LiDAR system producing multiple scan paths and method of making and using same

• US 10,502,813 B2
• Filed: 01/12/2016
• Issued: 12/10/2019
• Est. Priority Date: 03/12/2013
• Status: Active Grant

• Current Assignee: Pictometry International Corporation (Eagleview Technologies, Inc. /Wa/)
• Original Assignee: Pictometry International Corporation (Eagleview Technologies, Inc. /Wa/)
• Inventors: Schultz, Stephen L.
• Primary Examiner(s): Ratcliffe, Luke D
• Application Number:
  US14/993,725
• Publication Number:
  US 20160124077A1
• Time in Patent Office: 1,428 Days
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/484 Transmitters
• CPC Class Codes: G02B 26/101 with both horizontal and vertical deflecting means, e.g. raster or XY scanners colour television using laser beams scanning a display screen H04N9/3129
• CPC Class Codes: G02B 26/12 using multifaceted mirrors

Abstract

LiDAR scanning methods are disclosed, including a method comprising forming a first scan path with a light detection and ranging (LiDAR) scanning system on an aircraft flying above the ground, the first scan path at a first angle in relation to the aircraft toward the ground; forming a second scan path with the LiDAR scanning system, the second scan path at a second angle in relation to the aircraft, the second angle toward the ground and different relative to the first angle; and creating a digital elevation map of the ground, and vertical and horizontal surfaces above the ground, using the first and second scan paths.

Claims

1. A method, comprising:

forming a first scan path with a light detection and ranging (LiDAR) scanning system on an aircraft flying above the ground, the first scan path at a first angle in relation to the aircraft toward the ground,

forming a second scan path with the LiDAR scanning system, the second scan path at a second angle in relation to the aircraft, the second angle toward the ground and different relative to the first angle;

forming a third scan path with the LiDAR scanning system, the third scan path at a third angle in relation to the aircraft, the third angle different than the first angle and the second angle; and

creating a digital elevation map of the ground, and vertical and horizontal surfaces above the ground, using the first, second, and third scan paths

wherein each scan path is produced by deflection of a light beam off of a deflection element and progression of the light beam below the LiDAR scanning system towards the ground, the deflection element having at least three sides, each side positioned at a different angle, the direction of each scan path varying with rotation of the deflection element and rotation of the deflection element alternates each of the first scan path, second scan path and third scan path.

2. The method of claim 1, wherein the first angle is nadir relative to the aircraft.

3. The method of claim 1, wherein the second angle is oblique relative to the first angle.

4. The method of claim 1, further comprising:

forming a plurality of the first scan paths with the LiDAR scanning system; and

forming a plurality of the second scan paths with the LiDAR scanning system, the plurality of the second scan paths alternating with the plurality of first scan paths during flight of the aircraft.

5. The method of claim 4, wherein the alternation of the plurality of the first scan paths and the plurality of the second scan paths is every other one.

6. The method of claim 4, wherein creating a digital elevation map of the ground, and vertical and horizontal surfaces above the ground, using the first and second scan paths further comprises using the pluralities of the first and second scan paths.

7. The method of claim 1, wherein the LiDAR scanning system forming the first scan path and the second scan path comprises:

a housing;

a light source within the housing adapted to transmit light; and

a light deflection system within the housing comprising;

a light deflection element rotatably supported within the housing and having a first end and a second end, the light deflection element rotatable and balanced about an axis extending from the first end to the second end, the light deflection element further having at least three sides extending between the first end and the second end, at least a first side of the at least three sides has a first reflective surface at a first angle in relation to the axis, and at least a second side of the at least three sides has a second reflective surface at a second angle in relation to the axis, with the first angle being different from the second angle, the light deflection element being rotatable about the axis such that light is deflectable from the first and second reflective surfaces of the first and second sides.

8. The method of claim 1, wherein the first angle is nadir relative to the aircraft, the second angle is an oblique positive angle relative to the first angle, and the third angle is an oblique negative angle relative to the first angle.

9. The method of claim 1, further comprising:

forming a plurality of the first scan paths with the LiDAR scanning system;

forming a plurality of the second scan paths with the LiDAR scanning system; and

forming a plurality of the third scan paths with the LiDAR scanning system, alternating with the plurality of first scan paths and the plurality of second scan paths during flight of the aircraft.

10. The method of claim 9, wherein creating a digital elevation map of the ground, and vertical and horizontal surfaces above the ground, using the first and second scan paths further comprises using the pluralities of the first, second, and third scan paths.

11. The method of claim 9, wherein the first angle is nadir relative to the aircraft, the second angle is an oblique positive angle relative to the first angle, and the third angle is an oblique negative angle relative to the first angle.

12. The method of claim 11, wherein the alternation of the plurality of the first scan paths and the plurality of the second scan paths and the plurality of third scan paths is a repeating pattern of forming the first scan path, then forming the second scan path, then forming the third scan path.

13. The method of claim 9, wherein the alternation of the plurality of the first scan paths and the plurality of the second scan paths and the plurality of third scan paths is a repeating pattern of forming the first scan path, then forming the second scan path, then forming the third scan path.

14. The method of claim 1, wherein the LiDAR scanning system forming the first scan path, the second scan path, and the third scan path, comprises:

a housing;

a light source within the housing adapted to transmit light; and

a light deflection system within the housing comprising;

a light deflection element rotatably supported within the housing and having a first end and a second end, the light deflection element rotatable and balanced about an axis extending from the first end to the second end, the light deflection element further having at least three sides extending between the first end and the second end, at least a first side of the at least three sides has a first reflective surface at a first angle in relation to the axis, at least a second side of the at least three sides has a second reflective surface at a second angle in relation to the axis, and at least a third side of the at least three sides has a third reflective surface at a third angle in relation to the axis with the third angle being different from the first angle and the second angle, the light deflection element being rotatable about the axis such that light is deflectable from the first, second, and third reflective surfaces of the first, second, and third sides.