 802 of the sensor assembly 900 rotates within the protective casing 902.
  • One or more O-rings may be provided between the first shell portion 904 and the lens 918, and/or between the lens 918 and the second shell portion 910, where the first shell portion 904, the lens 918, and the second shell portion 910 meet one another, in order to prevent dirt and moisture from entering the protective casing 902.
  • Gaskets and/or sealants may be provided between one or more of the first shell portion 904, the lens 918, and the second shell portion 910, and the spine 810 in order to prevent dirt and moisture from entering the protective casing 902.
  • the example sensor assembly 900 also includes a first support 806 coupled to the spine 810, for example, in a cantilever configuration.
  • the spine 810 may include a slot 1000 in (or adjacent) which an end of the first support 806 is received. Fasteners, welds, and/or adhesives may be used to secure the first support 806 in or adjacent the slot 1000.
  • the example sensor assembly 900 also includes a motor 812 coupled to the first support 806, for example, via one or more fasteners 1002.
  • the motor 812 is coupled to a rotating body 802 of the sensor assembly 900 via a transfer plate 817 and one or more fasteners 1006.
  • the transfer plate 817 is configured to transfer torque from the motor 812 to the rotating body 802, so that the rotating body 802 rotates about its axis of rotation
  • the rotating body 802 body serves as a substantially hollow housing for carrying electronic devices including components of the LIDAR sensors.
  • the rotating body 802 may carry one or more of laser boards 1100 (see FIG. 11) configured to emit laser light, a detector board (not shown) for detecting the return laser signals reflected from an object in the environment surrounding the sensor assembly 900, and one or more reflectors (not shown) configured to deflect the emitted laser light and/or the return signals, and electronic circuitry (not shown) to provide electrical power and control for operation of the sensor assembly 900.
  • the example sensor assembly 900 also includes a lens housing 1008 configured to couple two lenses 1010 and 1012 to the rotating body 802. The lenses 1010 and 1012 are configured to focus the emitted laser light and the return signals for detecting objects in the environment surrounding the sensor assembly 900.
  • the example sensor assembly 900 also includes a second support 808 coupled to the spine 810, for example, in a cantilever manner.
  • the spine 810 includes a second slot 1 102 in (or adjacent) which the second support 808 is received. Fasteners, welds, and/or adhesives may be used to secure the second support 808 in or adjacent the second slot 1 102.
  • the example second support 808 may include a bore 819 receiving a bearing 820, and the rotating body 802 may include a stub 822 received by the bearing 820, such that the stub 822 and the rotating body 802 rotate with the bearing 820.
  • the second support 808, the bearing 820, the motor 812, and the second support 808 facilitate rotation of the rotating body 802 about the axis of rotationX
  • the laser light emitted from the sensor assembly 900 may be directed through a 360- degree sweep of the surrounding environment for detection of obj ects in the surrounding environment (not including the portion of the 360-degrees blocked by the spine 810).
  • the example sensor assembly 900 includes an interface 824 for transferring power and data between a non-rotating body in the form of a third support 832 (see FIG. 13) and the rotating body 802.
  • the example sensor assembly 900 includes a third support 832 coupled to the spine 810, for example, in a cantilever manner.
  • the spine 810 includes a third slot 1200 (see FIG. 12), in (or adjacent) which the third support 832 is received.
  • the third slot 1200 may provide an aperture 848 providing a passage between a recess 844 in the third support 832 and the spine recess 834 (see FIG. 8).
  • the spine 810 may be coupled to, for example, a vehicle that uses the sensor assembly 900 to detect objects surrounding the vehicle.
  • the third support recess 844 may provide a passage for routing electrical conductors and or data links 846 in the form of, for example, fiber optics, wires, and/or cables, between the third support 832 and control and/or power systems of the vehicle.
  • a power system of the vehicle may supply electrical power to the wires and/or cables received by the spine 810 and/or the third support 832.
  • a control system of the vehicle may provide control signals to the fiber optics, wires, and/or cables received by the spine 810 and/or the third support 832.
