In the automated environments, mobile robots play an
important role to perform different tasks such as objects
transportation and material handling. In this paper, a
new method for a glassy elevator handling system based
on H20 mobile robots is presented to connect distributed
life science laboratories in multiple floors. Various
labware and tube racks have to be transported to different
workstations. Locating of elevator door, entry button
detection, internal buttons recognition, robot arm
manipulation, current floor estimation, and elevator
door status checking are the main operations to realize
a successful elevator handling system. The H20 mobile
robot has dual arms where each arm consists of 6 revolute
joints and a gripper. The gripper has two degrees of
freedom. Different sensors have been employed with the
robot to handle these operations such as Intel RealSense
F200 vision sensor for entry and internal buttons detection
with position estimation. A pressure sensor is used
for current floor estimation inside the elevator. Also, an
ultrasonic proximity distance sensor is utilized for checking
the elevator door status. Different strategies including
HSL color representation, adaptive binary threshold, optical
character recognition, and FIR smoothing filter have
been employed for the elevator operations. For pressing
operation, a hand camera base and a new elevator finger
model are designed. The elevator finger is resolved in a
way to fit the arm gripper which is used also to manipulate
the labware containers. The Kinematic solution is utilized
for controlling the arms’ joints. A server/client socket
architecture with TCP/IP command protocol is used for
data exchange between Multi-Floor System and the H20
robot arms. Many experiments were conducted in life
science laboratories to validate the developed systems.
Experimental results prove an efficient performance with
high success rate under different lightening condition.
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