CA3239722A1 - Modular lidar system and related methods - Google Patents

Abstract

There is provided a modular LIDAR system, including a plurality of interchangeable modules and a locking mechanism. Each module may be attached or mounted one to another using the locking mechanism. The locking mechanism is mechanically engageable with two subsequent modules and includes an abutment structure and a biasing element. In some embodiments, the two subsequent modules may be a LIDAR module and a main module. The abutment structure is configured to surround, at least partially, the two subsequent modules, when the abutment structure is engaged with the two subsequent modules. The biasing element is engageable with the abutment structure and at least one of the two subsequent modules and is configured to apply a force on the abutment structure to align and seal the two subsequent modules. The locking mechanism may be embodied by a single guillotine or a dual guillotine.

Description

MODULAR LIDAR SYSTEM AND RELATED METHODS
TECHNICAL FIELD
The technical field generally relates to the field of light detection and ranging (LIDAR) technologies, and more particularly relates to LIDAR systems and related methods for geomatics applications.
BACKGROUND
Commercially available systems and/or methods for producing maps present several drawbacks and limitations, notably in terms of range of operation. For example, and without being limitative, current approaches rely on the use of several LIDAR systems and/or additional devices to adequately map a terrain, which is notably associated with economic and efficiency challenges.
There is still a need for techniques, apparatuses, devices, and methods that alleviate or mitigate the problems of prior art.
SUMMARY
The present techniques generally relate to a modular LIDAR system for geomatics applications, as well as related methods.
In accordance with one aspect, there is provided a modular LIDAR system, including a plurality of interchangeable modules and a locking mechanism. Each module may be attached or mounted one to another using the locking mechanism. In some embodiments, different LIDAR modules may be installed to a main module. In some embodiments, different inertial measurement units may be installed to the main module. In some embodiments, different combinations of LIDAR modules and inertial measurement units may be obtained. The locking mechanism is mechanically engageable with two subsequent modules and includes an abutment structure and a biasing element. The abutment structure is configured to surround, at least partially, the two subsequent modules, when the

2 abutment structure is engaged with the two subsequent modules. The biasing element is engageable with the abutment structure and at least one of the two subsequent modules and is configured to apply a force on the abutment structure to align and seal the two subsequent modules. The locking mechanism may be embodied by a single guillotine or a dual guillotine.
In some embodiments, the abutment structure includes a first segment having two extremities; and two spaced-apart parallel segments, each one of the two spaced-apart parallel segments extending from a corresponding extremity of the first segment, the two spaced-apart parallel segments being configured to be slidably engaged with said two subsequent modules.
In some embodiments, the first segment includes a hole, and the biasing element is a screw passing through the hole provided in the first segment.
In some embodiments, each of said two spaced-apart parallel segments includes apertures; and each of said two subsequent modules includes pins extending from an outer periphery of a corresponding one of said two subsequent modules, such that when the abutment structure is engaged with said two subsequent modules, each pin is mechanically engaged with a corresponding aperture.
In some embodiments, at least one of the apertures has a profiled or machined inner portion.
In some embodiments, the profiled or machine inner portion includes a texture or a tapered portion.
In some embodiments, the abutment structure is C-shaped or U-shaped.
In some embodiments, the abutment structure includes a first abutment substructure and a second abutment substructure, each including: a corresponding first segment; and a corresponding second segment configured to be slidably engaged with said two subsequent modules, the corresponding

3 second segment being substantially perpendicular to the corresponding first segment.
In some embodiments, the first segment includes a hole, and the biasing element is a screw passing through the hole provided in the first segment.
In some embodiments, the second segment includes apertures; and each of said two subsequent modules includes pins extending from an outer periphery of a corresponding one of said two subsequent modules, such that when the abutment structure is engaged with said two subsequent modules, each pin is mechanically engaged with a corresponding aperture.
In some embodiments, at least one of the apertures has a profiled or machined inner portion.
In some embodiments, the profiled or machine inner portion includes a texture or a tapered portion.
In some embodiments, the first abutment substructure is L-shaped, and the second abutment substructure is L-shaped.
In some embodiments, said plurality of exchangeable modules includes a main module, a LIDAR sensor, a photogrammetry camera, an inertial sensor module (sometimes referred to as an inertial measuring unit" or an "IMU", a global positioning system (GPS), a processing unit (sometimes referred to as a "computer" or "computing device"), a data collection module (sometimes referred to as a "memory"), an external battery, an internal battery, a camera and/or a power supply. In some embodiments, the processing unit and the data collection may be integrated into a single device.
In some embodiments, said plurality of exchangeable modules is configured to be replaced or exchanged without recalibrating the modular LIDAR system.
In some embodiments, said plurality of exchangeable modules has standardized dimensions.

