JP7308757B2 - Interface for power and data transmission between non-rotating and rotating bodies - Google Patents

Description

This PCT International Patent Application is filed April 13, 2017, U.S. Patent Application No. 15/487,044, U.S. Patent Application No. 15/487,110, filed April 13, 2017 Specification, U.S. Provisional Application No. 62/440,671 filed December 30, 2016 and U.S. Provisional Application No. 62/440,683 filed December 30, 2016 Priority benefit of the specification is claimed, the entire disclosure of which is incorporated herein by reference.

The present disclosure relates to interfaces for transmitting power and/or data between non-rotating and rotating bodies.

There are situations where it is beneficial to transmit power and data between a non-rotating body and a rotating body. For example, if the rotating body includes an electronic device that requires power for its operation, it may be beneficial to transfer power to the rotating body from a non-rotating body connected to a power supply. Additionally, if an electronic device contained in the rotating body generates the data signal, it may be beneficial to transmit the data signal from the electronic device associated with the rotating body to the non-rotating body. However, rotation of the rotating body may preclude the use of hardwired connections between rotating and non-rotating bodies. As a result, it can also be beneficial to support rotating bodies for transmitting power and data between non-rotating bodies and rotating bodies.

The detailed description is described with reference to the accompanying figures. In the figures, the leftmost digit of a reference number identifies the figure in which the reference number first appears. The same reference numbers in different figures indicate similar or identical items.

1 is a partial schematic side view of an exemplary non-rotating body, an exemplary rotating body, and an exemplary interface for transmitting power and data between the non-rotating body and the rotating body; FIG. 1B is a schematic bottom view of an example rotating body and a portion of the example interface shown in FIG. 1A; FIG. 1B is a partial schematic top view of an example non-rotating body and a portion of the example interface shown in FIG. 1A; FIG. 1 is a partial schematic side view of an exemplary non-rotating body, an exemplary rotating body, and another exemplary interface for transmitting power and data between the non-rotating body and the rotating body; FIG. 2B is a schematic bottom view of an example rotating body and a portion of the example interface shown in FIG. 2A; FIG. 2B is a partial schematic top view of an example non-rotating body and a portion of the example interface shown in FIG. 2A; FIG. 1 is a schematic perspective view of an exemplary sensor assembly; FIG. 4 is a schematic perspective view of a portion of the exemplary sensor assembly shown in FIG. 3; FIG. 4 is a schematic perspective view of a portion of the exemplary sensor assembly shown in FIG. 3, shown from a different angle; FIG. 6 is a schematic perspective view of a portion of the exemplary sensor assembly shown in FIG. 3, including a portion of the exemplary interface, shown from the same angle as FIG. 5; FIG. 6 is a schematic perspective view of a portion of the exemplary sensor assembly shown in FIG. 3 including an exemplary interface, shown from the same angle as FIG. 5; FIG. 1 is a partial schematic cross-sectional side view of an exemplary system including an exemplary rotating body and an exemplary support assembly for supporting the rotating body; FIG. 1 is a schematic perspective view of an exemplary system including a sensor assembly; FIG. FIG. 10 is a schematic perspective view of a portion of the exemplary sensor assembly shown in FIG. 9; Figure 10 is a schematic perspective view of a portion of the exemplary sensor assembly shown in Figure 9 , shown from a different angle; 12 is a schematic perspective view of a portion of the exemplary sensor assembly shown in FIG. 9 including a portion of an exemplary interface, shown from the same angle as FIG. 11; FIG. 12 is a schematic perspective view of a portion of the exemplary sensor assembly shown in FIG. 9 including an exemplary interface shown from the same angle as FIG. 11; FIG. 14 is a schematic perspective view of the exemplary sensor assembly shown in FIG. 13, shown from a reverse angle; FIG. 15 is a schematic perspective view of the exemplary sensor assembly shown in FIG. 14 with exemplary electronic circuitry; FIG.

As previously discussed, it may be beneficial to transmit power and data between non-rotating and rotating bodies. For example, if the rotating body includes an electronic device that requires power for its operation, it may be beneficial to transfer power to the rotating body from a non-rotating body connected to a power supply. Additionally, if an electronic device contained in the rotating body generates the data signal, it may be beneficial to transmit the data signal from the electronic device associated with the rotating body to the non-rotating body. However, the rotation of the rotating body may preclude the use of hardwired connections between rotating and non-rotating bodies.

For example, the rotating body may include one or more sensors that generate data signals in the form of sensor signals. The operation of one or more sensors may require electrical power, thus transferring power from a non-rotating body connected to a power supply to one or more sensors carried by a rotating body. it may be necessary to In addition, it may be beneficial to control the power transmitted to the rotating body to provide suitable power characteristics for the sensor(s) and any other powered devices carried by the rotating body. . It may also be beneficial to transmit sensor signals generated by one or more sensors to a location remote from the rotating body, such as a non-rotating body. Additionally, for some applications it may be beneficial to prevent interference from altering or corrupting power and sensor signals as they are transmitted between non-rotating and rotating bodies.

The present disclosure relates generally to interfaces for transmitting power and data between non-rotating and rotating bodies. For example, some examples of interfaces may transfer power from a non-rotating body to a rotating body. For example, the non-rotating body may be electrically connected to a power supply and the interface may transmit power from the power supply to the rotating body. Some examples of interfaces may transmit data signals from rotating bodies to non-rotating bodies. For example, the rotating body may carry one or more sensors configured to generate sensor signals, and the interface transmits the sensor signals in the form of data signals from the rotating body to the non-rotating body. may Some examples of interfaces may transmit data signals from a non-rotating body to a rotating body. For example, the data signals may be used to control characteristics of power used by one or more sensors and other electrically powered devices carried by the rotating body. In some examples, transmission of power and/or data signals between non-rotating and rotating bodies may be resistant to alteration or corruption from interference.

In some examples, the interface may be used with a vehicle to provide transmission of power and data signals between the vehicle and one or more sensors carried by the rotating body. For example, the interface may be configured to connect to a non-rotating body connected to the vehicle and to a rotating body. The interface may be configured to transmit power to one or more sensors and other powered devices carried by the rotating body. The interface may be configured to transmit sensor signals in the form of data signals from one or more sensors carried by the rotating body to the non-rotating body, e.g. Sensor signals may be incorporated into strategies to control aspects of the operation of the .

In some examples, an interface may be provided to transfer power and data between a non-rotating body and a rotating body with an axis of rotation. The interface includes a power transmission device connected to the non-rotating body and configured to transmit power, and a power receiver connected to the rotating body and configured to receive power from the power transmission device via wireless coupling. and The interface is connected to the rotating body and configured to transmit data signals, and is connected to the non-rotating body and receives data signals from the first data transmitter via wireless coupling. and a first data receiver configured to. The interface also includes a second data transmitter connected to the non-rotating body and configured to transmit a data signal, and a second data transmitter connected to the rotating body and transmitting the data signal from the second data transmitter via the wireless coupling. and a second data receiver configured to receive. Wireless coupling between the power transmission device and the power receiver may include inductive coupling. The first data transmitter and first data receiver may each include optical communication devices, and wireless coupling between the first data transmitter and first data receiver may include optical coupling. For example, the optical coupling may be free space optical coupling.

In some examples, the power transmission device and power receiver may each include an induction coil. In some examples, the power transmission device and the power receiver may be axially aligned with the axis of rotation of the rotating body. In some examples, the first data transmitter and the first data receiver may be axially aligned with the axis of rotation of the rotating body.

In some examples, wireless coupling between the second data transmitter and the second data receiver may include inductive coupling. In some examples, the second data transmitter and the second data receiver can each include an inductive coil. In some examples, the second data transmitter and the second data receiver may be axially aligned with the axis of rotation of the rotating body.

In some examples, the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include optical communication devices. Wireless coupling between the first data transmitter and the first data receiver may comprise optical coupling and wireless coupling between the second data transmitter and the second data receiver may comprise optical can include selective coupling. In some examples, the optical coupling may be free-space optical coupling. In some examples, the 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 It can be axially offset from the axis of rotation. In other examples, the 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 are aligned with the rotation of the rotating body. It can be axially offset from the axis.

In some examples, the first data transmitter may be configured to send data signals associated with sensor data from the rotating body to the first data receiver. In some examples, the second data transmitter may be configured to send a data signal for adjusting power to the second data receiver. In some examples, the second data transmitter may be configured to send data signals to the second data receiver for controlling operation of the rotating body.

In some examples, the rotating body may be substantially cylindrical and the non-rotating body may be a substantially flat surface. In some examples, a first data transmitter and a first data receiver may be configured to provide unidirectional data transmission, and a second data transmitter and a second data receiver may be configured to provide bidirectional data transmission. may be configured to provide transmission.

In some examples, an interface may be provided to transfer power and data between a non-rotating body and a rotating body with an axis of rotation. The interface includes a power transmission device connected to the non-rotating body and configured to transmit power, and a power receiver connected to the rotating body and configured to receive power from the power transmission device via wireless coupling. and The interface also includes a first data transmitter connected to the rotating body and configured to transmit a data signal, and a non-rotating body to transmit the data signal from the first data transmitter via the wireless coupling. and a first data receiver configured to receive. The first data transmitter and the first data receiver may each include optical communication devices, and wireless coupling between the first data transmitter and the first data receiver may include optical coupling. For example, the optical coupling may be free space optical coupling. Wireless coupling between the power transmission device and the power receiver may include inductive coupling. In some examples, the power transmission device and power receiver may each include an induction coil. The first data transmitter may be configured to send data signals associated with sensor data from the rotating body to the first data receiver.

In some examples, the interface also includes a second data transmitter connected to the non-rotating body and configured to transmit a data signal, and a second data transmitter connected to the rotating body and wirelessly coupling from the second data transmitter. and a second data receiver configured to receive the data signal via. For example, a second data transmitter may be configured to send a data signal for adjusting power to a second data receiver. In some examples, the second data transmitter may be configured to send data signals to the second data receiver for controlling operation of the rotating body.

In some examples, wireless coupling between the second data transmitter and the second data receiver may include inductive coupling. In some examples, the second data transmitter and the second data receiver may each include an inductive coil, the second data transmitter and the second data receiver axially aligned with the axis of rotation of the rotating body. may be

In some examples, the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include optical communication devices. Wireless coupling between the first data transmitter and the first data receiver may comprise optical coupling and wireless coupling between the second data transmitter and the second data receiver may comprise optical can include selective coupling. In some examples, the optical coupling may be free-space optical coupling.

In some examples, the sensor assembly is a rotating body including at least one sensor, the at least one sensor configured to generate a sensor data signal obtained during rotation of the rotating body. can include the 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 passing through the non-rotating body. In some examples, the body of revolution may be configured to rotate an angle of 360 degrees or more in any direction about its axis of rotation, and in some examples, the body of revolution may be less than 360 degrees and reverse its direction of rotation about its axis of rotation. In some examples, the sensor assembly may also include an interface for transmitting power and data between the non-rotating body and the rotating body. The interface includes a power transmission device connected to the non-rotating body and configured to transmit power, and a power receiver connected to the rotating body and configured to receive power from the power transmission device via wireless coupling. and The interface also includes a first data transmitter connected to the rotating body and configured to transmit a data signal, and a non-rotating body to transmit the data signal from the first data transmitter via the wireless coupling. and a first data receiver configured to receive. Wireless coupling between the power transmission device and the power receiver may include inductive coupling. In some examples, the power transmission device and power receiver may each include an induction coil. The first data transmitter may be configured to send data signals associated with sensor data from the rotating body to the first data receiver. The interface may include any of the interfaces disclosed herein.

In some examples, the at least one sensor may include a light detection and ranging (LIDAR) sensor. Other types of sensors are also contemplated. In some examples, the interface may be configured to power and at least partially control operation of the at least one sensor. In some examples, the sensor assembly may further include a housing associated with the rotating body and configured to protect the at least one sensor. In some examples, the housing may include a lens configured to provide an optical path from the at least one sensor to the environment.

In some examples, the non-rotating body may define a substantially planar surface, and the rotating body's axis of rotation may be substantially perpendicular to the planar surface (e.g., rotating The axis of rotation of the body may, within technical tolerances, be perpendicular to the flat surface). In some examples, the axis of rotation of the body of revolution may be orthogonal to the flat surface. In some examples, the non-rotating body and the rotating body may be connected to each other.

