Benewake Intelligent Traffic System – BITS with TF03 LiDAR Sensor
Traffic light timing programs aim to develop further adaptive signal control technology (ASCT) to adapt programs to real-time traffic demands and thus reduce traffic congestion in urban areas. An effective ITS providing real-time information for decision-making algorithms is needed by the ASCT.
Benewake launched the BITS, the Benewake Intelligent Traffic System, to provide an effective traffic statistic collecting solution, which can effectively and accurately detect multiple types of traffic statistics, such as vehicle model (profile), vehicle speed, and vehicle height.
Based on Benewake’s single-point LiDAR, TF03, BITS consists of two parts: BITS-2A, collecting traffic statistics with two TF03s; BITS-C, the control board used to process data collected by BITS-2A.
Existing solution introduction — Single point LiDAR
This solution is based on the Benewake single-point ToF LiDAR and consists of three parts: the data acquisition unit, using the Benewake single-point long-range LiDAR, TF03; the main control board, used to collect and process LiDAR information and control output results, control LED display screen (can be omitted); mechanical structure, used to install and fix the entire program.
Benewake’s single point LiDAR solution ——BITS
The two LiDARs are installed in the vertical ground direction and the tilt-to-ground (40 °) direction. The tilt LiDAR and the vertical LiDAR can detect the vehicle successively, calculate the trigger time difference between the two, and then calculate the vehicle’s driving speed. In addition, the data measured by the vertical LiDAR can restore the contour information of the vehicle. Finally, a neural network algorithm completes the model recognition.
Installation
Vehicle height information can be directly obtained by vertical LiDAR measurement. Next, the two LiDARs calculate the vehicle speed and the trigger time, which calculates the available vehicle speed. Finally, the neural network algorithm matches and identifies the original data collected by LiDAR.
After completing the recognition test, the main control board directly transmits the test results to the customer’s central control system through the data line. Transmission content includes statistics of vehicle models, vehicle height, vehicle length, vehicle speed, and several vehicle models.
Universal Robots are used in production around the world.
Since 2005, Universal Robots has worked to make a difference in our customers’ lives in ways that matter most to them. Universal Robots is a Danish manufacturer of smaller flexible industrial collaborative robot arms based in Odense, Denmark. The business volume in 2020 was USD 219 million. The company has over 700 employees and over 1,100 partners around the world.
More than simply automation, Universal Robots changes how people work and live around the globe by empowering their ideas and dreams – helping a non-profit improve people’s vision in the poorest countries or allowing a manufacturer to reduce the strain of repetitive tasks.
Advanced tools, our easy-to-use robot arms are used by companies and organizations of all sizes to help address market volatility. UR’s cobot solutions deliver the flexibility and financial return manufacturers need to compete and win in any market. So wherever you find people and their dreams for achieving growth, you’ll find Universal Robots.
KUKA Robots offers industrial robots in various versions with various payload capacities and reaches. Their spectrum of products also includes the appropriate robot peripheral equipment – from linear units to end effectors. Combined with cutting-edge software and innovative controllers, we develop individual solutions for your manufacturing processes together with you. Whether for maximum speeds behind the safety fence of your system, as a mobile solution for your Industrie 4.0 requirements, or direct collaboration between humans and machines in HRC operation. KUKA Robots is a German manufacturer of industrial robots and systems for factory automation. It has been predominantly owned by the Chinese company Midea Group since 2016.
KUKA Robots is a global automation corporation with around 3.3 billion euros in sales and roughly 14,000 employees. The company is headquartered in Augsburg, Germany. As one of the world’s leading suppliers of intelligent automation solutions, KUKA offers customers everything they need from a single source: from robots and cells to fully automated systems and their networking in markets such as automotive, electronics, metal & plastic, consumer goods, e-commerce/retail, and healthcare.
Whether it is robotics, automation, logistics, or electronics – KUKA merges its expertise with a single goal: to give its customers a decisive edge. With this aim, the KUKA brand sets global standards. Customized solutions of top quality have been an expression of their focus on customers’ needs since their founding.
In 2021, Hyundai Robotics acquired Boston Dynamics, Inc.
Hyundai Motor Group is actively developing the robotics field as a future growth engine for the 4th industrial revolution. In 2021, they acquired ‘Boston Dynamics, Inc., a US robot company, and developed a ‘Factory Safety Service Robot’ equipped with artificial intelligence-based software.
