Image-based tube slot circle detection for a vision system

    公开(公告)号:US10290090B2

    公开(公告)日:2019-05-14

    申请号:US15551570

    申请日:2016-02-16

    Abstract: Embodiments provide a method of using image-based tube top circle detection that includes extracting, from one of a series of images of a tube tray, a region of interest (ROI) patch having a target tube top circle and boundaries constrained by two dimensional (2D) projections of different types of tube top circle centers. The method also includes calculating an edge gradient magnitude map of the ROI patch and constructing a three dimensional (3D) map of a circle parameter space, each location in the 3D map corresponding to a circle parameter having a center location and a diameter. The method further includes accumulating weighted votes in the 3D map from edge points in the edge gradient magnitude map along edge point gradient directions, determining locations in the 3D map as circle candidates based on the accumulated votes and selecting a target tube top circle based on the greatest accumulated votes.

    APPARATUS AND METHODS FOR ALIGNING A ROBOTIC ARM WITH A SAMPLE TUBE CARRIER

    公开(公告)号:US20240118300A1

    公开(公告)日:2024-04-11

    申请号:US18546163

    申请日:2022-02-10

    CPC classification number: G01N35/0099 B25J9/1697 B25J19/021

    Abstract: Apparatus for robotic arm alignment in an automated sample analysis system includes a robotic arm, a sample tube carrier, a plurality of optical components (including, e.g., one or more cameras), and a controller. The controller is operative to process images received from the optical components to determine a first set of coordinates of a first marker relative to the sample tube carrier and determine a second set of coordinates of a second marker relative to the robotic arm. The controller is further operative to adjust the position of the robotic arm and/or the sample tube carrier in response to an excessive offset between the first and second sets of coordinates. In some embodiments, a positioning tool includes the first and second markers thereon. Methods of robotic arm alignment with a sample tube carrier in an automated sample analysis system are also provided, as are other aspects.

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