Robot Sensor Calibration Using a Shared Reference Coordinate
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Solution Overview
Problem
Robot sensors experience positional deviations due to manufacturing, assembly, and sensor errors, leading to sensing errors and performance issues when converting data to a unified coordinate system.
Innovation Solution
An external parameter calibration method for robot sensors involves collecting data from multiple sensors, converting it to a common coordinate system, determining reference point coordinates, and iteratively adjusting the sensor positions to calculate relative positional relationships between sensors, thereby reducing deviations and improving consistency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If sensor positions are determined by design specifications, then device complexity is reduced, but manufacturing precision deteriorates due to machining and assembly errors
Solution Approach 1:
The patent applies preliminary action by performing sensor calibration before actual robot operation. A calibration object is positioned in the workspace, and sensors collect calibration data to determine actual sensor positions and orientations. This pre-calibration process establishes accurate external parameters that compensate for manufacturing and assembly errors, resolving the contradiction between simple design and precise positioning.
2Reliability
If multiple sensors are used to improve sensing performance, then reliability improves, but device complexity increases due to coordinate system conversion requirements
Solution Approach 1:
The patent introduces a calibration object as an intermediary element that facilitates coordinate system conversion between multiple sensors. The calibration object serves as a common reference frame, allowing sensors to collect data about the same physical features. By using this intermediary, the system can determine external parameters and perform coordinate transformations without requiring complex direct sensor-to-sensor calibration procedures, thus maintaining reliability while managing complexity.
3Ease of operation
If sensor positions are not calibrated, then ease of operation is maintained, but measurement precision deteriorates due to positional deviations
Solution Approach 1:
The patent implements self-service by enabling the robot system to automatically perform its own sensor calibration. The calibration process uses data collected from sensors observing a calibration object to compute external parameters and correct positional deviations. This automatic self-calibration eliminates the need for manual intervention while maintaining measurement precision, resolving the contradiction between operational simplicity and data accuracy.
Data Source
AI summary
The present disclosure provides an external parameter calibration method for robot sensors as well as an apparatus, robot and storage medium with the same. The method includes: obtaining first sensor data and second sensor data obtained through a first sensor and a second sensor of the robot by collecting position information of a calibration reference object and converting to a same coordinate system to obtain corresponding first converted sensor data and second converted sensor data, thereby determining a first coordinate and a second coordinate of a reference point of the calibration reference object; using the first coordinate and the second coordinate are as a set of coordinate data; repeating the above-mentioned steps to obtain N sets of the coordinate data to calculate the external parameter between the first sensor and the second sensor in response to a relative positional relationship between the robot and the calibration reference object being changed.