Design of an Autonomous Robot for Mapping, Navigation, and ... · Since 1. July 2017, this junior research group investigating „Autonomous Robots and Internet of Things in Underground

70. BHT - FREIBERGER UNIVERSITÄTSFORUM 2019 KOLLOQUIUM 3 „KOLLEGE ROBOTER (?) – DIGITALISIERUNG IN DER BOHRTECHNIK“ AM 6. UND 7. JUNI 2019

Lösch, Robert (TU Bergakademie Freiberg)

“DESIGN OF AN AUTONOMOUS ROBOT FOR MAPPING, NAVIGATION, AND MANIPULATION IN UNDERGROUND MINES”

Untertägige Bergwerke sind gefährliche Arbeitsumgebungen und daher könnten Roboter da-bei helfen weniger Menschen dieser Gefahr auszusetzen. Konventionelle Roboter, Sensoren und Software funktionieren aufgrund der erschwerten Umgebungsbedingungen untertage oft nicht zuverlässig. Die Präsentation analysiert kurz diese Umgebungsbedingungen und die dar-aus resultierenden Anforderungen und zeigt schließlich ein Roboterdesign, welches untertage in der Lage ist autonom zu navigieren und Objekte mit einem Arm zu manipulieren. Die Basis bildet eine robuste Plattform mit elektrischen Vier-Rad-All-Rad-Antrieb. Der Roboter ist mit Farb- und Tiefenkameras, Beleuchtung, Laserscannern, einer inertialen Messeinheit und ei-nem robotischem Arm ausgerüstet. Zahlreiche Videos und Bilder veranschaulichen die Mani-pulations- und Navigationsfähigkeiten des Roboters. Es werden zwei verschiedene Navigati-onsansätze vorgestellt und abschließend auf die Aufgabe des Roboters im Projekt ARIDuA eingegangen.

Design of an Autonomous Robot for Mapping, Navigation,

and Manipulation in Underground Mines

M.Sc. Robert Lösch, Institute of Computer Science, TU Bergakademie Freiberg

1. Environmental Conditions and Requirements

2. Research Robot Julius

3. Manipulation Tasks

4. Robot Navigation

5. Future Work

3

Design of an Autonomous Robot for Mapping, Navigation, and Manipulation in Underground Mines

Table of Contents


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• Darkness• High Humidity• Spaciousness• Manipulation of SSBs• No GNSSs• Dimensional Constraints

• Light + Camera• Depth cameras• Protection against water

ingress• High battery capacity• Manipulator

Conditions Requirements Realization

1 Environmental Conditions and Requirements


2D LIDAR

Lighting

Control Panel

RobotiqGripper

UR5

RGB-D Camera

Computer

3D LIDAR

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• Innok Robotik Heros 444 FG

• 138 kg, 0.65 × 1.42 × 1.3 m (w×l×h)

• Electric 4-wheel differential drive

• IP67 upgrade

• 4 – 6 h operating time

• 4 LED spotlights

• 2 PCs7

2.1 Robot Platform

2 Research Robot Julius


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2.2 Optical Sensors


Name Range[m]FOV[°]

(Angular)Resolution

[°] or [px x px]

Depthaccuracy

[cm]Rate

Datarate

[MB/s]

Connec-tion

MicrosoftKinect One

(ToF)0.5 – 4.5 70 H60 V

1920×1080 RGB512×424 D ±1.8 30 fps 190 USB 3.0

Asus XtionPro Live 0.8 – 3.5

58 H45 V

1280×1024 RGB640×480 D ±0.2 30 fps 130 USB 2.0

Velodyne PuckVLP-16 0.5 – 300

360 H30 V

0.1 – 0.4 H2.0 V ±3.0 10 Hz 8.5

GigabitEthernet

SICK LMS 111 0.5 – 20 270 V 0.5 ±0.3 50 Hz 0.2 Ethernet


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2.2 Optical Sensors


Name Range[m]FOV[°]

(Angular)Resolution

[°] or [px x px]

