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Slamtec N5M32-R2 User Manual

General purpose robot platform
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General Purpose Robot Platform
Shanghai Slamtec Co., Ltd.
Athena 2.0
○
Small- to medium-sized robot
development
○
Highly adaptable and scalable
○
Powerful optional functions
Learn more >
Model: N5M32-R2
User Manual

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Summary of Contents for Slamtec N5M32-R2

  • Page 1 Athena 2.0 General Purpose Robot Platform Model: N5M32-R2 User Manual ○ Small- to medium-sized robot development ○ Highly adaptable and scalable ○ Powerful optional functions Learn more > Shanghai Slamtec Co., Ltd.

  • Page 2: Table Of Contents

    Table of Contents ..................3 1. PRODUCT OVERVIEW .................... 3 1.1 I NTRODUCTION ..................3 1.2 B ASIC UNCTIONS ....................5 1.3 E XTERIOR ..................6 1.4 C HARGING ..................... 6 1.5 P RODUCT ................. 7 2.PRODUCT PARAMETERS ............... 10 3.
  • Page 3 ..................43 6. ADJUSTING TOOLS .................... 43 6.1 R TUDIO ................ 43 6.2 W ANAGEMENT ACKSTAGE ..................44 7. DEVELOPER TOOLS .................... 44 7.1 S TART SING ..............44 7.2 I NTER SYSTEM DJUSTING RAMEWORK ................. 44 7.3 I NSTRUCTIONS OF YSTEM ................

  • Page 4: Product Overview

    Cross-floor Moving, Light Deployment Athena 2.0 is equipped with the latest version of Slamtec Smart Elevator Control 4.0, which allows it to adapt to different brands of elevators. Through the latest version of Slamtec RoboStudio 2.0, Athena 2.0 supports integration of maps of multiple floors in one click.
  • Page 5 structural design integrated three boxes into one, saving more space for chassis layout. With the path-finding, autonomous mapping and localization and navigation features, it helps robots figure out where they are, where they should go, and the best way to get there. It enables the robots to automatically find paths, locate, and move as needed without human assistance.

  • Page 6: Exterior

    1.3 Exterior 5 / 56...

  • Page 7: Charging Dock

    1.4 Charging Dock Charging dock diagram 1.5 Product List Name Quantity Notes Athena 2.0 body Athena 2.0 chassis body Select environment for deployment Charging dock before use. 6 / 56...

  • Page 8: Product Parameters

    2.Product Parameters Name Athena 2.0 chassis Core feature SLAMCUBE 2 localization and navigation 460*428 mm, rotation diameter Length x width 551 mm Mass and volume Height 232mm (excludes controller) Weight 22 kg Rated load 40 kg Max scan radius (90% Lidar sensor 30 m (TOF S2 radar) surface reflective rate)
  • Page 9 DC 12V 2A Wi-Fi 2.4 GHz HDMI 1x HDMI 1x 3.5mm headset socket 1x LINE_MIC audio jack (Co-lay Audio with headset socket) 1x Dual-channel 5w/8Ω amplifier jack Type-C Standard USB 3.0 Type-C port HTTP API, supports different development languages and Software API SLAMWARE™...
  • Page 10 Charging station Size 360 mm*150 mm*320 mm (W*D*H) Color White Rated input 100-240V 50/60 Hz 3A Max Rated output DC 25.5V 6A 9 / 56...

  • Page 11: Instructions Of Hardware

    3. Instructions Of Hardware 3.1 Wire Instructions Interfaces Picture Index Function Note Power ON/OFF Power switch of the entire system. Short press until the indicator light turns on power-on, long press until the indicator light turns off power-off. Shut Down Effectively control It is a switch that Athena2.0 in an emergency.
  • Page 12 Depth Camera USB3.0 Connected to the RK3399 Need to pay Interface development via USB3.0 to attention to the obtain information. left and right sequence. Docking Camera USB2.0 Connected to the RK3399 Assist precise development via USB3.0 to docking. obtain information of code scanning camera.
  • Page 13 12 / 56...

