Functional Description
Plant overview: Users can create and modify to build complete transportation systems. It monitors CAMRs system power, Execution state of CAMRs, Acknowledgment of CAMRs, current vehicle positions and their future routes
Operating system: It controls and manages the entire system. It takes care of common functionality that many CAMRs share, such as support for sensors, SLAM and handle track clearance
Map generation mechanism: Whatever your business needs, you can choose a service
Dispatcher : Dispatch transport orders to the vehicles. Determines transport orders for a particular vehicle and manages traffic. It also takes actions on the error conditions such as low battery
Router : Finds optimal route for all vehicles. Also compute routes for vehicles
Driver : Manages communication between operating system and CAMRs
Central Processing Unit: Creates a virtual environment and robot models, implement algorithms and virtual visualization of the data in real time
Map generation mechanism: Creates static environment map on floor plan to identify free space to create routes
Path planning & following mechanism: Follows the predefined path and creates new route plans using obstacle detection & avoidance mechanism, if any obstacles are detected on the path
Intelligent navigation : Creates map, localizes CAMRs on map, local path planning, avoids the obstacles on path, reaches the given destination
Localization & error handling mechanism: Live tracking and recovery in unexpected situations
Obstacle detection & avoidance mechanism : Detects obstacles and creates alternate routes
Motors control & error handling mechanism : Control the motors and handle the errors
Fault monitoring & safety mechanism : Fault detection & monitoring, E-stop, warning alert sound & lights
Battery health & power monitoring: Monitor CAMRs entire power & health indications
RF communication: Between CAMRs and Fleet management control system
Configuration
Operating system controls the entire process. One operator can configure and operate a maximum of 233 CAMRs
Operations
FMCS (Fleet Management Control System) creates new paths for CAMRs and
Simple CAMRs scheduling process
Navigation
LIDAR (Light detection and ranging) & 9-DOF IMU (degree of freedom inertial measurement unit) sensors for localization and accurate navigation
LIDAR-guided intelligent navigation is used for mapping the routes, detecting obstacles and avoidance
AIML algorithms facilitate perception and intelligent navigation to reach destination
Mapping
Laser-based SLAM algorithm for grid mapping (like a building floor plan) from laser and pose data collected by a mobile robot
Monitoring
Fleet manager software controls up to 233 mobile robots of different sizes, configurations and payload capacities
The robots automatically calculate the best route for material transportation while navigating safely around people and obstacles without requiring magnetic floor tapes or other guides
Graphical User Interface (GUI) Provides
Plant modeling, plant visualization, and CAMRs positioning
Track the live position of CAMRs working condition (whether it is executing a task, idle, non-functiong, future paths/routes)
Server/client based feedback message about goal request and goal result state (pending, active, succeed, aborted, recalling, lost, preemptive) etc
Battery status and battery health. Batteries can self-recharge at nearest available recharge points through GUI monitoring without human intervention
Safety Features
Emergency stop switch, status indication lights and audio alert
LIDAR & SONAR - Collision avoidance feature to run continuous multiple CAMRs on the same predefined path
Audio Alerts
Self-fault
Sensors/connectivity issues
Battery recharge /low power issues
Delivery discrepancy
Additional Features
Effortless addition of new CAMRs and destination, without disrupting the existing plant model
Possible to add up to 233 CAMRs on fleet management control system
CAMRs scheduling
Manual tele-operable control with IR remote or keyboard in an emergency situation
Live CAMRs status & position tracking and future path monitoring
Audio alert and light indication for low power, fault detection and goal status etc
Various safety aspects like emergency stop button, status indication lights, audio alert, sensor connection status and BMS
Possible to run multiple CAMRs in same predefined route without collision
High accuracy destination/navigation is +/- 0.2m
Turning radius is +/- 0.05m ( On the spot turning)
Automatically selects the minimal distance route
Acknowledgment and re-orders in case of a vehicle’s failure
Travel direction is bidirectional with 0.7 m/s max, 180 deg/rad turn
360° safety scanning laser used for simultaneous localization and safety functionality
Li-ion battery management system(BMS)
Applications - CAMRs use in Factories
Movement of materials from warehouse to production/processing lines or from one process to another.
Delivery of production parts
CAMRs deliver parts to machines and workstations based on requirements in production and real-time operations
Finished product handling
This requires gentle handling as products are complete and can be damaged from rough handling. CAMRs operate with precisely controlled navigation, acceleration and deceleration
thus minimizing the potential for damage and making them an excellent choice for this type of application
CAMRs use in Hospitals
Transport sterile supplies, drugs and other supplies
Deliver meals and return trays / plates
Move soiled and unsoiled linen transportation
Move carts and trolleys and activate cart washing systems