WO2021051784A1 - 数据传输装置、激光雷达及智能设备 - Google Patents

数据传输装置、激光雷达及智能设备 Download PDF

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Publication number
WO2021051784A1
WO2021051784A1 PCT/CN2020/083357 CN2020083357W WO2021051784A1 WO 2021051784 A1 WO2021051784 A1 WO 2021051784A1 CN 2020083357 W CN2020083357 W CN 2020083357W WO 2021051784 A1 WO2021051784 A1 WO 2021051784A1
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WIPO (PCT)
Prior art keywords
optical
optical module
module
data transmission
transmission device
Prior art date
Application number
PCT/CN2020/083357
Other languages
English (en)
French (fr)
Inventor
马丁昽
Original Assignee
深圳市速腾聚创科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to CN202080005405.8A priority Critical patent/CN114041065A/zh
Priority to EP20873968.0A priority patent/EP4043913A4/en
Priority to CN202080005501.2A priority patent/CN112840230B/zh
Priority to PCT/CN2020/115989 priority patent/WO2021068724A1/zh
Publication of WO2021051784A1 publication Critical patent/WO2021051784A1/zh
Priority to US17/715,907 priority patent/US11679803B2/en
Priority to US18/144,830 priority patent/US20230271646A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres

Definitions

  • the embodiment of the present invention relates to the technical field of lidar, and in particular to a data transmission device, lidar, and smart equipment.
  • LiDAR Light Dectection And Ranging, LiDAR
  • Lidar is a sensor that uses laser light to detect and measure distances. It measures the distance and reflectivity of the target by emitting laser pulses to the target and measuring the delay and intensity of the return pulse.
  • Lidar generally uses a mechanical rotating device to achieve 360-degree spatial scanning. Each pair of devices that continuously emit and receive laser pulses with the mechanical rotation is called a scanning "line" of the laser radar. Because it is widely used in technical fields such as automatic driving and intelligent perception, lidar is required to have higher spatial resolution, which requires a higher number of lines.
  • the part that rotates with the mechanical rotating device is called the radar front-end system.
  • the detected laser pulses are converted into point cloud data after passing through the radar front-end system.
  • the point cloud data needs to be transmitted wirelessly through a communication device.
  • the inventor of the present application found that the current lidar uses wireless communication devices based on electromagnetic coupling to achieve the above-mentioned point cloud data transmission, but it is limited to the nature of the physical transmission medium and wireless based on electromagnetic coupling.
  • the communication device cannot meet the requirement of high line count, so the data transmission efficiency is low.
  • the purpose of the embodiments of the present invention is to provide a data transmission device, lidar, and smart equipment, which use light as a data transmission medium, which can improve data transmission efficiency.
  • the embodiment of the present invention provides a data transmission device, which is applied to lidar,
  • the lidar system includes a rotating body and a central axis
  • the device includes: a first optical module and a second optical module;
  • the first optical module is used to receive the first digital signal output by the radar front-end device, convert the first digital signal into an optical signal, and send the optical signal to the first optical signal through the transmitting end of the first optical module. 2. The receiving end of the optical module;
  • the second optical module receives the optical signal sent by the first optical module through a receiving end, and converts the optical signal into the first digital signal;
  • the transmitting end of the first optical module and the receiving end of the second optical module are oppositely arranged on the central axis.
  • the lidar system includes a fixed seat; the central axis is arranged on the fixed seat;
  • the rotating body is rotatably connected with the fixed base and can rotate around the central axis of the central shaft, and the rotating body and the central shaft jointly define a hollow structure;
  • the first optical module and the second optical module are both disposed in the hollow structure, and the first optical module is disposed on the rotating body, and the second optical module is disposed on the fixing seat .
  • the rotating body includes a rotating shaft, the central axis of the rotating shaft coincides with the central axis of the central shaft, the rotating shaft is arranged in the hollow structure and rotates with the inner peripheral wall of the central shaft connection.
  • the rotating shaft is a hollow shaft
  • the first optical module is disposed inside the rotating shaft
  • the second optical module is disposed inside the central shaft.
  • the rotating body and the fixing base are rotatably connected by a driving device;
  • the driving device includes a stator and a rotor coupled with the stator, the stator is sleeved on the outer peripheral wall of the central shaft, the rotor is arranged around the stator, and the rotor is connected with the rotating body.
  • the data transmission device further includes a third optical module and a fourth optical module;
  • the third optical module is used to receive the second digital signal output by the upper application device, convert the second digital signal into an optical signal, and send the optical signal to the first optical signal through the transmitting end of the third optical module.
  • the fourth optical module receives the optical signal sent by the third optical module through a receiving end, and converts the optical signal into the second digital signal;
  • the transmitting end of the third optical module and the receiving end of the fourth optical module are oppositely arranged on the central axis.
  • the third optical module and the fourth optical module are both disposed in the hollow structure, and the fourth optical module is disposed on the rotating body, and the third optical module is disposed in the hollow structure.
  • the fixed seat On the fixed seat.
  • the data transmission device further includes a coupling optical system; the coupling optical system is used to transmit the optical signal output by the first optical module to the second optical module; and also used to transmit the optical signal output by the third optical module The optical signal is sent to the fourth optical module.
  • the coupling optical system is used to transmit the optical signal output by the first optical module to the second optical module; and also used to transmit the optical signal output by the third optical module The optical signal is sent to the fourth optical module.
  • the coupling optical system is composed of optical lenses, and the number of the optical lenses is 0-N, which is used for homogenizing or converging the received optical signals.
  • the coupling optical system includes a first homogenization module and a second homogenization module;
  • the first homogenization module and the first optical module are packaged together, and are used to perform homogenization processing on the optical signal emitted by the first optical module;
  • the second homogenization module and the third optical module are packaged together to perform homogenization processing on the optical signal emitted by the third optical module.
  • the first optical module and the fourth optical module are respectively arranged on both sides of the rotating body relative to the central axis of the hollow structure;
  • the second optical module and the third optical module are respectively arranged on the two sides of the fixing seat relative to the central axis of the hollow structure;
  • the second optical module is located in a light spot formed on the fixing seat when the first optical module sends an optical signal
  • the fourth optical module is located in an optical class formed on the rotating body when the third optical module sends an optical signal.
  • the coupling optical system includes a first collimating module and a third homogenizing module
  • the first collimation module and the first optical module are packaged together for collimating the optical signal emitted by the first optical module;
  • the third homogenization module and the third optical module are packaged together, and are used to perform homogenization processing on the optical signal emitted by the third optical module.
  • the first optical module is arranged at a position where the central axis of the hollow structure intersects the rotating body, and the second optical module is arranged at a position where the central axis of the hollow structure intersects the fixing seat ;
  • the first optical module sends parallel light parallel to the central axis of the hollow structure to the second optical module;
  • the third optical module and the fourth optical module are arranged at a position on one side of the central axis of the hollow structure, and the fourth optical module is located in the rotating body when the third optical module sends an optical signal.
  • the fourth optical module is located in the rotating body when the third optical module sends an optical signal.
  • the optical signal sent by the third optical module is emitted toward the fourth optical module after being homogenized.
  • the coupling optical system includes a second collimation module and a third collimation module;
  • the second collimation module and the first optical module are arranged together, and are used for collimating the optical signal emitted by the optical module;
  • the third collimation module and the third optical module are arranged together, and are used for collimating the optical signal emitted by the optical module.
  • the coupling optical system further includes a ring lens, and the ring lens is arranged around the central axis of the hollow structure;
  • the first light module is arranged on the rotating body at a position relative to the annular lens
  • the second light module is arranged at the focal point of the annular lens on the fixing seat;
  • the first light module emits parallel light to the ring lens, and the ring lens receives the parallel light and converges the parallel light to the second light module.
  • the fourth light module is arranged on the rotating body at a focal point relative to the annular lens
  • the third optical module is arranged on the fixing base at a position relative to the annular lens
  • the third light module emits parallel light to the ring lens, and the ring lens receives the parallel light and converges the parallel light to the fourth light module.
  • the wavelengths of the optical signals emitted by the first optical module and the third optical module are different.
  • a first circuit board is arranged on the rotating body, and the first optical module and the fourth optical module are respectively arranged on the first circuit board;
  • a second circuit board is arranged on the fixing seat, and the second optical module and the third optical module are respectively arranged on the second circuit board.
  • the embodiment of the present invention also provides a lidar, including: a radar front-end device, an upper-level application device, and the data transmission device described in the foregoing embodiment;
  • the radar front-end device is used to receive light information reflected by a target object, and convert the light information into a first digital signal;
  • the data transmission device is used to transmit the first digital signal to the upper application device
  • the upper application device is used to convert control information into a second digital signal
  • the data transmission device is also used to transmit the second digital signal to the radar front-end device.
  • the embodiment of the present invention also provides an intelligent device, including the above-mentioned lidar.
  • light is used as the data transmission medium for data transmission. Because of the large communication capacity of optical communication, the anti-electromagnetic interference and the good transmission quality, the data transmission efficiency can be improved.
  • Figure 1 shows a schematic structural diagram of a lidar system provided by an embodiment of the present invention
  • Figure 2 shows a schematic structural diagram of a data transmission device provided by an embodiment of the present invention
  • FIG. 3 shows a schematic diagram of the structure of the first optical module and the second optical module of FIG. 2;
  • FIGS. 4a to 4d show schematic diagrams of the structure of a data transmission device with an out-of-axis design provided by an embodiment of the present invention
  • 5a to 5e show schematic structural diagrams of a data transmission device with an on-axis design provided by an embodiment of the present invention
  • FIG. 6 shows a schematic structural diagram of a data transmission device provided by another embodiment of the present invention.
  • FIG. 7 shows a lidar provided by another embodiment of the present invention.
  • FIG. 8 shows a schematic structural diagram of a data transmission device provided by another embodiment of the present invention.
  • FIG. 9 shows a package structure diagram of an optical module and a coupling optical system according to another embodiment of the present invention.
  • FIG. 10 shows an optical path diagram of a data transmission device provided by another embodiment of the present invention.
  • FIG. 11 shows another optical path diagram of a data transmission device provided by another embodiment of the present invention.
  • Fig. 1 shows a schematic structural diagram of a lidar system provided by an embodiment of the present invention.
  • the lidar system 100 includes: a data transmission device 10, a radar front-end device 20 and an upper application device 30.
  • the radar front end device 20 is connected to one end of the data transmission device 10, and the other end of the data transmission device 10 is connected to the upper application device 30.
  • the radar front-end device 20 is used to receive the light information reflected by the target object and convert the light information into a first digital signal.
  • the data transmission device 10 is used to transmit the first digital signal output by the radar front-end device 20 to the upper application device 30,
  • the upper application device 30 is used for receiving the first digital signal and processing the first digital signal.
  • the detection data of the target object detected by the radar front-end device 20 is transmitted to the upper application device 30 through the data transmission device 10 for processing, thereby obtaining object detection information.
  • the radar front-end device 20 is used to receive the light information reflected by the target object and convert the light information into the first digital signal, specifically including: the radar front-end device receives the light information reflected by the target object, and converts the light information reflected by the target object Is an electrical signal, and the electrical signal is converted into a first digital signal.
  • the radar front-end device 20 transmits the first digital signal to the data transmission device 10.
  • the upper application device 30 may be any type of terminal device with user interaction functions and computing capabilities, for example, a smart car terminal, a drone terminal, or other terminal devices that can be installed on a smart car or drone.
  • the upper application device 30 is also used to receive control instruction information and convert the received control instruction information into a second digital signal, and the data transmission device 10 is also used to transfer the second digital signal output by the upper application device 30 The signal is transmitted to the radar front-end device 20, and the radar front-end device 20 is also used to receive the second digital signal and respond to the second digital signal. In the above manner, the upper application device 30 transmits the control command input by the user to the radar front-end device 20 through the data transmission device 10, thereby controlling the radar front-end device 20.
  • the data transmission device 10 includes a first optical module and a second optical module.
  • the first optical module 11 is in communication with the radar front-end device 20, and the second optical module 12 is in communication with the upper application device 30. connection.
  • both the first optical module and the second optical module have transceiver modules at the same time, so that simultaneous uplink signal and downlink signal transmission can be realized at the same time, that is, the radar ranging data and control data can be transmitted at the same time.
  • Fig. 2 shows a schematic structural diagram of a data transmission device provided by an embodiment of the present invention.
  • the data transmission device 10 includes: a first optical module 11, a second optical module 12 and a coupling optical system 13.
  • the coupling optical system 13 is provided between the first optical module 11 and the second optical module 12.