  • Page 14: Important Interfaces Of Developing Board On Rk3399

    3.2 Important Interfaces of Developing Board on RK3399 Chassis to be tested User Signal Port 4G MODULE SIM Card USB Warning Light USB Port Test (ANTENNA Screen INCLUDED) WIFI Antenna User Button 3.3 Reference of Hardware Design Notice: (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℃...
  • Page 15 (3) Do not make strong mechanical movement of this product, and operate this product before static protection is done; (4) Please turn off the power before installing any external cards or modules; (5) Please ensure the external power supply is DC 12V to avoid damage to the main board; 3.3.1 Product Description RK3399 Android system main board adopts Rockchip RK3399 main control solution.
  • Page 16 6-1 RK3399 Main board basic application diagram 3.3.2 Product specifications （1）Hardware Specification Sheet Processor Rockchip RK3399 ① 4GB DDR3 1*eDP 1*LVDS output revolution maximum supports 4096x2160 ② Display 1*HDMI output supports 480p/480i/576p/576i/720p/1080p/1080i/4k 1*RJ45 Gigabit Ethernet Internet 1*WIFI+Bluetooth ③ 1*3.5mm headset socket Audio 1*LINE_MIC audio pin（with headset socket Co-lay）...
  • Page 17 2 A/D conversion pin 2*MIPI-CSI2 camera expansion port 1*G-Sensor gravity sensor Power connector DC2.5*5.5 socket/PH2.0-4pin，12V DC input Main board 146*102*22mm， green specifications Operating system Android 7.1 Temperature：0~+40℃ Working environment Humidity： 30~70%RH Remark： ①RK3399 is dual-core Cortex-A72 (the highest frequency is 1.8GHz) + 4-core Cortex-A53 (the highest frequency is 1.4GHz);...
  • Page 18 3.3.3 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 17 / 56...
  • 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. 3.3.4 Definition of pin function （1）Pin Interface Distribution 18 / 56...
  • Page 20 （2）Description of silkscreens Silkscreen Description DC_IN +12V DC input interface (φ2.5mm base) PWRIN PH2.0-4PIN power input terminal LINE_MIC PH2.0-5P LINE-OUT&MIC-IN audio extension socket UBOOT1 Uboot flash mode button[1] SPK1 4-PIN PH2.0 amplifier speaker pin（5W/8Ω） HP_MIC 3.5mm headset socket HDMI Standard HDMI HD digital display interface TYPEC Standard USB3.0 Type-C interface[2] USB1...
  • Page 21 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 SYS_FAN System cooling fan power supply pin Remark： [1] After the main board is powered on, press and hold the Uboot button to enter Uboot mode to upgrade the system;...
  • Page 22 JP/CN pin# Signal pin# Signal Remark SYS_FAN FAN_INT JP/CN pin# Signal pin# Signal Remark JP/CN pin# Signal pin# Signal Remark PWR_ON S-KEY RSET JP/CN pin# Signal pin# Signal Remark VOL+ VOL- co-lay 1st PIN and F-KEY HOME_KEY upgrade button co- BACK_KEY OEM_KEY JP/CN...
  • Page 23 TP_INT TP_RSET JP/CN pin# Signal pin# Signal Remark JUSB1 JUSB2 JUSB3 Main board and jumper definition (continued 2) JP/CN pin# Signal pin# Signal Remark +12V +12V BKLT_ON IVCN BKLT_PWM JP/CN pin# Signal pin# Signal Remark TXA0- TXA0+ TXA1- TXA1+ TXA2- TXA2+ LVDS TXA_CLK-...
  • Page 24 EDP_TX2+ EDP_TX3+ EDP_TX2 EDP_TX3- Main board and jumper definition (continued 3) JP/CN pin# Signal pin# Signal Remark +3.3V JP/CN pin# Signal pin# Signal Remark +3.3V WLED WLAN_LED- JP/CN pin# Signal pin# Signal Remark +12V CAM_FLASH Flash_ON FLASH_PWM JP/CN pin# Signal pin# Signal Remark...

  • Page 25: Reference Of Structure Design

    4. Reference of Structure Design 4.1 Installing Interface of Host Computer As shown in the figure above, there are a total of 8 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. 4.2 Instruction of Load Limit 24 / 56...

  • Page 26: Radar Clearance Area

    *The center of gravity of chassis is the one which Slamtec provides, the height is 82 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

    There is a radar between the chassis body and the host computer, which requires a certain clearance area to avoid being shielded or interfered; The boundary of the host computer cannot exceed the lower boundary line of the host computer as shown in the figure.