4 In some embodiments, the modular LIDAR assembly further includes a cover.
In some embodiments, the cover is made of rubber.
In some embodiments, the modular LIDAR assembly further includes a gimbal mounting point. The gimbal mounting point may be provided on a top portion and/or a bottom portion of the modular LIDAR system.
In some embodiments, the modular LIDAR system further includes one or more doors for accessing at least one of said plurality of exchangeable modules.
In some embodiments, one of said plurality of exchangeable modules is a processing unit configured to automatically determine which modules are present on the modular LIDAR system, and automatically select or adapt the operation settings of each module.
In some embodiments, the operation settings are stored on a memory provided on the modular lidar system.
In some embodiments, the operation settings are obtained from a calibration database.
In some embodiments, the calibration database is stored on a server.
In some embodiments, the calibration database is stored in the cloud.
In accordance with another aspect, there is provided a method for aligning a LIDAR sensor with an IMU, the method including: using a dowel pin to engage or guide the engagement of the LIDAR sensor with the IMU; mechanically engaging the LIDAR sensors with the IMU; compressing the LIDAR sensor and the IMU;
and contacting the face of the LIDAR sensor with the face of the IMU contact.
In some embodiments, the method further includes securing the LIDAR sensor and the IMU with a locking mechanism.

In accordance with another aspect, there is provided a modular LIDAR system, including a plurality of exchangeable modules. Two subsequent modules of the plurality of exchangeable modules include plug-in connectors of different genders for connecting said two subsequent modules with mechanical pressure. Each

5 module has standardized dimensions.
In accordance with another aspect, there is provided a modular LIDAR system, including a plurality of exchangeable modules, wherein one of said plurality of exchangeable modules is a processing unit configured to automatically determine which modules are present on the modular LIDAR system, and automatically select or adapt the operation settings of each module.
Other features and advantages of the present description will become more apparent upon reading of the following non-restrictive description of specific embodiments thereof, given by way of example only with reference to the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
Figure 1 is a perspective view of a modular LIDAR system, in accordance with one embodiment.
Figure 2 is an exploded perspective view of the modular LIDAR system of Figure 1.
Figure 3 is a perspective view of a modular LIDAR system, in accordance with one embodiment.
Figure 4 is an exploded perspective view of the modular LIDAR system of Figure 3.
Figure 5 is a perspective view of a modular LIDAR system, in accordance with one embodiment.

6 Figure 6 is an exploded perspective view of the modular LIDAR system of Figure 5.
Figure 7 is a perspective view of a locking mechanism, in accordance with one embodiment.
Figure 8 is a perspective view of a modular LIDAR system, in accordance with one embodiment.
Figure 9 is a perspective view of the modular LIDAR system of Figure 8, wherein a locking mechanism is partially engaged with two subsequent modules.
Figure 10 is a perspective view of the modular LIDAR system of Figure 8, illustrating how a second segment of an abutment structure of a locking mechanism engages with two subsequent modules.
Figure 11 is a perspective view of an abutment substructure, in accordance with one embodiment.
Figure 12 is a side view of the abutment substructure of Figure 11.
Figure 13 is a top view of the abutment substructure of Figure 11.
DETAILED DESCRIPTION
In the following description, similar features in the drawings have been given similar reference numerals, and, to not unduly encumber the figures, some elements may not be indicated on some figures if they were already identified in one or more preceding figures. It should also be understood herein that the elements of the drawings are not necessarily depicted to scale, since emphasis is placed upon clearly illustrating the elements and structures of the present embodiments. The terms "a", "an" and "one" are defined herein to mean at least one", that is, these terms do not exclude a plural number of elements, unless stated otherwise. It should also be noted that terms such as "substantially", "generally" and "about", that modify a value, condition, or characteristic of a

