Robot localization in a workspace via detection of a datum

An apparatus comprising:

• a robot localization controller configured to determine spatial location of a robot within a robotic cell relative to a workspace object in the robotic cell, the robot being apart from the workspace object and configured to be movable relative to the workspace object, the robot localization controller structured to:
• receive position data from a position finder;
• form a point cloud centric to the position finder from the position data when the workspace object is apart from the robot;
• identify a datum in the point cloud through use of object recognition applied to the position information signal obtained from the point cloud, the datum being apart from the robot such that the robot is configured to be movable relative to the datum;
• and apply coordinate transformation using the datum to identify and convert particular points in the point cloud to determine a position of the robot relative to the workspace object when the workspace object is apart from the robot through use of information generated as a result of identifying the datum in the point cloud through object recognition,
• wherein the robot is capable of moving independently of the workspace object when the workspace object is not engaged with the robot and wherein the workspace object moves with the robot when the workspace object is engaged with the robot, and wherein the robot and the workspace object move independently of the datum when the workspace object is engaged with the robot.

A method comprising:

• moving a robot having a robot object relative to a workspace object;
• capturing an image of a robotic workspace with a position finder, the robotic workspace including the robot object and the workspace object where the robot is structured to be movable relative to the workspace object, the captured image formed when the workspace object is not coupled with the robot object such that the robot object moves relative to the workspace object;
• determining a point cloud centric to the position finder based upon the captured image;
• detecting a datum within the captured image based upon object recognition applied to the point cloud, wherein the datum is not coupled with the robot such that the robot is capable of moving without corresponding movement from the datum;
• and
• applying coordinate transformation using the datum to convert particular points in the point cloud to localize the robot object in the workspace based upon the point cloud and the object recognition,
• wherein the robot object is capable of moving independent of the workspace object when the workspace object is not engaged with the robot having the robot object and wherein the workspace object moves with the robot object when the workspace object is engaged with the robot having the robot object, and wherein the robot object and the workspace object move independent of the datum when the workspace object is engaged with the robot having the robot object.