  • Page 28: Setup Instructions

    5. Setup Instructions 5.1 Opening 1. After receiving the Athena2.0 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 Athena2.0 sample of the outer box is checked. After confirming that the packing is complete and the box contains Athena2.0, 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 29: Power On/Off

    a. 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 Athena2.0 to sink more than 2cm To ensure that Athena2.0 automatically returns to the charging function, it is necessary to ensure that Athena2.0 always starts from the charging base.

  • Page 30: Connection To Computer

    （1）Emergency stop button Press the emergency stop button, the Athena2.0 machine will stop immediately, stop and no longer respond to any motion control commands, and the manual push is blocked. Release the "emergency stop button " and the machine can return to normal working conditions. (2) Brake button Press the "brake button", the Athena2.0 machine will stop immediately, stop and no longer respond to any motion control commands.
  • Page 31 5-3 Athena2.0 display page [Step 3] In the Android interface, select “设置“, select 更多 of 无线和网络”, go to Ethernet, and then click Ethernet IP Mode. [Step 4] Change the default "DHCP" to "static", fill in the default value, and click Save. 5-4 Ethernet interface [Step 5] Connect the computer to the Athena2.0 machine with a network cable to access the computer network.
  • Page 32 5-5 Computer Ethernet interface [Step 6] Right-click "Ethernet", go to "Properties", and click "Internet Protocol Version 4 (TCP/IPv4)". [Step 7] Manually change the IP address, for example, to 192.168.1.66. The default official website is changed to 192.168.1.1. 31 / 56...
  • Page 33 5-6 Internet Protocol Version 4 (TCP/IPv4) 32 / 56...
  • Page 34 [Step 8] Click "OK" to save. 5-10s later, the desktop will pop up as shown in the picture below. Click "OK". 5-7 The page after the network is saved [Step 9] Check the IP address in Step 4. [Step 10] After logging in to RS, click the "Robot" option and manually connect the robot with the right mouse button.
  • Page 35 5.6.2 Wireless Connection Plug in the charging pile and align Athena2.0 with the charging pile. [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 Athena2.0 machine and use type-C cable to connect the Type-C interface of the Athena2.0 machine to your computer.
  • Page 36 5-11 scrcpy.exe interface 5-12 Android interface of the Athena2.0 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. 35 / 56...
  • Page 37 5-13 Android network Settings screen for a Athena2.0 device [Step 5] If the portable WIFI hotspot is "Athena2.0 Show", connect the network of your computer to "Athena2.0 Show" at the same time, so as to ensure that your computer and Athena2.0 machine are in the same network.
  • Page 38 Note 2: The method of IP address query is to press the shortcut key, Windows+R, and enter the code ipconfig. Copy the IP of the default gateway and paste it into the IP address box of Slamtec RoboStudio. Click Connect to enter Slamtec RoboStudio.

  • Page 39: Map Building And Upload

    Download and install the robot graphical control management tool Robot Studio from our official website http://www.slamtec.com/cn/RoboStudio to adjust and use Athena2.0, sign up account and log in. In the menu-toolbar area, click "File-Robot" in turn, and a docking page named Robot will appear on the left side of the workspace, as shown in the figure below.
  • Page 40 5-17 Rob Studio Robot page Right-click the blank space of the robot list, click "Manually connect robots" in the pop-up menu, and the connect robot dialog box will pop up (as shown below). Enter the IP address and port number of the Athena2.0 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).
  • Page 41 5-19 Rob Studio Robot connecting page Left click the spot inside the map-building area, let Athena2.0 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 42: Host Computer Completes Startup And Loading The Map

    Tools -> Plug-ins -> Shop -> All ->Slamware Forbidden Area-> Get -> Download -> Restart RoboStudio. Public plug-in links： https://wiki.slamtec.com/pages/viewpage.action?pageId=56164379） 5-21 RoboStudio Public plug-in After the plug-in runs normally, connect to the machine, you can see the "Ban zone" toolbar in the menu bar.
  • Page 43 #include <rpos\robot_platforms\slamware_core_platform.h> #include <rpos\robot_platforms\objects\composite_map_reader.h> #include <rpos\core\pose.h> using namespace std; main() string map_path = ".\\map.stcm"; //the path of map string Athena2.0_ip = "192.168.11.1"; //the ip of Athena2.0 Athena2.0_port = 1445; //the port of Athena2.0 ,default is 1445 rpos::robot_platforms::SlamwareCorePlatform Athena2.0 = rpos::robot_platforms::SlamwareCorePlatform::connect(Athena2.0_ip, Athena2.0_port); //connect to the Athena2.0 rpos::robot_platforms::objects::CompositeMapReader cmapreader;...

