|
Feature |
STANDARD COMMERCIAL
AUTONOMOUS BASE CONFIGURATION
|
|
SKR0001
|
PAT0500
|
PowerBotTM
AGV POW0004
|
MapperBotTM
P3d0009
|
AUTONOMOUS
NAVIGATION PACKAGES
|
MotivityTM
Indoor Autonomous
Navigation
|
Optional
|
Yes |
Yes |
Yes |
MotivityTM
with 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
|
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 |
24 NiMH
|
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 1 front and 1 rear 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 |
|
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 |
|
MobileEyes/MobilePlanner,
single license
|
Yes |
Yes |
Yes
|
Yes
|
|
MobileSIMTM
server,
single license
|
Optional
|
Optional |
Optional |
Optional |
Motivity
Central Server for
fleet control
|
Optional |
Optional |
Optional |
Optional |
|
MobileRobots
SimBankTM
server bank, for
simulating fleets
|
Optional |
Optional |
Optional |
Optional |
|
Motivity
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
|
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 of 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 |
Keyswitch
/
E-stop |
Robot
power; 24VDC |
Robot
power; 24VDC;
red
LED indicator |
Robot
power; 12VDC;
red
LED indicator |
|
Radio
power switch |
NA |
NA |
Radio
modem or other
12VDC/5VDC
option |
Radio
modem or other
12VDC
option |
|
Aux
power switch |
NA |
NA |
12VDC
/ 5VDC |
12VDC |
|
Motors
pushbuttons |
Disable |
Disable / enable thru LCD
|
Twin enable/
disable |
Single
enable/
disable |
|
Serial
comm ports |
2,
used by ARIA
PC & customer PC |
NA |
9-pin
RS232 with Rcv and
Xmt LED
indicators |
9-pin
RS232 with Rcv and
Xmt LED
indicators |
|
Joy
drive port |
CANbus |
Yes |
Yes |
Yes. |
|
Charging |
CAN
controlled offboard 24V charger. |
24VDC
charge port & docking |
24VDC
charge port & docking
|
12VDC
charge port & docking |
