An Algorithm for Determining the Coordinates of a Test Tube by a Robotic Aliquoting System Based on a Combination of the Hough Method and a Result Filtering Algorithm
摘要
The article considers the problem of determining the position of test tubes in a tripod during aliquoting using technical vision. To solve this problem, the Hough circle transformation method was used, supplemented by an algorithm for filtering the obtained values. Experimental investigation of this algorithm have been carried out, which have shown its high accuracy and the possibility of successful application for determining the position of test tubes by a vision system. The results of the investigation show the high efficiency and accuracy of the proposed algorithm in determining the coordinates of a test tube with a biological liquid, which makes it a promising tool for automating the aliquoting process.