CN107431788B - 视觉系统中的基于图像的托盘对准和管槽定位的方法和系统 - Google Patents

视觉系统中的基于图像的托盘对准和管槽定位的方法和系统 Download PDF

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CN107431788B
CN107431788B CN201680022329.5A CN201680022329A CN107431788B CN 107431788 B CN107431788 B CN 107431788B CN 201680022329 A CN201680022329 A CN 201680022329A CN 107431788 B CN107431788 B CN 107431788B
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tray
coordinate system
camera
tube
markers
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CN107431788A (zh
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张耀仁
P.维斯曼
W.吴
G.迪蒙
B.波拉克
T.陈
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Siemens Healthcare Diagnostics Inc
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Siemens Healthcare Diagnostics Inc
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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

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  • 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)
CN201680022329.5A 2015-02-18 2016-02-16 视觉系统中的基于图像的托盘对准和管槽定位的方法和系统 Active CN107431788B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562117912P 2015-02-18 2015-02-18
US62/117912 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

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CN107431788B true CN107431788B (zh) 2020-12-08

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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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JP6827099B2 (ja) 2016-07-14 2021-02-10 シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレーテッドＳｉｅｍｅｎｓ Ｈｅａｌｔｈｃａｒｅ Ｄｉａｇｎｏｓｔｉｃｓ Ｉｎｃ． サンプルラック撮像データに基づくロボットグリッパーの動的位置調整の方法及び装置
CN117058415A (zh) 2016-10-28 2023-11-14 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
US11940456B2 (en) * 2018-09-11 2024-03-26 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
EP4466681A1 (en) 2021-11-22 2024-11-27 F. Hoffmann-La Roche SA Method and system for operating a laboratory automation system
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
JP7724380B2 (ja) 2022-03-03 2025-08-15 シーメンス・ヘルスケア・ダイアグノスティックス・インコーポレイテッド 診断検査室システム、およびチューブアセンブリを撮像する方法
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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CN107431788A (zh) 2017-12-01
EP3259908A1 (en) 2017-12-27
CA2976936A1 (en) 2016-08-25
US20180045747A1 (en) 2018-02-15
CA2976936C (en) 2023-02-14
JP6657243B2 (ja) 2020-03-04
JP6960980B2 (ja) 2021-11-05
US10725060B2 (en) 2020-07-28
JP2020073891A (ja) 2020-05-14
EP3259908A4 (en) 2018-02-28
EP3259908B1 (en) 2021-07-14
JP2018507407A (ja) 2018-03-15
WO2016133919A1 (en) 2016-08-25

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