Modular LiDAR system and related methods

Abstract

A modular LIDAR system is provided, comprising multiple modules and a two-level locking mechanism configured to engage with two consecutive modules. The two-level locking mechanism includes a first level configured to align two consecutive modules and a second level configured to lock the two consecutive modules together, wherein the first level includes a socket provided in one of the two modules and a curved arm extending outward from the other of the two consecutive modules, and the second level includes a slot provided in one of the two consecutive modules and a lever arm, each lever arm having an end extending outward from the other of the two consecutive modules, and each lever arm being adapted to be inserted into the corresponding slot.

Description

Technical Field

[0001] This technical field generally relates to the field of light detection and ranging (LIDAR) technology, and more particularly to LIDAR systems and related methods for geomatics applications.

Background Art

[0002] Commercially available systems and / or methods for creating maps present several drawbacks and limitations, particularly from the perspective of the operating range. The most common approach relies on the use of several LIDAR systems and / or additional devices to properly map the terrain, which has been observed to be particularly associated with economic and efficiency issues. Also, other recent approaches have been developed to provide modularity to LIDAR systems. However, these approaches tend to be limited not only because of their relatively short history but also because several design issues still have to be addressed.

[0003] There is still a need for techniques, devices, apparatuses, and methods to mitigate or alleviate the problems of the prior art.

Summary of the Invention

[0004] This technique generally relates to modular LIDAR systems and related methods for geomatics applications.

[0005] According to one embodiment, a modular LIDAR system is provided comprising a plurality of modules and a two-level locking mechanism. The two-level locking mechanism is configured to mechanically engage with two subsequent modules of the plurality of modules. The two-level locking mechanism includes a first level configured to align the two subsequent modules, the first level including a pair of sockets provided on one of the two subsequent modules and a pair of curved arms extending outward from the other of the two subsequent modules, each curved arm being adapted to be inserted into its respective socket during relative rotational movement between the two subsequent modules. The two-level locking mechanism is configured to lock the two subsequent modules together. The second level includes a pair of slots provided in one of two consecutive modules, and a pair of lever arms, each having an end extending outward from the other of the two consecutive modules, each lever arm being inserted into a corresponding slot and adapted to lock the two consecutive modules together when rotational movement is applied to the respective lever arm.

[0006] In some embodiments, the plurality of interchangeable modules include a main module, a LiDAR sensor, a photogrammetry camera, an inertial sensor module (IMU), a global positioning system (GPS), a processing unit, a data acquisition module, an external battery, an internal battery, a camera, and / or a power supply.

[0007] According to one embodiment, a modular LIDAR system comprising a plurality of modules and a two-level locking mechanism configured to mechanically engage with two consecutive modules of the plurality of modules, the two-level locking mechanism comprising a first level configured to align the two consecutive modules and a second level configured to lock the two consecutive modules together, the first level comprising a pair of sockets provided on one of the two consecutive modules and a pair of curved arms extending outward from the other of the two consecutive modules, each curved A modular LIDAR system is provided, comprising a pair of curved arms, each adapted to be inserted into its respective socket during relative rotational movement between two consecutive modules, and a pair of lever arms, each having an end extending outward from the other of the two consecutive modules, each being inserted into its corresponding slot and adapted to lock the two consecutive modules together when rotational movement is applied to its respective lever arm.

[0008] In some embodiments, the plurality of interchangeable modules include a main module, a LiDAR sensor, a photogrammetry camera, an inertial sensor module (IMU), a global positioning system (GPS), a processing unit, a data acquisition module, an external battery, an internal battery, a camera, and / or a power supply.

[0009] In some embodiments, the modules are configured to be replaceable or interchangeable without recalibrating the modular LiDAR system.

[0010] In some embodiments, the multiple modules have standardized dimensions.

[0011] In some embodiments, the modular LIDAR system includes a cover.

[0012] In some embodiments, the cover is made of rubber.

[0013] In some embodiments, at least one of the plurality of modules is a processing module including a processor, which is configured to automatically determine which modules are present on the modular LIDAR system and to automatically select or adapt the operating settings for each module.

[0014] In some embodiments, the operating settings are obtained from a calibration database.

[0015] In some embodiments, the calibration database is stored on a server.

[0016] In some embodiments, the calibration database is stored in the cloud.

[0017] In some embodiments, each curved arm of a pair of curved arms has an arm profile that defines an arm arc.

[0018] In some embodiments, the inner arm arc includes a start point and an end point separated by an angle of approximately 90°.

