AI-Enabled Predictive Maintenance Framework for Autonomous Mobile Cleaning Robots
| Autor: | Sathian Pookkuttath, RAJESH ELARA MOHAN, Balakrishnan Ramalingam, Vinu Sivanantham |
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| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: |
Chemical technology
vibration source classification deep learning Robotics TP1-1185 artificial intelligence Vibration Biochemistry Article Atomic and Molecular Physics and Optics mobile cleaning robot predictive maintenance 1D CNN Analytical Chemistry Electrical and Electronic Engineering Instrumentation Algorithms |
| Zdroj: | Sensors, Vol 22, Iss 13, p 13 (2022) Sensors; Volume 22; Issue 1; Pages: 13 Sensors (Basel, Switzerland) |
| ISSN: | 1424-8220 |
| Popis: | Vibration is an indicator of performance degradation or operational safety issues of mobile cleaning robots. Therefore, predicting the source of vibration at an early stage will help to avoid functional losses and hazardous operational environments. This work presents an artificial intelligence (AI)-enabled predictive maintenance framework for mobile cleaning robots to identify performance degradation and operational safety issues through vibration signals. A four-layer 1D CNN framework was developed and trained with a vibration signals dataset generated from the in-house developed autonomous steam mopping robot ‘Snail’ with different health conditions and hazardous operational environments. The vibration signals were collected using an IMU sensor and categorized into five classes: normal operational vibration, hazardous terrain induced vibration, collision-induced vibration, loose assembly induced vibration, and structure imbalanced vibration signals. The performance of the trained predictive maintenance framework was evaluated with various real-time field trials with statistical measurement metrics. The experiment results indicate that our proposed predictive maintenance framework has accurately predicted the performance degradation and operational safety issues by analyzing the vibration signal patterns raised from the cleaning robot on different test scenarios. Finally, a predictive maintenance map was generated by fusing the vibration signal class on the cartographer SLAM algorithm-generated 2D environment map. |
| Databáze: | OpenAIRE |
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