SCIMR Project
Project--> Self
Contained Industrial Mobile Robot (SCIMR)
Abstract
The Self Contained Industrial Mobile Robot, or SCIMR, is an autonomous mobile robotic platform designed to perform a wide variety of tasks currently performed by humans. The development program at this stage includes the operational prototype for a basic machine containing only an attached rotary mower deck. The SCIMR as designed has both a forward and after PTO (Power Take Off) allowing for attachment of many implements such as a snow blower or sickle bar.
While the current design is about the size of a home and garden riding lawnmower, the platform is scalable. The basic computer and software system that defines the SCIMR can be implemented on a larger platform to be able to perform agricultural jobs and other tasks requiring a larger farm type tractor. The plowing or mowing of a farmer's field world be an ideal job for the SCIMR. The additional acquisition and operational costs of an agricultural robot of this type world be greatly dwarfed by the obvious labor cost savings.
Jobs such as mowing grass and snow removal are but a few that can accomplished with the basic platform and software package.
Case Study: Basic SCIMR Configuration In Corporate Grounds Keeping
The basic SCIMR platform and primary software package is deployed at a corporate campus to perform certain landscape maintenance tasks. The property is eleven acres and includes two primary buildings, an outdoor plaza, a large parking lot and a duck pond. The remaining grounds are covered by grass interlaced by walking paths. The current landscape maintenance is performed by a full time staff of three gardeners.
The SCIMR configured for this project is named Scraps, the derivation of which is a vendor trade secret. Scraps is powered by a Kubota twenty horsepower, twin cylinder diesel engine and equipped with a Toro twenty-one inch dual blade rotary mower deck attached below the center of the unit. The main computer is equipped to transmit constant telemetry and real-time video from two cameras: One fixed unit facing front, the second mounted on the top center of the chassis, the highest point, and is able to pan and tilt at the command of the remote operator. This primary configuration includes basic human warning devices. A horn sounds every two seconds for one half second and two rotating amber work lights are visible. Additionally, Scraps is equipped with a simple proximity detection system to assist in navigation and adds to the admittedly very limited human safety system
The entire property was mapped into the control system and the SCIMR's area of operation defined. The primary tests conducted at the beginning need to verify that Scraps is able to navigate his area. First, the machine is required to traverse the pathways and return to start position. Then Scraps needs to demonstrate his ability to operate within the operational boundaries while following a route calculated by the on board system using information previously downloaded from the host computer by traversing the perimeter of the grassy area.
Once completed, Scraps in then ready to perform his first task, that of sweeping the walking paths. Because the configuration does not include a sweeping system or blower, the mower deck will have to suffice. It is set to side discharge, and as the robot is programmed to follow the left side boundary of the path, effectively blowing any cut grass, leaves, or dirt clear of the path.
After an effective test proving Scraps' ability, this operation that can now be completed daily with only limited supervision. Next comes the most challenging test of the system, the setup and proving of lawn mowing operations. The first step is to have the machine travel to each known obstacle in the defined operational area, then fix the exact location relative to it's known location. This step is necessary because in order to navigate properly, the robot needs to be able know it's own position to within eight to ten inches. The auto location navigation software needs to be trained for this new operational environment. Scraps basically head of to where he has been told a tree is. As he approaches the objects expected location, he slows and waits for his sensors to detect it. Then he travels around the object, effectively remembering its exact location. This process can take many hours, but once complete, does not need to be repeated.
It is now time for the grand demonstration of the SCIMR's ability to operate autonomously.
Basic SCIMR Types:
Primary platform - 40 HP Diesel
Indoor platform - LP or LNG Gas Motor (ideal for cleaning and polishing large indoor floors)
Agricultural platform - Scaled up version(s) of primary
Possible Future Robotic System Applications
Ground Maintenance (SCIMR)
Warehouse Operations
Law Enforcement Reconnaissance
Automated People Mover (RoboTram)
©2004 Owen R. Matthews