US 11,747,481 B2
High performance three dimensional light detection and ranging (LIDAR) system for drone obstacle avoidance
Daniel J. Sox, Saint Charles, MO (US)
Assigned to THE BOEING COMPANY, Chicago, IL (US)
Filed by The Boeing Company, Chicago, IL (US)
Filed on Jul. 20, 2018, as Appl. No. 16/41,226.
Prior Publication US 2021/0318445 A1, Oct. 14, 2021
Int. Cl. G01S 17/933 (2020.01); G01S 17/86 (2020.01); G01S 17/42 (2006.01); G01S 7/481 (2006.01); B64C 39/02 (2023.01); G08G 5/04 (2006.01); G08G 5/00 (2006.01); B64D 47/08 (2006.01); G01S 17/931 (2020.01); B64U 10/25 (2023.01); B64U 101/30 (2023.01)
CPC G01S 17/933 (2013.01) [B64C 39/024 (2013.01); B64D 47/08 (2013.01); G01S 7/4817 (2013.01); G01S 17/42 (2013.01); G01S 17/86 (2020.01); G08G 5/0069 (2013.01); G08G 5/045 (2013.01); B64U 10/25 (2023.01); B64U 2101/30 (2023.01); G01S 17/931 (2020.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a camera comprising pixels located on a focal plane;
a processor connected to the camera and programmable to identify one or more areas of interest in an image of a scene when the image is captured by the camera; and
a laser ranging system connected to the processor, the laser ranging system comprising a laser rotatably coupled to the camera so that a laser beam outputted from the laser can be pointed in different directions corresponding to positions of each of a plurality of objects of interest in the scene; wherein:
the processor is programmable to control the laser ranging system so that the laser ranging system selectively measure distances to each of the objects of interest in the scene and corresponding to the areas of interest in the image and so that the objects of interest, comprising different targets in different areas of interest in the image, are ranged sequentially,
the laser ranging system comprising a gimbaled laser ranging system comprising:
a gimbal comprising a rotation axis centered on the focal plane, and
the laser bore sighted to the camera's optical axis.