ARNEIS - System Architecture

Reference Documents

Main mechatronic components

NOTE: In this list we deliberately omitted functions and services provided on the cloud, which are clearly available through the internet connection.

Client devices and HMI

  • Client1: Generic Android phone

    • Reference model: Huwaei Mate 10 Pro

    • Connected to internet via Wi-Fi through AP1 (or mobile network)

    • Connected to RPI4 via Wi-Fi through AP1

  • Client2: Generic Android tablet

    • Reference model: Lenovo TB-X606F

    • Connected to internet via Wi-Fi through AP1

    • Connected to RPI4 via Wi-Fi through AP1

  • Client3: Generic iOS phone

    • Reference model: iPhone SE

    • Connected to internet via Wi-Fi through AP1 (or mobile network)

    • Connected to RPI4 via Wi-Fi through AP1

CPU and network devices

  • RPI4: Raspberry Pi 4. Acting as main controller and gateway to cameras, sensors and actuators, as well as edge server to communicate with the services on the cloud

    • USB0: USB 3.0 Port #1. Connected to CAM1 via USB-A to USB-C cable

    • USB1: USB 3.0 Port #2. TODO

    • USB2: USB 2.0 Port #1. Connect to a USB keyboard (for debug purposes)

    • USB3: USB 2.0 Port #2. Connect to a USB mouse (for debug purposes)

    • MicroHDMI0: Connect to a HDMI display using a MicroHDMI-to-HDMI cable (for debug purposes)

    • Acting as BLE central

    • Connected to AP1 using wired Ethernet through a RJ-45 cable. In case wired Ethernet is not available, connect to AP1 through Wi-Fi

    • Services: SSH, http, others?

  • AP1: Access Point and internet router

  • HUB1: Electric Battery Box Powered Up Bluetooth Hub with Dark Bluish Gray Bottom

    • Connected to RPI4 via Bluetooth (acting as BLE peripheral)

  • HUB2: Electric Battery Box Powered Up Bluetooth Hub with Dark Bluish Gray Bottom

    • Connected to RPI4 via Bluetooth (acting as BLE peripheral)

  • (TBV) HUB3: Mindstorms NXT Control Hub

    • Connected to RPI4 using a USB-B to USB-A cable

  • (TBV) SBRICK1: Sbrick Plus

    • Connected to RPI4 via Bluetooth (acting as BLE peripheral)

  • (TBV) SBRICK2: Sbrick Plus

    • Connected to RPI4 via Bluetooth (acting as BLE peripheral)

  • (TBV) PMC1: Arduino Portenta Machine Control

    • Connected to RPI4 via USB (or BLE? Or Ethernet?)

  • (TBV) NICLA1: Arduino Nicla Sense ME

    • Connected to RPI4 via Bluetooth (acting as BLE peripheral)

Computer Vision devices

  • CAM1: OAK-D-Lite (Auto Focus)

    • Connected via a USB-A to USB-C cable (USB 3.0 or later) to RPI4

  • (TBV) CAM2: OAK-D-Lite (Auto Focus)

  • (TBV) CAM3: OAK-D-Lite (Auto Focus)

  • (TBV) CAM4: OAK-D-Lite (Auto Focus)

Actuators

  • M1: Electric, Motor Powered Up, XL

    • Purpose: TODO

    • Connected to HUB1 through its Power Up cable

  • M2: Electric, Motor Powered Up, XL

    • Purpose: TODO

    • Connected to HUB1 through its Power Up cable

  • M3: Electric, Motor Powered Up, XL

    • Purpose: TODO

    • Connected to HUB1 through its Power Up cable

  • M4: Electric, Motor Powered Up, L

    • Purpose: TODO

    • Connected to HUB1 through its Power Up cable

  • M5: Electric, Motor Powered Up, L

    • Purpose: TODO

    • Connected to HUB2 through its Power Up cable

  • M6: Electric, Motor Powered Up, L

    • Purpose: TODO

    • Connected to HUB2 through its Power Up cable

  • M7: Electric, Motor Powered Up, L

    • Purpose: TODO

    • Connected to HUB2 through its Power Up cable

  • (TBV) EJCT1: Ejector TODO

    • Purpose: TODO

    • Mechanically connected to (TBV) Mx

  • (TBV) EJCT2: Ejector TODO

    • Purpose: TODO

    • Mechanically connected to (TBV) Mx

  • (TBV) EJCT3: Ejector TODO

    • Purpose: TODO

    • Mechanically connected to (TBV) Mx

  • TODO: LEGO Power Functions motor/switches/lights controlled via SBrick?

  • TODO: LEGO Mindstorms NXT motors/switches/lights controlled via Mindstorms CPU?

Misc

  • TODO: Lights?

  • TODO: Physical push buttons/encoders/etc?