  • the data signals received by the third support 832 from the rotating body 802 may be supplied to the control systems of the vehicle by the fiber optics, wires, and/or cables.
  • electrical power may be supplied to the third support 832, data signals may be supplied from the vehicle to the third support 832, and/or data signals from the rotating body 802 of the sensor assembly 900 may be supplied via the third support 832 to the control systems of the vehicle.
  • the example interface 824 includes a first interface portion 826 coupled to the rotating body 802 via an adapter 830, and a second interface portion 828 coupled to the third support 832 (see FIG. 13).
  • the second interface portion 828 may include a power transfer device coupled to the third support 832 and configured to transfer electrical power
  • the first interface portion 826 may include a power receiver coupled to the rotating body 802 and configured to receive electrical power from the power transfer device via a wireless coupling.
  • the example first interface portion 826 may also include a first data transmitter coupled to the rotating body 802 of the sensor assembly 900 and configured to transmit data signals, and the second interface portion 828 may include a first data receiver coupled to the third support 832 and configured to receive data signals from the first data transmitter via a wireless coupling.
  • the power transfer device and the power receiver may each include an inductive coil, and the wireless coupling between the power transfer device and the power receiver may provide an inductive coupling.
  • the power receiver may be coupled to the rotating body 802 of the sensor assembly 900 by the adapter 830, for example, as shown in FIGS. 12 and 13.
  • the example adapter 830 may be coupled to the stub 822 of the rotating body 802, for example, so that the adapter 830 is on a side of the second support 808 opposite the rotating body 802 of the sensor assembly 900, with the power receiver being on a side of the adapter 830 opposite the second support 808.
  • the power transfer device of the second interface portion 828 and the power receiver of the first interface portion 826 may be substantially axially aligned with the axis of rotation X of the rotating body 802 (e.g., within technical tolerances), and thus, the respective inductive coils of the power transfer device and the power receiver are axially aligned with one another.
  • the power transfer device and the power receiver may also include electronic circuitry, for example, in the form of programmable circuit boards, configured to control operation of the inductive coils.
  • electrical power may be transmitted wirelessly via induction from a power source associated with the vehicle to the electrically powered devices carried by the rotating body 802.
  • the example first data transmitter of the first interface portion 826 shown in FIGS. 12 and 13 is configured to send data signals relating to sensor data from the rotating body 802 of the sensor assembly 900 to the first data receiver of the second interface portion 828.
  • sensor signals in the form of data signals from the LIDAR sensors may be wirelessly transmitted by the first data transmitter to the first data receiver, so that the data signals may be transmitted from the sensor assembly 900 to one or more controllers of the vehicle.
  • the first data transmitter and the first data receiver may be configured to wirelessly transfer data signals via a high-speed wireless link (e.g., a wireless link having a data transfer rate of greater than or equal to 50 kbps).
  • the first data transmitter and the first data receiver may each include an optical communication device, and the wireless coupling between the first data transmitter and the first data receiver provides an optical coupling.
  • the first data transmitter may include an optical transmitter, such as, for example, an LED or a laser diode
  • the first data receiver may include an optical receiver, such as, for example, a photo detector.
  • the first data transmitter and the first data receiver may be axially aligned with the axis of rotation X of the rotating body 802.
  • data signals may be transmitted wirelessly from the LIDAR sensors and electronics carried by the rotating body 802 of the sensor assembly 900 to one or more controllers associated with the vehicle.
  • Other types of high-speed wireless links are contemplated.
  • the example second interface portion 828 of the interface 824 may also include a second data transmitter coupled to the third support 832 and configured to transmit data signals
  • the example first interface portion 826 may include a second data receiver coupled to the rotating body 802 of the sensor assembly 900 and configured to receive data signals from the second data transmitter via a wireless coupling.
  • the second data transmitter is configured to send data signals for regulating power supplied to the electronic devices, including components of the LIDAR sensors carried by the rotating body 802, to the second data receiver.
