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An Autonomous Robot-Aided Auditing Scheme for Floor Cleaning.

Thejus Pathmakumar1, Manivannan Kalimuthu1, Mohan Rajesh Elara1

  • 1Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore.

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Summary

This study introduces a novel framework for auditing infrastructure cleanliness using mobile robots and an innovative "touch and inspect" audit sensor. The system quantifies cleaning quality via dirt density maps and benchmark scores for effective built environment assessment.

Keywords:
audit robotautonomous cleaning auditcleaning benchmarkdirt driven exploration

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Area of Science:

  • Robotics and Automation
  • Environmental Auditing
  • Infrastructure Maintenance

Background:

  • Assessing cleaning quality in built infrastructure is crucial for hygiene and maintenance.
  • Existing methods for evaluating cleanliness are often subjective or labor-intensive.
  • A quantitative and automated approach is needed to objectively measure cleaning effectiveness.

Purpose of the Study:

  • To develop a novel framework for auditing the cleanliness of built infrastructure.
  • To introduce a mobile robot system capable of performing automated cleaning audits.
  • To establish a quantitative method for assessing cleaning quality.

Main Methods:

  • Development of a novel framework integrating mobile robots and an audit sensor.
  • Implementation of a "touch and inspect" audit sensor to assign location-specific audit scores.
  • Proposal of a vision-based, dirt-probability-driven exploration strategy for robot navigation.
  • Quantification of cleaning quality using dirt density maps and kernel density estimation.

Main Results:

  • A functional framework for auditing infrastructure cleanliness was realized in an in-house developed audit robot.
  • The system effectively estimates cleanliness in various indoor and semi-outdoor environments.
  • Experimental validation confirmed the efficacy of the audit sensor and exploration strategy.

Conclusions:

  • The proposed framework provides a robust solution to objectively quantify "how clean is clean" in built infrastructure.
  • Mobile robots equipped with specialized audit sensors offer an efficient and effective method for cleaning quality assessment.
  • This research advances automated auditing techniques for maintaining built environments.