56 “The charging station design, as well as the charging control software, are generally the same across all our robots, with small adaptations for applicationspecific needs; for instance, the RB-WATCHER’s charging station needs to be covered to protect against direct contact from rain, as many users want to place it outdoors,” Millet adds. Inspection devices As Millet explains, the EO/IR gimbal atop the UGV is used solely for the inspection missions prized by the end-user, and it never becomes necessary for navigation. The choice of inspection camera primarily came down to size; too large a sensor head on top of the UGV, and the resulting vibrations and inertia would have been detrimental to stable image capture (as well as stable movement). “And, of course, it was equally fundamental that the gimbal had very fine pan-and-tilt control for accurate, shake-free imaging,” Millet adds. Going for a very high-quality thermal imager was also important, as IR photography was expected to be the most important part of the robot’s inspection work, revealing cracks, degradation and hotspots in industrial assets to an extent that EO cameras cannot match. Lastly, getting consistent data output and communications from the cameras to the UGV was especially vital during the engineering process, given that this forms the first step towards achieving real-time monitoring and analysis of the inspection information it generates (the next steps of remote data links and operator systems are discussed later). A ring of LEDs integrated inside the platform on which the gimbal sits provides visibility for the EO camera in low-light conditions, as well as giving different condition-specific light signals to nearby personnel; for example, when recharging or detecting signs of a fault. It also helps personnel watch out for the robot and avoid colliding into it in areas of high foot traffic or vehicle traffic. Robotnik tested various LEDs for electromagnetic compatibility, software compatibility and electrical stability before choosing and integrating the ideal components. In addition to the two cameras and the LEDs, a microphone is installed on the RB-WATCHER; something our avid readers will know is used for audial detection of gas leaks, malfunctioning electrical systems and other potentially dire anomalies in industrial facilities. “Choosing microphones is certainly easier than choosing Lidars and thermal cameras, given that microphones are a long-established technology, but getting the microphone right in the RB-WATCHER still meant getting a very tight integration for good data delivery,” Millet says. A speaker is also installed for the UGV’s operator or crew to transmit audio warnings, where appropriate. “People might think microphones and speakers are a lot cheaper than Lidars and cameras, and that there would be lots of options for us to choose from, but that’s not exactly the case. We needed IP65-rated systems; waterproof and weatherproof, and capable of communicating via USB or Ethernet with our CPU,” Millet says. “That narrows down the options significantly. We also needed their firmware to be compatible with our software, including the ability to trigger either the mic or speaker from the operator’s HMI with good consistency and low latency. That includes enabling users to trigger automated audio recording when there are signs of a machine or infrastructure item failing. So, only after testing many systems did we find good fits for both.” Communications Inside the UGV’s body is a multipurpose router, designed for 4G, 5G, wi-fi, Bluetooth, and GPS receptions and transmissions. More conventional radio systems had been tested previously, but were found to give significantly slower latency in real-time communications and monitoring. Most often, 4G and wi-fi are used for remote monitoring and control signals from the end-user’s preferred command centre (such as the onsite office of the safety inspector), while Bluetooth is used for the handheld remote controller. That router was chosen for its tight size (and hence its ability to fit inside the RB-WATCHER’s body, along with February/March 2025 | Uncrewed Systems Technology Digest | Robotnik RB-WATCHER The back of the robot integrates the RTK-GPS antenna and a six-in-one antenna module, which communicates across all bands of the onboard router
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