  • the first optical module 11 is in communication connection with the radar front-end device 20, and the second optical module 12 is in communication connection with the upper application device 30.
  • the first optical module 11 is used for receiving the first digital signal output by the radar front-end device 20 and converting the first digital signal into an optical signal
  • the coupling optical system 13 is used for transmitting the optical signal output by the first optical module 11 to the second
  • the second optical module 12 is used to convert the optical signal into a first digital signal and output it to the upper application device 30 for processing.
  • the first optical module 11 includes: a first modulation circuit 111 and a first transmitter 112. Among them, one end of the first modulation circuit 111 is connected to the radar front-end device 20 and the other end is connected to the first transmitter 112.
  • the second optical module 12 includes: a second receiver 121 and a second demodulation circuit 122. One end of the second demodulation circuit 122 is connected to the second receiver 121, and the other end is connected to the upper application device 30.
  • the first modulation circuit 111 is used to modulate the first digital signal output by the radar front-end device 20 into an optical signal
  • the first transmitter 112 is used to receive the optical signal output by the first modulation circuit 111 and combine the The optical signal is transmitted to the coupling optical system 13.
  • the coupling optical system 13 transmits the optical signal to the second receiver 121.
  • the second receiver 121 is used to receive the optical signal transmitted by the coupling optical system 13
  • the second demodulation circuit 122 is used to demodulate the optical signal output by the second receiver 121 into a first digital signal, and output it to the upper application device 30 ,
  • the upper application device 30 processes the received first digital signal to obtain the ranging data.
  • the device 10 further includes: a first communication port 141 and a second communication port 142.
  • the first communication port 141 is connected to the first optical module 11 and the radar front-end device 20 respectively.
  • the first communication port 141 is respectively connected to the first modulation circuit 111 and the first demodulation circuit 114
  • the second communication port 142 is respectively connected to the second demodulation circuit 122 and the second modulation circuit 123.
  • the first communication port 141 is used for data transmission between the first optical module 11 and the radar front-end device 20.
  • the second communication port 142 is connected to the second optical module 12 and the upper application device 30 respectively.
  • the second communication port 142 is used for data transmission between the second optical module 12 and the upper application device 30.
  • the data transmission device 10 in the embodiment of the present invention receives the first digital signal output by the radar front-end device 20 through the first optical module 11, and converts the first digital signal into an optical signal, and the coupling optical system 13 outputs the first optical module 11
  • the optical signal is transmitted to the second optical module 12, and the second optical module 12 converts the optical signal into a first digital signal and outputs it to the upper application device 30 for processing.
  • this embodiment uses light as the data transmission medium for data transmission. Due to the large communication capacity of optical communication, the anti-electromagnetic interference and the good transmission quality, the data transmission efficiency can be improved.
  • the data transmission device 10 is located in a lidar system 100.
  • the lidar system 100 includes a rotor 15, a stator 16 and a housing 17, and the rotor 15 and the stator 16 are housed in the housing.
  • the rotor 15 includes a rotating body 151
  • the stator 16 includes a central shaft 161
  • the rotor 15 rotates around the central shaft 161
  • the stator 16 is fixedly connected to the housing 17.
  • the first optical module 11 is provided on the rotor 15, and the second optical module 12 is provided on the stator 16.
  • the first optical module 11 rotates with the rotor 15, and the second optical module 12, the stator 16 and the housing 17 remain relatively stationary.
  • the data transmission device 10 may be an out-of-axis design, in which the coupling optical path is not on the central axis, and the first transmitter 112 of the first optical module 11 and the second optical module 12
  • the relative position of the second receiver 121 changes significantly when the device 10 rotates.
  • the first optical module 11 is installed on the rotating body 151
  • the second optical module 12 is installed on the central axis 161.
  • the data transmission device 10 further includes a coupling optical system 13, wherein the coupling optical system 13 is disposed between the first optical module 11 and the second optical module 12.
  • the coupling optical system 13 is used to form a coupling optical path through optical devices, and transmit the optical signal output by the first optical module 11 to the second optical module 12.
  • the coupling optical path can be in a direction parallel to the central axis, perpendicular to the central axis, or arranged in sections, which is not limited here.
  • This specification uses the coupling optical path of the off-axis data transmission device shown in FIG. 4a as an example to describe the following embodiments.
  • the data transmission device 10 further includes a first communication port 141 and a second communication port 142, and the first communication port 141 is respectively connected to the first modulation circuit 111 and the first modulation circuit 111 in the first optical module 11.
  • the second communication port 142 is connected to the second demodulation circuit 122 of the second optical module 12 and the upper application device 30.
  • the coupling optical system 13 of the data transmission device 10 may include a ring lens 181, wherein the central axis 161 passes through the hollow part of the ring lens 181, and the ring lens 181 and the second optical module 12 are relatively stationary.
  • the first optical module 11 rotates around the central axis 161, and the central axis 161, the housing 17, the second optical module 12, and the ring lens 181 remain relatively stationary.
  • the ring lens 181 is used to receive the optical signal emitted by the first transmitter 112 of the first optical module 11 and adjust the optical signal so that the optical signal enters the second optical module 12 and the second receiver 121 of the second optical module 12 Used to receive the adjusted optical signal.
  • the ring lens 181 can be arranged in a variety of ways.
  • the ring lens 181 is eccentrically arranged on the central axis 161.
  • the first transmitter 112 transmits the optical signal parallel to the optical axis A of the annular lens 181 to the annular lens 181.
  • the annular lens 181 refracts the optical signal and converges the optical signal to the second receiver 121, thereby enabling the second receiver 121 to receive the optical signal.
  • the transmitter 121 receives the optical signal emitted by the first transmitter 112.
  • the first transmitter 112 may be provided with a collimator lens at the transmitting end, so that the optical signal is emitted parallel to the optical axis A of the ring lens 181.
  • the receiving end of the second receiver 121 may be set at the image-side focal plane of the ring lens 181.
  • the first The receiving efficiency of the second receiver 121 is the largest.
  • the optical signal emitted by the first transmitter 112 is always focused on the second receiver 121, thereby ensuring the energy of the signal beam.
  • the optical center of the ring lens 181 may be located on the central axis 161.
  • the first transmitter 112 transmits the optical signal to the ring lens 181, and the ring lens 181 receives the optical signal emitted by the first transmitter 112, homogenizes the received optical signal and then irradiates it to the second receiver 121, so that the optical signal is transmitted to the second receiver 121.
  • the second receiver 121 receives.
  • the ring lens 181 in FIG. 4c can also be replaced by a scattering-type homogenizing sheet.
  • the first emitter 112 may be arranged on the object focal plane of the ring lens 181. When the first transmitter 112 is set at the object focal point of the ring lens 181, the optical signal passes through the ring lens 181 and then exits in parallel, that is, the ring lens 181 plays a role of homogenizing the light signal.
  • the number of the first emitter 112 is set to at least two, and the at least two first emitters 112 are located along the center.
  • the shaft 161 is uniformly arranged.
  • the two first transmitters 112 are respectively arranged symmetrically on both sides of the central axis 161, and the two first transmitters 112 are both used for transmitting Optical signals, and the content of the optical signals emitted by the two first transmitters 112 is the same, so as to prevent the central axis 161 from being blocked and causing the optical signals to be interrupted.
  • the optical signals emitted by the two first emitters 112 are output parallel to each other after passing through the ring lens 181, but are not parallel to each other. Therefore, the optical signals emitted by the two first emitters 112 pass through the rear part of the ring lens 181.
  • the beam irradiation areas cover each other.
  • the second receiver 121 may be located in the area where the beams cover each other, so as to ensure the signal beam received by the second receiver 121 Energy, and reduce the impact of the emitted beam being blocked by the central axis 161.
  • the ring lens 181 may be omitted.
  • the coupling optical system 13 of the data transmission device 10 may include a photometric fiber 182.
  • the photometric fiber 182 is connected to the first transmitter 112 and is arranged around the central axis 161.
  • the photometric fiber 182 is used to homogenize the received optical signal emitted by the first transmitter 112, so that the optical signal enters the second receiver.
  • the arc-shaped reflector 1821 may be arranged on the side of the photometric fiber 182 away from the second receiver 121, and the arc-shaped reflector 1821 can increase the direction of the photometric fiber in the receiving direction.
  • the optimal number of first emitters 112 can be set to at least two, and the two first emitters 112 are respectively arranged symmetrically on both sides of the central axis 161, so as to prevent the central axis 161 from being blocked and interrupting the optical signal.
  • the number of second receivers may also be set to multiple, so as to ensure the energy of the signal beam received by the second receiver.
  • multiple first transmitters 112 may be connected to multiple photometric fibers, and multiple photometric fibers are simultaneously emitted to form a ring-shaped uniform light. Launch surface.
  • the data transmission device 10 may also be an on-axis design.
  • the data transmission device 10 proposed in the embodiment of the present invention is located in a lidar system 100, and the lidar system 100 includes a rotating body. 151 and a central axis 161, including: a first optical module 11 and a second optical module 12; the first optical module 11 is used to receive the first digital signal output by the radar front-end device 20, and combine the first digital signal The signal is converted into an optical signal, and the optical signal is sent to the receiving end of the second optical module 12 through the transmitting end of the first optical module 11; the second optical module 12 receives and sends the first optical module 11 through the receiving end And convert the optical signal into the first digital signal; the transmitting end of the first optical module 11 and the receiving end of the second optical module 12 are arranged opposite to the central axis 161 on.
  • the transmitting end of the first optical module and the receiving end of the second optical module are arranged opposite to the central axis, so that when the rotating body of the lidar and the central axis rotate relatively, the first optical module
  • the transmitting end of the first optical module and the receiving end of the second optical module will not move relative to each other, but only rotate relative to each other, so as to ensure that the optical signal emitted by the transmitting end of the first optical module can directly enter the receiving end of the second optical module,
  • the transmission efficiency of the optical signal is greatly improved, and the structure is very simple.
  • the rotor 15 is a rotating body, the rotating body further includes a bearing rotor 152, the stator 16 is a central shaft, and the central shaft further includes a bearing stator 162.
  • the bearing stator 162 and the bearing rotor 152 are housed in the housing 17.
  • the rotating body is connected to the central shaft through a bearing, the rotating body is connected to the rotor of the bearing, and the central shaft is connected to the bearing stator.
  • the end is arranged on the bearing rotor, and the receiving end of the second optical module is arranged on the bearing stator.
  • the first transmitter 112 of the first optical module 11 is connected to a first optical fiber
  • the transmitting end 1103 of the first optical fiber is
  • the second receiver 121 of the second optical module 12 is connected to the second optical fiber
  • the receiving end 1203 of the second optical fiber is fixed to the bearing stator 162.
  • the coupling optical system 13 is arranged between the bearing rotor 152 and the bearing stator 162.
  • the transmitting end 1103 of the first optical fiber is used as the transmitting end of the first optical module to emit the optical signal of the first optical module 11 to the receiving end 1203 of the second optical fiber, so that the optical signal is transmitted from the transmitting end 1103 of the first optical fiber to the receiving end 1203 of the second optical fiber.
  • the receiving end 1203 of the second optical fiber is thus received by the second optical module 12.
  • the transmitting end of the first optical fiber is used as the transmitting end of the first optical module
  • the receiving end of the second optical fiber is used as the receiving end of the second optical module.
  • the first modulating circuit of the first optical module and the first transmitter of the first optical module can be arranged on the rotating body, and the first optical fiber is used as the transmitting end of the first optical module and is separately arranged in the center.
  • the second modulation circuit of the second optical module and the second receiver of the second optical module can be arranged at the distal end of the fixed central axis, or on the base of the fixed central axis, the second optical fiber is arranged on the central axis, and The first optical fibers are arranged oppositely on the central axis. In this way, only the first optical fiber and the second optical fiber need to be arranged on the central axis to realize the transmission and reception of optical signals, and the structure is simple.
  • the first optical module includes: a first modulation circuit, configured to modulate the first digital signal output by the radar front-end device into the optical signal;
  • the device is connected to the first modulation circuit, and is used to receive the optical signal output by the first modulation circuit, and act as the transmitting end of the first optical module to transmit the optical signal to the second optical module;
  • the second optical module includes: a second receiver, as the receiving end of the second optical module, receives the optical signal, and outputs the optical signal; a second demodulation circuit, connected to the second receiver , For demodulating the optical signal output by the second receiver into the first digital signal and outputting it to the upper application device.
  • the modulation circuit and the transmitter can be separated, for example, the modulation circuit can be separated from the transmitter.
