Cavity Navigation Mapping With Absolute Position Matching
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Solution Overview
Problem
Navigating complex and dark internal spaces, such as tunnels or wrecked buildings, is challenging due to limited GPS reception and the need to keep hands free for navigation, with existing methods being inaccurate and impractical for detailed mapping and exploration.
Innovation Solution
A system comprising a scanning device with a localization and mapping unit, inertial measurement, and a GNSS rover, allowing for hands-free navigation by generating a 3D model of the cavity, associating relative locations with absolute coordinates, and displaying the model on a wearable device, enabling accurate navigation and exploration without additional lighting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS and GNSS are used for navigation in indoor areas, then location information can be obtained, but accuracy decreases as distance from the cavity entrance increases
Solution Approach 1:
The patent introduces an intermediary system consisting of external reference points with known coordinates and a camera-based visual positioning system. The camera captures images of these reference points, and through image processing and coordinate transformation, the system calculates the user's position relative to the cavity entrance. This intermediary approach bypasses the limitation of direct GPS/GNSS signal degradation by using visual cues and geometric relationships to maintain positioning accuracy throughout the cavity.
2Illumination intensity
If a light source such as flashlight is used to illuminate dark areas, then visibility is improved, but shadows are created that can be confusing and the illumination is limited in intensity and direction
Solution Approach 1:
The patent uses a camera to capture images of the cavity environment and displays these images on a screen or augmented reality interface. Instead of relying on physical light sources that create shadows, the system creates a visual copy of the environment that can be viewed without introducing additional lighting artifacts. This allows users to navigate dark areas by viewing captured images or augmented reality overlays that show the cavity structure without the shadows and limitations of flashlight illumination.
3Reliability
If a person explores the area manually, then hands are needed for balance and protection, but hands are not free for other tasks
Solution Approach 1:
The patent employs autonomous sensors and processors that automatically perform navigation, mapping, and position tracking functions. The system includes automated image capture, automatic coordinate calculation, and real-time position display without requiring manual operation. This self-service capability allows the user to explore the cavity hands-free, as the system autonomously handles the complex tasks of navigation and mapping while the user can focus on safety and other exploration activities.
4Adaptability or versatility
If complex cavities with twisted corridors and intersections are explored, then comprehensive mapping is required, but existing methods cannot provide accurate navigation in such environments
Solution Approach 1:
The patent transitions from two-dimensional map representations to three-dimensional spatial modeling and augmented reality visualization. The system captures three-dimensional images of the cavity structure and processes them to create accurate spatial models that represent twisted corridors, turns, and intersections in three dimensions. This dimensional enhancement allows users to navigate complex geometries more effectively by visualizing the spatial relationships in their natural three-dimensional form, improving both adaptability to complex environments and navigation precision.
Data Source
AI summary
A system, apparatus and method, the system comprising: a scanning device for obtaining information about a cavity, the scanning device comprising a localization and mapping device and adapted to register a first location relative to the cavity after the system is stationary for some time, said registration associated with a first time stamp; a device for providing location information; a processor for obtaining an absolute location of the system from the device for providing location information when the system is stationary for the time; and registering the absolute location in association with a second time stamp; a second processor for generating a model of the cavity based on the information from the scanning device; and matching the absolute location with the location, based on the time stamps; and a display device for displaying a representation of the model, comprising an indication the first location with the associated absolute location.