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A system and method for servoing robot marks using fiducial marks and machine vision provides a machine vision system having a machine vision search tool that is adapted to register a pattern, namely a trained fiducial mark, that is transformed by at least two translational degrees and at least one

A system and method for servoing robot marks using fiducial marks and machine vision provides a machine vision system having a machine vision search tool that is adapted to register a pattern, namely a trained fiducial mark, that is transformed by at least two translational degrees and at least one mon-translational degree of freedom. The fiducial is provided to workpiece carried by an end effector of a robot operating within a work area. When the workpiece enters an area of interest within a field of view of a camera of the machine vision system, the fiducial is recognized by the tool based upon a previously trained and calibrated stored image within the tool. The location of the work-piece is derived by the machine vision system based upon the viewed location of the fiducial. The location of the found fiducial is compared with that of a desired location for the fiducial. The desired location can be based upon a standard or desired position of the workpiece. If a difference between location of the found fiducial and the desired location exists, the difference is calculated with respect to each of the translational axes and the rotation. The difference can then be further transformed into robot-based coordinates to the robot controller, and workpiece movement is adjusted based upon the difference. Fiducial location and adjustment continues until the workpiece is located the desired position with minimum error.

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A system and method for servoing robot marks using fiducial marks and machine vision provides a machine vision system having a machine vision search tool that is adapted to register a pattern, namely a trained fiducial mark, that is transformed by at least two translational degrees and at least one