  • the first modulation circuit is separated from the first transmitter
  • the first modulation circuit is arranged on the rotating body
  • the first transmitter is arranged on the bearing rotor 152.
  • the second modulation circuit can also be pulled apart.
  • the modulation circuit is arranged on the base on which the central axis is fixed, and the second receiver is arranged on the bearing stator 162, which greatly saves the space occupied by the first transmitter and the second receiver on the central axis and simplifies the difficulty of installation.
  • the data transmission device 10 further includes a first communication interface 141 and a second communication interface 142.
  • the first communication interface 141 is connected to the first optical module 11 and the radar front-end device 20 and is used for communication between the first optical module 11 and the radar front-end device 20.
  • the second communication port is connected to the second optical module and the upper application device 30 and is used for the second optical module 12 to communicate with the upper application device 30.
  • the transmitting end 1103 of the first optical fiber is fixed to the bearing rotor 152 through the first optical fiber connector 1104; the receiving end 1203 of the second optical fiber It is fixed to the bearing stator 162 through the second optical fiber connector 1204.
  • the optical signal emitted by the first optical fiber connector 1104 propagates a distance according to its inherent angle, a part of the optical signal is irradiated on the second optical fiber connector 1204, and thus is received by the second optical module 12.
  • the coupling optical system 13 between the first transmitting end and the second receiving end may include a series of optical surfaces to assist the optical coupling between the transmitting end and the receiving end.
  • the transmitter and receiver are taken as an example for description.
  • the number of optical surfaces may be 0-N, as shown in FIG. 5c and FIG. 5d.
  • the coupling optical system 13 of the data transmission device 10 may include an optical lens group 191.
  • the optical lens group 191 is used to couple the optical signal emitted by the transmitting end 1103 of the first optical fiber to the receiving end 1203 of the second optical fiber.
  • the optical signal receiving rate of the receiving end 1203 of the second optical fiber is increased.
  • the optical lens group 191 in the coupling optical system 13 may be a collimator lens group 192, and the collimator lens group 192 is used to emit the transmitting end 1103 of the first optical fiber.
  • the optical signal becomes a collimated optical signal, and the collimated optical signal is converged to the receiving end 1203 of the second optical fiber.
  • the collimating lens group 192 includes two collimating mirrors.
  • the collimating lens close to the transmitting end 1103 of the first optical fiber is used to change the divergent light signal emitted by the transmitting end 1103 of the first optical fiber into a collimated light signal,
  • the collimator at the transmitting end 1103 of the first optical fiber is used to converge the collimated optical signal to the receiving end 1203 of the second optical fiber.
  • the optical lens group 191 in the coupling optical system 13 may also be a spherical lens 193, and the spherical lens 193 is used to transmit the optical signal emitted by the transmitting end 1103 of the first optical fiber. Converged to the receiving end 1203 of the second optical fiber.
  • first transmitters and the number of first optical fibers can be multiple, and the number of second receivers and second optical fibers can also be multiple, as long as the receiving end 1203 of the second optical fiber can receive The optical signal emitted by the emitting end 1103 of the first optical fiber is sufficient.
  • the first transmitter of the first optical module 11 is fixed on the bearing rotor, and the second receiver of the optical module 2 is fixed on the bearing.
  • a series of optical surfaces can be inserted between the beam emitting/receiving surfaces of the first optical module and the second optical module to assist the optical coupling between them, and the number of optical surfaces can be 0-N. Therefore, the reception of the optical signal by the second optical module is improved.
  • the data transmission device can also transmit uplink signals at the same time.
  • the off-axis data transmission device shown in FIG. 4a if you want to make the first optical module 11 and the second optical module in the off-axis solution The module 12 simultaneously transmits uplink data and downlink data, so that the first transmitter 112 of the first optical module 11 and the second transmitter 124 of the second optical module 12 can be placed in a staggered manner, thereby avoiding the influence between the optical paths.
  • the same coupling optical system can be shared at the same time to realize the transmission of downlink signals and uplink signals.
  • the aforementioned coupling optical system is shown in Figs. 4b, 4c, and 4d.
  • the data transmission device of the on-axis solution further includes a third optical fiber and a fourth optical fiber.
  • the second transmitter 124 is connected to the third optical fiber
  • the first receiver 113 is connected to the fourth optical fiber.
  • the transmitting end of the third optical fiber is fixed on the bearing stator 162, the receiving end of the fourth optical fiber is fixed on the bearing rotor 152, and the transmitting end of the third optical fiber is used to transmit the optical signal of the second optical module 12 to the fourth optical fiber.
  • the receiving end of the optical fiber so that the optical signal converted from the upstream data is transmitted from the transmitting end of the third optical fiber to the receiving end of the fourth optical fiber, so as to be received by the first optical module.
  • the transmitting end of the first optical fiber and the transmitting end of the third optical fiber may be arranged in a staggered manner.
  • the coupling optical system 13 can be as shown in Figs. 5b, 5c, and 5d.
  • the first optical module is fixed on the bearing rotor, and the second optical module is fixed on the bearing stator.
  • the first transmitter of the first optical module and the second transmitter of the second optical module can be arranged in a staggered manner.
  • the coupling optical system 13 is the same as the coupling optical system of the 5e embodiment.
  • the data transmission device 10 in the embodiment of the present invention receives the first digital signal output by the radar front-end device 20 through the first optical module 11, and converts the first digital signal into an optical signal.
  • the optical signal is sent to the receiving end of the second optical module; the second optical module receives the optical signal sent by the first optical module through the receiving end, and converts the optical signal into a first data signal.
  • the receiving end of the second optical module and the receiving end of the second optical module are relatively arranged on the central axis. It can be seen that this embodiment uses light as the data transmission medium for data transmission, and the transmitting end and the receiving end are coaxially arranged. This method greatly improves the transmission efficiency of optical signals and simplifies the structure. At the same time, due to the large communication capacity of optical communication, the anti-electromagnetic interference and the good transmission quality, the data transmission efficiency can be improved.
  • only uplink data is transmitted as an example:
  • FIG. 2 shows a schematic structural diagram of a data transmission apparatus according to an embodiment of the present invention.
  • the data transmission device 10 includes: a first optical module 11 and a second optical module 12.
  • the second optical module is used to receive the second digital signal output by the upper application device, convert the second digital signal into an optical signal, and send the optical signal to the first optical signal through the transmitting end of the second optical module.
  • the receiving end of an optical module; the first optical module receives the optical signal sent by the second optical module through the receiving end, and converts the optical signal into the second digital signal; the second optical module
  • the transmitting end and the receiving end of the first optical module are oppositely arranged on the central axis.
  • the first optical module 11 further includes: a first receiver 113 and a first demodulation circuit 114. Among them, one end of the first demodulation circuit 114 is connected to the first receiver 113, and the other end is connected to the radar front-end device 20.
  • the second optical module 12 further includes: a second modulation circuit 123 and a second transmitter 124. One end of the second adjustment circuit 123 is connected to the upper application device 30, and the other end is connected to the second transmitter 124.
  • the second modulation circuit 123 is used to receive the second digital signal sent by the upper application device 30 and to modulate the second digital signal into an optical signal
  • the second transmitter 124 is used to convert the second modulation circuit 123
  • the output optical signal is transmitted to the coupling optical system 13.
  • the coupling optical system 13 transmits the optical signal to the first receiver 113.
  • the first receiver 113 is used to receive the optical signal transmitted by the coupling optical system 13, and the first demodulation circuit 114 is used to demodulate the optical signal into a second digital signal and output it to the radar front-end device 20.
  • the radar front-end device 20 receives The second digital signal is processed to obtain the control instruction information from the upper application device 30.
  • the data transmission device is located in a lidar system
  • the lidar system includes a rotor (15) and a stator (16)
  • the first optical module is provided on the rotor (15)
  • the second optical module is arranged on the stator (16).
  • uplink data transmission examples include an out-of-axis type (as shown in FIG. 4a) and an on-axis type (as shown in FIGS. 5a and 5e).
  • the same set of data transmission devices may be selected for the transmission of the uplink data and the transmission of the downlink data, as shown in FIG. 6. It is understandable that the transmission of the uplink data and the transmission of the downlink data may also each use a set of data transmission devices. Among them, it can be understood that when the transmission of uplink data and the transmission of downlink data each use a set of data transmission devices.
  • the two sets of data transmission devices can be the same, for example, both can adopt an on-axis solution, and the coupling optical system can also adopt the same solution. Optionally, the two sets of data transmission devices can also be different.
  • the off-axis scheme is used for uplink data transmission
  • the on-axis scheme is used for downlink signal transmission
  • the two sets of data transmission devices may both adopt the off-axis solution, but use different coupling optical systems. It is understandable that when two sets of different data transmission devices are used, interference during simultaneous transmission of uplink and downlink data can be more effectively avoided.
  • the lidar includes: a radar front-end device for emitting outgoing laser light and receiving reflected laser light, the reflected laser light is The outgoing laser light is reflected back by the object in the detection area; the rotation system is arranged on one side of the laser transceiver system and is detachably connected to the laser transceiver system, and the rotation system is configured to drive the The radar front-end device rotates to change the path of the outgoing laser.
  • the lidar includes a radar front-end device 20 and a rotation system 400.
  • the radar front-end device 20 is disposed at the upper end of the rotation system 400.
  • the radar front-end device 20 includes a laser emitting lens, a laser The transmitting board, the laser receiving lens and the laser receiving board, etc.; the rotating system 400, as shown in FIG. 8, includes a fixed seat 41 and a rotating body 42.
  • the radar front end device 20 is fixed on the upper part of the rotating body 42.
  • the body 42 drives the radar front-end device 20 to rotate.
  • the radar front-end device 20 is used to receive the light information reflected by the target object and convert the light information into a first digital signal; the data transmission device is fixed inside the rotating system 400 for transmitting the first digital signal To the upper application device; at the same time, the upper application device is used to convert control information into a second digital signal; the data transmission device is also used to transmit the second digital signal to the radar front-end device 20.
  • the rotating system 400 includes a fixed base 41 and a rotating body 42.
  • the rotating body 42 and the fixed base 41 relatively rotate around the central axis of the rotating body 42.
  • the rotating body 42 and the fixed seat 41 together form a hollow structure at the position of the central axis.
  • the fixed seat 41 is provided with a central shaft 411
  • the rotating body 42 is rotatably connected to the fixed seat 41 and rotates around the central axis of the central shaft 411
  • the rotating body 42 is connected to the central axis 411 jointly define a hollow structure
  • the first optical module 441 and the second optical module 442 are both disposed in the hollow structure
  • the first optical module 441 is disposed on the rotating body 42
  • the second optical module 442 is disposed on the fixing base 41.
  • the rotating body 42 also includes a rotating shaft 421, the central axis of the rotating shaft 421 coincides with the central axis of the central shaft 411, and the rotating shaft 421 is disposed in the hollow structure and is connected to the hollow structure.
  • the inner peripheral wall of the central shaft 411 is rotatably connected.
  • the rotating body and the fixed seat are respectively provided with a rotating shaft and a central shaft, and a hollow structure is formed at the central axis position of the rotating body and the fixed seat, and the first optical module and the second optical module are arranged at all.
  • the hollow structure the shielding caused during the optical transmission process is avoided, and the transmission efficiency of the optical signal is improved.
  • the embodiment of the present application further includes a driving device, such as a motor 43, which is described below by taking the motor as an example.
  • a driving device such as a motor 43, which is described below by taking the motor as an example.
  • the motor 43 is arranged in the hollow structure, and the rotating body 42 is rotatably connected to the fixing base 41 through the motor 43.
  • the motor 43 is also provided with a hollow structure.
  • the three When the rotating body 42 is connected to the fixing base 41 through the motor 43, the three also form a hollow structure at the central axis of the rotating body 42.
  • the motor 43 includes a stator 432, a rotor 431 coupled with the stator, and a bearing 433.
  • the motor is an outer rotor motor.
  • the rotor 431 is sleeved on the stator 432 so that the rotor 431 wraps the stator 432 and the bearing 433 ,
  • the stator 432 is sleeved on the outer peripheral wall of the central shaft, the rotor 431 is arranged around the stator, and the rotor 431 is connected to the rotating body 42, and the bearing 433 is located between the central shaft 411 and the Between the rotating shafts 421, the rotating body 42 is driven to rotate relative to the fixed seat 41.
  • the data transmission device provided by the embodiment of the present invention, by arranging the first optical module and the second optical module in the hollow structure defined by the rotating body and the central axis, avoids the problem of the optical transmission process.
  • the occlusion brought about by the system improves the transmission efficiency of the optical signal.
