|
Feature
|
STANDARD COMMERCIAL
AUTONOMOUS BASE CONFIGURATION
|
|
SKR0001
|
STANDARD
PAT0001 ONLY
CLEAN-ROOM
PAT0006 ONLY
|
PowerBotTM AGV POW0004
|
MapperBotTM
P3d0009
|
AUTONOMOUS
NAVIGATION PACKAGES
|
MOBILEROBOTSinsideTM
Indoor Autonomous
Navigation
|
Optional
|
Yes |
Yes |
Yes |
MOBILEROBOTSoutdoorsTM
Outdoor & Outbuilding
Navigation
|
Optional |
Optional
|
Optional
|
NA
|
|
PHYSICAL
|
|
|
|
Length
|
1.4m
|
59cm
|
85cm
|
44.5cm
|
|
Width
|
1.3m
|
48cm
|
63cm
|
40.0cm
|
|
Height
(body)
|
1.1m
|
38cm
(52 w/ dome)
|
47cm
|
24.5cm
(40 w/laser)
|
|
Body
clearance
|
180mm;
designed to be driven on plowed roads/packed snow.
|
5cm
|
7
cm
|
6.5cm
|
|
Unladen
weight
(at full battery capacity)
|
350kg
|
46kg
|
125kg
|
18kg
|
|
Payload
of base platform with included battery
(other drive ratios
available on large orders)
|
70kg
flat
50kg @ 20% grade
|
40kg
flat
25kg @ 13% grade
|
100kg
flat
60kg 8% grade |
10kg
flat
4kg @13% grade
|
|
CONSTRUCTION
|
|
Body
|
Lightweight
aluminum unibody optimized for protection
from the weather; resistant to
damage from rain, snow, salted roads etc.; -4/+122F
operating environment (-20C to 50C). Equipped
with 4 tow hooks. White reflective cover.
|
2.3mm
CNC fabricated,
painted
aluminum, grey & charcoal standard
|
2.3mm
CNC fabricated,
aluminum
shel, yellow & black, standard
|
1.6mm
CNC fabricated,
painted
aluminum, red & black standard
|
|
IP
rating
|
54
|
44 / 31
|
20
|
20
|
|
Battery access
|
NA
|
Screw
plate
|
Slide-out
tray |
Hinged,
latched access door
|
|
Assembly
|
Allen
hex screws
|
Allen
hex screws
|
Allen
hex screws |
Allen
hex screws
|
|
POWER
|
|
Battery
|
24V
200Ah NiCad
|
24V
sealed, lead-acid
|
24V
sealed, lead-acid |
12V
sealed, lead-acid
|
|
Charge
|
4800
Watt-hr
|
375
watt-hr
|
2160
watt-hr |
252
watt-hr
|
|
Run
time, base platform
|
7
hours
|
3.5 hrs
|
4.5
hr
|
4.5
hrs, swappable
|
|
Recharge
time, manual
|
8
hours for full charge, less for opportunity charge
|
3.5
hrs
|
4.2
hr
|
2.4 hrs
|
|
Auto-charge
station
|
NA
|
Included, 3.2 hrs
|
Optional,
4.2 hr
|
Optional
4.5 hrs
|
|
MOBILITY
|
|
Drive
|
4
wheel drive
|
2-wheel
drive, plus 2 rear & 1 front balancing casters
|
2-wheel
drive, plus 2 rear balancing casters |
2-wheel
drive, plus
rear
balancing caster
|
|
Wheel
composition
|
Pneumatic
rubber tire (tread options)
|
Foam
filled non-marking rubber, hard casters
|
Pneumatic
drive wheels and 19cm casters |
Foam
filled nylon, hard casters
|
|
Drive
Wheel diam.
