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Revotonix L.L.C Nazik El-Bizri Boulevard, Next to Le Mall 1600, Saida, Lebanon

[email protected] www.revotonix.com

Tel.: 0096171414139 00491704609620

Technical Data Sheet

Felix for Advertising

mailto:[email protected]

Technical datasheet Felix

Technical_Information_Felix-V1.0 of 17 W. El Hariri Printed on: 18.01.2019

Table of Content 1 Versions ................................................................... 3

2 Abbreviation ............................................................. 3

3 General ..................................................................... 3 3.1 Introduction ................................................................... 3 3.2 Function ........................................................................ 3 3.3 Applied Norms / Directives ............................................... 4

4 Technical Specifications ........................................... 5 4.1 Robot ............................................................................ 5 4.2 Robot base and support ................................................... 6 4.3 Screens ......................................................................... 8 4.4 Safety Functions ............................................................. 8

4.4.1 General............................................................................................ 8 4.4.2 Protective and safety fields ............................................................... 9 4.4.3 Additional safety fields – Back (Optional) ........................................... 9

4.5 Navigation ................................................................... 11 4.6 Display and control signals ............................................. 12 4.7 Battery ........................................................................ 12 4.8 Charging station ........................................................... 13

5 Required infrastructure ...........................................14 5.1 Robot orientation .......................................................... 14 5.2 Communication ............................................................ 14 5.3 Server ......................................................................... 14

6 Transport Management and Additional Features .....15 6.1 AIC (AGV Interface Controller) ....................................... 15 6.2 Robot setup ................................................................. 15 6.3 Advertising and interaction ............................................ 15 6.4 Additional interaction (Optional) ..................................... 15 6.5 Interfaces (optional) ..................................................... 16

7 More information .....................................................17



1 Versions Version Date Changes Name

1 18.01.19 • First Version W. El Hariri

2 Abbreviation AGV = Automatic Guided Vehicle WLAN = Wireless Local Area Network GUI = Graphical User Interface IPC = Industrial personal computer PLC = programmable logic controller

3 General

3.1 Introduction With the recent leaps in performance of Automated Guided Vehicles (AGVs), creative and unique mobile techniques for advertising to reach the largest target audience re-mains an important and challenging task in the real interactive world. For this reason, a fully autonomous and interactive Felix robot was developed. This documentation is intended to describe all the technical details related to Felix

3.2 Function The Felix robots main function is navigating autonomously within large environments (malls, airports, banks, hotels, exhibition …) without any required changes in the in-frastructure, while displaying advertising in a creative and unique way and interacting with people, leaving customers with an unforgettable experience.

Figure 1: Robot Felix



3.3 Applied Norms / Directives The following norms and directives apply to the product and have to be met by the manufacturer (Robotonix). Guidelines

• Machinery Directive 2006/42/EC • EMV-guideline 2004/108/EG

AGV Standards DIN EN 1525:1997 Driveless industrial trucks and their systems

• DIN EN ISO 3691-4 Industrial trucks - Safety requirements.. • DIN EN 1175-1 Safety of industrial trucks - Electrical requirements-

Part 1: General requirements for trucks with electric battery drive • VDI 2510 Automated Guided Vehicle Systems (AGVS) • VDI 2710 Interdisciplinary design of automated guided vehicle systems

(AGVS) • VDI 4452 Acceptance specification for automated guided vehicle systems

(AGVS) Design and Safety Standards

• DIN EN ISO 12100-1 Safety of machinery - General principles for designDIN EN ISO 13849-2 Safety of machinery - Safety-related parts of control systems

• DIN EN ISO 13857 Safety of machinery - Safety distances to prevent hazard zones being reached by upper and lower limbs

• DIN EN 349 Safety of machinery - Minimum gaps to avoid crushing of parts of the human body

• DIN EN 614 Safety of machinery - Ergonomic design principles • DIN EN 61310 Safety of machinery – Indicators, flashing and control – part 1:

requirements for visible, audible and tactile signals Electric and EMC Standards

• DIN EN 60204 Safety of machinery - Electrical equipment of machines/ DIN VDE 0113-XXX Electrical equipment of machines

• DIN VDE 0100 Low-voltage electrical installations to 1000 V • DIN EN 50274/VDE0660-514 Low-voltage switchgear assemblies - Protection

against electric shock - Protection against unintentional direct contact with dangerous active parts

