Modular LIDAR System

• US 20160291136A1
• Filed: 06/16/2015
• Published: 10/06/2016
• Est. Priority Date: 03/31/2015
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Lindskog, Jon Lewis, Marks, Robert Todd, Pingree, Liam Stewart Cavanaugh
• Granted Patent: US 10,012,723 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/93 for anti-collision purposes
• CPC Class Codes: G01S 17/95 for meteorological use
• CPC Class Codes: G01S 7/4813 Housing arrangements
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: Y02A 90/10 Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

A modular LIDAR system may be formed of multiple LIDAR components. Each LIDAR component may include a laser emitter and a laser detector configured in a frame. Multiple LIDAR components may be arranged on a rotatable swivel housing. The rotatable housing may rotate about a first axis that is perpendicular to a plane defined by a mounting base. The multiple LIDAR components may be aimed outward from the swivel housing at different directions, which may range up to 90 degrees or up to 180 degrees in separation in some embodiments. When the rotatable housing is rotated completely around the first axis, the multiple LIDAR components may scan a first field of view of 360 degrees around the first axis and may scan a second field of view of substantially 180 degrees about a second axis. The modular LIDAR system may be implemented with an aircraft for navigational purposes.

Claims

1. An unmanned aerial vehicle (UAV), comprising:

a UAV frame configured to support components of the UAV;

a propulsion system coupled to the UAV frame, the propulsion system causing rotation of rotors to generate thrust to propel the UAV during air travel;

a LIDAR system coupled to the UAV frame, the LIDAR system comprising;

a swivel housing rotatably coupled to the UAV frame, the swivel housing configured to rotate about a first axis that is substantially perpendicular to a horizontal plane defined by the UAV frame; and

LIDAR components coupled to the swivel housing, the LIDAR components aimed outward from the swivel housing at different orientations between a first orientation along the first axis and a second orientation along a second axis that is angularly offset relative to the first axis, each LIDAR component including at least one laser emitter and at least one laser detector; and

a motor to cause rotation of the swivel housing relative to the UAV frame, wherein a full 360 degrees rotation of the swivel housing about the first axis creates a horizontal field of view that provides capture of data to perform distance measurement of objects in substantially 180 degrees of a vertical field of view.

2. The LIDAR system as recited in claim 1, wherein the first and the second orientations are angularly offset for positioning the LIDAR components on different sides of a plane that is parallel with the first axis, the positioning to create overlapping scanning of the vertical field of view that increases a resolution of the data used to perform the distance measurement of the objects.

3. The LIDAR system as recited in claim 1, wherein the LIDAR system further comprises a dome to enclose the swivel housing and protect the swivel housing from at least environmental conditions.

4. The LIDAR system as recited in claim 1, wherein the LIDAR system further comprises a counter weight to counter balance the swivel housing when rotated about the first axis.

5. An apparatus comprising:

a mounting base;

a swivel housing rotatably coupled to the mounting base, the swivel housing configured to rotate about a first axis that is perpendicular to a plane defined by the mounting base;

LIDAR components coupled to the swivel housing, the LIDAR components aimed outward from the swivel housing at different orientations between a first orientation along the first axis and a second orientation along a second axis that is angularly offset relative to the first axis, each LIDAR component including at least one laser emitter and at least one laser detector; and

wherein in a full rotation of the swivel housing about a horizontal field of view provides capture of data to perform distance measurement of objects in at least 180 degrees of vertical field of view.

6. The apparatus as recited in claim 5, wherein the swivel housing is a chassis that includes slots that accept individual ones of the LIDAR components to create a modular LIDAR system.

7. The apparatus as recited in claim 5, wherein angles between adjacent ones of the different directions are inconsistent.

8. The apparatus as recited in claim 5, further comprising a LIDAR component that is aimed along the first orientation and away from the mounting base.

9. The apparatus as recited in claim 5, further comprising an unmanned aerial vehicle (UAV), and wherein the mounting base is coupled to an underside of the UAV to enable measurement of distances of objects generally below the UAV while the UAV is in flight.

10. The apparatus as recited in claim 5, wherein the first and the second orientations are offset by less than 90 degrees.

11. The apparatus as recited in claim 5, wherein the first and the second orientations are angularly offset for positioning the LIDAR components on different sides of a plane that is parallel with the first axis, the positioning to create overlapping scanning of the vertical field of view that increases a resolution of the data used to perform the distance measurement of the objects.

12. The apparatus as recited in claim 5, wherein the LIDAR components are coupled to the swivel housing in a non-planar arrangement that offsets at least some of the LIDAR components in a plane that does not intersect both the first axis and the second axis.

13. The apparatus as recited in claim 5, further comprising a motor to cause the swivel housing to rotate relative to the mounting base.

14. The apparatus as recited in claim 5, further comprising a counter weight to counter balance the swivel housing when rotated about the first axis.

15. The apparatus as recited in claim 5, further comprising a dome that covers the swivel housing to protect the swivel housing from foreign objects including weather.

16. The apparatus as recited in claim 15, wherein the dome rotates with the swivel housing.

17. A LIDAR system comprising:

a chassis to support a plurality of LIDAR components, where the chassis orients each LIDAR component in a different directions; and

the plurality of LIDAR components comprising;

a frame;

at least one laser emitter coupled to the frame;

at least one laser detector coupled to the frame and aimed in a same direction as the at least one laser emitter;

a circuit board including embedded logic and wiring to capture and route signals to and from the at least one laser emitter and the at least one laser detector; and

a plug coupled to the circuit board, the plug including an interface configured to couple to the chassis to communicate the signals to a LIDAR controller.

18. The LIDAR system as recited in claim 17, wherein the chassis aims the plurality of LIDAR components outward from the chassis at different orientations between a first orientation along a first axis and a second orientation along a second axis that is angularly offset relative to the first axis;

and wherein a full rotation of the chassis about a horizontal field of view provides capture of the signals to perform distance measurement of objects in substantially 180 degrees of vertical field of view.

19. The LIDAR system as recited in claim 17, wherein the chassis orients the plurality of LIDAR components in different directions that span between 90 degrees and 180 degrees in separation.

20. The LIDAR system as recited in claim 17, wherein chassis orients the plurality of LIDAR components such that at least some angles between adjacent ones of the different directions are unequal.