​The Nipper is a compact automated vehicle save to use in a manned space. The Nipper is a complete independently operating AGV with a WI-FI based communication system. The Nipper only needs a loading time of just 30 minutes to be able to drive 4-5 hours continuously. The Nipper has a speed of 1 meter per second and can easily lift 1,000 kg.

Dimensional drawings

Directions of movements and turning circle

TECHNICAL  SPECIFICATIONS

​Performances

​​Supply voltage:	​24V
​Performances:	​LiFePO4 24V/2x420W/h
​​Operating time:	​ 4-5 hours *
Loading time: ​	​30min 20-80%
​​Lifting:	130 mm (low 93 - high 223 mm)
Maximum speed:	​1 m / s in main direction
​​Own weight:	229 k
TTO: ​	​15000 hour

Environment

Maximum ambient temperature:	​30°C
Minimum ambient temperature:	0°C
Humidity:	95% no condensation

CONDITIONS ON WORKPLACE

Conditions on workplace:	dry, flat, not dusty
Maximum bump:	5 mm
Maximum slope:	3%

pALLET LOAD

Europallet:	800x1200 mm
Industrial pallet:	1000x1200 mm (3 sleden)
Max. loading:	1000 kg
Max. Load balancing in front of / behind:	​60/40%
Max. load balancing  left / right:	​55/45%
Max. loading height: ​	2,3 metre

** 

material

Frame:	steel
Prongs:	stainless steel SS304

finish surface

Frame:	white pearl with blank polyurethane coating black RAL 9005 textured finish
Prongs:	stainless steel SS304
Fasterners:	galvanized steel
Purchased parts: ​	Standard supplier finish

Control

Steering Nipper:	PLC guided
Language:	English
Navigation:	navigation with natural characteristics
​HMI:	​ 3,5 ”touchscreen
Fleet manager:	Bluebotics
Visualization:	Web based

NAVIGATIon

Scanner:	2D Lidar 360 ° navigation scanning
Scannertype:	Pepperl + Fuchs 360 ° High Definition-scanning
Scan high:	between 2 en 2,5 m above floor level

Charging station

Charging station:	consists of 2 separate charges (for each prong)
Input power supply:	2x 230V ~ 50Hz 3,2A
Connector:	2x EURO-connector
Output power:	2x 29V-17A

security

• Sick S300 2d LIDAR security scanner (main direction)
• Scanners in prongs for rear drive
• 2 mechanical bumpers for prongs
• 2 mechanical bumpers behind on the prongs
• Coupling limitation drive sideways (90 ° in main direction)
• Two emergency stops on the top of the vehicle
• Bluespot-warning lamp for visualization on the floor
• Orange direction indicator
• Flashing orange light for awareness on eye level in operating modus
• Red and green LED in prongs (in front of and behind) for driving indication direction
• PLd (performance level d)

security options

Object scanning
The object scanning solution consists of three (3) Sick TIM320 scanners, those are installed on the Nipper. Two (2) scanners on each side with a 2D vertical plan beside the vehicle and a scanner on the vehicle with a field facing slanting downwards.
The Sick scanners have a field of view of 270°. The blind side of the scanners on the side are directed upwards.

DOCUMENTATIon & REGulation

Instruction manuals:	Manual 1x digital
Language:	basic English (in the EU depends in which country​)
Certification:  ​	CE ​
Regulation:
2006/42 / EG	​​Machine guideline
2014/30 / EU	​EMC-guideline​
NEN-EN-ISO 12100: 2010  ​	Security of machines – General principals for design – Risk assessment and risk reduction
NEN-EN-ISO 4413: 2010  ​	​​Hydrolic oil – General demands and safety requirements for systems and their components
NEN-EN-ISO 13849-1: 2016  ​	​​Security of machines – Safety related parts of operation systems - Part 1: General principals for design
NEN-EN-ISO 13850: 2015	​​Security of machines – Emergency stop function – Principals for design
NEN-EN-IEC 60204-1: 2006  ​	Security of machines - Electrical equipment of machines - Part 1: General demands
NEN-EN 1525: 1997  ​	Security of industrial trucks – self- driving trucks and their systems
NEN-EN1175-1: 1998 + A1: 2010en ​ ​	​​Security of trucks with industrial machines – Electrical requirements - Part 1: General demands for battery driving trucks

Software 

Simultaneous localization and mapping is a software and hardware technology, which enables the Nipper to map its environment while positioning itself in that environment. When using SLAM, you do not need any infrastructure to direct the Nipper. It can navigate autonomously through your factory or warehouse.
The Bluebotics software allows you to independently program the Nipper and add or change any commands. Furthermore, it is possible to add other devices, such as e.g. a cleaning robot, to the Bluebotics software to enable both devices to navigate via the same map.