UAV Structure Scan Planning With 3D Facets and Auto Docking
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Solution Overview
Problem
Current unmanned aerial vehicle (UAV) systems face challenges in performing robust, fully autonomous structure scans, particularly for large structures like roofs and bridges, due to limitations in maintaining consistent distance and orientation, requiring significant human intervention and lacking efficient battery management for prolonged operations.
Innovation Solution
The system employs an UAV with a processing apparatus that generates three-dimensional maps, facets, and scan plans, allowing for autonomous image capture and stitching, along with automated docking and charging, enabling consistent scanning and extended operation without human intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automated image capture modes are implemented to reduce human intervention, then ease of operation is improved, but reliability deteriorates due to difficulty in maintaining consistent distance and orientation
Solution Approach 1:
The patent replaces manual mechanical control with an automated vision-based system. The UAV uses image capture and processing to automatically determine its position and orientation relative to the structure, substituting human operator skills with automated image analysis algorithms that consistently maintain proper scanning distances and angles.
Solution Approach 2:
The UAV system performs self-positioning and self-orientation by capturing images and automatically processing them to determine its spatial relationship with the structure. The system serves itself by using its own captured images to guide its flight path and scanning behavior without external human intervention.
2Productivity
If scan plans are generated for comprehensive structure coverage, then productivity is improved, but device complexity increases due to multiple processing steps
Solution Approach 1:
The processing apparatus is designed as a multi-functional integrated system that performs diverse operations including image capture, three-dimensional mapping, facet generation, scan planning, and image stitching. By consolidating these functions into a single universal processing unit on the UAV, the system achieves comprehensive structure coverage while managing complexity through integration rather than separate devices.
Solution Approach 2:
The system performs preliminary actions by generating three-dimensional maps and scan plans before the actual scanning operation. This pre-planning phase allows the UAV to efficiently execute comprehensive scans without real-time complex decision-making, improving productivity while managing processing complexity through advance preparation.
3Duration of action of moving object
If automated docking and charging systems are implemented, then duration of action is improved, but device complexity increases
Solution Approach 1:
The automated docking and charging system uses feedback mechanisms where the UAV monitors its battery status and autonomously navigates to the docking station when charging is needed. The docking station provides feedback signals to confirm proper connection and charging status, enabling extended operation duration through automated battery management without requiring complex manual intervention systems.
Data Source
AI summary
Described herein are systems and methods for structure scan using an unmanned aerial vehicle. For example, some methods include accessing a three-dimensional map of a structure; generating facets based on the three-dimensional map, wherein the facets are respectively a polygon on a plane in three-dimensional space that is fit to a subset of the points in the three-dimensional map; generating a scan plan based on the facets, wherein the scan plan includes a sequence of poses for an unmanned aerial vehicle to assume to enable capture, using image sensors of the unmanned aerial vehicle, of images of the structure; causing the unmanned aerial vehicle to fly to assume a pose corresponding to one of the sequence of poses of the scan plan; and capturing one or more images of the structure from the pose.