Robot Sensor Calibration Using Fixed Targets and CAD Comparison
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Solution Overview
Problem
Current robotic sensor calibration methods are time-consuming and inefficient, particularly when multiple sensors are involved, as they require individual calibration and multiple measurements across various positions, making it challenging to calibrate robots with numerous sensors effectively.
Innovation Solution
A system and method that utilize a calibration room with fixed sensor targets at known distances, allowing multiple sensors or robots to be calibrated without additional measurements or target repositioning, using a locking mechanism to keep the robot in a fixed position and comparing sensor data to a CAD model to adjust sensors for accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If individual calibration is performed for each sensor using traditional methods, then calibration accuracy can be achieved, but calibration time and labor requirements increase significantly
Solution Approach 1:
The patent pre-positions multiple sensor targets at known locations within the calibration room before calibration begins. This preliminary arrangement eliminates the need to reposition targets during calibration of multiple sensors, allowing parallel calibration processes and significantly reducing total calibration time while maintaining accuracy through comparison of sensor readings against known target positions
Solution Approach 2:
The calibration room is designed as a universal environment that can calibrate multiple different sensor types and multiple robots simultaneously using the same fixed target configuration. This multi-functional approach allows diverse sensors to be calibrated in the same space without requiring separate calibration setups for each sensor type, reducing overall calibration time and resource requirements
2Measurement precision
If multiple target objects are repositioned around the robot for calibration, then comprehensive sensor coverage is achieved, but the complexity of the calibration process increases
Solution Approach 1:
Instead of moving targets around the robot to achieve sensor coverage, the patent inverts the approach by keeping targets fixed and moving the robot to different positions. This inversion simplifies the calibration process by eliminating complex target repositioning operations while still achieving comprehensive sensor coverage through the robot's movement along predefined paths
Solution Approach 2:
The patent adds the dimension of robot movement through space to achieve sensor coverage. Rather than solving the coverage problem by repositioning targets in two dimensions, the system utilizes the robot's movement in three-dimensional space to bring different sensors into alignment with fixed targets, reducing process complexity while maintaining comprehensive coverage
3Measurement precision
If multiple measurements are taken at various positions to calibrate sensors, then calibration accuracy improves, but resource costs and time consumption increase
Solution Approach 1:
The patent implements continuous calibration by having the robot move along predefined paths and continuously collect sensor data against fixed targets. This continuous data collection process eliminates idle time between measurements and allows for real-time calibration adjustments, maintaining high accuracy while maximizing calibration efficiency through uninterrupted useful action
Solution Approach 2:
The system uses virtual copies of the physical environment through CAD models and pre-stored target position data. Instead of physically repositioning targets or taking numerous physical measurements, the system compares sensor readings against digital copies of the known environment, reducing resource costs and time consumption while maintaining calibration accuracy
Data Source
AI summary
Systems and methods for calibrating a robot's sensors are disclosed. In one exemplary implementation, an environment comprising a plurality of sensor targets and a fixed position for a robot allows for faster, more accurate calibration of a robot's sensors.