[0019] In some embodiments, each socket in a pair of sockets has a socket profile that defines the socket arc.

[0020] In some embodiments, the socket arc includes a start point and an end point separated by an angle of approximately 90°.

[0021] In some embodiments, each lever arm of the pair of lever arms includes a proximal end portion and a distal end portion, and the distal end portion includes a hook-shaped portion adapted to be inserted into a corresponding slot.

[0022] In some embodiments, the modular LIDAR system includes an upper portion and a bottom portion, the two-level locking mechanism is provided in the bottom portion, the upper portion includes a second pair of slots provided in one of the two consecutive modules, and a second pair of lever arms, the second pair of lever arms each have an end portion extending outwardly from the other of the two consecutive modules, the second pair of lever arms are inserted into the second pair of slots, and are adapted to lock the two consecutive modules together when a rotational movement is imparted to the second pair of lever arms.

[0023] Other features and advantages of the present specification will become more apparent upon reading the following non-limiting description of the specific embodiments, given by way of example only and with reference to the accompanying drawings.

Brief Description of the Drawings

[0024] [Figure 1] It is a diagram illustrating various aspects, features, and implementations of the present technique or related to the present technique. [Figure 2] It is a diagram illustrating various aspects, features, and implementations of the present technique or related to the present technique. [Figure 3] It is a diagram illustrating various aspects, features, and implementations of the present technique or related to the present technique. [Figure 4] It is a diagram illustrating various aspects, features, and implementations of the present technique or related to the present technique. [Figure 5] It is a diagram illustrating various aspects, features, and implementations of the present technique or related to the present technique. [Figure 6]A figure illustrating various aspects, features, and implementation forms of this technique or related to this technique. [Figure 7] A figure illustrating various aspects, features, and implementation forms of this technique or related to this technique. [Figure 8] A figure illustrating various aspects, features, and implementation forms of this technique or related to this technique. [Figure 9] A figure illustrating various aspects, features, and implementation forms of this technique or related to this technique. [Figure 10] A figure illustrating various aspects, features, and implementation forms of this technique or related to this technique.

Mode for Carrying Out the Invention

[0025] In the following description, similar features in the drawings are given the same reference numerals, and in order not to unduly clutter the figures, some elements may not be shown in some figures if they have already been identified in one or more preceding figures. Also, it should be understood in this specification that the elements of the drawings are not necessarily drawn to scale, as the emphasis is on clearly illustrating the elements and structures of this embodiment. The terms "a", "an", and "one" are defined in this specification to mean "at least one", i.e., these terms do not exclude a plurality of elements unless otherwise stated. Also, it should be noted that terms such as "substantially", "generally", and "about", which modify the values, conditions, or characteristics of the features of the exemplary embodiments, are to be understood to mean that the value, condition, or characteristic is defined within an acceptable tolerance for the proper operation of this exemplary embodiment with respect to its intended use.

[0026] In this specification, the terms “connected,” “linked,” and their variations and derivatives refer to any connection or link between two or more elements, whether direct or indirect. Such connections or links between elements can be acoustic, mechanical, physical, optical, operational, electrical, wireless, or a combination thereof.

[0027] Position descriptors indicating the position or orientation of one element relative to another are used herein for the sake of clarity and ease of explanation and should be interpreted in the context of the figures unless otherwise indicated, and should not be considered limiting. Spatially relative terms (e.g., “outer” and “inner,” “outside” and “inside,” “periphery” and “center,” “top” and “bottom,” as well as “left” and “right”) are intended to encompass different positions and orientations in the use or operation of this embodiment, in addition to the positions and orientations illustrated in the figures.

[0028] In the context of this disclosure, the term “sample” refers to any item or location that is investigated, characterized, or mapped, such as geographical features, bodies of water (e.g., oceans), surfaces (flat and / or curved surfaces), parts, components, structures, materials, and any combination thereof. More specifically, the techniques (including systems and methods) described herein can be used to characterize such samples. The term “sample” may sometimes be referred to as “target.”

[0029] This description relates generally to systems and devices for terrain mapping, unmanned aerial vehicle terrain scanning, 3D mapping, photogrammetry, and similar applications. More specifically, this specification relates to light detection and ranging (LIDAR) techniques used in the context of producing high-resolution maps or similar representations (which, in some embodiments, can be visual representations of acquired data). It should be noted that the LIDAR techniques described herein can have on-terrestrial applications, extraterrestrial applications (e.g., on another planet), aircraft-mounted applications, and / or mobile applications. The expressions “LIDAR,” “LiDAR,” or “LADAR” encompass techniques for determining range using light. Range determination is based on targeting a sample or target with a light source (e.g., a laser) and measuring the time required for the light generated by the laser to return to the LIDAR sensor (or its components (e.g., a receiver)) after being reflected by the targeted sample or target. The technique and its advantages will become more apparent from the detailed description and examples that follow, illustrating various embodiments of the technique.