Depthaccuracy

[cm]Rate

Datarate

[MB/s]Connection

MicrosoftKinect One (ToF) 0.5 – 4.5

70 H60 V

1920×1080 RGB512×424 D ±1.8 30 fps 190 USB 3.0

Asus XtionPro Live 0.8 – 3.5

58 H45 V

1280×1024 RGB640×480 D ±0.2 30 fps 130 USB 2.0

Velodyne PuckVLP-16 0.5 – 300

360 H30 V

0.1 – 0.4 H2.0 V ±3.0 10 Hz 8.5

GigabitEthernet

SICK LMS 111 0.5 – 20 270 V 0.5 ±0.3 50 Hz 0.2 Ethernet


Manipulation unit with:

• Universal Robots UR5

• Robotiq 3 Finger Gripper

• (Asus Xtion Pro Live)

• Rubber sleeve

• (Rubber) glove

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2.3 Manipulators



• 2 PCs: i7 (4 cores), 2.7 GHz, 16 GB RAM, 256 GB SSD• Time synchronized• Ubuntu 16.04, ROS Kinetic

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2.4 Computation


• Main• Basic

functions

• Utility• High

computational processes


• Battery:• Li-ion (NMC), 48 V, 20 Ah capacity

• Possible to change battery on site within seconds (minutes)

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2.5 Power supply


underground 4 h

office6 h


• SSDs store maps and sensor data

• Sensors easily exchangeable

• Second, redundant, remote controller safeguards against failures

• WiFi and Bluetooth(-like) communication possible

• Communication limited to line-of-sight

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2.6 Miscellaneous



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2.7 Simulation



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2.7 Simulation



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2.7 Simulation



Target-PoseTeleoperation allows theminer to pick the targetpose for the sensor box

Grasped Sensor Box Box is autono-mously picked upand ready to be setinto the mine

Water Sample Station

autonomous waterprobe extractionvia static routine

3 Manipulation Tasks

17TU Bergakademie Freiberg | ESF junior researcher group ARIDuA | Project leader: Prof. Dr.-Ing. Helmut Mischo | Autonome Roboter und Internet der Dinge in untertägigen Anlagen | aridua.tu-freiberg.de | Robert Lösch | BHT | 06.06.2019

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Localization• Via SLAM• Afterwards

Obstacle Avoidance• Dynamic Objects• Real-time

Mapping•Via SLAM•Beforehand

Path Planning•Global•Local

4 Robot Navigation


4. Robot Navigation

1. Absolute Navigation: Waypoint Navigation

2. Reactive Navigation

3. Mapping with IoT

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Table of contents


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4 Robot Navigation - Absolute Navigation

Mapping• RTAB-Map

(Real-Time Appearance Based)• Graph based• Graph optimization by loop

closure detection• Occupancy Grid Map


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https://youtu.be/rgeveCOBxzk

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90°-90°

-60°

-30°30°

60°

Velodyne Pointcloud

Pointcloud compressed to Laser Scan

Distance Measures

Steering angle = 𝑎 σ𝑖=16 𝛼𝑖𝑟𝑖 w/ 𝛼 = angle, 𝑟 = distance

𝑎 unknown, but 𝑎 = 𝑓 ሶ𝑥

4 Robot Navigation - Reactive Navigation


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4 Robot Navigation - Reactive Navigation

Separately Driving And Mapping


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Mapping

4 Robot Navigation - Mapping with IoT


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Error Minimization

4 Robot Navigation - Mapping with IoT


Future Work?

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5 Future Work


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Lösch, Robert, et al. "Design of an Autonomous Robot forMapping, Navigation, and Manipulation in UndergroundMines." 2018 IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS). IEEE, 2018.


Since 1. July 2017, this junior research group investigating „Autonomous Robots and Internet of Things in Underground Facilities“ led by Prof. Dr. Ing. Helmut Mischo, Institute for Mining of Raw Materials and Special Methods Underground at TU BergakademieFreiberg, is funded by the state of Saxony with funds of the European Social Fund (ESF).

Connect with us

.com/in/loeschrobert

tu-freiberg.de/en/aridua

[email protected]

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Design of an Autonomous Robot for Mapping, Navigation, and ... · Since 1. July 2017, this junior research group investigating „Autonomous Robots and Internet of Things in Underground