With the outstanding advantages of mobile functions, mobile robots are widely used in industries such as industry, agriculture, medical treatment, and service.
With the continuous improvement of the performance of mobile robots, mobile robots that integrate flexibility, reliability, safety, and scalability have begun to replace humans in dangerous, harsh environment operations and environmental operations beyond human reach, and the application range of mobile robots has gradually expanded. To many fields such as unmanned driving, urban security, national defense and space exploration. Mobile robot research has subsequently become one of the most active directions in the field of robotics research.
As an important tool for mobile robot research and development, mobile robot platforms are widely used in robot and artificial intelligence achievement-oriented education. At present, there are many domestic companies researching mobile robot platforms, but the mobile robot platforms launched by different companies are different. Some are expensive, some have limited resources, and some are difficult to develop twice.
In addition, the research of mobile robots often involves multiple application scenarios. However, most of the existing mobile robot platforms on the market are only suitable for a single environment and cannot satisfy users' diverse application scenarios. This has become one of the pain points that hinder the development of the industry, and has seriously hindered the development and large-scale application of the mobile robot platform industry.
In order to explore solutions to the industry's pain points and help the industry to develop further, the silicon step robot, which has entered the field of robotics science and education for many years and has been insisting on mobile platform research, has launched a flexible, powerful, and out-of-the-box outdoor all-terrain mobile platform RIA ODO.
▍The principle of mechanical structure is borrowed from the rover
RIA ODO is an outdoor medium-sized mobile platform independently developed by Silicon Step Robot, which can be used indoors or outdoors. It can adapt to a variety of outdoor terrain application scenarios, such as rough terrain with rugged and uneven ground and surfaces where the elevation of the environmental surface is less than 200mm, and the terrain inclination is less than 30 degrees. RIA ODO is also highly adaptable, and can work normally in an environment with an altitude of -500m to 1300km and a working environment temperature of 5-40 ℃.
In terms of vehicle design, RIA ODO uses the same structural principle as the Mars rover "Courage" and "Opportunity"-the wheeled mechanical structure of the differential rocker. The differential mechanism is an important part of the rocker-type mobile robot. By linearly averaging the swing angle of the left and right joysticks of the robot, and transforming it into the output of the swing angle of the main body of the robot, the relative balance of the main body of the robot can be maintained. Effectively reduce the impact of terrain changes on the main car body, and at the same time make the robot distribute the weight of the car body more evenly to each wheel, and each wheel can passively adjust the position freely with the undulation of the ground, which is stronger for RIA ODO The stable operation and anti-subversion ability of the company provide an important guarantee.
In addition, the configuration of the high-power servo motor makes RIA ODO also have excellent obstacle crossing ability and load capacity, and the load weight of RIA ODO can reach up to 100kg.
In the rocker arm steering drive structure, the silicon step RIA ODO also uses a differential drive mechanism. By installing the robot chassis on the left and right wheel segments, the left and right wheel segments are connected by the bearing link of the robot chassis. Compared with the robot chassis, when crossing obstacles or abnormal surfaces, the wheel segments will reversely rotate to keep the wheels in contact with the surface, which also helps the robot chassis not to tilt too much and maintain the average pitch angle of the two wheel segments . This ensures that the equipment integrated on the top of the robot has the smallest pitch angle when the robot is hovering over a rough surface.
▍RC operating system that can be remotely controlled within 500 meters
The operation of Sibu RIA ODO is very simple. RIA ODO is fully loaded with the required software package and provides pre-settings. After opening the box, it can be used after the necessary assembly is completed, and it can run autonomously after booting. By manipulating the equipped RC controller, users can realize remote machine control within a visual distance of <500 meters. RIA ODO will automatically start the RC control node after the robot is fully powered on. There is no need to start the file separately from the remote PC.
▍A variety of expansion interfaces to ensure scalability
In terms of scalability, the RIA ODO robot is equipped with a wireless network for long-distance communication (visual distance greater than 300 meters). At the same time, a variety of interfaces for expansion are reserved on the top and front of the robot. RIA ODO reserves a 690x430mm expandable space on the top of the robot, and a sensor installation panel is also reserved on the front of the robot, so the expandable space is very abundant. On the top and front of the robot, RIA ODO also reserves 1 HDMI port, 3 USB3.0 ports, and 2 network ports.
RIA ODO is also equipped with a large-capacity battery and a reliable control system. The two complement each other to form the ultra-high reliability of RIA ODO, ensuring that the robot can run stably for a long time. RIA ODO is equipped with a large-capacity battery that can run for 6-7 hours without load. The charging adapter inputs 200-230V AC, 50-60Hz outputs 54.3V@20A, and the charging time is only 2.5h.
In terms of sensors and safety modules, RIA ODO uses an optical incremental encoder, equipped with 1 IMU for robot steering monitoring and 1 IMU for balance link angle monitoring, and 1 on the rear of the robot. emergency button. In addition, the protection level of RIA ODO is IP65, which fully guarantees the safety of the robot.
As a mobile robot development platform, the RIA ODO overall system is built on ROS and supports ROS development. Users can build a deployment simulation environment, configure the corresponding running path, and realize map building, navigation, obstacle avoidance, route planning, etc.
▍Application scenarios
★Related research fields
★Outdoor platform prototype construction
★Building of complex robot system based on outdoor mobile platform
★Industrial applications, such as inspection robots
★Add GPS, lidar and other sensors to realize outdoor autonomous applications
▍Product parameter preview
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