7 feature of an exemplary embodiment, should be understood to mean that the value, condition or characteristic is defined within tolerances that are acceptable for the proper operation of this exemplary embodiment for its intended application.
In the present description, the terms "connected", "coupled", and variants and derivatives thereof, refer to any connection or coupling, either direct or indirect, between two or more elements. The connection or coupling between the elements may be acoustical, mechanical, physical, optical, operational, electrical, wireless, or a combination thereof.
It will be appreciated that positional descriptors indicating the position or orientation of one element with respect to another element are used herein for ease and clarity of description and should, unless otherwise indicated, be taken in the context of the Figures and should not be considered limiting. It will be understood that spatially relative terms (e.g., "outer" and "inner", "outside"
and "inside", "periphery" and "central", "top" and "bottom", and "left" and "right") are intended to encompass different positions and orientations in use or operation of the present embodiments, in addition to the positions and orientations exemplified in the figures.
In the context of this disclosure, the expression "sample" refers to any items or locations that can be investigated, characterized, or mapped, such as geographic terrains, bodies of water (e_g_, oceans), surfaces (flat and/or curved surfaces), parts, components, structures, materials, and any combinations thereof. More specifically, the techniques, including systems and methods, that will be herein described can be used to characterize such samples. Of note, the expression "sample" may sometimes be referred to as "target".
The description generally relates to systems and devices for terrain mapping, unmanned aerial vehicle terrain scanning, 3D mapping, photogrammetry and similar applications. More particularly, the present description relates to light detection and ranging (LIDAR) technologies used in the context of producing

8 high-resolution maps or similar representations, which may, in some embodiments, be visual representations of acquired dta. It should be noted that the LIDAR technologies that will be herein described may have terrestrial applications, extraterrestrial applications (e.g., on another planet), airborne applications and/or mobile applications. The expressions "LIDAR", "LiDAR" or "LADAR" encompass techniques for determining ranges using light. The determination of the ranges is based on targeting a sample or a target with an optical source, such as a laser, and measuring the time required for the light generated by the laser to return to the LIDAR sensor (or a component thereof, such as the receiver), after being reflected by the targeted sample or target.
The technology and its advantages will become more apparent from the detailed description and examples that follow, which describe the various embodiments of the technology.
The present techniques rely on a modular LIDAR system including a plurality of exchangeable and replaceable modules (sometimes referred to as "components"). This modularity provides the modular LIDAR system with a wider range of operation in comparison with existing solutions, as the modules (e.g., LIDAR sensor) of the system can be replaced, depending on the targeted application and/or specific requirements that may be associated with the targeted application.
Now turning to Figures 1 and 2, there is illustrated a modular LIDAR system 100, in accordance with one embodiment. Figure 1 illustrates an assembled view of the modular LIDAR system 100, and Figure 2 illustrates an exploded view of the modular LIDAR system 100, illustrating the modules in an unattached or unmounted configuration. As can be seen in these Figures, the modular LIDAR
system 100 may include several modules, such as, for example, and without being !imitative, a LIDAR sensor, a photogrammetry camera, an inertial sensor module, an inertial measuring unit (IMU), a global positioning system (GPS), processing units, a data collection module, a battery module, a camera panel, a camera, a power supply, a support module and many others. Other processing

