Slamtec N5M42-R2TPL Athena 2.0 Pro Max General Purpose Robot Platform User Manual

User Manual for Slamtec models including: N5M42-R2TPL Athena 2.0 Pro Max General Purpose Robot Platform, N5M42-R2TPL, Athena 2.0 Pro Max General Purpose Robot Platform, 2.0 Pro Max General Purpose Robot Platform, General Purpose Robot Platform, Robot Platform

Echo Hu

/902faddd4e695a9bc4786aeef09c2f6830ec9714a5a673845...

PDF

SLAMTEC Global Network

File Info : application/pdf, 39 Pages, 2.00MB

Athena-2.0-Pro-Max-User-Manual-V1.0-2309EN

2023/09/01.rev.1.0 Read through this user manual carefully before use.

Athena 2.0 Pro Max
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.

Table of Contents
1. PRODUCT OVERVIEW ..................................................................................... 3 1.1 INTRODUCTION ............................................................................................. 3 1.2 BASIC FUNCTIONS ......................................................................................... 3 1.3 EXTERIOR .....................................................................................................5 1.4 CHARGING DOCK ...........................................................................................5 1.5 PRODUCT LIST .............................................................................................. 5
2.PRODUCT PARAMETERS .................................................................................. 6 3. INSTRUCTIONS OF HARDWARE ....................................................................... 9
3.1 WIRE INSTRUCTIONS .......................................................................................9 3.2 IMPORTANT INTERFACES OF DEVELOPING BOARD ON IPC(J3455) ...........................11 3.3 REFERENCE OF HARDWARE DESIGN .................................................................. 12 4. REFERENCE OF STRUCTURE DESIGN ..............................................................14 4.1 INSTALLING INTERFACE OF HOST COMPUTER ...................................................... 14 4.2 INSTRUCTION OF LOAD LIMIT .......................................................................... 15 4.3 RADAR CLEARANCE AREA ...............................................................................15 4.4 DEEP CAMERA CLEARANCE AREA ..................................................................... 16 5. SETUP INSTRUCTIONS ...................................................................................17 5.1 OPENING ................................................................................................... 17 5.2 PLACING CHARGING BASE .............................................................................. 17 5.3 POWER ON/OFF .........................................................................................18 5.4 CHARGING ..................................................................................................18 5.5 EMERGENCY STOP & BRAKE AND RESET ............................................................. 18 5.6. CONNECTION TO COMPUTER ......................................................................... 19 5.7 MAP BUILDING AND UPLOAD ..........................................................................21 5.8 HOST COMPUTER COMPLETES STARTUP AND LOADING THE MAP ............................24 6. ADJUSTING TOOLS ........................................................................................26 6.1 ROBOSTUDIO .............................................................................................. 26 6.2 WEB MANAGEMENT BACKSTAGE .....................................................................26
1 / 39

7. DEVELOPER TOOLS ....................................................................................... 27 7.1 START USING .............................................................................................. 27 7.2 INTER-SYSTEM ADJUSTING FRAMEWORK ............................................................ 27 7.3 INSTRUCTIONS OF EACH SYSTEM ......................................................................27 7.4 DEMONSTRATIONS OF CODE ........................................................................... 28 7.5 DETAILS OF ROBOT API ................................................................................ 29
8. INTRODUCTION AND USE OF ELEVATOR CONTROL ....................................... 32 8.1 INTRODUCTION ............................................................................................ 32 8.2 FEATURES ...................................................................................................32
9. SPECIAL NOTE .............................................................................................. 34 9.1 CHARGE POINT DEPLOYMENT .......................................................................... 34 9.2 RESTRICTED USAGE SCENARIOS ........................................................................ 34 9.3 FAULTS THAT CANNOT BE HANDLED TEMPORARILY ................................................35 9.4 NOTES .......................................................................................................35
10. MAINTENANCE ...........................................................................................37 11. COMMON FAULTS AND TROUBLESHOOTING .............................................. 38 12. CERTIFICATE ...............................................................................................38
2 / 39

