Robotic sample preparation system for diagnostic testing with automated position learning
An automated apparatus can provide pre-analytical processing of samples, racking and forwarding to an adjacent analyzer for analysis. The apparatus may have a controller that implements an auto-learn process to teach robotic handlers the locations within the workspace(s) of the apparatus. A robotic sample handler may include a sensor configured to generate a detection signal when in a near vicinity of a fiducial beacon in the workspace of the apparatus for biological sample preparation, preprocessing and/or diagnostic assay performed by one or more analyzers of the automated apparatus. The controller may control the robotic sample handler to conduct a search pattern so that a location of the fiducial beacon may be detected and thereafter calculated to obtain a more accurate location of the beacon. The calculated positions may then serve as a basis for the controlled movement of samples by the robot to and from locations of the workspace.
1 . A system comprising:
a robot configured to move in a workspace;
a sensor configured to generate a field detection signal when in a signal field provided by a fiducial beacon, wherein the sensor is adapted to couple with the robot; and
one or more processors configured to:
control the robot to move in a search pattern in the workspace, wherein the search pattern comprises a first movement traversing the workspace in a first direction and a second movement traversing the workspace in a second direction different from the first direction;
receive, during the first movement of the search pattern, a first field detection signal from the sensor;
determine, based on the first field detection signal, a first count on a first axis correlating with a location of a first detection of the fiducial beacon in the workspace during the first movement;
record a first encoder count for the location of the first detection;
receive, during the second movement of the search pattern, a second field detection signal from the sensor;
determine, based on the second field detection signal, a second count on the first axis correlating with a location of a second detection of the fiducial beacon in the workspace during the second movement;
record a second encoder count for the location of the second detection; and
determine, based on the first encoder count and the second encoder count, a third encoder count on the first axis correlating with a location of the fiducial beacon on the first axis in the workspace.
2 . The system of claim 1 , wherein the search pattern further comprises a third movement traversing the workspace in a third direction and a fourth movement traversing the workspace in a fourth direction different from the third direction, and wherein the one or more processors are further configured to:
receive, during the third movement of the search pattern, a third field detection signal from the sensor;
determine, based on the third field detection signal, a fourth count on a second axis correlating with a location of a third detection of the fiducial beacon in the workspace during the third movement;
record a fourth encoder count for the location of the third detection;
receive, during the fourth movement of the search pattern, a fourth field detection signal from the sensor;
determine, based on the fourth field detection signal, a fifth count on the second axis correlating with a location of a fourth detection of the fiducial beacon in the workspace during the fourth movement; and
record a fifth encoder count for the location of the fourth detection;
determine, based on the fourth encoder count and the fifth encoder count, a sixth encoder count on the second axis correlating with a location of the fiducial beacon on the second axis in the workspace.
3 . The system of claim 2 , wherein the third encoder count and the sixth encoder count correspond to x and y coordinates, respectively, of the location of the fiducial beacon in the workspace.
4 . The system of claim 3 , wherein the one or more processors are further configured to control the robot to move to predetermined locations in the workspace based on the x and y coordinates of the location of the fiducial beacon in the workspace.
5 . The system of claim 2 , wherein the third encoder count is a first average count calculated by averaging the first encoder count and the second encoder count, and wherein the sixth encoder count is a second average count calculated by averaging the fourth encoder count and the fifth encoder count.
6 . The system of claim 5 , wherein the search pattern comprises a detection of a plurality of fiducial beacons in the workspace, and wherein the one or more processors are further configured to:
calculate coordinates of locations of the plurality of fiducial beacons; and
control the robot to move to predetermined locations in the workspace based on the calculated coordinates of the locations of the plurality of fiducial beacons in the workspace.
7 . The system of claim 2 , wherein the first encoder count and the second encoder count are produced by a first encoder of a first motor of the robot.
8 . The system of claim 7 , wherein the fourth encoder count and the fifth encoder count are produced by a second encoder of a second motor of the robot.
9 . The system of claim 2 , wherein the search pattern further comprises an additional movement to return the robot to the location of the fiducial beacon on the first axis, wherein the additional movement occurs after the first movement and the second movement, and wherein the additional movement occurs before the third movement and the fourth movement.
10 . The system of claim 9 , wherein the first movement, the second movement, and the additional movement are perpendicular to the third movement and the fourth movement.