A system and method for servoing robot marks using fiducial marks and machine vision provides a machine vision system having a machine vision search tool that is adapted to register a pattern, namely a trained fiducial mark, that is transformed by at least two translational degrees and at least one mon-translational degree of freedom. The fiducial is provided to workpiece carried by an end effector of a robot operating within a work area. When the workpiece enters an area of interest within a field of view of a camera of the machine vision system, the fiducial is recognized by the tool based upon a previously trained and calibrated stored image within the tool. The location of the work-piece is derived by the machine vision system based upon the viewed location of the fiducial. The location of the found fiducial is compared with that of a desired location for the fiducial. The desired location can be based upon a standard or desired position of the workpiece. If a difference between location of the found fiducial and the desired location exists, the difference is calculated with respect to each of the translational axes and the rotation. The difference can then be further transformed into robot-based coordinates to the robot controller, and workpiece movement is adjusted based upon the difference. Fiducial location and adjustment continues until the workpiece is located the desired position with minimum error. ually inspect the pill bottle and confirm that the prescription has been properly filled. 6. The method of filling a prescription in claim 1, further comprising the step of having a druggist or technician confirm that the information printed on the label corresponds to the drug dispensed. 7. The method of filling a prescription in claim 1, wherein in step "f" the prescription label is not printed until at about the same time and before the prescription is ready to be filled. 8. The method of filling a prescription in claim 1, further comprising the step of having the robotic arm grip the pill bottle in step "c". 9. The method of filling a prescription in claim 1, wherein the receptacles are positioned in an array having a curved front and the robotic arm rotates to access the receptacles. 10. The method of filling a prescription in claim 1, wherein the counter is controlled with a computer. 11. The method of filling a prescription in claim 1, wherein, after placing the bulk container on the counter, the pill bottle is moved from a pill bottle dispenser to a label printer and applier wherein the prescription label is printed and affixed to the pill bottle. 12. The method of filling a prescription in claim 1, further comprising the step of moving the pill bottle with the robotic arm to a conveyor after pill bottle has been filled. 13. The method of filling a prescription in claim 1, wherein in step "f " the label includes drug and quantity information. 14. The method of filling a prescription in claim 13, wherein in step "f" the label includes additional information beyond drug and quantity information. 15. The method of filling a prescription in claim 14, wherein in step "f" the additional information at least includes a patient name, doctor name, and instructions. 16. A method of filling a prescription comprising the steps of: a) providing a filling workstation area that includes a shelving unit and plurality of bulk containers on the shelving unit, the shelving unit having a plurality of receptacles for holding respective bulk containers, each bulk container holding a bulk amount of pills to be dispensed, each container including indicia identifying the container or pills contained therein; b) having a printer located inside the filling workstation area for printing a prescription label; c) receiving a record of prescription information from a computer for a prescription to be filled, the record including at least drug and quantity information; d) providing a pill bottle of a selected size to the workstation area and next to the printer using a computer-controller robotic arm; e) selecting one of the bulk containers, verifying that the selected bulk container includes pills corresponding to the prescription to be filled and, using the robotic arm to grasp the bulk container, removing the bulk container from its respective receptacle and placing the container on a pill counter; f) having the printer print a prescription label for the prescription to be filled; g) placing the prescription label on the pill bottle while inside the filling workstation area and before step "h"; and h) wherein, only if verification in step "e" is confirmed, proceeding to dispense the correct number of pills from the bulk container into the pill bottle. 17. The method of filling a prescription in claim 16, wherein in step "h" if the verification is not confirmed preventing the dispensing of pills from the bulk container into the pill bottle. 18. The method of filling a prescription in claim 16, wherein the indicia on the selected container is a bar code indicia and step "e's" verification includes scanning the bar code indicia. 19. The method of filling a prescription in claim 16, wherein in step "h" a computer controls dispensing of the correct number of pills. 20. The method of filling a prescription in claim 16, wherein in step "f" a computer controls printing of the label and at least part of the information for the label is obtained from the record of prescription information. 21. The method of filling a prescription in claim 16, further comprising the step of having a druggist or technician visually inspect the pill bottle and confirm that the prescription has been properly filled. 22. The method of filling a prescription in claim 16, further comprising the step of having a druggist or technician confirm that the information printed on the label corresponds to the drug dispensed. 23. The method of filling a prescription in claim 16, wherein in step "f" the prescription label is not printed until at about the same time and before the prescription is ready to be filled. 24. The method of filling a prescription in claim 16, further comprising the step of having the robotic arm grip the pill bottle in step "d". 25. The method of filling a prescription in claim 16, wherein the receptacles are positioned in an array having a curved front and the robotic arm rotates to access the receptacles. 26. The method of filling a prescription in claim 16, wherein the counter is controlled with a computer. 27. The method of filling a prescription in claim 16, wherein, after placing the bulk container on the counter, the pill bottle is moved from a pill bottle dispenser to a label printer and applier wherein the prescription label is printed and affixed to the pill bottle. 28. The method of filling a prescription in claim 16, further comprising the step of moving the pill bottle with the robotic arm to a conveyor after it-has been filled. 29. The method of filling a prescription in claim 16, wherein in step "f" the label includes drug and quantity information. 30. The method of filling a prescription in claim 29, wherein in step "f" the label includes additional information beyond drug and quantity information. 31. The method of filling a prescription in claim 30, wherein in step "f" the additional information at least includes a patient name, doctor name, and instructions. 32. A method of automatically filling a prescription using a station that includes a label printer and applier, a plurality of containers and a plurality of receptacles for holding the containers, each container enabling a number of pills to be dispensed therefrom, a counter, a pill bottle dispenser, and a robot for moving said pill bottles and said containers within said station, said method comprising automatically: moving a selected container to said counter; moving a selected pill bottle from said pill bottle dispenser to said printer and applier; printing and applying a label to said selected pill bottle; moving the labeled pill bottle to said counter; dispensing a number of pills from said selected container to said labeled pill bottle; removing said labeled pill bottle from said counter; and removing said selected container from said counter. 33. The method of claim 32 additionally comprising counting a predetermined number of pills into a chute, and wherein said dispensing includes opening a door of said chute to enable said pills to travel in said pill bottle. 34. The method of claim 32 additionally comprising moving a cassette to a replenishment-out port. 35. The method of claim 34 additionally comprising scanning a bar code on a cassette in a replenish-in port, and moving the cassette from the replenish-in port to a storage receptacle based on the scanned information. 36. A method of automatically filling a prescription comprising automatically: moving a selected container between its receptacle and a counter; moving a selected pill bottle among a pill bottle dispenser, a label and applier, said counter, and an output conveyor; printing and applying a label to said selected pill bottle with said label and applier; and dispensing a number of pills from said selected container to said labeled pill bottle with said counter. 330; US-5423708, 19950600, Allen, 446/356; US-6012962, 20000100, Arriola, 446/376; US-6206324, 20010300, Smith, 244/072; US-6238264, 20010500, Kazami et al., 446/356