Movable object for performing real-time mapping

Abstract

Techniques are disclosed for real-time mapping in a movable object environment. A real-time mapping system can include at least an unmanned aerial vehicle (UAV), comprising a propulsion system, a main body coupled to the propulsion system and a payload assembly coupled to the main body via a mounting assembly, wherein the payload assembly includes a payload comprising a scanning sensor and a positioning sensor, the payload assembly configured to orient the scanning sensor at a plurality of angles relative to the main body.

What is claimed is: 
     
         1 . An unmanned aerial vehicle (UAV), comprising:
 a propulsion system;   a main body coupled to the propulsion system; and   a payload assembly coupled to the main body via a mounting assembly, wherein the payload assembly includes a payload comprising a scanning sensor and a positioning sensor, the payload assembly configured to orient the scanning sensor at a plurality of angles relative to the main body.   
     
     
         2 . The UAV of  claim 1 , wherein the payload assembly comprises a plurality of payload support brackets configured to couple the payload assembly to the mounting assembly, the plurality of payload support brackets configured to provide the plurality of angles relative to the main body at which the payload can be oriented. 
     
     
         3 . The UAV of  claim 2 , wherein the payload assembly comprises a pivot bracket configured to couple the scanning sensor and the positioning sensor, the pivot bracket configured to be aligned with the plurality of angles provided by the plurality of payload support brackets for changing a scanning angle of the scanning sensor. 
     
     
         4 . The UAV of  claim 3 , wherein the scanning sensor is mounted to a side of the pivot bracket and the positioning sensor is mounted to another side of the pivot bracket. 
     
     
         5 . The UAV of  claim 1 , wherein the plurality of angles includes angles corresponding at least to angles of 0 degrees, 35 degrees, or 90 degrees relative to the main body. 
     
     
         6 . The UAV of  claim 2 , wherein the plurality of payload support brackets are connected to the mounting assembly using a dovetail quick release connection. 
     
     
         7 . The UAV of  claim 6 , wherein the plurality of payload support brackets are connected to a base plate of the mounting assembly, the base plate having a plurality of dovetail grooves. 
     
     
         8 . The UAV of  claim 7 , wherein the base plate is coupled to the mounting assembly using a plurality of dampers. 
     
     
         9 . The UAV of  claim 9 , wherein the landing gear bracket include compressible materials configured to absorb or dissipate energy of an impulse force when landing. 
     
     
         10 . The UAV of  claim 9 , wherein each landing gear assembly is coupled to the main body on an arm of the main body adjacent to a motor heat sink. 
     
     
         11 . The UAV of  claim 1 , wherein the mounting assembly comprises a dampened plate assembly configured to couple the payload assembly to the main body, the dampened plate assembly comprising a first plate coupled to the main body and a second plate coupled to the first plate via a plurality of dampers, wherein a fastener is inserted through the dampened plate assembly and the payload assembly. 
     
     
         12 . The UAV of  claim 18 , wherein a reflective member is coupled to the mounting assembly via the fastener, wherein the reflective member is positioned to overlap with at least a portion of a field of view (FOV) of the scanning sensor to cause the FOV of the scanning sensor to be broadened to include a second FOV comprising a reflection off of the reflective member. 
     
     
         13 . The UAV of  claim 19 , wherein the reflective member includes a mirror or a plate including a reflective coating. 
     
     
         14 . The UAV of  claim 1 , wherein the mounting assembly includes a plate assembly, the plate assembly comprising a first plate coupled to the main body via a plurality of expansion brackets and a second plate coupled to the first plate via a plurality of dampers, wherein a portion of the payload assembly is inserted through a portion of the first plate, and wherein the portion of the payload assembly is coupled to the second plate using a fastener. 
     
     
         15 . The UAV of claim  21 , wherein the plurality of expansion brackets includes at least two pairs of expansion brackets coupled to the main body, wherein each pair of expansion brackets are coupled to each other via an alignment bracket to maintain a parallel back plane of the pair of expansion brackets. 
     
     
         16 . The UAV of  claim 1 , wherein the scanning sensor is a light detection and ranging (LiDAR) sensor. 
     
     
         17 . The UAV of claim  23 , wherein the LiDAR sensor implements a scanning pattern, the scanning pattern including at least one of a spiral pattern or a flower pattern. 
     
     
         18 . The UAV of  claim 1 , wherein the scanning sensor is fixed at one of the plurality of angles during a scanning mission. 
     
     
         19 . An unmanned aerial vehicle (UAV), comprising:
 a propulsion system;   a main body coupled to the propulsion system;   a payload assembly coupled to the main body via a mounting assembly, wherein the payload assembly includes a payload comprising a scanning sensor and a positioning sensor, the payload assembly configured to orient the scanning sensor at a plurality of angles relative to the main body; and   at least two landing gear assemblies, each landing gear assembly including landing gear legs coupled to the main body using a landing gear bracket, wherein the landing gear bracket couples the landing gear legs at fixed angles to clear the landing gear legs from a field of view (FOV) of the scanning sensor.   
     
     
         20 . An unmanned aerial vehicle (UAV), comprising:
 a propulsion system;   a main body coupled to the propulsion system; and   a payload assembly coupled to the main body via a mounting assembly, wherein the payload assembly includes a payload comprising a scanning sensor coupled to a positioning sensor via a pivot bracket, the payload assembly configured to orient the scanning sensor at a plurality of angles relative to the main body using the pivot bracket, and wherein the payload assembly comprises a positioning sensor enclosure covering the positioning sensor, the positioning sensor enclosure mounted to a side of the pivot bracket mounting the positioning sensor that is opposite to another side of the pivot bracket mounting the scanning sensor.