c-Link Systems, Inc.

c-Link Systems, Inc. Copyright 2010. 2013, 2014, 2016, 2025

The cLS-INS-X; c-Link Systems(cLS) Inertial Navigation System module, a versatile solution for all cLS autonomous robots, is equipped with a 3-axis gyro, 3-axis accelerometer, and magnetic compass for real-world sensing. The sensor array, which includes motor rpm to calculate track position and a GPS module for single or dual antennas, can be positioned at the robot center point with modules featuring a mountable sensor block connected via a cable.
The gyro, with a measurement range of ±400 deg/s, and the accelerometer, with a measurement range of ±30 g, are robust and reliable. The magnetic compass, with a dynamic range of ±50 gauss, further enhances the system's durability. The GPS, with a velocity accuracy of 0.05 m/s and a dynamic heading accuracy of 0.3 deg, ensures the system's reliability. The 3U Eurocard with a 16-bit data bus is enclosed for shielding and protection. A single I.C. manages all onboard communications and navigational math functions, including Kalman Filtering.
cLS-INS-1: Onboard sensors with a single GPS antenna.
cLS-INS-2: Onboard sensors with dual GPS antennas.
cLS-INS-3: Off-board sensors with a single GPS antenna.
cLS-INS-4: Off-board sensors with dual GPS antennas.

The cLS-Sensor-360, a versatile solution for all cLS autonomous mobile robots, has a master control I.C. and channel circuitry for up to 12 automotive waterproof ultrasonic sensors. The module can also activate safety lights to warn humans they are getting too close, providing an additional layer of safety in robot-human interactions.
The currently used sensors, which are waterproof and easy to mount, have a working range of 200mm – 6000mm (7.8 – 236.2 inches) and a 75° cone. The master controller triggers each sensor pulse and waits for a return echo. The return distance from the sensors can be adjusted to ignore any echo after a certain distance. This allows the robot to operate in areas with objects in the field of full view that will not interfere with the robot's function. The module can activate warning lights if an object falls into two configurable ranges. The module is based on a standard 3U Eurocard, with a 16-bit data bus. All parameters are loaded at power-up and can be changed via the robot’s hand controller.