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Calibration method and equipment for sensor of robot

A calibration method and sensor technology, applied in the field of robotics, can solve the problems of complex calibration operations and low efficiency

Active Publication Date: 2021-06-01
SHANGHAI SLAMTEC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] One purpose of the present application is to provide a sensor calibration method and equipment for robots, which solves the problems in the prior art that additional equipment assistance is required, the environment is dependent, the calibration operation is complicated, and the efficiency is low

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  • Calibration method and equipment for sensor of robot
  • Calibration method and equipment for sensor of robot
  • Calibration method and equipment for sensor of robot

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Embodiment Construction

[0034] The application will be described in further detail below in conjunction with the accompanying drawings.

[0035] In a typical configuration of this application, the terminal, the device serving the network, and the trusted party all include one or more processors (such as a central processing unit (Central Processing Unit, CPU)), an input / output interface, a network interface, and a memory .

[0036] Memory may include non-permanent memory in computer-readable media, random access memory (Random Access Memory, RAM) and / or non-volatile memory, such as read-only memory (Read Only Memory, ROM) or flash memory (flash RAM). Memory is an example of computer readable media.

[0037] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples o...

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Abstract

The invention aims to provide a method and equipment for calibrating a sensor of a robot. The calibration method comprises the following steps: obtaining the information of a coordinate system of the robot, and determining a reference sensor according to the information of the coordinate system; collecting relative motion information of the reference sensor and relative motion information of a to-be-calibrated sensor; and determining an external parameter between the two sensors according to the relative motion information of the reference sensor and the relative motion information of the to-be-calibrated sensor, and calibrating the to-be-calibrated sensor according to the external parameter. Therefore, additional equipment assistance is not needed, dependence on the environment is not needed, data of the sensor can be collected and calibrated in the moving process of the robot, efficiency is greatly improved, and the calibration purpose can be achieved through very convenient operation.

Description

technical field [0001] The present application relates to the field of robots, and in particular to a calibration method and equipment for a sensor of a robot. Background technique [0002] In robot applications, it is inevitable to use a variety of sensor fusion schemes. For multiple or multiple sensors, the rotation and translation transformation between sensors is called extrinsic parameters. Such as figure 1 As shown, due to the installation position error and other reasons between the camera and the laser sensor, it is impossible to ensure that the observation origin is at the same position, so there will be a translation and rotation transformation between the two sensors, that is, an external parameter. Similarly, multiple or multiple There are also external parameters between sensors. For some existing methods or calibration tools, additional tool assistance is required, such as checkerboard or specific equipment-assisted calibration, such as figure 2 The calibra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/02B25J9/10
CPCB25J19/02B25J9/10
Inventor 程伟胡晨阳谷桐白静陈士凯
Owner SHANGHAI SLAMTEC