文章基本信息

标题：Integration of Navigation, Vision, and Arm Manipulation Towards Elevator Operation for Laboratory Transportation System Using Mobile Robots
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作者：Ali A. Abdulla ; Mohammed M. Ali ; Norbert Stoll 等
期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2017
卷号：11
期号：4
页码：34
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：In the automated environments, mobile robots play animportant role to perform different tasks such as objectstransportation and material handling. In this paper, anew method for a glassy elevator handling system basedon H20 mobile robots is presented to connect distributedlife science laboratories in multiple floors. Variouslabware and tube racks have to be transported to differentworkstations. Locating of elevator door, entry buttondetection, internal buttons recognition, robot armmanipulation, current floor estimation, and elevatordoor status checking are the main operations to realizea successful elevator handling system. The H20 mobilerobot has dual arms where each arm consists of 6 revolutejoints and a gripper. The gripper has two degrees offreedom. Different sensors have been employed with therobot to handle these operations such as Intel RealSenseF200 vision sensor for entry and internal buttons detectionwith position estimation. A pressure sensor is usedfor current floor estimation inside the elevator. Also, anultrasonic proximity distance sensor is utilized for checkingthe elevator door status. Different strategies includingHSL color representation, adaptive binary threshold, opticalcharacter recognition, and FIR smoothing filter havebeen employed for the elevator operations. For pressingoperation, a hand camera base and a new elevator fingermodel are designed. The elevator finger is resolved in away to fit the arm gripper which is used also to manipulatethe labware containers. The Kinematic solution is utilizedfor controlling the arms’ joints. A server/client socketarchitecture with TCP/IP command protocol is used fordata exchange between Multi-Floor System and the H20robot arms. Many experiments were conducted in lifescience laboratories to validate the developed systems.Experimental results prove an efficient performance withhigh success rate under different lightening condition.
关键词：mobile robot; multi-floor; elevator handler;floor estimation; labware transportation system; kinematic;analysis; robotic arm control; object detection and;localization; Intel Real sense F200 sensor