1. Product Overview
1.1 Introduction
Developed by Slamtec, Athena 2.0 Pro Max is a scalable and low-cost robot platform capable of meeting the needs of small-sized robot application development in areas such as smart patrol robots, container transportation robots, food delivery robots, and more.
The built-in SLAMCUBE 2 autonomous localization and navigation system enables pathfinding and localization and navigation features, making Athena 2.0 Pro Max capable of performing a variety of tasks across different commercial environments.
Cross-floor Moving, Light Deployment
Athena 2.0 Pro Max is equipped with the latest version of Slamtec Smart Elevator Control 4.0, which allows it to adapt to different brands of elevators.
Through the latest version of Slamtec RoboStudio 2.0, Athena 2.0 Pro Max supports integration of maps of multiple floors in one click. This improves the mapping efficiency and streamlines the deployment, thus enabling light deployment and fast use.
Multi-Sensor Data Fusion
Athena 2.0 Pro Max uses multi-sensor data fusion technology. Fitted with equipment such as lidar, magnetic sensors, depth cameras, and bumper sensors, Athena 2.0 Pro Max can implement autonomous mapping, localization, and navigation by flexibly responding to complex and ever-changing operational environments.
1.2 Basic Functions
1.2.1 Compact and Flexible
Athena 2.0 Pro Max 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 Pro Max can easily pass narrow aisles and ramps.
1.2.2 Cross-floor Delivery and Light Deployment
Athena 2.0 Pro Max is equipped with the latest version of Slamtec Smart Elevator Control 4.0, which allows it to adapt to different brands of elevators. When combined with RoboStudio 2.0, it can effectively enable light deployment and fast use.
Smart Elevator Control 4.0 addresses the challenges of bad weather, as well as unstable air pressure and communication in high-rise buildings. It provides accurate detection of elevator statuses along with call-control functionality. For hotel/restaurant delivery robots, it provides efficient and reliable solutions that help them autonomously navigate elevators in cross-floor scenarios.
1.2.3 Autonomous Mapping, Localization and Navigation
Athena 2.0 Pro Max is built with the latest version of Slamtec SLAMCUBE 2 autonomous localization and navigation system which is more stable and can accommodate more
3 / 39

interfaces. The structural design integrated three boxes into one, saving more space for chassis layout. With the path-finding, autonomous mapping and localization and navigation features, it helps robots figure out where they are, where they should go, and the best way to get there. It enables the robots to automatically find paths, locate, and move as needed without human assistance. In addition, Athena 2.0 Pro Max supports multi-route patrol mode. 1.2.4 Rich Port Options and High Scalability Athena 2.0 Pro Max 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 Pro Max universal for all types of host computer and support development of business logic applications through SLAMWARE SDK. 1.2.5 360° Protection and Smart Obstacle Avoidance Athena 2.0 Pro Max is fitted with equipment such as lidar, magnetic sensors, depth cameras, and bumper sensors, and adopts the multi-sensor fusion technology. It provides rapid and accurate identification of surrounding active environments, enabling smart obstacle avoidance and greatly reducing the chances of safety incidents. It also has fall-resistant and collision-resistant protection and emergency stop features, making the food delivery process fully protected, secure, and reliable. 1.2.6 Autonomous Recharging The autonomous recharging feature ensures that Athena 2.0 Pro Max will have enough power to complete the assigned tasks. Athena 2.0 Pro Max will return automatically to its charging station when its remaining power falls below the set limits. 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. 1.2.7 Multi-robot Scheduling & Collaboration In scenarios such as large hotels, office buildings, and malls, multiple robots will avoid each other according to the task priority when they meet. The collaboration of multiple robots can further improve the delivery and guide efficiency. Athena 2.0 Pro Max supports local area network (LAN) and cloud platform collaborative operations, along with the dynamic adjustment of both speed and delivery routes in accordance with the environment to realize efficient, safe, and reliable multi-point delivery.
4 / 39

1.3 Exterior

1.4 Charging Dock

Charging dock diagram

1.5 Product List

Name

Quantity

Athena body

2.0

Pro

Max

Charging dock

Notes
Athena 2.0 Pro Max chassis body
Select environment for deployment before use.