• DIN EN 61000-6-2 Electro Magnetic Compatibility (EMC) - Parts 6-2: Generic standards - Immunity for industrial environments

Non-Contact Protective Devices Standards • DIN EN 61496 Safety of machinery - Non-contact protective devices - Part 1:

General requirements and tests Professional Association

• DGUV regulation 3 - Accident Prevention Regulations Electrical Installations and Equipment

• DGUV regulation 68 – loaders Laws ASR 1.8 Technical rules for workplaces - traffic routes



4 Technical Specifications

4.1 Robot The Felix robot have the following specifications: Dimensions: Rounded base. Diameter 840 mm Height: 1450 mm Laser scanner: 2D Lidar laser scanner, TiM571-2050101

Positioning technology: Simultaneous Localization and Mapping (SLAM) with la-ser scanner, incremental motor encoders and a gyro-scopic sensor

Max speed: 0.35 m/s Display: 2x 32inch smart screens with advertising scheduling

software Positioning accuracy: In normal drive 3°, +/- 5cm.

After reference drive (while charging) 1°, +/- 1cm Load: Up to 50kg

Battery: LiFeYPO4 with balancing boards and temperature moni-toring

Battery life: 3-5 years Driving/Charging ratio: 4:1 Certifications: CE (Certified for interaction with humans) Maximal slope: 3%, edges up to 10mm Communication: WLAN

Table 1: Felix Technical specifications

https://www.sick.com/de/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim571-2050101/p/p412444



4.2 Robot base and support

Figure 2: Felix base

Figure 3: robot base with support and screens

Lithium-Iron Battery

PLC

Industrial PC

AGV Chassis Wheels and motors

Speakers

Laser Scanner

Scalance

2x 0.7m support columns

Gyro sensor

2x advertising screens

2x antennas

Control display



Figure 4: Side view

Figure 5: final design

Screen mounting and support

2x gesture display

Robot head

Robot body and cover



4.3 Screens Dimensions: 32 inch (764*475*47 mm) resolution: 1920*1080 Life: >50,000(hrs) CPU: Quad core cortex A9, Rockchip RK3188, 1.6 GHZ RAM: 1GB Internal memory: 8GB WiFi: 802.11b/g/n built-in Bluetooth: Available Adapter: 12V/5A (powered directly from robot battery) USB Host: USB Host 2.0*3 SD: x1 Support up to 32GB Video Format: MPEG-1,MPEG-2,MPEG-4,H.263,H.264,VC1,RV, mp4 etc. image Format: jpeg,jpg Audio Format: MP3/WMA/AAC etc. Wi-Di: Available Ad scheduling software: Available Server: Available (for wireless scheduling and display)

Table 2: Felix Advertising Screens specifications

4.4 Safety Functions

4.4.1 General Felix robots are safe to collaborate with humans. This means that the robots can fully drive within the environment without the need of implementing safety fences or split-ting the available transport routes. Felix robots are certified by CE. The CE certification guarantees that the robots comply with the restrictive European safety directives such as the EN1525 (Safety of industrial trucks - Driverless trucks and their systems)

Besides, while driving forward, the robot drives with a speed of 0.3m/s. This is permit-ted according to the EN1525 Chapter 5.9.5.6.



4.4.2 Protective and safety fields Felix robots interact and travel on the same path as humans. This makes safety an important issue. In order to always maintain safety during travel, various protective and safety fields are implemented into the robot driving routines. When an obstacle enters the Felix warning field, the robot lowers its speed and starts to drive around the obstacle. When an obstacle enters Felix protective field the robot goes into an abrupt stop and waits until the obstacle exits the protective field. If this remains for a certain period of time, the robot will know that there is a human and will interact with him. The combination of the TIM laser scanner and encoders on the robot wheels make it possible to dynamically adapt the field’s sizes to the robot actual driving speed. This greatly increases the robot driving dynamics while maintaining the capability to always avoid obstacles or come to a halt when a perilous situation arises. Additionally, two emergency stop buttons are implemented unto the robot to stop it in case of perilous situations.

