Robot Sensor Coordinate Calibration for Camera-Scanner Alignment
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Solution Overview
Problem
Existing robot control systems fail to effectively correct errors in hardware module installations and environmental factors, such as temperature changes, leading to malfunctions and recognition errors, particularly affecting camera and drive modules.
Innovation Solution
A method and system that determine comparison axes between a camera module and a scanner module, and correct the reference coordinate system of the camera module based on these axes, as well as the relationship between the camera module and the floor surface, to address installation errors and temperature-induced roll direction errors, while also correcting travel property information to align actual and recorded distances and angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a camera module is installed in a position other than the predetermined position, then the robot can be manufactured with easier installation flexibility, but coordinate system matching errors occur between the camera module and other hardware modules
Solution Approach 1:
The system performs preliminary calibration by determining the actual installation position and orientation of the camera module before operation. A calibration pattern is captured by the camera, and the scanner detects corresponding features to calculate transformation parameters that pre-correct for the deviated installation position, ensuring accurate coordinate system matching despite installation flexibility
Solution Approach 2:
The system changes the coordinate transformation parameters dynamically based on the actual camera module installation state. By calculating transformation parameters from calibration data and applying them to convert coordinates between different coordinate systems, the system adapts to various installation positions while maintaining measurement precision
2Adaptability or versatility
If the robot operates outdoors with temperature increases, then the robot can function in diverse environmental conditions, but roll direction recognition errors increase in the camera module
Solution Approach 1:
The system uses feedback from the scanner to detect and correct temperature-induced roll direction errors. The scanner provides accurate reference data about the environment, and the system compares this with camera data to calculate and apply correction values that compensate for thermal expansion and other temperature-related distortions in the camera module
Solution Approach 2:
The system applies asymmetric correction parameters for different temperature conditions. By determining temperature-based correction values and applying them differently to various coordinate axes (particularly the roll axis), the system compensates for the asymmetric thermal effects on the camera module while maintaining operation in diverse environmental conditions
3Duration of action of moving object
If the robot travels with wheel wear or wheelbase length changes, then the robot can operate with worn components, but the difference between actual and recorded travel distance increases
Solution Approach 1:
The system performs preliminary calibration to determine the actual wheelbase length and wheel circumference by having the robot travel known distances and comparing with odometry readings. This pre-determined correction factor is stored and applied to future travel measurements, allowing the system to maintain accurate distance tracking even as wheels wear and dimensions change over time
Data Source
AI summary
A method for controlling a robot is provided. The method includes the steps of: determining a first comparison axis with reference to a first target area specified by a camera module of a robot, and determining a second comparison axis with reference to a second target area specified by a scanner module of the robot and associated with the first target area; and correcting a reference coordinate system associated with the camera module with reference to a relationship between the first comparison axis and the second comparison axis.