9 modules and/or module(s) relying on artificial intelligence may also be used, in order to facilitate, accelerate or enhance the treatment of acquired data. The modules can be selectively attached (or mounted) one to another and detached (or unmounted) one from another.
The LIDAR sensor is generally selected to meet specific scanning requirements dictated by the targeted application, such as, for example and without being limitative, accuracy, range, scan speed, measuring rate, or other relevant parameters. The limitations of existing technologies are often associated with the LIDAR sensor, because of the relatively small window (or operational range) wherein it can be used. The present technology allows changing a given LIDAR
sensor module having a first range of operation with another LIDAR sensor module having a second range of operation, the second range being different than the first. The present technology also allows replacing any other modules of the modular LIDAR system 100. It should be noted that the modular LIDAR
system 100 is designed such that no additional hardware modification is required when a module (e.g., the LIDAR sensor module) is changed (i.e., mounted or unmounted). In some variants, each module may be provided with plug-in connectors to facilitate their operational coupling, as it will be explained in greater detail below.
The data collection module may include one or more processing units (sometimes referred to as "processor(s)"). The processing unit(s) can be configured to automatically identify or detect which modules are mounted in the modular LIDAR system, and similarly, automatically identify which modules have been removed from the modular LIDAR system. After the identification of the modules being mounted in the modular LIDAR system, the processing unit(s) may automatically select the corresponding operation settings for each one of the modules. The different operation settings may either be stored on a memory provided on the modular lidar system or obtained from a calibration database, which may be stored on a server, a physical memory, or in the cloud. As it will be readily understood, the processing unit may be implemented as a single unit or as a plurality of interconnected processing sub-units. Also, the processing unit may be embodied by a computer, smartphone, a microprocessor, a microcontroller, a central processing unit, or by any other type of processing resource, or any combination of such processing resources configured to operate collectively as a processor or a processing unit. The processor may be implemented in hardware, software, firmware, or any combination thereof, and be connected to the components of the modular LIDAR system via appropriate communication ports.
Still referring to Figures 1 and 2, it should be noted that the modules can be

10 relatively easily and seamlessly exchanged (i.e., removed and replaced by another module) to build a system that meets predetermined specifications or operates in a given range of operation. The modular LIDAR system 100 can be assembled and disassembled on site, which allows using different LIDAR sensor modules when mapping a location without relying on several distinct systems.
Of note, the modules can be replaced or exchanged without recalibrating the whole modular LIDAR system 100. It will have been readily understood that the modular LIDAR system 100 is portable.
In some embodiments, each module may be constructed with or may have standardized dimensions, i.e., the dimensions of all the modules may be substantially the same, which may provide the modular LIDAR system 100 with greater flexibility, adaptability, and variety in use. The standardized dimensions of the modules may also facilitate their relative alignment, as it will be explained in greater detail below.
In some embodiments, the modular LIDAR system 100 may include a cover. The cover may be embodied by a piece of rubber extending over side(s), front, back, top, and bottom portion(s) of the modular LIDAR system 100. The use of rubber or other materials exhibiting similar sliding friction may be useful for facilitating the grip of the modular LIDAR system, while providing protection to the system 100.

11 In some embodiments, the modular LIDAR system 100 may include a gimbal mounting point. A gimbal is a pivoted support allowing rotation of an object about an axis. It should be noted that the gimbal mounting point may be provided on the top portion and/or bottom portion of the modular LIDAR system 100, or any other portions of the system 100. For terrestrial vehicle mounting applications, it may be desirable to have a gimbal mounting point on the top portion and the bottom portion of the system 100.
In some embodiments, heat dissipation fins may be mounted on any sides or portions of the modular LIDAR system 100. It should be noted that the heat dissipation fins could be replaced by any types of devices increasing the rate of heat transfer from the modular LIDAR system 100 towards its environment.
In some embodiments, the modular LIDAR system 100 may include one or more doors for accessing the modules, or portions thereof, such as buttons or switches. The doors may be hinged to the modular LIDAR system 100 or may be slidably engaged with the modular LIDAR system 100.
Now referring to Figures 3 to 13, different embodiments of the technology will now be described.
In accordance with one aspect, there is provided a modular LIDAR system 100.
The modular LIDAR system 100 includes a plurality of exchangeable modules 102A, 102B, ..., 102N (globally referred to as "modules 112", wherein N
is the number of modules) and a locking mechanism 104. The locking mechanism 104 is mechanically engageable with two subsequent modules 102 of the plurality of exchangeable modules 102. Of note, in the current description, the "subsequent modules" are illustrated in the Figures as sharing at least a common border (or portion(s) thereof) and/or common areas (or portion(s) thereof), and are typically labelled 102A, 102B, ..., 102N, wherein N is the number of modules in the modular LIDAR system 100. As illustrated in the Figures, the locking mechanism 104 includes an abutment structure 106 and a