  • the rotating system 400 provided in the embodiment of the present invention is provided with a first optical module 441, a second optical module 442, a third optical module 443, and a fourth optical module 444 in the hollow structure, and the operation is performed at the same time.
  • the first optical module 441 and the fourth optical module 444 are arranged on the rotating body 42;
  • the second optical module 442 and the third optical module 443 are arranged on the fixing base 41,
  • the first optical module 441 and the second optical module 442 are arranged oppositely in the hollow structure;
  • the third optical module 443 and the fourth optical module 444 are arranged oppositely in the hollow structure.
  • the first optical module 441 is used to receive the first digital signal output by the lidar front-end device 20 and convert the first digital signal into an optical signal;
  • the second optical module 442 is used to convert the optical signal Is the first digital signal and output to the upper application device;
  • the third optical module 443 is used to receive the second digital signal output by the upper application device, and convert the second digital signal into an optical signal;
  • the four-optical module 444 is also used to convert the optical signal into the second digital signal and output it to the radar front-end device 20.
  • multiple optical modules are arranged in the hollow structure formed by the rotating body and the fixed seat to perform uplink and downlink data transmission, avoiding mutual interference during the simultaneous transmission of uplink and downlink data, and improving the reliability of optical signal transmission.
  • the embodiment of the present invention is provided with a coupling optical system, which is used to adjust the optical signal output by the first optical module 441 and send it to the second optical module 442. ; It is also used to adjust the optical signal output by the third optical module 443 and send it to the fourth optical module 444.
  • the coupling optical system is composed of optical devices, and the number of optical surfaces of the optical devices is 0-N, which is used for homogenizing or converging the received optical signals. It is understandable that the coupling optical system can be packaged with the optical module (as shown in FIG. 9), or can be independently arranged in a hollow structure.
  • the coupling optical system may also include a part packaged with the optical module and a part independently arranged in the hollow structure. It can be understood that when the coupling optical system and the optical module are packaged together, the coupling optical system may include a homogenization module or a collimation module.
  • the homogenization module may be, for example, a homogenization sheet, a homogenization lens or a photometric fiber; the collimation module includes one or more optical lenses.
  • a first circuit board 451 is provided on the rotating body 42, and the first optical module 441 and the fourth optical module 444 are provided on the circuit board 451 at a position relative to the hollow structure, and the fixing seat
  • a second circuit board 452 is arranged on 41, and the second optical module 442 and the third optical module 443 are arranged on the second circuit board 452 relative to the hollow structure.
  • the first optical module 441 and the third optical module 443 select different emission wavelengths to transmit optical signals.
  • the embodiment of the present invention proposes a method for setting the optical module in the data transmission device.
  • the first optical module 441 and the fourth optical module 444 are respectively disposed on both sides of the rotating body relative to the central axis of the hollow structure;
  • the second optical module 442 and the third optical module 443 Are respectively disposed on the two sides of the fixed seat relative to the central axis of the hollow structure;
  • the second optical module 442 is located in the light spot formed on the fixed seat when the first optical module 441 sends an optical signal
  • the fourth optical module 444 is located in the optical class formed on the rotating body when the third optical module 443 sends optical signals.
  • the receiving end when the rotating body rotates relative to the fixed seat, the receiving end is always located within the light spot range of the transmitting optical module. Due to the hollow structure, no optical signal blind area is generated during the rotation, and the transmission of signals is avoided. The interruption, while ensuring the quality of data transmission, simplifies the structure of the data transmission device. Further, in order to improve the transmission efficiency of the optical signal, the embodiment of the present invention is provided with a coupling optical system.
  • the coupling optical system includes a first homogenization module and a second homogenization module, such as: the first optical module and The first homogenization modules are packaged together to perform homogenization processing on the optical signals emitted by the first optical module, the third optical module and the second homogenization module are packaged together, and the coupling
  • the optical system expands the light spot range of the transmitter module, makes the emitted light signal more uniform, and increases the stability of data transmission.
  • the optical module 4411 and the coupling optical system 4412 are packaged together, which increases the compactness of the system and improves the reliability of the system.
  • the homogenization module may be a homogenization sheet, a homogenization lens or a photometric fiber; wherein, the homogenization lens group may include one or more optical lenses; it is understandable that the first homogenization module and The second homogenization module can adopt the same structure or a different structure.
  • the first homogenization module can be a homogenization sheet or a homogenization lens group, and the second homogenization module can be Metering fiber.
  • the present invention also proposes another way of setting the optical module in the data transmission device, as shown in FIG. 10.
  • the downlink data is ranging data, and the amount of data is often relatively large
  • the uplink data is mainly control data, which is used to control the radar front-end device, and the amount of data is relatively small.
  • the coupling optical system is configured as a first collimation module and a third homogenization module, the first collimation module includes one or more optical lenses; the third The homogenization module may be a homogenization sheet, a homogenization lens group or a photometric fiber; the first collimation module includes one or more optical lenses.
  • the first optical module 441 and the first collimation module are packaged together. As shown in FIG. 9, the optical module 4411 and the coupling optical system 4412 are packaged together.
  • the optical signal emitted by the module undergoes collimation processing, and the first optical module 441 is arranged at a position where the central axis of the hollow structure intersects the rotating body, and the second optical module 442 is arranged at the center of the hollow structure The position where the axis intersects the fixed seat, so that the first optical module 441 and the second optical module are located on the central axis of the rotating body 42.
  • the rotating body 42 and the fixed shaft 41 rotate relatively, the first optical module 441 and the fixed shaft 41 are relatively rotated.
  • the second optical module 442 can be aligned correctly without position shift.
  • the first optical module 441 sends parallel light parallel to the central axis of the hollow structure to the second optical module 442 through a collimating system.
  • the optical signal emitted by the first optical module 441 The transmission efficiency is the highest.
  • the third optical module 443 and the third homogenization module are packaged together for homogenization processing on the optical signal emitted by the third optical module 443.
  • the third optical module 443 is disposed on the fixing seat on a side relative to the central axis of the hollow structure
  • the fourth optical module 444 is disposed on the rotating body relative to the hollow structure.
  • the optical signal sent by the third optical module 443 is homogenized and then directed to the fourth optical module 444, which is located at the third optical module 443 for sending light
  • the signal is in the light spot formed on the rotating body. In this way, the transmission efficiency of the downlink data is guaranteed first, and at the same time, the transmission of the uplink data is not affected.
  • the present invention also proposes a third manner of setting the optical module in the data transmission device.
  • the coupling optical system includes a ring lens.
  • An annular lens 460 is arranged in the hollow structure for condensing incident light, and the annular lens 460 is arranged on the rotation axis.
  • the coupling optical system further includes a second collimation module and a third collimation module.
  • the second and third collimation modules include one or more optical lenses;
  • the first optical module 441 and the second collimation module are packaged together, and the second collimation module is used to collimate the optical signal emitted by the first optical module;
  • the third optical module 443 Packaged with the third collimating module, the third collimating module is used for collimating the optical signal emitted by the third optical module.
  • the first light module is arranged on the rotating body at a position relative to the annular lens;
  • the second light module is arranged at the focal point of the ring lens on the fixing seat; the first light module emits parallel light to the ring lens, and the ring lens receives the parallel light and transfers the The parallel light is converged to the second optical module.
  • the fourth light module is arranged at the focal point of the rotating body relative to the ring lens; the third light module is arranged at the position of the fixing seat relative to the ring lens; the third light The module emits parallel light to the ring lens, and the ring lens receives the parallel light and converges the parallel light to the fourth light module.
  • the first optical module 441 When performing downlink data transmission, the first optical module 441 emits parallel light to the ring lens 460. After the ring lens 460 condenses the parallel light, it is directed to the second optical module 442.
  • the module 442 is arranged at the focal point of the ring lens 460, thereby ensuring the energy of the signal beam received by the second optical module 442, and realizing the high-efficiency reception of the optical signal emitted by the first optical module by the second optical module .
  • the ring lens 460 is arranged on the central axis, when the rotating body 42 rotates relative to the fixed seat 41, the first optical module 441 is driven to rotate, and the first optical module 441 rotates relative to the ring lens 460.
  • the second light module 442 can always receive the light emitted by the first light module 441.
  • the maximum energy of the optical signal When the ring lens 460 is arranged on the rotation axis, the ring lens 460 and the first optical module 441 are relatively stationary, and can more converge the parallel light emitted by the first optical module 441 to the second optical module 442 on.
  • the third optical module 443 When performing uplink data transmission, the third optical module 443 emits parallel light to the ring lens 460. After the ring lens 460 condenses the parallel light, it is directed toward the fourth optical module 444.
  • the four optical module 444 is arranged at the focal point of the annular lens 460, and the fourth optical module 460 can receive the maximum energy of the optical signal emitted by the third optical module 443, which greatly improves the transmission effect of the optical signal.
  • the ring lens 460 when the ring lens 460 is arranged on the rotation axis, the third light module 443 and the ring lens 460 rotate relatively, and the fourth light module 444 and the ring lens 460 are relatively stationary.
  • the optical module 443 emits parallel light to the ring lens 460, and the fourth optical module 444 is located at the focal point of the ring lens 460. Therefore, the fourth optical module 444 can always receive the light signal emitted by the third optical module 443. Maximum energy.
  • the upstream and downstream data receiving optical modules are located at the focal point of the ring lens, which can ensure the transmission efficiency of the upstream data transmission and the downstream data transmission at the same time.
  • the downstream optical signal is transmitted, different optical paths are used for transmission, which effectively avoids mutual interference between optical signals and achieves the optimal optical signal transmission effect.
  • the embodiment of the present invention also provides a smart sensing device.
  • the intelligent sensing equipment includes: a lidar system.
  • the structure and function of the lidar system in this embodiment are the same as the lidar system in the above-mentioned embodiment.
  • devices that can detect the location and distance of surrounding objects, and make decisions based on the location and distance of surrounding objects, such as smart robots, smart cars, smart airplanes, and so on.
  • the technical terms “installation”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense.
  • it may be a fixed connection. It can also be detachably connected or integrated; it can also be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, which can be the internal communication of two components or the mutual connection of two components Role relationship.
  • an intermediate medium which can be the internal communication of two components or the mutual connection of two components Role relationship.
