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Definitions

Battery Audit - An idle task that utilizes the EoA Camera and TOF Sensor to confirm whether a rack location is currently occupied by a battery.

Base Camera Bracket - A steel or plastic bracket that mounts the Stereoscopic Camera at the base of the robotic arm to the robot plate. Part Number TODO

Battery Retention Bracket - Bent bracket on interior of racks for holding batteries in place. Part Number TODO

Battery Discharge Indicator (BDI) - Small indicator used to display the state of charge of the battery installed in a cradle.

Base of Arm (BoA) Camera - A 3D stereoscopic camera by Luxonis that is used for truck docking, people detection, and DM decoding.

Cradle​

Cradle Assembly​

Data Matrix (DM) Code - A 2D code similar to a QR Code that is used for storing a string in a 2D format to be read by a camera or scanner. The system uses ECC200 codes.

End of Arm (EoA) Camera - A 3D sensing camera by Luxonis that is used for auditing battery locations, detecting pin plates, and recognizing DM codes.

End of Arm (EoA) Tool (EoAT) - The group of tools mounted on the end of the Kawasaki Robt Arm. The tools include a Pin Gripper (Schunk), a Stereoscopic Camera (Luxonis), and a 2D Laser Scanner (LMI). Part Number TODO

EoA Calibration Tool - A steel assembly with a gripping pin bolted on the end. This tool is used for calibration the EoAT. Part Number TODO

Gripper - Pin gripper that is used to grip the pins on the batteries and the EoAT Calibration Tool.

Hive (als

  • PowerHIVE) - This is the description of the group of racks with a robot in the center.

Human Machine Interface (HMI) - This is the screen mounted on the side of the primary rack that faces the hallway. This screen is the primary way in which drivers and technicians will interface with the RoboSwap System.

Lithium Iron Phosphate (LFP) battery. Refers to the small 12V/5Ah battery located in the Cradle.

Primary Rack The first rack that contains the robot controller and the first 8 chargers in the Hive.

Pin - The grip pin is located on the battery that interfaces with the Gripper to lift the battery.

Rack - A charging rack located around the robot. Numbered 1 – 5 in a clockwise orientation.

Sleeve - The position in which a battery is stored in a rack. Each rack can have up to 12 sleeves. Some sleeves are used for purely storage, while others will charge the batteries.

Time of Flight (ToF) Sensor - A sensor which returns the distance in mm between itself and where it’s laser dot hits.