# US 11,340,576 B2 · Method and apparatus for estimating system error of commissioning tool of industrial robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,340,576 B2 - Document ID: US11340576B2 - Status: Granted - Kind: B2 - Application number: 16/584,090 - Filed: 2019-09-26 - Published: 2020-01-16 - Granted: 2022-05-24 - Earliest claimed: 2017-03-27 - Assignees: ABB Schweiz AG - Applicants: ABB Schweiz AG - Inventors: Cheng Li; Hao Gu; Jihuan Tian - Web page: https://patentgrep.com/patent/US11340576B2 ## CPC - G05B 19/401: characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes (G05B19/19 takes precedence) - B25J 9/1692: {Calibration of manipulator} - B25J 9/1697: {Vision controlled systems} - G06F 3/0418: {for error correction or compensation, e.g. based on parallax, calibration or alignment} - G05B 2219/36431: Tv camera in place of tool, on display operator marks points, crosshair - G05B 2219/39045: Camera on end effector detects reference pattern - G05B 2219/40003: Move end effector so that image center is shifted to desired position - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract The present disclosure relates to a method and apparatus for estimating a systematic error of a commissioning tool of an industrial robot, the industrial robot including an operational tool and an application camera, the commissioning tool including a touchscreen and a stylus, the method including: a driving step of driving the operational tool to rotate around a preset rotation axis; a first image obtaining step of obtaining a plurality of first images of the operational tool during rotation; and a first offset calculating step of calculating a first offset of the stylus relative to the operational tool according to the plurality of first images, so as to obtain the systematic error. ## Claims ### Claim 1 A method for estimating a systematic error of a commissioning tool of an industrial robot, the industrial robot comprising an operational tool and an application camera, the commissioning tool comprising a touchscreen and a stylus, the method comprises: driving the operational tool to rotate around a preset rotation axis, wherein, the preset rotation axis is a long axis of the stylus or is parallel to the long axis of the stylus; obtaining a plurality of first images of the operational tool during rotation; and calculating a first offset of the stylus relative to the operational tool according to the plurality of first images, so as to obtain the systematic error. ### Claim 2 (depends on 1) The method according to claim 1, wherein calculating the first offset further comprises: fitting center points of the operational tool on the plurality of first images to an arc; and calculating a radius corresponding to the arc, as the first offset. ### Claim 3 (depends on 2) The method according to claim 2, further comprising: updating the position of the preset rotation axis according to the first offset when the radius is larger than a preset first threshold value or a difference between the last two calculated radiuses is larger than a preset second threshold value; and iteratively driving the operation tool, obtaining the plurality of first images, and calculating the first offset. ### Claim 4 (depends on 1) The method according to claim 1, further comprising: calculating a second offset between a touch frame coordinate system and a display frame coordinate system in the touchscreen according to an image of the stylus. ### Claim 5 (depends on 4) The method according to claim 4, wherein the second offset calculating step further comprises: obtaining a principal point of a commissioning camera; moving the stylus so that in the application camera coordinate system, the long axis of the stylus is in a straight line with the principal point and the straight line is approximately perpendicular to an imaging plane of the commissioning camera; obtaining a second image containing the position of the long axis; and calculating an offset vector of the principal point relative to the long axis according to the second image, as a second offset. ### Claim 6 (depends on 5) The method according to claim 5, further comprising: adjusting the position of the stylus according to the second offset when the second offset is larger than a preset third threshold value or a difference between the last two calculated second offsets is larger than a preset fourth threshold value; and iteratively executing the stylus moving step, the second image obtaining step and the offset vector calculating step. ### Claim 7 (depends on 1) The method according to claim 1, wherein the plurality of first images is obtained by a commissioning camera. ### Claim 8 An apparatus for estimating a systematic error of a commissioning tool of an industrial robot, the industrial robot comprising an operational tool and an application camera, the commissioning tool comprising a touchscreen and a stylus, the apparatus comprises: a driving module arranged to drive the operational tool to rotate around a preset rotation axis, wherein, the preset rotation axis is a long axis of the stylus or is parallel to the long axis of the stylus; a first image obtaining module arranged to obtain a plurality of first images of the operational tool during rotation; and a first offset calculating module arranged to calculate a first offset of the stylus relative to the operational tool according to the plurality of first images, so as to obtain the systematic error. ### Claim 9 (depends on 8) The apparatus according to claim 8, wherein the first offset calculating module further comprises: a fitting module arranged to fit center points of the operational tool on the plurality of first images to an arc; and a radius calculating module arranged to calculate a radius corresponding to the arc, as the first offset. ### Claim 10 (depends on 9) The apparatus according to claim 9, further comprising: a rotation axis updating module arranged to update the position of the rotation axis according to the first offset when the radius is larger than a preset first threshold value or a difference between the last two calculated radiuses is larger than a preset second threshold value. ### Claim 11 (depends on 8) The apparatus according to claim 8, further comprising: a second offset calculating module arranged to calculate a second offset between a touch frame coordinate system and a display frame coordinate system in the touchscreen according to an image of the stylus. ### Claim 12 (depends on 11) The apparatus according to claim 11, wherein the second offset calculating module further comprises: a principal point obtaining module arranged to obtain a principal point of the commissioning camera; a stylus moving module arranged to move the stylus so that in the application camera coordinate system, the long axis of the stylus is in a straight line with the principal point and the straight line is approximately perpendicular to an imaging plane of the commissioning camera; a second image obtaining module arranged to obtain a second image containing the position of the long axis; and an offset vector calculating module arranged to calculate an offset vector of the principal point relative to the long axis according to the second image, as a second offset. ### Claim 13 (depends on 12) The apparatus according to claim 12, further comprising: a stylus position adjusting module arranged to adjust the position of the stylus according to the second offset when the second offset is larger than a preset third threshold value or a difference between the last two calculated second offsets is larger than a preset fourth threshold value. ### Claim 14 (depends on 8) The apparatus according to claim 8, wherein the plurality of first images is obtained by a commissioning camera. ### Claim 15 (depends on 6) The method according to claim 6, wherein the plurality of first images is obtained by the commissioning camera. ### Claim 16 (depends on 3) The method according to claim 3, wherein the plurality of first images is obtained by a commissioning camera. ### Claim 17 (depends on 5) The method according to claim 5, wherein the plurality of first images is obtained by the commissioning camera. ### Claim 18 (depends on 10) The apparatus according to claim 10, wherein the plurality of first images is obtained by a commissioning camera. ### Claim 19 (depends on 13) The apparatus according to claim 13, wherein the plurality of first images is obtained by a commissioning camera. ### Claim 20 (depends on 9) The apparatus according to claim 9, wherein the plurality of first images is obtained by a commissioning camera.