Slamtec Hermes User Manual
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Slamtec Hermes User Manual

General purpose robot platform
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Summary of Contents for Slamtec Hermes

  • Page 2: Table Of Contents

    目录 1.INTRODUCTION ......................4 2. INTRODUCTION TO HERMES FEATURES .............. 5 2.1Autonomous Path-Finding ..................5 2.2Robot Collaboration ....................5 2.3Cross-Floor Delivery ....................5 2.4Smart Obstacle Avoidance ..................5 2.5Comprehensive Safety ................... 5 2.6Autonomous Recharging ..................5 3. HERMES SCHEMATIC DIAGRAM ................6 4.
  • Page 3 13.3 Faults that cannot be handled temporarily ........... 55 13.4 Notes ........................55 14. MAINTENANCE ....................57 15. COMMON FAULTS AND TROUBLESHOOTING ..........58 16. PRODUCT EXECUTIVE STANDARDS AND CERTIFICATES ....... 59 16.1 Product executive standards ................59 16.2 Certificate ......................59 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 4: Introduction

    The built-in SLAMCUBE autonomous localization and navigation system kit enables path-finding and localization and navigation features to help robots figure out where they are, where they should go, and the best way to get there. Hermes is capable of performing a variety of tasks across different commercial environments.

  • Page 5: Introduction To Hermes Features

    Hermes is capable of performing a variety of tasks across different commercial environments. Hermes is capable of autonomous localization and path-finding in accordance with task target points, implementing autonomous movement.

  • Page 6: Hermes Schematic Diagram

    3. Hermes Schematic Diagram Obstacle Avoidance Camera Code Scanning Camera Bumper Magnetic Cliff Sensor Automatic Charging Electrode Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 7: Hermes Charging Stand

    4. Hermes Charging Stand Indicator Light Charging Electrode Magnetic Communication Board Firmware Upgrade Port Self-Resetting Fuse Power Connector Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 8: Parameters

    Motion Parameters Max Cross Slope 16° Passing Obstacle Height 2 cm Passing Obstacle Width 4 cm Ethernet 1x RJ45 Gigabit Ethernet Port User Port Hardware Port DC 24V 9.5A Power Connector DC12V 2A Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 9 DC25.5V 2A Wheelset Wheelset Parameters 6.5-inch In-Wheel Motor Noise Working noise ≤50dB Operating Temperature 0°C to +40°C Transportation and -25 ℃ to +55℃ Operating Environment storage conditions 30 to 70%rh Operating Humidity (no condensation) Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 10 ≤2000m Height above sea level Charging point Name Parameters Size 360mm*150mm*320mm Color White Rated input 100-240V 50/60Hz 3A MAX Rated output DC 25.5V 6A Rated input frequency 50/60Hz Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 11: Instructions Of Hardware

    480W, can 24V Power be used to supply No overload Maximum power to external current 20A devices Rated Voltage Cube2 supplies 12V RK3399 Power power to the RK3399 Supply Wire Maximum development board. Current 20A Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 12 Maximum current 12V -DISP (See the figure screen of human- below for the computer design drawings) interaction. Used for communication Connect to USB-Type-C USB3.0 between 3399 and Hub3.0 Cube2. Design drawing of 12V -DISP terminal Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 13 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 14: Important Interfaces Of Developing Board On Rk3399

