1. Introduction and Classification of Mobile Robots

1.1 Introduction of Mobile Robots

Mobile Robot is an integrated system that combines multiple functions such as environment perception, dynamic decision-making and planning, and behavior control and execution. It concentrates the research results of multiple disciplines, such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering, and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields in the development of science and technology.
The research of mobile robots began in the late 1960s. Nils Nilssen, Charles Rosen and others at the Stanford Research Institute (SRI) developed an autonomous mobile robot called Shakey between 1966 and 1972. The aim was to study the application of artificial intelligence technology in autonomous reasoning, planning, and control of robot systems in complex environments.

1.2 Robot Classification

1. Based on the mode of movement, they can be classified into: wheeled robots, walking robots (single-legged, bipedal, and multi-legged), tracked robots, crawling robots, peristaltic robots, and swimming robots, etc.;

2. Based on function and purpose, they can be divided into: commercial service robots (cleaning robots, food delivery robots, hotel robots, logistics robots, construction robots), home service robots (floor sweeping robots, window cleaning robots), military robots, industrial mobile robots (AMR, automatic fork lift trucks, RGV).

II. Application of Mobile Robots in Industrial Processes

At present, most industrial mobile robot companies on the market focus on specific links/scenarios in specific industries. Some common scenarios and corresponding relationships of mobile robots are shown below:

The precautions for each link are as follows:

• Outdoor inspection: Currently, SEER mainly provides SRC-based solutions in this link, without providing complete machines. The main scenarios include inspection within the factory, and inspection of substations/oil fields. Robots of this category have a relatively high protection level requirement, usually IP65 or above, and some even require explosion-proof certification. The mainstream technologies used are GPS navigation (usually combined with RTK base stations) and 3D SLAM navigation.

• Outdoor handling: There are usually two specifications, one is a train head-style towing vehicle, and the other is a pallet truck. At present, the two methods have higher requirements for protection levels, but they can be coordinated with customers to avoid working on rainy days or to build sheds. The mainstream technologies used are similar to those used for outdoor inspection.

• Truck loading and unloading: Trucks usually have two types, one is a box-type truck and the other is a wing-type truck. The fork lift truck used needs to be suitable for both indoor and outdoor environments, as well as for platforms and ground handling, and have a certain barrier-crossing ability. The key points of the software for fork lift trucks are: 1) the need for dynamic recognition of truck boxes; 2) multiple storage points inside the truck, and limited pallet space due to crowded conditions. Technically, it requires the use of large-wheeled outdoor counterbalance robot base, dynamic body positioning, dynamic storage point recognition, 3D SLAM, outdoor RTK positioning, etc. If it involves multi-layer cargo, it also requires the use of dismantling recognition technology.

• Inbound: The inbound process usually involves using pallet trucks or forklifts to transport pallets from the loading dock to the warehouse entrance. It can be docked with an automated storage and retrieval system (AS/RS) or placed at the edge of the warehouse for automated forklifts to carry into the warehouse.

• Internal transport/stacking: Different types of warehouses use different robots. If it's a ground-level warehouse, pallet trucks or forklifts can be used for transport; if it's a beam rack warehouse, forklifts can be used for intra-warehouse transport; if it's a bin rack warehouse, bin robots can be used. In addition to mobile robots, stacker cranes and RGVs can also be used for internal transport.

• Outbound: During outbound, the bin robot and roller line can be used to collect bins; pallet trucks can be used to move pallets from inside the warehouse to the subnet; fork lift trucks can be used to transport high-pallets out of the warehouse; if it is a shelf outbound, KIVA-like vehicles can be used to transport the shelves.

• Picking: For some electronics factories or 3C factories, set rate planning is required when outbound. In this case, mobile robots can be used for goods-to-person set rate distribution. Different quantities of materials are sorted by humans to prepare for delivery to the production line in the next stage.

• Delivery: Delivering materials from the line to the production line, or from the production line to the production line, is the most typical scenario for AMR in factory logistics. Different types of robots are used depending on the materials.

• Loading and Unloading: The delivery process only transports materials from the sideline to the production line. If it is connected to a roller line or a loading and unloading machine, it can be considered direct loading. In contrast, devices like CNC and baking ovens require the use of composite robots for loading and unloading.

III. SEER Software Relationship Diagram

The following diagram shows the relationship between various SEER software:

• RoboKit SDK is a plug-in development platform used internally by Kinco, and its comparison with ROS is as follows:

4. RBK Module Relationship Diagram

The following diagram shows the relationship between the modules in RBK

Note:

• The map building SLAM part is in Roboshop, not in RBK, so map building cannot be completed through the API documentation provided externally by RBK.

5. RBK's Authorization and Upgrade Strategy

• For BUG fixes, you can directly upgrade the version for customers;

• For new features, if it is a new authorization requirement, it needs AR to judge and charge;

• Authorization can be time-limited, usually for trial and acceptance projects, the authorization period will be set;

• Incremental addition of authorizations is not supported, only full updates of authorizations are supported. For example, if the controller has already been authorized with rbk_diff and you want to add the rbk_omni authorization, you need to check both rbk_diff and rbk_omni when generating the authorization file.