According to the Hyundai Robotics team, the robotic market is expected to increase as it expands into various fields. Recently, mobility-specialized companies are increasing their investment to link technology with artificial intelligence and manufacturing fields. For example, under the goal of ‘Progress for Humanity.
Hyundai and Kia Motors recognized this as a ‘customer-oriented manufacturing platform implemented with technology’ and unveiled ‘E-FOREST,’ a smart factory brand. E-FOREST is ‘Auto-FLEX,’ meaning flexible and advanced assembly, logistics, and inspection automation; ‘Intelligent,’ meaning the establishment of an AI-based autonomous control system; It aims for three values, ‘Humanity,’ and plans to open up the infinite possibilities of future mobility by organically connecting people, nature, and technology.
The most significant value of Hyundai Motor Group is ‘people-oriented.’ This is why Hyundai Motor Group puts excellent effort into robot R&D. This is because the more precisely the robot evolves, the safer and more convenient life can be. The robotics field is one of the five new businesses that are the future growth engine of Hyundai Motor Group. The three robot fields – wearable robots, service robots, and micro-mobility – are the answer to the age of the 4th industrial revolution and an aging society, where advanced technologies and concerns about technological alienation coexist.
Roxo operates on sidewalks, bike lanes and roadsides, and is designed to be used in a three-to-five mile radius of a retailer’s location. We specifically designed Roxo for reliable, autonomous last-mile delivery that can deliver to a customer’s door, including climbing the curb, traveling up the sidewalk, and climbing deep terrace steps.
Further testing is being planned, targeting customer use cases like auto parts, pizza delivery, home improvement, general merchandise, and groceries.
Under different voltages, the performance of stepper motors will be different. Generally, the higher the voltage, the better the speed and torque performance of the stepper motor. However, increasing the voltage also causes an increase in current, which may overheat the motor and possibly even damage the driver.
The motor’s low-speed vibration will be larger when working under high voltage. We recommend that the driving voltage be selected according to the size of the motor base (but may be limited by the driver).
Motor
Voltage
NEMA8—17
12-24VDC
NEMA23—24
24-48VDC
NEMA34
36-60VDC
NEMA42
60-100VDC
To properly drive a stepper motor at different voltages, the following points need to be considered:
Current: The stepper motor has a rated current, the best working current considered in the design. If the current exceeds the rated value, the electric
The machine may overheat and be damaged. At different voltages, the current may vary. To protect the motor, a current limit can be used
driver to control the current.
Driver: An appropriate driver must be used to drive the stepper motor at different voltages properly. The driver should be able to input
The voltage adjusts the output current to maintain a constant current. This can be achieved using a constant current source driver, which automatically adjusts the
output voltage to maintain a constant current.
In summary, stepper motors work at different voltages as follows: A change in voltage causes a change in current, so you need to use an appropriate driver to protect the motor and achieve optimum performance. When designing the system, the rated voltage and current of the motor should be considered, an appropriate driver should be selected, and control strategies should be used. Source
Kawasaki Robotics produced the first commercial, the industrial robot, in Japan in 1969
In 1969, Kawasaki Heavy Industries manufactured the first industrial robot in Japan. Since then, they have stood as one of the leading robot manufacturers, with their products used to develop automotive and other industries in Japan and around the world with their customers.
As a pioneer in industrial robot manufacturing, they have developed and supplied high-quality, high-performance robots for various applications such as welding, assembly, material handling, painting, and palletizing. Their robots work in diverse sectors, including the automotive, electrical, and electronics sectors, drawing on technologies and experience accumulated during decades of experience.
They offer solutions that meet consumers’ needs for automation, labor-saving efforts, enhanced productivity, quality, and the work environment.
Since 1878, Kawasaki Heavy Industries has manufactured products ranging from ships, planes, and motorcycles to industrial robot arms for automotive and general industries. Driven by decades of experience in manufacturing, they focused on creating industry-leading robots that they would want to use in their factories. As a result, Kawasaki Robotics is known for producing high-quality industrial robots that stand the test of time as manufacturing evolves.