    (1) Before starting, please read the manual carefully to avoid product damage caused by misoperation; (2)The working temperature of the main board is 0℃ to +40℃, 30%-70%RH, in order not to damage the product due to excessive cold/heat or moisture； Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 15 The main board uses a single 12V DC adapter for power supply. Characteristics of Main Board： ★Based on Rockchip RK3399 ARM processor solution; ★Display interfaces: LVDS, eDP and HDMI; ★Hardware decoding H.265 high-definition video, support 4K ultra high-definition output; ★Rich functions, onboard 5*USB/2*COM/8*GPIO/1*IR infrared; Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 16 1*Dual-channel 5w/8Ω power amplifier speaker pin Storage 32GB eMMC 2* serial port ④ 4*USB2.0、1*USB3.0、1*USB3.0 Type-C OTG； 1* standard Mini-PCIE slot，for 4G module 1*TF card extension ⑤ Others 8 GPIO pin 1*IR infrared extension pin 1*I2C touch screen extension pin Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 17 ④COM1 is the Debug interface and supports TTL/RS232, COM2 can communicate with the onboard MCU, and can also be used as an external RS232/RS485 interface; ⑤TF card supports maximum expansion to 128GB. （2）Size of main board Unit: mm Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 18 6.3.3 Introduction of Interfaces （1）Front view of main board （2）Front IO diagram of the main board （3）IO diagram behind the main board （4）Back view of main board Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 19 Caution：The identification method of the first pin on the main board is: 1 has a white and bold silkscreen; 2 the pins seen on the back of the main board are square holes. 6.3.4 Definition of pin function （1）Pin Interface Distribution Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 20 HD digital display interface [7] 2 way A/D conversion pin I2C pin IVCN LVDS/eDP backlight inverter control interface LVDS Dual channel 24-bit LVDS interface 10PIN-5.08mm 8 reserved programmable control input and output plug-in terminals Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 21 LINE_MIC LINEOUT_R LINEOUT_L JP/CN pin# Signal pin# Signal Remark SPK_L- SPK_L+ SPK_R- SPK_R+ JP/CN pin# Signal pin# Signal Remark PWR_IN JP/CN pin# Signal pin# Signal Remark SYS_FAN FAN_INT JP/CN pin# Signal pin# Signal Remark Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 22 RS232_RX/48 JCOM2 JP/CN pin# Signal pin# Signal Remark 5V（NC） GPIO1 GPIO2 GPIO3 GPIO4 GPIO5 GPIO6 GPIO7 GPIO8 JP/CN pin# Signal pin# Signal Remark +3.3V TP_SDA TP_SCL TP_INT TP_RSET JP/CN pin# Signal pin# Signal Remark Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 23 Remark +3.3V LVDS_PV 1-2：choose+3.3V； LVDS_PV JLV1 3-4：choose+5V； +12V LVDS_PV 5-6：choose+12V； JP/CN pin# Signal pin# Signal Remark EDP_AUX+ EDP_AUX- EDP_TX0+ EDP_TX1+ JEDP EDP_TX0- EDP_TX1- EDP_TX2+ EDP_TX3+ EDP_TX2 EDP_TX3- Main board and jumper definition (continued 3) Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 24 Signal Remark +12V CAM_FLASH Flash_ON FLASH_PWM JP/CN pin# Signal pin# Signal Remark AGND +2.8V +1.8V +1.5V CMR_CLK MIPI_RX_CLK+ MIPI_RX_CLK- MIPI_RX_D2+ MIPI_RX_D2- CMR_MIPI0 CMR_MIPI1 +2.8V MIPI_RST0 CIF_PDN1 I2C_SDA_CAM I2C_SCL_CAM MIPI_RX_D3+ MIPI_RX_D3- MIPI_RX_D0+ MIPI_RX_D0- MIPI_RX_1+ MIPI_RX_D1- Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 25: Reference Of Structure Design

    As shown in the figure above, there are a total of 11 M3 threaded holes for the installation and fixation of the host computer. It is recommended to use M3 screws with spring washer and blue anti-loosening glue. 7.2 Instruction of Load Limit Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 26: Radar Clearance Area

    *The center of gravity of chassis is the one which Slamtec provides, the height is 103 mm; ii. The center of gravity of the whole machine is the overall center of gravity of the chassis plus the robot;...

  • Page 27: Deep Camera Clearance Area

    The host computer cannot exceed the clearance area as shown in the figure. Due to the angled layout of the dual cameras, the superimposed clearance area is larger than a single FOV. 7.5 Instruction of Transport Design Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 28 (1) There are three angle aluminums on the left, right and back under the installation board of the host computer, which are used for strengthening support and transporting. (2) It is recommended to reserve a hand-holding space in the host computer to facilitate transporting. Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 29: Setup Instructions

    1. After receiving the Hermes machine, please check whether the packing box is intact as shown in the left picture, and whether the box on the right side of the Hermes sample of the outer box is checked. After confirming that the packing is complete and the box contains Hermes, use packing pliers to cut the packing tape, remove all packing straps and paper corners, it should be shown as on the right picture.

