Autonomous Floor and Staircase Cleaning Framework by Reconfigurable sTetro Robot with Perception Sensors
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Autonomous Floor and Staircase Cleaning Framework by Reconfigurable sTetro Robot with Perception Sensors Anh Vu Le1,2 · Phone Thiha Kyaw3 · Rajesh Elara Mohan4 · Sai Htet Moe Swe4 · Ashiwin Rajendran5 · Kamalesh Boopathi5 · Nguyen Huu Khanh Nhan2 Received: 25 May 2020 / Accepted: 27 October 2020 © Springer Nature B.V. 2020
Abstract Cleaning multi-storey buildings need to be considered while developing autonomous service robots. In this paper, we introduce a novel reconfigurable platform called sTetro with the abilitiesto navigate on the floor as well as to detect then climb the staircase autonomously. To this end, an operational framework for this cleaning robot that leverages on customized deep convolution neural network (DCNN) and the RGBD camera to locate staircases in the 3D prebuilt map and then to plan trajectories by maximizing area coverage for both floor and staircase in the multi-storey environments is proposed. While building a 3D map, the staircase location is identified at the 3D point close to the center of the staircase first step using a contour detection algorithm from the boundary of the detected staircase by DCNN. The robot follows the planned trajectory to clear the floor then approaching the staircase location accurately to execute the climbing mode while cleaning the staircase to reach the next floor. The proposed methods archive the high accuracy in identifying the presence of the different staircase types, and the first step locations. Moreover, the multi-storey building evaluations have demonstrated the efficiency of the sTetro in terms of the area coverage both staircase and floor free space. Keywords Reconfiguration robotics · Perception sensor fusion · Staircase cleaning robot · Kinematic design · Coverage path planning
1 Introduction Robot is vital for automation of various tasks and has revolutionized many fields in the 21st century. They are extremely precise and efficient in doing tasks which are tedious or burden to human. One such type of robot becoming increasingly important is cleaning robots, programmed to work autonomously or semi-autonomously in both indoor and outdoor environments [1–3]. These robots have vast potential to enhance productivity in cleaning tasks of both domestic and commercial settings This research is supported by the National Robotics Programme under its Robotics Enabling Capabilities and Technologies (Funding Agency Project No. 192 25 00051), National Robotics Programme under its Robot Domain Specific (Funding Agency Project No. 192 22 00058) and administered by the Agency for Science, Technology and Research. Nguyen Huu Khanh Nhan
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and have witnessed a steep rise over the last two decades. It is estimated that between 2015 and 2021, about 25.2 million robotic cleaning units would be sold worldwide, and the market value could be reached to 4.34 billion USD by 2023 [4]. Multi-storey buildings are accessible infrastructures in our modern society. However
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