US 12,105,195 B2
Systems and methods for obstacle avoidance for unmanned autonomous vehicles
Joseph Smith, Tempe, AZ (US); and Siyang Cao, Tucson, AZ (US)
Assigned to Alphacore, Inc., Tempe, AZ (US)
Filed by Alphacore, Inc., Tempe, AZ (US)
Filed on Jan. 31, 2022, as Appl. No. 17/589,807.
Prior Publication US 2023/0243965 A1, Aug. 3, 2023
Int. Cl. G01S 13/93 (2020.01); G01S 13/86 (2006.01); G01S 13/933 (2020.01); G05D 1/00 (2006.01); G05D 1/10 (2006.01); H01Q 9/04 (2006.01)
CPC G01S 13/933 (2020.01) [G01S 13/867 (2013.01); G05D 1/106 (2019.05); H01Q 9/0414 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a gimbal;
a RADAR system that includes a RADAR transmit antenna attached to the gimbal and a RADAR receive antenna attached to the gimbal, the RADAR system having a field of view; and
an optical camera attached to the gimbal, the optical camera having a field of view;
wherein
the gimbal moves the RADAR transmit antenna, the RADAR receive antenna, and the optical camera in unison, and
the RADAR system and the optical camera are bore-sighted to each other such that the field of view of the RADAR system overlaps with the field of view of the optical camera and the field of view of the RADAR system moves in unison with the field of view of the optical camera as the gimbal moves the RADAR transmit antenna, the RADAR receive antenna, and the optical camera in unison;
wherein:
the gimbal rotates the RADAR transmit antenna, the RADAR receive antenna, and the optical camera on an axis perpendicular to a plane;
the RADAR transmit antenna is a transmit patch antenna that has a transmit patch antenna height that is parallel to the axis and a transmit patch antenna width that is perpendicular to the transmit patch antenna height;
the patch transmit antenna width is at least twice the transmit patch antenna height;
the RADAR receive antenna is a receive patch antenna that has a receive patch antenna height that is parallel to the axis and a receive patch antenna width that is perpendicular to the receive patch antenna height; and
the receive patch antenna height is at least twice the receive patch antenna width; and
the RADAR transmit antenna is attached above the optical camera and the receive patch antenna is attached to a side of the optical camera.