Founded in 1989, Yaskawa Motoman is one of the leading industrial robotics companies in the United States. With more than 500,000 Motoman industrial robots, 18 million servos, and 30 million inverter drive installed globally, Yaskawa provides automation products and solutions for virtually every industry and robotic application; including arc welding, assembly, coating, dispensing, material handling, material cutting, material removal, packaging, palletizing and spot welding.
Their product line includes more than 150 distinct industrial arms, delta, and SCARA robot models, plus a full line of pre-engineered “World” solutions that are complete application-specific robotic systems that include robot, process, and safety equipment. Combined with their sister and partner companies, they support robotic solutions worldwide. Their proven track record of delivering industry-leading quality, innovation, and customer satisfaction can help you exceed your automation goals.
Yaskawa Motoman is backed by a powerful parent, Yaskawa Electric Corporation of Japan. Since 1915, Yaskawa Electric has demonstrated a passion for automation by developing specialized solutions to help customers increase efficiency, improve quality, boost productivity, and deliver outstanding ROI. As one of the world’s largest manufacturers of industrial robots, Yaskawa Electric has offices in 29 countries and approximately 15,000 employees worldwide.
The Magni comes almost ready to run. Two 12v SLA (Sealed Lead Acid) batteries should be purchased separately. A CR2032 coin cell battery is required for proper operation and must be installed on the back of the main controller board, as shown below.
A 4mm Allen wrench (for M6 screws) is included in the shipping box. In addition, a small Phillips (cross point) screwdriver may be needed for mounting the Raspberry Pi camera.
Opening The Box And Inspecting The Contents
Step 1 – open the box
Inside the box, you will find the battery cables, brackets for the cover plate, fasteners, and a cover plate.
IMPORTANT! DO NOT DAMAGE THE THICK STYROFOAM THAT IS IN THE BOTTOM OF THE CHASSIS; THIS IS LATER USED TO HOLD THE BATTERIES
After removing the robot, note the cover plate, which is stored at the bottom of the shipping box.
The Raspberry Pi 3 + SD image card can be installed if you have your image with your software (Silver and Gold). However, a default image may already have been installed in the factory.
In the small parts bags, you will find fasteners and M4 and M2 Allen wrenches that fit them. The additional sensors (Silver and Gold versions) are wrapped separately.
Bracket Installation
The picture above shows a Magni as shipped without the two brackets. Take time to ensure that the two Motors are connected, which should have been done at the factory. If they are detached, there are arrows on the connectors that (-> <-) show the alignment. These connectors are sometimes hard to insert and separate because it’s hard to grip them. Each motor attaches to the black motor cable from the nearest side of the main PC board to that motor.
The picture above shows a Magni without the front bracket. In this picture, the Raspberry Pi camera cable is attached to the Raspberry Pi itself, which is part of the setup for the Camera. Decide which camera configuration you will want on your Magni. You should now take a detour to look at THIS_PAGE and decide how to mount the Camera. Once you decide, use the camera setup page and look at the pictures on this page about bracket mounting.
Front Bracket
Note that the front and back brackets are different. The front bracket has a shelf for mounting the Raspberry Pi camera. Using 3 of the M6 flat head hex drive screws, attach the bracket. The Allen wrench will go through the top side of the bracket to reach the screw. In this case, the forward-mounted Camera was selected, and the ribbon cable routed to the Camera. Again, see the camera setup page.
Back Bracket Viewed From Behind
The back bracket attachment also uses 3 M6 flat-head hex drive screws. Here we see the three screws securing the back bracket to the main chassis.
The Mostly Assembled Magni Before Battery Install
The Front Bracket with the power switchboard and Camera mounted is shown above.
The Main Power switch is the black switch to the left above the first “U” in Ubiquity. On recent Switchboards, it will say ‘Main Power’ next to the blue LED.
The Motor Power is the red switch for the power to the wheels above the “y” of Ubiquity printed on the chassis. On recent Switchboards, it will say ‘Motor Power’ next to the red LED.
For both power switches, the ‘ON’ position is when the switch is out, and when pushed in, the switch will be ‘off.’
The charging port is between the two switches.
The next step will be to install the batteries. At this time, push both of the switches IN, which will turn all power off as you connect the batteries.
Main Power Battery And Wheel Cables Installation
First, a picture of a fully assembled Magni using 2 of the seven amp-hour batteries and having the motor cables attached for both wheels.
