Mobile Robot in the Elevator: What Floor Am I On?

Wheeled mobile robots in multiple stories buildings have to use elevator to access arbitrary floor of the building. To do so, the control system must be able to detect and access elevator controls and also determine on which floor the elevator stopped. The paper deals with the latter problem, using...

Full description

Saved in:

Bibliographic Details
Published in:	2022 20th International Conference on Mechatronics - Mechatronika (ME) pp. 1 - 5
Main Authors:	Krejsa, Jiri, Vechet, Stanislav, Chen, Kuo-Shen, Havelka, Martin, Cernil, Martin
Format:	Conference Proceeding
Language:	English
Published:	IEEE 07-12-2022
Subjects:	Bayesian filtering Buildings Data integration elevator floor determination Image processing Information filters measurement Mechatronics mobile robot Neural networks Robot vision systems signal processing
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Description
Summary:	Wheeled mobile robots in multiple stories buildings have to use elevator to access arbitrary floor of the building. To do so, the control system must be able to detect and access elevator controls and also determine on which floor the elevator stopped. The paper deals with the latter problem, using the fusion of relative floor change detected by onboard accelerometer and absolute floor number detected by the processing of elevator information screen panel image acquired by onboard camera. Bayesian filter is used for data fusion and convolution neural network for image processing. Field tests resulted in 97% correct detection.
DOI:	10.1109/ME54704.2022.9983194