UAV Structure Scanning With Facet-Based Autonomous Flight Paths
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Solution Overview
Problem
Existing unmanned aerial vehicle (UAV) systems for structure scanning lack the capability for fully autonomous and robust missions, particularly in maintaining consistent distance and orientation for thorough and repeatable scans of large structures.
Innovation Solution
The system uses an unmanned aerial vehicle equipped with a range sensor and image sensors for stereoscopic computer vision, performing an initial coarse scan to generate a three-dimensional map of the structure. Facets are generated based on this map, and a scan plan is created for the UAV to capture high-resolution images at consistent distances from these facets, allowing for user editing and automated execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated image capture modes are implemented to reduce human operator attention, then productivity is improved, but measurement precision deteriorates due to inability to maintain consistent distance and orientation
Solution Approach 1:
The system employs real-time feedback mechanisms where the UAV continuously monitors its position and orientation relative to the structure being scanned. Sensors detect deviations from the optimal scanning path and automatically adjust flight parameters to maintain consistent distance and orientation, ensuring measurement precision while enabling automated operation.
Solution Approach 2:
The patent replaces manual mechanical control with automated sensor-based systems. Instead of human operators manually adjusting the UAV's position and orientation, the system uses computer vision, GPS, and inertial measurement units to automatically control flight parameters, achieving both productivity improvement and measurement consistency.
2Measurement precision
If manual control is used to maintain consistent distance and orientation for thorough scans, then measurement precision is improved, but productivity deteriorates due to need for continuous human operator attention
Solution Approach 1:
The UAV system performs self-correction of its flight path and positioning. The automated navigation system continuously adjusts the UAV's position and orientation without human intervention, allowing the system to maintain scan consistency while operating autonomously at high speed, thus achieving both precision and productivity.
3Ease of operation
If fully autonomous mission capability is implemented, then ease of operation is improved, but reliability deteriorates due to lack of robust performance on large structures
Solution Approach 1:
The patent divides large structures into smaller manageable facets or zones. The autonomous UAV system processes each facet independently, maintaining consistent scanning parameters for each segment. This segmentation approach enables reliable comprehensive scanning of large structures by breaking down the complex mission into repeatable, manageable units with consistent quality control.
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
This approach enables more consistent and thorough structure scans, reducing the need for human operator attention and allowing for faster comprehensive scans of large structures, while also facilitating robust detection of maintenance issues using machine learning or human review.
Implementation Method 1
image sensors for stereoscopic computer vision, performing an initial coarse scan to generate a three-dimensional map of the structure
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.