CA2976936C - Image-based tray alignment and tube slot localization in a vision system - Google Patents

Image-based tray alignment and tube slot localization in a vision system Download PDF

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Publication number
CA2976936C
CA2976936C CA2976936A CA2976936A CA2976936C CA 2976936 C CA2976936 C CA 2976936C CA 2976936 A CA2976936 A CA 2976936A CA 2976936 A CA2976936 A CA 2976936A CA 2976936 C CA2976936 C CA 2976936C
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Canada
Prior art keywords
tray
coordinate system
tube
camera
markers
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CA2976936A
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English (en)
French (fr)
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CA2976936A1 (en
Inventor
Yao-Jen Chang
Patrick Wissmann
Wen Wu
Guillaume Dumont
Benjamin Pollack
Terrence Chen
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Siemens Healthcare Diagnostics Inc
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Siemens Healthcare Diagnostics Inc
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Publication of CA2976936A1 publication Critical patent/CA2976936A1/en
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Publication of CA2976936C publication Critical patent/CA2976936C/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00594—Quality control, including calibration or testing of components of the analyser
    • G01N35/00693—Calibration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G01N2035/00742—Type of codes
    • G01N2035/00772—Type of codes mechanical or optical code other than bar code
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G01N2035/00821—Identification of carriers, materials or components in automatic analysers nature of coded information
    • G01N2035/00851—Identification of carriers, materials or components in automatic analysers nature of coded information process control parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/02—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor using a plurality of sample containers moved by a conveyor system past one or more treatment or analysis stations
    • G01N35/04—Details of the conveyor system
    • G01N2035/0401—Sample carriers, cuvettes or reaction vessels
    • G01N2035/0418—Plate elements with several rows of samples
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30024—Cell structures in vitro; Tissue sections in vitro
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Biochemistry (AREA)
  • Pathology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Immunology (AREA)
  • Analytical Chemistry (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
CA2976936A 2015-02-18 2016-02-16 Image-based tray alignment and tube slot localization in a vision system Active CA2976936C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562117912P 2015-02-18 2015-02-18
US62/117,912 2015-02-18
PCT/US2016/018100 WO2016133919A1 (en) 2015-02-18 2016-02-16 Image-based tray alignment and tube slot localization in a vision system

Publications (2)

Publication Number Publication Date
CA2976936A1 CA2976936A1 (en) 2016-08-25
CA2976936C true CA2976936C (en) 2023-02-14

Family

ID=56689051

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2976936A Active CA2976936C (en) 2015-02-18 2016-02-16 Image-based tray alignment and tube slot localization in a vision system

Country Status (6)

Country Link
US (1) US10725060B2 (enExample)
EP (1) EP3259908B1 (enExample)
JP (2) JP6657243B2 (enExample)
CN (1) CN107431788B (enExample)
CA (1) CA2976936C (enExample)
WO (1) WO2016133919A1 (enExample)

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US11241788B2 (en) 2016-07-14 2022-02-08 Siemens Healthcare Diagnostics Inc. Methods and apparatus for dynamic position adjustments of a robot gripper based on sample rack imaging data
CN117253055A (zh) * 2016-10-28 2023-12-19 贝克曼库尔特有限公司 物质准备评估系统
EP3655758B1 (en) 2017-07-19 2024-05-15 Siemens Healthcare Diagnostics, Inc. Stray light compensating methods and apparatus for characterizing a specimen
WO2020055801A1 (en) * 2018-09-11 2020-03-19 Becton, Dickinson And Company Robotic sample preparation system for diagnostic testing with automated position learning
DE102019207137A1 (de) * 2019-05-16 2020-11-19 Boehringer Ingelheim International Gmbh Vorrichtung und Verfahren zur Unterstützung einer manuellen Probenpräparation
CN110501342B (zh) * 2019-08-20 2022-06-07 北京信息科技大学 一种筒子纱纱杆定位视觉检测方法
CN111037559B (zh) * 2019-12-25 2023-03-10 深圳科瑞技术股份有限公司 机器料盘位置快速标定方法、装置及存储介质
EP3916394B1 (en) * 2020-05-29 2025-07-02 Roche Diagnostics GmbH Module for an automated laboratory system
CN114125261A (zh) * 2020-09-01 2022-03-01 深圳迈瑞生物医疗电子股份有限公司 可移动装置运动校准的方法、图像分析装置和分析系统
CN112907666A (zh) * 2021-02-23 2021-06-04 广东省农业科学院设施农业研究所 一种基于rgb-d的托盘位姿估计方法、系统及装置
CN113269829B (zh) * 2021-06-18 2023-04-14 华南农业大学 流水生产线目标定位方法、装置、计算机设备和存储介质
CN113240731B (zh) * 2021-06-28 2021-10-15 浙江华睿科技股份有限公司 托盘中心位置的确定方法、装置、电子设备及存储介质
CN118302803A (zh) 2021-11-22 2024-07-05 豪夫迈·罗氏有限公司 操作实验室自动化系统的方法和系统
CN114252012B (zh) * 2021-12-22 2024-01-16 上海原能细胞生物低温设备有限公司 一种冻存盒孔位的获取方法
EP4231019B1 (en) * 2022-02-17 2024-12-18 Roche Diagnostics GmbH Laboratory system
CN114545430B (zh) * 2022-02-21 2025-03-28 山东亚历山大智能科技有限公司 一种基于激光雷达的托盘位姿识别方法及系统
CN118922867A (zh) 2022-03-03 2024-11-08 美国西门子医学诊断股份有限公司 诊断实验室系统和对管组件进行成像的方法
CN116748859B (zh) * 2023-07-25 2025-01-17 南通大学 一种泵体管道自动调平对接方法及系统
CN117310200B (zh) * 2023-11-28 2024-02-06 成都瀚辰光翼生物工程有限公司 移液点位校准方法及装置、移液控制设备和可读存储介质
CN119722804B (zh) * 2025-02-27 2025-06-10 苏州元脑智能科技有限公司 目标插槽识别方法、装置、设备、介质及产品

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Also Published As

Publication number Publication date
US10725060B2 (en) 2020-07-28
EP3259908A1 (en) 2017-12-27
JP6657243B2 (ja) 2020-03-04
US20180045747A1 (en) 2018-02-15
EP3259908B1 (en) 2021-07-14
CN107431788B (zh) 2020-12-08
EP3259908A4 (en) 2018-02-28
JP2018507407A (ja) 2018-03-15
CN107431788A (zh) 2017-12-01
WO2016133919A1 (en) 2016-08-25
CA2976936A1 (en) 2016-08-25
JP2020073891A (ja) 2020-05-14
JP6960980B2 (ja) 2021-11-05

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