US 11,999,066 B2
Robotics calibration in a lab environment
Jeff Washington, Round Rock, TX (US); Geoffrey J. Budd, Redwood City, CA (US); Nikhita Singh, Palo Alto, CA (US); Jake Sganga, Los Angeles, CA (US); and Alexander Li Honda, Sunnyvale, CA (US)
Assigned to Artificial, Inc., Palo Alto, CA (US)
Filed by Artificial, Inc., Palo Alto, CA (US)
Filed on Aug. 2, 2021, as Appl. No. 17/392,125.
Claims priority of provisional application 63/060,974, filed on Aug. 4, 2020.
Prior Publication US 2022/0040863 A1, Feb. 10, 2022
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); G01N 35/00 (2006.01); G01N 35/04 (2006.01); G06F 3/04812 (2022.01); G06F 3/04815 (2022.01); G06F 3/04842 (2022.01); G06F 40/10 (2020.01); G06F 40/40 (2020.01); G06N 20/00 (2019.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06T 7/73 (2017.01); G06T 7/80 (2017.01)
CPC B25J 9/1671 (2013.01) [B25J 9/1605 (2013.01); B25J 9/163 (2013.01); B25J 9/1653 (2013.01); B25J 9/1658 (2013.01); B25J 9/1661 (2013.01); B25J 9/1679 (2013.01); B25J 9/1692 (2013.01); B25J 9/1697 (2013.01); B25J 13/089 (2013.01); B25J 19/023 (2013.01); G01N 35/0099 (2013.01); G06F 3/04812 (2013.01); G06F 3/04815 (2013.01); G06F 3/04842 (2013.01); G06F 40/10 (2020.01); G06F 40/40 (2020.01); G06N 20/00 (2019.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06T 7/80 (2017.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
accessing, via a camera within a lab, a first image of a robot arm, the robot arm comprising a visible tag located on an exterior of the robot arm;
determining a position of the robot arm using one or more position sensors within the robot arm;
determining a location of the camera relative to the robot arm based on the determined position of the robot arm and a location of the tag within the first image;
calibrating the camera using the determined location of the camera relative to the robot arm;
after calibrating the camera, accessing, via the camera, a second image of lab equipment, the lab equipment comprising a second visible tag located on an exterior of the lab equipment;
determining, based on a location of the second visible tag within the accessed second image, a location of the lab equipment relative to the robot arm;
determining whether the location of lab equipment relative to the robot arm matches an expected location of the lab equipment; and
in response to determining that the location of lab equipment relative to the robot arm does not match the expected location of the lab equipment, recalibrating the camera using the determined location of the lab equipment and the determined location of the camera relative to the robot arm.