Hardware
The main focus when developing James was to make a robot that can guide users to specific locations.
James will interact with the user using the tablet and the microphones and speakers installed in the head and body of the robot. James will also continuously scan the environment using the SLAM-system installed in the base of the robot.
Specifications
General
James has the following specifications:
Dimensions |
420 mm x 420 mm x 800 mm (LxWxH) |
Weight |
17 kg (including the packaging) |
Base station |
240 mm x 85 mm x 95 mm (LxWxH) |
Operating temp |
0 - 40 °C |
Operating humidity |
20 - 90% |
Maximum operating time |
9 à 12h |
Tablet
The tablet mounted in the "head" of James has the following specifications:
CPU Model |
MSM8953 |
Number of cores |
8 (Qualcomm MSM8953) |
Clock speed |
2.0 GHz |
RAM |
3 GB |
Internal Storage |
32 GB |
Touch-screen |
10" capacitive high sensitivity screen |
Camera-resolution |
13 MP |
Connectivity
James can connect to other devices using the following specifications:
WIFI |
2.4G / 5G Dual Band (802.11 b/g/n) |
4/5G |
Unsupported |
Bluetooth |
Bluetooth Version 4.0 |
Wifi specifications
The wifi-router (installed in the main body of the robot) has the following specifications:
Chipset |
MT7628AN + MT7612E |
Main frequency |
580MHz |
Wireless transmission rate |
1167Mbps |
2.4GHz channel selection |
1-13 |
2.4GHz channel bandwidth optional |
20M 40M |
5GHz channel selection |
36 40 44 48 149 153 157 161 165 |
5GHz channel bandwidth optional |
20M 40M 80M |
SLAM
The SLAM-system in the base of the robot has the following specifications:
Lidar |
|
Bumpers |
2 (at the side of the base) |
Scanner |
1 (scanning to the front) |
Power connector |
1 (at the back of the base) |
Power button |
1 (at the back of the base) |
Microswitches (1) |
2 (at the back) |
IR-detector (1) |
1 (at the back) |
Wheels |
Omnidirectional |
(1): These are needed to make the robot dock with the charging station.
| An on/off-switch is present at the bottom of James to disable the front scanner. Turning this switch on will disable the front scanner. Disabling the front scanner will cause the objects below the scanned surface of the Lidar to no longer be detected in front of James. The lidar will still detect the objects, regardless of state of the front scanner. |
Lidar
The installed Lidar-unit has the following specifications:
| Item | Unit | Min | Typical | Max | Comments |
|---|---|---|---|---|---|
Distance range |
Meter (m) |
0.15 |
- |
8 |
Based on white objects with 70% reflectivity |
Angular range |
Degree |
0 |
- |
360 |
|
Distance Resolution |
mm |
- |
<0.5 |
- |
<1.5 meters |
Sample Frequency |
Hz |
2000 |
8000 |
8010 |
|
Sample Duration |
Millisecond(ms) |
- |
0.125 |
- |
- |
Scan Rate |
Hz |
5 |
10 |
15 |
The rate is for a round of scan. The typical value is measured when RPLIDAR takes 400 samples per scan. |
Laser wavelength |
Nanometer(nm) |
775 |
785 |
795 |
Infrared Light Band |
Laser power |
Milliwatt (mW) |
- |
3 |
5 |
Peak power |
Pulse length |
Microsecond (us) |
60 |
87 |
90 |
- |