Sample Rack Imaging for Dynamic Specimen Pick-and-Place Order
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Solution Overview
Problem
In medical testing and processing systems, the close spacing of specimen containers in sample racks leads to jams, collisions, and jarring during robotic pick and place operations, causing damage and downtime due to the pre-determined sequential picking and placing algorithms not accounting for differences in size, type, and orientation of specimen containers.
Innovation Solution
A method and system that dynamically determines the sequence of picking or placing specimen containers based on imaging data, including population and configuration data, to adjust the order and ensure accessible target receptacles, reducing the risk of contact and damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If pre-determined sequential picking and placing algorithms are used, then the robotic system operates with simple control logic, but jams, collisions, and specimen damage occur due to close spacing of receptacles
Solution Approach 1:
The system performs preliminary imaging of the sample rack to obtain population data and configuration data before executing pick and place operations. This advance information gathering allows the control algorithm to plan operations that avoid jams and collisions, resolving the contradiction by preparing necessary information in advance rather than reacting to problems during execution
Solution Approach 2:
The control algorithm dynamically adjusts the pick and place sequence based on real-time imaging data about specimen container sizes, types, and orientations. Instead of following a fixed predetermined sequence, the system adapts its operation plan based on the actual rack configuration, improving reliability without requiring overly complex static control logic
2Area of stationary object
If receptacles are tightly spaced to maximize machine footprint usage, then space efficiency is improved, but the risk of jams and collisions during robotic operations increases
Solution Approach 1:
The system uses imaging feedback to continuously monitor the actual positions, sizes, and orientations of specimen containers in the tightly spaced receptacles. This feedback information is fed back to the control algorithm, which adjusts the robotic pick and place operations in real-time to avoid collisions and jams, enabling tight spacing without increasing operational risks
Solution Approach 2:
The control algorithm changes operational parameters such as gripper position, approach angle, and pick sequence based on imaging data about the specific configuration of specimen containers. This dynamic parameter adjustment allows the system to safely operate with tightly spaced receptacles by adapting to the actual spatial constraints revealed by imaging
3Productivity
If fixed pick and place sequences are used, then operation speed is maintained, but specimen damage occurs due to lack of adaptation to varying container characteristics
Solution Approach 1:
The system performs preliminary imaging to obtain configuration data about specimen container characteristics before processing. This advance knowledge allows the control algorithm to plan an optimized pick and place sequence that maintains high speed while avoiding specimen damage, resolving the contradiction by preparing adaptation information in advance rather than slowing down for real-time adjustments during operations
Data Source
AI summary
Methods of operating a gripper are provided. The methods include providing a robot including the gripper, the gripper moveable by the robot and including gripper fingers, providing a sample rack including receptacles accessible by the gripper, at least some of the receptacles adapted to contain specimen containers, providing data, obtained by imaging, regarding the sample rack and the specimen containers therein, and determining, based on the data, an accessible target receptacle for one of a pick operation or a place operation. Apparatus and systems configured to carry out the methods are provided, as are other aspects.