Modular LIDAR system

Patent metadata

Field	Value
Publication number	US-10012723-B2
Application number	US-201514741347-A
Country	US
Kind code	B2
Filing date	Jun 16, 2015
Priority date	Mar 31, 2015
Publication date	Jul 3, 2018
Grant date	Jul 3, 2018

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.

First claim

What is claimed is:

1. A LIDAR system comprising:
a swivel housing rotatably coupled to a frame of an unmanned aerial vehicle, the swivel housing configured to rotate about a first axis that is substantially perpendicular to a horizontal plane defined by the frame;
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 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; 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,
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 180degrees of vertical field of view.

6. The apparatus as recited in claim 5 , wherein the swivel housing comprises 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 , further comprising a first LIDAR component that is aimed along the first axis and a second LIDAR component that is aimed along the second axis.

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 system comprising:
a swivel housing rotatably coupled to a frame, the swivel housing configured to rotate about a first axis that is substantially perpendicular to a horizontal plane defined by the frame;
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, wherein at least one LIDAR component is aimed along the first orientation along the first axis; and
a motor to cause a full 360 degrees rotation of the swivel housing relative to the frame and about the first axis to create a horizontal field of view that provides capture of data to perform distance measurement of objects in a vertical field of view defined between the first orientation along the first axis and the second orientation along a second axis that is angularly offset relative to the first axis.

18. The system as recited in claim 17 , wherein each LIDAR component include at least one laser emitter and at least one laser detector.

19. The system as recited in claim 17 , further comprises a dome to at least partially enclose the swivel housing.

20. The system as recited in claim 17 , wherein the swivel housing comprises a chassis that includes slots that accept individual ones of the LIDAR components to create a modular LIDAR system.

Assignees

• Amazon Tech Inc

Inventors

• Lindskog Jon Lewis
• Marks Robert Todd
• Pingree Liam Stewart Cavanaugh

Classifications

• G01S7/4817

  relating to scanning · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01S7/4813 Primary

  Housing arrangements · CPC title

• G01S17/93

  for anti-collision purposes · CPC title

• G01S17/42 Primary

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title