Laser radar scanning and positioning mechanisms for uavs and other objects, and associated systems and methods

Abstract

Example embodiments include a motion mechanism that can be coupled between the main body of an unmanned movable object and the optoelectronic scanning module. The motion mechanism can include, e.g., a spinning device and a tilting device. The spinning device can be operable to rotate the scanning module relative to the main body about a spin axis. The tilting device can be operable, e.g., in response to a tilt angle input, to rotate the scanning module about an additional axis that is transverse to the spin axis. Further example embodiments include an orientation sensor installed on the main body of the unmanned movable object. Some embodiments also provide a controller that is configured to receive an orientation signal from the orientation sensor and, based at least in part on the orientation signal, determine a tilt value for the tilt angle input for the tilting device in the motion mechanism.

1 .- 36 . (canceled) 
     
     
         37 . An unmanned movable object, comprising:
 a main body;   an orientation sensor carried by the main body;   a scanning element carried by the main body;   a controller configured to receive an orientation signal from the orientation sensor and, based at least in part on the orientation signal, determine an input value; and   a motion mechanism coupled between the main body and the scanning element, and operable to move the scanning element relative to the main body according to the input value;   wherein the controller is configured to maneuver the unmanned movable object in response to terrain or an obstacle detected by the scanning element.   
     
     
         38 . The unmanned movable object of  claim 37 , wherein the motion mechanism including a spinning device operable to rotate the scanning element relative to the main body about a spin axis and a tilting device operable to rotate the scanning element about an additional axis that is transverse to the spin axis, and
 the motion mechanism further includes an intermediate platform that the spinning device is configured to rotate, and wherein the tilting device is carried by the intermediate platform.   
     
     
         39 . The unmanned movable object of  claim 38 , wherein the spinning device is configured to rotate the scanning element via the intermediate platform. 
     
     
         40 . The unmanned movable object of  claim 38 , wherein the spinning device carries the tilting device. 
     
     
         41 . The unmanned movable object of  claim 37 , wherein the motion mechanism including a spinning device operable to rotate the scanning element relative to the main body about a spin axis and a tilting device operable to rotate the scanning element about an additional axis that is transverse to the spin axis, and the motion mechanism further includes an intermediate platform that the tilting device is configured to rotate, and wherein the spinning device is carried by the intermediate platform. 
     
     
         42 . The unmanned movable object of  claim 37 , wherein the motion mechanism including a spinning device operable to rotate the scanning element relative to the main body about a spin axis and a tilting device operable to rotate the scanning element about an additional axis that is transverse to the spin axis, and
 the controller is configured to tilt the scanning element toward a direction of travel of the unmanned movable object.   
     
     
         43 . The unmanned movable object of  claim 37 , wherein the controller is configured to compensate for a tilt angle of the main body when the main body is not level. 
     
     
         44 . The unmanned movable object of  claim 37 , wherein the controller is configured to compensate for a tilt angle of the main body by determining the input value to cause the scanning element to become level. 
     
     
         45 . The unmanned movable object of  claim 37 , wherein the controller is configured to adjust a tilt angle of the scanning element by determining the input value to cause the scanning element to become level at least once per revolution of the scanning element when the scanning element spins. 
     
     
         46 . The unmanned movable object of  claim 37 , wherein the scanning element includes a scanner and a scanning platform that carries the scanner. 
     
     
         47 . The unmanned movable object of  claim 37 , wherein the scanning element includes a scanner, the scanner being configured to perform terrestrial survey, obstruction detection, or a combination thereof. 
     
     
         48 . The unmanned movable object of  claim 37 , wherein the scanning element comprises a light detection and ranging (LIDAR) system. 
     
     
         49 . The unmanned movable object of  claim 48 , wherein the LIDAR system includes a single-line laser emitter. 
     
     
         50 . The unmanned movable object of  claim 37 , wherein the controller is configured to:
 direct the unmanned movable object to become level;   rotate the scanning element to perform a first scan at a first tilt angle; and   rotate the scanning element to perform a second scan at a second tilt angle.   
     
     
         51 . The unmanned movable object of  claim 37 , wherein the scanning element is weight balanced relative to a spin axis. 
     
     
         52 . The unmanned movable object of  claim 37 , further comprising a plurality of thrusters carried by the main body and positioned to maneuver the unmanned movable object in response to inputs from the controller. 
     
     
         53 . The unmanned movable object of  claim 52 , wherein the controller is configured to:
 tilt the scanning element toward a direction of travel of the unmanned movable object; and   maneuver the object in response to terrain or an obstacle detected by a sensor carried by the scanning element.   
     
     
         54 . A non-transitory computer readable medium storing instructions which, when executed, cause a controller to:
 receive an orientation signal from an orientation sensor carried by a main body of an unmanned movable object;   determine an input value based at least in part on the orientation signal;   output the input value to a motion mechanism carried by the unmanned movable object, wherein the motion mechanism is operable to move a scanning element relative to the main body according to the input value; and   maneuver the unmanned movable object in response to terrain or an obstacle detected by the scanning element.   
     
     
         55 . A method for operating an unmanned movable object, the method comprising:
 directing the unmanned movable object to become level;   rotating a scanning element carried by the unmanned movable object to perform a scan; and   maneuvering the unmanned movable object in response to terrain or an obstacle detected by the scanning element.   
     
     
         56 . The method of  claim 55 , further comprising:
 tilting the scanning element toward a direction of travel of the unmanned movable object.