[0030] This technology relates to a modular LIDAR system that includes multiple interchangeable and replaceable modules (sometimes referred to as "components"). Modularity provides the LIDAR system with a wider operating range compared to existing solutions, as modules of the system (e.g., LIDAR sensors) can be replaced depending on the targeted application and / or specific requirements that may be associated with the targeted application (e.g., operating range, accuracy, and many others).

[0031] The following table illustrates the mapping between the components of the system described herein and their reference figures.

[0032] [Table 1]

[0033] Looking at Figures 1 through 8, we see a modular LiDAR system according to one embodiment. Figure 1 illustrates the modular LiDAR system in an assembled configuration, that is, the modular LiDAR system includes multiple modules that are all assembled and locked together. Figures 2 and 3 respectively illustrate the modular LiDAR system of Figure 1 in an unassembled configuration. As can be seen, the multiple modules forming the modular LiDAR can be unattached or not mounted to each other. As can be seen in these figures, the shown embodiment of the modular LiDAR system includes several modules, for example and not limited to, LiDAR sensors, photogrammetry cameras, inertial sensor modules, inertial measurement units (IMUs), global positioning systems (GPS), processing units, data acquisition modules, battery modules, camera panels, cameras, power supplies, support modules, and many others. Other processing modules and / or modules that rely on artificial intelligence may be used to facilitate, accelerate, or enhance the processing of acquired data. These modules can be selectively attached to (or fitted with) each other and detached to (or unattached to) each other using a locking mechanism which will be described in more detail later.

[0034] LiDAR sensors are generally selected according to predetermined, pre-determined, specific, or custom scanning requirements imposed or determined by the targeted application, which may include, but are not limited to, accuracy, range, scan speed, measurement rate, or other relevant parameters related to a given task or project, and which may be affected by multiple factors, including environmental conditions and other non-environmental events. The limitations of existing technologies are often associated with LiDAR sensors. This is because the relatively small window (or operating range) in which a LiDAR sensor can be used can limit its implementation form, given the results it can produce or output. This technology makes it possible to replace a given LiDAR sensor module having a first operating range with another LiDAR sensor module having a second operating range, where the second range is different from the first range. The ranges can be different from each other in terms of lower and / or upper limits. Furthermore, this technology makes it possible to replace any other module in a modular LiDAR system, including those listed above. It should be noted that modular LiDAR systems are designed so that no additional hardware modifications are required when modules (e.g., LiDAR sensor modules) are replaced (i.e., fitted or unfitted), meaning that once assembled, all modules are ready for use. In some embodiments, each module may be provided with plug-in connectors to facilitate its operational coupling, for example, to facilitate the transmission of power, current, voltage, and / or data between modules.

[0035] An data acquisition module may include one or more processing units (sometimes referred to as "processors"). Processing units can be configured to automatically identify or detect which modules are installed in a modular LiDAR system, and similarly, which modules have been removed from the modular LiDAR system. After identifying the modules installed in the modular LiDAR system, processing units can automatically select the corresponding operating settings for each module. These different operating settings can be stored in memory provided on the modular LiDAR system, or retrieved from a calibration database (which can be stored on a server, in physical memory, or in the cloud). For ease of understanding, processing units can be implemented as a single unit or as multiple interconnected processing subunits. Furthermore, processing units can be embodied by computers, smartphones, microprocessors, microcontrollers, central processing units, or any other type of processing resource, or any combination of such processing resources configured to operate collectively as a processor or processing unit. The processor can be implemented in hardware, software, firmware, or any combination thereof, and can be connected to components of a modular LiDAR system via a suitable communication port.

[0036] It should be noted that modules can be replaced relatively easily and seamlessly (i.e., removed and replaced by another module), making it possible to build a system that meets predetermined specifications or operates within a given range of motion. Modular LiDAR systems can be assembled and disassembled in the field in real time or near real time, which allows the use of different LiDAR sensor modules when mapping locations without relying on several separate systems. Furthermore, modules can be replaced or swapped without recalibrating the entire modular LiDAR system. The design of modular LiDAR systems ensures that the system is portable and relatively easy to transport.

