project specification

GoPal 400

The GoPal is a mobile robot (Self Driving Vehicle) that allows automate transport of EUR-pallets – either as part of industry 4.0 automatization or on its own. The system can be set up to fit any type of application, from simple A-B delivery with a call button to fully automated production support with ERP/WMS integration. The GoPal 400 offers a load capacity of 400 kg and up to 12 hours of operation on a full charge. The GoPal uses pallet stations to load and unload a pallet. The station is designed for GoPal to park under the pallet and then lift the pallet off the Station and onto the GoPal itself. Depending on the transport need the GoPal solution is configured with a number of GoPal Pallet Stations as pick-up, delivery or transit points. The GoPal Pallet Stations can be delivered in different configurations, standalone or with interface to a conveyer belt.

Specifications

Length1400 mm
Width860 mm
Height315 mm
Lifting capabilities160 mm
Robot weight175 kg
Performance
Battery time4-8 hours or ~20 km depending on load conditions
Maximum speed2.4 m/s (8,6 km/h)
Turning radius850 mm (from robot center) Safety
SafetyLaser scanners with 360° protection
4 emergency stop buttons
Mechanical bumper with 360° protection
3 3D camera. Two in the front and one in the back
Electrical
BatteryLiFePO4, 48 V, 40 Ah
Battery charge time45 min (full charge)
Number of charges~5000
WiFi connection802.11 ac
Environmental0 – 45 °C
Humiditymax. 95 % non-condensing non-condensing
Load425 kg
Length (max)1240 mm
Width (max)800 mm
Height (max)2400 mm
Recommended lane conditions
Minimum lane width120 cm
Operational lane width200 cm
Max speed lane width (min)300 cm

Overview

The system can be set up to fit any type of application, from simple A-B delivery with a call button to fully automated production support with ERP/WMS integration. The GoPal 400 offers a load capacity of 400 kg and up to 12 hours of operation on a full charge.

Pick-up and delivery

The GoPal uses pallet stations to load and unload a pallet. The station is designed for GoPal to park under the pallet and then lift the pallet off the Station and onto the GoPal itself.
Depending on the transport need the GoPal solution is configured with a number of GoPal Pallet Stations as pick-up, delivery or transit points. The GoPal Pallet Stations can be delivered in different configurations, standalone or with interface to a conveyer belt.

Maneuvrability & navigation

The robot needs less space to operate than an employee with a pallet jack and can turn on its own axis.  It features intelligent navigation that allows GoPal to make dynamic decisions on the fly. If GoPal comes across an obstacle – such as an object or a person – it will drive around it. If the path is completely blocked, the GoPal will find the shortest alternate route to its destination.

Autonomous navigation

The robot uses LIDAR technology and can map and autonomously navigate dynamic working environments with people and moving objects. Mapping is conducted in stages. First, a map of the building is added to the computer. Next, a GoPal mobile robot tours the whole building (controlled by tablet) to record its surroundings using the built-in sensors. The building map and these sensor recordings are then merged and adjusted in the GoControl computer. Off-limits areas are marked and temporary features (like objects and human beings) recorded by the sensors are removed. Finally, this adjusted map is exported to all the GoPal robots that will be used in the building, allowing them to autonomously navigate in a working environment full of people and goods on the move.

Maneuvrability

At 140x86 cm, the GoPal is only slightly larger than a standard 120x80 cm EUR-pallet. The wheel configuration – with two central and independent drive wheels as well as four corner caster wheels – allows the GoPal to turn on its own axis when the drive wheels rotate in opposite directions. With its size and turn radius, the GoPal needs only about the same space to operate as an employee with a pallet jack (an extra 5-10 cm of free space is needed to avoid sensors initiating emergency stops).

Automatic battery charging

The robot uses LiFePO4 battery technology, allowing for both fast and partial charging – without employee involvement and installation of ventilated charging stations. The robots are charged automatically when it best fits their work schedule to ensure that there is always a GoPal available.

Battery technology

The GoPal is powered by a 48V/40A rechargeable lithium iron phosphate (LiFePO4) battery, which provides power density, quick charging and long service-life. Partial charges will not harm this battery type and even a full charge – which provides up to 12 hours (GoPal 400) or 8 hours (GoPal 800) of operation – will take 45 minutes. Battery capacities are constantly monitored by the GoControl computer, which automatically sends robots for either partial or full charging at the GoPal Power Station when it fits their schedule.

Data collection

Data on all aspects of both individual robot and system performance is collected and logged in the GoControl computer for use in connection with future optimisation, troubleshooting and servicing. This data collection provides insight into the current state of a company’s internal transport and future needs.

References

Datasheet for the GOPal 400 including dimensions, performance, sensors, floor requirements, and more.

http://robotize.com

Wevolver 2022