  • the second data transmitter is configured to send data signals for controlling operation of the rotating body 802 of the sensor assembly 900 to the second data receiver, such as, for example, control signals related to controlling rotation of the rotating body 802 of the sensor assembly 900 via control of the motor 812.
  • the second data transmitter and the second data receiver may be configured to wirelessly transfer data signals via a low-speed wireless link (e.g., a wireless link having a data transfer rate of less than 50 kbps).
  • a low-speed wireless link e.g., a wireless link having a data transfer rate of less than 50 kbps.
  • the second data transmitter and the second data receiver may each include an inductive coil, and the wireless coupling between the second data transmitter and the second data receiver may provide an inductive coupling.
  • the second data transmitter and the second data receiver may be axially aligned with the axis of rotation ⁇ ⁇ the rotating body 802. Other types of low-speed wireless links are contemplated.
  • the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may be configured to wirelessly transfer data signals via a high-speed wireless link.
  • the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include an optical communication device, the wireless coupling between the first data transmitter and the first data receiver may provide an optical coupling, and the wireless coupling between the second data transmitter and the second data receiver may provide an optical coupling.
  • the first data transmitter and the second data transmitter may each include an optical transmitter, such as, for example, an LED or a laser diode, and the first data receiver and the second data receiver may each include an optical receiver, such as, for example, a photo detector.
  • the respective inductive coils of the second data transmitter and the second data receiver of the sensor assembly 900 may be replaced by respective optical communication devices.
  • the first data transmitter and the second data transmitter may be axially aligned with the axis of rotation X of the rotating body 802 of the sensor assembly 900, and the first data receiver and the second data receiver may not be axially aligned with the axis of rotation X of the rotating body 802.
  • the first data transmitter may be associated with the rotating body 802, such that it is located on the axis of rotation X
  • the first data receiver is associated with the third support 132, such that it is not located on the axis of rotationX
  • the first data receiver which is stationary, may be oriented such that it receives the data signals (e.g., optical data signals) from the first data transmitter as the first data transmitter rotates with the rotating body 802 of the sensor assembly 900.
  • the second data receiver which may revolve about and be spaced from the axis X of the rotating body 802 as the rotating body 802 rotates, may be oriented such that it receives the data signals (e.g., optical data signals) from the second data transmitter, which is stationary.
  • one or more of the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may be supplemented with reflectors and/or lenses to assist with maintaining the communication link between the first data transmitter and the first data receiver, and/or the communication link the between the second data transmitter and the second data receiver.
  • cross-talk or interference between the first data transmitter and the first data receiver pair, and between the second data transmitter and the second data receiver pair may be mitigated or eliminated via, for example, time sharing techniques and/or by use of bandpass filtering and differences in the communication signals of the pairs (e.g., different frequencies and/or wavelengths of the signals between the pairs). Other techniques are contemplated.
  • first data receiver and the second data receiver may be axially aligned with the axis of rotation X of the rotating body 802 of the sensor assembly 900, and the first data transmitter and the second data transmitter may not be axially aligned with the axis of rotation X of the rotating body 802.
  • the example spine 810 of the sensor assembly 900 includes a spine recess 834 configured to receive at least one of an electrical conductor, a data signals link, or electronic circuitry related to operation of the rotating body 802.
  • the spine recess 834 provides a cavity 1400 for receiving an electrical conductor, a data signals link, and/or electronic circuitry.
  • the example sensor assembly 900 includes electronic circuitry 836 received in the cavity 1400.
  • the example electronic circuitry 836 may include one or more of printed circuit boards, computer modules, electric power modules, programmable controllers, and/or any other known electronic-related components.
  • the electronic circuitry 836 may include printed circuit boards, computer modules, electric power modules, and/or programmable controllers associated with operation of electronic devices carried by the rotating body 802.