12 biasing element 108. The abutment structure 106 is configured to at least partially surround the two subsequent modules 102, when the abutment structure 106 is engaged with the two subsequent modules 102. The biasing element 108 is engageable with the abutment structure 106 and at least one of the two subsequent modules 102. The biasing element 108 is configured to apply a force on the abutment structure 106 to align and seal the two subsequent modules 102, along one or more axes. In some embodiments, the force applied by the biasing element 108 is such that the abutment structure 106 can squeeze and/or compress the two subsequent modules 102.
In the context of the current disclosure, the locking mechanism 104 may be referred to as a "guillotine" or a "guillotine mechanism".
In some embodiments, such as the ones illustrated in Figures 5 to 7, the abutment structure 106 includes a first segment 110 having two extremities 112A,B, and two spaced-apart parallel segments 114A,B, which will be referred to as a "single guillotine configuration". Each one of the two spaced-apart parallel segments 114A,B extends from a corresponding extremity 112A,B
of the first segment 110. The two spaced-apart parallel segments 114A,B are configured to be slidably engaged with said two subsequent modules 102, such that a portion of the two subsequent modules 102 is sandwiched between the two spaced-apart parallel segments 114A when the locking mechanism 104 is engaged with two subsequent modules 102.
In some embodiments, such as the ones illustrated in Figures 6 and 7, the first segment 110 includes a hole 116, and the biasing element 108 includes a screw 118 (or any fasteners) passing through the hole 116 provided in the first segment 110. As such, when the screw 118 is tightened through the hole 116, it generates a pressure through the abutment structure 106, which will eventually bring the two subsequent modules 102 together and seal the same. Once the abutment structure 106 is engaged with or mounted on the two subsequent modules 102 and the biasing element 108 is engaged with the abutment

13 structure 106 and at least one of the modules 102, the two subsequent modules 102 are in an aligned position and remain in the aligned position, unless they are disassembled or dismounted by an operator (i.e., when the biasing element 108 is disengaged from the abutment structure 106). In some embodiments, the hole 116 is positioned in a midportion of the first segment 110.
In some embodiments, the first segment 110 is substantially perpendicular to the two spaced-apart parallel segments 114A,B. In the illustrated embodiments, the first segment 110 and the two spaced-apart parallel segments 114A,B extend in the same plane. It should be noted that the angular orientation of the first segment 110 with respect the two spaced-apart parallel segments 114A, as long as the locking mechanism 104 can apply a sufficient force for maintaining two subsequent modules 102 together.
In some embodiments, the intersection of the first segment 110 with the two spaced-apart parallel segments 114A,B may be rounded, curved, or has a shape that is compatible with an external profile or the modules 102.
In some embodiments, each of said two spaced-apart parallel segments 114A,B
includes apertures 120A,B,...,N (globally referred to as "apertures", wherein N is number of apertures), and each of said two subsequent modules 102 includes pins 122A,B, ...,N (globally referred to as "pins", wherein N is number of pins) extending from an outer periphery 124 of a corresponding one of said two subsequent modules 102. When the abutment structure 106 is engaged with said two subsequent modules 102, each pin 122 is mechanically engaged with a corresponding aperture 120. It should be noted that the apertures 120 and/or pins 122 could be replaced by any equivalent structures or components, as long as it possible to matably engage the two-spaced apart parallel segments 114A,B
with the two subsequent modules 102.
In some embodiments, at least one of the apertures 120 has a profiled or machined inner portion 126. For example, and without being !imitative, the profiled or machine inner portion 126 may include a texture or a tapered portion.

