Slamtec ATHENA N4M11 Manual de usuario

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www.slamtec.com

Shanghai Slamtec.Co.,Ltd

ATHENA

General Purpose Robot Platform Professional Version

User manual

Model: N4M11

2020-08-18.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.........................................................................................................................................................5 
INDICATOR STATUS ............................................................................................................................................5 
CHARGING STATION........................................................................................................................................... 7 
PRODUCT PACKING LIST.....................................................................................................................................7 
EXTENDED PLATFORM.............................................................................................................................8 
INTRODUCTION...................................................................................................................................................8 
PORT DEFINITION...............................................................................................................................................9 
ATHENA REFERENCE DESIGN............................................................................................................................11 
DEPLOYMENT AND USAGE...................................................................................................................14 
ATHENA DEPLOYMENT.....................................................................................................................................14 
CONNECT TO COMPUTER.................................................................................................................................19 
DEBUG TOOLS ..................................................................................................................................................19 
CHARGING AND BATTERY.................................................................................................................................20 
ATTENTION ...............................................................................................................................................23 
MECHANICAL DIMENSIONS.................................................................................................................24 
QUICK START——UNPACK ...................................................................................................................25 
QUICK START——MOUNT THE DEPTH CAMERA ...........................................................................27 
QUICK START——PUT BATTERY IN(OPTIONAL).............................................................................28 
APPENDIX ..................................................................................................................................................31 
IMAGE AND TABLE INDEX..................................................................................................................................31 
 
 
Contents 

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Introduction

Athena is a low cost small-sized general purpose robot development platform

developed by SLAMTEC to meet the requirement of small-size robot application

like patrol robot, delivery 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 Athena to make it work in varies business places.

Athena is equiped with RPlidar, ultrasonic sensors, cliff sensors, bumpers, magnetic

sensors, depth cameras and etc., which helps Athena walk freely and respond well

in complicated business environments.

Basic Function

Autonomous Mapping for Localization and Navigation

The function of Athena 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 Athena, which can realize the recharging feature of

Athena, 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 Athena 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 Athena and external

system, the connection of power supply and emergency stop.

Overview

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Figure 1-1 Connection between Athena and External System

Sensors

Figure 2-1 Athena Sensor Configuration

User

External

system

Athena

Host system

Wired network/WIFI

User power supply port

System switch

Emergency stop

Release switch

Network reset switch

Emergency charging port

Wi-Fi

Cliff sensor

Depth Camera

RPlidar (layer)

Ultrasonic sensor

Bumpers

Magnetic sensor

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Interfaces

Figure 2-2 Athena Interfaces Configuration

Indicator Status

Indicator status

Status

Left

Right

Status Description

None

Off

Power off

Red

Blink

Low battery(lower than 15%)

There is health information

(Emergency stop or sensor

errors).

Green

Blink

Energency charging or

autonomous recharging

Fully charged

Air switch

Wi-Fi antenna

Autonomous

charging port

Emergency

charging port

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Blue

Blink

Off

Turn left

Off

Blink

Turn right

Blink

Walk straight

Stop(After turn on the robot)

Figure 2-3 Athena Indicator Status

Under low battery, Athena also has status like health information,turnning left,

turnning right and etc.. Therefore, we redefine the status under low battery as

below to avoid confusing those status.

Indicator status under low battery

Status

Left

Right

Status Description

Red

There is health information.

Blink

There is no other health information

except for low battery.

Blink

Energency charging or autonomous

recharging

Blink

Turn left

Blink

Turn right

Blink

Walk straight

Figure 2-4 Athena Indicator Status Under Low Battery

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Charging Station

Figure 2-5 Athena Charger

Product Packing List

Item Name

Quantity

Remark

Athena

Athena platform

Wi-Fi antenna

Come with Athena as accessories and need to be

installed on Athena.

Depth camera and its

mounting structure

Come with Athena as accessories and need to be

installed on Athena.

Screws

Screws for mounting depth camera

Charging station

Come with Athena 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 Athena with the

charging cable.

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Introduction

As shown in the following figure, the extended platform of Athena is a square

table(404mm*390mm in dimension). The whole top surface is all-steel. There are

five M5 threaded holes regularly distributed on the table, which can meet various

requirements of fixing the upper module on the Athena. Please refer to the

following figure for the specific position of threaded holes and the port

dimensions.

Figure 3-1 Athena Extended Platform

Extended Platform

Power port

Ethernet port

Emergency stop

Reserved Threaded Holes 5-M5

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Port Definition

Figure 3-2 Interface Definition of Athena Extended Platform

Supported Switch Type and Description of Control Port

Name

Parameter

Description

Note

Ethernet port

1000/100/10Mbps

Used for communication

between users and

Athena.

IP Address 192.168.11.1 ~

192.168.11.100 are reserved for the

bases of Athena. Therefore, when

using this Ethernet port, please

ensure that the IP address of the

device connected to Athena 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.

Emergency

charging port

25.2V 6A

Used for charging

Athena under

unexpected situations

such as the charger

electrode not working.

Standard charging: 6A

Quick charging supported:10A

Power port model:

WS16K2Z WEIPU 2Pin Aerial Socket

Ethernet port model:

Standard RJ45

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Figure 3-3 Supported Switch Type of Athena Extended Platform Control Port

Switch Name

Description

Note

Emergency stop

switch

Used for controling Athena in

emergencies. Athena will stop

moving immediately after pressing

this switch.

This switch is a must to

design, or Athena will

refuse to work.

Release switch

Corresponded with the emergency

stop switch, after pressing down the

emergency stop switch, user needs

to press the release switch to

recover Athena to normal status

and continue other operations

System switch

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

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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