Autonomous UAV Scanning Path Planning for Complex 3D Structures
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Solution Overview
Problem
Existing methods for autonomous or semi-autonomous scanning exploration by UAVs struggle with complex objects, such as bridges or buildings with canopies or complicated façades, often resulting in scan shadows and excessive time consumption due to battery limitations.
Innovation Solution
A computer-implemented method for fully autonomous exploration and scanning by a UAV, involving the definition of a three-dimensional exploration map, partitioning into exploration blocks, and autonomous navigation using a laser scanner module to generate point cloud data, with dynamic updating of the exploration map and path planning to optimize scanning efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing methods for autonomous scanning exploration by UAVs are used, then simple objects can be scanned, but complex objects result in scan shadows and excessive time consumption
Solution Approach 1:
The patent divides the exploration space into a three-dimensional grid of exploration blocks, allowing the UAV to systematically navigate and scan complex objects by processing space in discrete segments rather than continuous motion, reducing scan shadows and improving completeness
Solution Approach 2:
The patent implements dynamic path planning that adapts the exploration path in real-time based on detected objects and scan quality, allowing the UAV to adjust its trajectory to eliminate scan shadows and optimize scanning efficiency for complex geometries
2Measurement precision
If existing methods for autonomous scanning exploration by UAVs are used, then scanning can be performed, but excessive time consumption occurs due to battery limitations
Solution Approach 1:
The patent performs preliminary path planning and exploration block definition before the actual scanning process, allowing the UAV to optimize its trajectory in advance and avoid unnecessary movements, thereby reducing energy consumption while maintaining scan quality
Solution Approach 2:
The patent implements selective scanning where the UAV focuses computational and scanning resources only on exploration blocks containing objects of interest rather than uniformly scanning the entire space, reducing overall energy consumption while maintaining required scan quality
3Extent of automation
If user interaction is required for scanning, then scanning can be performed, but full autonomy is not achieved
Solution Approach 1:
The patent implements autonomous object definition where the system automatically identifies and defines objects of interest from the point cloud data without requiring user intervention, achieving full autonomy while maintaining ease of operation through automated decision-making algorithms
4Measurement precision
If comprehensive scanning of complex objects is performed, then scan completeness is improved, but energy consumption increases
Solution Approach 1:
The patent applies different scanning strategies to different exploration blocks based on local conditions - performing comprehensive scanning only in blocks containing objects of interest while using reduced scanning in empty or already-explored blocks, achieving scan completeness where needed while minimizing overall power consumption
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
Enables efficient and autonomous scanning of complex objects without user interaction, reducing scan time and energy consumption by optimizing the exploration path and updating the map in real-time.
Implementation Method 1
a laser scanner module for scanning surfaces of the one or more objects of interest
Data Source
AI summary
A computer-implemented method for autonomously exploring, by a mobile robot, one or more objects of interest, the mobile robot comprising a computing unit and a laser scanner module for scanning surfaces of the one or more objects of interest, the laser scanner module having a field of view. The method comprising defining a 3D exploration map, wherein the one or more objects of interest are situated in the exploration map, partitioning the exploration map into a multitude of 3D exploration blocks, and an autonomous exploration of the exploration map by means of the mobile robot, wherein the exploration comprises, by the laser scanner module, generating scan data related to a point cloud while the mobile robot is travelling along an exploration path.