# US 2021/0333369 A1 · Ranging system and mobile platform > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0333369 A1 - Document ID: US20210333369A1 - Status: Published application - Kind: A1 - Application number: 17/371,876 - Filed: 2021-07-09 - Published: 2021-10-28 - Earliest claimed: 2019-01-10 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Shuai DONG; Xiaoping HONG; Xiang LIU; Yue YAN; Xiaoyi GUI - Web page: https://patentgrep.com/patent/US20210333369A1 ## CPC - G01S 7/4817: {relating to scanning} - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 7/4808: {Evaluating distance, position or velocity data} - G01S 7/4812: {transmitted and received beams following a coaxial path} - G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) - G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves - G01S 17/89: for mapping or imaging - G01S 17/894: Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar - G01S 17/931: of land vehicles - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A ranging system includes at least two types of a first-type ranging apparatus, a second-type ranging apparatus, and a third-type ranging apparatus. Each of the first-type ranging apparatus and the second-type ranging apparatus includes a ranging device and a scanner. The ranging device includes a light source, a convergent lens, and a receiver. The third-type ranging apparatus includes a ranging device and a scanner. A FOV of the second-type ranging apparatus is smaller than a FOV of the first-type ranging apparatus. A diameter and a focal length of a convergent lens of the second-type ranging apparatus are greater than a diameter and a focal length of a convergent lens of the first-type ranging apparatus, respectively. ## Claims ### Claim 1 A ranging system comprising at least two types of: a first-type ranging apparatus; a second-type ranging apparatus, each of the first-type ranging apparatus and the second-type ranging apparatus including: a ranging device including: a light source configured to emit a light pulse sequence; a convergent lens configured to converge a portion of a light pulse reflected by an object to a receiver; the receiver configured to determine a distance of an object according to the portion of the light pulse; and a scanner configured to change an emission direction of the light pulse sequence emitted by the light source to scan in a field of view (FOV) and including: two rotation light refraction elements, each of the two rotation light refraction elements including a light emission surface and a light incident surface that are opposite and not parallel to each other; and a third-type ranging apparatus including: a ranging device including: a light source configured to emit a light pulse sequence; and a scanner configured to change an emission direction of the light pulse sequence emitted by the light source to scan in a FOV and including: three rotation light refraction elements, each of the three rotation light refraction elements including a light emission surface and a light incident surface that are opposite and parallel to each other; wherein: a FOV of the second-type ranging apparatus is smaller than a FOV of the first-type ranging apparatus; and a diameter and a focal length of a convergent lens of the second-type ranging apparatus are greater than a diameter and a focal length of a convergent lens of the first-type ranging apparatus, respectively. ### Claim 2 (depends on 1) The ranging system of claim 1, wherein: at least two types of the first-type ranging apparatus, the second-type ranging apparatus, and the third-type ranging apparatus of the ranging system are configured to be arranged at a mobile platform; and a total FOV of the ranging system covers at least 180° of one side of the mobile platform. ### Claim 3 (depends on 2) The ranging system of claim 2, wherein the total FOV of the ranging system covers at least 180° in front of the mobile platform. ### Claim 4 (depends on 2) The ranging system of claim 2, wherein: the mobile platform includes a car; and the total FOV of the ranging system covers at least 180° in a horizontal direction of the mobile platform. ### Claim 5 (depends on 2) The ranging system of claim 2, further comprising: a fourth-type ranging apparatus including: three first-type ranging apparatuses, optical axes of neighboring first-type ranging apparatuses of the three first-type ranging apparatuses having a predetermined angle to cause FOVs of the neighboring first-type ranging apparatuses to have an overlapped portion. ### Claim 6 (depends on 2) The ranging system of claim 2, wherein an angle of the optical axes of neighboring first-type ranging apparatuses of the three first-type ranging apparatuses is between [25°, 35° ]. ### Claim 7 (depends on 5) The ranging system of claim 5, further comprising: two fourth-type ranging apparatuses arranged at a rear of the mobile platform; three third-type ranging apparatuses arranged at a front of the mobile platform at intervals; and a second-type ranging apparatus arranged at a front of the mobile platform, the second-type ranging apparatus being arranged at a center area in the front of the mobile platform. ### Claim 8 (depends on 7) The ranging system of claim 7, wherein: a FOV of the second-type ranging apparatus overlaps with a FOV of one of the three third-type ranging apparatuses at the front; and/or an overlapped portion of FOVs of neighboring third-type ranging apparatuses is between [5°, 20° ]. ### Claim 9 (depends on 7) The ranging system of claim 7, wherein: a total FOV of the three third-type ranging apparatuses and the second-type ranging apparatus at the front of the mobile platform is between [180°, 220° ]; and/or a total FOV of the two fourth-type ranging apparatuses at the rear of the mobile platform is between [180°, 200° ]. ### Claim 10 (depends on 5) The ranging system of claim 5, further comprising: two fourth-type ranging apparatuses arranged at a front of the mobile platform, FOVs of the two fourth-type ranging apparatuses having an overlapped portion; two fourth-type ranging apparatuses arranged at a front left and a front right of the mobile platform; two fourth-type ranging apparatuses arranged at a rear left and a rear right of the mobile platform. ### Claim 11 (depends on 5) The ranging system of claim 5, further comprising: four fourth-type ranging apparatuses arranged at a front, a rear, a left side, and a right side of the mobile platform, FOVs of neighboring fourth-type ranging apparatuses of the four fourth-type ranging apparatuses having an overlapped portion. ### Claim 12 (depends on 5) The ranging system of claim 5, further comprising: two fourth-type ranging apparatuses arranged at a front of the mobile platform, FOVs of the two fourth-type ranging apparatuses having an overlapped portion; and a fourth-type ranging apparatus arranged at a rear of the mobile platform. ### Claim 13 (depends on 5) The ranging system of claim 5, further comprising: two fourth-type ranging apparatuses arranged at a front left and a front right of the mobile platform; and two first-type ranging apparatuses arranged at a front the mobile platform; wherein FOVs of neighboring ranging apparatuses of the two fourth-type ranging apparatuses and the two first-type ranging apparatuses have an overlapped portion. ### Claim 14 (depends on 2) The ranging system of claim 2, further comprising: two third-type ranging apparatuses arranged at a front left and a front right of the mobile platform; and a third-type ranging apparatus arranged at a front of the mobile platform; wherein FOVs of neighboring third-type ranging apparatuses have an overlapped portion. ### Claim 15 (depends on 2) The ranging system of claim 2, further comprising two third-type ranging apparatuses arranged at a rear left and a rear right of the mobile platform. ### Claim 16 (depends on 2) The ranging system of claim 2, further comprising: two third-type ranging apparatuses arranged at a rear left and a rear right of the mobile platform; and a third-type ranging apparatus arranged at a rear of the mobile platform; wherein FOVs of neighboring third-type ranging apparatuses have an overlapped portion. ### Claim 17 (depends on 1) The ranging system of claim 1, wherein a FOV of the first-type ranging apparatus is between [35°, 45° ]. ### Claim 18 (depends on 1) The ranging system of claim 1, wherein a FOV of the second-type ranging apparatus is between [20°, 25° ]. ### Claim 19 (depends on 1) The ranging system of claim 1, wherein a detection distance of the first-type ranging apparatus is 40% to 60% of a detection distance of the second-type ranging apparatus. ### Claim 20 (depends on 1) The ranging system of claim 1, wherein a ranging apparatus includes a LIDAR.