  • An example interface for transferring power and data between a non- rotating body and a rotating body having an axis of rotation comprising: a power transfer device coupled to the non-rotating body and configured to transfer electrical power;
  • a power receiver coupled to the rotating body and configured to receive electrical power from the power transfer device via a wireless coupling
  • a first data transmitter coupled to the rotating body and configured to transmit data signals
  • a first data receiver coupled to the non-rotating body and configured to receive data signals from the first data transmitter via a wireless coupling
  • a second data transmitter coupled to the non-rotating body and configured to transmit data signals
  • a second data receiver coupled to the rotating body and configured to receive data signals from the second data transmitter via a wireless coupling
  • the wireless coupling between the power transfer device and the power receiver comprises an inductive coupling
  • first data transmitter and the first data receiver each comprise an optical communication device
  • wireless coupling between the first data transmitter and the first data receiver comprises an optical coupling.
  • [00135] F The interface of any one of example A through example E, wherein the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver each comprise an optical communication device, and wherein the wireless coupling between the first data transmitter and the first data receiver comprises an optical coupling, and the wireless coupling between the second data transmitter and the second data receiver comprises an optical coupling.
  • An example interface for transferring power and data between a non- rotating body and a rotating body having an axis of rotation comprising: a power transfer device coupled to the non-rotating body and configured to transfer electrical power;
  • a power receiver coupled to the rotating body and configured to receive electrical power from the power transfer device via a wireless coupling
  • a first data transmitter coupled to the rotating body and configured to transmit data signals
  • a first data receiver coupled to the non-rotating body and configured to receive data signals from the first data transmitter via a wireless coupling
  • the wireless coupling between the power transfer device and the power receiver comprises an inductive coupling
  • the first data transmitter is configured to send data signals relating to sensor data from the rotating body to the first data receiver.
  • a second data transmitter coupled to the non-rotating body and configured to transmit data signals
  • a second data receiver coupled to the rotating body and configured to receive data signals from the second data transmitter via a wireless coupling.
  • T The interface of any one of example N through example S, wherein the second data transmitter is configured to send data signals for controlling operation of the rotating body to the second data receiver.
  • V The interface of any one of example N through example U, wherein the second data transmitter and the second data receiver are axially aligned with the axis of rotation of the rotating body.
  • W The interface of any one of example N through example V, wherein the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver each comprise an optical communication device, and wherein the wireless coupling between the first data transmitter and the first data receiver comprises an optical coupling, and the wireless coupling between the second data transmitter and the second data receiver comprises an optical coupling.
  • X The interface of any one of example N through example W, wherein the first data transmitter and the second data transmitter are positioned along the axis of rotation of the rotating body, and the first data receiver and the second data receiver are axially offset from the axis of rotation of the rotating body.
  • a second data transmitter coupled to the non-rotating body and configured to transmit data signals
  • a second data receiver coupled to the rotating body and configured to receive data signals from the second data transmitter via a wireless coupling
  • first data transmitter and the first data receiver are configured to provide uni-directional data transfer, and wherein the second data transmitter and the second data receiver are configured to provide bi-directional data transfer.
  • An example sensor assembly comprising:
  • a rotating body comprising at least one sensor configured to generate sensor data signals obtained during rotation of the rotating body
  • non-rotating body associated with the rotating body such that the rotating body rotates about an axis of rotation that passes through the non-rotating body
  • an interface for transferring power and data between the non-rotating body and the rotating body, the interface comprising:
  • a power transfer device coupled to the non-rotating body and configured to transfer electrical power
  • a power receiver coupled to the rotating body and configured to receive electrical power from the power transfer device via a wireless coupling
  • a first data transmitter coupled to the rotating body and configured to transmit data signals
  • a first data receiver coupled to the non-rotating body and configured to receive data signals from the first data transmitter via a wireless coupling
  • the wireless coupling between the power transfer device and the power receiver comprises an inductive coupling
  • the first data transmitter is configured to send data signals relating to sensor data from the rotating body to the first data receiver.
  • CC The sensor assembly of example BB, wherein the at least one sensor comprises a light detection and ranging (LIDAR) sensor.