As discussed above, there may be situations where it may be beneficial to support a rotating body and transmit power and data between a non-rotating body and a rotating body. For example, it may be beneficial to provide the rotating body to carry one or more sensors configured to generate sensor signals, so that the one or more sensors are located on the rotating body It may be targeted to provide a sensor signal throughout the angular range of rotation of . In addition, electronic devices and sensors carried by the rotating body require power for operation, transmit power to the rotating body when the sensor generates data signals, and are associated with the rotating body. It may be beneficial to transmit data signals from the sensor to the non-rotating body. However, the rotation of the rotating body may preclude the use of hardwired connections between rotating and non-rotating bodies.

For example, the rotating body may include one or more sensors that generate data signals in the form of sensor signals. The operation of one or more sensors may require electrical power, thus transferring power from a non-rotating body connected to a power supply to one or more sensors carried by a rotating body. it may be necessary to In addition, it may be beneficial to control the power transmitted to the rotating body to provide suitable power characteristics for the sensor(s) and any other powered devices carried by the rotating body. . It may also be beneficial to transmit sensor signals generated by one or more sensors to a location remote from the rotating body, such as a non-rotating body. Additionally, for some applications it may be beneficial to prevent interference from altering or corrupting power and sensor signals as they are transmitted between non-rotating and rotating bodies.

The present disclosure relates generally to support assemblies for supporting a rotating body having an axis of rotation about its rotation. Some examples of support assemblies include a first longitudinal support axis configured to support a rotating body such that the rotating body is rotatable relative to the first support. May include support. In some examples, the axis of rotation 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. . In some examples, the axis of rotation may be transverse to the second longitudinal support axis. Also, the support assembly may include a spine defining a longitudinal spine axis. The spine may be connected to the first and second supports and may extend between the first and second supports. In some examples, the longitudinal spine axis may traverse the first and second longitudinal support axes. In some examples, the support assembly may include a motor associated with at least one of the first support or the second support. A motor may be configured to provide torque to rotate the rotating body. In some examples, at least one of the spine, first support, or second support is configured to receive at least one of an electrical conductor or data signal link associated with motion of the rotating body. may define a truncated recess.

In some examples, the motor may include a drive shaft connected to the first support and configured to be connected to the rotating body to supply torque to the rotating body. In some examples, the motor may be connected to the first support on the side of the first support adjacent the rotating body. In some examples, the first support includes a first support recess configured to provide a conduit between the spine and the motor for receiving electrical conductors for providing electrical power to the motor. It's okay.

In some examples, the first and second longitudinal support axes may be parallel to each other. 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 to the longitudinal spine axis. For example, both the first and second longitudinal support axes may be perpendicular to the longitudinal spine axis. In some examples, the spine, first support, and second support are configured such that the spine axis is spaced from and parallel to the axis of rotation of the body of rotation. may be connected to each other.

In some examples, at least one of the first support or the second support may include bearings configured to facilitate rotation of the rotating body. For example, at least one of the first support or the second support may include a bearing-receiving bore.

In some examples, the spine may define a recess configured to receive at least one of electrical conductors, data signal links, or electronic circuitry associated with operation of the rotating body. For example, the spine may define a recess on the side of the spine opposite the first and second supports. In some examples, the spine may include one or more openings that provide conduits for receiving one or more of the electrical conductors and data signal links in recesses. configured to In some examples, the one or more openings are aligned with at least one of the first support or the second support to provide respective conduits from the first and second supports to the recess of the spine. You may Some examples may include a cover configured to cover the recess of the spine. In some examples, the cover may include one or more cover conduits configured to provide a conduit from the recess of the spine to the exterior of the cover. In some examples, these conduits may facilitate transmitting power and/or data signals between the support assembly and other parts of the machine, eg, the vehicle.

In some examples, 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 conductors or data signal links. . For example, both the first and second supports may define respective support recesses. In some examples, the support recesses may provide conduits for at least one of the electrical conductors or data signal links to pass from the respective support recesses to the spine recesses.

In some examples, the support assembly is also associated with the spine such that the third support is spaced from the second support and located on the side of the second support opposite the first support. A third support may also be included. For example, a third support may be connected to the spine and define a third longitudinal support axis transverse to the longitudinal spine axis. In some examples, the second longitudinal support axis and the third longitudinal support axis may be parallel to each other. In some examples, the third support may define a support recess configured to receive at least one of an electrical conductor and a data signal link. In some examples, the support recess of the third support provides a conduit for at least one of the electrical conductors or data signal links passing from the support recess of the third support to the recess of the spine. good too.

The present disclosure also generally relates to a system including a rotating body, the rotating body defining an axis of rotation and configured to support at least one sensor configured to generate a sensor signal. The system may also include a support assembly connected to and supporting the rotating body such that the rotating body rotates about the axis of rotation. 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. In some examples, the axis of rotation 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. In some examples, the axis of rotation may be transverse to the second longitudinal support axis. The support assembly also includes a spine defining a longitudinal spine axis, the spine connected to the first and second supports and extending between the first and second supports. obtain. In some examples, the longitudinal spine axis may traverse the first and second longitudinal support axes. In some examples, the support assembly may include a motor associated with at least one of the first support or the second support, the motor to provide torque to rotate the rotating body. can be configured to

In some examples, the system may also include a second bearing associated with the second support and configured to facilitate rotation of the rotating body. For example, the rotating body may include a stub received by a second bearing such that the second bearing and the stub facilitate rotation of the rotating body. In some examples, the system may also include an adapter connected to a stub on a side of the second support opposite the rotating body such that the adapter rotates with the rotating body. In some examples, the second bearing may be part of the motor.

In some examples, the system may also include an interface including a first interface portion, the first interface portion connected to the adapter to provide power or power between the rotating body and the second interface portion. configured to transmit at least one of the data signals; For example, the system may include at least one of an electrical conductor or a data signal link, the electrical conductor or data signal link being connected to the first interface portion and between the rotating body and the first interface portion. through the second bearing.

In some examples, the system also includes a third support associated with the spine such that the third support is spaced from the adapter and positioned on a side of the adapter opposite the second support. It's okay. In some examples, the system may include a second interface portion, the second interface portion connected to the third support, and a power supply between the third support and the first interface portion. or configured to transmit at least one of the data signals. In some examples, the third support is a conductor or data signal link configured to carry at least one of a power or data signal between the spine and the second interface portion. A support recess configured to receive at least one may be defined. For example, the support recess of the third support may provide a conduit for at least one of the electrical conductors or data signal links to pass from the second interface to the spine recess.

In some examples, the support assembly and system including the rotating body and the support assembly are used with a vehicle to transfer power and/or power between the vehicle and one or more sensors carried by the rotating body. A transmission of data signals may be provided. For example, each interface portion may be configured to connect to a non-rotating body, such as a support connected to a vehicle, and to a rotating body. The interface portion may be configured to transmit power to one or more sensors and other powered devices carried by the rotating body. The interface portion may also be configured to transmit sensor signals in the form of data signals from one or more sensors carried by the rotating body, for example to the support, and the controller of the vehicle may Sensor signals may be incorporated into strategies for controlling aspects of operation. This is merely an exemplary use and other suitable uses are also contemplated.

In some examples, the interface may include a power transmission device and a power receiver, the power transmission device connected to the third support and configured to transmit power, the power receiver connected to the rotating body. and configured to receive power via wireless coupling from a power transmission device. The interface may further include a first data transmitter and a first data receiver, the first data transmitter connected to the rotating body and configured to transmit a data signal, the first data receiver comprising: Connected to the non-rotating body and configured to receive data signals via wireless coupling from the first data transmitter. The interface may also include a second data transmitter and a second data receiver, the second data transmitter coupled to the non-rotating body and configured to transmit the data signal, the second data receiver is connected to the rotating body and configured to receive data signals via wireless coupling from a second data transmitter.

In some examples, the power transmission device and the power receiver may each include an inductive coil, and wireless coupling between the power transmission device and the power receiver may include inductive coupling. In some examples, the power transmission device and the power receiver may be axially aligned with the axis of rotation of the rotating body. In some examples, the first data transmitter and the first data receiver may each include an optical communication device, and wireless coupling between the first data transmitter and the first data receiver is optical Coupling may be included. In some examples, the first data transmitter and the first data receiver may be axially aligned with the axis of rotation of the rotating body. In some examples, the second data transmitter and the second data receiver may each include an inductive coil, and wireless coupling between the second data transmitter and the second data receiver is inductive coupling. can include In some examples, the second data transmitter and the second data receiver may be axially aligned with the axis of rotation of the rotating body. In some examples, the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include optical communication devices. Wireless coupling between the first data transmitter and the first data receiver may comprise optical coupling and wireless coupling between the second data transmitter and the second data receiver may comprise optical can include selective coupling. In some examples, the 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 It does not have to be axially aligned with the axis of rotation. In other examples, the 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 are aligned with the rotation of the rotating body. It does not have to be axially aligned with the axis.

In some examples, the first data transmitter may be configured to send data signals related to sensor data from the rotating body to the first data receiver. In some examples, the second data transmitter may be configured to send a data signal for adjusting power to the second data receiver. In some examples, the second data transmitter may be configured to send data signals to the second data receiver for controlling operation of the rotating body.

The techniques and systems described herein may be implemented in multiple ways. An exemplary implementation is provided below with reference to figures. Although certain examples have been described herein in the context of LIDAR sensors, in other examples the techniques transfer data and/or power between stationary (i.e., non-rotating) and rotating components. can be applied to transmit

FIG. 1A is a schematic side view of an exemplary assembly 100 including a non-rotating body 102 and a rotating body 104. FIG. In the example shown, 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 through the non-rotating body 102 . In some examples, the body of rotation 104 may be configured to rotate an angle of 360 degrees or more in any direction about its axis of rotation X, and in some examples, the body of rotation 104 may: It can be configured to rotate less than 360 degrees and reverse its direction of rotation about its axis X of rotation. For example, rotating body 104 may be configured to swing about its axis X without completing a 360 degree rotation.

In some examples, the non-rotating body 102 may define a substantially flat surface 106, and the rotational axis X of the rotating body 104 may be within engineering tolerances, such as the rotational axis X of the rotating body 104. Within, it may be substantially perpendicular to the flat surface 106 , just as it may be substantially perpendicular to the flat surface 106 . In some examples, the body of revolution 104 may be substantially cylindrical. In some examples, the axis of rotation X of the body of revolution 104 may be orthogonal to the planar surface 106 . In some examples, the non-rotating body 102 and the rotating body 104 may be connected together. In some examples, non-rotating body 102 may be connected to rotating body 104 such that, for example, non-rotating body 102 at least partially supports rotating body 104 .

In the example shown in FIG. 1A, the assembly 100 includes a support 108 configured to at least partially support the rotating body 104 such that the rotating body 104 can rotate about its axis X of rotation. For example, a bearing 110 may be provided in a bore 112 of support 108 and a shaft 114 may extend through bearing 110 and be connected to rotating body 104 . The example shown includes a motor 116 (eg, an electric motor), which is connected to shaft 114 and configured to apply torque to shaft 114 to rotate the rotating body about axis X. Other arrangements are contemplated. For example, motor 116 may be positioned remotely from shaft 114 and torque from motor 116 may be transferred to a device, such as one or more gears, one or more gears, for transmitting torque from motor 116 to shaft 114 . It may be provided by multiple shafts, one or more belts, and/or one or more chain drives. In some examples, motor 116 may be positioned between support 108 and rotating body 104 . In some examples, the motor 116 may be positioned at the other end of the rotating body 104, such as between the non-rotating body 102 and the rotating body 104, or between the rotating body 104 can be positioned on the opposite side of the non-rotating body 102 from . In some examples, non-rotating body 102 may include bores and/or bearings therein (not shown in FIG. 1A) (eg, similar to bearings 110 associated with support 108), and The rotating body 104 may be at least partially supported so that it can rotate about its axis X.

In some examples, rotating body 104 may be associated with one or more electronic devices 118 . For example, electronic device 118 may be carried by or within rotating body 104 . Electronic device 118 may include, for example, a sensor configured to generate a sensor signal in the form of a data signal, a processor configured to manipulate the data signal (eg, filter, compress, and/or processor to convert), and/or any device that uses power to perform its function, such as a controller to control the operation of sensors and/or rotating body 104 . Other types and functions of electronic device 118 are also contemplated.