[0037] In some embodiments, each module can be constructed with or have standardized dimensions, i.e., the dimensions of all modules can be substantially the same, which can provide greater flexibility, adaptability, and versatility of use to the modular LIDAR system. Furthermore, the standardized dimensions of the modules can facilitate their relative alignment, as will be described in more detail below. In other embodiments, the modules do not have the same dimensions as one another.

[0038] In some embodiments, a heat sink (which may be embodied by heat dissipation fins) can be mounted on any side or part of the modular LiDAR system. Other cooling mechanisms may also be used to manage the system's thermal balance; that is, the heat dissipation fins can be replaced by any type of device that increases the rate of heat transfer from the modular LiDAR system to its environment.

[0039] According to one embodiment, a modular LIDAR system is provided. The modular LIDAR system includes a plurality of modules and a two-level locking mechanism. The two-level locking mechanism is configured to mechanically engage with two consecutive modules from a plurality of interchangeable modules. The two-level locking mechanism includes a first level and a second level.

[0040] The first level is configured to align two consecutive modules; that is, the first level includes structural elements that guide or assist the spatial orientation between the two modules. The first level includes a pair of sockets provided on one of the two consecutive modules and a pair of curved arms extending outward from the other of the two consecutive modules. The sockets and curved arms are shaped and positioned to be engageable with each other; that is, each curved arm is adapted to be inserted into its respective socket during relative rotational movement between the two consecutive modules. The shape of the sockets is complementary to the shape of the curved arms. As illustrated in the cross-sectional view of Figure 4, each curved arm has a C-shaped profile. Similarly, each socket has a hollow portion extending between an open end and a closed end. The hollow portion has a C-shaped profile that conforms to the shape of the curved arm. The curved arm can engage with its respective socket through its open end toward its closed end during relative rotational movement between two consecutive modules, resulting in the two consecutive modules aligning with each other.

[0041] The second level is configured to lock two consecutive modules together after their relative alignment using the first level. The second level includes a pair of slots provided on one of the two consecutive modules and a pair of lever arms, each lever arm having an end extending outward from the other of the two consecutive modules. Each lever arm is inserted into a corresponding slot and is adapted to lock the two consecutive modules together when rotational movement is applied to the respective lever arm. As illustrated in Figure 7, the lever arms may include two segments mechanically connected to each other using one or more pivots, such that when one of the two segments is engaged in a corresponding slot, the other of the two segments is pushed toward the modular LIDAR system, allowing the two consecutive modules to be locked together.

[0042] In some embodiments, the module includes a main module, a LiDAR sensor, a photogrammetry camera, an inertial sensor module (IMU), a global positioning system (GPS), a processing unit, a data acquisition module, an external battery, an internal battery, a camera, a power supply, and / or any combination thereof.

[0043] In some embodiments, at least one of the slots or sockets has a contoured or machined inner portion. By a non-limiting example, the contoured or machined inner portion may include a textured or tapered portion to facilitate engagement with the respective curved arm or lever arm. When the inner portion includes a tapered portion, the curved arm or lever arm may be compressed or firmly pressed against the inner portion as the lever arm rotates.

[0044] In some embodiments, the two-level locking mechanism (including their respective components) can be made from metal, metallic material, or alloy. In some embodiments, the two-level locking mechanism can be made from aluminum alloy (e.g., and not limited to, aluminum 6063). In some embodiments, only a portion of the two-level locking mechanism can be made from metal, metallic material, or alloy.

[0045] In some embodiments, the multiple interchangeable modules include a main module, a LiDAR sensor, a photogrammetry camera, an inertial sensor module (sometimes referred to as an “inertial measurement unit” or “IMU”), a Global Positioning System (GPS), a processing unit (sometimes referred to as a “computer” or “computing device”), a data acquisition module (sometimes referred to as “memory”), an external battery, an internal battery, a camera, a power supply, and / or other modules. In some embodiments, the processing unit and the data acquisition module can be integrated into a single device.

[0046] In some embodiments, multiple interchangeable modules are configured to be replaced or swapped without recalibrating the modular LiDAR system.

[0047] In some embodiments, multiple interchangeable modules have standardized dimensions.

[0048] In some embodiments, at least one module is a processing unit configured to automatically determine which modules are present on the modular LIDAR system and to automatically select or adapt the operating settings for each module.

[0049] In some embodiments, different operating settings are obtained from a calibration database. In some embodiments, the calibration database can be stored on a server. In some embodiments, the calibration database can be stored in the cloud.

