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Slamtec Heracles Pro Max User Manual

General purpose robot platform
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Heracles Pro Max
General Purpose Robot Platform
PLEASE READ THE USER MANUAL CAREFULLY BEFORE USE
○
Small- to medium-sized robot
development
○
Highly adaptable and scalable
○
Powerful optional functions
Learn more >
User Manual

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Summary of Contents for Slamtec Heracles Pro Max

  • Page 1 Heracles Pro Max General Purpose Robot Platform User Manual ○ Small- to medium-sized robot development ○ Highly adaptable and scalable ○ Powerful optional functions Learn more > PLEASE READ THE USER MANUAL CAREFULLY BEFORE USE...

  • Page 2: Table Of Contents

    2.3Cross-Floor Delivery ..............5 2.4Smart Obstacle Avoidance ............5 2.5Comprehensive Safety ..............5 2.6Autonomous Recharging ............5 3. HERACLES PRO MAX SCHEMATIC DIAGRAM ......6 4. HERACLES PRO MAX CHARGING STATION......7 5. PARAMETERS ................7 6. INSTRUCTIONS OF HARDWARE ..........13 6.1 Wire Instructions ..............
  • Page 3 13.3 Faults that cannot be handled temporarily ......44 13.4 Notes ..................44 14. MAINTENANCE................. 46 15. COMMON FAULTS AND TROUBLESHOOTING ..... 47 16. PRODUCT EXECUTIVE STANDARDS AND CERTIFICATES ... 48 16.1 Product executive standards ..........48 16.2 Certificate ................48 Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 4: Introduction

    Heracles Pro Max is an upgraded product launched by Slamtec in August 2023, which has upgraded the hardware configuration of the product, adopting Intel's industrialized computer as the main board, which improves the arithmetic power and overall performance.

  • Page 5: Introduction To Heracles Features

    The robot also supports fall avoidance, collision avoidance, and emergency braking functionality to ensure comprehensive safety during the move process. 2.6Autonomous Recharging Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 6: Heracles Pro Max Schematic Diagram

    Special note: the automatic recharge function cannot be triggered only under the condition of that combined with upper machine with delivery and disinfection plug-in or customized models. 3. Heracles Pro Max Schematic Diagram Magnetic Cliff Sensor Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 7: Heracles Pro Max Charging Station

    4. Heracles Pro Max Charging Station 5. Parameters Model Heracles Pro Max Robot Base SLAMWARE™ Localization and Navigation Core Feature Features Metric Value Dimension and Weight Length × Width 465mm*545mm Height 276mm（excludes controller） Net Weight 40kg（excludes controller） Rated Load 50kg...
  • Page 8 & Cliff Minimum >3cm Detection Detection Height Sensor for Low Obstacles Precise Docking ± 1.5cm Docking Accuracy Cameras Docking Angle ± 1.0° Magnetic Quantity Sensor Max Detection 35mm Range Bumper Quantity Trigger Mode Physical Collisions Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 9 10° . (A 100% slope means a 45° ramp, whose height difference for 100 m is 100 m.) Vertical Crossing 20mm（Full-load） Height Horizontal 40mm（Full-load） Crossing Width Min Path Width 750mm (robot base) Alignment ± 2cm Accuracy （AVG） Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 10 1 × 3.5mm headset socket； 1 × LINE_out audio jack Network Ethernet Ethernet；2*RJ45 Gigabit Interface Ethernet port Wi-Fi 2.4GHz/5GHz SLAMWARE™ Software HTTP APIs support different Interface programming languages and platforms, such as Windows, iOS, Android, and Linux Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 11 Battery Life 2000times Power Consumption Standby Power 48W(No-load) Consumption Full-load Rated 78W（Full-load） Power Consumption （80kg） Max Power 240W Consumption with External Load ≤60db Noise Operating Noise Level Operating Environment Operating 0℃～ 40℃ Temperature Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 12 Transport and -25-+55℃ Storage Temperature Operating 20～ 90％rh（No Humidity condensation） ≤2000m Operating Altitude Charging station Overall Dimensions W360mm*D150mm*H320mm Color White Rated Input 100-240V 50/60Hz 3A MAX Rated output DC 25.5V 10A Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 13: Instructions Of Hardware

    When robot is energized, press this Invalid if switch to the robot Brake -- uiii release the is not brake and turned on you can push the robot freely; press it Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 14: Important Interfaces Of Developing Board On Ryd3588

    USB2.0 precise Camera information of docking. code scanning camera. Used for USB- communicatio Connect to BASE USB3.0 n between Hub3.0 wire RYD3588 and Cube2RR. 6.2 Important Interfaces of Developing Board on RYD3588 Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 15: Reference Of Hardware Design

    ARM Quad-core Cortex-A76+Quad-core Cortex-A55 high-performance processor. It suuprots 6.0 TOPS NPU, and 8K display resolution and 8K video decoding. It also provides a Mini-PCie and SIM card slot for 4G/5G connectivity. RYD-3588 also provides Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 16: Reference Of Structure Design

    LVDS, EDP,HDMI,8 x USB, 4 x UART,2 x 10/100/1000M Ethernet and 5 x GPIO. 6.3.2 Product specifications （1）Hardware Specification Sheet 7. Reference of Structure Design 7.1 Installing Interface of Host Computer Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 17 Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 18: Instruction Of Load Limit

    As shown in the figure above, there are a total of 11 M4 threaded holes for the installation and fixation of the host computer. It is recommended to use M4 screws with spring washer and blue anti-loosening glue. 7.2 Instruction of Load Limit Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 19: Lidar Clearance Area

    (2) * It is recommended that the center of gravity of the whole machine is not higher than 300mm from the ground during installation. i. *The center of gravity of chassis is the one which Slamtec provides, the height is 103 mm;...

