rae

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Overview

rae (short for “Robotics Access for Everyone”) is a small desktop robot developed for evaluation of the DepthAI ecosystem and rapid prototyping of robotics applications. It is designed to be a low-cost, easy-to-use, and extensible platform. It was brought to life by a successful Kickstarter campaign.

It’s built on top of the RVC3, which along with AI, CV, video encoding, and stereo depth features, also supports on-chip VIO and Sparse SLAM. rae is running ROS2 which handles path planning and navigation.

Specification overview

  • Uses RVC3 for the computation with 4GB RAM and 32GB eMMC storage

  • Front side sensors: 2x OV9782 wide FOV, 1x IMX214 (color)

  • Back side sensors: 2x OV9782 wide FOV

  • IMU: BMI270 6-axis IMU

  • Wheels: 2x GM12F-N20VAV DC motors with Hall sensor wheel encoders

  • Connectivity: Either USB-C (on the side of the robot) or WiFi (AP)

  • Battery: 5000mAh Li-Ion, about 1 hour of runtime

  • Microphone array: 6x I2S MEMS microphones, 60Hz - 20kHz

  • Speaker: 1W, 100Hz - 20kHz

  • Display: RGB TFT, diagonal 0.96”, 80X160 pixels

Camera Specs

Color

Stereo pair / Color

Sensor

IMX214 (color, PY138)

OV9782 (color, PY139)

DFOV / HFOV / VFOV

117° / 105° / 88°

150° / 128° / 80°

Rectified Depth FOV

N/A

106° / 97° / 70°

Resolution

13MP (4208x3120)

1MP (1280x800)

Focus

FF: 60cm - ∞

FF: 18cm - ∞

Max Framerate

60 FPS

120 FPS

F-number

2.2 ±5%

2 ±5%

Lens size

1/3 inch

1/4 inch

Effective Focal Length

2.26mm

1.69mm

Pixel size

1.55µm x 1.55µm

3µm x 3µm

RVC3 inside

This OAK device is built on top of the RVC3. Main features:

Dimensions and Weight

  • Width: 125 mm

  • Length: 125 mm

  • Height: 32 mm

  • Weight: 400g

Hardware specifications

  • Utilizes OAK-SoM MAX (OAK-SoM-Max-1 configuration)

  • Wireless card: Intel 9260 (via PCIe M.2)

  • Accessory USB-C (on top) works as USB3.0 host, so you can connect USB devices to it

  • USB-C charging port (on the side) is USB2, while Accessory USB-C (on top) is USB3

  • LED ring (around the bottom): 10 LEDs per side, in total 40 LEDs individually addressable via WS2812 protocol

Stereo depth perception

This OAK camera has a baseline of 7.5cm - the distance between the left and the right stereo camera. Minimal and maximal depth perception (MinZ and Max) depends on camera FOV, resolution, and baseline- more information here.

Extended means that StereoDepth node has Extended disparity mode enabled.

Getting started

See the documentation here on how to connect the rae to the RobotHub.

3D Models

3D models - STEP/STL of the enclosure and the PCBA - can be found here

Files

Got questions?

Head over to Discussion Forum for technical support or any other questions you might have.