Robotic Sensor Target Setup for Faster Vehicle Calibration
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Solution Overview
Problem
Autonomous vehicles face challenges in accurately calibrating sensors due to manufacturing discrepancies and environmental factors, leading to inconsistent sensor readings that can affect their understanding of surroundings and potentially result in safety risks.
Innovation Solution
A dynamic calibration scene with an automated turntable and mobile robots is used to set up and tear down a calibration environment, allowing for efficient and comprehensive calibration of vehicle sensors by rotating the vehicle to different orientations and using sensor targets to correct for intrinsic and extrinsic properties.
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 configures the calibration environment based on detected vehicle positions and orientations.
Solution Approach 2:
Manual mechanical operations of setting up calibration targets and equipment are replaced by an automated robotic system with navigation capabilities, sensors, and programmable control logic that autonomously positions and configures calibration elements.
2Measurement precision
If comprehensive calibration covering multiple orientations is performed, then measurement precision improves, but time consumption increases
Solution Approach 1:
The calibration system dynamically adapts the calibration process based on real-time conditions. The robotic device can adjust target positions, orientations, and sequences dynamically, and the system optimizes calibration pathways and configurations to achieve comprehensive coverage more efficiently.
Solution Approach 2:
The system performs preliminary positioning and configuration actions before the actual calibration measurement phase. The robotic device pre-positions calibration targets at optimal locations and orientations, and pre-configures sensor arrays to minimize adjustment time during the calibration execution.
3Reliability
If calibration environment is permanently installed, then consistency improves, but space requirements and setup flexibility worsen
Solution Approach 1:
The calibration environment transitions from static permanent installation to dynamic portable deployment. The robotic device enables the calibration system to be moved, repositioned, and reconfigured as needed, maintaining consistency through automated reproduction of calibration conditions at different locations.
Solution Approach 2:
The calibration environment is divided into modular components that can be independently deployed and positioned by the robotic device. Calibration targets, sensors, and support structures are segmented into discrete units that can be assembled and disassembled while maintaining precise relative positioning through automated control.
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.