AGV is a small sized modified multipurpose loader with hydraulic drive and work systems
During the levelling task AGV autonomously drives a predefined path on the test site
GNSS, odometry and IMU are used for localization
2D laser scanner installed on tilting servo unit is used to sense the area in front of the machine
Fused with the localization information a point cloud is created and obstacles higher that 5 cm in front of the machine can be detected.
MAV takes off to inspect the quality of levelling task done by AGV
Stereo camera pair onboard MAV is used to create octomap model of the ground that is used in the inspection.
MAV notices that levelling quality is poor so AGV seeks service to check blades condition
Path from current position to service area is found and AGV autonomously drives to the path while scanning the area for possible obstacles.
MAV transmits information of the ground surface as octomaps to AGV to help avoid possible obstacles.
Blade is positioned in correct position to enable docking with Service station
Service station send area clear message over ROS for AGV to enter.
During driving in AGV loses GNSS localization and thus only uses IMU and odometry for localization
After stopping the blade is lowered on service position
The snow blade screws are detected using two-step procedure using the Kinect v2 sensor.
First the 6-DoF pose of the snow blade is estimated using a point cloud based algorithm.
The goal of the first step is to be able to locate the approximate screw location on large object surface within centimeter accuracy.
After the first step the robot tool with the sensor is moved to close range of the screws using the the information relayed by Kinect.
The second step refines the estimation to millimeter accuracy by using Kinect's HD quality RGB camera.
Bolt location is verified by the nut runner.
The bolt is opened and moved to holder.
Pneumatically contolled bi-stable magnet tool is picked to lock and manipulate the blade edge.
Tool is placed based on location given earlier by Kinect sensor.
Second bolt location is verified with the nut runner torque sensor.
Old blade edge is removed along with the magnet tool.
New blade is picked up.
and placed to the location of the old one.
Magnet tool is locked.
The bols are tightened back into place.
Tool is moved away to uncover the second bolt location.
Second bolt is tightened back.
Camera sends service Ok signal to AGV
AGV returns to field