|
40cm
|
19cm
|
27cm |
19cm
|
|
Drive
Wheel width
|
20cm
|
5cm
|
9cm |
5cm
|
| Suspension |
5cm |
Passive,
2cm /
NA
|
NA |
NA |
|
Steering
|
4
wheel, 360 degree steering, allowing for both 4-wheel
symmetric
Ackermann steering or holonomic movement;
|
Differential
|
Differential
|
Differential
|
|
Gear
ratio
|
1/38.6
|
1/28.9
|
1/22.3 |
1/38.3
|
|
Pushing
force
|
160kg
|
22kg
|
32kg
|
6kg
|
|
Swing
radius
|
83cm
|
29cm
|
54cm
|
32cm
|
|
Turn
radius
|
0
|
0
|
0
|
0
|
|
Translational
speed
max
|
2.2m/sec
(8km/h)
|
1.7
m/sec
|
2.1m/sec |
1.2
m/sec
|
|
Vertical
bump
max
|
17.5cm
|
2cm
|
3cm |
2.5cm
|
|
Traversable
gap
max
|
NA
|
3.5cm
|
8cm |
8.9cm
|
|
Grade
capability, unladen, max
|
40%
grade
|
20%
grade
|
15%
grade |
25%
grade
|
|
Traversable
\
terrains
|
Field,
pavement, warehouse, garage, industrial
|
Wheelchair
accessible
|
Wheelchair
accessible |
Wheelchair
accessible
|
|
SOFTWARE
LICENSES & SERVERS
|
|
Training
FactoryTM,
single license
|
Yes
|
Yes
|
Yes
|
Yes
|
|
MobileSIMTM
server,
single license
|
Optional
|
Optional |
Optional |
Optional |
MOBILEROBOTSinside
Central Server for
fleet control
|
Optional |
Optional |
Optional |
Optional |
|
MobileRobots
SimBankTM
server bank, for
simulating fleets
|
Optional |
Optional |
Optional |
Optional |
|
MOBILEROBOTSinside
Developer Modules
|
Optional
|
Optional
|
Optional
|
Optional
|
|
MANIPULATION
|
|
Arm
|
Optional
|
NA
|
Optional
|
NA
|
|
AUDIO
/ SURVEILLANCE / VISION
|
|
Low-light
Surveillance
|
Optional
Pan-tilt
|
Optional
PTZ
|
Optional
PTZ
|
Optional
PTZ
|
|
Object
detect, tracking
|
Optional
|
Optional
|
Optional
|
Optional
|
|
Speaker
|
Optional
|
High-decibel
speakers
|
Piezo |
Piezo std.,
opt. high decibel
|
|
Microphone
|
NA
|
Optional
|
Optional
|
Optional
|
|
GUIDANCE
SENSORS
|
|
GPS
/ DGPS
|
Optional
|
NA
|
Optional |
NA
|
|
Laser
|
LMS
200 or 220 optional
|
LMS
200 included
|
LMS 200 incl.
|
LMS
200 incl.
|
|
Omni-directional
|
NA
|
Optional
|
Optional |
Optional
|
|
StereoCam
Rangefinder
|
Optional
|
Optional
|
Optional |
Optional
|
|
Bumpers
|
Yes
|
Yes
|
Yes
|
NA
|
|
Ultrasonic
|
NA
|
4
rear, 15° intervals, range 15cm - 5m
|
4 each
side plus 24 @ 10° intervals,
front & rear; range 15cm - 5m
|
NA
|
|
PROPRIOCEPTIVE
(INTERNAL) SENSORS
|
|
Gyro
|
IMU
(Inertial Measurement Unit)
|
Rate
gyro
|
Rate
gyro optional
|
Rate
gyro
|
|
Position
encoders
|
32
tick encoders
|
1000
tick encoders
|
1024
tick encoders |
500
tick encoders
|
|
Temperature
|
Yes
|
Yes
|
Yes
|
Yes
|
|
SENSORS
|
|
Sprinkler
detection
|
NA
|
Optional
|
NA
|
NA
|
|
Motion
detection
|
NA
|
Optional
|
NA
|
NA
|
|
Active
smoke detection
|
NA
|
Optional
|
NA
|
NA
|
|
Directional
heat sensor
|
NA
|
Optional
|
NA
|
NA
|
(Inquitre