11 . The system of claim 1 , wherein the fiducial beacon produces a magnetic field or includes a magnetic material.
12 . The system of claim 1 , wherein the sensor is a Hall-effect sensor.
13 . The system of claim 1 , wherein the robot is a gripper robot.
14 . The system of claim 13 , wherein the sensor is adapted as a removeable sensor for insertion into a gripper of the robot during the search pattern.
15 . The system of claim 1 , wherein the first direction is opposite the second direction.
16 . A non-transitory computer readable storage medium having instructions stored thereon that, when executed by one or more processors, cause the one or more processors to:
control a robot to move in a search pattern in a workspace, wherein the robot comprises a sensor configured to generate a field detection signal when in a signal field provided by a fiducial beacon, and wherein the search pattern comprises a first movement in a first direction traversing the workspace and a second movement traversing the workspace in a second direction different from the first direction;
receive, during the first movement of the search pattern, a first field detection signal from the sensor;
determine, based on the first field detection signal, a first count on a first axis correlating with a location of a first detection of the fiducial beacon during the first movement;
record a first encoder count for the location of the first detection;
receive, during the second movement of the search pattern, a second field detection signal from the sensor;
determine, based on the second field detection signal, a second count on the first axis correlating with a location of a second detection of the fiducial beacon during the second movement;
record a second encoder count for the location of the second detection; and
determine, based on the first count and the second count, a third encoder count on the first axis correlating with a location of the fiducial beacon on the first axis.
17 . The non-transitory computer readable storage medium of claim 16 , wherein the search pattern further comprises a third movement traversing the workspace in a third direction and a fourth movement traversing the workspace in a fourth direction different from the third direction, and wherein the instructions further cause the one or more processors to:
receive, during the third movement of the search pattern, a third field detection signal from the sensor;
determine, based on the third field detection signal, a fourth count on a second axis correlating with a location of a third detection of the fiducial beacon during the third movement;
record a fourth encoder count for the location of the third detection;
receive, during the fourth movement of the search pattern, a fourth field detection signal from the sensor;
determine, based on the fourth field detection signal, a fifth count on the second axis correlating with a location of a fourth detection of the fiducial beacon during the fourth movement;
record a fifth encoder count for the location of the fourth detection; and
determine, based on the fourth count and the fifth count, a sixth encoder count on the second axis correlating with a location of the fiducial beacon on the second axis.
18 . A method comprising:
controlling, with one or more processors, a robot to move in a search pattern in a workspace, wherein the robot comprises a sensor configured to generate a field detection signal when in a signal field provided by a fiducial beacon, and wherein the search pattern comprises a first movement traversing the workspace in a first direction and a second movement traversing the workspace in a second direction different from the first direction;
receiving, with the one or more processors, during the first movement of the search pattern, a first field detection signal from the sensor;
determining, with the one or more processors, based on the first field detection signal, a first count on a first axis correlating with a location of a first detection of the fiducial beacon during the first movement;
record a first encoder count for the location of the first detection;
receiving, with the one or more processors, during the second movement of the search pattern, a second field detection signal from the sensor;
determining, with the one or more processors, based on the second field detection signal, a second count on the first axis correlating with a location of a second detection of the fiducial beacon during the second movement;
record a second encoder count for the location of the second detection; and
determining, with the one or more processors, based on the first count and the second count, a third encoder count on the first axis correlating with a location of the fiducial beacon on the first axis.
19 . The method of claim 18 , wherein the search pattern further comprises a third movement traversing the workspace in a third direction and a fourth movement in a fourth direction traversing the workspace different from the third direction, and wherein the method further comprises:
receiving, with the one or more processes, during the third movement of the search pattern, a third field detection signal from the sensor;
determining, with the one or more processes, based on the third field detection signal, a fourth count on a second axis correlating with a location of a third detection of the fiducial beacon during the third movement;
record a fourth encoder count for the location of the third detection;
receiving, with the one or more processes, during the fourth movement of the search pattern, a fourth field detection signal from the sensor;
determining, with the one or more processes, based on the fourth field detection signal, a fifth count on the second axis correlating with a location of a fourth detection of the fiducial beacon during the fourth movement;
record a fifth encoder count for the location of the fourth detection; and
determining, with the one or more processes, based on the fourth encoder count and the fifth encoder count, a sixth encoder count on the second axis correlating with a location of the fiducial beacon on the second axis.