  • Page 30: Power On/Off

    Open, with no obstacles within a radius of 2m in front of the charging stand as the center of the circle b. Plane, no slope c. The ground cannot be covered with soft carpet that causes Hermes to sink more than 2cm To ensure that Hermes automatically returns to the charging function, it is necessary to ensure that Hermes always starts from the charging base.

  • Page 31: Emergency Stop & Brake And Reset

    Release the "emergency stop button " and the machine can return to normal working conditions. (2) Brake button Press the "brake button", the Hermes machine will stop immediately, stop and no longer respond to any motion control commands. The machine can be pushed manually, such as pushing it to the charging pile.
  • Page 32 (as shown below). Enter the IP address and port number of the Hermes robot above and click the connect button to connect (This connection method is suitable for machines that have been assigned an IP address through the Web portal management backstage). When the computer has been connected to the SSID of the aforementioned Hermes robot through a network adapter (SSID can be viewed on the label of the machine), enter the IP address 192.168.11.1 by default (note that...
  • Page 33 8-6 Rob Studio Robot connecting page Left click the spot inside the map-building area, let Hermes build the map. When finishing, please use the virtual wall function to isolate the places that need to be isolated. Then click "File-Map Editor" in turn, choose to save the file or upload to the firmware to save the map.

  • Page 34: Host Computer Completes Startup And Loading The Map

    = ".\\map.stcm"; //the path of map string Hermes_ip = "192.168.11.1"; //the ip of Hermes Hermes_port = 1445; //the port of Hermes ,default is 1445 rpos::robot_platforms::SlamwareCorePlatform Hermes = rpos::robot_platforms::SlamwareCorePlatform::connect(Hermes_ip, Hermes_port); //connect to the Hermes rpos::robot_platforms::objects::CompositeMapReader cmapreader; Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 35 //map reader rpos::core::Pose Hermes_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0)); //the Hermes pose in map(Hermes_pose should be the Hermes's real pose in new map) //using Hermes.getpose() to get the old Hermes pose auto map = cmapreader.loadFile(map_path); //load map Hermes.setCompositeMap(*map, Hermes_pose); //set compositemap rpos::core::Pose home_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));...

  • Page 36: Connection To Computer

    Based on the actual development and application needs, the RJ45 universal network port is designed on the expansion interface layer of Hermes, which can be directly connected to the PC through the network cable to facilitate users to expand or develop robots.
  • Page 37 9-2 Ethernet interface [Step 5] Connect the computer to the Hermes machine with a network cable to access the computer network. When the Ethernet page is displayed, click Change Configurator Options. 9-3 Computer Ethernet interface [Step 6] Right-click "Ethernet", go to "Properties", and click "Internet Protocol Version 4 (TCP/IPv4)".
  • Page 38 Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 39 [Step 8] Click "OK" to save. 5-10s later, the desktop will pop up as shown in the picture below. Click "OK". 9-5 The page after the network is saved [Step 9] Check the IP address in Step 4. Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 40 [Step 10] After logging in to RS, click the "Robot" option and manually connect the robot with the right mouse button. 9-6 Robo studio login screen [Step 11] Ip Address Enter the Ip address set in Step [4] and click "Connect". The RS login succeeds. 9-7 Robo studio interface Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 41: Wireless Connection

    [Step 1] Download the software "Slamtec RoboStudio" from the official website of Slamtec. Download Reference Link： http://www.slamtec.com/cn/Support [Step 2] Start the Hermes machine and use type-C cable to connect the Type-C interface of the Hermes machine to your computer. (Figure 9-8) 9-8 Interface diagram of Hermes Type-C [Step 3] Download a software called "SCRCPY"...
  • Page 42 9-10 Android interface of the Hermes machine [Step 4] On the Android interface, select “Settings”, then select “More” in Wireless and Networking, and then select Network Sharing and Portable Hotspot to enable portable WIFI Hotspot. Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 43 [Step 5] If the portable WIFI hotspot is "Hermes Show", connect the network of your computer to "Hermes Show" at the same time, so as to ensure that your computer and Hermes machine are in the same network. Type-c can then be pulled out of the computer and Hermes machine.
  • Page 44 、 9-12 Portable WIFI hotspot interface (left) and computer network interface (right) [Step 6] Run “roboStudio. Exe” to enter the Slamtec RoboStudio interface and enter the IP address and port. 9-13 Robostudio.exe interface Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 45: Adjusting Tools

    10. Adjusting Tools 10.1 RoboStudio RoboStudio graphical tools are used to adjust and use Hermes, please download and install it from our official website: http://www.slamtec.com/cn/RoboStudio， and coming with manual to introduce those features. 10.2 Web Management Backstage In the process of developing, adjusting and using SLAMWARE equipment, various operations can be performed on the equipment through the web management backstage, such as viewing basic information, updating the version, configuring WiFi,etc.

