Reference-Location Path Planning for Adaptive Area Coverage
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Solution Overview
Problem
Existing methods for determining paths for moveable objects, such as autonomous aviation devices and agricultural robots, often require manual interaction to achieve high coverage and adapt to obstacles, leading to inefficiencies and insufficient area coverage.
Innovation Solution
A method using reference locations with associated orientation information to determine paths, allowing the object to move within a contour and adjust its path based on orientation cues, such as preferred directions or angles, to ensure thorough coverage and adapt to changing conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual interaction is used to determine paths, then coverage and adaptability to obstacles improve, but effort and time consumption increase
Solution Approach 1:
The system performs preliminary actions by pre-determining multiple possible paths (first path, second path, third path) before the moveable object encounters obstacles. Orientation information is pre-associated with reference locations to guide path selection, eliminating the need for real-time manual intervention when obstacles are encountered.
Solution Approach 2:
The system uses feedback from the moveable object's actual position and orientation at reference locations to automatically select appropriate pre-determined paths. The control system continuously monitors position data and compares it with stored orientation information to make autonomous path selection decisions, reducing manual interaction while maintaining adaptability.
2Manufacturing precision
If manual interaction is required for path determination, then coverage quality improves, but operational complexity increases
Solution Approach 1:
The moveable object performs self-service by automatically determining its own path using onboard sensors and processors. The system stores orientation information at reference locations and uses this data to autonomously select paths, eliminating the need for external manual control while maintaining high coverage quality through systematic path planning.
Solution Approach 2:
The working area is segmented into multiple reference locations with associated orientation information. Each reference location represents a discrete decision point where path selection occurs. This segmentation allows the complex path determination problem to be broken down into manageable segments, improving coverage quality while reducing operational complexity through systematic decomposition.
3Productivity
If automated path determination is used, then time efficiency improves, but adaptability to unexpected situations deteriorates
Solution Approach 1:
The system performs preliminary actions by pre-determining multiple alternative paths (first path, second path, third path) and storing them with associated orientation information before operation begins. This allows the automated system to quickly adapt to unexpected situations by selecting from pre-prepared path options without requiring manual intervention, maintaining both time efficiency and adaptability.
4Measurement precision
If multiple reference locations with orientation information are used, then path determination accuracy improves, but data processing complexity increases
Solution Approach 1:
The path determination process is segmented into discrete reference locations, each with stored orientation information. The processor only needs to retrieve and compare data at these specific segmented points rather than continuously processing all possible position data. This segmentation improves path determination accuracy at critical decision points while reducing overall data processing complexity through selective data retrieval.
Data Source
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Figure 3a~3b
AI summary
This invention is about a method for determining a path (150) for a moveable object (10) in a physical area by using at least a first reference location (110) and a second reference location (120) of the physical area, wherein the first and the second reference location (110, 120) with an orientation information are comprised in a first contour (100), wherein the path (150) comprises at least a first target location (160), wherein the first target location (160) and the reference locations (110, 120) are associated to a set of corresponding n tuples (210, 220, 260), whereby the set of n tuples (210, 220, 260) specify the positions of the corresponding locations (110, 120, 160) in the physical area, wherein the set of n tuples (210, 220) of the first and the second reference location (110, 120) are stored in a storage device (300); said method comprising at least the steps of: retrieving from the storage device (300) at least the set of n tuples (210, 220) associated to the first and the second reference location (110,120); determining the n tuple (260) associated to the first target location (160) by using a first computational procedure, wherein the first computational procedure is based on orientation information and at least on the set of n tuples (210, 220) associated to the first and the second reference location (110, 120); storing the n tuple (260) associated to the first target location (160) in the storage device (300).