5 / 39

2.Product Parameters

Name

Athena 2.0 Pro Max chassis

Core feature Mass and volume

Lidar sensor

Sensor performance parameters

Depth camera sensor
Physical magnetic
sensor
Bumper
Ultrasonic sensor Lora

Mapping performance

Motion parameters

SLAMCUBE 2 localization and navigation

Length x width

460*428 mm, rotation diameter 551 mm

Height

232mm (excludes controller)

Weight

22 kg

Rated load

40 kg

Max load

(parallel cement

60kg

pavement)

Max scan radius (90% surface reflective rate)

30 m (TOF S2 radar)

Quantity

Detection range

0.33.5 mchanged by the condition of illumination

Field of View (FOV)

H:147±3°V:51±3°

Quantity

2 units

Max detection range

3.5 cm

Quantity Trigger method

2 units Physical collision

Quantity

2 units

Quantity Map resolution Max mapping area Max move speed
Max cross slope

1 5 cm 500m x 500m (50mm map resolution) 350 x 350m (15mm map resolution) 1.0 m/s (1.2 m/s can be customized) 10° Ramp: Max slope angle of chassis: 10°; Slope =18%*Ramp; The height of the full-machine mass center is within 18 cm, and the safety ramp within 10°. (A 100% slope means a 45° ramp, whose height difference for 100 m is 100 m.)

6 / 39

Passing obstacle height Passing obstacle width
Min pass range

Motor

Wheelset

Hardware port

Ethernet
Power connector
Wi-Fi HDMI

User port

Audio

Type-C

Software API

SLAMWARETM

Battery and capacity
Power consumption Noise
Operating environment

Capacity specifications No-load operating time Full- load operating time Charging time Battery life Power dissipation in standby time
Full-load rated power consumption
(full load weight: 40kg) Max power
consumption with external load Rated output
Operating noise Operating
temperature Transport and storage
temperature Operating humidity
7 / 39

2 cm 4 cm 55 cm 2x 6.5-inch in-wheel motor 4x 2.5-inch omni-directional wheel 1x RJ45 Gigabit Ethernet port DC 24V 9.5A DC 12V 2A 2.4 GHz 1x HDMI 1x 3.5mm headset socket 1x LINE_MIC audio jack (Co-lay with headset socket) 1x Dual-channel 5w/8 amplifier jack Standard USB 3.0 Type-C port HTTP API, supports different development languages and platforms, such as Windows, iOS, Android, and Linux 18 AH
19h (no load)
8hfull load
3-4 h (standard charging station) 500 charges
17W (no load)
40W (moving)
228W
25.2V 2A 60 db
0 40
-25 to +55
30%70%RH (No condensation)

Applicable altitude

2000 m

Size Color Rated input Rated output

Charging station 360 mm*150 mm*320 mm (W*D*H) White 100-240V 50/60 Hz 3A Max DC 25.5V 10A

8 / 39

3.1 Wire Instructions

Interfaces Power ON/OFF

Picture

Shut Down

Brake
24V Power
12V J3455 Power Supply Wire

3. Instructions Of Hardware

Index

Function

Note

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.

Effectively control

It is a switch that

Athena2.0 in an emergency. must be designed

After pressing, Athena2.0 according to rigid

will immediately shut down. regulations. If the

switch is not

designed,

Athena2.0 will

refuse to run.

When robot is energized, Invalid if the

press this switch to release robot is not

the brake and you can push turned on

the robot freely; press it

once again to brake, and the

robot will not be able to

push it freely.

Rated Voltage 24V
Maximum current 9.5A

Maximum output power is No overload 200W, can be used to supply power to external devices

Rated Voltage 12V
Maximum Current 20A

Cube2 supplies power to the J3455 development board.

9 / 39

Depth Camera Interface
Docking Camera

USB3.0

Connected to the J3455 development via USB3.0 to obtain information.

Need to pay attention to the left and right sequence.

USB2.0 Connected to the J3455

Assist precise docking.

12V -DISP USB-Type-C

Rated Voltage 12V
(See the figure below for the design drawings)

12V working power of Cube2 to provide the external display screen of human-computer interaction.