  • Page 44: Adjusting Tools

    2. Restart the module 3. Update the firmware Slamtec will regularly provide Athena2.0 firmware updates and upgrades. You can easily upgrade the firmware for Athena2.0 through the management backstage. Please obtain the latest firmware from sales or technical support personnel. The update process will last 5-10 minutes. The buzzer of Athena2.0 will continue to sound during the update, and Athena2.0 will automatically restart after the update.

  • Page 45: Developer Tools

    7. Developer Tools 7.1 Start Using The Agent SDK of the Athena2.0 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 46: Demonstrations Of Code

    Elevator Agent is a service program running on the Linux system of the elevator control main control box. The cloud and the robot end communicate with the elevator control equipment through it. Inside the elevator control system, the Elevator Agent communicates with the Elevator Controller through UDP, sending elevator control instructions and obtaining elevator status.

  • Page 47: Details Of Robot Api

    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 7.5 Details Of Robot API 46 / 56...
  • Page 48 FUNCTION OF MODULES API LIST Get the Robot location Set the Robot location Get quality of location Whether support locating Start/Close locating Locate, map building-related functions Whether start map building Start/ pause map building Get location of power station Set location of power station Get current map Delete current map Get all virtual line segment...
  • Page 49 Get the health info of the device Get POI info Get password of the action Restaurant delivery service-related interfaces Make up new actions Get current action Terminate current action Shut down or restart the robot MORE DETAILS OF API: https://github.com/slamtec/Athena2.0SampleApp 48 / 56...

  • Page 50: Introduction And Use Of Elevator Control

    8. Introduction And Use Of Elevator Control 8.1 Introduction Intelligent elevator control, independently developed by Shanghai SLAMTEC CO., Ltd, can provide accurate detection of elevator status, program control call elevators, control elevators, combined with MercuryⅡ hotel robots, helping the robots to take and exit the elevators autonomously. Providing reliable solutions to multi-floor operation scenarios.
  • Page 51 8.2.8 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 52: Special Note

    9. Special Note 9.1 Charge point deployment Precautions for the selection of charging pile location: (1) The charging pile should be placed on the wall with a space of more than 0.35 meters on both sides and more than 1 meter in front; (2) The charging pile shall be close to the wall, and shall not be placed in the mirror wall, back hollowed out and other areas, etc；...

  • Page 53: Faults That Cannot Be Handled Temporarily

    (4) Temperature / humidity Do not place Athena2.0 in places with high temperature, high humidity or water stains. (5) Ground obstacles Please ensure that the ground is clean and free of wireless obstacles and sundries. (6) Outdoor Do not use the machine outdoors. (7) It is limited to safe use below 2000m above sea level.
  • Page 54 (3)Do not use the automatic recharge function on the soft carpet with a subsidence of more than 2cm; (4)It is recommended to start the equipment on the charging base; (5)Do not change the inside of the machine without authorization; (6)In environments with many high-transmittance materials, please use auxiliary protection functions, such as virtual walls.

  • Page 55: Maintenance

    10. Maintenance 1. General maintenance (1) Radar cleaning: When the machine is shut down and not working, check the surroundings of the radar to ensure that there are no obstructions. (2) Universal wheel cleaning: When the machine is shut down and not working, gently lift the chassis, wipe the universal wheel with a soft dry cloth, and remove the surrounding foreign matters.

  • Page 56: Common Faults And Troubleshooting

    If it cannot be solved, please contact the after-sales service. 12. Certificate Company name: Shanghai Slamtec Co., Ltd Company Address: Unit 01, 2nd Floor, Building E, Shengyin Building, No.666 Shengxia Road, China (Shanghai) Pilot Free Trade Zone.

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