  • the first feature "on” or “under” the second feature may be in direct contact with the first and second features, or the first and second features Indirect contact through an intermediary.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or diagonally above the second feature, or it simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

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Abstract

一种数据传输装置（10），应用于激光雷达系统（100）上，该激光雷达系统（100）包括旋转体（151，42）和中心轴（161，41）；该装置（10）包括：第一光模块（11，441）和第二光模块（12，442）；第一光模块（11，441）用于接收雷达前端装置（20）输出的第一数字信号，并将第一数字信号转换为光信号，通过第一光模块（11，441）的发射端将光信号发送给第二光模块（12，442）的接收端；第二光模块（12，442）通过接收端接收第一光模块（11，441）发送的光信号，并将光信号转换为第一数字信号；第一光模块（11，441）的发射端和第二光模块（12，442）的接收端相对设置于中心轴（161，41）上。通过该数据传输装置（10），提高了数据传输的效率。

Description

数据传输装置、激光雷达及智能设备 技术领域
本发明实施例涉及激光雷达技术领域，特别涉及一种数据传输装置、激光雷达及智能设备。
背景技术
激光雷达(Light Dectection And Ranging，LiDAR)是一种用激光探测和测距的传感器。其通过向目标发射激光脉冲并测量返回脉冲的延迟和强度来测量目标的距离与反射率。激光雷达一般使用机械转动装置实现360度的空间扫描，每一对随着机械转动而连续发射、接收激光脉冲的装置称为一个激光雷达的扫描“线”。由于广泛应用于自动驾驶、智能感知等技术领域，激光雷达被要求更高的空间分辨率，从而要求具有更高的线数。
在激光雷达中，随机械转动装置旋转的部分称为雷达前端系统，探测到的激光脉冲经过雷达前端系统后被转换为点云数据，点云数据需要通过通信装置实现无线数据传输。
但是，在本申请发明人实现本申请的过程中，发现：目前的激光雷达使用基于电磁耦合的无线通信装置来实现上述的点云数据传输，但限于物理传输媒介的性质，基于电磁耦合的无线通信装置无法满足高线数的要求，从而数据传输效率较低。
发明内容
本发明实施例的目的在于提供一种数据传输装置、激光雷达及智能设备，采用光作为数据传输媒介，能够提高数据传输效率。
本发明实施例提出一种数据传输装置，应用于激光雷达上，
所述激光雷达系统包括旋转体和中心轴；
所述装置包括：第一光模块和第二光模块；
所述第一光模块用于接收雷达前端装置输出的第一数字信号，并将所述第一数字信号转换为光信号，通过第一光模块的发射端将所述光信号发送给所述第二光模块的接收端；
所述第二光模块通过接收端接收第一光模块发送的所述光信号，并将所述光信号转换为所述第一数字信号；
所述第一光模块的发射端和所述第二光模块的接收端相对设置于所述中心轴上。
优选的，所述激光雷达系统包括固定座；所述中心轴设置于所述固定座上；
所述旋转体与所述固定座转动连接，可绕所述中心轴的中心轴线转动，所述旋转体与所述中心轴共同限定出中空结构；
所述第一光模块以及所述第二光模块均设置于所述中空结构内，且所述第一光模块设置于所述旋转体上，所述第二光模块设置于所述固定座上。
优选的，所述旋转体包括旋转轴，所述旋转轴的中心轴线与所述中心轴的中心轴线重合，所述旋转轴设置于所述中空结构内，且与所述中心轴的内周壁转动连接。
优选的，所述旋转轴为空心轴，且所述第一光模块设置于所述旋转轴内部；所述第二光模块设置于所述中心轴内部。
优选的，所述旋转体和所述固定座通过驱动装置旋转连接；
所述驱动装置，包括定子以及与所述定子耦合的转子，所述定子套设于所述中心轴的外周壁，所述转子绕所述定子设置，且所述转子与所述旋转体连接。
优选的，所述数据传输装置还包括第三光模块和第四光模块；
所述第三光模块用于接收上位应用装置输出的第二数字信号，并将所述第二数字信号转换为光信号，通过第三光模块的发射端将所述光信号发送给所述第四光模块的接收端；
所述第四光模块通过接收端接收第三光模块发送的所述光信号，并将所述光信号转换为所述第二数字信号；
所述第三光模块的发射端和所述第四光模块的接收端相对设置于所述中心轴上。
优选的，所述第三光模块以及所述第四光模块均设置于所述中空结构内，且所述第四光模块设置于所述旋转体上，所述第三光模块设置于所述固定座上。
优选的，所述数据传输装置还包括耦合光学系统；所述耦合光学系统，用于将所述第一光模块输出的光信号发送给第二光模块；还用于将第三光模块输出的光信号发送给第四光模块。
优选的，所述耦合光学系统由光学镜片组成，所述光学镜片的数量为0-N个，用于对接收到的光信号进行匀光或汇聚处理。
优选的，所述耦合光学系统包括第一匀光模组和第二匀光模组；
所述第一匀光模组和所述第一光模块封装在一起，用于对所述第一光模块射出的光信号进行匀光处理；
所述第二匀光模组和所述第三光模块封装在一起，用于对所述第三光模块射出的光信号进行匀光处理。
优选的，所述第一光模块和所述第四光模块分别设置于所述旋转体上相对于所述中空结构的中心轴线的两侧；
所述第二光模块和所述第三光模块分别设置于所述固定座上相对于所述中空结构的中心轴线的两侧；
所述第二光模块位于所述第一光模块发送光信号时在所述固定座上形成的光斑内；
所述第四光模块位于所述第三光模块发送光信号时在所述旋转体上形成的光班内。
优选的，所述耦合光学系统包括第一准直模组和第三匀光模组；
所述第一准直模组与所述第一光模块封装在一起，用于对所述第一光模块射出的光信号进行准直处理；
所述第三匀光模组和所述第三光模块封装在一起，用于对所述第三光模块射出的光信号进行匀光处理。
优选的，所述第一光模块设置于所述中空结构的中心轴线与所述旋转体相交的位置，所述第二光模块设置于所述中空结构的中心轴线与所述固定座相交的位置；
所述第一光模块发送平行于所述中空结构的中心轴线的平行光至所述第二光模块；
所述第三光模块和所述第四光模块设置于所述中空结构的中心轴线的一侧的位置，所述第四光模块位于所述第三光模块发送光信号时在所述旋转体上形成的光班内；
所述第三光模块发送的光信号经匀光后，射向所述第四光模块。
优选的，所述耦合光学系统包括第二准直模组和第三准直模组；
所述第二准直模组和第一光模块设置在一起，用于对所述光模块射出的光信号进行准直处理；
所述第三准直模组和第三光模块设置在一起，用于对所述光模块射出的光信号进行准直处理。
优选的，所述耦合光学系统还包括环形透镜，所述环形透镜环绕所述中空结构的所述中轴线设置；
所述第一光模块设置于所述旋转体上相对于所述环形透镜的位置；
所述第二光模块设置于所述固定座上的所述环形透镜的焦点处；
所述第一光模块发射平行光至所述环形透镜，所述环形透镜接收所述平行光并将所述平行光汇聚到所述第二光模块。
优选的，所述第四光模块设置于所述旋转体上相对于所述环形透镜的焦点处；
所述第三光模块设置于所述固定座上相对于所述环形透镜的位置；
所述第三光模块发射平行光至所述环形透镜，所述环形透镜接收所述平行光，并将所述平行光汇聚到所述第四光模块。
优选的，所述第一光模块和所述第三光模块发出的光信号的波长不同。
优选的，所述旋转体上设置有第一电路板，所述第一光模块和所述第四光模块分别设置于所述第一电路板上；
所述固定座上设置有第二电路板，所述第二光模块和所述第三光模块分别设置于所述第二电路板上。
本发明实施例还提出了一种激光雷达，包括：雷达前端装置、上位应用装置及上述实施例所述的数据传输装置；
所述雷达前端装置用于接收目标物体反射的光信息，并将所述光信息转换为第一数字信号；
所述数据传输装置用于将所述第一数字信号传输给所述上位应用装置；
所述上位应用装置用于将控制信息转换为第二数字信号；
所述数据传输装置还用于将所述第二数字信号传输给所述雷达前端装置。
本发明实施例还提出一种智能装置，包括上述的激光雷达。
本实施例通过采用光作为数据传输媒介进行数据的传输，由于光通信的通信容量大，抗电磁干扰和传输质量佳，从而能够提高数据传输效率。
上述说明仅是本发明实施例技术方案的概述，为了能够更清楚了解本发明实施例的技术手段，而可依照说明书的内容予以实施，并且为了让本发明实施例的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制：
图1示出了本发明实施例提供的一种激光雷达系统的结构示意图；
图2示出了本发明实施例提供的一种数据传输装置的结构示意图；
图3示出了图2的第一光模块和第二光模块的结构示意图；
图4a至图4d示出了本发明实施例提供的轴外型设计的数据传输装置的结构示意图；
图5a至图5e示出了本发明实施例提供的轴上型设计的数据传输装置的结构示意图；
图6示出了本发明另一实施例提供的数据传输装置的结构示意图；
图7示出了本发明另一实施例提供的激光雷达；
图8示出了本发明另一实施例提供的数据传输装置结构示意图；
图9示出了本发明另一实施例提供的光模块和耦合光学系统封装结构图；
图10示出了本发明另一实施例提供的数据传输装置的一种光路图；
图11示出了本发明另一实施例提供的数据传输装置的另一种光路图。
具体实施方式
下面将参照附图更详细地描述本发明的示例性实施例。虽然附图中显示了本发明的示例性实施例，然而应当理解，可以以各种形式实现本发明而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本发明，并且能够将本发明的范围完整的传达给本领域的技术人员。
图1示出了本发明实施例提供的一种激光雷达系统的结构示意图。如图1所示，该激光雷达系统100包括：数据传输装置10、雷达前端装置20和上位应用装置30。
其中，雷达前端装置20与数据传输装置10一端连接，数据传输装置10的另一端与上位应用装置30连接。雷达前端装置20用于接收目标物体反射的光信息，并将该光信息转换为第一数字信号，数据传输装置10用于将雷达前端装置20输出的第一数字信号传输至上位应用装置30，上位应用装置30用于接收该第一数字信号，并对该第一数字信号进行处理。通过以上方式，将雷达前端装置20探测到的目标物体的探测数据通过数据传输装置10传输到上位应用装置30进行处理，从而得到物体探测信息。
其中，雷达前端装置20用于接收目标物体反射的光信息，并将该光信息转换为第一数字信号，具体包括：雷达前端装置接收目标物体反射的光信息，将目标物体反射的光信息转换为电信号，并将该电信号转换为第一数字信号。该雷达前端装置20将该第一数字信号传输给数据传输装置10。
其中，上位应用装置30可以为任何类型的具有用户交互功能和运算能力的终端设备，例如，智能汽车终端、无人机终端或者其他可安装于智能汽车或无人机上的终端设备。
在一些实施例中，上位应用装置30还用于接收控制指令信息，并将接收到的控制指令信息转换为第二数字信号，数据传输装置10还用于将上位应用装置30输出的第二数字信号传输给雷达前端装置20，雷达前端装置20还用于接收该第二数字信号，并响应所述第二数字信号。通过以上方式，上位应用装置30将用户输入的控制指令通过数据传输装置10传输到雷达前端装置20，从而对雷达前端装置20进行控制。
其中，如图2所示，所述数据传输装置10包括第一光模块和第二光模块，其中第一光模块11与雷达前端装置20通信连接，第二光模块12与上位应用装置30通信连接。同时如图3所示，第一光模块和第二光模块都同时具有收发模组因此可以实现同时进行上行信号和下行信号同时传输，即同时传输雷达测距数据和控制数据。
以下实施例以传输下行信号为例进行说明：
图2示出了本发明实施例提供的一种数据传输装置的结构示意图。如图2所示，该数据传输装置10包括：第一光模块11、第二光模块12和耦合光学系统13。
其中，耦合光学系统13设于第一光模块11和第二光模块12之间。第一光模块11与雷达前端装置20通信连接，第二光模块12与上位应用装置30通信连接。第一光模块11用于接收雷达前端装置20输出的第一数字信号，并将该第一数字信号转换为光信号，耦合光学系统13用于将第一光模块11输出的光信号传输至第二光模块12，第二光模块12用于将该光信号转换为第一数字信号并输出至上位应用装置30进行处理。
具体地，请一并参阅图3，第一光模块11包括：第一调制电路111和第一发射器112。其中，第一调制电路111一端与雷达前端装置20连接，另一端与第一发射器112连接。第二光模块12包括：第二接收器121和第二解调电路122。其中，第二解调电路122一端与第二接收器121连接，另一端与上位应用装置30连接。在本实施例中，第一调制电路111用于将雷达前端装置20输出的第一数字信号调制为光信号，第一发射器112用于接收第一调制电路111输出的光信号，并将该光信号发射至耦合光学系统13。耦合光学系统13将光信号传输至第二接收器121。第二接收器121用于接收耦合光学系统13传输的光信号，第二解调电路122用于将第二接收器121输出的光信号解调为第一数字信号，并输出至上位应用装置30，上位应用装置30对接收到的第一数字信号进行处理，得到测距数据。