Figure 6: Felix robot protective and safety fields

4.4.3 Additional safety fields – Back (Optional) In the standard, the Felix robots are equipped with a TIM laser scanner in the front of the robot. This laser scanner enables the robot to scan in a field of view of 270° around the robot. In the usual application of Felix, this scanning view is sufficient. Only if the robot drives backwards (i.e. after charging is done), the robot drives without scanner field. While driving backwards, the robot drives with a speed of 0.3m/s. This is permitted according to the EN1525 Chapter 5.9.5.6.



If a further scanning of the robot’s back field is required, a scanner can be mounted in the robot’s rear. This additional is optional depending on the requirement of the customer.



4.5 Navigation The robot navigates directly using the environment layout. A laser scanner integrated into the robot measures the distance between the robot and its surroundings. In a first set-up phase, one robot from the fleet is moved around manually (e.g., by joystick). During this initiation, all distance profiles from the laser scanner are recorded and combined with the data from the motor’s encoders. From this, a map is produced which reflects the contours of objects as sensed by the scanner. This map is down-loaded from the robot and manually edited. A graphical editor is used to add one- way passages, no-go-areas and target positions to the map.

Upon start-up, the robot starts an initial localization to determine its current position. This is done by comparing the currently received distance profile from the laser scanner with a coherent fraction of the map. During autonomous operation, the localization algorithm is triggered at regular intervals, enabling the robot to be constantly aware of its own position within the mapped area.

Figure 7: Visualization of robot (orange), contours (black dots) and planned path (purple)



4.6 Display and control signals For Felix to communicate with its environment, the following functions are integrated into the robot: Display and interaction:

• 2x 32inch smart screens with advanced advertising scheduling software • 2x display screens (head), with interactive face gestures • 2x speakers for generating messages to the customers

Warning signals:

• Lights: two lights on the robot show its automatic driving mode as well as the direction of drive.

• Acoustic: the robot is equipped with two speakers which are able to communi-cate errors.

• Lighting: under the robot, two LED bars are implemented to signalize the robot’s status. An additional lighting can optionally be implemented on top of the load handling device to additionally symbolize the robot’s status.

Interface buttons:

• Emergency stop buttons: in order to immediately stop the robot, two emergency stop buttons are implemented onto the robot

• Brake-release buttons: when this button is pressed, the brakes on the robot are released and the robot can be pushed out of the way.

• Start button: starts the robot and is used to acknowledge errors. • Battery low indicator: indicates if the robot’s battery is low • Connection status: shows the robot’s status • Panel: optionally, a panel can be integrated into the robot to show its status

4.7 Battery Lithium-Iron phosphate (LiFeYPo4) batteries are built into Felix robots. Those are an advancement to the Lithium-Ion battery. LiFePo4 is used cathode material, which is doped with Yttrium to increase technical characteristics such as power and durability. The battery is a dry battery. Lithium-Iron phosphate is not hazardous nor inflammable. The LiFeYPo4 cells sup-port high charging currents and virtually don’t self-discharge. In comparison to con-ventional Li-Ion batteries, LiFeYPo4 does not segregate metallic lithium nor oxygen when overcharged. These batteries don’t possess a memory-effect, enabling them to have a great longevity when used adequately. Due to the support of high charging currents, LiFeYPo4 batteries can be charged in a short time span. The most effective but complex solution is charging each cell sepa-rately. This is not achievable in a free moving vehicle such as a robot. For this rea-son, all 8 cells in the Felix battery are connected and leveled through a balancing cir-cuit. A balancer board is connected to each battery cell. The balancer board monitors



each cell’s voltage and routes a balancing current to the least loaded cell. Each bal-ancer board communicates to the Battery Management System (BMS), which itself communicates with the Fleet Management System and the charging points. The Felix robots carries two charging contacts. The charging contacts use a low volt-age level to communicate with the charging station. Only after a hardware hand-shake between charging station and the robot is achieved, the full loading current is brought to the contacts of the charging station and routed to the robot’s batteries.

4.8 Charging station A charging station is needed for the robot to fill up its batteries. The needed power supply has the following characteristics:

- 230 VAC, 1 phase, fused with 16A To ensure safety of the application, a hardware handshake between the charging sta-tion and the robot’s battery management system is implemented. When the robot is situated correctly and is ready to be charged, it communicates with the charging sta-tion using it’s charging contacts. Only when this communication is successful, the full charging current is routed to the charging station’s contacts. This ensures that the loading current is only routed to the charging contacts when the robot is actually standing over the station (and covering the contacts).

