External Components and Details

RIA FRONT AND BACK VIEW PICTURES

Chassis

Robot body is completely made of high grade Aluminum alloy which is strong enough to withhold 30KG payloads and protects internal components. It is designed in such a way that total load will be applying over wheels and doesn’t affect any components.

Its wide structure maintains low center of gravity and ensures safety in maintaining ground level. All components including battery are placed in such a way that total weight acts at its center

Motors and Wheels

RIA-E100 is driven by two brushed DC motors and two wheels, the rest two wheels are designed to balance the weight of the robot and its payload. Each motor drives one wheel with belt transform motion. Both motors are configured equally with an output power of 150-350W. They are fixed inside chassis on lower frame and connected to wheels externally. Two Optical encoders are fixed at rear shaft of each motor and wheels are attached to front shaft.

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User Mounting Plates

Top portion of RIA-E100 is covered with thick plate which is capable to hold up to 30KG payloads. User can utilize its 364x480mm space to develop according to their requirement. This plate is strong enough holding manipulators and other hardware controllers. It has two wide holes at middle which allow cables to pass through it and thus connecting to internal pc and power directly. It is easy to remove this plate and fix other hardware control boards or to access inside components.

Bellow it, another plate is placed which is over sensor deck. It is used to mount sensors like camera, RGBD and so. It can be communicated with internal PC via free USB and power connecters which are at sensor deck portion. Sensor deck plate is equipped with several holes allowing user to connect their sensors using screws. All cables and wires can be placed under side of this plate in order to avoid damage.

Control Panel

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Fig 3. Rear control panel

The rear cover of RIA-E100 holds main user control panel.

It embedded with following elements:

Main Control Panel

  1. Charging port: It is a 3 pin port which allows to charge battery without removing battery from robot. It fits with the charger which is provided with RIA-E100. It is warned to turnoff robot while charging.

  2. Wi-Fi Antennas: USB tall antenna is provided with RIA-E100 and can be connected to one of the USB ports in the panel, it allows to communicate well with robot’s router without any interruption. It is flexible in rotating and keeping at desired position to that interfacing with components which are placed on top of robot can be avoided.

  3. Battery Display: LED indcator shows the battery status as:
    • Solid green: more than 50%
    • Solid yellow: 50% - 20%
    • Solid red: 20% - 10%
    • Blinking red: less than 10%
  4. Main Power Switch: It is the overall power switch which is round shaped with LED indication. It maintains complete flow of power to the robot. Since it is main power control switch it is always recommended to turnoff rest of components like PC before turning off main power switch. sudden powering off PC may damage OS.

  5. CPU switch: It is power switch which is round shaped with LED indication. Single press of this switch turns ON internal PC. The same works to turnoff PC too. It is always recommended to turnoff PC by single pressing this switch and then turning off main power switch. sudden powering off PC may damage OS.

  6. HDMI port: HDMI port gives direct access to connect display of internal PC. RIA-E100 is configured with desktop utilities. When connected you can have a view of desktop and allows to access all files just like PC.

  7. Free 4x USB3.0 ports: four USB3.0 ports are embedded over control panel and allows to access PC’s internal ports directly. One of USB port is dedicated to RGBD sensor, and another one for RPLidar. An USB splitter can be used to connect multiple devices like keyboard, mouse and others

  8. LAN port: A WLAN port has been embedded which have a direct access to one of WLAN ports of internal PC (RIA-R100 contains two WLAN ports). It allows to connect devices which need to be communicated using LAN based connections. it also allows to connect Ethernet cable and thus allows to access internet to update software packages or download for further development

RGBD Camera (Optional)

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Fig 5. RGBD Camera – Astra Orbbec

RGBD camera is placed at front over sensor deck. It is connected to one of free USB3.0 at front panel. It is powered from same USB port

Specifications:

Size/Dimensions 160 x 30 x 40 mm
Weight 0.3 kg
Range 0.6 – 8m (Optimal 0.6 – 5m)
Depth Image Size 640*480 (VGA) @ 30FPS
RGB Image Size 1280*720 @ 30FPS (UVC Support)
Field of View 60° horiz x 49.5° vert. (73° diagonal)
Data Interface USB 2.0
Microphones 2
Operating Systems Windows, Linux, Android
Power USB 2.0

RPLidar - A2M8-R4 Laser Sensor (Optional)

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Fig 6. RPLidar - A2M8-R4 Laser Sensor

FEATURES

Application Indoor/Outdoor
Light source 21 CFR 1040.10 and 1040.11
Aperture angle 360°
Scanning frequency 10 Hz
Angular resolution 0.45°
Operating range 0.15 m ... 12 m
Max. Range 12 m
Sample Frequency 8000 Hz
Scan Rate 5-15 Hz

INTERFACES

Interface XH2.54-5P
Band rate 115200 bps