Multi-sensor external parameter calibration system and method based on mechanical arm and adjustable sliding rail

By introducing a scaled slide rail into the sensor calibration system and combining it with a robotic arm and a data processing unit, automated calibration and practical training of sensor external parameters are achieved, solving the problems of unverifiable errors and poor repeatability in traditional calibration methods and improving calibration accuracy and efficiency.

CN120697094APending Publication Date: 2025-09-26JIANGSU CAERI AUTOMOTIVE ENGINEERING RESEARCH INSTITUTE CO LTD
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Patent Information

Application Number
CN202511043141.6
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-07-28
Publication Date
2025-09-26

AI Technical Summary

Technical Problem

Traditional multi-sensor calibration methods cannot verify the true value, the source of error is difficult to trace, and manual adjustment is inefficient and cannot guarantee repeatability accuracy.

Method used

A slide rail with scale is used as the carrier of physical truth value. The sensor is driven by a robotic arm to move in multiple perspectives. Combined with the data processing unit, automatic calibration and practical training of external parameters are realized, providing verifiable external parameter benchmark values.

Benefits of technology

It achieves closed-loop verification and traceability of calibration results, improves calibration accuracy and efficiency, supports automated calibration and practical training, and can achieve a translation error of ≤1mm and a rotation error of ≤0.5°, with efficiency increased by more than 70%.

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Abstract

The invention relates to the technical field of sensor calibration, and discloses a multi-sensor external parameter calibration system and method based on a mechanical arm and an adjustable sliding rail, and a calibration target object unit comprises a calibration rack and a target object fixed on the calibration rack; the mechanical arm sliding rail unit comprises a mechanical arm, and a sliding rail with scales is arranged at the tail end of the mechanical arm; the mechanical arm is controlled to drive the sliding rail to a plurality of poses; the sensor unit comprises at least two sensors which are connected through a sliding rail, the relative positions of the sensors are adjusted along the sliding rail, the sensors are locked at preset scales so as to determine preset external reference values, and the sensors collect target object observation data corresponding to all poses. And the data processing unit calculates a corresponding external reference estimation value by using the observation data of the target object, optimizes to obtain a final external reference value, and compares the final external reference value with a preset external reference reference value to calculate an error. According to the invention, the external reference value is preset, the multi-view observation data is automatically acquired and fused and analyzed, and the verifiability of the calibration result and the intuitiveness of practical teaching are realized.
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