The exemplary assembly 100 shown in FIG. 1A also includes an interface 120 for transmitting power and data between the non-rotating body 102 and the rotating body 104. As shown in FIG. The example interface 120 shown in FIGS. 1A-1C includes a power transmission device 122 associated with (eg, connected to) the non-rotating body 102 and configured to transmit power. be done. In the example shown, power transmission device 122 is connected to flat surface 106 of non-rotating body 102 . The example interface 120 also includes a power receiver 124 associated with (eg, connected to) the rotating body 104 and configured to receive power from the power transmission device 122 via wireless coupling. be done. In some examples, wireless coupling between power transmission device 122 and power receiver 124 may include inductive coupling. In the example shown, power receiver 124 is associated with the end of rotating body 104 that faces flat surface 106 . In the example shown, power transmission device 122 and power receiver 124 may each include induction coils 126a and 126b, respectively. In such an example, power is transferred by electrical induction from induction coil 126a to induction coil 126b. In some examples, for example, power transmission device 122 and power receiver 124 are axially aligned with rotation axis X of rotating body 104, as shown. In some examples, power transmission device 122 and power receiver 124 transmit 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. can be configured to

Although the inductive coupling shown in FIGS. 1A-2C includes inductive coils 126a and 126b, other forms of inductive coupling are also contemplated, such as near-field and far-field power transfer devices, for example. . In some examples, the inductive coupling includes resonant inductive coupling, non-resonant inductive coupling, capacitive coupling, resonant capacitive coupling, magnetic dynamic coupling), rotary transformers, and/or radio, micro Coupling via waves and/or light waves may be included.

The example interface 120 shown in FIGS. 1A-1C also includes a first data transmitter 128 and a first data receiver 130, where the first data transmitter 128 is associated with the rotating body 104 (eg, a , connected) and configured to transmit data signals, a first data receiver 130 is associated with (e.g., connected to) the non-rotating body 102 via a wireless coupling from the first data transmitter 128 . configured to receive a data signal; In the example shown, first data transmitter 128 is associated with the end of rotating body 104 facing flat surface 106 and first data receiver 130 is connected to flat surface 106 . First data transmitter 128 may be configured to send data signals (eg, sensor data and/or other data signals) from rotating body 104 to first data receiver 130 , where first data receiver 130 is associated with the non-rotating body 102 . In some examples, first data transmitter 128 and first data receiver 130 may be configured to provide unidirectional data transmission. In some examples, first data transmitter 128 and first data receiver 130 wirelessly transmit data signals over a high-speed wireless link (eg, a wireless link having a data transmission rate of 50 kilobits per second (kbps) or greater). can be configured to transmit to For example, first data transmitter 128 and first data receiver 130 may each include optical communication devices, and wireless coupling between first data transmitter 128 and first data receiver 130 may be optical provide coupling. For example, the optical coupling may be free space optical coupling. In some examples, first data transmitter 128 may include an optical transmitter, such as a light emitting diode (LED) or laser diode, and first data receiver 130 may include an optical receiver, such as a photodetector. may include utensils, etc. In some examples, the first data transmitter 128 and the first data receiver 130 are axially aligned with the rotation axis X of the rotating body 104, eg, as shown in FIG. 1A. In some examples, first data transmitter 128 and first data receiver 130 may be transceivers configured to both transmit data and receive data, e.g. It may be a transceiver or the like that includes a photodiode configured to operate in both transmit and receive modes, making them bi-directional. In some examples, optical transmissions may include visible and/or invisible light (eg, infrared light). Other types of high speed wireless links are also contemplated.

In the examples shown in FIGS. 1A-1C and 2A-2C, interface 120 includes a second data transmitter 132 and a second data receiver 134, where second data transmitter 132 is connected to non-rotating body 102. A second data receiver 134 is connected to the rotating body 104 and configured to receive data signals from the second data transmitter 132 via a wireless coupling. be done. In some examples, second data transmitter 132 is configured to send data signals to second data receiver 134 to adjust the power supplied to electronic device 118 . In some examples, second data transmitter 132 is configured to send data signals to second data receiver 134 for controlling operation of rotating body 104 , where the data signals are, for example, For example, how fast and/or in which direction the rotating body 104 should rotate.

In some examples, second data transmitter 132 and second data receiver 134 may be configured to provide bi-directional data transmission. For example, the second data transmitter 132 may be configured to receive data and the second data receiver 134 may be configured to transmit data, thus reversing the functions. In some examples, both second data transmitter 132 and second data receiver 134 may be configured to transmit and receive data. In some examples, second data transmitter 132 and second data receiver 134 wirelessly transmit data signals over a low speed wireless link (eg, a wireless link having a data transmission rate of less than 20 kbps). can be configured. In some examples, the second data transmitter 132 and the second data receiver 134 are a medium speed wireless link (eg, a wireless link having a data transmission rate in the range of about 25 kbps to about 30 kbps (eg, about 28 kbps). ) to wirelessly transmit the data signal. For example, as shown in FIGS. 1A-1C, the second data transmitter 132 and the second data receiver 134 include induction coils 136a and 136b, respectively, and the second data transmitter 132 and the second data receiver 134, respectively. Wireless coupling with data receiver 134 provides inductive coupling. In the example shown, the second data transmitter 132 and the second data receiver 134 are axially aligned with the rotation axis X of the rotating body 104 . Other types of low and medium speed wireless links are also contemplated. Other types of inductive coupling are also contemplated, such as those previously mentioned.

In some examples, first data transmitter 128, first data receiver 130, second data transmitter 132, and second data receiver 134 are configured to wirelessly transmit data signals over a high speed wireless link. can be configured to For example, as shown in FIGS. 2A-2C, first data transmitter 128, first data receiver 130, second data transmitter 132, and second data receiver 134 each include an optical communication device. , wireless coupling between the first data transmitter 128 and the first data receiver 130 provides optical coupling, and wireless coupling between the second data transmitter 132 and the second data receiver 134 provides optical coupling. A ring provides the optical coupling. For example, the optical coupling may be free space optical coupling. In some examples, first data transmitter 128 and second data transmitter 132 may include optical transmitters, such as LEDs or laser diodes, respectively, and first data receiver 130 and second data receiver 134 may each include an optical receiver, such as a photodetector. In some examples, first data transmitter 128, first data receiver 130 may be configured to provide unidirectional data transmission, and second data transmitter 132 and second data receiver 134 may , may be configured to provide unidirectional data transmission. In some examples, first data transmitter 128, first data receiver 130, second data transmitter 132, and second data receiver 134 both transmit data and receive data. It may be a transceiver configured to do so, such as a transceiver that includes a photodiode configured to operate in both transmit and receive modes, making them bi-directional.

In the example shown in FIGS. 2A-2C, the first data transmitter 128 and the second data transmitter 132 are arranged along the rotation axis X of the rotating body 104, and the first data receiver 130 and the second data transmitter Data receiver 134 is axially offset from axis of rotation X of rotor 104 . As shown, a first data transmitter 128 is associated with the body of rotation 104 such that it is positioned on axis X of rotation, and a first data receiver 130 is associated with the body of rotation 130 such that it is positioned on axis X of rotation. is associated with the flat surface 106 of the non-rotating body 102 so that it is not positioned on the However, first data receiver 130 (which is stationary) receives data signals (eg, optical data signals) from first data transmitter 128 as first data transmitter 128 rotates with rotating body 104 . oriented to receive. The second data receiver 134 rotates about the axis X of the rotating body 104 and is spaced from the axis X of the rotating body 104 as the rotating body 104 rotates, and the second data receiver 134 detects that it is the second It is oriented to receive a data signal (eg, an optical data signal) from a data transmitter 132 (which is stationary). In some examples, one or more of first data transmitter 128, first data receiver 130, second data transmitter 132, and second data receiver 134 may include additional reflectors and/or lenses. and maintain a communication link between the first data transmitter 128 and the first data receiver 130 and/or the communication link between the second data transmitter 132 and the second data receiver 134. can support. In some examples, crosstalk or interference between the first data transmitter 128 and first data receiver 130 pair and the second data transmitter 132 and second data receiver 134 pair may cause, for example, It may be mitigated or eliminated through time-sharing techniques and/or through the use of bandpass filtering and differences in paired communication signals (eg, different frequencies and/or wavelengths of signals between pairs). Other techniques are also contemplated. In some examples, the first data receiver 130 and the second data receiver 134 are axially aligned with the rotation axis X of the rotating body 104, and the first data transmitter 128 and the second data transmitter 132 are It is axially offset from the axis of rotation X of the rotor 104 .

In some examples, interface 120 is resistant to interference with power and/or data transmissions that might otherwise alter, corrupt, or interrupt power and/or data transmissions. good too. This may be beneficial when interface 120 is used in connection with a device or machine where interruptions in power and/or data transmission may be particularly undesirable. For example, in machines operating with little or no human control, interruptions in power and/or data transmission to a portion of the machine may contribute to the occurrence of accidents. For example, for autonomous vehicles with little or no human control, sensors may be used to aid in guidance and/or object avoidance. For example, through the loss of power used to operate the sensors and/or through the corruption or interruption of data signals generated by the sensors and used by the vehicle as part of the vehicle control strategy. Such occurrences can increase the likelihood of an accident if the data signals from those sensors are interrupted. Therefore, in such uses, it may be beneficial for the interface to be resistant to interference with power and/or data transmission, since such interference would otherwise be inadvertent. may alter, corrupt, or interrupt power transmission and/or data transmission, whether on purpose or otherwise.

The exemplary assembly 100 shown in FIGS. 1A-2C can be incorporated into a sensor assembly. For example, FIGS. 3-7 schematically illustrate an exemplary sensor assembly 300, which is configured to generate sensor data in the form of data signals, and uses of the data signals. for transmitting data signals from the sensor assembly 300 to one or more processors.

The exemplary sensor assembly 300 shown in FIGS. 3-7 includes a light detection and ranging (LIDAR) sensor configured to sense objects in the environment surrounding the sensor assembly 300. . In some examples, a LIDAR sensor emits pulses of laser light and estimates the distance between the sensor and objects in the environment surrounding the sensor based on the time it takes the reflected return light signal to reach the sensor. do. The exemplary sensor assembly 300 shown in FIGS. 3-7 may include different or additional types of sensors. In some examples, laser light may include visible light and/or invisible light (eg, infrared light). In some examples, the optical transmission and laser light may be at different frequencies or wavelengths, eg, to avoid interference between sensing and data transmission.

As shown in FIGS. 3-7, exemplary sensor assembly 300 includes spine 302, which is configured to connect sensor assembly 300 to a platform, which, for example, allows sensor signals to such as vehicles that may be used.

In some examples, referring to FIG. 3, the sensor assembly 300 provides a housing configured to protect the sensor assembly 300 from environmental elements and/or to provide a particular design appearance. A casing 304 may also be included. In some examples, protective casing 304 may be substantially cylindrical. As shown in FIG. 3, exemplary protective casing 304 includes first shell portion 306 connected to support 108 and/or spine 302 (see FIG. 4). An exemplary first shell portion 306 includes a hat-shaped portion 308 configured to cover the upper end (i.e., in the orientation shown) of the body of revolution 104 of the sensor assembly 300 and extending to the spine 302 . and an extension 310 configured to. The exemplary protective casing 304 also includes a second shell portion 312 connected to a third support 700 (see FIG. 7) and/or spine 302 . The exemplary 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 body of rotation 104 of the sensor assembly 300 . The exemplary protective casing 304 also includes a lens 320 connected to the spine 302 and the first and second shell portions 306 and 312 . The exemplary lens 320 is ring-shaped to facilitate 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 (not shown) 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; To prevent dirt and moisture from entering protective casing 304, first shell portion 306, lens 320, and second shell portion 312 are mated together. To prevent dirt and moisture from entering protective casing 304 , gaskets and/or sealants are provided with one or more of first shell portion 306 , lens 320 , and second shell portion 312 . It may be provided between the spine 302 .

As shown in FIG. 4, the sensor assembly also includes support 108, which is connected to spine 302, eg, in a cantilever configuration. In some examples, support 108 and spine 302 may be integrally formed, eg, via a single piece of material, thereby connecting support 108 and spine 302 to each other. In some examples, spine 302 may include slots 400 in which ends of supports 108 are received. Fasteners, welds, and/or adhesives may be used to secure support 108 in slot 400 . Exemplary sensor assembly 300 also includes motor 116 , which is connected to support 108 via one or more fasteners 402 , for example. Motor 116 is then connected to rotating body 104 of sensor assembly 300 via connector 404 and one or more fasteners 406 . Connector 404 is configured to transmit torque from motor 116 to rotating body 104 such that rotating body 104 rotates about its axis X of rotation.

