Robot-Set Calibration Environment for Vehicle Sensor Alignment
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Solution Overview
Problem
Autonomous vehicles face challenges in achieving consistent sensor calibration due to manufacturing discrepancies and environmental factors, leading to variations in sensor readings that can result in inaccurate interpretation of surroundings, potentially causing safety risks.
Innovation Solution
A dynamic calibration scene with an automated turntable and mobile robots is used to set up and take down a calibration environment, allowing for efficient and comprehensive calibration of vehicle sensors by rotating the vehicle to different orientations and adjusting sensor targets, enabling intrinsic and extrinsic calibration of sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual setup and takedown of calibration environment is used, then device complexity is reduced, but productivity and time efficiency deteriorate
Solution Approach 1:
The calibration system performs setup and takedown operations autonomously without human intervention. The robotic device navigates independently to position calibration targets, and the system automatically executes calibration sequences, allowing the system to serve itself in the calibration process.
Solution Approach 2:
Manual mechanical operations of setting up calibration equipment are replaced by an automated robotic system. The robotic device uses sensors, navigation algorithms, and automated positioning mechanisms to substitute human operators in the physical setup and takedown processes.
2Adaptability or versatility
If static calibration environment is used, then device complexity is reduced, but adaptability and calibration comprehensiveness deteriorate
Solution Approach 1:
The calibration environment transitions from a static arrangement to a dynamic system where calibration targets can be automatically positioned and repositioned. The robotic device enables the calibration scene to adapt its configuration based on different calibration requirements and vehicle orientations.
Solution Approach 2:
The dynamic calibration system serves multiple functions: it can set up different calibration configurations, accommodate various sensor types, perform multiple calibration operations, and adapt to different vehicle positions. This multi-functionality replaces the need for multiple dedicated static calibration setups.
3Measurement precision
If comprehensive sensor calibration is performed, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The calibration process operates continuously without interruption. The robotic device performs setup, the vehicle undergoes calibration, and takedown occurs in an unbroken sequence. This eliminates idle time between calibration stages and maximizes the efficiency of the calibration workflow.
Solution Approach 2:
The robotic system performs preliminary setup of the calibration environment before the vehicle enters, ensuring all calibration targets are properly positioned. This preliminary action prevents delays during the actual calibration process and allows the vehicle to begin calibration immediately upon entry.
Data Source
AI summary
A computing device receives a setup command and signals mobile robots to move sensor targets into positions within a predetermined range of a turntable. Each mobile robot may be coupled to a sensor target. Once the sensor targets are moved into the positions, calibration may be initiated, in which a vehicle is rotated using the turntable, and sensors coupled to the vehicle are calibrated based on detection of the sensor targets. The computing device may signal the mobile robots to adjust the sensor targets as needed, or, after calibration, to move into storage or charging positions.