Lidar-SLAM Path Planning for Autonomous 3D Surveying
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Solution Overview
Problem
Existing autonomous robotic vehicles for 3D surveying face limitations in applicability, handling complexity, and require skilled personnel for path planning in unknown terrains, often compromising between field-of-view and reactivity, which restricts their movement speed and efficiency.
Innovation Solution
A system equipped with a SLAM unit and a 360-degree lidar device capable of generating 300,000 points per second, allowing continuous 3D surveying with enhanced field-of-view and viewing distance, integrated with path planning using voxel occupancy grid navigation and probabilistic frameworks, enabling autonomous path optimization and exploration in unknown areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot uses a narrow field-of-view for obstacle detection, then reactivity is improved, but movement speed and path planning efficiency deteriorate
Solution Approach 1:
The patent segments the sensing system into multiple sensors with different fields-of-view: a first sensor (e.g., camera) provides a narrow field-of-view for detailed obstacle detection and reactivity, while a second sensor (e.g., lidar) provides a wide field-of-view for long-range path planning. This segmentation allows the robot to simultaneously achieve fast reactivity to nearby obstacles and efficient long-range navigation.
2Measurement precision
If the robot uses a narrow field-of-view for detailed obstacle detection, then detection precision is improved, but path planning efficiency and coverage deteriorate
Solution Approach 1:
The system segments detection functions between sensors: the first sensor (camera) with narrow field-of-view provides high-precision obstacle detection, while the second sensor (lidar) with wide field-of-view enables efficient path planning and environmental mapping. This division allows both high detection precision and efficient path planning to coexist.
Solution Approach 2:
The patent introduces a path planning unit that acts as an intermediary, using data from both sensors to generate optimized paths. The wide-field sensor provides overall environmental structure for path planning, while the narrow-field sensor refines obstacle detection along the planned path, combining both advantages through coordinated processing.
3Ease of operation
If the robot relies on predefined environment models for path control, then path planning simplicity is improved, but adaptability to unknown terrain deteriorates
Solution Approach 1:
The patent applies preliminary action by using the wide-field sensor to pre-scan and map the environment before the robot commits to a path. This preliminary environmental understanding allows the robot to adapt to unknown terrain while maintaining relatively simple path planning operations, as the hard work of environmental assessment is done in advance.
Solution Approach 2:
The system uses feedback from both sensors continuously updating the environment model and path plan. The narrow-field sensor provides real-time feedback on obstacles along the current path, while the wide-field sensor provides feedback on the overall environment structure, enabling the robot to adapt to unknown terrain while maintaining operational simplicity through continuous feedback-driven path adjustment.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enhances the applicability and ease of use for 3D surveying by providing continuous data capture with improved field-of-view and path planning, allowing efficient exploration and data acquisition in complex environments with reduced operator expertise requirements.
Implementation Method 1
the distance measurement may be based on the time of flight
Implementation Method 2
By receiving an echo from a backscattering surface point of the environment a distance to the surface point is derived
Implementation Method 3
the laser scanner, which emits a laser measurement beam, e.g. using pulsed electromagnetic radiation
Implementation Method 4
By receiving an echo from a backscattering surface point
Data Source
AI summary
A system for providing 3D surveying of an environment by an autonomous robotic vehicle comprising a SLAM unit for carrying out a simultaneous localization and mapping process, a path planning unit to determine a path to be taken by the autonomous robotic vehicle, and a lidar device. The lidar device is configured to generate the lidar data which allows the SLAM unit to receive the lidar data as part of the perception data for the SLAM process. The path planning unit is configured to determine the path to be taken by carrying out an evaluation of a further trajectory within a map of the environment in relation to an estimated point distribution map for an estimated 3D point cloud, which is provided by the lidar device on the further trajectory and projected onto the map of the environment.