Mobile Target Robot Control for Compact Sensor Calibration
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Solution Overview
Problem
Current sensor calibration methods for autonomous vehicles and robots require significant time, space, and cost, and are challenging to implement, especially when dealing with various sensor platforms and arrangements, which can lead to inaccurate calibration and safety issues.
Innovation Solution
A method and device for controlling a mobile target robot to define coordinates based on a sensor platform, transforming the robot's position and a connected target into a centered origin, and setting a virtual reference area for sensor calibration, considering sensor parameters like position, direction, field of view, and focal length, to accurately position the target within the calibration area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional sensor calibration methods are used with fixed targets and moved cameras, then sufficient observation values can be collected, but large calibration spaces and high costs are required
Solution Approach 1:
The patent applies dynamics by making both the target and camera mobile instead of fixed. The mobile target robot moves to different positions while the camera captures images, enabling calibration in smaller spaces by dynamically changing positions rather than requiring a large static calibration room with fixed targets
Solution Approach 2:
The patent uses a mobile target robot as an intermediary carrier that holds the calibration target. This intermediary enables flexible positioning and movement, allowing the calibration target to be placed at various positions and angles dynamically, thus reducing the required calibration space while maintaining measurement precision
2Adaptability or versatility
If conventional sensor calibration is performed with sensors installed on platforms, then calibration can be done in real deployment configuration, but significant time and manpower are required
Solution Approach 1:
The patent implements self-service through automated image capture and processing. The mobile target robot autonomously moves to predetermined positions and the camera automatically captures calibration images, eliminating the need for manual positioning and image acquisition, thus reducing calibration time while maintaining adaptability to various platforms
Solution Approach 2:
The patent applies preliminary action by pre-calculating and storing multiple candidate positions for the mobile target robot before calibration begins. This allows the system to quickly execute calibration without real-time computation delays, reducing calibration time while maintaining adaptability to different sensor platforms
3Manufacturing precision
If manual coordinate definition and target positioning are used, then calibration can be performed, but positioning accuracy and efficiency are reduced
Solution Approach 1:
The patent uses feedback through coordinate transformation based on the mobile target robot's measured position and orientation. The system continuously monitors the robot's position, transforms coordinates accordingly, and adjusts target positioning in real-time, thereby maintaining high positioning precision while improving calibration efficiency through automated control
Solution Approach 2:
The patent replaces manual mechanical positioning with automated coordinate transformation and control. Instead of manually defining coordinates and positioning targets, the system uses computational coordinate transformation based on the mobile robot's position data, significantly improving both positioning precision and calibration efficiency
Data Source
AI summary
According to an embodiment of the present disclosure, there is provided a method for controlling a mobile target robot for sensor calibration. The method comprising: receiving observation data and position data measured by at least one sensor mounted on a mobile target robot from the mobile target robot, while the mobile target robot moves in a certain space where a sensor platform is placed; setting a preset position of the sensor platform as origin of coordinates based on the observation data and the position; transforming position of the mobile target robot and position of a mobile target connected to the mobile target robot into position centered on the origin of coordinates; setting a virtual reference area for performing sensor calibration based on sensor parameters including at least one of a position, direction, field of view (FOV) or focal length or combination thereof of at least one sensor provided in the sensor platform; and controlling the mobile target robot and the mobile target such that the mobile target is located in the set virtual reference area based on the transformed position of the mobile target robot and the transformed position of the mobile target.