Use the thick styrofoam cutout piece that came with your Magni in the chassis bed. It holds the most common battery types in place even if the robot bumps things or is moved around.
The picture above shows proper cable connections for the batteries and wheels.
The wheels should be properly connected from the factory. As seen in this picture, notice that the cable attached to the two green terminal strips on the right of the back of the main MCB board goes to the right wheel. The cable that comes from the two green terminal strips seen on the left of the back of the MCB board goes to the left wheel.
Battery Power cable Connectors
The regular MCB power cables attached at the factory are set up to connect to SLA (Sealed Lead Acid) batteries using an F2 (6mm – 1/4 inch) male spade or flat connectors. Some smaller batteries may use the F1 (3/16 inch) male flat connector, and the cables we typically attach will work on those as well. We also include alternate power cables with 6mm loop connections for larger high-capacity batteries with bolts. Below is a picture of both connectors that a battery may require.
Battery to MCB Power Cable details
For the main power cables, the red power cable goes to the positive of the battery on the right. The yellow cable connects the positive of the left battery to the negative of the battery shown on the right. The black cable goes from the negative terminal of the battery on the left to the ground on the robot.
There are cables for both spade-type and screw-type battery terminals. A 24-volt battery charger is included in the package (Photo not available). The recommended batteries are of the type specified by UB12xxx, where xxx specifies Amp Hours. Commonly UB1250, UB1290, or UB12150 are used. Since it is unknown what size and shape the batteries will be, it is the user’s responsibility to see they are secured in the chassis using straps or packing material.
The Motor cables to the Wheels
The wheels require a high-current cable that also holds the wheel encoder wires. This cable can be very difficult to detect and only slightly easier to install because it has a very tight fit. Below is a picture of the male pin end, and below that is a properly connected motor cable.
Take note of the small arrows, which can be hard to see, but mark the critical location, and the cables will only fit together if the two sides align the arrow markings.
The top plate should be the last thing attached, using 6 M6 machine screws. Notice that there is one 10mm or so hole in one corner of the plate that is meant to allow the Camera, if in an ‘upward’ position, to see the ceiling, so be aware of that as you put the top plate on the robot.
Note that the countersunk holes should be on the top.
Power Switches
Now you can turn your robot on by pressing the ON switch (the one colored BLACK) and following the guide on connecting to it.
The robot ships by air worldwide. The batteries are not included to keep shipping costs down, as they are difficult to ship worldwide, and safety restrictions vary by destination. The recommended lead acid batteries are easy to source locally.
An added advantage of not including batteries is that the robot accepts different battery sizes, so the user can select batteries depending on whether they prefer a long-endurance heavier robot or a short-endurance lighter robot. In short, you need to find your batteries to put in the robot, and these are commonly available online or in local stores that supply products for scooters, wheelchairs, uninterrupted power supply systems, or even automotive.
VOLTAGE CONNECTED TO THE MAIN CONTROL BOARD (MCB) MUST REMAIN 30.0V OR LESS AT ALL TIMES!
Specific Qualified Lead Acid Batteries
The robot requires two 12V lead acid-style batteries wired up in series to provide 24 volts, and typically, we recommend one of the choices in this section.
Battery Size
Capacity (Ah)
Runtime (hours)
Notes
1250/1255
4 – 6
3 – 4
They are used when the portability of the robot is at a premium – for example if you are traveling by air with the robot.
1270
7 – 10
6 – 8
This size battery makes the robot still light enough to lift.
12350
30 – 35
12 – 24
It is recommended only for those who must have extraordinary endurance. This sized battery makes the robot sufficiently heavy that it will be difficult for most users to lift.
A typical 1270 7.2Ah 12V battery, two of these are most commonly used with the Magni.
The stock battery charger we supply is ONLY FOR LEAD ACID batteries and will NOT work and may be dangerous for other battery technologies.
While any set of batteries that can together supply roughly 24V will work, the ideal battery type is a deep-cycle lead acid battery. Typically, for the smaller batteries (1250, 1255, 1270), a gel-type lead acid is common, and for the larger types (12350), an AGM type is more common. Li battery types will work, but it should be a drop-in replacement type fully compatible with a lead acid charging cycle and have its battery balancing system (typically LiFePO4). As the system is designed for lead acid batteries if you use anything else, the battery state topic could give misleading numbers as to the true battery state, but this will not affect the ability of the robot to drive properly.
