Hardware

 

 

Components

  • Beam Robot. It comes with a 10” LCD screen, low power embedded computer, two 640 × 480 HDR (High Dynamic Range) wide angle cameras facing bottom and front, loudspeakers, four high quality microphones, WiFi network adapter and a recharging station. Dimensions of the standard robot are 52.9” (H) × 12.3” (L) × 16.4” (D). Motor control and power management is accomplished via an USB 2.0 controller in the robot’s base. Its maximum speed is 0.45 m/s. The robot is powered with a 20 AH sealed lead-acid 12 V battery capable of approximately two hours of autonomy. We replaced the head computer’s hard drive with a 128 GB mSATA drive along with a new installation of Ubuntu 16.04 operating system and ROS Kinetic. The head computer is connected to the base computer with Gigabit Ethernet.
  • XBOX One Kinect Camera. We placed a XBOX One Kinect camera on top of the LCD screen using custom made aluminium brackets. The camera is powered by the external battery pack and a 12V regulator. Unfortunately, this sensor is discontinued. However, it can easily be replaced by other sensors like the Intel RealSense.
  • Microphone Array and 8SoundsUSB. We installed a circular microphone array and the 8SoundsUSB sound card using custom made aluminum brackets and acrylic support plates
  • Intel Skull Canyon NUC6i7KYK (NUC). The computer is equipped with a 512 GB hard drive, 32 GB RAM, a quad Core-i7 processor, USB3 ports, Ethernet and WiFi networking, running Ubuntu 16.04 with ROS (Robot Operating Systems). 
  • SWX HyperCore Prime Battery Pack. A 190WH lithium-ion battery is installed on the robot’s base using a V-Mount battery plate to keep the robot’s center of gravity as low as possible, and facilitates battery swapping and charging. The lithium-ion battery is recharged manually and separately.