In the exemplary sensor assembly 300 shown, the rotating body 104 serves as a substantially hollow housing for carrying an electronic device including the components of the LIDAR sensor. For example, rotating body 104 includes a laser board 500 (see FIG. 5) configured to emit laser light, a detector for detecting return laser signals reflected from objects in the environment surrounding sensor assembly 300 . A board (not shown) and one or more reflectors (not shown) configured to deflect the emitted laser light and/or return signal, and power for operation of the sensor assembly 300. and one or more of electronic circuits (not shown) for providing control. In addition, exemplary sensor assembly 300 also includes lens housing 408 configured to connect two lenses 410 and 412 to rotating body 104 . Lenses 410 and 412 are configured to focus the emitted laser light and return signals to detect objects in the environment surrounding sensor assembly 300 .

As shown in FIG. 5, the exemplary sensor assembly 300 also includes a second support 502 that is connected to the spine 302, eg, cantilevered. In some examples, second support 502 and spine 302 may be integrally formed, eg, via a single piece of material, thereby connecting second support 502 and spine 302 to each other. ing. In some examples, spine 302 may include a second slot 504 and second support 502 is received in second slot 504 . Fasteners, welds, and/or adhesives may be used to secure second support 502 in second slot 504 . The exemplary second support 502 may include a bore 506 that receives a bearing 508 , and the rotating body 104 has a stub 510 connected to the bearing 508 such that the stub 510 and rotating body 104 rotate by the bearing 508 . may contain. In the example shown, support 108, bearing 110, motor 116, second support 502, and bearing 508 facilitate rotation of rotating body 104 about axis X of rotation. As a result of this exemplary configuration, the laser light emitted from sensor assembly 300 is 360 degrees of the surrounding environment (not including the portion of the 360 degrees blocked by spine 302) for detection of objects in the surrounding environment. Can be steered through degree sweeps.

As shown in FIGS. 6 and 7, exemplary sensor assembly 300 includes interface 120 for transmitting power and data between non-rotating body 102 and rotating body 104 . For example, as shown in FIG. 7, an exemplary sensor assembly 300 includes a non-rotating body 102 in the form of a third support 700 that cantilever, for example, a spine 302 . connected to For example, spine 302 includes a third slot 600 (see FIG. 6) and third support 700 is received in third slot 600 . Fasteners, welding, and/or adhesives may be used to secure third support 700 in third slot 600 . Spine 302 may, for example, be connected to a vehicle that uses sensor assembly 300 to detect objects surrounding the vehicle. For example, spine 302 and/or third support 700 provide conduits for routing optical fibers, wires, and/or cables between third support 700 and the vehicle's control and/or power system. You may In some examples, the vehicle's power system may provide power to wires and/or cables received by spine 302 and/or third support 700 . In some examples, the vehicle's control system may provide control signals to optical fibers, wires, and/or cables received by spine 302 and/or third support 700 . In some examples, data signals received from rotating body 104 by the optical fibers, wires and/or cables of third support 700 are supplied to the vehicle's control system by the optical fibers, wires and/or cables. can be In this exemplary manner, power may be supplied via optical fibers, wires, and/or cables of the third support 700 and data signals may be supplied from the vehicle to the third support 700. Well and/or data signals from the rotating body 104 of the sensor assembly 300 may be fed to the vehicle's control system via the third support 700 .

As shown in FIGS. 6 and 7, exemplary interface 120 includes power transmission device 122 and power receiver 124 (see FIGS. 6 and 7), where power transmission device 122 communicates with third support 700. (see FIG. 7) and configured to transmit power, and a power receiver 124 is connected to the rotating body 104 and configured to receive power from the power transmission device 122 via wireless coupling. . The exemplary interface 120 also includes a first data transmitter 128 (FIG. 6) and a first data receiver 130 (see FIG. 7), where the first data transmitter 128 is connected to the rotor 104 of the sensor assembly 300. and configured to transmit data signals, and a first data receiver 130 is connected to the third support 700 to receive data signals from the first data transmitter 128 via wireless coupling. configured to

6 and 7, power transmission device 122 and power receiver 124 each include an inductive coil 602, and wireless coupling between power transmission device 122 and power receiver 124 is inductive coupling. offer. In some examples, the power receiver 124 is connected to the rotating body 104 of the sensor assembly 300 by a coupling plate 604, eg, as shown in FIGS. The exemplary coupling plate 604 may be connected to a bearing 508 associated with the second support 502 , eg, whereby the coupling plate 604 is positioned on the opposite side of the rotating body 104 of the sensor assembly 300 . 2 support 502 and the power receiver 124 is on the side of the coupling plate 604 opposite the second support 502 as shown in FIG. 6, for example.

In the example shown, the power transmission device 122 and the power receiver 124 are axially aligned with the rotation axis X of the rotating body 104 such that the induction coils 602 of each of the power transmission device 122 and the power receiver 124 are axially aligned with each other. direction aligned. Exemplary power transmission device 122 and power receiver 124 also include electronic circuitry, eg, in the form of a programmable circuit board, which is configured to control operation of induction coil 602 . In this exemplary configuration, power may be transmitted wirelessly via induction from a power supply associated with the vehicle to the electrically powered device carried by rotating body 102 . In some examples, power transmission device 122 and power receiver 124 may be near-field transmission devices. In some examples, power transmission device 122 and power receiver 124 transmit 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. can be configured to

The exemplary first data transmitter 128 shown in FIG. 6 was configured to transmit data signals associated with sensor data from the rotor 104 of the sensor assembly 300 to the first data receiver 130 (see FIG. 6). 7). For example, a sensor signal in the form of a data signal from a LIDAR sensor may be wirelessly transmitted by first data transmitter 128 to first data receiver 130, thereby transmitting the data signal from sensor assembly 300 to the vehicle. It may be sent to one or more controllers. In some examples, first data transmitter 128 and first data receiver 130 wirelessly transmit data signals over a high-speed wireless link (eg, a wireless link having a data transmission rate of 50 kbps or greater). can be configured. In some examples, first data transmitter 128 and first data receiver 130 may be configured to provide unidirectional data transmission. In some examples, first data transmitter 128 and first data receiver 130 may each include optical communication devices, and wireless coupling between first data transmitter 128 and first data receiver 130 provides the optical coupling. For example, the optical coupling may be free space optical coupling. In some examples, first data transmitter 128 may include an optical transmitter, such as an LED or laser diode, and first data receiver 130 may include an optical receiver, such as a photodetector. obtain. In some examples, first data transmitter 128 and first data receiver 130 are axially aligned with rotation axis X of rotating body 104 . In this exemplary configuration, 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. In some examples, first data transmitter 128 and first data receiver 130 may be transceivers configured to both transmit data and receive data, e.g. It may be a transceiver or the like that includes a photodiode configured to operate in both transmit and receive modes, making them bi-directional. In some examples, optical transmission may include visible light and/or invisible light (eg, infrared light). Other types of high speed wireless links are also contemplated.

The exemplary interface 120 also includes a second data transmitter 132 (not shown in FIGS. 6 and 7; see, eg, FIGS. 1A-1C and 2A-2C) and a second data receiver. 134, a second data transmitter 132 connected to the third support 700 and configured to transmit data signals, a second data receiver 134 connected to the rotating body 104 of the sensor assembly 300, It is configured to receive data signals via wireless coupling from a second data transmitter 132 . In some examples, the second data transmitter 132 sends data signals to the second data receiver 134 for adjusting the power supplied to the electronic device 118 including the components of the LIDAR sensor carried by the rotating body 104. configured to send In some examples, the second data transmitter 132 is configured to send data signals to the second data receiver 134 for controlling operation of the rotating body 104 of the sensor assembly 300, where the data signals are, for example, , control signals associated with controlling the rotation of the rotor 104 of the sensor assembly 300 via control of the motor 116 .

In some examples, second data transmitter 132 and second data receiver 134 may be configured to provide bi-directional data transmission. For example, the second data transmitter 132 may be configured to receive data and the second data receiver 134 may be configured to transmit data, thus reversing the functions. In some examples, both second data transmitter 132 and second data receiver 134 may be configured to transmit and receive data. In some examples, second data transmitter 132 and second data receiver 134 wirelessly transmit data signals over a low speed wireless link (eg, a wireless link having a data transmission rate of less than 20 kbps). can be configured. In some examples, the second data transmitter 132 and the second data receiver 134 are a medium speed wireless link (eg, a wireless link having a data transmission rate in the range of about 25 kbps to about 30 kbps (eg, about 28 kbps). ) to wirelessly transmit the data signal. In some examples, for example, as shown in FIG. 7, second data transmitter 132 and second data receiver 134 each include an induction coil (eg, the induction coil shown in FIGS. 1A-1C). 136a and 136b) respectively, the wireless coupling between the second data transmitter 132 and the second data receiver 134 provides inductive coupling. In the example shown, the second data transmitter 132 and the second data receiver 134 are axially aligned with the rotation axis X of the rotating body 104 . Other types of low speed wireless links are also contemplated.

In some examples, first data transmitter 128, first data receiver 130, second data transmitter 132, and second data receiver 134 are configured to wirelessly transmit data signals over a high speed wireless link. can be configured to For example, as shown schematically in FIGS. 2A-2C, first data transmitter 128, first data receiver 130, second data transmitter 132, and second data receiver 134 are optical communication devices. , wherein wireless coupling between the first data transmitter 128 and the first data receiver 130 provides optical coupling, the second data transmitter 132 and the second data receiver 134 and Wireless coupling between provides optical coupling. In some examples, the optical coupling may be free-space optical coupling. In some examples, first data transmitter 128 and second data transmitter 132 may include optical transmitters, such as LEDs or laser diodes, respectively, and first data receiver 130 and second data receiver 134 may each include an optical receiver, such as a photodetector. In some examples, first data transmitter 128, first data receiver 130 may be configured to provide unidirectional data transmission, and second data transmitter 132 and second data receiver 134 may , may be configured to provide unidirectional data transmission.

In some examples of the sensor assembly 300, the inductive coils 136a and 136b of the second data transmitter 132 and the second data receiver 134, respectively, of the sensor assembly 300 are configured as shown in FIGS. 2A-2C, for example. , can be exchanged by the respective optical communication device. In such an example, the first data transmitter 128 and the second data transmitter 132 are axially aligned with the rotation axis X of the body of rotation 104 of the sensor assembly 300, and the first data receiver 130 and the second data transmitter 130 are aligned. Receiver 134 is axially offset from axis of rotation X of rotor 104 . For example, as shown in FIGS. 2A-2C, first data transmitter 128 is associated with rotating body 104 such that it is positioned on rotational axis X, and first data receiver 130 is , is associated with the third support 700 such that it is not located on the axis X of rotation. However, first data receiver 130 (which is stationary) receives data signals (e.g., optical data signal). The second data receiver 134 rotates about the axis X of the rotating body 104 and is spaced from the axis X of the rotating body 104 as the rotating body 104 rotates, and the second data receiver 134 detects that it is the second It is oriented to receive a data signal (eg, an optical data signal) from a data transmitter 132 (which is stationary). In some examples, one or more of first data transmitter 128, first data receiver 130, second data transmitter 132, and second data receiver 134 may include additional reflectors and/or lenses. and maintain a communication link between the first data transmitter 128 and the first data receiver 130 and/or between the second data transmitter 132 and the second data receiver 134. may support. In some examples, crosstalk or interference between the first data transmitter 128 and first data receiver 130 pair and the second data transmitter 132 and second data receiver 134 pair may cause, for example, It may be mitigated or eliminated through time-sharing techniques and/or through the use of bandpass filtering and differences in paired communication signals (eg, different frequencies and/or wavelengths of signals between pairs). Other techniques are also contemplated. In some examples, the first data receiver 130 and the second data receiver 134 are axially aligned with the rotation axis X of the body of rotation 104 of the sensor assembly 300 and the first data transmitter 128 and the second data receiver 128 are aligned. Transmitter 132 is axially offset from axis of rotation X of rotor 104 .

FIG. 8 is a partial schematic cross-sectional side view of an exemplary system 800 including an exemplary rotating body 802 and an exemplary support assembly 804 for supporting rotating body 802 . In the example shown, the body of revolution 802 defines an axis X of rotation. In some examples, rotating body 802 may be configured to support at least one sensor configured to generate sensor signals in the form of data signals. In the exemplary system 800 shown, a support assembly 804 is connected to the rotating body 802 and supports the rotating body 802 so that the rotating body 802 rotates about an axis X of rotation. In some examples, the body of rotation 802 may be configured to rotate an angle of 360 degrees or more in any direction about its axis of rotation X, and in some examples, the body of rotation 802 may: It may be configured to rotate less than 360 degrees and reverse its direction of rotation about its axis X of rotation. For example, rotating body 802 may be configured to swing about its axis X without completing a 360 degree rotation.