Maximum current 2A

USB3.0

Used for communication Connect to between J3455 and Cube2. Hub3.0

Design drawing of 12V -DISP terminal

10 / 39

3.2 Important Interfaces of Developing Board on IPC(J3455)
Chassis to be tested
11 / 39

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 to +40, 30%-70%RH, in order not to damage the product due to excessive cold/heat or moisture (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 A68TK-204S is a low-power industrial computer based on Intel Apollo Lake processing platform with Intel Celeron J3455 processor. It supports single DDR3L laptop memory expansion and single mSATA SSD storage expansion. The product has HDMI, USB and serial interfaces, and is designed for embedded industrial control applications. The industrial computer is manufactured with aluminum heat dissipation upper shell and metal sheet lower shell, and the surface of the metal sheet is coated by black fine sand baking paint. The device is compact and exquisite. It adopts 12V/24V DC power supply, and the power consumption does not exceed 15W.
3-1 J3455 Main board basic application diagram
3.3.2 Product specifications 1Hardware Specification Sheet
Device parameters
12 / 39

Processor Memory Storage Network
IO Interface
Expansion Slot
Operating System
Power Supply Chassis size
Temperature

Intel Celeron J3455 Quad-core 1.5~2.3GHz
4GB DDR3L-1600MT/s 64GB SSD MSATA
2 GB Ethernet ports (Intel I211AT) Extended Features 1 HDMI 1.4b (maximum resolution output: 3840×2160@30Hz)
2 RJ45 GB Ethernet ports 4 USB 3.0 ports
1 LINE-OUT, 1 MIC-IN 1 mini-PCIe expansion slot (expandable WIFI/4G module)
Device Features
Windows/Linux/Unix
12V power supply Size Specification 148mm (L) × 106mm (W) × 50mm (H) Operating Environment
Operating temperature: -10~+50 Storage temperature: -20~+85

Relative Humidity

Under non-operating environment 95%, non-condensing between 25°C to 30°C

13 / 39

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.
14 / 39

4.2 Instruction of Load Limit
(1) Max load of host computer is 60 kgRated load is about 40kg.. (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 82 mm; ii. The center of gravity of the whole machine is the overall center of gravity of the chassis plus the robot; iii. If the center of gravity of the whole machine exceeds 300mm, the slope-climbing and obstaclecrossing performance may be reduced.
4.3 Radar Clearance Area
15 / 39

There is a radar between the chassis body and the host computer, which requires a certain clearance area to avoid being shielded or interfered;
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;
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.
16 / 39

5.1 Opening

5. Setup Instructions

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.

5.2 Placing Charging Base

5-1 Athena2.0 unpacking

Athena2.0 can be charged by returning to the charging base automatically, so the position of the charging base will affect the automatic return charging function of Athena2.0. When Athena2.0 returns to the charging station, it will generate propelling force. 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 base must be attached to the wall, without no obstacle in the middle, try to avoid the wall with skirting, etc.
b. The wall material cannot be high-permeability materials, such as mirror or glass
c. The wall width needs to be at least three times wider than the width of the charging stand
d. The wall must be a straight wall, not a curved wall
The charging base needs to be connected to a 220V power supply. The length of the external power cord of the charging base is 1.5m. Therefore, it is necessary to ensure that there is a 220 V interface within 1.5m of the wall against which the charging base rests. The ground wiring harness is messy causing unnecessary trouble).
The ground in front of the charging base must meet the following conditions:
17 / 39

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. Note: If you want to change the position of the charging stand, you need to set the corresponding setting according to the position you need when loading the map. For detailed operations, please see the SDK corresponding interface operation document.
5.3 Power ON/OFF
Power on: if the machine is not in the position of charging pile, long press the power switch until the power switch indicator lights up and release it. The machine system enters the startup process, the front light strip lights up, and the wheel hub is in the brake state, indicating that the startup is completed.
If the machine is in the position of charging pile, short press the power switch until the power switch indicator lights up and then release it. The machine system enters the startup process, the front light strip lights up, and the wheel hub is in the brake state, indicating that the startup is completed.
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.
5.4 Charging
As shown in the figure below, align the charging piece of the machine with the charging electrode of the charging pile. After waiting for 10 seconds, the front light strip of the robot lights up, the wheel hub enters the braking state, and the breathing light of the charging pile flashes, indicating that charging has started.
Charging electrode
Charging board
5-2 Athena2.0 charging
5.5 Emergency stop & brake and reset
18 / 39