14 When the inner portion 126 includes a tapered portion, the pins 122 or fasteners extending from the two subsequent modules 102 may be squeezed or firmly pressed against the inner portion 126 of the apertures 120 as the biasing element 108 engages with the abutment structure 106, which contributes to maintaining two subsequent modules 102 in place and aligned.
In some embodiments, the abutment structure 106 is C-shaped or U-shaped. In some embodiments, the abutment structure 106 is formed from a single integral piece of material.
In some embodiments the locking mechanism 104, including the abutment structure 106 and the biasing element 108, may be made from a metal, a metallic material, or an alloy. In some embodiments, the locking mechanism 104 may be made from an aluminum alloy such as, for example and without being limitative, aluminum 6063. In some embodiments, only portion(s) of the locking mechanism 104 such as, for example, the abutment structure 106 (or portion(s) thereof) or the biasing element 108 (or portion(s) thereof), may be made from a metal, a metallic material, or an alloy. In some embodiments, the abutment structure 106 (or portion(s) thereof) or the biasing element 108 (or portion(s) thereof), may be made from an aluminum alloy such as, for example and without being limitative, aluminum 6063. It should be noted that the locking mechanism 104 (and its components) are typically made from a material that is mechanically strong enough to apply a pressure or generate a force against the modules 102 and maintain the same together.
In some embodiments, such as the ones illustrated in Figures 4 and 8 to 13, the abutment structure 106 includes a first abutment substructure 128 and a second abutment substructure 128, which will be referred as the "dual guillotine configuration". Each one of the first abutment substructure 128 and the second abutment substructure 130 includes a corresponding first segment 132A,B,...,N
(wherein N is number of substructures), and a corresponding second segment 134A,B,...,N (wherein N is number of substructures). The second segment 134 is configured to be slidably engaged with the two subsequent modules 102, and is substantially perpendicular to the first segment 132.
In some embodiments, such as the ones illustrated in Figures 11 to 13, the first segment 132 includes a hole 136, and the biasing element 108 is a screw 138 (or 5 any fasteners) passing through the hole 136 provided in the first segment 132. As such, when the screw 113 is tightened through the hole 136 of the first segment 132 of the first abutment substructure 128 and the second abutment substructure 130, it generates a pressure through the corresponding abutment substructure 128,130, which will eventually bring the two subsequent modules 102 together 10 and seal the same. Once the abutment substructures 128,130 are engaged with or mounted on the two subsequent modules 102 and the biasing elements 108 are engaged with the abutment substructures 128, 130 and at least one of the modules 102, the two subsequent modules 102 are in an aligned position and remain in the aligned position, unless they are disassembled or dismounted by

15 an operator. In some embodiments, the hole 136 is near or close to the second segment 134.
In some embodiments, the second segment 134 includes apertures 140A,B,...,N
(globally referred to as "apertures", wherein N is number of apertures), and each of said two subsequent modules 102 includes pins 142A,B,...,N (globally referred to as "pins", wherein N is number of pins) extending from an outer periphery of a corresponding one of said two subsequent modules 102. When the abutment structure 106 is engaged with said two subsequent modules 102, each pin 142 is mechanically engaged with a corresponding aperture 140.
In some embodiments, at least one of the apertures 140 has a profiled or machined inner portion 146. In some embodiments, the profiled or machine inner portion 146 includes a texture or a tapered portion. The inner portion 146 may be similar to the one having been described with respect to the "single guillotine configuration", as it has been previously described.

16 In some embodiments, the first abutment substructure 128 is L-shaped, and the second abutment substructure 130 is L-shaped. In some embodiments, the intersection of the first segment 132A,B with the two spaced-apart parallel segments 134A,B may be rounded, curved, or has a shape that is compatible with an external profile or the modules 102.
In some embodiments, the plurality of exchangeable modules 102 includes a main module, a LIDAR sensor, a photogrammetry camera, an inertial sensor module (sometimes referred to as "an inertial measuring unit" or an "IMU", a global positioning system (GPS), a processing unit (sometimes referred to as a "computer" or "computing device"), a data collection module (sometimes referred to as a "memory"), an external battery, an internal battery, a camera, a power supply, and/or other modules. In some embodiments, the processing unit and the data collection may be integrated into a single device.
In some embodiments, the plurality of exchangeable modules 102 is configured to be replaced or exchanged without recalibrating the modular LIDAR
system 100.
In some embodiments, plurality of exchangeable modules 102 has standardized dimensions.
In some embodiments, the modular LIDAR system 100 further includes a cover 148. The cover 148 may be made of rubber, as previously described.
In some embodiments, the modular LIDAR system 100 further includes a gimbal mounting point. The gimbal mounting point may be provided on a top portion and/or a bottom portion of the modular LIDAR system.
In some embodiments, the modular LIDAR system 100 further includes one or more doors for accessing at least one of the exchangeable modules 102.
In some embodiments, at least one one module is a processing unit configured to automatically determine which modules 102 are present on the modular LIDAR