The exemplary support assembly 804 shown in FIG. 8 includes a first support 806 that defines a first longitudinal support axis F with a body of revolution 802 pivoting on the first support 806 . supports a rotating body 802 such that an axis of rotation X is transverse to the first longitudinal support axis F; The exemplary support assembly 804 also includes a second support 808 defining a second longitudinal support axis S such that the rotor 802 is rotatable relative to the second support 808. and supports the rotating body 802 such that the rotation axis X is transverse to the second longitudinal support axis S. The exemplary support assembly 804 also includes a spine 810 defining a longitudinal spine axis SP, the spine 810 being connected to the first support 806 and the second support 808, the first support It extends between 806 and a second support 808 . In some examples, first support 806 and/or second support 808 may be integrally formed with spine 810, thereby providing first support 806, second support 808, and spine. 810 are connected together. In the example shown, the longitudinal spine axis SP intersects the first longitudinal support axis F and the second longitudinal support axis S.

In the example shown in FIG. 8, the 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 each other. Other relative orientations are also contemplated. In some examples, the first longitudinal support axis F and the second longitudinal support axis S lie in a common plane. In some examples, the first longitudinal support axis F and the second longitudinal support axis S lie in planes that are offset from each other. In some examples, the first longitudinal support axis F and the second longitudinal support axis S may be perpendicular to the longitudinal spine axis SP, eg, as shown in FIG. In some examples, one or more of first longitudinal support axis F and second longitudinal support axis S may not be perpendicular to longitudinal spine axis SP of spine 810 .

In the example shown in FIG. 8, the spine 810, the first support 806, and the second support 808 are arranged such that the spine axis SP is spaced from the rotation axis X of the rotor 802 and the rotation axis X of the rotor 802 is spaced apart. are connected to each other (eg, directly connected to each other) so as to be configured to be parallel to each other. For example, one or more of first support 806 and second support 808 may be connected to spine 810 via fasteners such as nuts, bolts, and/or screws, welds, and/or adhesives. obtain. For example, first support 806 and second support 808 may each include threaded studs extending from respective ends adjacent spine 810 such that the studs are It can be received in the receiver bore. Nuts may be used to secure the remote ends of the studs in the receiver bores, thereby securing the first and second supports 806 and 808 to the spine 810 . In some examples, first support 806 and/or second support 808 may be integrally formed with spine 810, thereby providing first support 806, second support 808, and spine. 810 are connected together.

The example system 800 shown in FIG. 8 also includes a motor 812 associated with the first support 806 for providing torque for rotating the rotating body 802. 802. In some examples, motor 812 may be associated with second support 808 . In some examples, motor 812 may be an electric motor. Other types of motors are also contemplated. In some examples, at least one of motor 812 or first support 806 may include bearings 814 configured to facilitate rotation of rotating body 802 . For example, first support 806 may include a bore through the support that receives a bearing. In some examples, bearings may be incorporated into the motor 812 . In the example shown in FIG. 8 , the first support includes a bore 819 through the first support 806 and the motor 812 is connected to the side of the first support 806 adjacent the rotating body 802 . The motor 812 may be connected to the first support 806 via fasteners such as nuts, bolts and/or screws, welds and/or adhesives.

In the example shown in FIG. 8, motor 812 includes drive shaft 816 connected to transmission plate 817 configured to transmit torque supplied by motor 812 to rotating body 802 . Transmission plate 817 may be an integral part of rotating body 802 or it may be a separate part connected to rotating body 802 .

In some examples, the motor 812 may be positioned remotely from the drive shaft 816 and the torque from the motor 812 may be transferred to a device, such as one or more devices, for transmitting torque from the motor 812 to the drive shaft 816. gears, one or more shafts, one or more belts, and/or one or more chain drives. In some examples, the motor 812 may be positioned between the first support 806 and the rotating body 802, eg, as shown in FIG. In some examples, motor 812 may be positioned at the other end of rotating body 802 .

In some examples, rotating body 802 may be associated with one or more electronic devices 818 . For example, electronic device 818 may be carried by or within rotating body 802 . The electronic device 818 includes, for example, a sensor configured to generate a sensor signal in the form of a data signal, a processor configured to manipulate the data signal (eg, filter, compress, fuse, and/or a processor to convert), and/or any device that uses power to perform its function, such as a controller to control the operation of the sensor and/or rotating body 802 . Other types and functions of electronic device 818 are also contemplated.

In the example shown in FIG. 8, 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. be done. Exemplary rotating body 802 includes stub 822 received by bearing 820 such that bearing 820 and stub 822 facilitate rotation of rotating body 802 . In some examples, motor 812 may be associated with second support 808 instead of first support 806, and bore 819, bearing 820, and stub 822 may be associated with second support 808 instead of second support 808. 1 support 806 .

The exemplary system 800 shown in FIG. 8 also includes an interface 824 that includes a first interface portion 826 and a second interface portion 828, where the first interface portion 826 includes the rotating body 802 and the second interface portion 828. is configured to transmit at least one of power or data signals to and from the interface portion 828 of the . For example, as shown, first interface portion 826 is connected to adapter 830 . For example, stub 822 extends through bearing 820 and second support 808 , and adapter 830 is attached to second support 808 on the opposite side of rotor 802 such that adapter 830 rotates with rotor 802 . At the side, it is connected to a stub 822 . First interface portion 826 is connected to adapter 830 and configured to transmit at least one of power or data signals between rotating body 802 and second interface portion 828 .

Also, the exemplary system 800 shown in FIG. , including a third support 832 associated with the spine 810 . In some examples, the second interface portion 828 is connected to the third support 832 and at least one of power or data signals are transmitted between the third support 832 and the first interface portion 826. is configured to transmit In the example shown, the second interface portion 828 has a third support 832 adjacent the first interface portion 826 with a space between the first interface portion 826 and the second interface portion 828 . , is connected to a third support 832 so that the first interface portion 826 can rotate with the rotating body 802 and the second interface portion 828 does not rotate with the rotating body 802 . An exemplary third support 832 is connected to spine 810 and defines a third longitudinal support axis T transverse to longitudinal spine axis SP. In some examples, the second longitudinal support axis S and the third longitudinal support axis T are parallel to each other, eg, as shown.

In some examples, third support 832 may be connected to spine 810 via fasteners such as nuts, bolts, and/or screws, welds, and/or adhesives. For example, third support 832 may include a threaded stud extending from its end adjacent spine 810 so that the stud may be received in a receiver hole of spine 810 . A nut may be used to secure the remote end of the stud to the receiver bore, thereby securing the third support 832 directly to the spine 810 . In some examples, third support 832 may be integrally formed with spine 810, thereby connecting third support 832 and spine 810 to each other.

In some examples, at least one of spine 810 , first support 806 , second support 808 , or third support 832 is a conductor or data signal link associated with operation of rotating body 802 . defining a recess configured to receive at least one of them. In the example shown, spine 810, first support 806, and third support 832 each define a recess. For example, spine 810 defines spine recess 834 , which is configured to receive at least one of electrical conductors, data signal links, or electronic circuitry associated with the operation of rotating body 802 . In the example shown, electronic circuitry 836 is received in spine recess 834 . Electronic circuitry 836 may include one or more of printed circuit boards, computer modules, power modules, programmable controllers, and/or any other known electronic-related components.

The exemplary first support 806 shown in FIG. 8 defines a first support recess 838 configured to receive an electrical conductor 840 configured to transmit power from the spine 810 to the motor 812. . In the example shown, electrical conductors 840 extend from electronic circuitry 836 in spine recess 834 through openings 842 in spine recess 834 and into first support recess 838 to motor 812 . ing. In this exemplary configuration, operation of motor 812 may be powered and/or at least partially controlled via electronic circuitry 836 .

The exemplary third support 832 is configured to transmit at least one of power or data signals between the spine 810 and a second interface portion 828 that may be connected to the third support 832. defines a third support recess 844 configured to receive at least one of the electrical conductors or data signal links 846 to be connected. In the example shown, a conductor or data signal link 846 passes from the electronic circuit 836 in the spine recess 834, through an opening 848 in the spine recess 834, into the third support recess 844, and into the second support recess 844. to the interface portion 828 of the . In this exemplary configuration, power and/or data signals may be transmitted between electronic circuitry 836 and second interface portion 828 .

In the example of FIG. 8, stub 822 defines stub recess 850 that provides a conduit between electronic device 818 carried by rotating body 802 and first interface 826 . At least one of the electrical conductors or data signal links 852 configured to transmit at least one of power or data signals between the first interface portion 826 and the rotating body 802 is connected to the rotating body. Electronic device 818 carried by 802 may pass through stub recess 850 and bearing 820 to first interface 826 . In this exemplary configuration, power and/or data signals may be transmitted between electronic device 818 and first interface portion 826 .

In some examples, the second interface portion 828 may include a power transmission device that is connected to the third support 832 and configured to transmit power to the first interface portion 828 . 826 may include a power receiver connected to rotating body 802 via stub 822 and adapter 830, for example, via wireless coupling from a power transmission device as discussed herein. configured to receive power from First interface portion 826 may also include a first data transmitter, which is connected to rotating body 802 via stub 822 and/or adapter 830 to transmit data signals. configured to The second interface portion 828 may include a first data receiver connected to the third support 832 for receiving data signals via wireless coupling from the first data transmitter. configured to The second interface portion 828 may also include a second data transmitter, which is connected to the third support 832 and configured to transmit data signals. First interface portion 826 may include a second data receiver that is connected to rotating body 802 via stub 822 and/or adapter 830 for wireless coupling from the second data transmitter. It is configured to receive data signals over the ring.

In some examples, the power transmission device and the power receiver may each include an inductive coil, and the wireless coupling between the power transmission device and the power receiver may be an inductive coil, e.g., as discussed herein. Coupling may be included. In some examples, the power transmission device and power receiver may be axially aligned with the rotation axis X of the rotating body 802 . In some examples, the first data transmitter and the first data receiver may each include an optical communication device, and wireless coupling between the first data transmitter and the first data receiver is optical Coupling may be included. In some examples, the first data transmitter and the first data receiver may be axially aligned with the rotation axis X of the rotating body 802 . In some examples, the second data transmitter and the second data receiver may each include an inductive coil, and wireless coupling between the second data transmitter and the second data receiver is inductive coupling. can include In some examples, the second data transmitter and the second data receiver may be axially aligned with the rotation axis X of the rotating body 802 . In some examples, the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include optical communication devices. Wireless coupling between the first data transmitter and the first data receiver may comprise optical coupling and wireless coupling between the second data transmitter and the second data receiver may comprise optical can include selective coupling. In some examples, the first data transmitter and the second data transmitter may be axially aligned with the rotational axis X of the body of rotation 802, and the first data receiver and the second data receiver may be rotationally aligned. It can be axially offset from the axis of rotation X of body 802 . In other examples, the first data receiver and the second data receiver may be axially aligned with the rotation axis X of the rotating body 802, and the first data transmitter and the second data transmitter may be aligned with the rotating body. It may be axially offset from the axis of rotation X of 802 .

In some examples, the first data transmitter may be configured to send data signals associated with sensor data from the rotating body to the first data receiver. In some examples, the second data transmitter may be configured to send a data signal for adjusting power to the second data receiver. In some examples, the second data transmitter may be configured to send data signals to the second data receiver for controlling operation of the rotating body.

In some examples, the power transmission device and the power receiver may each include an inductive coil, and the wireless coupling between the power transmission device and the power receiver may be an inductive coil, e.g., as discussed herein. Coupling may be included. In such examples, power is transferred from the induction coil associated with the second interface portion 828 to the induction coil associated with the first interface portion 826 by electrical induction. In some examples, the power transmission device and power receiver are axially aligned with the rotation axis X of the rotating body 802 . In some examples, the power transmission device and power receiver may be near-field transmission devices. In some examples, the power transmission device and power receiver are adapted to transmit 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. can be configured to

In some examples, the first data transmitter and the first data receiver wirelessly transmit data signals over a high speed wireless link (eg, a wireless link having a data transmission rate of 50 kilobits per second (kbps) or greater). can be configured to For example, the first data transmitter and the first data receiver may each include an optical communication device, eg, as discussed herein, wherein the optical communication between the first data transmitter and the first data receiver is wireless coupling provides optical coupling. In some examples, the first data transmitter may include an optical transmitter, such as a light emitting diode (LED) or laser diode, and the first data receiver may include an optical receiver, such as a photodetector. can include In some examples, for example, the first data transmitter and the first data receiver may be axially aligned with the rotation axis X of the rotating body 802 . In some examples, the first data transmitter and the first data receiver may be transceivers configured to both transmit data and receive data, e.g. and receiver modes, including a photodiode configured to make them bi-directional. Other types of high speed wireless links are also contemplated.

