One of the first project activities (WP2) has been the identification of the user & manufacturer requirements. After defining the requirements, the conceptual design of the FLOBOT and the docking station was prepared. In parallel, issues related to safety, standards, risk analysis & future certification of the FLOBOT were also examined (WP3). Regarding hardware development, first a preliminary robot prototype was prepared. This, Prototype Zero (PT0), was used for several tests. Based on the interfaces defined and on the sensors selected, the CAD of the mobile platform and the docking station was prepared. This was used to build the first operational robot prototype (PT1) and the first prototype of the docking station. The PT1 went through several upgrades after the various testing phases of the project. In terms of software development (WP5), all modules were successfully delivered. The navigation & mapping module functionality is based both on a 3D Lidar and on conventional odometry. Visual floor inspection (for cleanliness) is based on data gathered either by the RGBD-camera or the stereo setup. A friendly user interface has also been prepared. This runs on an Android tablet. Regarding the proactive safety module development, this has also been finalized, as well as the software module responsible for interfacing to ERPs or similar legacy systems.
All modules were integrated on the final robot version and the robot was first tested in the lab (WP6) and then used for field validations in 2018. First real-world tests took place in FIMAP’s warehouse. Then, the robot was used for real-world testing in a Carrefour supermarket, in the Lyon airport, in a private cargo warehouse and in the Imola hospital.
FLOBOT has also been quite active in terms of dissemination activities (WP8). It has been presented in several events, including different editions of the IROS conference and the ISSA-Interclean exhibition. Information about the project was published in several newspapers and magazines. The project website & social accounts are regularly updated. A business plan has been successfully prepared and the industrial partners are working towards exploitation of the project results.
Main results include:
TRL 8: ERP interfacing module, qualified and ready for commercial exploitation
TRL 7: Robot hardware, mapping & navigation modules, human tracking module, tablet GUI, proactive safety module, Object & dirt detection modules, docking station & procedure. All of them are ready for exploitation by the commercial partners, requiring relatively small effort for optimisation and full qualification
TRL 6: Environment reasoning module. Module successfully tested. Requires further testing and optimisation before reaching the market, even though, this is an optional module that will not hinder commercialisation of the main FLOBOT system
