Robot Range Sensor Self-Calibration Using Body Contour Detection
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Solution Overview
Problem
Current robots face challenges in accurately calibrating their range sensors in real-time, which is essential for safe and efficient operation, as deviations from the default sensor position can pose safety risks.
Innovation Solution
The system employs a method for online calibration of range sensors, where the robot uses measurements from its range sensors to detect its own contour, determine the sensor's position based on discrepancies between the detected contour and a reference location, and adjust the sensor's position to align with the reference, thereby ensuring accurate calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot operates with range sensors that are not continuously calibrated, then the operational simplicity is maintained, but the positioning accuracy and safety deteriorate due to deviations from default sensor positions
Solution Approach 1:
The robot performs self-calibration by using its own body contour as a reference object. The range sensor detects the robot's contour, and the system automatically computes position deviations and applies corrections without external intervention, making the calibration process self-service and eliminating the need for complex external calibration equipment
Solution Approach 2:
The system pre-stores the default position parameters of the range sensor and the expected robot contour shape. During operation, these preliminary data are used to quickly compare against current sensor readings and determine calibration status, enabling rapid correction without time-consuming manual calibration procedures
2Reliability
If the robot performs continuous online calibration of range sensors, then the reliability and safety are improved, but the computational load and processing time increase
Solution Approach 1:
The calibration system extracts only the essential information needed for calibration - specifically the robot's contour profile - from the full range sensor data. By focusing only on contour detection rather than processing all environmental measurements, the system achieves reliable calibration with minimal computational overhead and fast processing
Solution Approach 2:
The system performs partial calibration by only adjusting the range sensor position parameters that show deviations beyond threshold values, rather than recalibrating all parameters continuously. This selective approach maintains reliability while reducing unnecessary processing time and computational waste
Data Source
AI summary
Systems, apparatuses, and methods for online calibration of range sensors for robots are disclosed herein. According to at least one non-limiting exemplary embodiment, a controller of a robot may sense a portion of the robot within a range measurement and use the location of the sensed portion to determine a position of the range sensor, and accordingly adjust the pose of the sensor as needed.