In some examples, the second data transmitter and the second data receiver may be configured to provide bi-directional data transmission, eg, as discussed herein. For example, a second data transmitter may be configured to receive data and a second data receiver may be configured to transmit data, thus reversing the functions. In some examples, both the second data transmitter and the second data receiver may be configured to transmit and receive data. In some examples, the second data transmitter and the second data receiver are configured to wirelessly transmit data signals over a low speed wireless link (eg, a wireless link having a data transmission rate of less than 20 kbps). obtain. In some examples, the second data transmitter and the second data receiver use a medium speed wireless link (eg, a wireless link having a data transmission rate in the range of about 25 kbps to about 30 kbps (eg, about 28 kbps)). may be configured to wirelessly transmit a data signal via. For example, the second data transmitter and the second data receiver each include an inductive coil, and wireless coupling between the second data transmitter and the second data receiver provides inductive coupling. The second data transmitter and the second data receiver may be axially aligned with the rotation axis X of the rotating body 802 . Other types of low and medium speed wireless links are also contemplated.

In some examples, the second data transmitter and the second data receiver wirelessly transmit data signals over a high speed wireless link (eg, a wireless link having a data transmission rate of 50 kilobits per second (kbps) or greater). can be configured to For example, the second data transmitter and the second data receiver may each include an optical communication device, and wireless coupling between the second data transmitter and the second data receiver provides optical coupling. do. In some examples, the second data transmitter may include an optical transmitter, such as an LED or laser diode, and the second data receiver may include an optical receiver, such as a photodetector. In some examples, the second data transmitter and the second data receiver may be axially aligned with the rotation axis X of the rotating body 802 . Other types of high speed wireless links are also contemplated.

In some examples, the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver are connected via a high speed wireless link, eg, as discussed herein. It may be configured to transmit data signals wirelessly. For example, the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver each include an optical communication device, and a signal is transmitted between the first data transmitter and the first data receiver. Wireless coupling provides optical coupling, and wireless coupling between the second data transmitter and the second data receiver provides optical coupling. In some examples, the first data transmitter and the second data transmitter may each comprise an optical transmitter, such as an LED or laser diode, and the first data receiver and the second data receiver may comprise optical Each may include a target receiver, such as a photodetector. In some examples, a first data transmitter, a first data receiver may be configured to provide unidirectional data transmission, and a second data transmitter and a second data receiver may transmit unidirectional data. may be configured to provide transmission. In some examples, the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver are configured to both transmit data and receive data. such as a transceiver that operates in both transmit and receive modes and includes a photodiode configured to make them bi-directional.

In some examples, interface 824 is resistant to interference with power and/or data transmissions that might otherwise alter, corrupt, or interrupt power and/or data transmissions. good too. This may be beneficial when interface 824 is used in connection with a device or machine where interruptions in power and/or data transmission may be particularly undesirable. For example, in machines operating with little or no human control, interruptions in power and/or data transmission to a portion of the machine may contribute to the occurrence of accidents. For example, for autonomous vehicles with little or no human control, sensors may be used to aid in guidance and/or object avoidance. For example, through loss of power used to operate the sensor and/or through corruption or interruption of data signals generated by the sensor and used by the vehicle as part of the vehicle control strategy. Such occurrences can increase the likelihood of an accident if the data signals from those sensors are interrupted. Accordingly, in such uses, it may be beneficial for the interface 824 to be resistant to interference with power and/or data transmissions, as such interference would otherwise occur. power transmission and/or data transmission may be altered, corrupted, or interrupted, whether intentionally or intentionally.

Some examples may include a cover 854 configured to cover the spine recess 834, as shown in FIG. In some examples, the cover 854 may include one or more cover conduits 856 configured to provide a conduit from the spine recess 834 to the exterior of the cover 854. be. In some examples, these conduits may facilitate transmitting power and/or data signals between support assembly 804 and other portions of a machine, such as, for example, a vehicle.

The exemplary system 800 and support assembly 804 shown in FIG. 8 can be incorporated into a sensor assembly. For example, FIGS. 9-15 schematically illustrate an exemplary sensor assembly 900 configured to generate sensor data in the form of data signals, and the use of the data signals. for transmitting data signals from the sensor assembly 900 to one or more processors.

The exemplary sensor assembly 900 shown in FIGS. 9-15 includes a light detection and ranging (LIDAR) sensor configured to sense objects in the environment surrounding the sensor assembly 900. . In some examples, a LIDAR sensor emits pulses of laser light and estimates the distance between the sensor and objects in the environment surrounding the sensor based on the time it takes the reflected return light signal to reach the sensor. do. The example sensor assembly 900 shown in FIGS. 9-15 may include different or additional types of sensors.

As shown in FIGS. 9-15, exemplary sensor assembly 900 includes spine 810, which is configured to connect sensor assembly 900 to a platform, which, for example, allows sensor signals to such as vehicles that may be used. In some examples, referring to FIG. 9, the sensor assembly 900 may include a protective casing 902 that protects the sensor assembly 900 from environmental elements and/or has a particular design appearance. configured to provide For example, as shown in FIG. 9, exemplary protective casing 902 includes first shell portion 904 connected to spine 810 . The exemplary first shell portion 904 includes a hat-shaped portion 906 and an extension 908, where the hat-shaped portion 906 is positioned at the upper end of the body of revolution 802 of the sensor assembly 900 (ie, in the orientation shown). , and extension 908 is configured to extend to spine 810 . The exemplary protective casing 902 also includes a second shell portion 910 that is connected to a third support 832 (see FIG. 13) and/or spine 810 . The exemplary 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 body of rotation 802 of the sensor assembly 900 . Exemplary protective casing 902 also includes lens 918 connected to spine 810 and first and second shell portions 904 and 910 . For example, lens 918 may be connected to protective casing 902 and protective casing 902 may be connected to spine 810 . In some examples, lens 918 may be connected directly to spine 810 without being connected to protective casing 902, for example. The exemplary lens 918 is ring-shaped to facilitate 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 (not shown) 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; To prevent dirt and moisture from entering protective casing 902, first shell portion 904, lens 918, and second shell portion 910 are mated together. To prevent dirt and moisture from entering protective casing 902 , gaskets and/or sealants are provided with one or more of first shell portion 904 , lens 918 , and second shell portion 910 . It may be provided between the spine 810 .

As shown in FIG. 10, exemplary sensor assembly 900 also includes first support 806, which is connected to spine 810, eg, in a cantilever configuration. For example, the spine 810 may include a slot 1000 and the end of the first support 806 is received at (or adjacent to) the slot 1000 . Fasteners, welds, and/or adhesives may be used to secure first support 806 in or adjacent slot 1000 . Exemplary sensor assembly 900 also includes motor 812 , which is connected to first support 806 via one or more fasteners 1002 , for example. Motor 812 is then connected to rotating body 802 of sensor assembly 900 via transmission plate 817 and one or more fasteners 1006 . Transmission plate 817 is configured to transmit torque from motor 812 to rotating body 802 such that rotating body 802 rotates about its axis X of rotation.

In the exemplary sensor assembly 900 shown, the rotating body 802 serves as a substantially hollow housing for carrying an electronic device including the components of the LIDAR sensor. For example, rotating body 802 includes a laser board 1100 (see FIG. 11) configured to emit laser light, a detector for detecting return laser signals reflected from objects in the environment surrounding sensor assembly 900 . A board (not shown) and one or more reflectors (not shown) configured to deflect the emitted laser light and/or return signal and power for operation of the sensor assembly 900. and one or more of electronic circuits (not shown) for providing control. In addition, exemplary sensor assembly 900 also includes lens housing 1008 configured to connect two lenses 1010 and 1012 to body of rotation 802 . Lenses 1010 and 1012 are configured to focus the emitted laser light and return signals to detect objects in the environment surrounding sensor assembly 900 .

As shown in FIG. 11, the exemplary sensor assembly 900 also includes a second support 808 that is cantilevered, for example, and connected to the spine 810 . For example, the spine 810 includes a second slot 1102 and a second support 808 is received at (or adjacent to) the second slot 1102 . Fasteners, welds, and/or adhesives may be used to secure second support 808 in or adjacent second slot 1102 . Exemplary second support 808 may include bore 819 that receives bearing 820 such that stub 822 and rotating body 802 rotate by bearing 820, rotating body 802 including stub 822 received by bearing 820. It's okay. In the example shown, second support 808, bearing 820, motor 812, and second support 808 facilitate rotation of rotating body 802 about axis X of rotation. As a result of this exemplary configuration, the laser light emitted from sensor assembly 900 is 360 degrees of the surrounding environment (not including the portion of the 360 degrees blocked by spine 810) for the detection of objects in the surrounding environment. Can be steered through degree sweeps.

12 and 13, the exemplary sensor assembly 900 transmits power and data between a non-rotating body in the form of a third support 832 (see FIG. 13) and a rotating body 802. includes an interface 824 for For example, as shown in FIG. 13, the exemplary sensor assembly 900 includes a third support 832 that is cantilevered to the spine 810, for example. For example, spine 810 includes a third slot 1200 (see FIG. 12) and third support 832 is received at or adjacent third slot 1200 . Third slot 1200 may provide an opening 848 that provides a conduit between recess 844 in third support 832 and spine recess 834 (see FIG. 8). Fasteners, welds, and/or adhesives may be used to secure third support 832 in or adjacent third slot 1200 . Spine 810, for example, may be connected to a vehicle that uses sensor assembly 900 to detect objects surrounding the vehicle. In some examples, the third support recess 844 may include electrical conductors, e.g., in the form of optical fibers, wires, and/or cables, between the third support 832 and the vehicle's control and/or power system. /or conduits may be provided for routing data signal links 846; In some examples, the vehicle's power system may supply power to wires and/or cables received by spine 810 and/or third support 832 . In some examples, the vehicle's control system may provide control signals to optical fibers, wires, and/or cables received by spine 810 and/or third support 832 . In some examples, data signals received from rotating body 802 by third support 832 may be provided to the vehicle's control system by optical fibers, wires, and/or cables. In this exemplary manner, electrical power may be supplied to the third support 832, data signals may be supplied to the third support 832 from the vehicle, and/or the rotor of the sensor assembly 900 may be supplied to the third support 832. The data signal from 802 can be fed to the vehicle's control system via a third support 832 .

As shown in FIGS. 12 and 13, the exemplary interface 824 includes a first interface portion 826 and a second interface portion 828, where the first interface portion 826 connects to the rotating body via an adapter 830. 802 and the second interface portion 828 was connected to a third support 832 (see FIG. 13). For example, second interface portion 828 may include a power transmission device, which is connected to third support 832 and configured to transmit power, and first interface portion 826 may include a power transmission device. A receiver may be included, the power receiver being connected to the rotating body 802 and configured to receive power via wireless coupling from a power transmission device. The exemplary 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. , the second interface portion 828 may include a first data receiver connected to the third support 832 for receiving data signals from the first data transmitter via wireless coupling. configured to receive.

In the examples shown in FIGS. 12-14, the power transmission device and the power receiver may each include an inductive coil, and wireless coupling between the power transmission device and the power receiver provides inductive coupling. good too. In some examples, the power receiver can be connected to the rotor 802 of the sensor assembly 900 by an adapter 830, eg, as shown in FIGS. An exemplary adapter 830 may be connected to the stub 822 of the body of rotation 802 such that, for example, the adapter 830 is on the side of the second support 808 opposite the body of rotation 802 of the sensor assembly 900, A power receiver is on the side of the adapter 830 opposite the second support 808 .

In some examples, the power transmission device of the second interface portion 828 and the power receiver of the first interface portion 826 may be substantially axially aligned with the rotation axis X of the rotating body 802 (e.g., , within technical tolerances), so that the respective induction coils of the power transmission device and the power receiver are axially aligned with each other. In some examples, the power transmission device and the power receiver may also include electronic circuitry, eg, in the form of a programmable circuit board, the electronic circuitry configured to control the operation of the induction coil. In this exemplary configuration, power may be transmitted wirelessly via induction from a power supply associated with the vehicle to the electrically powered device carried by rotating body 802 .