1Emergency stop button Press the emergency stop button, the Athena2.0 machine will stop immediately, stop and no longer respond to any motion control commands, and the manual push is blocked. Release the "emergency stop button " and the machine can return to normal working conditions. (2) Brake button Press the "brake button", the Athena2.0 machine will stop immediately, stop and no longer respond to any motion control commands. The machine can be pushed manually, such as pushing it to the charging pile. Release the "brake button", the machine can return to normal working condition, and the manual push is blocked.
5.6. Connection to Computer
Step 1The hotspot of the computer connected to the chassis Athena 2.0 Pro Max's hotspot is auto-started by defaultthe hotspot format is: SLAMWARE-XXXXXX Hot spot identification method: query the last six digits of the SSID in the chassis label.
5-3 Chassis label SSID
For example, if the label SSID: Robot-D70CED, the hot spot of this Chassis is SLAMWARE-D70CED Step 2Download and install Slamtec RoboStudio from the official website of Slamtec(https://www.slamtec.ai/home/support/#tools)
5-4 Official Slamtec RoboStudio
19 / 39

If you downloaded slamtec robostudio, After logging in to RS, click the "Robot" option and manually connect the robot with the right mouse button.
5-5 Robo studio login screen
[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.
5-6 Robo studio interface 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.
20 / 39

5.7 Map Building and Upload

5-7 Method of obtaining an IP address

Download and install the robot graphical control management tool Robot Studio from our official website https://www.slamtec.ai/home/support/#tools 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. The user connects/disconnects the robot through this page.

5-8 Rob Studio Robot page
21 / 39

Right-click the blank space of the robot list, click "Manually connect robots" in the pop-up menu, and the connect robot dialog box will pop up (as shown below). Enter the IP address and port number of the 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).
IP Address PORT
5-9 Rob Studio Robot connecting page
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.
5-10 Rob Studio Robot connecting page
22 / 39

Left click the spot inside the map-building area, let Athena2.0 build the map. When finishing, please use the virtual wall function to isolate the places that need to be isolated. Then click "File-Map Editor" in turn, choose to save the file or upload to the firmware to save the map.
5-11 RoboStudio Robot Map Editor Window
There is a difference between the functions of restricted areas and virtual walls. Restricted Area: When the Athena 2.0 Pro Max is accidentally pushed into the restricted area, the Athena 2.0 Pro Max machine can be automatically freed from the restricted area by giving a random point in RoboStudio. Virtual Wall: When a human accidentally pushes Athena 2.0 Pro Max into the virtual wall, the Athena 2.0 Pro Max machine cannot automatically get out of the virtual wall and needs to be pushed out by a human at a random point in RoboStudio. The Forbidden Area management function relies on the Slamware Forbidden Area plug-in. Slamware Forbidden Area is a public plug-in, the computer is connected to the Internet, after logging in RoboStudio, click Tools -> Plug-ins -> Shop -> All ->Slamware Forbidden Area-> Get -> Download -> Restart RoboStudio. Public plug-in links https://wiki.slamtec.com/pages/viewpage.action?pageId=56164379
23 / 39

5-12 RoboStudio Public plug-in
After the plug-in runs normally, connect to the machine, you can see the "Forbidden zone" toolbar in the menu bar.

5-13 RoboStudio Forbidden area

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.

1. /* 2. * upload map file to Athena2.0 3. */ 4. #include <iostream> 5. #include <rpos\robot_platforms\slamware_core_platform.h>
6. #include <rpos\robot_platforms\objects\composite_map_reader.h>

7. #include <rpos\core\pose.h> 8.

9. using namespace std; 10.

11. int main()

12. {

13. try

14. {

15.

string map_path = ".\\map.stcm"; //the path of map

16.

string Athena2.0_ip = "192.168.11.1"; //the ip of Athena2.0

17.

int Athena2.0_port = 1445; //the port of Athena2.0 ,default is 1445

18.

19.

rpos::robot_platforms::SlamwareCorePlatform Athena2.0 =

20.

rpos::robot_platforms::SlamwareCorePlatform::connect(Athena2.0_ip, Athena2.0_port);

21.

//connect to the Athena2.0

22.

rpos::robot_platforms::objects::CompositeMapReader cmapreader;

23.

//map reader

24 / 39

24.

rpos::core::Pose Athena2.0_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));

25.

//the Athena2.0 pose in map(Athena2.0_pose should be the Athena2.0's real pose in new map)

26.

//using Athena2.0.getpose() to get the old Athena2.0 pose

27.

auto map = cmapreader.loadFile(map_path);

28.

//load map

29.

Athena2.0.setCompositeMap(*map, Athena2.0_pose);

30.

