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1.发明申请公开(公告)号：US20210213486A1
公开(公告)日：2021-07-15
申请号：US17058933
申请日：2019-06-12
Applicant: AMGEN INC.
Inventor： Dmitry Fradkin , Thomas C. Pearson , Neelima Chavali , Erwin Freund
Abstract: A robotic inspection platform comprises a robotic arm, an imager, and a controller. The controller causes the robotic arm to retrieve, using its end effector, a container, and to manipulate the container such that the container is sequentially placed in a plurality of orientations while in view of the imager. The controller also causes the imager to capture images, with each of the images being captured while the container is in a respective one of the orientations. The controller also determines one or more attributes of the container, and/or a sample within the container, by analyzing the images using a pattern recognition model and, based on the attribute(s), determines whether the container and/or sample satisfies one or more criteria. If the container and/or sample fails to satisfy the criteria, the controller causes the robotic arm to place the container in an area (e.g., bin) reserved for rejected containers and/or samples.
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公开(公告)号：US10962756B2
公开(公告)日：2021-03-30
申请号：US16709565
申请日：2019-12-10
Applicant: AMGEN INC.
Inventor： Dmitry Fradkin , Graham F. Milne , Thomas Clark Pearson
Abstract: A system is described to facilitate the characterization of particles within a fluid contained in a vessel using an illumination system that directs source light through each vessel. One or more optical elements may be implemented to refract the source light and to illuminate the entire volume of the vessel. As the refracted source light passes through the vessel and interacts with particles suspended in the fluid, scattered light is produced and directed to an imager, while the refracted source light is diverted away from the imager to prevent the source light from drowning out the scattered light. The system can therefore advantageously utilize an imager with a large depth of field to accurately image the entire volume of fluid at the same time, facilitating the determination of the number and size of particles suspended in the fluid.
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公开(公告)号：US20240127540A1
公开(公告)日：2024-04-18
申请号：US18397218
申请日：2023-12-27
Applicant: AMGEN INC.
Inventor： Graham F. Milne , Dmitry Fradkin , Thomas Clark Pearson
IPC: G06T17/20 , G01N15/0227 , G01N15/06 , G06T7/20 , G06T15/06 , G06V10/762 , H04N5/06
CPC classification number: G06T17/20 , G01N15/0227 , G01N15/06 , G06T7/20 , G06T15/06 , G06V10/763 , H04N5/06 , G01N15/075 , G06T2200/08 , G06T2207/30242
Abstract: A method of aligning images for 3D imaging of a sample includes, for each of multiple cameras located around a vessel, activating a respective light source that provides backlighting for the vessel, and capturing a respective 2D calibration image of the vessel. The method also includes, for each 2D calibration image, measuring a respective vertical position, horizontal position, and rotation of the image, in part by detecting edges of the vessel as depicted in the image. The method also includes generating calibration data based on the measured vertical positions, horizontal positions, and rotations for the respective 2D calibration images, capturing, by each camera, a respective set of 2D images of the sample in the vessel, and digitally resampling, using the calibration data, at least one of the respective sets of 2D images to correct for vertical offset, horizontal offset, and rotational offset of the set(s) of 2D images.
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公开(公告)号：US11874233B2
公开(公告)日：2024-01-16
申请号：US18089109
申请日：2022-12-27
Applicant: AMGEN INC.
Inventor： Thomas Clark Pearson , Graham F. Milne , Dmitry Fradkin , Erwin Freund
CPC classification number: G01N21/9027 , G06T7/0004 , H04N23/74 , H04N23/84 , H04N23/90 , G01N2201/06113 , G06T2207/10024 , G06T2207/10152
Abstract: In a method for imaging a container holding a sample, the container is illuminated with a laser sheet of a first color, and one or more images of the container are capturing by a first imager configured to filter out colors other than the first color. Simultaneously with illuminating the container with the laser sheet of the first color, the container is illuminated with light of a second color different than the first color, wherein the light of the second color illuminates at least a majority of an entire volume of the container. One or more additional imagers of the container are captured by a second imager configured to filter out colors other than the second color. The one or more images and the one or more additional images are analyzed to detect particles within, and/or on an exterior surface of, the container.
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公开(公告)号：US20220057336A1
公开(公告)日：2022-02-24
申请号：US17414544
申请日：2019-12-16
Applicant: AMGEN INC.
Inventor： Thomas Clark Pearson , Graham F. Milne , Dmitry Fradkin , Erwin Freund
Abstract: In a method for imaging a container holding a sample, the container is illuminated with a laser sheet that impinges upon the container in a first direction corresponding to a first axis. A plane of the laser sheet is defined by the first axis and a second axis orthogonal to the first axis. The method also includes capturing, by a camera having an imaging axis that is substantially orthogonal to at least the first axis, an image of the container. The method further includes analyzing, by one or more processors, the image of the container to detect particles within, and/or on an exterior surface of, the container.