The exemplary first data transmitter of first interface portion 826 shown in FIGS. 12 and 13 transmits data signals related to sensor data from rotating body 802 of sensor assembly 900 to second interface portion 828 . to a first data receiver of. For example, a sensor signal in the form of a data signal from a LIDAR sensor may be wirelessly transmitted by a first data transmitter to a first data receiver, whereby the data signal is transmitted from the sensor assembly 900 to one of the vehicles. Or it can be sent to multiple controllers. In some examples, the first data transmitter and the first data receiver are configured to wirelessly transmit data signals over a high speed wireless link (eg, a wireless link having a data transmission rate of 50 kbps or greater). obtain. For example, the first data transmitter and first data receiver may each include an optical communication device, and wireless coupling between the first data transmitter and first data receiver provides optical coupling. do. In some examples, the first data transmitter may include an optical transmitter, such as an LED or laser diode, and the first data receiver may include an optical receiver, such as a photodetector. In some examples, the first data transmitter and the first data receiver may be axially aligned with the rotation axis X of the rotating body 802 . In this exemplary configuration, data signals may be wirelessly transmitted 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 also contemplated.

Also, an exemplary second interface portion 828 of interface 824 may include a second data transmitter coupled to third support 832 and configured to transmit data signals. , the exemplary first interface portion 826 may include a second data receiver connected to the rotor 802 of the sensor assembly 900 and wirelessly coupled from the second data transmitter. configured to receive a data signal via the In some examples, the second data transmitter sends data signals to the second data receiver for adjusting power supplied to electronic devices including components of the LIDAR sensor carried by rotating body 802. Configured. In some examples, the second data transmitter is configured to send a data signal to the second data receiver for controlling operation of the rotating body 802 of the sensor assembly 900, the data signal being, for example, a motor and control signals associated with controlling rotation of rotor 802 of sensor assembly 900 via control 812 .

In some examples, the second data transmitter and the second data receiver are configured to wirelessly transmit data signals over a low speed wireless link (eg, a wireless link having a data transmission rate of less than 50 kbps). obtain. For example, the second data transmitter and the second data receiver may each include an inductive coil, and wireless coupling between the second data transmitter and the second data receiver provides inductive coupling. good too. In some examples, the second data transmitter and the second data receiver may be axially aligned with the rotation axis Χ of the body of rotation 802 . Other types of low speed wireless links are also contemplated.

In some examples, the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may be configured to wirelessly transmit data signals over a high speed wireless link. . For example, the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver may each include an optical communication device, and the first data transmitter and the first data receiver Wireless coupling between may provide optical coupling, and wireless coupling between the second data transmitter and the second data receiver may provide optical coupling. In some examples, the first data transmitter and the second data transmitter may each comprise an optical transmitter, such as an LED or laser diode, and the first data receiver and the second data receiver may comprise optical Each may include a target receiver, such as a photodetector.

In some examples of sensor assembly 900, the respective inductive coils of the second data transmitter and second data receiver of sensor assembly 900 may be replaced by respective optical communication devices. In such an example, the first data transmitter and the second data transmitter may be axially aligned with the rotation axis X of the body of rotation 802 of the sensor assembly 900, and the first data receiver and the second data The receiver need not be axially aligned with the rotation axis X of the rotor 802 . For example, a first data transmitter may be associated with body of rotation 802 such that it is positioned on axis of rotation X, and a first data receiver may be associated with body of rotation 802 such that it is positioned on axis of rotation X. As such, it is associated with the third support 832 . However, the first data receiver (which is stationary) receives data signals (eg, optical data signals) from the first data transmitter as it rotates with the rotating body 802 of the sensor assembly 900 . may be oriented to receive the The second data receiver may rotate about axis X of rotating body 802 as rotating body 802 rotates, and may be spaced from axis X of rotating body 802, and the second data receiver may be spaced from axis X of rotating body 802 as it rotates. may be oriented to receive a data signal (eg, an optical data signal) from a second data transmitter (which is stationary). In some examples, one or more of the first data transmitter, the first data receiver, the second data transmitter, and the second data receiver are supplemented with reflectors and/or lenses and the first may assist in maintaining a communication link between a data transmitter and a first data receiver and/or a communication link between a second data transmitter and a second data receiver. In some examples, crosstalk or interference between the first data transmitter and first data receiver pair and between the second data transmitter and second data receiver pair may cause, for example, time It may be mitigated or eliminated through sharing techniques and/or by the use of bandpass filtering and differences in paired communication signals (eg, different frequencies and/or wavelengths of signals between pairs). Other techniques are also contemplated. In some examples, the first data receiver and the second data receiver may be axially aligned with the rotation axis X of the body of rotation 802 of the sensor assembly 900, and the first data transmitter and the second data receiver may be aligned. The transmitter does not have to be axially aligned with the rotation axis X of the rotor 802 .

As shown in FIGS. 14 and 15, an exemplary spine 810 of sensor assembly 900 is adapted to receive at least one of electrical conductors, data signal links, or electronic circuitry associated with the motion of rotating body 802. includes a spine recess 834 configured to . For example, as shown in FIG. 14, spine recess 834 provides cavity 1400 for receiving electrical conductors, data signal links, and/or electronic circuitry. As shown in FIG. 15, exemplary sensor assembly 900 includes electronic circuitry 836 received in cavity 1400 . Exemplary electronic circuitry 836 may include one or more of printed circuit boards, computer modules, power modules, programmable controllers, and/or any other known electronic-related components. For example, electronic circuitry 836 may include printed circuit boards, computer modules, power modules, and/or programmable controllers associated with the operation of electronic devices carried by rotating body 802 .

The subject matter described above is provided as an illustration only and should not be construed as limiting. Moreover, the claimed elements are not limited to implementations that solve any or all disadvantages noted in any part of this disclosure. Various modifications and changes are described herein without following the examples and applications shown and described and without departing from the spirit and scope of the invention as set forth in the following claims. subject matter.
example clause

A. An exemplary interface for transmitting power and data between a non-rotating body and a rotating body with a rotating axis, comprising:
a power transmission device connected to the non-rotating body and configured to transmit power;
a power receiver connected to the rotating body and configured to receive power via wireless coupling from a power transmission device;
a first data transmitter connected to the rotating body and configured to transmit a data signal;
a first data receiver connected to the non-rotating body and configured to receive data signals via wireless coupling from the first data transmitter;
a second data transmitter connected to the non-rotating body and configured to transmit a data signal;
a second data receiver connected to the rotating body and configured to receive data signals via wireless coupling from a second data transmitter;
wireless coupling between the power transmission device and the power receiver includes inductive coupling,
The interface, wherein the first data transmitter and the first data receiver each include an optical communication device, and wireless coupling between the first data transmitter and the first data receiver includes optical coupling.

B. The interface of example A, wherein the power transmission device and the power receiver each include an induction coil, and wherein the power transmission device and the power receiver are axially aligned with the axis of rotation of the rotating body.

C. The interface of Example A or Example B, wherein the first data transmitter and the first data receiver are axially aligned with the axis of rotation of the rotating body.

D. 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 of Example A-C includes inductive coupling. An interface according to any one.

E. The interface of any one of Examples A-D, wherein the second data transmitter and the second data receiver are axially aligned with the axis of rotation of the rotating body.

F. The first data transmitter, the first data receiver, the second data transmitter, and the second data receiver each include an optical communication device, and a wireless coupling between the first data transmitter and the first data receiver. The interface of any one of Examples A-E, wherein the ring includes an optical coupling, and the wireless coupling between the second data transmitter and the second data receiver includes the optical coupling. .

G. The first data transmitter and the second data transmitter are axially aligned with the axis of rotation of the body of rotation, and the first data receiver and the second data receiver are axially offset from the axis of rotation of the body of rotation. The interface of any one of Examples A-F.

H. Example in which the first data receiver and the second data receiver are arranged along the axis of rotation of the body of rotation and the first data transmitter and the second data transmitter are axially offset from the axis of rotation of the body of rotation The interface of any one of Examples A-G.

I. The interface of any one of Examples A-H, wherein the first data transmitter is configured to transmit data signals associated with sensor data from the rotating body to the first data receiver.

J. The interface of any one of Examples A-I, wherein the second data transmitter is configured to send a data signal for adjusting power to the second data receiver.

K. The interface of any one of Examples A-J, wherein the second data transmitter is configured to send data signals to the second data receiver to control the movement of the rotating body.

L. The interface of any one of Examples A-K, wherein the body of rotation is substantially cylindrical and the body of rotation comprises a substantially planar surface.

M. The first data transmitter and first data receiver are configured to provide unidirectional data transmission and the second data transmitter and second data receiver are configured to provide bidirectional data transmission The interface of any one of Examples A-L.

N. An exemplary interface for transmitting power and data between a non-rotating body and a rotating body with a rotating axis, comprising:
a power transmission device connected to the non-rotating body and configured to transmit power;
a power receiver connected to the rotating body and configured to receive power via wireless coupling from a power transmission device;
a first data transmitter connected to the rotating body and configured to transmit a data signal;
a first data receiver connected to the non-rotating body and configured to receive data signals via wireless coupling from the first data transmitter;
wireless coupling between the power transmission device and the power receiver includes inductive coupling,
An interface, wherein the first data transmitter is configured to send a data signal associated with the sensor data from the rotating body to the first data receiver.

O. As in Example N, 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. interface.

P. The interface of Example N or Example O, wherein the power transmission device and the power receiver each include an induction coil, and wherein the power transmission device and the power receiver are axially aligned with the axis of rotation of the rotating body.

Q. The interface of any one of Examples N-P, wherein the first data transmitter and the first data receiver are axially aligned with the axis of rotation of the rotating body.

R. a second data transmitter connected to the non-rotating body and configured to transmit a data signal;
and a second data receiver connected to the rotating body and configured to receive data signals via wireless coupling from the second data transmitter. interface.

S. The interface of any one of Examples N-R, wherein the second data transmitter is configured to send the data signal to the second data receiver to adjust the power.

T. The interface of any one of Examples N-S, wherein the second data transmitter is configured to send data signals to the second data receiver for controlling movement of the rotating body.

U.S.A. 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 of Examples N-T includes an inductive coupling. An interface according to any one.

V. The interface of any one of Examples N-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 first data transmitter, the first data receiver, the second data transmitter, and the second data receiver each include an optical communication device, and a wireless coupling between the first data transmitter and the first data receiver. The interface of any one of Examples N-V, wherein the ring includes an optical coupling, and the wireless coupling between the second data transmitter and the second data receiver includes the optical coupling. .

X. Example in which the first data transmitter and the second data transmitter are arranged along the axis of rotation of the body of rotation and the first data receiver and the second data receiver are axially offset from the axis of rotation of the body of rotation The interface of any one of N through Example W.

Y. The first data receiver and the second data receiver are axially aligned with the axis of rotation of the body of rotation, and the first data transmitter and the second data transmitter are axially offset from the axis of rotation of the body of rotation. The interface of any one of Examples N-X.

Z. The interface of any one of Examples N-Y, wherein the body of rotation is substantially cylindrical and the body of rotation comprises a substantially planar surface.

AA. a second data transmitter connected to the non-rotating body and configured to transmit a data signal;
a second data receiver connected to the rotating body and configured to receive data signals via wireless coupling from the second data transmitter;
A first data transmitter and a first data receiver configured to provide unidirectional data transmission and a second data transmitter and a second data receiver configured to provide bidirectional data transmission The interface of any one of Examples N-Z.

BB. a rotating body including at least one sensor, the at least one sensor configured to generate a sensor data signal obtained during rotation of the rotating body;
a non-rotating body associated with the rotating body such that the rotating body rotates about an axis of rotation passing through the non-rotating body;
an interface for transmitting power and data between the non-rotating body and the rotating body;
The interface is
a power transmission device connected to the non-rotating body and configured to transmit power;
a power receiver connected to the rotating body and configured to receive power via wireless coupling from a power transmission device;
a first data transmitter connected to the rotating body and configured to transmit a data signal;
a first data receiver connected to the non-rotating body and configured to receive data signals via wireless coupling from the first data transmitter;
wireless coupling between the power transmission device and the power receiver includes inductive coupling,
An exemplary sensor assembly, wherein the first data transmitter is configured to transmit data signals associated with 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.

DD. The sensor assembly of Example BB or Example CC, wherein the interface is configured to power and at least partially control operation of the at least one sensor.

EE. The sensor assembly of any one of Examples BB-DD, further comprising a housing associated with the rotating body and configured to protect the at least one sensor.

FF. The sensor assembly of any one of Examples BB-EE, wherein the housing includes a lens configured to provide an optical path from the at least one sensor to the environment.

