Point Cloud Path Planning for Discontinuous Surface Traversal
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Solution Overview
Problem
Current technologies lack the ability to accurately identify and traverse substantially discontinuous surface features (SDSFs) in heterogeneous topologies, particularly for autonomous transport devices, as they fail to integrate multi-criteria models for SDSF identification and trajectory planning with graphing polygons that form route topologies.
Innovation Solution
The method involves processing point cloud data to filter and segment SDSFs, creating concave polygons, labeling SDSF points, forming graphing polygons, and selecting paths based on these polygons to enable autonomous transport devices to traverse SDSFs by accessing point cloud data, filtering it, forming processable parts, merging into concave polygons, and choosing paths from starting to ending points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If point cloud data is processed to locate SDSFs using multi-criteria models, then SDSF identification accuracy is improved, but device complexity increases
Solution Approach 1:
The patent segments the complex SDSF identification process into distinct modules: point cloud data acquisition, filtering to remove outliers, SDSF detection using multi-criteria models (width, height, slope, curvature), and trajectory generation. This segmentation allows each module to handle specific tasks with dedicated algorithms, improving overall identification accuracy while making the complex system more manageable and maintainable
Solution Approach 2:
The patent applies preliminary filtering to point cloud data to remove outliers and noise before SDSF detection. By pre-processing the data to eliminate irrelevant points and establish initial surface models, the system reduces the computational burden on subsequent SDSF identification algorithms, thereby improving accuracy without proportionally increasing overall system complexity
2Measurement precision
If graphing polygons are integrated with SDSF trajectories, then route topology accuracy is improved, but manufacturing precision requirements increase
Solution Approach 1:
The patent creates dynamic graphing polygons that adapt to detected SDSFs by adjusting polygon vertices and edges based on SDSF locations and characteristics. The system dynamically modifies the route topology to accommodate various SDSF geometries (curbs, steps, inclines) by inserting waypoints and adjusting path segments, allowing accurate route representation without requiring fixed precision standards
Solution Approach 2:
The patent changes geometric parameters of graphing polygons based on detected SDSF properties. Polygon vertices are positioned at SDSF locations, edges are oriented perpendicular to SDSF surfaces, and polygon sizes are adjusted according to SDSF dimensions. This parameter adaptation allows the route topology to accurately represent heterogeneous surfaces with varying precision requirements for different feature types
3Reliability
If multiple criteria are used for SDSF identification, then SDSF detection reliability is improved, but difficulty of detecting and measuring increases
Solution Approach 1:
The patent segments SDSF detection into multiple independent criterion evaluations: width measurement, height measurement, slope calculation, and curvature analysis. Each criterion is evaluated separately using dedicated algorithms, and results are combined through logical operations. This segmentation improves reliability by ensuring each feature aspect is thoroughly assessed while reducing detection difficulty through specialized simplified algorithms for each criterion
Solution Approach 2:
The patent introduces intermediary surface models that represent the ground between SDSFs. These intermediary models serve as references for comparing and validating SDSF detections across multiple criteria. By using intermediary surfaces as mediators, the system can consistently apply width, height, slope, and curvature measurements while reducing the complexity of direct multi-criteria comparison
4Adaptability or versatility
If autonomous navigation on expanded surfaces is enabled, then transport device versatility is improved, but ease of operation decreases
Solution Approach 1:
The patent implements autonomous SDSF traversal where the transport device automatically detects SDSFs, plans trajectories, and executes navigation without human intervention. The system self-adjusts speed, direction, and approach angles based on real-time SDSF detection and pre-computed trajectories, enabling versatile surface traversal while maintaining ease of operation through full automation
Solution Approach 2:
The patent computes SDSF traversal trajectories in advance during map processing, storing optimal paths for known SDSFs. When the transport device encounters pre-mapped SDSFs, it can directly execute stored trajectories without real-time complex calculations. This preliminary action enables versatile surface traversal while simplifying runtime operation to basic trajectory following
Data Source
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AI summary
There is described a method for navigating at least one substantially discontinuous surface feature (SDSF) encountered by a transport device (TD), the TD traveling a path over a surface, the surface including the at least one SDSF, the path including a starting point and an ending point, the method comprising: accessing point cloud data representing the surface; forming the point cloud data into processable parts; merging the processable parts into at least one concave polygon; locating and labeling the at least one SDSF in the at least one concave polygon, the locating and labeling forming labeled point cloud data; creating graphing polygons based at least on the at least one concave polygon; and choosing the path from the starting point to the ending point based at least on the graphing polygons, the TD traversing the at least one SDSF along the path.