Alloy X
High Precision Trimble Applanix APX V4 receiver
High precision onboard Trimble Applanix IMU
RTX CenterPoint Corrections
Rajant 2.4, 5.8 radio communications
Tubular steel construction
Adaptable design for the ability to customise and adapt
Long Travel suspension for difficult terrain
High ground clearance
Onboard Integrated processor for future expansion
Follows existing industry standard workflows
Real Time Data offload
Long runtime 8+ hours
Safety First
The Alloy X is manufactured with the idea of safety first
Battery master lockout
Front and rear E-Stop easily accessible
Front and rear object detection
User Selectable waypoint speeds
Roll slow and Roll stop (user definable)
Bump stop switches on the front and rear
What is a Autonomous UGV
An Autonomous UGV is an unmanned ground vehicle that can operate without any or minimal human intervention. The UGV can carry out many tasks using simple prompts freeing up valuable skills to carry out higher level tasks and improving productivity
This is a complete 2 mile long lidar TOPO of a dirt road scheduled for repair. The TOPO was collected fully autonomously with the ALLOY X
from start to finish in 4 hours including the planning of the autonomous mission. This used the standard lidar mapping payload.
Mission Planning
Simple Mission planning using csv and txt point files. Files can be directly exported from a data collector of cad software directly into the rover tablet. Missions can also be created and modified in the app in real time
This is a video of the Alloy X operating in autonomous mode following a path plan along a narrow path.
The last clip shows the object avoidance avoiding a person.
This is a data set captured by the lidar on the Alloy X. It is a 2 mile long dirt road scheduled for repair. A high detail topo was required to complete a quote of the roadway. This entire scan was captured in 4 hours including path planning and data offload showing the efficient workflow of the entire system
Navigation
Autonomous navigation paths are created directly in the app by importing a TXT, CSV, or KML point file into the controller. A dedicated import application is also available for reading point files directly from Trimble Siteworks, providing a simple and streamlined workflow from field data to an autonomous mission.
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The map view allows any created or imported mission to be edited directly in real time. Autonomous navigation uses a point-to-point method, providing a straightforward workflow both in the field and in the office.
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Previously created missions are stored on the controller and can be reused at any time by simply loading the desired mission into the UGV. This allows for extremely fast field setup, particularly when using RTX corrections, which eliminates the need to establish and connect to a local base station. It also reduces the risk of base-station communication dropouts when operating in remote or difficult-to-reach areas.
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Re-running an existing mission is as simple as turning on the UGV, selecting the desired mission, switching to Auto mode, and pressing Start. From that point, the operator only needs to monitor the UGV as it completes the mission.
Safety
From the start the Alloy X has been designed with safety in mind
E-stop and Battery Lockout
Front and rear factory fitted E-stops
allow easy access to the e-stop from any angle and position around the vehicle as well as a virtual E-stop on the controller itself. Battery Isolator with lockout makes maintenance and service simple
Bump-Stop
Two Bump-stop contact bars on the front and rear stop the vehicle immediately on contact in all travel modes
Lighting
Lighting including vehicle lighting and beacon lighting come standard on all Alloy X UGVs. Additional lighting can be added and integrated with autonomous functions . For example if a thermal camera read a high reading it could trigger a light in real time to show an active error.
Precision Lidar Mapping Payload as standard equipment
The Lidar payloads supplied with the UGV as standard equipment utilizes A high precision high resolution mid range lidar system for both precision mapping, autonomous navigation and Object avoidance.
The GPS/IMU navigation is a Trimble Applanix APX15 an industry leading navigation solution utilizing the high precision Trimble RTX Correction system.
Customization
The Alloy X is designed to be highly versatile and adaptable to a wide range of applications. Multiple inputs and outputs are available for electronic expansion, system integration, and the addition of specialized hardware.
In its standard configuration, the Alloy X can accommodate up to 50 lb of additional payload. Custom suspension and chassis configurations can increase payload capacity to 250 lb or more, depending on the application.