其中，请再参阅图2，该装置10还包括：第一通信端口141和第二通信端口142。第一通信端口141分别连接第一光模块11和雷达前端装置20。具体地，第一通信端口141分别连接第一调制电路111和第一解调电路114，第二通信端口142分别连接第二解调电路122和第二调制电路123。第一通信端口141用于第一光模块11和雷达前端装置20之间的数据传输。第二通信端口142分别连接第二光模块12和上位应用装置30。第二通信端口142用于第二光模块12和上位应用装置30之间的数据传输。
本发明实施例中的数据传输装置10通过第一光模块11接收雷达前端装置20输出的第一数字信号，并将第一数字信号转换为光信号，耦合光学系统13将第一光模块11输出的光信号传输至第二光模块12，第二光模块12将光信号转换为第一数字信号并输出给上位应用装置30进行处理。可以看出，本实施例通过采用光作为数据传输媒介进行数据的传输，由于光通信的通信容量大，抗电磁干扰和传输质量佳，从而能够提高数据传输效率。
具体地，请一并参阅图4a至图5e，该数据传输装置10位于激光雷达系统100中，所述激光雷达系统100包括转子15、定子16和壳体17，转子15和定子16收容于壳体17内，转子15包括旋转体151，定子16包括中心轴161，转子15绕中心轴161旋转，定子16与壳体17固定连接。第一光模块11设于转子15，第二光模块12设于定子16。第一光模块11随转子15转动，第二光模块12、定子16与壳体17保持相对静止。
其中，如图4a所示，该数据传输装置10可以为轴外型设计，该设计中耦合光路不在中心轴上，并且，第一光模块11的第一发射器112和第二光模块12的第二接收器121的相对位置在装置10旋转时有显著变化。第一光模块11设于旋转体151，第二光模块12设于中心轴161。其中，可以理解的是，数据传输装置10还包括耦合光学系统13，其中，耦合光学系统13设置于第一光模块11和第二光模块12之间。耦合光学系统13用于通过光学器件形成耦合光路，将第一光模块11输出的光信号传输至所述第二光模块12。其中，可以理解的是，所述耦合光路可以为平行于中心轴的方向、垂直于中心轴的方向或分段式设置，在此不做限制。本说明书以图4a所示轴外型数据传输装置的耦合光路为例进行下述实施例的说明。
其中，可以理解的是，该数据传输装置10还包括第一通信端口141和第二通信端口142，所述第一通信端口141分别连接第一光模块11中的所述第一调制电路111和所述雷达前端装置20，所述第二通信端口142连接第二光模块12所述第二解调电路122和所述上位应用装置30。
在一些其他实施例中，该数据传输装置10的耦合光学系统13可以包括环形透镜181，其中，中心轴161穿过环形透镜181的空心部分，环形透镜181与第二光模块12相对静止。当旋转体151转动时，第一光模块11绕中心轴161转动，中心轴161、壳体17、第二光模块12和环形透镜181保持相对静止。环形透镜181用于接收第一光模块11的第一发射器112发射的光信号并对光信号进行调整，以使光信号进入第二光模块12，第二光模块12的第二接收器121用于接收调整后的光信号。
其中，环形透镜181的设置方式有多种。可选的，在一些其他实施例中，如图4b所示，环形透镜181偏心设置于中心轴161上。第一发射器112将光信号平行于环形透镜181的光轴A发射至环形透镜181，环形透镜181对光信号进行折射，并将光信号汇聚射向第二接收器121，从而使第二接收器121接收第一发射器112发射的光信号。其中，可以理解的是，第一发射器112可以通过在发射端设准直镜，以使光信号平行环形透镜181的光轴A出射。其中，可以理解的是，第二接收器121的接收端可以设于环形透镜181的像方焦平面处，当第二接收器121的接收端设于环形透镜181的像方焦点处时，第二接收器121的接收效率最大。在旋转过程中，第一发射器112发射的光信号永远聚焦在第二接收器121，从而保证了信号光束的能量。
可选的，在一些实施例中，如图4c所示，环形透镜181的光心可以位于中心轴161上。第一发射器112将光信号发射至环形透镜181，环形透镜181接收第一发射器112发射的光信号，并将接收到的光信号进行匀光后射向第二接收器121，从而被第二接收器121接收。可选地，图4c中的环形透镜181也可以用散射型匀光片代替。其中，可以理解的是，第一发射器112可以设于环形透镜181的物方焦点平面。当第一发射器112设于环形透镜181的物方焦点处时，光信号经过环形透镜181后平行出射，即环形透镜181对光信号起到匀光的作用。
其中，可以理解的是，为了避免第一发射器112发射的光线被中心轴161遮挡，最优的，第一发射器112的数量设置为至少两个，至少两个第一发射器112沿中心轴161均匀设置。在图4b和图4c，以第一发射器112的数量为两个为例，两个第一发射器112分别对称设于中心轴161的两侧，两个第一发射器112均用于发射光信号，且两个第一发射器112发射的光信号的内容相同，从而避免中心轴161遮挡而使得光信号中断。其中，在图4c中，两个第一发射器112发射的光信号经过环形透镜181后均平行出射但彼此相互不平行，因此两个第一发射器112发射的光信号经过环形透镜181后部分光束照射区彼此相互覆盖，可以理解的是，在一些可选的实施例中，可以将第二接收器121设于光束相互覆盖的区域，从而能够保证第二接收器121接收到的信号光束的能量，并减小发射光束被中心轴161遮挡的影响。
在另一些其他实施例中，环形透镜181可以省略。请参阅图4d，数据传输装置10的耦合光学系统13可以包括测光光纤182。其中，测光光纤182与第一发射器112相连，并且环绕中心轴161设置。该测光光纤182用于将接收到的第一发射器112发射的光信号进行匀光，以使光信号进入第二接收器。可选的，在一些其他的实施例中，可以将弧形反射镜1821设于测光光纤182远离第二接收器121的一侧，该弧形反射镜1821可以增加测光光纤向接收方向的光强，从而保证第二接收器121接收到的信号光束的能量。其中，最优的第一发射器112的数量可以设置为至少两个，两个第一发射器112分别对称设于中心轴161的两侧，从而避免中心轴161遮挡而使得光信号中断。可选的，在一些实施例中，第二接收器也可以设置为多个，从而保证第二接收器接收到的信号光束的能量。
其中，可选的，如图4d所述的方案，也可以采用多个第一发射器112与多根测光光纤连接，多根测光光纤同时发射的设置，形成一个环带形的匀光发射面。
其中，在另一些其他的实施例中，该数据传输装置10也可以为轴上型设计，本发明实施例提出的数据传输装置10位于激光雷达系统100中，所述激光雷达系统100包括旋转体151和中心轴161，包括：第一光模块11和第二光模块12；所述第一光模块11用于接收所述雷达前端装置20输出的第一数字信号，并将所述第一数字信号转换为光信号，通过第一光模块11的发射端将所述光信号发送给所述第二光模块12的接收端；所述第二光模块12通过接收端接收第一光模块11发送的所述光信号，并将所述光信号转换为所述第一数字信号；所述第一光模块11的发射端和所述第二光模块12的接收端相对设置于所述中心轴161上。
本发明实施例通过将第一光模块的发射端和第二光模块的接收端相对设置与所述中心轴上，从而在激光雷达的旋转体和中心轴相对转动时，所述第一光模块的发射端和第二光模块的接收端不会发生相对位移，而只是相对旋转，从而可以保证第一光模块的发射端发射的光信号能够直接射入所述第二光模块的接收端，大大提升了光信号的传输效率，而且，结构非常简单。
请参阅图5a至图5e，转子15为旋转体，所述旋转体还包括轴承转子152，定子16为中心轴，所述中心轴还包括轴承定子162。轴承定子162和轴承转子152收容于壳体17内，所述旋转体通过轴承与所述中心轴连接，旋转体与轴承的转子连接，中心轴与轴承定子连接，所述第一光模块的发射端设置于轴承转子上，所述第二光模块的接收端设置于轴承定子上。其中，在一些可选的实施例中，请参阅图5a所示的数据传输装置10，第一光模块11的第一发射器112与第一光纤相连，其中所述第一光纤的发射端1103固定设于轴承转子152上，第二光模块12的第二接收器121与第二光纤相连，其中所述第二光纤的接收端1203固定设于轴承定子162上。其中，所述耦合光学系统13设于轴承转子152和轴承定子162之间。第一光纤的发射端1103作为第一光模块的发射端用于将第一光模块11的光信号射向第二光纤的接收端1203，以使光信号从第一光纤的发射端1103传输到第二光纤的接收端1203，从而被第二光模块12接收。在本实施例中，所述第一光纤的发射端作为第一光模块的发射端，以及所述第二光纤的接收端作为第二光模块的接收端，可以和所述光模块通过拉远的方式，分开设置，第一光模块的第一调制电路和第一光模块的第一发射器可以设置在旋转体上，所 述第一光纤作为第一光模块的发射端，单独设置在中心轴上；第二光模块的第二调制电路和第二光模块的第二接收器可以设置在固定中心轴远端，或固定中心轴的底座上，第二光纤则设置在中心轴上，和所述第一光纤在中心轴上相对设置。通过这种方式，只需要在中心轴上设置第一光纤和第二光纤，就实现了光信号的发送和接收，结构简单。
同样的，在另外一些可选的实施例中，所述第一光模块包括：第一调制电路，用于将所述雷达前端装置输出的第一数字信号调制为所述光信号；第一发射器，与所述第一调制电路连接，用于接收所述第一调制电路输出的所述光信号，并作为第一光模块的发射端发射所述光信号给所述第二光模块；所述第二光模块包括：第二接收器，作为第二光模块的接收端，接收所述光信号，并将所述光信号进行输出；第二解调电路，与所述第二接收器连接，用于将所述第二接收器输出的所述光信号解调为所述第一数字信号并输出至所述上位应用装置。本实施例中，通过将第一光模块的第一发射器，和第二光模块的第二接收器分别设置在中心轴上，可以实现调制电路和发射器的分离，比如可以通过拉远的方式，将第一调制电路和第一发射器分离，将第一调制电路设置在旋转体上，第一发射器设置在上述轴承转子152上，同样，也可以通过拉远的方式，将第二调制电路设置固定中心轴的底座上，第二接收器设置在上述轴承定子162上，这样就大大节省了第一发射器和第二接收器在中心轴上的占用空间，简化了设置的难度。
其中，可以理解的是，该数据传输装置10还包括第一通信接口141以及第二通信接口142。其中，第一通信接口141与第一光模块11和雷达前端装置20相连，用于第一光模块11与雷达前端装置20进行通信。第二通信端口与第二光模块和所述上位应用装置30相连，用于第二光模块12与上位应用装置30通信。
其中，在一些可选的实施例中，请参阅图5b所示的数据传输装置，第一光纤的发射端1103通过第一光纤连接器1104固定于轴承转子152上；第二光纤的接收端1203通过第二光纤连接器1204固定于轴承定子162上。第一光纤连接器1104发射的光信号按照其固有的角度传播一端距离后，光信号的一部分照射在第二光纤连接器1204上，从而被第二光模块12接收。
其中，在一些可选的实施例中，第一发射端和第二接收端之间的耦合光学系统13可以包括一系列光学面来辅助发射端和接收端之间的光路耦合，下面以光纤作为发射端和接收端为例进行说明。
在一些实施例中，光学面的数量可取0-N，如图5c和图5d，该数据传输装置10的耦合光学系统13可以包括光学透镜组191。光学透镜组191用于使第一光纤的发射端1103发射的光信号耦合到第二光纤的接收端1203。通过在第一光纤的发射端1103和第二光纤的接收端1203之间设置光学面，从而增大第二光纤的接收端1203的光信号接收率。
可选地，在一些实施例中，如图5c所示，耦合光学系统13中的光学透镜组191可以为准直镜组192，准直镜组192用于将第一光纤的发射端1103发射的光信号变为准直光信号，并将准直光信号汇聚到第二光纤的接收端1203。具体地，准直镜组192包括两个准直镜，靠近第一光纤的发射端1103的准直镜用于将第一光纤的发射端1103发射的发散光信号变为准直光信号，远离第一光纤的发射端1103的准直镜用于将准直光信号汇聚到第二光纤的接收端1203。
可选地，在一些实施例中，如图5d所示，耦合光学系统13中的光学透镜组191还可以为球形透镜193，球形透镜193用于将第一光纤的发射端1103发射的光信号汇聚到第二光纤的接收端1203。
需要说明的是，第一发射器的数量和第一光纤的数量可以为多个，第二接收器和第二光纤的数量也可以为多个，只要使第二光纤的接收端1203能够接收到第一光纤的发射端1103发射的光信号即可。
在另一些可选的实施例中，请参阅图5e所示的数据传输装置，第一光模块11的第一发射器被固定在轴承转子上，光模块2的第二接收器被固定在轴承定子上。第一光模块和第二光模块的光束发射/接收面之间可以插入一系列光学面来辅助它们之间的光耦合，光学面的数量可以取0–N。从而提高第二光模块对于光信号的接收。
