Slamtec APOLLO A4M31 Manual de usuario

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www .slam tec.com

ShanghaiSlam tec.C o.,L td

APOLLO

General Purpose Robot Platform Standard Version

User manual

Model: A4M31

2020-07-17.rev.1.1

 
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Copyright (c) 2016-2017 Shanghai Slamtec Co., Ltd. 
CONTENTS ...................................................................................................................................................2 
OVERVIEW ...................................................................................................................................................3 
INTRODUCTION...................................................................................................................................................3 
BASIC FUNCTION................................................................................................................................................3 
INTERIOR MODULE BLOCK DIAGRAM ................................................................................................................3 
SENSORS............................................................................................................................................................. 4 
INTERFACES.........................................................................................................................................................4 
CHARGING STATION........................................................................................................................................... 5 
PRODUCT PACKING LIST.....................................................................................................................................6 
EXTENDED PLATFORM.............................................................................................................................7 
INTRODUCTION...................................................................................................................................................7 
PORT DEFINITION...............................................................................................................................................7 
APOLLO REFERENCE DESIGN ............................................................................................................................10 
DEPLOYMENT AND USAGE ...................................................................................................................11 
APOLLO DEPLOYMENT .....................................................................................................................................11 
CONNECT TO COMPUTER.................................................................................................................................16 
DEBUG TOOLS ..................................................................................................................................................16 
CHARGING AND BATTERY.................................................................................................................................17 
ATTENTION ...............................................................................................................................................20 
MECHANICAL DIMENSIONS .................................................................................................................21 
APPENDIX ..................................................................................................................................................22 
IMAGE AND TABLE INDEX..................................................................................................................................22 
 
 
Contents 

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Introduction

Apollo is a medium-sized general purpose robot development platform

developed by SLAMTEC to meet the requirement of medium-size robot

application like reception robot, shop guiding robot and etc. Its build-in

SLAMWARE Cube autonomous localization and navigation module is designed to

realize path finding and navigation. And different applications can be integrated

with Apollo to make it work in varies business places. Apollo is equiped with

RPlidar, ultrasonic sensors, cliff sensors, bumpers, magnetic sensors, depth

cameras and etc., which helps Apollo walk freely and respond well in complicated

business environments.

Basic Function

Autonomous Mapping for Localization and Navigation

The function of Apollo platform is to realize autonomous map building,

localization and navigation. There is no need for human assisstance during its

working process. It can find the proper path to a specified place by itself and move

there freely. And it also supports multi-line patrol mode like a security guard.

Autonomous Recharging

We provide open source interface for users and developpers to use it for their

own upper application on Apollo, which can realize the recharging feature of

Apollo, namely, the ability to go back to the charge station to charge itself when

it has a very low battery.

Third Party Application Development

The Apollo has a totally free platform both in software and hardware and we offer

technical support for external extended hardware. Our users can focus on the

developing of business logic appplication via SLAMWARE SDK.

Interior Module Block Diagram

The followig figure describes the communication between Apollo and external

system, the connection of power supply and emergency stop.

Overview

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Figure 1-1 Connection between Apollo and External System

Sensors

Figure 2-1 Apollo Sensor Configuration

Interfaces

User

External

system

Apollo

Host system

Wired network/WIFI

User power supply port

User control port

WIFI

Charging

port

Cliff sensor

Depth Camera

RPlidar (layer)

Ultrasonic sensor

Bumper

Magnetic sensor

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Figure 2-2 Apollo Interfaces Configuration

Charging Station

Figure 2-3 Apollo Charger

Emergency charging port

Wi-Fi antenna

Autonomous charging port

Air switch

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Product Packing List

Item Name

Quantity

Remark

Apollo

Apollo platform

Wi-Fi antenna

Come with Apollo as accessories and need to be

installed on Apollo.

Depth camera and its

mounting structure

Come with Apollo as accessories and need to be

installed on Apollo.

Charging station

Come with Apollo and need to choose a proper place

before using it.

Power cable of

charging station

Come with charging station as accessories. Please

connect the charging station and 220V power with the

power cable.

Emergencing charging

cable of charging

station

Come with charging station as accessories. Please

connect the charging station and Apollo with the

charging cable.

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Introduction

As shown in the following figure, the extended platform of Apollo is a rounded

table with 220mm in radius. The whole top surface is all-steel and is processed

by black phosphating solution. There are five M6 threaded holes regularly

distributed on the table, which can meet various requirements of fixing the upper

module on the Apollo. Please refer to the following figure for the specific position

of threaded holes and the port dimensions.

Figure 3-1 Apollo Extended Platform

Port Definition

Figure 3-2 Interface Definition of Apollo Extended Platform

Extended Platform

User power port

Ethernet port

Control port

Threaded holes M6*5

Power port model:

WS16K2Z WEIPU 2Pin Aerial

Socket

Control port model:

D-SUB 15P Female

Connector

Ethernet port model:

Standard RJ45

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Pin Definition of Control Port

Figure 3-3 Pin Definition of Apollo Extended Platform Control Port

Name

Parameter

Description

Note

Ethernet port

1000/100/10Mbps

Used for communication

between users and

Apollo.

IP Address 192.168.11.1 ~

192.168.11.100 are reserved for the

bases of Apollo. Therefore, when

using this Ethernet port, please

ensure that the IP address of the

device connected to Apollo not uses

the above IP address. Or IP conflict

may occur. Please refer to the

SLAMWARE SDK for detailed

communication protocols.

Power port

DC 18-25.2V 5A

Max

Used for providing

power supply for the

device of users.

The end marked as 1 is positive while

2 is negative.

Control

port

DB-15

Self-defined 15 pin port.

User can design this

port according to their

own needs.

Please refer to the following figure for

control port definition and pin

definition, and the supported switch

type for the reference design of the

control port.

Emergency

charging port

25.2V 10A

Used for charging

Apollo under

unexpected situations

such as the charger

electrode not working.

Network resetting button

Reserved

GND

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Supported Switch Type and Description of Control Port

Figure 3-4 Supported Switch Type of Apollo Extended Platform Control Port

Switch Name

Description

Note

Emergency stop

switch

(Pin5 & Pin8)

Used for controling Apollo in

emergencies. Apollo will stop

moving immediately after

pressing this switch.

This switch is a must to design,

or Apollo will refuse to work.

Release switch

(Pin6 & Pin7)

Corresponded with the

emergency stop switch, after

pressing down the emergency

stop switch, user needs to press

the release switch to recover

Apollo to normal status and

continue other operations

System switch

(Pin2 & Pin12)

This switch is the power switch

for the whole system. Short press

for power-on and long press for

power-off.

Checking method

Internal pull-up to check the

time width of the low level.

Open time:

50ms~3000ms(Typical value is

300ms, and it is invalid to

repeat this operation if it has

already been in open status.)

Close time:

3000ms~15000ms( Typical

value is 4000ms, and it is

invalid to repeat this operation

if it has already been in open

status.)

Network resetting

switch(Pin3 &

Pin14)

This switch is used to reset the

wireless network.

When the network is

abonormal, please long press

the network resetting button

for 3 seconds to reset Wi-Fi.

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Apollo Reference Design

Figure 3-5 Apollo Reference Design

Keep enough space

for user control

port

Keep enough space for WIFI antenna

Custom Design Reference

Threaded holes M6*5

Plastic

Metal

Depth Camera Module

Floor

Depth Camera Module

The depth camera module should

be designed on the surface of the

robot as an exposed part.

Upper Module Fixing Design

Reference

There are five M6 threaded holes

regularly distributed on the top

user board for user to design and

fix the upper system and

structure.

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