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Next Generation
Natural-Features
Based
Autonomous
Guidance
Systems
for AGVs and Robots
If
you manufacture carts, robots or AGVs,
MOBILEROBOTSinside
may make
AUTONOMOUS OPERATION
possible.
VEHICLE REQUIREMENTS
to integrate ARCSinside
- Shaft
Encoder for each drive wheel, suitable for dead reckoning
- Range-finding
sensors such as sonar or laser for obstacle detection (in
some cases, the ARCS laser may also be used for obstacle detection)
- Near
Holonomic Design Preferred (Length similar to width with
drive-wheels centered for near-zero turn radius
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Specifications
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 Hardware |
 Software |
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MECHANICAL
- DIMENSIONS: 20.5 X 20.5 X 39.7cm (8.1
x 8.1 x 15.7 in)
- IP RATING: 51
ELECTRICAL
- 24VDC
Power
- Externally
accessible fuse
- Avg draw approx. 50
Watts
INTELLIGENCE
- Microcontroller Server: Renesas
SH7144-based controller
(specifications)
- Embedded PC with Solid State
Memory (request latest specs )
LED
INDICATORS
- Main
power
- Switched
power outputs
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NAVIGATION
- POSITIONAL REPEATABILITY
ACHIEVABLE:
+/-150mm unaided; +/ -15mm with target; +/-1 mm mechanical
- TYPICAL LOCALIZATION ACCURACY DRIVING
AT 2mps: +/ - 150mm
- TYPICAL FAILURES PER WEEK: <0.5
SOFTWARE
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 Sensors |
Standard Connections
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- SICK LMS200 (indoor) or LMS220
(outdoor) laser rangefinder for map &
localization (details below)
- Rate Gyroscope or Inertial Measurement
Unit
- 3D StereoCam (optional)
SICK
LMS 200 LASER RANGEFINDER
- CONSTRUCTION: anodized, CNC
fabricated, and painted aluminum case
- RANGE: max. 150 m
- with minimum reflectivity 1.8%: 4m
- RESOLUTION: 1 mm at 32 meters
- ACCURACY: +/- 7.5 mm
- ANGULAR RESOLUTION: 100°
Scan: 0.25°/0.5°/1.°, 180° Scan: 0.5°/1.°
configuration using software
- INTERFACE: RS-232 Serial
Interface
- DATA TRANSFER: 38.4 Kbaud
- DIMENSIONS: 155 x 185 156 mm
(WxHxD)
- WEIGHT: 4.5 kg
- POWER CONSUMED: max. 17.5 W
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- 3 switched 5V outputs (2 A each)
- 4 switched 12V outputs (1 A each)
- 3 switched 24V outputs (1 A each)
- 32 digital I/O lines (these go directly
to the computer--we didn't bring out the microcontroller lines)
- 8 12-bit Analog inputs (directly to the
computer--none of the microcontroller lines)
- LCD port (4 rows x 20 characters)/addl.
serial line
- 2 Motors out
- 2 encoders in
- Front/Rear bumpers, 8 in ea
Sonar lines , available, but not brought out
- Microcontroller System Serial port
- Joystick port (2 axis + throttle, 2
buttons)
- 10BaseT/100Base-TX ethernet port
- 2 wireless ethernet antenna ports
(802.11b/g)
- Dedicated Laser connection (power and
serial)
- 24V DC power in
- Emergency stop signalling and
control. (The black box can monitor the estop lines to see
whether an external estop has happened, and is able to throw an estop
if it detects an unsafe situation)
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