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Summary of Contents for Segway Nova Carter
- Page 1 Nova Carter Product Manual ...
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Page 2: Table Of Contents
Table of Contents Packing Contents ..........................3 Specifications ..........................3 Product Overview ..........................4 Important Safety Information ......................6 Getting Started with Nova Carter ....................7 NVIDIA Isaac™ Software .........................8 Hardware Information........................8 Nova Sensor Suite............................9 Compute & System Devices........................10 System Architecture..........................10 External Interfaces ..........................11 Wheelbase ..............................11 Internal Component Diagram .........................12... -
Page 3: Packing Contents
Packing Contents Specifications Refer to RMP220 wheelbase manual for additional details. Item Parameter Model Nova Carter P1 Computing Platform NVIDIA Jetson AGX Orin™ 64GB module (with 2TB SSD and 10 GbE PCIe card) Vehicle Size 722*500*556mm Vehicle Weight 49.6kg Maximum Payload... -
Page 4: Product Overview
Product Overview Nova Carter products can be assembled into two configurations: ... - Page 5 Presentation from various angles: ...
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Page 6: Important Safety Information
Important Safety Information • The Nova Carter robot is a small and light robot; it is designed to carry a payload of 50kg. The main hazard is impact from the robot itself, where moderate harm could result from a worst-case direct collision. Robot operators should take the following precautions: o Familiarize yourself with the Nova Carter controls and dynamics in an open area away from bystanders. -
Page 7: Getting Started With Nova Carter
Getting Started with Nova Carter ... -
Page 8: Nvidia Isaac™ Software
NVIDIA Isaac™ Software Nova Carter is the reference robot for Isaac™, and several sample apps are available for Nova Carter. When using Isaac™ AMR refer to the NVIDIA Isaac™ AMR documentation: https:// developer.nvidia.com/isaac/amr When using ROS refer to NVIDIA Isaac™ ROS (https://developer.nvidia.com/isaac-ros) and the repository for Nova Carter https://github.com/NVIDIA-ISAAC-ROS/nova_carter... -
Page 9: Nova Sensor Suite
Nova Sensor Suite Sensor Type Sensor Name Part Name Manufacturer Details HFOV VFOV Hawk Stereo Camera Front Stereo GMSL2 LI-AR0234CS- Leopard Imaging 2.3 MP RGGB 121.5 73.5 STEREO-GMSL2 Hawk Stereo Camera Rear Stereo GMSL2 LI-AR0234CS- Leopard Imaging 2.3 MP RGGB 121.5 73.5 STEREO-GMSL2... -
Page 10: Compute & System Devices
GMSL2 GMSL2-8CH Orin™ Developer Kit Provides CAN transceivers and RGB LED control. GPIO Board CAN, USB Segway Robotics Specific for Nova Carter and not for individual sale. Data Storage M.2 NVMe 980 PRO 2TB SSD Samsung Mounted at /mnt/nova_ssd/ Network PCIe, 10 External-facing network connections. -
Page 11: External Interfaces
1 GbE, internal Nova sensor network on Jetson 10 GbE port Unpopulated Empty panel connections for optional user expansion You can find description of connectors at this URL: Download Center - Segway Robotics Wheelbase You can find user manual of RMPLite 220 at this URL: Download Center - Segway Robotics... -
Page 12: Internal Component Diagram
Internal Component Diagram Callout Description Rear IO Panel: DisplayPort, USB-C, Ethernet RJ-45 DC-DC Power Regulator, 12V output Ethernet Switch 12V Power Breaker and Power Rail NVMe SSD PCIe Network Interface Card NVIDIA Jetson AGX Orin™ Developer Kit with GMSL Adapter Board Cooling Fan RPLidar S2E 2D Lidar Leopard Imaging Owl Fisheye Camera... -
Page 13: Led & Buzzer Status Indicators
LED & Buzzer Status Indicators Chassis LED Solid Yellow Locked Solid Green Protocol Control (one of control mode) Flashing Green Contoller Control (one of control mode) Flashing Red E-Stop Solid Red Error Buzzer Low battery (Battery level below 10%. Will turn off once connected to Continuous Short beep (Single Duration: 100ms) charger) Continuous Long beep (Single Duration: 2000ms) - Page 14 Table 1. Hawk Stereo Camera Location Transformations Pitch Roll Hawk (mm) (mm) (mm) (deg) (deg) (deg) Front 116.3 344.4 Left -355.4 -166 344.4 Right -355.4 344.4 -579.7 344.4 Rear Table 2. Owl Fisheye Camera Location Transformations Pitch Roll (mm) (mm) (mm) (deg) (deg)
- Page 15 The following figures show visualizations of Nova Carter’s sensor fields of view. Note: The illustrated FoVs are approximate, and the ranges have been truncated for improved visualization. Touchdown distances are measured from the Nova Carter Front or Side most facing panels on the electronics enclosures. ...