17 system 100, and automatically select or adapt the operation settings of each module.
In some embodiments, the different operation settings are obtained from a calibration database. In some embodiments, the calibration database may be stored on a server. In some embodiments, the calibration database may be stored in the cloud.
In accordance with another aspect, there is also provided a method for assembling and/or disassembling a modular LIDAR assembly including a locking mechanism such as the one having been described.
In some embodiments, the method may include a routine for aligning a LIDAR
sensor and an IMU. Such a routine may be referred to as a 4-level alignment process. In a first step, a dowel pin is used to engage or guide the engagement of the LIDAR sensor with the IMU. In a second step, connectors are engaged, such that the LIDAR sensor and the IMU and mechanically engaged. In a third step, a gasket precompression is used to bring together an outer surface of the LIDAR sensor with an outer surface of the IMU, which leads to the fourth step of face-to-face contact between those two modules. The modules may be closed using the guillotine having been herein described.
In some embodiments, the method may include a step of calibrating the modular LIDAR system. Some preprocessing, processing and/or postprocessing of the data may be required to obtain a calibration file. Once the calibration is done, the LIDAR sensor and the IMU may be attached, detached and reattached without requiring further calibration.
In accordance with another aspect, there is provided a modular LIDAR system, including a plurality of exchangeable modules. Two subsequent modules of the plurality of exchangeable modules include plug-in connectors of different genders for connecting said two subsequent modules with mechanical pressure. Each module has standardized dimensions.

18 In accordance with another aspect, there is provided a modular LIDAR system, including a plurality of exchangeable modules, wherein at least one of said plurality of exchangeable modules is a processing unit configured to automatically determine which modules are present on the modular LIDAR
system, and automatically select or adapt the operation settings of each module.
Example of an implementation In one implementation, the LIDAR sensor module may include the Puck 16 and 32 from Velodyne and the miniVUX 1UAV, 2UAV, and 1DL from RIEGL. The inertia measuring unit module may include the APX 15, 18, and 20 series from Applanix. The battery module capacity may be adapted depending on the LIDAR
sensor module and may provide the option of incorporating an external power source. Optional Wi-Fi and RTK modules can be incorporated to improve the operation and performance.
Several alternative embodiments and examples have been described and illustrated herein. The embodiments described above are intended to be exemplary only. A person skilled in the art would appreciate the features of the individual embodiments, and the possible combinations and variations of the components. A person skilled in the art would further appreciate that any of the embodiments could be provided in any combination with the other embodiments disclosed herein. The present examples and embodiments, therefore, are to be considered in all respects as illustrative and not restrictive. Accordingly, while specific embodiments have been illustrated and described, numerous modifications come to mind without significantly departing from the scope defined in the current description and the appended claims.

Claims (28)

19

1. A modular LIDAR system, comprising:
a plurality of exchangeable modules; and a locking mechanism mechanically engageable with two subsequent modules of said plurality of exchangeable modules, the locking mechanism comprising:
an abutment structure configured to at least partially surround said two subsequent modules when the abutment structure is engaged with said two subsequent modules; and a biasing element engageable with the abutment structure and at least one of said two subsequent modules, the biasing element being configured to apply a force on the abutment structure to align and seal said two subsequent modules.

2. The modular LIDAR system of claim 1, wherein the abutment structure comprises:
a first segment having two extremities; and two spaced-apart parallel segments, each one of the two spaced-apart parallel segments extending from a corresponding extremity of the first segment, the two spaced-apart parallel segments being configured to be slidably engaged with said two subsequent modules.

3. The modular LIDAR system of claim 2, wherein the first segment comprises a hole, and the biasing element is a screw passing through the hole provided in the first segment.

4. The modular LIDAR system of claim 2 or 3, wherein:
each of said two spaced-apart parallel segments comprises apertures; and each of said two subsequent modules comprises pins extending from an outer periphery of a corresponding one of said two subsequent modules, such that when the abutment structure is engaged with said two subsequent modules, each pin is mechanically engaged with a corresponding aperture.