需要说明的是，该数据传输装置还可以同时进行上行信号的传输，在图4a所示的轴外型数据传输装置实施例中，若想使轴外方案中第一光模块11和第二光模块12同时进行上行数据和下行数据的传输，可以使第一光模块11的第一发射器112，和第二光模块12的第二发射器124错位放置，从而避免光路之间的影响。同时又因为光路是可逆的，所以可以同时共用同一耦合光学系统，实现下行信号和上行信号的传输。其中，可以理解的是，上述耦合光学系统如图4b、4c、4d所示。
可以理解的是，在图5a所示的轴上型数据传输装置实施例中，若想使轴上型方案中第一光膜块11和第二光膜块12同时进行上行数据和下行数据的传输，可以理解的是，该轴上型方案的数据传输装置还包括第三光纤和第四光纤。其中，第二发射器124与第三光纤相连，第一接收器113与第四光纤相连。其中，该第三光纤的发射端固定于轴承定子162上，第四光纤的接收端固定在轴承转子152上，第三光纤的发射端用于将第二光模块12的光信号射向第四光纤的接收端，以使上行数据转换的光信号从第三光纤的发射端传输到第四光纤的接收端，从而被第一光模块接收。其中，可以理解的是，为了保证光路不受干扰，可以使第一光纤的发射端与第三光纤的发射端错位布置。同时，由于光路是可逆的，所以耦合光学系统13可以如图5b、5c、5d所示。
可以理解的是，在图5e所示的数据传输装置，第一光模块固定在轴承转子上，第二光模块固定在轴承定子上。其中，可以理解的是，为了保证光路不受干扰，可以使第一光模块的第一发射器和第二光模块的第二发射器错位布置，同时，由于光路是可逆的，所以本实施例的耦合光学系统13同5e实施例的耦合光学系统相同。
本发明实施例中的数据传输装置10通过第一光模块11接收雷达前端装置20输出的第一数字信号，并将第一数字信号转换为光信号，通过第一光模块的发射端将所述光信号发送给第二光模块的接收端；所述第二光模块通过接收端接收第一光模块发送的光信号，并将光信号转换为第一数据信号，所述第一光模块的发射端和第二个光模块的接收端相对设置于所述中心轴上，可以看出，本实施例通过采用光作为数据传输媒介进行数据的传输，通过将发射端和接收到进行同轴设置的方式，大大提高了光信号的传输效率，简化了结构，同时由于光通信的通信容量大，抗电磁干扰和传输质量佳，从而能够提高数据传输效率。
在一些实施例中，以仅传输上行数据为例：
请再参阅图2，图2示出了本发明实施例提供的一种数据传输装置的结构示意图。如图2所示，该数据传输装置10包括：第一光模块11和第二光模块12。
所述第二光模块用于接收上位应用装置输出的第二数字信号，并将所述第二数字信号转换为光信号，通过第二光模块的发射端将所述光信号发送给所述第一光模块的接收端；所述第一光模块通过接收端接收第二光模块发送的所述光信号，并将所述光信号转换为所述第二数字信号；所述第二光模块的发射端和所述第一光模块的接收端相对设置于所述中心轴上。
具体地，请再参阅图3，第一光模块11还包括：第一接收器113和第一解调电路114。其中，第一解调电路114一端与第一接收器113连接，另一端与雷达前段装置20连接。第二光模块12还包括：第二调制电路123和第二发射器124。其中，第二调整电路123一端与上位应用装置30连接，另一端与第二发射器124连接。在本实施例中，第二调制电路123用于接收上位应用装置30发送的第二数字信号，并将该第二数字信号调制为光信号，第二发射器124用于将第二调制电路123输出的光信号发射至耦合光学系统13。耦合光学系统13将光信号传输至第一接收器113。第一接收器113用于接收耦合光学系统13传输的光信 号，第一解调电路114用于将光信号解调为第二数字信号并输出至雷达前端装置20，雷达前端装置20对接收到的第二数字信号进行处理，得到来自上位应用装置30的控制指令信息。
其中，可以理解的是，所述数据传输装置位于激光雷达系统中，所述激光雷达系统包括转子(15)和定子(16)，所述第一光模块设于所述转子(15)，所述第二光模块设于所述定子(16)。
其中，可以理解的是，具体的上行数据传输的实施方式包括轴外型(如图4a所示)，轴上型(如图5a、5e所示)。
其中，由于光路的是可逆的，所示耦合光学系统的设置与传输下行数据的数据传输装置相同。即轴外型参阅图4b、图4c和图4d。轴上型参阅图5b、图5c和图5d，再此不在复述。
在一些可选的实施例中，可以理解的是，所述上行数据的传输和下行数据的传输可以选用同一套数据传输装置，如图6所示。可以理解的是，所述上行数据的传输和所述下行数据的传输也可以分别各采用一套数据传输装置。其中，可以理解的是，当上行数据的传输和下行数据的传输分别各采用一套数据传输装置时。两套数据传输装置可以相同，例如可以都采用轴上型方案，并且耦合光学系统也选用相同的方案。可选的，两套数据传输装置也可以不同。例如上行数据的传输选用轴外方案，下行信号的传输采用轴上方案。再例如，两套数据传输装置可以都采用轴外方案，但是选用不同的耦合光学系统。可以理解的是，当采用两套不同的数据传输装置时，可以更有效的避免上行和下行数据同时传输时的干扰。
在本发明提供的上述实施例的基础上，本发明另一实施例提出了一种激光雷达，所述激光雷达包括：雷达前端装置，用于发射出射激光以及接收反射激光，所述反射激光为所述出射激光被探测区域内物体反射返回的激光；旋转系统，设置于所述激光收发系统的一侧，并与所述激光收发系统可拆卸式连接，所述旋转系统配置成可驱动所述雷达前端装置转动，以改变所述出射激光的路径。举例来说，如图7所示激光雷达，包括雷达前端装置20和旋转系统400，所述雷达前端装置20设置于所述旋转系统400的上端，所述雷达前端装置20包括激光发射镜头、激光发射板、激光接收镜头和激光接收板等；所述旋转系统400，如图8所示，包括固定座41和旋转体42，所述雷达前端装置20固定在旋转体42的上部，所述旋转体42带动所述雷达前端装置20转动。所述雷达前端装置20用于接收目标物体反射的光信息，并将所述光信息转换为第一数字信号；所述数据传输装置固定于旋转系统400内部用于将所述第一数字信号传输给所述上位应用装置；同时，所述上位应用装置用于将控制信息转换为第二数字信号；所述数据传输装置还用于将所述第二数字信号传输给所述雷达前端装置20。
本发明实施例提供的数据传输装置如图8所示，所述旋转系统400包括固定座41和旋转体42，所述旋转体42和固定座41围绕所述旋转体42的中心轴线相对转动，所述旋转体42和所述固定座41在所述中心轴线的位置共同形成中空结构。
优选的，所述固定座41上设置有中心轴411，所述旋转体42与所述固定座41转动连接，绕所述中心轴411的中心轴线转动，所述旋转体42与所述中心轴411共同限定出中空结构，则所述第一光模块441以及所述第二光模块442均设置于所述中空结构中，且所述第一光模441块设置于所述旋转体42上，所述第二光模块442设置于所述固定座41上。进一步的，所述旋转体42也包括旋转轴421，所述旋转轴421的中心轴线与所述中心轴411的中心轴线重合，所述旋转轴421设置于所述中空结构内，且与所述中心轴411的内周壁转动连接。
上述方式通过在旋转体和固定座上分别设置旋转轴和中心轴，并在所述旋转体和固定座的中心轴线位置形成中空结构，将所述第一光模块和第二光模块设置在所述中空结构中，避免了在光传输过程中带来的遮挡，提高了光信号的传输效率。
如图8所示，本申请实施例还包括有驱动装置，如电机43，下面以电机为例进行说明。
所述电机43设置在所述中空结构中，所述旋转体42通过电机43和固定座41旋转连接。 所述电机43也设有中空结构，当所述旋转体42通过电机43和固定座41连接时，三者同样在旋转体42的中心轴线位置形成中空结构。所述电机43包括定子432、与定子耦合的转子431和轴承433，所述电机为外转子电机，所述转子431套设在所述定子432上，使转子431将定子432和轴承433包裹起来，所述定子432套设于所述中心轴的外周壁，所述转子431绕所述定子设置，且所述转子431与所述旋转体42连接，轴承433位于所述中心轴411和所述旋转轴421之间，带动旋转体42相对固定座41转动。
通过上述描述可知，本发明实施例提供的数据传输装置，通过将第一光模块和第二光模块设置在所述旋转体与所述中心轴共同限定出中空结构中，避免了在光传输过程中带来的遮挡，提高了光信号的传输效率。
为了实现激光雷达的数据传输，本发明实施例提供的旋转系统400在所述中空结构内设置第一光模块441、第二光模块442、第三光模块443和第四光模块444，同时进行上行和下行的数据传输。如图8所示，所述第一光模块441和第四光模块444设置在所述旋转体42上；所述第二光模块442和第三光模块443设置在所述固定座41上，所述第一光模块441和所述第二光模块442在所述中空结构中相对设置；所述第三光模块443和所述第四光模块444在所述中空结构中相对设置。所述第一光模块441用于接收激光雷达前端装置20输出的第一数字信号，并将所述第一数字信号转换为光信号；所述第二光模块442用于将所述光信号转换为所述第一数字信号并输出至上位应用装置；所述第三光模块443用于接收上位应用装置输出的第二数字信号，并将所述第二数字信号转换为光信号；所述第四光模块444还用于将所述光信号转换为所述第二数字信号并输出至雷达前端装置20。
本发明实施例通过在旋转体和固定座形成的中空结构内设置多个光模块进行上行和下行的数据传输，避免了上下行数据同时传输过程中的相互干扰，提高了光信号传输的可靠性。
进一步的，为了提高光信号的传输效率，本发明实施例设置有耦合光学系统，所述耦合光学系统用于将所述第一光模块441输出的光信号进行调整后发送给第二光模块442；还用于将第三光模块443输出的光信号进行调整后发送给第四光模块444。所述耦合光学系统由光学器件组成，所述光学器件的光学面的数量为0-N个，用于对接收到的光信号进行匀光或汇聚处理。可以理解的是，所述耦合光学系统可以与光模块封装在一起(如图9所示)，也可以独立设置于中空结构中。可以理解的是，耦合光学系统也可以同时包括与光模块封装在一起的部分和独立设置于中空结构中的部分。可以理解的是，当所述耦合光学系统与光模块封装在一起时，所述耦合光学系统可以包括匀光模组或准直模组。其中，匀光模组例如可以为匀光片、匀光透镜或者测光光纤；所述准直模组包括一个或多个光学镜片。
进一步的，在所述旋转体42上设置有第一电路板451，所述第一光模块441和第四光模块444设置在所述电路板451上相对于中空结构的位置，所述固定座41上设置有第二电路板452，所述第二光模块442和第三光模块443设置在所述第二电路板452上相对于中空结构的位置。本发明实施例通过直接将光模块和电路板固定在一起，使光通信模组的布局更加紧凑，也减小了装配的复杂度，提升了可靠性。
同时，为了更好的实现上行数据和下行数据的同时传输，避免产生传输干扰，所述第一光模块441和第三光模块443选择不同的发射波长进行光信号的发送。
更进一步的，为了提高数据传输装置的光信号传输的可靠性，本发明实施例提出了一种光模块在所述数据传输装置中的设置方式，如图8所示，本发明实施例将所述第一光模块441和所述第四光模块444分别设置于所述旋转体上相对于所述中空结构的中心轴线的两侧；所述第二光模块442和所述第三光模块443分别设置于所述固定座上相对于所述中空结构的中心轴线的两侧；所述第二光模块442位于所述第一光模块441发送光信号时在所述固定座上形成的光斑内；所述第四光模块444位于所述第三光模块443发送光信号时在所述旋转体上形成的光班内。本发明实施例中，当旋转体相对于固定座旋转时，使接收端始终位于发射光模块的光斑范围内，由于设置了中空结构，在旋转过程中不会产生光信号盲区，避免了传输 信号的中断，在保证数据传输质量的同时，简化了数据传输装置的结构。进一步的，为了提高光信号的传输效率，本发明实施例设置有耦合光学系统，所述耦合光学系统包括第一匀光模组和第二匀光模组，比如：所述第一光模块和所述第一匀光模组封装在一起，用于对所述第一光模块射出的光信号进行匀光处理，所述第三光模块和第二匀光模组封装在一起，通过设置耦合光学系统扩大了发射模块的光斑范围，使出射光信号更均匀，增加了数据传输的稳定性。同时，如图9所示，将光模块4411和耦合光学系统4412封装在一起，增加了系统的紧凑型，提高了系统可靠性。其中，匀光模组可以为匀光片、匀光透镜或者测光光纤；其中，所述匀光透镜组可以包括一个或多个光学镜片；可以理解的是，上述第一匀光模组和第二匀光模组可以采用相同的结构，也可以采用不同的结构，比如：所述第一匀光模组可以为匀光片或匀光透镜组，所述第二匀光模组可以为测光光纤。