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Patent Agency Ranking
公开(公告)号：US20190011688A1
公开(公告)日：2019-01-10
申请号：US16113489
申请日：2018-08-27
Applicant: AMGEN INC.
Inventor： Dmitry Fradkin , Graham F. Milne , Thomas Clark Pearson
Abstract: A system is described to facilitate the characterization of particles within a fluid contained in a vessel using an illumination system that directs source light through each vessel. One or more optical elements may be implemented to refract the source light and to illuminate the entire volume of the vessel. As the refracted source light passes through the vessel and interacts with particles suspended in the fluid, scattered light is produced and directed to an imager, while the refracted source light is diverted away from the imager to prevent the source light from drowning out the scattered light. The system can therefore advantageously utilize an imager with a large depth of field to accurately image the entire volume of fluid at the same time, facilitating the determination of the number and size of particles suspended in the fluid.
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公开(公告)号：US11900540B2
公开(公告)日：2024-02-13
申请号：US17616548
申请日：2020-06-02
Applicant: AMGEN INC.
Inventor： Graham F. Milne , Dmitry Fradkin , Thomas Clark Pearson
CPC classification number: G06T17/20 , G01N15/0227 , G01N15/06 , G06T7/20 , G06T15/06 , G06V10/763 , H04N5/06 , G01N2015/0693 , G06T2200/08 , G06T2207/30242
Abstract: A method for 3D imaging of a sample, in a vessel having a longitudinal axis orthogonal to a horizontal plane, includes capturing, by at least three cameras located at different positions around the vessel, respective 2D images of the sample. Each image comprises pixels having associated pixel values. The optical axis of a first camera is inclined or declined at a first angle relative to the horizontal plane, with the first angle being greater than or equal to zero degrees. The optical axis of a second camera is inclined or declined at a second, larger angle relative to the horizontal plane. The method also includes generating a 3D image of the sample based on the pixel values associated with the 2D image pixels, and one or more look-up tables that collectively indicate, for pixels in each image, expected paths for light traversing the vessel and the sample.
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8.发明授权公开(公告)号：US11766700B2
公开(公告)日：2023-09-26
申请号：US17058933
申请日：2019-06-12
Applicant: AMGEN INC.
Inventor： Dmitry Fradkin , Thomas C. Pearson , Neelima Chavali , Erwin Freund
CPC classification number: B07C5/342 , G01N21/9018 , G01N35/0099 , G06N20/00 , G06T7/97 , B07C2501/0063 , G06T2207/20081
Abstract: A robotic inspection platform comprises a robotic arm, an imager, and a controller. The controller causes the robotic arm to retrieve, using its end effector, a container, and to manipulate the container such that the container is sequentially placed in a plurality of orientations while in view of the imager. The controller also causes the imager to capture images, with each of the images being captured while the container is in a respective one of the orientations. The controller also determines one or more attributes of the container, and/or a sample within the container, by analyzing the images using a pattern recognition model and, based on the attribute(s), determines whether the container and/or sample satisfies one or more criteria. If the container and/or sample fails to satisfy the criteria, the controller causes the robotic arm to place the container in an area (e.g., bin) reserved for rejected containers and/or samples.
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公开(公告)号：US11592403B2
公开(公告)日：2023-02-28
申请号：US17414544
申请日：2019-12-16
Applicant: AMGEN INC.
Inventor： Thomas Clark Pearson , Graham F. Milne , Dmitry Fradkin , Erwin Freund
Abstract: In a method for imaging a container holding a sample, the container is illuminated with a laser sheet that impinges upon the container in a first direction corresponding to a first axis. A plane of the laser sheet is defined by the first axis and a second axis orthogonal to the first axis. The method also includes capturing, by a camera having an imaging axis that is substantially orthogonal to at least the first axis, an image of the container. The method further includes analyzing, by one or more processors, the image of the container to detect particles within, and/or on an exterior surface of, the container.
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公开(公告)号：US20220230394A1
公开(公告)日：2022-07-21
申请号：US17616548
申请日：2020-06-02
Applicant: AMGEN INC.
Inventor： Graham F. Milne , Dmitry Fradkin , Thomas Clark Pearson
Abstract: A method for 3D imaging of a sample, in a vessel having a longitudinal axis orthogonal to a horizontal plane, includes capturing, by at least three cameras located at different positions around the vessel, respective 2D images of the sample. Each image comprises pixels having associated pixel values. The optical axis of a first camera is inclined or declined at a first angle relative to the horizontal plane, with the first angle being greater than or equal to zero degrees. The optical axis of a second camera is inclined or declined at a second, larger angle relative to the horizontal plane. The method also includes generating a 3D image of the sample based on the pixel values associated with the 2D image pixels, and one or more look-up tables that collectively indicate, for pixels in each image, expected paths for light traversing the vessel and the sample.
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