Figure 8: Felix charging station



5 Required infrastructure

5.1 Robot orientation Felix robot uses the laser scanner and SLAM technology. Felix robot doesn't require any special actions or changes in the infrastructure to localize in the environment. However, fixed contours are needed which should be at 120mm height (height of the laser scanner) and which the robot can use for localization. As a guideline, here is a fixed contour of about 0.5m length per each side and each 10m drive. If there are not enough contours for the robot to localize, then reflectors can be used to improve the localization.

5.2 Communication The robot communicates wirelessly with the fleet management. For this to work, a WLAN connection is required. The WLAN connection should be provided by the cos-tumer. The following requirements for WLAN should apply:

• Supported Wi-Fi standards: IEEE802.11 a / b / g /n. • The BSA (basic service area) of the WLAN access points should overlap at

least 10% so that the robots do not lose the connection when roaming. For communication with the robots, a bandwidth of 150 kbit/s per robot is required. The WLAN is used exclusively for the robots.

5.3 Server A server PC is needed to run the fleet management system and advertising scheduling software. This can be either supplied or directly integrated within the server infrastruc-ture of the customer. The server PC should have the following minimal requirements:

• OS: 64bit Windows 7 or Windows server 2012 • CPU: i7 Quand • RAM: 32GB ECC • HD: SSD HD 500MB, Raid 1 • Video card: compatible with OpenGL 2.1 with anti-aliasing and double buffering.

This can be provided to the customer as an option.



6 Transport Management and Additional Features

6.1 AIC (AGV Interface Controller) The AIC collects and manages the transport orders and transmits them to the robot. The AIC ensures, e.g. the battery level is low and the robot needs to drive to the nearest charging station. In addition, it coordinates the robots and avoids congestion and mutual disabilities.

6.2 Robot setup The robot setup is straight forward and user friendly. This means you should have any robotics background to take control of the robot setup and installation in any environ-ment. A training for an operator will be delivered with the robot. This will include teaching the robot and scanning the map of the environment where it is operating as well as choosing the target goals where it will be navigating within the map. Once the setup is done (only once), the robot is then ready for automatic mode oper-ation in a full cycle (24/7). If the robot’s battery is down, the robot will autonomously charge itself on the charging station and then continues its duty. The robot can be then controlled and viewed through an easy to use Graphical User Interface (GUI) with visualization of the robot in action within the operated map.

6.3 Advertising and interaction The robot is equipped with two 32inch smart advertising screens from each side This allows the robot to display all types of advertising format (images, videos). The adver-tising can be transformed to the robot wirelessly from the server PC and without any extra hard work using Wi-Di technology. The customer will have the option to schedule the displayed advertising based on their requirements through a smart advertising software. The customer can choose the time, duration and type of the displayed advertising, allowing great flexibility in con-trolling the displayed advertising. While the robot is driving around in the environment and displaying the ads, it is also able to detect humans in the path using its laser scanner. Once a human is detected, the robot will stop infront of it and smile while generating a voice message for the human. The voice message is based on the desire of the customer.

6.4 Additional interaction (Optional) Based on the desire of the customer, we are able to customize the way of interaction of the robot. If the customer for example would like to expand the application further than only displaying advertising and basic interaction, we are able to do that. Some applications are:



• Adding touch screens displaying information of the environment while the cus-tomer can choose where he would like to go and the robot can guide him (follow me function)

• Giving customer support and service (answering questions for customers) • Collecting statistics and reporting it (e.g. traffic) • Displaying advertising based on the target audience. This includes adding a 3D

camera to the robot where the robot is able to detect the person’s information infront of him using image processing (e.g. age, gender ...). Based on this, the robot will display an advertising based on the target audience (if the person infront of him is a girl, the robot displays an advertising for makeup or fashion)

• Interface to existing servers and data management (banks, hotels, airports …) where the robot can display the essential needed information in real time for example flight time and date.

6.5 Interfaces (optional) Since the robot’s technology uses a smart navigation system and will be navigating in the whole environment autonomously to reach the largest target audience, we are able to extend the system to the following:

• The robot is able to interface to doors • The robot is able to interface to existing elevators if the customer would like to

navigate the robot in multiple floors • The robot is able to interface existing server and real time changing information



7 More information Do you have more questions? Please contact us at [email protected] or call 0096171414139 or 00491704609620 . We are happy to help.

mailto:[email protected]

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