  • Page 46: Developer Tools

    11. Developer Tools 11.1 Start Using The Agent SDK of the Hermes chassis is developed based on the C++ language to reduce user access costs and improve the robustness of the SDK. At the same time, it has strong compatibility and supports multiple languages such as Java, C++, C, and Kotlin.
  • Page 47 The restaurant delivery app is a service program running on the robot. The application scene is a restaurant. It draws a map and loads it to the robot's local area through RoboStudio graphical tools. It is a universal application for human-computer interaction to achieve multi-point task delivery. Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 48: Demonstrations Of Code

    ✓ Get health status info of the device ✓ Get POI info ✓ Get password of the action ✓ Create new action ✓ Get current action ✓ Stop current action ✓ Shut down of restart Robot 11.4 Demonstrations of Code Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 49 The format of the returned data is application/json 2. The following is the Robot App calling the Robot Agent interface to make the robot move across floors POST http://127.0.0.1:1448/api/core/motion/v1/actions The request message format is application/json Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 50: Details Of Robot Api

    Motion control of the Robot Get all supported actions Get current action Stop current action Create new action Check action status Firmware Upgrade Get firmware upgrade process Android application management Get all custom installed apps Install APP Copyright 2016-2021 Shanghai Slamtec Co., Ltd.
  • Page 51 Get the health info of the device Get POI info Get password of the action Make up new actions Get current action Terminate current action Shut down or restart the robot MORE DETAILS OF API: https://github.com/slamtec/HermesSampleApp Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 52: Introduction And Use Of Elevator Control

    At the same time, the product can also be seamlessly connected to the Hermes chassis, to provide technical service support for more specific needs in other scenarios.
  • Page 53 12.2.8 Unified Management The cloud platform provided by SLAMTEC can perform real-time monitoring of the status of all deployed products, batch upgrades, and further data mining through online management, information statistics, equipment monitoring, etc., to provide exclusive accurate data models for hotels or commercial buildings, to guide them to improve their overall operational capabilities and service quality.

  • Page 54: Special Note

    (1) Overrun/heavy transportation Do not put in items that exceed the maximum weighing parameter value to avoid affecting the normal use of Hermes. Please refer to the information in the product parameter table for the maximum load-bearing parameter value. (2) Sill height...

  • Page 55: Faults That Cannot Be Handled Temporarily

    Please ensure that there are no obstacles more than 20mm in front of Hermes, and the maximum height of Hermes over the sill is 20mm. During Hermes driving, please try to avoid passing through uneven ground or other environments with large height.
  • Page 56 (2)Stacking needs to be built firmly, compactly, stably and neatly； Other notes: (1)Do not treat Hermes violently (such as kicking, pushing, pulling); (2)Do not spill liquid on the machine; (3)Do not use the automatic recharge function on the soft carpet with a subsidence of more than 2cm;...

  • Page 57: Maintenance

    Collision bar Clean 1 time Around the radar clearance 1 time Universal wheel Clean 1 time Driving wheel Clean 1 time Charging pile Clean 1 time Machine body Overhaul 1 time 14-1 Hermes maintenance schedule Copyright 2016-2021 Shanghai Slamtec Co., Ltd.

  • Page 58: Common Faults And Troubleshooting

    15. Common faults and troubleshooting When an abnormality occurs during Hermes operation, please refer to the following table or page tips to solve the problem: Fault prompt Solutions Collision bar Please check whether the collision bar is jammed, and tap the anti-collision bar abnormal several times to return the anti-collision bar to its position.

  • Page 59: Product Executive Standards And Certificates

    GB/T 37283 GB/T 37284 *Please do not use this product beyond the limits of the manual to avoid or cause damage to Hermes. *Please refer to the real object. We reserve the right to update the product without notice. *Product manual version v1.0.

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