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US 11,260,531 B2Granted
End effector calibration assemblies, systems, and methods
AssigneeAdvanced Solutions Life Sciences, LLC
InventorsScott Douglas Cambron, Kyle Eli
Life of this patent
Estimating the term…
Abstract
An end effector calibration assembly includes an electronic controller, a first camera assembly communicatively coupled to the electronic controller, and a second camera assembly communicatively coupled to the electronic controller. A first image capture path of the first camera assembly intersects a second image capture path of the second camera assembly. The electronic controller receives image data from the first camera assembly, receives image data from the second camera assembly, and calibrates a position of the robot end effector based on the image data received from the first camera assembly and the second camera assembly.
Claims14
An end effector calibration assembly, comprising:
- an electronic controller;
- a first camera assembly communicatively coupled to the electronic controller;
- a second camera assembly communicatively coupled to the electronic controller, wherein a first image capture path of the first camera assembly intersects a second image capture path of the second camera assembly, and
- a first backlight assembly positioned in opposition to the first camera assembly so as to direct a first light along the first image capture path;
- and
- a second backlight assembly positioned in opposition to the second camera assembly so as to direct a second light along the second image capture path, wherein the first backlight assembly and the second backlight assembly are communicatively coupled to the electronic controller, and
- wherein the electronic controller:
- receives first image data from the first camera assembly;
- receives second image data from the second camera assembly;
- identifies a particular robot end effector type based on the first image data and second image data received from the first camera assembly and the second camera assembly respectively;
- controls the one or more backlight assemblies to provide a plurality of lighting scenarios for calibration;
- and
- calibrates a position of a robot end effector based on the first image data and second image data received from the first camera assembly, the second camera assembly, and the particular robot end effector type.
10 more elements
An end effector calibration system, comprising:
- an electronic controller;
- a robotic arm communicatively coupled to the electronic controller;
- a robot end effector coupled to an end of the robotic arm;
- a housing comprising a first side wall and a second side wall each defining a port;
- a first camera assembly communicatively coupled to the electronic controller and interchangeably connectable to the housing within the port of the first side wall or the second side wall;
- a second camera assembly communicatively coupled to the electronic controller and interchangeably connectable to the housing within the port of the other of the first side wall or the second side wall;
- a first backlight assembly positioned in opposition to the first camera assembly so as to direct a first light along the first image capture path;
- and
- a second backlight assembly positioned in opposition to the second camera assembly so as to direct a second light along the second image capture path, wherein the first backlight assembly and the second backlight assembly are communicatively coupled to the electronic controller, wherein a first image capture path of the first camera assembly intersects a second image capture path of the second camera assembly, and
- wherein the electronic controller:
- moves the robotic arm such that the robot end effector is positioned within the first image capture path and the second image capture path;
- receives first image data from the first camera assembly;
- receives second image data from the second camera assembly;
- controls the first and second backlight assemblies to provide a plurality of lighting scenarios for calibration;
- and
- calibrates a position of the robot end effector based on the first image data and second image data received from the first camera assembly and the second camera assembly respectively.
13 more elements
A method for calibrating a position of a robot end effector, the method comprising:
- positioning the robot end effector simultaneously within a first image capture path of a first camera assembly and a second image capture path of a second camera assembly with an electronic controller;
- receiving first image data from the first camera assembly and second image data from the second camera assembly;
- identifying a particular robot end effector type based on the first image data received from the first camera assembly and the second image data from the second camera assembly with the electronic controller;
- backlighting the robot end effect with a first backlight assembly positioned in opposition to the first camera assembly so as to direct a first light along the first image capture path and a second backlight assembly positioned in opposition to the second camera assembly so as to direct a second light along the second image capture path;
- controlling the one or more backlight assemblies to provide a plurality of lighting scenarios for calibration with the electronic controller;
- and
- calibrating a position of the robot end effector based on the first image data received from the first camera assembly, the second image data from the second camera assembly, and the particular robot end effector type.
4 more elements
Dependencies are inferred from the claim text.