Estimated Point Distribution Mapping for Lidar-SLAM Survey Robots
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Solution Overview
Problem
Current mobile 3D surveying systems using autonomous robotic vehicles face limitations in applicability, requiring skilled personnel and being cumbersome to handle, with a tradeoff between field-of-view and reactivity, which restricts movement speed and efficiency in unknown terrain.
Innovation Solution
A system equipped with a 360-degree lidar device and SLAM unit for continuous 3D surveying, enabling enhanced field-of-view and viewing distance through simultaneous localization and mapping, along with path planning that optimizes trajectory based on estimated point distribution maps, and utilizes fiducial markers and cloud computing for data processing and decision-making.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a tradeoff is made between field-of-view and viewing distance on one side and reactivity (obstacle detection and evasive maneuver) on the other side, then reactivity is improved, but movement speed of the robot is limited
Solution Approach 1:
The patent segments the sensing functions into two distinct sensor systems: a 360-degree panoramic sensor for wide-field obstacle detection (reactivity) and a telephoto sensor for long-distance path planning. This segmentation allows each sensor to specialize in its optimal detection range without compromising the other function, thereby maintaining both high reactivity and movement speed.
2Reliability
If the robot only sees its immediate surroundings, then efficient reactivity to cope with obstacles and terrain changes is improved, but applicability of mobile 3D surveying in unknown terrain is limited
Solution Approach 1:
The patent merges the data from two sensor systems with different fields-of-view into a unified path planning framework. The panoramic sensor data provides immediate obstacle awareness while the telephoto sensor data enables long-range navigation planning. This merging allows the robot to operate effectively in unknown terrain by combining local reactive capabilities with global exploratory capabilities.
3Device complexity
If inbuilt visual perception sensors are used for path planning, then device complexity is reduced, but measurement precision and surveying quality deteriorate
Solution Approach 1:
The patent makes the lidar device multi-functional by using it for both traditional 3D surveying and path planning simultaneously. The same high-precision lidar sensor that captures detailed environmental geometry for surveying purposes also provides the spatial data needed for accurate path planning and obstacle detection, eliminating the need for separate lower-precision navigation sensors.
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 allows for efficient and continuous 3D data capture with improved path planning and reactivity, enabling wider applicability and ease of use by operators without special training, while maintaining energy and time efficiency.
Implementation Method 1
the distance measurement may be based on the time of flight, the shape, and/or the phase of the pulse
Implementation Method 2
a laser scanner, which emits a laser measurement beam, e.g. using pulsed electromagnetic radiation
Data Source
Figure 1~3
Figure 2
Figure 4
AI summary
The invention relates to. a system for providing 3D surveying of an environment by an autonomous robotic vehicle (1). The system comprises a SLAM unit for carrying out a simultaneous localization and mapping process, a path planning unit to determine a path to be taken (31) by the autonomous robotic vehicle (1), and a lidar device (3) specifically foreseen to be mounted on the autonomous robotic vehicle (1). The lidar device (3) is configured to have a field-of-view of 360 degrees about a first axis (4) and 130 degrees about a second axis (6) perpendicular to the first axis and to generate the lidar data with a point acquisition rate of at least 300'000 points per second, 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 (31) by carrying out an evaluation of a further trajectory (30, 31) 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 (3) on the further trajectory (30, 31) and projected onto the map of the environment.