THE PREMIER RESEARCH ROBOT
 Research
PatrolBot ®
PatrolBot
Base with Twin Lasers & Stereocam (Vertical laser visible,
horizontal laser is under sonar ring) |
GuiaBot configuration includes touchscreen, surveillance camera, with optional URG at toe level for foot avoidance.
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Please
note: Software and systems available from this
website are for
researchers and developers programming additional behaviors for the
robot.
VARs and end-users of PatrolBot's pre-programmed delivery, security and
monitoring applications should look here. |
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Description
Components
PatrolBot Options
Technical Specifications
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RESEARCH PATROLBOT
is our highest quality indoor robot, with smooth, high-speed drive and
brush-less motors, operable
24X7 autonomously.
With good payload capabilities, Research PatrolBot is the best platform
for work requiring multiple lasers or other moderate payload, up to
40kg flat or 25kg on an 8:1 ramp. Designed for 24X7 use, the ARCS-based
PatrolBot
implements ARNL navigation from the hidden laser-rangefinder. Developer software is
included.
The
Research
PatrolBot
base
can: 
- WANDER
randomly, avoiding obstacles
- DRIVE
controlled by keys or joystick
- COMMUNICATE
SENSOR & CONTROL INFORMATION including sonar, motor
encoder, motor controls, user I/O, and battery charge data
- RUN
C/C++ PROGRAMS created with or without ARIA or our other software
development environments
- SIMULATE
BEHAVIORS OFFLINE with the simulator that accompanies each
development environment
The
Research 2D
Mapping PatrolBot includes PC, wireless ethernet,
embedded laser, dock/charge station and software. It
can:
- CREATE 2D MAPS of
rooms, labs or buildings in minutes
- PLAN
PATHS to goals
- AVOID
OBSTACLES along the way
- NAVIGATE
TIGHT SPACES for delivery or docking
Other
configurations for 3D mapping, VSLAM and perception research can be
configured with Research PatrolBot options such as
stereovision and additional laser.
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RESEARCH PATROLBOT 2D MAPPING SYSTEM
COMPONENTS
The 2D Mapping
System upgrade
is for research in path planning, SLAM and localization, with
autonomous patrol and automated re-charging, it includes:
- All
Research PatrolBot Base Components, below
- ARNL
Laser Mapping and Navigation with Mapper upgrade
- 1.6
mHz shock-mounted PentiumM-based PC with hard drive
- Onboard
software installation
- Voice
synthesis, audio, speaker and microphone and AR Audio, AR Video software
- Auto-docking
recharge station and onboard charging electronics
- Wireless
802.11b/g Ethernet communications
Other Research PatrolBot
options, such as a second laser for 3D mapping or a camera or
stereocam system for VSLAM and perceptions may be added.
We recommend communications with a 2GHz, or better, Intel-compatible
PC, via wireless 80211b/g Ethernet
access point.
RESEARCH PATROLBOT BASE COMPONENTS
PatrolBot is a
smooth,
high-speed, ready-to-use 24X7 premium robot system including the
following components:
- PatrolBot
ARCSinside differential-drive mobile robotic base with caster
- MobileRobots
Inc standard
research software (ARIA, ARNetworking, MobileEyes, MobileSim, Mapper
Basic, SonARNL, GUI Server and Demo)
- 4
rear sonar
- 10
bumper panels
- Twin
motor encoders
- Gyroscopic
encoder correction
- Batteries
- Users
guide
- 1
year warranty
- Requires
serial Ethernet or laptop connector (not included)
RESEARCH
PATROLBOT
OPTIONS
The Research
PatrolBot with 2D Mapping
System offers the
following options:
Laser range-finderfor 3D mapping and path planning, integrated in ARIA
Tall
extension for human interaction research, teleconferencing robots and
guides
Touch
screen, also for human interface
Red
and green IR proximity sensors, for simple yes/no interface
Choice
of our MobileRanger or Standard Stereovision Systems
Remote-control
pan-tilt-zoom
camera, tightly integrated, located on the robot or on the tall
extension
Additional auto-docking recharge stations
Optional
3-year warranty
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TECHNICAL
SPECIFICATIONS
PatrolBot
has a 59cm x 48cm x 38cm, CNC aluminum body. Its
19cm dia
tires handle nearly any indoor surface. The two motor shafts hold
1000-tick encoders. This differential
drive platform is holonomic so it can turn in place. Moving wheels on
one side only, it forms a circle of 29cm radius.
PatrolBot can climb an 20% grade
and sills of 2.5cm. On flat
surfaces, PatrolBot can
move at speeds of 2mps. It can carry
payloads of 25kg on an 8:1 ramp, 40kg on flat floors; payloads must
be balanced appropriately for effective operation of this or any robot.
PatrolBots can travel through
shallow
puddles.
PatrolrBot with PC and a single laser can operate
approximately 3.5 hours on a fully
charged battery. Recharge to run-time is less than 1:1.
PatrolBot is a closed system, not designed for user access.
Inside are an Hitachi SH-based
32-bit RISC microcontroller, sonar boards and other electronics.
Each robot has 16
sonar and two 1000-tick motor encoders. Digital I/O, A/D, RS232, USB
and
firewire interfaces are all possible within the system and may be
integrated through ARIA.
A
small proprietary µARCS transfers sonar readings, motor encoder
information
and other I/O via packets from the microcontroller server to the PC
client and returns control
commands.
Users can run the robot from the client or design their own programs
under
Linux or under WIN32 using their favorite C/C++ compiler.
Our
ARIA and ARNL software supply library functions to
handle
navigation, path planning, obstacle avoidance and many other robotic
tasks.
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