	US 12,386,048 B2
	Movable object performing real-time mapping using a payload assembly
Joshua Acosta, Palo Alto, CA (US); Junli Liu, Guangdong (CN); Yucheng Liu, Guangdong (CN); Arjun Sukumar Menon, San Jose, CA (US); and Fernando Pablo Quevedo, Guangdong (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Guangdong (CN)
Filed on Apr. 15, 2021, as Appl. No. 17/231,860.
Application 17/231,860 is a continuation of application No. PCT/CN2019/113725, filed on Oct. 28, 2019.
Application PCT/CN2019/113725 is a continuation of application No. 16/664,743, filed on Oct. 25, 2019, granted, now 10,983,201, issued on Apr. 20, 2021.
Application PCT/CN2019/113725 is a continuation of application No. PCT/US2019/058219, filed on Oct. 25, 2019.
Application PCT/CN2019/113725 is a continuation of application No. PCT/US2019/058218, filed on Oct. 25, 2019.
Claims priority of provisional application 62/752,273, filed on Oct. 29, 2018.
Prior Publication US 2021/0239815 A1, Aug. 5, 2021
Int. Cl. G01S 7/51 (2006.01); B64C 39/02 (2023.01); B64D 47/00 (2006.01); B64U 10/14 (2023.01); G01S 7/481 (2006.01); G01S 17/42 (2006.01); G01S 17/89 (2020.01); G05D 1/00 (2006.01); G06F 3/04845 (2022.01); G06T 15/00 (2011.01); G06T 15/08 (2011.01); B64U 101/30 (2023.01)

CPC G01S 7/51 (2013.01) [B64D 47/00 (2013.01); B64U 10/14 (2023.01); G01S 7/4813 (2013.01); G01S 17/42 (2013.01); G01S 17/89 (2013.01); G05D 1/0094 (2013.01); G05D 1/101 (2013.01); G06F 3/04845 (2013.01); G06T 15/00 (2013.01); G06T 15/08 (2013.01); B64U 2101/30 (2023.01); G06T 2200/24 (2013.01); G06T 2210/56 (2013.01)]

18 Claims

1. A movable object, comprising:

a propulsion system;

a main body coupled to the propulsion system;

a payload assembly coupled to the main body via a payload port, the payload assembly comprising a payload support bracket configured to couple to the payload port and support a scanning sensor;

a positioning sensor;

at least one memory including instructions; and

at least one processor, wherein the instructions when executed by the at least one processor, cause the movable object to at least to:

receive control data from an external device,

move the scanning sensor with respect to the movable object via a movement of the payload assembly based on the control data,

obtain mapping data from the scanning sensor in a first coordinate system based on the control data,

obtain positioning data from the positioning sensor,

construct a dense map in real-time based on the mapping data and the positioning data, and

transform the dense map into a sparse map;

and

a communication device configured to transmit the sparse map to the external device in real-time

wherein the external device is configured to:

receive the sparse map; and

render the sparse map in a second coordinate system in real-time, the second coordinate system being different from the first coordinate system,

wherein the first coordinate system is a scanner reference coordinate system, and the second coordinate system is a north-east-down (NED) coordinate system or a FlightGear coordinate system.