for additional and custom sensors)
|
|
USER
INPUT, ASSET TRACKING & CONTROL OPTIONS
|
|
GUI
remote control
|
MOBILEROBOTSoutdoorsTM MobileEyesTM
(indoors)
|
MobileEyes
|
MobileEyes |
MobileEyes
|
|
Tethered
joystick
|
Yes
|
Yes
|
Yes
|
Yes
|
|
Wireless
joystick
|
Optional
|
Optional
|
Optional
|
Optional
|
|
Radio
call button
|
Optional
|
Optional
|
Optional
|
Optional
|
|
Onboard
pushbuttons
|
Optional
|
Optional
|
Optional
|
Optional
|
|
Radio
elevator &
door control
|
Optional
|
Optional
|
Optional
|
Optional
|
|
Barcode
|
Optional
|
Optional
|
Optional
|
Optional
|
|
RFID
|
Optional
|
Optional
|
Optional
|
Optional
|
|
Browser-based
|
Optional
|
Optional
|
Optional
|
Optional
|
|
IR
input sensors
|
NA
|
Optional
|
Optional
|
NA
|
|
ONBOARD
CLIENT PC
|
|
Onboard
computer
|
Capacity
for 5 optional Intel® Pentium® M PCs and Ethernet switch
|
Intel®
Pentium® M PC104+
included
|
Intel®
Pentium® M PC
or PC104+
included |
Intel®
Pentium® M PC104+
included
|
|
Max.
number
cards &
ports
|
3
PC/104+ cards per PC
|
3
PC104+
2 USB
4
serial, 2 available
|
5 PCI
4
(USB1.1) 2 (USB2.0)
2
USB
4
serial, 2 avail.
|
3
PC104+
2 USB
4
serial, 2 avail.
|
|
COMMUNICATIONS
|
|
Wireless
|
Optional
900 MHz radios / 802.11b
|
802.11b/g
radio & antenna included
|
802.11b/g
radio & antenna included |
802.11b/g
radio & antenna included
|
|
ELECTRONICS
|
|
Server
Processor
|
Freescale MPC565
|
Hitachi
SH2 (32-bit)
|
Hitachi H8S |
Hitachi H8S
|
|
Custom
I/O
connections
|
(See
below)
|
8-bit
external I/O bus w/ up to 16 devices + PC104 I/O boards
|
8-bit
external I/O bus w/ up to 16 devices + PCI I/O boards |
8-bit
external I/O bus w/ up to 16 devices + PC104 I/O boards
|
|
Analog/digital
|
10 bit
analog inputs, digital inputs, digital outputs, PWM outputs and analog
outputs, qty and type dependent on expansion board.
|
5 @
0-5 VDC
|
5 @
0-5 VDC |
5 @
0-5 VDC
|
|
Communications
ports
|
Ethernet,
KVM, USB, Firewire, (with optional
computers and boards)
|
4
RS-232 serial ports on microcontroller, 4 RS-232 and 1 Ethernet on
optional embedded computer
|
3 RS-232
serial ports on microcontroller, 4 RS-232 and 1 Ethernet on optional
embedded computer |
3 RS-232
serial ports on microcontroller, 4 RS-232 and 1 Ethernet on optional
embedded computer
|
|
Flash
memory
|
1Gb
|
1Gb
|
1Gb |
1Gb
|
|
Power
switches
|
Keyswitch
|
1 main
|
2 main;
2 auxiliary |
1
main; 2 auxiliary
|
|
CONTROLS,
PORTS AND INDICATORS (side or top panels)
|
|
LCD
display
|
Backlit
w/ multiple menus and selection switches.
|
Backlit
w/ multiple menus and selection switches.
|
NA |
NA
|
|
Reset
pushbutton
|
NA
|
NA
|
Warm
reboot |
Warm
reboot
|
|
Function
pushbutton
|
NA
|
NA
|
Self-test |
Self-test
|
|
Main
power switch
|