//set compositemap

31.

rpos::core::Pose home_pose = rpos::core::Pose(rpos::core::Location(0, 0, 0));

32.

//the home pose in map(home_pose should be the home's real pose in new map)

33.

//using Athena2.0.gethomepose() to get the old home pose

34.

Athena2.0.setHomePose(home_pose);

35.

//set home pose

36. }

37. catch (rpos::robot_platforms::ConnectionFailException &e)

38. {

39.

cout << "connect failed on " << e.what() << endl;

40. }

41. catch (rpos::system::detail::ExceptionBase &e)

42. {

43.

cout << "failed on " << e.what() << endl;

44. }

45.

46. return 0;

47. }

Further motion deployment details, please see the SDK instruction document

25 / 39

6.1 RoboStudio

6. Adjusting Tools

RoboStudio graphical tools are used to adjust and use Athena2.0, please download and install it from our official website: https://www.slamtec.ai/home/support/#tools and coming with manual to introduce those features.
6.2 Web Management Backstage

In the process of developing, adjusting and using SLAMWARE equipment, various operations can be performed on the equipment through the web management backstage, such as viewing basic information, updating the version, configuring WiFi,etc. (Default username: admin, default password: admin111)
Currently, web management backstage supports following functions: 1. Check basic information of the device 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. Before that, please make sure that Athena2.0 has sufficient power. 4. Configuring WIFI 5. Start the SLAMWARE Core diagnostic mode 6. Modify the administrator password More details on usages please refer to
https://wiki.slamtec.com/display/SD/SQ001+SLAMWARE+Web+Portal+Function+Overview

26 / 39

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. The following is a detailed introduction to the relevant examples and usage guidelines of the Agent SDK call based on the Athena2.0 chassis.
7.2 Inter-system Adjusting Framework
Robot App controls the robot's positioning, movement, and return to piles through communication; at the same time, Robot App sends instructions to the robot according to various business scenarios, and Robot Agent will provide data interfaces, task operation interfaces, and business services to Robot App.

7-1 COMMUNICATION BETWEEN EACH SYSTEM OF ATHENA2.0
7.3 Instructions of Each System
7.3.1 Robot Agent

Robot Agent is a service program running on the Athena2.0 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 App, receives instructions from the Robot App to control the Robot, and sends the Robot status at the same time.

The core function of Robot Agent is

Communicate with the Robot Cloud, Robot APP, send the Robot status and receive instructions

7.3.2 Elevator Agent

27 / 39

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.
The core function of Elevator Agent is Communicate with the Robot Cloud, Robot APP, send the elevator status and receive instructions
of elevator control Communicate with the Elevator Controller, receive the elevator status and send instructions of
elevator control 7.3.3 Robot Cloud
Robot Cloud is a set of services provided to realize remote management, scheduling, and control of robots. It runs in the cloud and communicates with the robot at one end and the elevator control equipment at the other end. Therefore, elevator control is part of the function. Robot Cloud communicates with the Elevator Agent running on the main control box of the elevator control through the MQTT protocol.
Its core functions include: Send instructions, control the elevator to the designated floor Send instructions, control the elevator to open the door Send instructions, control the elevator to close the door Receive the up/down status of elevator Receive the current floor of the elevator
7.3.4 Robot App
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 through RoboStudio graphical tools. It is a universal application for human-computer interaction to achieve multi-point task delivery.
7.4 Demonstrations of Code
1. The following is an example of the Robot APP calling the Robot Agent interface to check the battery status
GET http://127.0.0.1:1448/api/core/system/v1/power/status The format of the returned data is application/json

DELIVERY PROCESS

28 / 39

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
29 / 39

FUNCTION OF MODULES Locate, map building-related functions
Mark map elements manually
Motion control of the Robot Firmware Upgrade Android application management Multi-floor map and POI management, taking elevator, etc. Delivery service-related interfaces

API LIST Get the Robot location Set the Robot location Get quality of location Whether support locating Start/Close locating 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 Add virtual line segment Adjust virtual line segment Delete virtual line segment Delete virtual line segment Get all POI in current map Add POI Empty POI Find POI according to ID Modify POI Delete POI Get all supported actions Get current action Stop current action Create new action Check action status
Get firmware upgrade process
Get all custom installed apps Install APP Uninstall an APP Move across floors Go back across floors Get all floor info Get floor info of floor of the robot Setup info of floor of the robot Get POI info Upload map to the robot Long-lasting save the map Reload the map Get password of the action

