A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework
The role of mobile robots for cleaning and sanitation purposes is increasing worldwide. Disinfection and hygiene are two integral parts of any safe indoor environment, and these factors become more critical in COVID-19-like pandemic situations. Door handles are highly sensitive contact points that a...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-06-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/12/3543 |
| _version_ | 1797564363187421184 |
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| author | Balakrishnan Ramalingam Jia Yin Mohan Rajesh Elara Yokhesh Krishnasamy Tamilselvam Madan Mohan Rayguru M. A. Viraj J. Muthugala Braulio Félix Gómez |
| author_facet | Balakrishnan Ramalingam Jia Yin Mohan Rajesh Elara Yokhesh Krishnasamy Tamilselvam Madan Mohan Rayguru M. A. Viraj J. Muthugala Braulio Félix Gómez |
| author_sort | Balakrishnan Ramalingam |
| collection | DOAJ |
| description | The role of mobile robots for cleaning and sanitation purposes is increasing worldwide. Disinfection and hygiene are two integral parts of any safe indoor environment, and these factors become more critical in COVID-19-like pandemic situations. Door handles are highly sensitive contact points that are prone to be contamination. Automation of the door-handle cleaning task is not only important for ensuring safety, but also to improve efficiency. This work proposes an AI-enabled framework for automating cleaning tasks through a Human Support Robot (HSR). The overall cleaning process involves mobile base motion, door-handle detection, and control of the HSR manipulator for the completion of the cleaning tasks. The detection part exploits a deep-learning technique to classify the image space, and provides a set of coordinates for the robot. The cooperative control between the spraying and wiping is developed in the Robotic Operating System. The control module uses the information obtained from the detection module to generate a task/operational space for the robot, along with evaluating the desired position to actuate the manipulators. The complete strategy is validated through numerical simulations, and experiments on a Toyota HSR platform. |
| first_indexed | 2024-03-10T18:57:16Z |
| format | Article |
| id | doaj.art-62a527ee73ea4599b5548c57cc8dcd0b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T18:57:16Z |
| publishDate | 2020-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-62a527ee73ea4599b5548c57cc8dcd0b2023-11-20T04:40:50ZengMDPI AGSensors1424-82202020-06-012012354310.3390/s20123543A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning FrameworkBalakrishnan Ramalingam0Jia Yin1Mohan Rajesh Elara2Yokhesh Krishnasamy Tamilselvam3Madan Mohan Rayguru4M. A. Viraj J. Muthugala5Braulio Félix Gómez6Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, SingaporeEngineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, SingaporeEngineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, SingaporeDepartment of Electrical Engineering, University of Western Ontario, London, ON N6A 3K7, CanadaEngineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, SingaporeEngineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, SingaporeEngineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, SingaporeThe role of mobile robots for cleaning and sanitation purposes is increasing worldwide. Disinfection and hygiene are two integral parts of any safe indoor environment, and these factors become more critical in COVID-19-like pandemic situations. Door handles are highly sensitive contact points that are prone to be contamination. Automation of the door-handle cleaning task is not only important for ensuring safety, but also to improve efficiency. This work proposes an AI-enabled framework for automating cleaning tasks through a Human Support Robot (HSR). The overall cleaning process involves mobile base motion, door-handle detection, and control of the HSR manipulator for the completion of the cleaning tasks. The detection part exploits a deep-learning technique to classify the image space, and provides a set of coordinates for the robot. The cooperative control between the spraying and wiping is developed in the Robotic Operating System. The control module uses the information obtained from the detection module to generate a task/operational space for the robot, along with evaluating the desired position to actuate the manipulators. The complete strategy is validated through numerical simulations, and experiments on a Toyota HSR platform.https://www.mdpi.com/1424-8220/20/12/3543HSRdoor handle cleaninghuman service robotcleaningobject detectiondeep learning |
| spellingShingle | Balakrishnan Ramalingam Jia Yin Mohan Rajesh Elara Yokhesh Krishnasamy Tamilselvam Madan Mohan Rayguru M. A. Viraj J. Muthugala Braulio Félix Gómez A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework Sensors HSR door handle cleaning human service robot cleaning object detection deep learning |
| title | A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework |
| title_full | A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework |
| title_fullStr | A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework |
| title_full_unstemmed | A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework |
| title_short | A Human Support Robot for the Cleaning and Maintenance of Door Handles Using a Deep-Learning Framework |
| title_sort | human support robot for the cleaning and maintenance of door handles using a deep learning framework |
| topic | HSR door handle cleaning human service robot cleaning object detection deep learning |
| url | https://www.mdpi.com/1424-8220/20/12/3543 |
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