Multiple mounting locations throughout the rover provide flexibility for integrating a wide variety of equipment and payloads. These can include robotic arms, actuators, directional cameras, and specialized sensors such as thermal, acoustic, video, multispectral, hyperspectral, and ground-penetrating radar systems.
The Alloy X can be tailored to meet specific operational requirements, with custom hardware, electronics, sensor packages, and application-specific solutions engineered to suit your needs.
Alloy X Specifications
Chassis | Frame | 1.25 x .120 wall DOM construction |
Front Suspension | Dual A-arm 8" travel | |
Front Shocks | Adjustable ride hight | |
Adjustable compression/rebound | ||
Custom spring rates available for larger load capacity | ||
Rear Suspension | fully articulating single beam with panhard rod | |
11" of suspension travel | ||
Rear Shocks | Adjustable ride hight | |
Adjustable compression/rebound | ||
Custom spring rates available for larger load capacity | ||
Weight as delivered | 571lbs | |
Lentgh | 67" | |
Witdth | 38" | |
Hieght in standard configuration | 54" including antennas and lidar | |
Drive | 2wd Solid axle direct drive to both rear wheels | |
Motor | 3kw continuous duty high torque 36v BLDC | |
Controller | 400amp peak 120amp continuos duty | |
Battery | 105AH 36V lithium with built in BMS | |
Battery Runtime | Varies with conditions 8hr Minimum | |
Battery Charging | Onboard battery charging at 12amps | |
Transmision | Sealed 10-1 ratio high torque continuous duty | |
Steering | Servo driven rack | |
Wheels | 14" Aluminum | |
Tyres | 23" allterrain | |
Max speed | 10MPH | |
max payload | 50lbs custom application can be increased to 250lbs | |
Electronics | Autonomy engine | multi processor and microcontroller combination for high speed aquisition |
Drive Modes | Manual / Autonomous / Autonomous with obstacle avoidance | |
Object Detection | High precision, high definition, long range lidar | |
Mission Planning | Waypoint based navigation with individual task handling | |
Waypoint import method | CSV File, Text File, Direct trimble siteworks export Import, KML import, Mission log retrace | |
Mission speed | Dependant on terrain and max speed settings | |
Navigation Method | Trimble RTX and IMU fusion based navigation for high precision mapping, Local base also available | |
Navigation accuracy | .06ft in real time RTX | |
Mapping accuracy | .03ft post processed | |
GPS/IMU | Trimble APX based navigation | |
Mapping payload | High precision, high definition, long range lidar | |
Lidar range | up to 300m at 10% relectivity | |
Lidar Point Capture Rate | Up to 2 600 000 points per second | |
On Board memory | 64GB | |
Point Cloud Processing | OnBoard / Trimble POS PAC local or cloud | |
Radio Comunication | Rajant 2.4/5.8GHz | |
Comunication type | ethernet 10/100 | |
Security and safety | Rajant propritry military grade comunications protocol | |
VLAN | Yes, taggin in and out | |
Antennas | X4 MIMO rajant antennas | |
Range | enviroment dependant infinately expandaple with repeaters or remote connection | |
User Interface | Samsung 10" rugged tablet | |
Safety | Battery Isolation | Battery master switch with provision for lockout |
E-stop | 1 forward mounted, 1 rear mounted and a virtual e-stop on the controller | |
Crash prevention | 1 forward and 1 rear bump stop sensor that stop the vehicle and exits auto mode on contact with any object to be used as a last option for emergency only | |
Roll Protection | Vehicle will slow down on steep grades and will stop when grade limit is exceeded in auto mode | |
Obsatcle avoidance in manual mode | Visual object identification for the operator | |
Obstacle avoidance in Auto mode | Vehicle has two avoidance modes. Object stop and object avoid. In OA stop mode the vehicle will stop and notify the operator when an object in identified within its path. When in OA Avoid mode the vehicle will attempt to find another route away from the object, if a path is not available 3 reverse attempts will be made than the will be notified there is no path available. | |
Link Loss with controller | In manual mode travel will be stopped immediately and the E-stop will be activated. In Auto Mode the vehicle can continue for 25 seconds to allow the link loss to be regained prior to stopping the vehicle. |