30 / 39

Set password of the action

Get configuration info of the device

Get setup info related to the delivery

Check task info

Create task

Cancel all task

Cancel some task

Get current mission status

Stop/ continue current mission

Start picking up items

End picking up items

Get info of objects

NOTE: delivery business please inform

marketing department

Get the current battery percentage

Get the health info of the device

Get POI info

Restaurant delivery service-related interfaces

Get password of the action 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

The Link of SDK 2.0: https://docs.slamtec.com/#/

SDK2.0 Common Interface

Guide:https://wiki.slamtec.com/display/SD/SDK2.0+Common+Interface+Guide

31 / 39

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 Mercury hotel robots, helping the robots to take and exit the elevators autonomously. Providing reliable solutions to multi-floor operation scenarios. In addition to working with hotel robots, the product can be used as an independent set of solutions. Through the API interface we provide, this product can also interact with other smart devices or products to meet the different customization needs of customers. At the same time, the product can also be seamlessly connected to the Athena2.0 chassis, to provide technical service support for more specific needs in other scenarios.

8.2 Features

8.2.1 Intelligence Elevator Control

The core function of this product is to help robots and other intelligent devices to control the elevator, such as calling the elevator, going to the designated floor, and controlling the elevator to open and close the door. This function greatly improves the business scenario of robots and breaks the previous limitation that robots can only work on the same floor.
8.2.2 Intelligence Status Detection

Through the built-in sensor and adaptive algorithm, this product can accurately detect the current floor, up and down status of the elevator, real-time to the millisecond level, with an accuracy of more than 96%, providing a very critical foundation so that the robot can enter and exit the elevator correctly and complete the work.
8.2.3 Elevator Diversity Adaption

The main control box has developed a variety of optimized filtering algorithms, so that this product is suitable for many different types of elevators, such as single-door elevators, double-door elevators, front and rear door elevators, etc. As it covers as many scenes as possible, this product can be used in most elevators at present. Users only need to simply calibrate and adjust through the APP provided after installing the equipment.
8.2.4 Multi-Level Network Adaption

Considering the limitations of the elevator network, how to ensure data interconnection and program interoperability is a very critical factor, and relatively it is also a difficult point. After continuous optimization iterations, we finally found a way to solve this problem. This product provides 4G, WIFI, BLE and other multi-level network communication methods to interact with robots and other smart devices to ensure the reliability of the communication link.

8.2.5 OTA Remote Upgrade

32 / 39

Support OTA remote upgrade of software and firmware, and batch deployment. At the same time, it provides support for VPN, which can remotely log in to the Linux system of this product for upgrades and other operations. Through the OTA function, real-time updates, upgrades and optimization can be done. 8.2.6 Interface Support
The intelligent elevator control provides a consistent API interface to the outside world, supports Bluetooth, MQTT, and HTTP communication protocols. Customers can control and interact with the elevator by writing their own program code. At the same time, it supports secondary development to meet the different customization needs of customers. 8.2.7 Swipe To Bypass
For some elevators that require a swipe card to ride, this product can also be easily supported. Just install the equipment we specify when installing the device, and then turn on the swipe card to bypass it in the APP. In this way, even if there is a card reader, it can be easily bypassed and freely enter and exit the elevator. 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.
To know more about the detailed solution of elevator control, obtain it from the marketing department. Elevator control user manual->>
Note: This intelligent elevator control can only be used in China.For foreign customers, it needs R & D evaluation and customization.
33 / 39

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 (3) The position of the charging pile must not be placed on soft ground such as carpet, otherwise it will cause height difference and cannot be charged; (4) The position of the charging pile in the scene needs to be marked to prevent incorrect recovery after moving.
9.2 Restricted usage scenarios
Please avoid using Athena2.0 chassis in the following scenarios to avoid chassis failure or damage. (1) Overrun/heavy transportation Do not put in items that exceed the maximum weighing parameter value to avoid affecting the normal use of Athena2.0. Please refer to the information in the product parameter table for the maximum loadbearing parameter value. (2) Sill height Please ensure that there are no obstacles more than 20mm in front of Athena2.0, and the maximum height of Athena2.0 over the sill is 20mm. During Athena2.0 driving, please try to avoid passing through uneven ground or other environments with large height. (3) Man -made impact Do not forcefully push or hit the Athena2.0 body when Athena2.0 is in normal use.
34 / 39

(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.

