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Summary of Contents for Slamtec Athena 2.0
- Page 1 Athena 2.0 General Purpose Robot Platform Model: N5M42-R2TPL User Manual ○ Small- to medium-sized robot development ○ Highly adaptable and scalable ○ Powerful optional functions Learn more > Shanghai Slamtec Co., Ltd.
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Page 2: Table Of Contents
Table of Contents 1. PRODUCT OVERVIEW ..................3 1.1 I ....................3 NTRODUCTION 1.2 B ....................3 ASIC UNCTIONS 1.3 E ......................5 XTERIOR 1.4 C ....................6 HARGING 1.5 P ..................... 6 RODUCT 2.PRODUCT PARAMETERS ..................7 3. INSTRUCTIONS OF HARDWARE ................10 3.1 W .................. - Page 3 7. DEVELOPER TOOLS ..................... 37 7.1 S ....................37 TART SING 7.2 I ..............37 NTER SYSTEM DJUSTING RAMEWORK 7.3 I ................37 NSTRUCTIONS OF YSTEM 7.4 D ................38 EMONSTRATIONS OF 7.5 D API ..................39 ETAILS OBOT 8. INTRODUCTION AND USE OF ELEVATOR CONTROL .......... 42 8.1 I ....................
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Page 4: Product Overview
1.2 Basic Functions 1.2.1 Compact and Flexible Athena 2.0 can move flexibly in a small size, thus meeting the needs of flexible moving and deployment-free scenarios. Thanks to its high obstacle passing stability, Athena 2.0 can easily pass narrow aisles and ramps. - Page 5 Athena 2.0 owns a completely open hardware and software platform and supports extended hardware. The rich port options eliminate the restrictions in development platform and programming language, which makes Athena 2.0 universal for all types of host computer and support development of business logic applications through SLAMWARE SDK.
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Page 6: Exterior
1.3 Exterior 5 / 49... -
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 / 49... -
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 Height 232mm (excludes controller) Weight 22 kg Mass and volume Rated load 40 kg Max load (parallel cement... - Page 9 Ethernet 1x RJ45 Gigabit Ethernet port DC 24V 9.5A Power connector DC 12V 2A Wi-Fi 2.4 GHz HDMI 1x HDMI Hardware port 1x 3.5mm headset socket 1x LINE_MIC audio jack (Co-lay User port Audio with headset socket) 1x Dual-channel 5w/8Ω amplifier jack Type-C Standard USB 3.0 Type-C port...
- 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 / 49...
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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 / 49...
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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 Port USB Warning Light 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 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） 1*Dual-channel 5w/8Ω...
- Page 17 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 / 49...
- 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 / 49...
- 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 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; [2] Type-C interface only supports Slave mode, connect to computer for firmware upgrade;...
- Page 22 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 pin# Signal pin# Signal Remark +3.3V PWRLED LED_A LED_B Main board and jumper definition (continued 1) JP/CN pin# Signal...
- Page 23 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 JP/CN pin# Signal pin# Signal Remark JP/CN pin# Signal pin# Signal Remark EDP_AUX+ EDP_AUX- EDP_TX0+ EDP_TX1+ JEDP EDP_TX0- EDP_TX1-...
- Page 24 MIPI_RX_CLK- MIPI_RX_D2+ MIPI_RX_D2- +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- 23 / 49...
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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 / 49... -
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
The boundary of the host computer cannot exceed the lower boundary line of the host computer as shown in the figure. 4.4 Deep Camera Clearance Area There is a deep camera on the chassis, which requires a certain clearance area to avoid being shielded or interfered;... -
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
5.6. Connection to Computer 【Step 1】The hotspot of the computer connected to the chassis Athena 2.0's hotspot is auto-started by default，the hotspot format is: SLAMWARE-XXXXXX Hot spot identification method: query the last six digits of the SSID in the chassis label. - Page 31 Note : 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.
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Page 32: 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 33 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). When the computer has been connected to the SSID of the aforementioned Athena2.0 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 your wireless network adapter IP address should be set to automatically obtain it using DHCP).
- Page 34 There is a difference between the functions of restricted areas and virtual walls. Restricted Area: When the Athena 2.0 is accidentally pushed into the restricted area, the Athena 2.0 machine can be automatically freed from the restricted area by giving a random point in RoboStudio.
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Page 35: Host Computer Completes Startup And Loading The Map
5-12 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. 5-13 RoboStudio No-go areas 5.8 Host Computer Completes Startup and Loading The Map Below is a reference example of how to use the SDK to complete the startup and loading of a specific map on the host computer. - Page 36 rpos::robot_platforms::objects::CompositeMapReader cmapreader; //map reader rpos::core::Pose Athena2.0_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0)); //the Athena2.0 pose in map(Athena2.0_pose should be the Athena2.0's real pose in new map) //using Athena2.0.getpose() to get the old Athena2.0 pose auto map = cmapreader.loadFile(map_path); //load map Athena2.0.setCompositeMap(*map, Athena2.0_pose); //set compositemap rpos::core::Pose home_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));...
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Page 37: 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 38: 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 39: 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 40: 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 39 / 49... - Page 41 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 42 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 41 / 49...
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Page 43: 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 44 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.
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Page 45: 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 46: 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 47 (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.
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Page 48: 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 49: 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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