[0050] Examples of implementation types In one implementation, the LIDAR sensor module can include the Puck 16 and 32 from Velodyne, as well as the miniVUX 1UAV, 2UAV, and 1DL from RIEGL. The inertial measurement unit module can include the APX 15, 18, and 20 series from Applanix. The battery module capacity can be adapted according to the LIDAR sensor module, and the option to incorporate an external power source can be provided. Optional Wi-Fi and RTK modules can be incorporated to improve operation and performance.

[0051] Several alternative embodiments and examples have been described and illustrated herein. The embodiments described above are intended to be illustrative only. Those skilled in the art will recognize the characteristics of each embodiment, as well as the possible combinations and variations of components. Those skilled in the art will further recognize that any of the embodiments can be provided in any combination with other embodiments disclosed herein. Thus, these examples and embodiments should be considered in all respects as illustrative and not restrictive. Accordingly, although certain embodiments have been illustrated and described, numerous modifications are possible without significantly deviating from the scope defined herein and in the appended claims. [Explanation of Symbols]

[0052] 10 Modular Lidar Systems 12A, B module 14. Two-level locking mechanism 16A, B socket 18A, B Curved arms 20A, B slots 22A, B Lever Arm

Claims

1. Multiple modules, A two-level locking mechanism configured to mechanically engage with two consecutive modules among the aforementioned plurality of modules, Includes, The aforementioned two-level locking mechanism is A first level configured to align the two consecutive modules, A second level configured to lock the two consecutive modules together Includes, The first level is, A pair of sockets provided in one of the two consecutive modules, A pair of curved arms extending outward from the other of the two consecutive modules, each curved arm being adapted to be inserted into its respective socket during relative rotational movement between the two consecutive modules. Includes, The second level mentioned above is, A pair of slots provided in one of the two consecutive modules, A pair of lever arms, each having an end extending outward from the other of the two consecutive modules, each lever arm being inserted into a corresponding slot and fitted to lock the two consecutive modules together when rotational movement is applied to each lever arm. A modular LIDAR system, including [the specified element].

2. The modular LiDAR system according to claim 1, wherein the plurality of interchangeable modules include a main module, a LiDAR sensor, a photogrammetry camera, an inertial sensor module (IMU), a global positioning system (GPS), a processing unit, a data acquisition module, an external battery, an internal battery, a camera, and / or a power supply.

3. The modular LiDAR system according to claim 1 or 2, wherein the plurality of modules are configured to be replaced or exchanged without recalibrating the modular LiDAR system.

4. The modular LIDAR system according to any one of claims 1 to 3, wherein the plurality of modules have standardized dimensions.

5. The modular LIDAR system according to any one of claims 1 to 4, further comprising a cover.

6. The modular LIDAR system according to claim 5, wherein the cover is made of rubber.

7. At least one of the plurality of modules is a processing module including a processor, and the processor is It is configured to automatically determine which module is present on the modular LIDAR system, and A modular LiDAR system according to any one of claims 1 to 6, configured to automatically select or adapt the operating settings of each module.

8. The aforementioned operating settings are obtained from a calibration database, in the modular LIDAR system according to claim 7.

9. The modular LIDAR system according to claim 7, wherein the calibration database is stored on a server.

10. The modular LIDAR system according to claim 7, wherein the calibration database is stored in the cloud.

11. The modular LiDAR system according to any one of claims 1 to 10, wherein each curved arm of the pair of curved arms has an arm profile that defines an arm arc.

12. The modular LIDAR system according to claim 11, wherein the inner arm arc includes a start point and an end point separated by an angle of approximately 90°.

13. The modular LIDAR system according to any one of claims 1 to 12, wherein each socket of the pair of sockets has a socket profile that defines a socket arc.

14. The modular LIDAR system according to claim 13, wherein the socket arc includes a start point and an end point separated by an angle of approximately 90°.

15. The modular LiDAR system according to any one of claims 1 to 14, wherein each lever arm of the pair of lever arms includes a proximal end and a distal end, the distal end including a hook-shaped portion adapted to be inserted into the corresponding slot.

16. The modular LiDAR system according to any one of claims 1 to 15, wherein the modular LiDAR system comprises an upper portion and a lower portion, the two-level locking mechanism being provided in the lower portion, the upper portion comprising a second pair of slots provided in one of the two consecutive modules and a second pair of lever arms, the second pair of lever arms each having an end extending outward from the other of the two consecutive modules, the second pair of lever arms being inserted into the second pair of slots and adapted to lock the two consecutive modules together when rotational movement is applied to the second pair of lever arms.

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