Overview of OROHA V1

Motor control

OROHA V1 is driven by a skid-steering method using two DC motors. The SBC (Single Board Computer) mounted on the robot is Latte Panda Delta. Latte Panda has Arduino Leonardo inside and uses it to control the motor. The rotation direction and speed of a DC motor are controlled by a driver.

The DC motor uses 36V voltage, and the power is supplied through a 36V 10AH battery. However, when the battery is fully charged, the maximum voltage rises to more than 36V (approximately 40V), and the motor driver has a maximum input voltage of 36V, so a constant voltage converter was used.

<Driving method of OROHA V1>

<Parts for OROHA V1 motor control>

Sensor

It uses two lidar sensors. The first lidar sensor enables obstacle avoidance with a field of view (FOV) of 120 degrees looking forward. Ultrasonic sensors are used together to avoid parts that cannot be reached by the lidar sensor or materials that cannot be detected by laser (e.g. glass). Another lidar sensor was used for mapping with a FOV of 360 degrees.

A camera was mounted on the front to enable remote control.

<Sensors of OROHA V1>

Body

The size of OROHA V1 is 650 x 500 x 333 mm, and the weight is about 40 kg. The payload is more than 100 kg, and the maximum speed is about 3 km/h. Payload and speed can be adjusted by changing the reducer of the motor. (The higher the maximum speed, the smaller the payload)

Control program

Information from all sensors is collected by Latte Panda, the SBC of the robot. This information is transmitted to the remote PC through TCP communication. Signals for robot motion control are sent from the remote PC to Latte Panda. Motion control can be performed by the user using the HMI, and autonomous driving using an obstacle avoidance algorithm is also possible. The HMI was made with LabVIEW.

<Signal flow of OROHA V1>

The video below is a video of OROHA V1 driving by itself.