Environment sensing system and movable platform

Patent metadata

Field	Value
Publication number	US-12013464-B2
Application number	US-202117239522-A
Country	US
Kind code	B2
Filing date	Apr 23, 2021
Priority date	Oct 26, 2018
Publication date	Jun 18, 2024
Grant date	Jun 18, 2024

Abstract

The present disclosure provides an environment sensing system. The sensing system includes a laser detection module, the laser detection module including a first laser module, a second laser module, a third laser module, and a fourth laser module, a field of view (FOV) angle of each laser module being less than or equal to 120°. The first laser module and the second laser module are disposed on a front side of a movable platform to detect an area in front of the movable platform, the FOVs of the first laser module and the second laser module partially overlap. The third laser module and the fourth laser module are respectively disposed on both sides of the movable platform to detect a front left area and a front right area of the movable platform.

First claim

What is claimed is:

1. An environment sensing system comprising:
a laser detection module, the laser detection module including a first laser module, a second laser module, a third laser module, and a fourth laser module, a field of view (FOV) angle of each laser module being less than or equal to 120°, wherein
the first laser module and the second laser module are disposed on a front side of a movable platform to detect an area in front of the movable platform, the FOVs of the first laser module and the second laser module partially overlap;
the third laser module and the fourth laser module are respectively disposed on both sides of the movable platform to detect a front left area and a front right area of the movable platform;
an overlap percentage of the FOV of the first laser module and the second laser module is greater than 30% of the FOV of the first laser module or the second laser module;
the overlap percentage of the FOV of the third laser module and the first laser module is greater than 10% of the FOV of the third laser module or the first laser module; and
the overlap percentage of the FOV of the fourth laser module and the second laser module is greater than 10% of the FOV of the fourth laser module or the second laser module.

2. The environment sensing system of claim 1 , wherein:
the third laser module is disposed on a front left side of the movable platform, and the fourth laser module is disposed on a front right side of the movable platform.

3. The environment sensing system of claim 1 , wherein;
the movable platform includes a vehicle, and the third laser module and the fourth laser module are respectively disposed at rearview mirrors on both sides of the vehicle.

4. The environment sensing system of claim 1 , wherein:
the first laser module and the second laser module are respectively disposed at both ends of the front side of the movable platform.

5. The environment sensing system of claim 1 , wherein:
the FOVs of the third laser module and the first laser module partially overlap, and the FOVs of the fourth laser module and the second laser module partially overlap.

6. The environment sensing system of claim 1 , wherein:
the laser detection module further includes a fifth laser module disposed on the front side of the movable platform to detect the area in front of the movable platform.

7. The environment sensing system of claim 1 , wherein:
the laser detection module further includes a sixth laser module and a seventh laser module respectively disposed on a left side and a right side of the movable platform to detect a rear left area and a rear right area of the movable platform.

8. The environment sensing system of claim 7 , wherein:
the sixth laser module is disposed on a rear left side of the movable platform, and the seventh laser module is disposed on a rear right side of the movable platform.

9. The environment sensing system of claim 7 , wherein:
the FOVs of the sixth laser module and the seventh laser module partially overlap behind the movable platform, and the overlap percentage of the FOV of the sixth laser module and the seventh laser module is greater than 10% of the FOV of the sixth laser module or the seventh laser module.

10. The environment sensing system of claim 1 , wherein:
a horizontal FOV angle of each laser module ranges from 40° to 120°.

11. The environment sensing system of claim 1 , wherein:
the FOV angle of each laser module is less than or equal to 100°.

12. The environment sensing system of claim 1 , wherein:
each laser module includes two or more lidars, and optical axes of the two or more lidars are at a predetermined angle to cause the FOVs of two adjacent lidars to have an overlapping part.

13. The environment sensing system of claim 12 , wherein:
a percentage of the overlapping part in the FOV of any lidar ranges from 5% to 90%.

14. The environment sensing system of claim 1 , wherein:
each laser module includes three lidars, and optical axes of the three lidars are at a predetermined angle to cause the FOVs of two adjacent lidars to have an overlapping part.

15. The environment sensing system of claim 14 , wherein:
the angle between the optical axes of adjacent lidars in the three lidars is substantially 30°.

16. The environment sensing system of claim 1 , wherein:
a lidar is placed on the front side of the movable platform, and a detection distance of the lidar is greater than the detection distance of the first laser module and the second laser module.

17. The environment sensing system of claim 1 , wherein:
the laser detection module further includes a first lidar disposed on a rear side of the movable platform to detect an area behind the movable platform.

18. The environment sensing system of claim 1 , wherein:
the laser detection module further includes a second lidar and a third lidar respectively disposed on both sides of the movable platform to detect a rear left area and a rear right area of the movable platform.

19. The environment sensing system of claim 18 , wherein:
the second lidar is disposed above or below the third laser module to cause the FOVs of the second lidar and the third laser module to partially overlap; and
the third lidar is disposed above or below the fourth laser module to cause the FOVs of the third lidar and the fourth laser module to partially overlap.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Li Wei
• Huang Yongjie
• Shen Shaojie
• Ma Lu

Classifications

• G01S17/10

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• G01S17/894

  Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar · CPC title

• G01S17/87

  Combinations of systems using electromagnetic waves other than radio waves · CPC title

• G01S17/42

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

• G01S17/93

  for anti-collision purposes · CPC title