- Page 16 Figure 3 - Fisheye Camera FoV - Back View (Left and Right sensors) Figure 4 - Stereo Camera FoV - Top View...
- Page 17 Figure 5 - Stereo Camera FoV - Side View (Front and Rear sensors) Figure 6 - Stereo Camera FoV - Back View (Left and Right sensors)
- Page 18 Figure 7 - 2D Lidar FoV - Top View Figure 8 - 3D Lidar FoV - Side View...
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Page 19: Top Modules
2D Lidars from damage. You can also design your own top modules to use on Nova Carter. The top IO panel provides 50W 12V DC power and an Ethernet connection for the internal Nova sensor network. This is a separate network from the rear IO panel Ethernet port. -
Page 20: Basic Cargo Top Module Bolt Pattern
To create your own top module, please refer to the connector and bolt pattern information below. Top IO panel has two connectors: Power socket connector, Ethernet socket connector. Power socket connector description XT60E-F (on Nova Carter side) ● Withstand Voltage: DC 500V (UL1977) ● Rated Current: 20A 16# (UL1977) -
Page 21: Adapter Plate Bolt Pattern
The interface is the power output, and the straight side of the interface shell is the positive pole of the power supply. Ethernet socket connector description: RJ45 (on Nova Carter side) For more information, please refer to the External Interfaces section above. You can find description of connectors at this URL: Download Center - Segway Robotics Adapter Plate Bolt Pattern ... -
Page 22: Maintenance
Maintenance Changing the Battery Prepare materials • A new battery • A 3mm hexagonal wrench • A 5mm hexagonal wrench • Battery Lock Key 1. Turn off the robot, press the emergency stop button and unplug the battery power and signal wires at the position shown in Figure 1. - Page 23 3. Carefully tilt open the lid enough that you can reach in, taking care not to pull on any cables. Unplug one 3D Lidar and two 2D Lidar cables and remove the top cover assembly as shown in Figure 3. Figure 3 4.
- Page 24 5. Remove the main enclosure and expose the battery. Please take care that the power and signal wires unplugged in step 1 must be fed through the openings in the RMPLite 220 wheelbase. Figure 5 6.Unplug the battery power cord. Figure 6 7.Insert the key from the bottom of the vehicle and rotate it 90 degrees counterclockwise.
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Page 25: Battery Environmental Specifications
8.Remove the old battery and replace it with a new one. Install with the battery connector near the drive wheels, and lower into the robot at an angle, making sure to engage the alignment features at the rear." Figure 8 Description: after replacing the new battery, reverse the above steps to reassemble the entire robot. -
Page 26: Replaceable Fuse
To access the fuse for inspection and replacement, please follow 2 & 3 of the battery removal procedure outlined above to remove the Top Cover Assembly. Fuse body size: 19mm * 19mm Service Contact Please visit Segway official website or communicate directly with the following business email: support@robotics.segway.com... -
Page 27: Certifications
Certifications Note: Standards mentioned below are about battery certification. Item Standard Qualified or not Certification report or not CB/CE-safety IEC/EN 62133-2: 2017 Qualified UL2271 UL2271 (sent from UL) Qualified EU Battery Directive 2013/56/EC Qualified RoHS/REACH/PoPs Qualified S/SG/AC.10/11, Article 38.3, UN38.3 Dangerous Goods Transport Simulation Qualified Test of United Nations SDS/MSDS... -
Page 28: Software Documentation
Jetpack SDK image (https://developer.nvidia.com/embedded/jetpack) without any need to open the robot. Run NVIDIA SDK Manager (https://developer.nvidia.com/sdk-manager) on a Linux host machine, and connect it to the USB-C port on Nova Carter’s rear IO panel. Please see the Jetson AGX Orin™ Developer Kit User Guide (https://developer.nvidia.com/embedded/learn/ jetson-agx-orin-devkit-user-guide/index.html) for more information.
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