GG. The sensor assembly of any one of Examples BB-FF, wherein the non-rotating body defines a substantially flat surface and the axis of rotation of the rotating body is substantially perpendicular to the flat surface. .

HH. The sensor assembly of any one of Examples BB through GG, wherein the non-rotating body and the rotating body are connected together.

II. The sensor assembly of any one of Examples BB-HH, wherein the power transmission device and the power receiver each include an inductive coil, and wherein the power transmission device and the power receiver are axially aligned with the axis of rotation of the rotating body.

JJ. 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. A sensor assembly according to any one of II.

KK. The sensor assembly of any one of Examples BB-JJ, wherein the first data transmitter and the first data receiver are axially aligned with the axis of rotation of the rotating body.

LL. a second data transmitter connected to the non-rotating body and configured to transmit a data signal;
and a second data receiver connected to the rotating body and configured to receive data signals via wireless coupling from the second data transmitter. sensor assembly.

MM. The sensor assembly of any one of Examples BB-LL, wherein the second data transmitter is configured to send a data signal to the second data receiver to adjust the power.

NN. The sensor assembly of any one of Examples BB-MM, wherein the second data transmitter is configured to send data signals to the second data receiver for controlling motion of the rotating body.

OO. 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 of Examples BB-NN includes inductive coupling. A sensor assembly according to any one of the preceding claims.

PP. The sensor assembly of any one of Examples BB-OO, wherein the second data transmitter and the second data receiver are axially aligned with the axis of rotation of the rotating body.

QQ. An exemplary method for transmitting power and data between a non-rotating body and a rotating body, comprising:
transferring power from the non-rotating body to the rotating body through an inductive coupling;
transmitting a data signal from the rotating body to the non-rotating body via a wireless coupling;
The method, wherein the data signal is associated with sensor data from the rotating body.

RR. An exemplary support assembly for supporting a body of rotation defining an axis of rotation, the body of rotation rotating about the axis of rotation;
defining a first longitudinal support axis and configured to support the rotating body such that the rotating body is rotatable with respect to the first support and the rotating body is transverse to the first longitudinal support axis; a first 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 rotating body is transverse to the second longitudinal support axis; a second support,
A spine defining a longitudinal spine axis, the spine connected to the first support and the second support and extending between the first support and the second support, the longitudinal spine axis a spine that traverses one longitudinal support axis and a second longitudinal support axis;
a motor associated with at least one of the first support or the second support and configured to provide torque to rotate the rotating body;
At least one of the spine, first support, or second support defines a recess configured to receive at least one of an electrical conductor or data signal link associated with motion of the rotating body. , support assembly.

SS. The support assembly of example RR, wherein the first longitudinal support axis and the second longitudinal support axis are parallel to each other.

TT. The support assembly of Example RR or Example SS wherein the first longitudinal support axis and the second longitudinal support axis lie in a common plane.

UU. The support assembly of any one of Examples RR-TT, wherein at least one of the first longitudinal support axis or the second longitudinal support axis is perpendicular to the longitudinal spine axis.

VV. The spine, the first support, and the second support are connected together such that the spine axis is configured to be spaced from and parallel to the axis of rotation of the body of rotation. The support assembly of any one of Examples RR through UU.

WW. The support assembly of any one of Examples RR-VV, wherein at least one of the first support or the second support includes a bearing configured to facilitate rotation of the rotating body.

XX. As in any one of Examples RR-WW, the spine defines a recess configured to receive at least one of an electrical conductor, a data signal link, or an electronic circuit associated with operation of the rotating body. support assembly.

YY. any one of Examples RR through XX, wherein at least one of the first support or the second support defines a recess configured to receive at least one of a conductor or a data signal link Support assembly as described in 1.

ZZ. Further including a third support, the third support being splined such that the third support is spaced from the second support and located on the side of the second support opposite the first support. The support assembly of any one of Examples RR-YY associated with .

AAA. The support assembly of any one of Examples RR-ZZ, wherein the third support is connected to the spine and defines a third longitudinal support axis transverse to the longitudinal spine axis.

BBB. The support assembly of any one of Examples RR through AAA, wherein the third support defines a third longitudinal support axis, the second longitudinal support axis and the third longitudinal support axis being parallel to each other. .

CCC. The support assembly of any one of Examples RR-BBB, wherein the third support defines a recess configured to receive at least one of an electrical conductor or a data signal link.

DDD. a rotating body configured to define an axis of rotation and support at least one sensor configured to generate a sensor signal;
a support assembly connected to the rotating body and supporting the rotating body so that the rotating body rotates about the axis of rotation;
The support assembly
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 axis of rotation is transverse to the first longitudinal support axis. and,
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 axis of rotation is transverse to the second longitudinal support axis. and,
a spine defining a longitudinal spine axis, the spine connected 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 connected to the rotating body for providing torque to rotate the rotating body;
An exemplary system, wherein the longitudinal spine axis intersects the first longitudinal support axis and the second longitudinal support axis.

EEE. At least one of the spine, first support, or second support defines a recess configured to receive at least one of an electrical conductor or data signal link associated with motion of the rotating body. , example DDD.

FFF. In example DDD or example EEE, the motor is associated with a first support, and at least one of the motor or first support includes a first bearing configured to facilitate rotation of the rotating body. System as described.

GGG. The system of any one of Examples DDD through Example FFF, wherein the first support defines a recess configured to receive an electrical conductor configured to transmit power from the spine to the motor.

HHH. The system of any one of Examples 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 Examples DDD through Example HHH, wherein the rotating body includes a stub received by the second bearing, such that the second bearing and the stub facilitate rotation of the rotating body.

JJJ. The system of any one of Examples DDD through Example III, further comprising an adapter connected to the stub on a side of the second support opposite the rotating body such that the adapter rotates with the rotating body.

KKK. of Examples DDD to Example JJJ, further comprising a first interface portion connected to the adapter and configured to transmit at least one of a power or data signal between the rotating body and the second interface portion. A system according to any one of the preceding claims.

LLL. further including at least one of an electrical conductor or a data signal link, the electrical conductor or data signal link connected to the first interface portion and providing a second bearing between the rotating body and the first interface portion; and at least one of the electrical conductors or data signal links is configured to transmit at least one of power and data signals between the first interface portion and the rotating body. Example A system according to any one of the KKK.

MMM. any one of Examples DDD through Example LLL further comprising a third support associated with the spine such that the third support is spaced from the adapter and positioned on a side of the adapter opposite the second support The system described in one.

NNN. further including a second interface portion connected to the third support for carrying at least one of a power or data signal between the third support and the first interface portion; The system of any one of examples DDD through example MMM configured to transmit.

OOO. A third support receives at least one of electrical conductors or data signal links configured to transmit at least one of power or data signals between the spine and the second interface portion. The system of any one of Examples DDD through Example NNN, defining a recess configured to:

Claims (12)

An interface for transmitting power and data between a non-rotating body and a rotating body having a rotating shaft, the interface comprising:
a power transmission device connected to the non-rotating body and configured to transmit power;
a power receiver connected to the rotating body and configured to receive power from the power transmission device via wireless coupling;
a first data transmitter connected to the rotating body and configured to transmit a data signal;
A first data receiver connected to the non-rotating body and configured to receive data signals from the first data transmitter via wireless coupling, wherein the first data transmitter and the first each of said data receivers comprises an optical communication device, said wireless coupling between said first data transmitter and said first data receiver being an optical coupling; a second data transmitter connected to the non-rotating body and configured to transmit a data signal;
A second data receiver connected to the rotating body and configured to receive data signals from the second data transmitter via wireless coupling, wherein the second data transmitter and the second each of the data receivers includes an inductive coil, and wherein the wireless coupling between the second data transmitter and the second data receiver is an inductive coupling;
wherein the first data transmitter is positioned on the axis of rotation of the body of rotation and the second data receiver is positioned away from the axis of rotation of the body of rotation;
interface. An interface for transmitting power and data between a non-rotating body and a rotating body having a rotating shaft,
a power transmission device connected to the non-rotating body and configured to transmit power;
a power receiver connected to the rotating body and configured to receive power from the power transmission device via wireless coupling;
a first data transmitter connected to the rotating body and configured to transmit a data signal;
A first data receiver connected to the non-rotating body and configured to receive data signals from the first data transmitter via wireless coupling, wherein the first data transmitter and the first each of said data receivers comprises an optical communication device, said wireless coupling between said first data transmitter and said first data receiver being an optical coupling; a second data transmitter connected to the non-rotating body and configured to transmit a data signal;
A second data receiver connected to the rotating body and configured to receive data signals from the second data transmitter via wireless coupling, wherein the second data transmitter and the second each of the data receivers includes an inductive coil, and wherein the wireless coupling between the second data transmitter and the second data receiver is an inductive coupling;
wherein the first data receiver and the first data transmitter are positioned on the axis of rotation of the body of rotation;
interface. the optical coupling between the first data transmitter and the first data receiver has a first data transmission rate and between the second data transmitter and the second data receiver; the inductive coupling of has a second data transmission rate lower than the first data transmission rate;
3. Interface according to claim 1 or 2. the power transmission device and the power receiver each include an induction coil;
The interface according to any one of claims 1 to 3, wherein the power transmission device and the power receiver are arranged on an axis parallel to the axis of rotation of the rotating body. The interface of any one of claims 1-4, wherein the second data transmitter is configured to transmit a data signal for adjusting power to the second data receiver. An interface according to any one of claims 1 to 4, wherein the second data transmitter is arranged to send data signals for controlling the movement of the rotating body to the second data receiver. The induction coil of the second data transmitter and the induction coil of the second data receiver are each axially aligned about the axis of rotation of the rotor. interface as described in section. The first data transmitter is positioned inside the inductive coil of the second data receiver, and the first data receiver is positioned inside the inductive coil of the second data transmitter.
Interface according to any one of claims 1-7. The rotating body is substantially cylindrical,
An interface according to any preceding claim, wherein the non-rotating body comprises a substantially flat surface. a rotating body comprising at least one sensor configured to generate a signal of sensor data obtained during rotation of said rotating body;
a non-rotating body associated with the rotating body such that the rotating body rotates about an axis of rotation passing through the non-rotating body;
an interface for transmitting power and data between the non-rotating body and the rotating body;
The interface is
a power transmission device connected to the non-rotating body and configured to transmit power;
a power receiver connected to the rotating body and configured to receive power from the power transmission device via wireless coupling;
a first data transmitter connected to the rotating body and configured to transmit a data signal;
A first data receiver connected to the non-rotating body and configured to receive data signals from the first data transmitter via wireless coupling, wherein the first data transmitter and the first each of said data receivers comprises an optical communication device, said wireless coupling between said first data transmitter and said first data receiver being an optical coupling; a second data transmitter connected to the non-rotating body and configured to transmit a data signal;
A second data receiver connected to the rotating body and configured to receive data signals from the second data transmitter via wireless coupling, wherein the second data transmitter and the second each of the data receivers includes an inductive coil, and wherein the wireless coupling between the second data transmitter and the second data receiver is an inductive coupling;
wherein the first data transmitter is positioned on the axis of rotation of the body of rotation and the second data receiver is positioned away from the axis of rotation of the body of rotation;
sensor assembly. a rotating body comprising at least one sensor configured to generate a signal of sensor data obtained during rotation of said rotating body;
a non-rotating body associated with the rotating body such that the rotating body rotates about an axis of rotation passing through the non-rotating body;
an interface for transmitting power and data between the non-rotating body and the rotating body;
The interface is
a power transmission device connected to the non-rotating body and configured to transmit power;
a power receiver connected to the rotating body and configured to receive power from the power transmission device via wireless coupling;
a first data transmitter connected to the rotating body and configured to transmit a data signal;
A first data receiver connected to the non-rotating body and configured to receive data signals from the first data transmitter via wireless coupling, wherein the first data transmitter and the first each of said data receivers comprises an optical communication device, said wireless coupling between said first data transmitter and said first data receiver being an optical coupling; a second data transmitter connected to the non-rotating body and configured to transmit a data signal;
A second data receiver connected to the rotating body and configured to receive data signals from the second data transmitter via wireless coupling, wherein the second data transmitter and the second each of the data receivers includes an inductive coil, and wherein the wireless coupling between the second data transmitter and the second data receiver is an inductive coupling;
at least one of the first data receiver and the first data transmitter is positioned on the axis of rotation of the body of rotation;
sensor assembly. 12. The sensor assembly of claim 10 or 11, wherein the at least one sensor comprises a light detection and ranging (LIDAR) sensor.

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