Table Cleaning Task by Human Support Robot Using Deep Learning Technique
This work presents a table cleaning and inspection method using a Human Support Robot (HSR) which can operate in a typical food court setting. The HSR is able to perform a cleanliness inspection and also clean the food litter on the table by implementing a deep learning technique and planner framewo...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-03-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/20/6/1698 |
| _version_ | 1828150501835800576 |
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| author | Jia Yin Koppaka Ganesh Sai Apuroop Yokhesh Krishnasamy Tamilselvam Rajesh Elara Mohan Balakrishnan Ramalingam Anh Vu Le |
| author_facet | Jia Yin Koppaka Ganesh Sai Apuroop Yokhesh Krishnasamy Tamilselvam Rajesh Elara Mohan Balakrishnan Ramalingam Anh Vu Le |
| author_sort | Jia Yin |
| collection | DOAJ |
| description | This work presents a table cleaning and inspection method using a Human Support Robot (HSR) which can operate in a typical food court setting. The HSR is able to perform a cleanliness inspection and also clean the food litter on the table by implementing a deep learning technique and planner framework. A lightweight Deep Convolutional Neural Network (DCNN) has been proposed to recognize the food litter on top of the table. In addition, the planner framework was proposed to HSR for accomplishing the table cleaning task which generates the cleaning path according to the detection of food litter and then the cleaning action is carried out. The effectiveness of the food litter detection module is verified with the cleanliness inspection task using Toyota HSR, and its detection results are verified with standard quality metrics. The experimental results show that the food litter detection module achieves an average of <inline-formula> <math display="inline"> <semantics> <mrow> <mn>96</mn> <mo>%</mo> </mrow> </semantics> </math> </inline-formula> detection accuracy, which is more suitable for deploying the HSR robots for performing the cleanliness inspection and also helps to select the different cleaning modes. Further, the planner part has been tested through the table cleaning tasks. The experimental results show that the planner generated the cleaning path in real time and its generated path is optimal which reduces the cleaning time by grouping based cleaning action for removing the food litters from the table. |
| first_indexed | 2024-04-11T21:45:27Z |
| format | Article |
| id | doaj.art-f6b3fcd715c744b79d8ed0bde0eece27 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-11T21:45:27Z |
| publishDate | 2020-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-f6b3fcd715c744b79d8ed0bde0eece272022-12-22T04:01:26ZengMDPI AGSensors1424-82202020-03-01206169810.3390/s20061698s20061698Table Cleaning Task by Human Support Robot Using Deep Learning TechniqueJia Yin0Koppaka Ganesh Sai Apuroop1Yokhesh Krishnasamy Tamilselvam2Rajesh Elara Mohan3Balakrishnan Ramalingam4Anh Vu Le5Engineering 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, Clemson University, Clemson, SC 29631, USAEngineering 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, SingaporeOptoelectronics Research Group, Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Ho Chi Minh City 700000, VietnamThis work presents a table cleaning and inspection method using a Human Support Robot (HSR) which can operate in a typical food court setting. The HSR is able to perform a cleanliness inspection and also clean the food litter on the table by implementing a deep learning technique and planner framework. A lightweight Deep Convolutional Neural Network (DCNN) has been proposed to recognize the food litter on top of the table. In addition, the planner framework was proposed to HSR for accomplishing the table cleaning task which generates the cleaning path according to the detection of food litter and then the cleaning action is carried out. The effectiveness of the food litter detection module is verified with the cleanliness inspection task using Toyota HSR, and its detection results are verified with standard quality metrics. The experimental results show that the food litter detection module achieves an average of <inline-formula> <math display="inline"> <semantics> <mrow> <mn>96</mn> <mo>%</mo> </mrow> </semantics> </math> </inline-formula> detection accuracy, which is more suitable for deploying the HSR robots for performing the cleanliness inspection and also helps to select the different cleaning modes. Further, the planner part has been tested through the table cleaning tasks. The experimental results show that the planner generated the cleaning path in real time and its generated path is optimal which reduces the cleaning time by grouping based cleaning action for removing the food litters from the table.https://www.mdpi.com/1424-8220/20/6/1698inspectiontable cleaningdeep learningcnnhuman support robotfood litter detection |
| spellingShingle | Jia Yin Koppaka Ganesh Sai Apuroop Yokhesh Krishnasamy Tamilselvam Rajesh Elara Mohan Balakrishnan Ramalingam Anh Vu Le Table Cleaning Task by Human Support Robot Using Deep Learning Technique Sensors inspection table cleaning deep learning cnn human support robot food litter detection |
| title | Table Cleaning Task by Human Support Robot Using Deep Learning Technique |
| title_full | Table Cleaning Task by Human Support Robot Using Deep Learning Technique |
| title_fullStr | Table Cleaning Task by Human Support Robot Using Deep Learning Technique |
| title_full_unstemmed | Table Cleaning Task by Human Support Robot Using Deep Learning Technique |
| title_short | Table Cleaning Task by Human Support Robot Using Deep Learning Technique |
| title_sort | table cleaning task by human support robot using deep learning technique |
| topic | inspection table cleaning deep learning cnn human support robot food litter detection |
| url | https://www.mdpi.com/1424-8220/20/6/1698 |
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