Seite - 22 - in Joint Austrian Computer Vision and Robotics Workshop 2020
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usually covered with rubble and debris and can ex-
tend over several floors. Therefore the base plat-
form of the mobile robot must be able to manoeu-
vre in rough terrainandshouldbesuitable forclimb-
ing stairs. As stated in [22] track based robots are
designedforoperation inuneven,debris-covered ter-
rain and are therefore ideally suited for natural dis-
asters, moreover these tank like tracks add stability
to the whole robot system [25]. Manipulation of ob-
jects is also often required by S&R robots, whether
fordemining, interactionwithvictimsor forgenerat-
ing an uniquecameraangle [24].
Nowthat thesystemrequirementshavebeendefined,
followingchapterexamines theapproachof theUAS
to integrate these requirements intoaS&Rrobot.
2.SystemConcept
Following section explains the hardware and sen-
sor setup of the robot of the UAS as well as the soft-
ware architecture for successful participation in the
EnRicH 2019 trial or other S&Rapplications.
2.1.Systemdesign
Figure 1 gives an overview of the implemented
hardware components which are described in detail
in the next section. As visualized the setup consists
Figure1. Systemdesignoverview
of two main parts, the ”Mobile Robot” and the ”Op-
erator Station”. Although mobile S&R robots have
autonomouscapabilitiesanoperatorstationisneeded
toprovideasafetyfallbackandteleoperationsystem.
Themobilerobot itselfneedstobeequippedwithnu-
meroussensorsrangingfrom2Dand3DLIDARsfor
obstacle avoidance and mapping, an robotic arm in-
cluding an end effector (EEF) for manipulation and
front and rear facingcameras for teleoperation.
Theremainderof thischapterdescribes implemented
hard- and software needed to provide a mobile S&R
robot. 2.2. Implementation -Hardware
The track steered mobile robot ”Tracker” of com-
pany taurobGmbH[31] isusedas thebasicbuilding
block. Due to adjustable crawler tracks, a high de-
gree of off-road mobility is provided for maximum
versatility [31]. In addition a 4 degrees of freedom
(DOF) robot arm, of taurob GmbH, for manipula-
tion tasks was mounted. The Robot Operating Sys-
tem (ROS) API provided by taurob GmbH was the
decisive factor for this mobile robot platform. The
”Tracker”, manipulator and the current sensor setup
aredepicted infigure2.
Figure2. Robbie hardware setup
(1) Velodyne PUCK-VLP16, (2) Wifi/ 4G Antenna, (3) Rear-Facing Intel Realsense D435, (4)
GarminGPSModule, (5)LEDHeadlight, (6)UeyeUI-3240LECamerawithCameraMount, (7)
Operation Indication Light, (8) Robotic Arm, (9) SSM1+ Radiatiometer with mounted Probe,
(10)EmbeddedPC, (11)Rear-FacingInternalCameraandSICKTIM-551-2050001, (12) taurob
Tracker, (13) Front-facing TIM-551-2050001, (14) Intel Realsense D435 mounted on EEF, (15)
EEF, (16)Front-Facing InternalCameraand InternalHeadlights
Toallowamaximumlevelofflexibilityamodular
hardware setup consiting of a sensor rig was chosen,
thus enabeling easy replacement of sensors as well
as software toenabledifferentS&Rtasks. AGarmin
GPS module was attached to the sensor rig for out-
door localization. For GPS-limited indoor scenarios
depth and range sensors were used for localization
and mapping. Therefore, a 3D Light Detection and
Ranging (LIDAR) Velodyne PUCK VLP-16 [32]
and two SICK TIM-551-2050001 [30] 2D LIDARs,
one at the front and one at the rear, were attached to
the robot. In contrast to the 2D LIDARs mounted in
a planar arrangement, the 3D LIDAR was mounted
at an angle of 20◦ to Robbie’s direction of travel.
22
Joint Austrian Computer Vision and Robotics Workshop 2020
- Titel
- Joint Austrian Computer Vision and Robotics Workshop 2020
- Herausgeber
- Graz University of Technology
- Ort
- Graz
- Datum
- 2020
- Sprache
- englisch
- Lizenz
- CC BY 4.0
- ISBN
- 978-3-85125-752-6
- Abmessungen
- 21.0 x 29.7 cm
- Seiten
- 188
- Kategorien
- Informatik
- Technik