在另一个可选的实施例中，本发明还提出了另外一种光模块在所述数据传输装置中的设置方式，如图10所示。由于在激光雷达的实际应用中，下行数据为测距数据，往往数据量比较大，而上行数据主要为控制数据，用于控制雷达前端装置，数据量比较小。为了提高下行数据的传输效率，将所述耦合光学系统设置为第一准直模组和第三匀光模组，所述第一准直模组包括一个或多个光学镜片；所述第三匀光模组可以为匀光片、匀光透镜组或测光光纤；所述第一准直模组包括一个或多个光学镜片。本申请实施例中，第一光模块441和第一准直模组封装在一起，如图9所示，光模块4411和耦合光学系统4412封装在一起，结构更加紧凑，用于对第一光模块射出的光信号进行准直处理，并且将第一光模块441设置在所述中空结构的中心轴线与所述旋转体相交的位置，所述第二光模块442设置于所述中空结构的中心轴线与所述固定座相交的位置，使第一光模块441和第二光模块位于旋转体42的中心轴线上，当旋转体42和固定轴41相对旋转时，所述第一光模块441和第二光模块442能够正对准，不会发生位置的偏移。同时，所述第一光模块441通过准直系统发送平行于所述中空结构的中心轴线的平行光至所述第二光模块442，在这种情况下，第一光模块441发出的光信号的传输效率最高。同时，为了保证上行信号的传输，为所述第三光模块443和第三匀光模组封装在一起，用于对所述第三光模块443射出的光信号进行匀光处理。所述第三光模块443设置于所述固定座上相对于所述中空结构的中心轴线的一侧的位置，所述第四光模块444设置于所述旋转体上相对于所述中空结构的中心轴线的一侧的位置；所述第三光模块443发送的光信号经匀光后，射向所述第四光模块444，所述第四光模块位于所述第三光模块443发送光信号时在所述旋转体上形成的光斑内。通过这种方式，优先保证了下行数据的传输效率，同时，也不影响上行数据的传输。
在另一个可选的实施例中，本发明还提出了第三种光模块在所述数据传输装置中的设置方式，如图11所示，所述耦合光学系统包括环形透镜。在所述中空结构中设置环形透镜460，用于对入射光线进行汇聚，所述环形透镜460设置在所述旋转轴上。本发明实施例中所述耦合光学系统还包括第二准直模组、第三准直模组，所述第二准直模组、第三准直模组包括一个或多个光学镜片；所述第一光模块441和所述第二准直模组封装在一起，所述第二准直模组用于对第一光模块发射的光信号进行准直处理；所述第三光模块443和所述第三准直模组封装在一起，所述第三准直模组用于对所述第三光模块射出的光信号进行准直处理。所述第一光模块设置于所述旋转体上相对于所述环形透镜的位置；
所述第二光模块设置于所述固定座上的所述环形透镜的焦点处；所述第一光模块发射平行光至所述环形透镜，所述环形透镜接收所述平行光并将所述平行光汇聚到所述第二光模块。所述第四光模块设置于所述旋转体上相对于所述环形透镜的焦点处；所述第三光模块设置于所述固定座上相对于所述环形透镜的位置；所述第三光模块发射平行光至所述环形透镜，所述环形透镜接收所述平行光，并将所述平行光汇聚到所述第四光模块。
当进行下行数据传输时，所述第一光模块441发射平行光至所述环形透镜460，所述环形透镜460将所述平行光进行汇聚后，射向第二光模块442，由于第二光模块442设置在所述环形透镜460的焦点处，从而保证了第二光模块442接收到的信号光束的能量，实现了第 二光模块对所述第一光模块射出的光信号的高效率接收。同时，当所述环形透镜460设置于中心轴上时，所述旋转体42相对固定座41旋转时，带动第一光模块441进行旋转，所述第一光模块441相对于环形透镜460旋转，由于第一光模块441发射平行光至环形透镜460，而且，所述第二光模块442位于所述环形透镜460的焦点处，因此，第二光模块442始终能够接收到第一光模块441发射的光信号的最大能量。当所述环形透镜460设置于所述旋转轴上时，所述环形透镜460和所述第一光模块441相对静止，更能够将第一光模块441射出的平行光汇聚到第二光模块442上。
当进行上行数据传输时，所述第三光模块443发射平行光至所述环形透镜460，所述环形透镜460将所述平行光进行汇聚后，射向第四光模块444，由于所述第四光模块444设置于所述环形透镜460的焦点处，所述第四光模块460能够接收到所述第三光模块443发射的光信号的最大能量，大大提高了光信号的传输效果。同时，当所述环形透镜460设置于所述旋转轴上时，所述第三光模块443和所述环形透镜460相对转动，所述第四光模块444和环形透镜460相对静止，由于第三光模块443发射平行光至环形透镜460，而且所述第四光模块444位于所述环形透镜460的焦点处，因此，第四光模块444始终能够接收到第三光模块443发射的光信号的最大能量。
由上可知，通过上述实施例，由于设置了环形透镜，上行和下行数据的接收光模块都位于环形透镜的焦点处，可以同时保证上行数据传输和下行数据传输的传输效率，而且，由于上行和下行光信号传输时，采用了不同的光路进行传输，有效避免了光信号之间的相互干扰，达到了最优的光信号传输效果。
本发明实施例还提供一种智能感应设备。该智能感应设备包括：激光雷达系统。其中，本实施例中的激光雷达系统与上述实施例中的激光雷达系统的结构和功能均相同，对于激光雷达系统的具体结构和功能可参阅上述实施例，此处不再一一赘述。
对于智能感应设备为能够探测周边物体的方位和距离，并且基于周边物体的方位和距离进行决策的设备，例如：智能机器人、智能汽车、智能飞机等等。
需要注意的是，除非另有说明，本发明实施例使用的技术术语或者科学术语应当为本发明实施例所属领域技术人员所理解的通常意义。
在本实施新型实施例的描述中，技术术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明实施例的限制。
此外，技术术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。在本发明实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本实施新型实施例的描述中，除非另有明确的规定和限定，技术术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；也可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明实施例中的具体含义。
在本发明实施例的描述中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方” 和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围，其均应涵盖在本发明的权利要求和说明书的范围当中。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本发明并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (20)

  1. 一种数据传输装置，其特征在于，应用于激光雷达系统上，
    所述激光雷达系统包括旋转体和中心轴；
    所述装置包括：第一光模块和第二光模块；
    所述第一光模块用于接收雷达前端装置输出的第一数字信号，并将所述第一数字信号转换为光信号，通过第一光模块的发射端将所述光信号发送给所述第二光模块的接收端；
    所述第二光模块通过接收端接收第一光模块发送的所述光信号，并将所述光信号转换为所述第一数字信号；
    所述第一光模块的发射端和所述第二光模块的接收端相对设置于所述中心轴上。
  2. 如权利要求1所述的数据传输装置，其特征在于，所述激光雷达系统包括固定座；所述中心轴设置于所述固定座上；
    所述旋转体与所述固定座转动连接，可绕所述中心轴的中心轴线转动，所述旋转体与所述中心轴共同限定出中空结构；
    所述第一光模块以及所述第二光模块均设置于所述中空结构内，且所述第一光模块设置于所述旋转体上，所述第二光模块设置于所述固定座上。
  3. 如权利要求2所述的数据传输装置，其特征在于，所述旋转体包括旋转轴，所述旋转轴的中心轴线与所述中心轴的中心轴线重合，所述旋转轴设置于所述中空结构内，且与所述中心轴的内周壁转动连接。
  4. 如权利要求3所述的激光雷达，其特征在于，
    所述旋转轴为空心轴，且所述第一光模块设置于所述旋转轴内部；所述第二光模块设置于所述中心轴内部。
  5. 如权利要求4所述的数据传输装置，其特征在于，所述旋转体和所述固定座通过驱动装置旋转连接；
    所述驱动装置，包括定子以及与所述定子耦合的转子，所述定子套设于所述中心轴的外周壁，所述转子绕所述定子设置，且所述转子与所述旋转体连接。
  6. 如权利要求2所述的数据传输装置，其特征在于，所述数据传输装置还包括第三光模块和第四光模块；
    所述第三光模块用于接收上位应用装置输出的第二数字信号，并将所述第二数字信号转换为光信号，通过第三光模块的发射端将所述光信号发送给所述第四光模块的接收端；
    所述第四光模块通过接收端接收第三光模块发送的所述光信号，并将所述光信号转换为所述第二数字信号；
    所述第三光模块的发射端和所述第四光模块的接收端相对设置于所述中心轴上。
  7. 如权利要求6所述的数据传输装置，其特征在于，所述第三光模块以及所述第四光模块均设置于所述中空结构内，且所述第四光模块设置于所述旋转体上，所述第三光模块设置于所述固定座上。
  8. 如权利要求7所述的数据传输装置，其特征在于，所述数据传输装置还包括耦合光学系统；所述耦合光学系统，用于将所述第一光模块输出的光信号发送给第二光模块；还用于将第三光模块输出的光信号发送给第四光模块。
  9. 如权利要求8所述的数据传输装置，其特征在于，所述耦合光学系统由光学器件组成，所述光学器件的光学面的数量为0-N个，用于对接收到的光信号进行匀光或汇聚处理。
  10. 如权利要求9所述的数据传输装置，其特征在于，所述耦合光学系统包括第一匀光模组和第二匀光模组；
    所述第一匀光模组和所述第一光模块封装在一起，用于对所述第一光模块射出的光信号进行匀光处理；
    所述第二匀光模组和所述第三光模块封装在一起，用于对所述第三光模块射出的光信号 进行匀光处理。
  11. 如权利要求10所述的数据传输装置，其特征在于，所述第一光模块和所述第四光模块分别设置于所述旋转体上相对于所述中空结构的中心轴线的两侧；
    所述第二光模块和所述第三光模块分别设置于所述固定座上相对于所述中空结构的中心轴线的两侧；
    所述第二光模块位于所述第一光模块发送光信号时在所述固定座上形成的光斑内；
    所述第四光模块位于所述第三光模块发送光信号时在所述旋转体上形成的光班内。
  12. 如权利要求9所述的数据传输装置，其特征在于，所述耦合光学系统包括第一准直模组和第三匀光模组；
    所述第一准直模组与所述第一光模块封装在一起，用于对所述第一光模块射出的光信号进行准直处理；
    所述第三匀光模组和所述第三光模块封装在一起，用于对所述第三光模块射出的光信号进行匀光处理。
  13. 如权利要求12所述的数据传输装置，其特征在于，所述第一光模块设置于所述中空结构的中心轴线与所述旋转体相交的位置，所述第二光模块设置于所述中空结构的中心轴线与所述固定座相交的位置；
    所述第一光模块发送平行于所述中空结构的中心轴线的平行光至所述第二光模块；
    所述第三光模块和所述第四光模块设置于所述中空结构的中心轴线的一侧的位置，所述第四光模块位于所述第三光模块发送光信号时在所述旋转体上形成的光班内；
    所述第三光模块发送的光信号经匀光后，射向所述第四光模块。
  14. 如权利要求8所述的数据传输装置，其特征在于，所述耦合光学系统包括第二准直模组和第三准直模组；
    所述第二准直模组和第一光模块设置在一起，用于对所述光模块射出的光信号进行准直处理；
    所述第三准直模组和第三光模块设置在一起，用于对所述光模块射出的光信号进行准直处理。
  15. 如权利要求14所述的数据传输装置，其特征在于，所述耦合光学系统还包括环形透镜，所述环形透镜环绕所述中空结构的所述中轴线设置；
    所述第一光模块设置于所述旋转体上相对于所述环形透镜的位置；
    所述第二光模块设置于所述固定座上的所述环形透镜的焦点处；
    所述第一光模块发射平行光至所述环形透镜，所述环形透镜接收所述平行光并将所述平行光汇聚到所述第二光模块。
  16. 如权利要求15所述的数据传输装置，其特征在于，所述第四光模块设置于所述旋转体上相对于所述环形透镜的焦点处；
    所述第三光模块设置于所述固定座上相对于所述环形透镜的位置；
    所述第三光模块发射平行光至所述环形透镜，所述环形透镜接收所述平行光，并将所述平行光汇聚到所述第四光模块。
  17. 如权利要求6所述的数据传输装置，其特征在于，所述第一光模块和所述第三光模块发出的光信号的波长不同。
  18. 如权利要求6所述的数据传输装置激光雷达，其特征在于，所述旋转体上设置有第一电路板，所述第一光模块和所述第四光模块分别设置于所述第一电路板上；
    所述固定座上设置有第二电路板，所述第二光模块和所述第三光模块分别设置于所述第二电路板上。
  19. 一种激光雷达，其特征在于，包括：雷达前端装置、上位应用装置及如权利要求1-18任一项所述的数据传输装置；
    所述雷达前端装置用于接收目标物体反射的光信息，并将所述光信息转换为第一数字信 号；
    所述数据传输装置用于将所述第一数字信号传输给所述上位应用装置；
    所述上位应用装置用于将控制信息转换为第二数字信号；
    所述数据传输装置还用于将所述第二数字信号传输给所述雷达前端装置。
  20. 一种智能装置，其特征在于，包括如权利要求19所述的激光雷达。
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