  • Page 20: 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. 7.4 Deep Camera Clearance Area Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 21 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. Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 22: Setup Instructions

    Therefore, it is best to place the charging stand with its back against the wall. The wall must meet the following conditions: a. The charging station must be attached to the wall, without no obstacle in the middle, try to avoid the wall with skirting, etc. Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 23: Power On/Off

    Power off: long press the power switch until indicator light goes out, then release it, the machine enters the shutdown process, the light strip on the front of the machine goes out, and the machine can be pushed arbitrarily, indicating that the shutdown is completed. Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 24: Charging

    Heracles, 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, Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 25 When finishing connecting, the work area will display the robot, map information, and status information. In the robot page, you will find that the name of the connected device turns green, and the status is "Connected", as shown in the figure below. Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 26 Then click "File-Map Editor" in turn, choose to save the file or upload to the firmware to save the map. 8-6 Rob Studio Robot map-editing page Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 27: Host Computer Completes Startup And Loading The Map

    8.7 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. Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 28 //set compositemap rpos::core::Pose home_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0)); //the home pose in map(home_pose should be the home's real pose in new map) //using Heracles.gethomepose() to get the old home pose Heracles.setHomePose(home_pose); //set home pose Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 29 (rpos::robot_platforms::ConnectionFailException &e) cout << "connect failed on " << e.what() << endl; catch (rpos::system::detail::ExceptionBase &e) cout << "failed on " << e.what() << endl; return Further motion deployment details, please see the SDK instruction document Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 30: Connection To Computer

    [step 3] if you downloaded slamtec robostudio, run "robostudio.exe", enter the interface of slamtec robostudio, enter the IP address and port, click "connect", and RS login succeeds. Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 31 Note : The method of IP address query is to press the shortcut key, Windows+R, and enter the code RYD3588onfig. Copy the IP of the default gateway and paste it into the IP address box of Slamtec RoboStudio. Click Connect to enter Slamtec RoboStudio. Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 32 9-5 Method of obtaining an IP address Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 33: Adjusting Tools

    2. Restart the module 3. Update the firmware Slamtec will regularly provide Heracles firmware updates and upgrades. You can easily upgrade the firmware for Heracles through the management backstage. Please obtain the latest firmware from sales or technical support personnel. The update process will last 5-10 minutes.

  • Page 34: Developer Tools

    Robot Agent is a service program running on the Heracles chassis, through which the cloud and the elevator control terminal communicate with the elevator control equipment. Inside the Robot system, the Robot Agent communicates with the Robot Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 35 Open-Source application – Restaurant Delivery App 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 Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 36: Demonstrations Of Code

    ✓ Stop current action ✓ Shut down of restart Robot 11.4 Demonstrations of Code 1. The following is an example of the Robot APP calling the Robot Agent interface to check the battery status Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 37 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 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 38: Details Of Robot Api

    Go back across floors Multi-floor map and POI management, Get all floor info taking elevator, etc. Get floor info of floor of the robot Setup info of floor of the robot Get POI info Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 39: Sdk2.0 Common Interface

    Get password of the action 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/HeraclesSampleApp https://docs.slamtec.com/#/ The Link of SDK 2.0: SDK2.0 Common Interface Guide:https://wiki.slamtec.com/display/SD/SDK2.0+Common+Interf ace+Guide Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 40: Introduction And Use Of Elevator Control

    12.1 Introduction 12-1 INTELLIGENT ELEVATOR CONTROL DEVELOPED BY SLAMTEC 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.
  • Page 41 APP. In this way, even if there is a card reader, it can be easily bypassed and freely enter and exit the elevator. 12.2.8 Unified Management Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 42 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 43: Special Note

    Do not put in items that exceed the maximum weighing parameter value to avoid affecting the normal use of Heracles. Please refer to the information in the product parameter table for the maximum load-bearing parameter value. (2) Sill height Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 44: Faults That Cannot Be Handled Temporarily

    10-25 ℃ and no corrosive gas; (3) Heracles shall be charged every 6 months during long-term storage to ensure that the voltage of each battery unit is in the range of 3.6v-3.9v. Packing notes: Copyright 2016-2023 Shanghai Slamtec Co., Ltd.
  • Page 45 (4)It is recommended to start the equipment on the charging station; (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. Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 46: Maintenance

    1 time Around the lidar 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 Heracles Pro Max maintenance schedule Copyright 2016-2023 Shanghai Slamtec Co., Ltd.

  • Page 47: Common Faults And Troubleshooting

    15. Common faults and troubleshooting When an abnormality occurs during Heracles Pro Max operation, please refer to the following table or page tips to solve the problem: NO Fault prompt Solutions Please check whether the collision bar is jammed, and tap...

  • Page 48: Product Executive Standards And Certificates

    *Please refer to the real object. We reserve the right to update the product without notice. *Product manual version v1.0. 16.2 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. Contact information: (+86) 021 68581569...