  • LIDAR light detection and ranging
  • DD The sensor assembly of example BB or example CC, wherein the interface is configured to supply electrical power to the at least one sensor and at least partially control operation of the at least one sensor.
  • HH The sensor assembly of any one of example BB through example GG, wherein the non-rotating body and the rotating body are coupled to one another.
  • II. The sensor assembly of any one of example BB through example HH, wherein the power transfer device and the power receiver each comprise an inductive coil, and wherein the power transfer device and the power receiver are axially aligned with the axis of rotation of the rotating body.
  • JJ The sensor assembly of any one of example BB through example II, wherein the first data transmitter and the first data receiver each comprise an optical communication device, and the wireless coupling between the first data transmitter and the first data receiver comprises an optical coupling.
  • KK The sensor assembly of any one of example BB through example JJ, wherein the first data transmitter and the first data receiver are axially aligned with the axis of rotation of the rotating body.
  • a second data transmitter coupled to the non-rotating body and configured to transmit data signals
  • a second data receiver coupled to the rotating body and configured to receive data signals from the second data transmitter via a wireless coupling.
  • MM The sensor assembly of any one of example BB through example LL, wherein the second data transmitter is configured to send data signals for regulating power to the second data receiver.
  • NN The sensor assembly of any one of example BB through example MM, wherein the second data transmitter is configured to send data signals for controlling operation of the rotating body to the second data receiver.
  • data signals relate to sensor data from the rotating body.
  • a first support defining a first longitudinal support axis and configured to support the rotating body, such that the rotating body is rotatable relative to the first support, and the rotation axis is transverse to the first longitudinal support axis;
  • a second support defining a second longitudinal support axis and configured to support the rotating body, such that the rotating body is rotatable relative to the second support, and the rotation axis is transverse to the second longitudinal support axis;
  • a spine defining a longitudinal spine axis, the spine being coupled to the first support and the second support, and extending between the first support and the second support, wherein the longitudinal spine axis is transverse to the first longitudinal support axis and the second longitudinal support axis; and a motor associated with at least one of the first support or the second support, and configured to supply torque to rotate the rotating body,
  • At least one of the spine, the first support, or the second support defines a recess configured to receive at least one of an electrical conductor or a data signals link associated with operation of the rotating body.
  • UU The support assembly of any one of example RR through example TT, wherein at least one of the first longitudinal support axis or the second longitudinal support axis is perpendicular with respect to the longitudinal spine axis.
  • VV The support assembly of any one of example RR through example UU, wherein the spine, the first support, and the second support are coupled to one another, such that the spine axis is configured to be spaced from and parallel to the rotation axis of the rotating body.
  • XX The support assembly of any one of example RR through example WW, wherein the spine defines a recess configured to receive at least one of the electrical conductor, the data signals link, or electronic circuitry related to operation of the rotating body.
  • YY The support assembly of any one of example RR through example XX, wherein at least one of the first support or the second support defines a recess configured to receive at least one of the electrical conductor or the data signals link.
  • AAA The support assembly of any one of example RR through example ZZ, wherein the third support is coupled to the spine and defines a third longitudinal support axis transverse to the longitudinal spine axis.
  • BBB The support assembly of any one of example RR through example AAA, wherein the third support defines a third longitudinal support axis, and the second longitudinal support axis and the third longitudinal support axis are parallel to one another.
  • CCC The support assembly of any one of example RR through example BBB, wherein the third support defines a recess configured to receive at least one of an electrical conductor or a data signals link.
  • DDD An example system comprising:
  • a rotating body defining a rotational axis and configured to support at least one sensor configured to generate sensor signals
  • a support assembly coupled to and supporting the rotating body, such that the rotating body rotates about the rotational axis
  • the support assembly comprising: a first support defining a first longitudinal support axis and supporting the rotating body, such that the rotating body is rotatable relative to the first support, and the rotation axis is transverse to the first longitudinal support axis; a second support defining a second longitudinal support axis and supporting the rotating body, such that the rotating body is rotatable relative to the second support, and the rotation axis is transverse to the second longitudinal support axis;
  • a spine defining longitudinal spine axis, the spine being coupled to the first support and the second support, and extending between the first support and the second support;
  • a motor associated with at least one of the first support or the second support, and coupled to the rotating body to supply torque to rotate the rotating body
  • longitudinal spine axis is transverse to the first longitudinal support axis and the second longitudinal support axis.