Compartment Size
We ship Magni with a foam cut-out that nicely holds two 1270 format Lead Acid batteries. Do not discard the foam inserts along with the packaging.
The floor of the battery compartment is always at least 205mm x 258mm. Due to manufacturing tolerances, it may be larger, but that cannot be guaranteed.
From the floor to the top of the top rails on the side, we have 135mm of height. Batteries can go up taller to the top flat metal plate, and that would be a height of 184mm. These measurements are intentionally meant to avoid trying to get so close on a mm of clearance as our manufacturing cannot guarantee millimeter exact tolerances.
Typical Current Draw
Below is a table showing typical currents seen on the positive lead of the battery using a DC clamp on the meter for steady states.
Operating State
DC Current in Amps
Stationary robot using the Pi4 with 4GByte and on flat ground with motor power off
0.4 – 0.45
Driving on a flat surface with no load at about 0.5 meters/sec
0.8 – 0.9
Rotating in place with no load (about the same as slow driving)
0.8
Stationary on flat ground with power to the motors
0.5 – 0.6
Stationary on flat surface but pushing down and back on the robot so wheels have to fight to stay in one place, but we are not slipping just yet
1.2
Place the robot so it cannot move and apply a great deal of torque to each wheel so the motor controller has to fight to hold the wheels firm.
2 – 3
The instantaneous currents can be well over ten amps in certain cases, but since these are transient cases for stress tests, they are not considered helpful for battery life calculations.
Other cases, such as the robot driving up a slope with large loads, of course, also increase current over the above values.
Real-time clock (RTC)’s CR2032
There is also a CR2032 coin cell battery on the back of the MCB. This provides power to the real-time clock, essential for timekeeping while the robot is without power or turned off. If this battery is not installed, obtain one and install it. Insert the battery with the lettering side up.
Capacity and Aging
Battery capacity is a complex topic, so we try to tell users a percentage that is based on brand new fresh batteries, as the Magni has no idea the state of the batteries that are in use and their age and past usage patterns.
All lead acid batteries lose their ability to hold a full charge over time and have a lower capacity after charging than a new battery and get to the total voltage that a new battery can attain as they age and have been through different levels of discharge and then re-charging cycles. The voltage curve should stay consistent throughout, so the percentage indicator should remain usable throughout its life span. However, they may no longer register as 100% charged, as they no longer charge to the same voltage level, and the idle current draw sags the voltage more than on new batteries.
General guidelines for lead acid gell cells commonly used on the Magni robots:
Do not let your robot run under 50% capacity, around 24 V for the two magni batteries. Operating below that voltage level (2 V per cell) shortens the battery’s charge capacity and lifespan due to sulfation. Shutting down the Raspberry Pi is not enough as it will continue to draw notable current while off, so the robot must be completely turned off using the MCB switches.
The MCB will disconnect the battery if the voltage drops below ~20 volts. This is a last resort to prevent complete loss of the batteries, as they should never reach this low charge level and will be seriously damaged. Due to battery voltage sag during high current operation, it’s also not possible to disconnect sooner. This abrupt cutoff may cause Pi SD card corruption.
When used on old or damaged cells, the robot’s charger may cause slight overcharging if left connected after charge completion and can cause the batteries to vent gas (characterized by the smell of rotten eggs). If this happens, it is recommended not to keep the charger connected for longer than it takes the battery to charge.
The MCB has a typical parasitic current draw of around 0.04 watts when connected (around 1-2 mA at 24 volts); as such, it will gradually empty the batteries even if completely turned off. It is recommended to completely disconnect at least one battery lead when the robot is in long-term storage (3 weeks or more).
Capacity
Voltage for the 24 V Magni battery
Voltage for a single 12 V battery
100%
25.77V
12.89V
90%
25.56V
12.78V
80%
25.31V
12.65V
70%
25.02V
12.51V
60%
24.81V
12.41V
50%
24.45V
12.23V
40%
24.21V
12.11V
30%
23.91V
11.96V
20%
23.61V
11.81V
10%
23.40V
11.70V
0%
23.25V
11.63V
Please consider this information when attempting to diagnose battery or charger faults.
Front Bracket
Back Bracket Viewed From Behind
