Robot Sensor Calibration Using Fixed Targets and Locked Position
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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 multiple 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 in a single environment without additional measurements or target repositioning, using a locking mechanism to keep the robot stationary and a CAD model for data comparison and adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If individual calibration is performed for each sensor using traditional methods, then measurement precision is improved, but loss of time increases significantly
Solution Approach 1:
The patent combines multiple sensor calibration operations into a single unified calibration process. By positioning multiple sensors to simultaneously view the same sensor targets, the system calibrates multiple sensors in parallel rather than sequentially, dramatically reducing total calibration time while maintaining accuracy through the fixed known positions of targets
Solution Approach 2:
The patent establishes fixed sensor targets at predetermined known positions before calibration begins. These pre-positioned targets eliminate the need for repeated measurements and repositioning during calibration, allowing sensors to be calibrated directly against the established reference framework
2Measurement precision
If multiple target objects are repositioned around the robot for calibration, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent uses fixed sensor targets with known positions that serve as reference copies of spatial coordinates. Instead of physically moving target objects around the robot, the system uses the predetermined positional data of fixed targets to calibrate sensors, simplifying the physical setup while maintaining calibration precision
Solution Approach 2:
The patent inverts the traditional calibration approach by fixing the targets and moving/calibrating the sensors instead. Rather than repositioning targets around a stationary robot, the robot remains fixed with its sensors being calibrated against the immutable target positions, reducing operational complexity
3Manufacturing precision
If multiple measurements are taken at various positions for calibration, then manufacturing precision is improved, but productivity decreases
Solution Approach 1:
The patent enables continuous calibration of multiple sensors simultaneously in a single setup. By arranging multiple sensors to view the same fixed targets and processing their data together, the system maintains continuous productive action rather than interrupting for sequential calibration of each sensor
Solution Approach 2:
The patent transitions from sequential one-dimensional calibration (one sensor at a time) to parallel multi-dimensional calibration (multiple sensors simultaneously). By utilizing the spatial arrangement of multiple sensors viewing the same targets from different angles, the system calibrates across multiple dimensions at once, boosting productivity
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.