  • EEE The system of example DDD, wherein at least one of the spine, the first support, or the second support defines a recess configured to receive at least one of an electrical conductor or a data signals link associated with operation of the rotating body.
  • FFF The system of example DDD or example EEE, wherein the motor is associated with the first support, and at least one of the motor or the first support comprises a first bearing configured to facilitate rotation of the rotating body.
  • GGG The system of any one of example DDD through example FFF, wherein the first support defines a recess configured to receive an electrical conductor configured to transfer electrical power from the spine to the motor.
  • HHH The system of any one of example DDD through example GGG, further comprising a second bearing associated with the second support, and configured to facilitate rotation of the rotating body.
  • III The system of any one of example DDD through example HHH, wherein the rotating body comprises a stub received by the second bearing, such that the second bearing and the stub facilitate rotation of the rotating body.
  • KKK The system of any one of example DDD through example JJJ, further comprising a first interface portion coupled to the adapter and configured to transfer at least one of power or data signals between the rotating body and a second interface portion.
  • N The system of any one of example DDD through example MMM, further comprising a second interface portion coupled to the third support and configured to transfer at least one of electrical power or data signals between the third support and the first interface portion.

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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)
  • Signal Processing (AREA)
  • Power Engineering (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne une interface permettant de transférer de l'énergie et des données entre un corps non rotatif et un corps rotatif qui peut comprendre un dispositif de transfert d'énergie couplé au corps non rotatif, et un récepteur d'énergie couplé au corps rotatif et conçu pour recevoir de l'énergie électrique provenant du dispositif de transfert d'énergie. L'interface peut en outre comprendre un premier émetteur de données couplé au corps rotatif, et un premier récepteur de données couplé au corps non rotatif et configuré pour recevoir des signaux de données provenant du premier émetteur de données. L'interface peut également comprendre un second émetteur de données couplé au corps non rotatif, et un second récepteur de données couplé au corps rotatif et configuré pour recevoir des signaux de données provenant du second émetteur de données. Le couplage sans fil entre le dispositif de transfert d'énergie et le récepteur d'énergie peut comprendre un couplage inductif, et le premier émetteur de données et le premier récepteur de données peuvent chacun comprendre un dispositif de communication optique.
EP17835971.7A 2016-12-30 2017-12-20 Interface permettant de transférer de l'énergie et des données entre un corps non rotatif et un corps rotatif Pending EP3563467A1 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201662440683P 2016-12-30 2016-12-30
US201662440671P 2016-12-30 2016-12-30
US15/487,110 US10742088B2 (en) 2016-12-30 2017-04-13 Support assembly for rotating body
US15/487,044 US10122416B2 (en) 2016-12-30 2017-04-13 Interface for transferring power and data between a non-rotating body and a rotating body
PCT/US2017/067553 WO2018125709A1 (fr) 2016-12-30 2017-12-20 Interface permettant de transférer de l'énergie et des données entre un corps non rotatif et un corps rotatif

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EP3563467A1 true EP3563467A1 (fr) 2019-11-06

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CN110441756B (zh) * 2019-10-10 2020-05-08 深圳市速腾聚创科技有限公司 数据传输装置及激光雷达系统
CN112840230B (zh) 2019-10-10 2024-04-09 深圳市速腾聚创科技有限公司 数据传输装置、激光雷达及智能设备
JP2022182112A (ja) * 2021-05-27 2022-12-08 本田技研工業株式会社 照射装置

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CN110226276B (zh) 2024-05-14
JP7308757B2 (ja) 2023-07-14
JP2020504594A (ja) 2020-02-06

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