EX ROVR "ASCENT", the autonomous, explosion-proof, plant inspection robot : Products

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EX ROVR, the autonomous, explosion-proof, plant inspection robot

Fully autonomous operations across multiple floors with advanced stair climbing and obstacle avoidance functionality
Acquisition of asset data through visual imaging, thermal scans, acoustic mapping, and gas concentrations with its suite of advanced sensors

EX ROVR “ASCENT” Hardware outline

ATEX and IECEx Zone 1 explosion-proof certified featuring a large capacity, explosion-proof lithium ion battery and contactless charging in the hazardous location
Fully autonomous operations across multiple floors with advanced stair climbing functionality up to 46 degrees in pitch both up and down
Surveillance camera with 6 DOF manipulator for capturing images in optimized position to targets
Acquisition of asset data through visual imaging, thermal scans, acoustic mapping, and gas concentrations with its suite of advanced sensors

Explosion Proof

Complies with regulations in various countries, IECEx, ATEX, Ex2018

Gas Class: II B + H2 T3 Gb
Area: Zone1

Explosion-proof standard	IECEx	ATEX	Japan (Ex2020(2018))
Explosion-proof rating	Ex db ib pxb IIB+H₂ T3 Gb	II 2G Ex db ib pxb IIB+H₂ T3 Gb	Ex db pxb IIB+H₂ T3 Gb
Type approval certification number	IECEx TIIS 22.0002X	SCA 22 ATEX 140X	No. TC22783X

ASCENT consists of a single internally pressurized explosion-proof enclosure for the main body, and includes main and sub tracks for movement and motor for the manipulator.
The built-in battery that powers the various components is housed in an explosion-proof case together with a lithium-ion battery control unit. ASCENT is equipped with LED lighting, gas detector, optical surveillance camera, microphone and speaker with independent explosion-proof specifications.

Autonomous Navigation

Performance of autonomous operator rounds even in the complicated environments and low light conditions

Localization through advanced 3D LiDAR maps
Fully autonomous obstacle recognition
Fully autonomous stair climbing ability

EX ROVR “ASCENT” Setup outline

Robot setup and control for mapping, routing, and autonomous traveling inspection are remotely implemented.

Step 1: Setting remote operator station, robot, and charging station

Step 2: Target area mapping by 3D-LiDAR through remote controlled EX ROVR

Step 3: Routing & inspection scenario setting through remote controlled EX ROVR

Step 4: Setting EX ROVR deployed inspection schedule and scenario

Step 5: Implementing autonomous traveling inspection
・Set inspection scenario implemented automatically according to the set schedule
・Plant field information and images gathered and stored
・Manual remote operation available as necessary by changing from autonomous

Autonomous traveling_01 — Autonomous traveling inspection

High Mobility

Able to negotiate narrow paths across multiple floors in a complex environment

Can ascend and descend 46 degree staircases
Can turn “on a dime” on a narrow staircase landing

Driving performance of ASCENT

		During autonomous patrol	During teleoperation
Slope		Depends on the nature of the obliquity (such as the coefficient of friction)
	Slope	See A.	Inclination of 46° or less
	Bank	Water runoff slope or less (slope 1/50 to 1/100, or 0.57° to 1.15° in angular terms)	Slope for running without tipping over is 20° or less.
Stairs		Step height: 130 to 220mm Step depth: 210 to 310mm Step width: 900mm or greater For slope, see B.	Step height: 130 to 220mm Step depth: 210 to 310mm Step width: 900mm or greater Inclination of 46° or less
	Landing	Capable of navigating landings of the following shapes and dimensions. U-shaped: Minimum dimensions of 1800mm (W) x 1000mm (D) L-shaped: Minimum dimensions of 1000mm (W) x 1000mm (D) I-shaped: Minimum dimensions of 900mm (W) x 900mm (D)
Difference in level		Height: 20cm or less (must have a rectangular cross section)	Height: 40cm or less (depending on form)
Ditches		Width: Within 15cm	Width: Within 30cm (depending on form)

A: Slope that can be navigated during automatic patrol

B: Inclination of stairway that can be navigated during automatic patrol

Driving route conditions

ASCENT cannot travel through aisles that are narrower than its own external dimensions. Allow enough space around ASCENT for a person to stand (approx. 900mm).

When turning in an aisle, available area must exceed the total length of ASCENT. Allow approximately 900 mm of space as shown in the figure at right.

Manipulator

Capable of complex articulation to position camera and end effector close to the target

6 degree of freedom
End effector with 3 finger gripper for positive contact

Drive system	Electric servo drive by AC servo motor
Degrees of freedom of movement	6 axes (excluding hand axis)
Axis configuration	Axes of rotation: 3 axes Pivot axes: 3 axes
Range of movement	Reach: Approx. spherical R 1m semi-dome
Max. velocity (horizontal and vertical from reference position in reference attitude(note))	Approx. 100mm/sec.
Carrying capacity (force generated in reference attitude(note))	Approx. 3kg (including hand)
Operation control	Control of each axis and position/attitude control
Response to anomalies	Error processing
Rated output of drive motor	50W

The reference attitude is shown in the figure below.

Autonomous Charging

Capable of long run times and quick charging

Contactless induction charger is explosion proof and can be placed in the hazardous location
Rapid charging allows for high availability with 2 hours of operation by 2 hours of charging

Main Dimensions (mm)

Unit Weight: 70 kg (excluding charging station)

Data Management

Mission planning and data validation can be performed remotely from anywhere in the world

Mission planning inspection waypoints can be set through secure connection via internet browser
Inspection data is securely stored in the cloud and can be accessed on demand