Designing and Optimization of An Autonomous Vacuum Floor Cleaning Robot

Prayash, H. A. Shakhawat Hossen; Shaharear, Md. Ragib; Islam, Md. Farhanul; Islam, Saiful; Hossain, Noushad; Datta, Shamik

doi:10.1109/raaicon48939.2019.11

Cited by 22 publications

(5 citation statements)

References 3 publications

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“…One of the most essential applications of robotics is in the domain of cleaning. Cleaning is a vital aspect of ensuring good hygiene within an environment for the population [66,67]. Current cleaning procedures and services have adopted cleaning robots to streamline and automate the cleaning procedures.…”

Section: Case Study For Validationmentioning

confidence: 99%

Enhancing Robot Inclusivity in the Built Environment: A Digital Twin-Assisted Assessment of Design Guideline Compliance

Ezhilarasu,

Pey,

Muthugala

et al. 2024

Buildings

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Developing guidelines for designing robot-inclusive spaces has been challenging and resource-intensive, primarily relying on physical experiments and observations of robot interactions within the built environment. These conventional methods are often costly, time-consuming, and labour-intensive, demanding manual intervention. To address these limitations, this study explores the potential of using digital twins as a promising solution to offer detailed insights, reducing the dependence on physical experiments for studying robot-built environment interactions.Although the concept of digital twins is popular in many domains, the use of digital twins for this specific problem has not been explored yet. A novel methodology for assessing existing built environment guidelines by incorporating them as an architectural digital twin asset within robot simulation software is proposed in this regard. By analysing the digital interactions between robots and the architectural digital twin assets in simulations, the compatibility of the environment with robots is evaluated, ultimately contributing to enhancing these guidelines to be robot-inclusive. The ultimate goal is to create environments that are not only inclusive but also readily accessible to Autonomous Mobile Robots (AMRs). With this objective, the proposed methodology is tested on robots of different specifications to understand the robots’ interactions with different architectural digital twin environments and obstacles. The digital twin effectively demonstrates the capability of the proposed approach in assessing the robots’ suitability for deployment in the simulated environments. The gained insights contribute to improved comprehension and strengthen the existing design guidelines.

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Section: Case Study For Validationmentioning

confidence: 99%

Enhancing Robot Inclusivity in the Built Environment: A Digital Twin-Assisted Assessment of Design Guideline Compliance

Ezhilarasu,

Pey,

Muthugala

et al. 2024

Buildings

View full text Add to dashboard Cite

show abstract

“…The remote-controlled robots were controlled through mobile applications via Bluetooth like in [10][11][12], or via Wi-Fi like in [8,13,14]. LIDAR (Light Detection and Ranging) and GPS (Global Positioning System) were incorporated in some of the trash-collecting robots and prototypes [15,16]. A modified YOLOv3 was proposed for garbage detection where the original three-scale detection was changed to two-scale to cope with speedy processing in real-time [17].…”

Section: Related Workmentioning

confidence: 99%

OATCR: Outdoor Autonomous Trash-Collecting Robot Design Using YOLOv4-Tiny

et al. 2021

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This paper proposed an innovative mechanical design using the Rocker-bogie mechanism for resilient Trash-Collecting Robots. Mask-RCNN, YOLOV4, and YOLOv4-tiny were experimented on and analyzed for trash detection. The Trash-Collecting Robot was developed to be completely autonomous as it was able to detect trash, move towards it, and pick it up while avoiding any obstacles along the way. Sensors including a camera, ultrasonic sensor, and GPS module played an imperative role in automation. The brain of the Robot, namely, Raspberry Pi and Arduino, processed the data from the sensors and performed path-planning and consequent motion of the robot through actuation of motors. Three models for object detection were tested for potential use in the robot: Mask-RCNN, YOLOv4, and YOLOv4-tiny. Mask-RCNN achieved an average precision (mAP) of over 83% and detection time (DT) of 3973.29 ms, YOLOv4 achieved 97.1% (mAP) and 32.76 DT, and YOLOv4-tiny achieved 95.2% and 5.21 ms DT. The YOLOv4-tiny was selected as it offered a very similar mAP to YOLOv4, but with a much lower DT. The design was simulated on different terrains and behaved as expected.

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“…In works [15], [16] a genetic algorithm (GA) was applied to solve the coverage path planning problem. However, the target covered area was discretized by discs as a shape of the robot.…”

Section: Related Work 1) Coverage Path Planningmentioning

confidence: 99%

UltraBot: Autonomous Mobile Robot for Indoor UV-C Disinfection

Perminov

Mikhailovskiy

Sedunin

et al. 2021

2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)

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The paper focuses on the development of the autonomous robot UltraBot to reduce COVID-19 transmission and other harmful bacteria and viruses. The motivation behind the research is to develop such a robot that is capable of performing disinfection tasks without the use of harmful sprays and chemicals that can leave residues, require airing the room afterward for a long time, and can cause the corrosion of the metal structures. UltraBot technology has the potential to offer the most optimal autonomous disinfection performance along with taking care of people, keeping them from getting under UV-C radiation. The paper highlights UltraBot's mechanical and electrical structures as well as low-level and high-level control systems. The conducted experiments demonstrate the effectiveness of the robot localization module and optimal trajectories for UV-C disinfection. The results of UV-C disinfection performance revealed a decrease of the total bacterial count (TBC) by 94% on the distance of 2.8 meters from the robot after 10 minutes of UV-C irradiation.

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Designing and Optimization of An Autonomous Vacuum Floor Cleaning Robot

Cited by 22 publications

References 3 publications

Enhancing Robot Inclusivity in the Built Environment: A Digital Twin-Assisted Assessment of Design Guideline Compliance

Enhancing Robot Inclusivity in the Built Environment: A Digital Twin-Assisted Assessment of Design Guideline Compliance

OATCR: Outdoor Autonomous Trash-Collecting Robot Design Using YOLOv4-Tiny

UltraBot: Autonomous Mobile Robot for Indoor UV-C Disinfection

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