The VCS-1 is a PC/104 Linux stack composed of 2 main components, namely the EMC2 board which is a PCIe/104 OneBank™ carrier for a Trenz compatible SoC Module and the FM191 expansion card that fans out the I/Os from the SoC to the outside world.
The VCS-1 system is a complete and easy-to-use solution comprising of both software and hardware, it was designed and developed in the VineScout project to collect data from state-of-the-art cameras. It is compatible with a wide range of sensors and actuators.
Sundance VCS-1 controlling the SUMMIT-XL
Intel® RealSense™ D435i
Adding an IMU allows your application to refine its depth awareness in any situation where the camera moves. This opens the door for rudimentary SLAM and tracking applications allowing better point-cloud alignment. It also allows improved environmental awareness for robotics and drones. The use of an IMU makes registration and calibration easier for handheld scanning system use cases and is also important in fields such as virtual/augmented reality and drones. When using the D435i, our Intel RealSense SDK 2.0 provides IMU data that is time stamped to align with our high quality depth data.
The SUMMIT-XL has skid-steering kinematics based on 4 high power motorwheels. Each wheel integrates a hub brushless motor with gearbox and encoder (optional).
SUMMIT-XL has two possible kinematic configurations. The omnidirectional configuration mounts mecanum wheels on an independent suspension system. The mecanum wheels can be easily replaced by conventional wheels (rim mount), thus allowing easy switch from the indoor omnidirectional configuration to the versatile skid-steering configuration, both indoors and outdoors.
The odometry is computed with the use of the four encoders and a high precision angular sensor mounted inside the chassis. The strong mechanical structure allows to carry high loads. There are several suspension shocks possibilities. They can also be mounted at several positions to modify the robot clearance. The robot base can navigate autonomously or teleoperated by means of a PTZ camera that transmits video in real time. The common sensor options include a Hokuyo laser scanner and a range of RTK-DGPS kits. It also has internal (USB; RS232 and GPIO) and external connectivity (USB, RJ45 and power supply 12 VDC) to easily add custom components.
The control architecture is open-source and modular, based in ROS