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Sensor calibration method, device, equipment, system and medium

A calibration method and sensor technology, applied in control/regulation systems, instruments, transportation and packaging, etc., can solve the problems of slow calibration speed, low calibration accuracy, and high labor costs, reduce labor costs, and improve calibration speed and calibration accuracy. , to avoid the effect of manual manual calibration

Pending Publication Date: 2021-04-06
NEOLIX TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This calibration method is not only slow in calibration speed, low in calibration accuracy, but also high in labor costs.

Method used

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  • Sensor calibration method, device, equipment, system and medium
  • Sensor calibration method, device, equipment, system and medium
  • Sensor calibration method, device, equipment, system and medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] figure 1 It is a schematic flow chart of a sensor calibration method provided by Embodiment 1 of the present invention. This embodiment is applicable to the scene of calibrating sensors on automatic driving vehicles produced on the production line. This method can be performed by a sensor calibration device. Can consist of hardware and / or software, and can be integrated into a calibration server. The method specifically includes the following:

[0035] S101. Control at least two unmanned guided vehicles to sequentially transport the vehicles to be calibrated to the calibration room.

[0036] Among them, the Automated Guided Vehicle (Automated Guided Vehicle) is also commonly referred to as the AGV trolley. AGV trolley refers to a transport vehicle that is equipped with automatic guidance devices such as electromagnetic or optical, can travel along the specified guidance path, has safety protection and various transfer functions, and is a transport vehicle that does no...

Embodiment 2

[0056] Figure 2A It is a schematic flowchart of a sensor calibration method provided by Embodiment 2 of the present invention. On the basis of the above embodiments, this embodiment further explains the calibration of the sensor of the vehicle to be calibrated based on the first communication connection. Such as Figure 2A As shown, the method specifically includes:

[0057] S201. Control at least two unmanned guided vehicles to successively transport the vehicles to be calibrated to the calibration room.

[0058] S202. When it is detected that any one of the unmanned guided vehicles travels to the first position in the calibration room, control the first collection device to collect the first identification code of the vehicle to be calibrated, and establish an identification code based on the first identification code. A first communication connection.

[0059] S203. Control the unmanned guided vehicle to carry the vehicle to be calibrated to move, so that the sensor of...

Embodiment 3

[0078] image 3 It is a schematic flowchart of a sensor calibration method provided by Embodiment 3 of the present invention. On the basis of the above embodiments, this embodiment further optimizes the control of at least two unmanned guided vehicles to sequentially transport the vehicles to be calibrated to the calibration room. Such as image 3 As shown, the method specifically includes:

[0079] S301. Control a first unmanned guided vehicle to transport a first vehicle to be calibrated to the calibration room, and control at least one second unmanned guided vehicle to transport a second vehicle to be calibrated to a waiting area of ​​the calibration room.

[0080] Among them, the first unmanned guided vehicle refers to the first AGV car that carries the vehicle to be calibrated, or refers to the first AGV car that arrives at the calibration room;

[0081] Correspondingly, the second unmanned guided vehicle refers to other AGVs other than the first vehicle to be calibrat...

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Abstract

The embodiment of the invention discloses a sensor calibration method, device, equipment, system and medium, which are suitable for an automatic driving vehicle (or called an unmanned vehicle or an unmanned vehicle). The method comprises the steps of: controlling at least two automated guided vehicles to sequentially carry vehicles to be calibrated to a calibration room; and when it is detected that any automated guided vehicle travels to a first position of the calibration room, controlling the first acquisition device to acquire a first identification code of the to-be-calibrated vehicle, establishing a first communication connection according to the first identification code, and calibrating a sensor of the to-be-calibrated vehicle based on the first communication connection. According to the embodiment of the invention, the automatic calibration of the sensor on the automatic driving vehicle is realized, the calibration speed and the calibration precision are improved, and the labor cost is reduced.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of automatic driving, and in particular to a sensor calibration method, device, equipment, system and medium. Background technique [0002] In the field of autonomous driving, commonly used sensors include cameras and radars. Due to the advantages and disadvantages of a single sensor, in order to improve the reliability and stability of self-driving vehicles, multiple sensors such as cameras and radars are often used in conjunction with each other. Before using multiple sensors with each other, each sensor needs to be calibrated. [0003] At present, the calibration of each sensor is mainly realized by manual calibration. The specific method is to manually control the movement of the self-driving vehicle, and during the movement of the vehicle, control the sensors on the vehicle to collect data, and then perform calibration based on the data collected by each sensor. This calibration ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01D18/00
CPCG05D1/0236G05D1/024G05D1/0242G05D1/0246G05D1/0257G05D1/0259G05D1/0223G05D1/0214G05D1/0221G05D1/0276G01D18/00Y02P90/02
Inventor 刘广忠
Owner NEOLIX TECH CO LTD
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