9.3 Faults that cannot be handled temporarily

When the machine encounters a fault that cannot be handled temporarily, you can try the following operations:
(1)Please press the brake button (2) Push the machine back to the charging pile; (3) The machine can be forced to switch on and off in any state after power- on. *Use only in emergency situations.
9.4 Notes

Notes for storage

(1) Since the machine contains battery, it should be stored in a cool and dry environment;

(2)For long-term storage (more than 3 months), it is recommended to put it in a dry environment with room temperature of 10-25 and no corrosive gas;

(3) Athena2.0 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:

(1)The packaging material must have a certain degree of strength and toughness, and can withstand slight vibration, extrusion, friction and collision during transportation;

(2)There should be padding around the package, which can play a good cushioning role;

Notes for transportation, loading and unloading: (1)Please handle with care to prevent falling, collision, dragging and inversion

(2)Stacking needs to be built firmly, compactly, stably and neatly

Other notes:

(1)Do not treat Athena2.0 violently (such as kicking, pushing, pulling);

(2)Do not spill liquid on the machine;

35 / 39

(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.
36 / 39

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.
(3) Depth camera lens cleaning: Please wipe the lenses of the depth cameras with a soft dry cloth when the machine is powered off.
(4) Cleaning the charging pile: Please wipe the charging pile and charging electrode with a soft dry cloth when the power is off.
(5) Collision bar cleaning: Please wipe the collision bar with a soft dry cloth when the power is off, and ensure that there are no wires, paper scraps and other foreign objects stuck on the anti-collision bar.
2. Maintenance cycle For the maintenance of the main engine, it mainly includes depth camera lens inspection, collision bar inspection, clearance inspection around the radar, foreign matter inspection around the driving wheel and universal wheel, charging pile inspection, etc. The time interval of the maintenance cycle can be appropriately adjusted according to the environment, frequency, intensity and temperature of the machine.

Athena2.0 maintenance schedule

Time interval

Name

Maintenance level

Year

Month

Week

Depth camera lens

Clean

1 time

Collision bar

Clean

1 time

Around the radar

clearance

1 time

Universal wheel

Clean

1 time

Driving wheel

Clean

1 time

Charging pile

Clean

1 time

Machine body

Overhaul

1 time

10-1 Athena2.0 maintenance schedule

37 / 39

11. Common faults and troubleshooting

When an abnormality occurs during Athena2.0 operation, please refer to the following table or page tips to solve the problem:

NO Fault prompt

Solutions

Collision bar abnormal

Please check whether the collision bar is jammed, and tap the anti-collision bar several times to return the anti-collision bar to its position.

Athena2.0 battery low

Please press the brake release button and push the machine back to the charging point to charge.

The charging point cannot be charged

Please check whether the power cord plug of the charging point is inserted into the socket and whether the indicator light of the charging point is on normally.

Unable to power on

Please check whether the charging point is connected to the power supply. After the charging point and Athena2.0 are connected normally, if it cannot be solved, please contact the after-sales service department.

Athena2.0

cannot be

Please try again on the charging pile. If you cannot solve it, please contact after-

charged on the sales service.

pile

1. Please confirm whether the position of the charging point has been moved. If

Unable to go the position has been moved, please contact the after-sales department.

6 back to the

2. Please confirm whether there is a slope at the position of the charging point. If

charging point there is a slope, please contact the after-sales department.

3. Please push Athena2.0 back to the charging point and try to restart Athena2.0.

Unable to get in 1. Please confirm whether there are obstacles in the elevator.

7 / out of the

2. Please confirm the internet signal near the elevator.

elevator

3. Please push Athena2.0 back to the charging point and try to restart Athena2.0.

Universal

Please check whether there are any foreign objects such as threads, cards, etc.

8 wheels rotate around the universal wheels and the driving wheels. If there are foreign objects,

intermittently please clean them.

Machine can't walk

Please check whether the drive cable is connected normally. If it cannot be solved, please contact the after-sales service.

The light strip 10 does not light
up

Please check whether the connecting wire of the light strip is connected normally. 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. Contact information: (+86) 021 68581569

38 / 39

References

WPS 文字