D.Eng. Renno Raudmäe
renno@clearbot.eu
Overview
ClearBot’s depth camera gives the ability to see like humans and map the entire environment in 3D. With its omnidirectional wheels, the platform is free to move in any direction at any time. Its transparent design, extendable hardware, and open source software offer plenty of room for customized extensions. ClearBot is based on the most widely used software in robotics development called ROS (Robot Operating System). ROS gives open access to the latest software packages that are already used by worldwide known companies, such as, Boeing, Siemens, ABB, etc., and connects the industry with leading research institutions.
Specification
On-board computer – Intel NUC7i5BNK
| Processor | Intel Core i5 (7th Gen) 7260U (2 cores, up to 3.4 GHz) |
| RAM | DDR4 2133 MHz 4 GB |
| GPU | Intel Iris Plus Graphics 640 |
| Peripherals | 1x HDMI, 4 x USB 3.0 Type A, 1 x Thunderbolt 3/DisplayPort/USB-C 3.1 Gen2 |
| Storage | Transcend MTS420 M2.0 SSD 120 GB |
| Network | Intel I219-V Gigabit Ethernet – RJ45 Intel Dual Band Wireless-AC 8265, IEEE 802.11a/b/g/n/ac |
Development board for external devices and motors- ARM NUCLEO-L476RG
| CPU | ARM®32-bit Cortex®-M4, 80 MHz |
| Debugging and programming interface | ST-LINK/V2-1 |
| Connectivity | Üldkasutatavaid sisend-väljund viike |
| GPIO | 51 |
Motors – DC motors with encoders
| Voltage | 12 V |
| Stall current | 5000 mA |
| Max rpm | 500 |
| Max torque | 0.59 Nm |
| Gear Ratio | 19:1 |
| Encoder resolution (motor) | 64 counts per revolution |
| Encoder resolution (gearbox) | 1200 counts per revolution |
3D depth camera – Intel Realsense D435
| Depth Stream Output Resolution | 1280 x 720 |
| Depth Field of View horizontal | 85.2 deg |
| Depth Field of View vertical | 58 deg |
| RGB Sensor Resolution and Frame Rate | 1920 x 1080 at 30 fps |
| Minimum depth | 110 mm |
| Max range | Approx.10 meters; Varies depending on calibration, scene, and lighting condition |
| Connection type | USB 3 Type-C |