5 5.
The modular LIDAR system of claim 4, wherein at least one of the apertures has a profiled or machined inner portion.

6. The modular LIDAR system of claim 5, wherein the profiled or machine inner portion comprises a texture or a tapered portion.

7. The modular LIDAR system of any one of claims 1 to 6, wherein the abutment 10 structure is C-shaped or U-shaped.

8. The modular LIDAR system of claim 1, wherein the abutment structure comprises a first abutment substructure and a second abutment substructure, each comprising:
a corresponding first segment; and 15 a corresponding second segment configured to be slidably engaged with said two subsequent modules, the corresponding second segment being substantially perpendicular to the corresponding first segment.

9. The modular LIDAR system of claim 8, wherein the first segment comprises a hole, and the biasing element is a screw passing through the hole provided in the 20 first segment.

10. The modular LIDAR system of claim 8 or 9, wherein:
the second segment comprises apertures; and each of said two subsequent modules comprises pins extending from an outer periphery of a corresponding one of said two subsequent modules, such that when the abutment structure is engaged with said two subsequent modules, each pin is mechanically engaged with a corresponding aperture.

11. The modular LIDAR system of claim 10, wherein at least one of the apertures has a profiled or machined inner portion.

12. The modular LIDAR system of claim 11, wherein the profiled or machine inner portion comprises a texture or a tapered portion.

13. The modular LIDAR system of any one of claims 8 to 12, wherein the first abutment substructure is L-shaped, and the second abutment substructure is L-shaped.

14. The modular LIDAR system of any one of claims 1 to 13, wherein said plurality of exchangeable modules comprises a main module, a LIDAR sensor, a photogrammetry camera, an inertial sensor module (IMU), a global positioning system (GPS), a processing unit, a data collection module, an external battery, an internal battery, a camera and/or a power supply.

15. The modular LIDAR system of any one of claims 1 to 14, wherein said plurality of exchangeable modules is configured to be replaced or exchanged without recalibrating the modular LIDAR system.

16. The modular LIDAR system of any one of claims 1 to 15, wherein said plurality of exchangeable modules has standardized dimensions.

17. The modular LIDAR system of any one of claims 1 to 16, further comprising a cover.

18. The modular LIDAR system of claim 17, wherein the cover is made of rubber.

19. The modular LIDAR system of any one of claims 1 to 18, further comprising a gimbal mounting point, the gimbal mounting point being provided on a top portion or a bottom portion of the modular LIDAR system.

20. The modular LIDAR systern of any one of claims 1 to 19, further comprising one or more doors for accessing at least one of said plurality of exchangeable modules.

21. The modular LIDAR system of any one of claims 1 to 20, wherein at least one of said plurality of exchangeable modules is a processing unit configured to:
automatically determine which modules are present on the modular LIDAR
system; and automatically select or adapt the operation settings of each module.

22. The modular LIDAR system of clairn 21, wherein the operation settings are obtained from a calibration database.

23. The rnodular LIDAR systern of claim 22, wherein the calibration database is stored on a server.

24. The rnodular LIDAR systern of claim 22, wherein the calibration database is stored in the cloud.

25. A method for aligning a LIDAR sensor with an I MU, the rnethod comprising:
using a dowel pin to engage or guide the engagernent of the LIDAR sensor with the I MU;
rnechanically engaging the LIDAR sensors with the IMU;
compressing the LIDAR sensor and the IMU; and contacting the face of the LIDAR sensor with the face of the IMU contact.

26. The rnethod of claim 25, further cornprising securing the LIDAR sensor and the IMU with a locking mechanism.

27. A modular LIDAR system, comprising:
a plurality of exchangeable modules, two subsequent modules of the plurality of exchangeable modules comprising plug-in connectors of different genders for connecting said two subsequent modules with mechanical pressure, wherein each module has standardized dimensions.

28. A modular LIDAR system, comprising:
a plurality of exchangeable modules, wherein one of said plurality of exchangeable modules is a processing unit configured to:
automatically determine which modules are present on the modular LIDAR system; and automatically select or adapt the operation settings of each module.