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Copyright (c) 2016-2017 Shanghai Slamtec Co., Ltd.

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Shanghai Slamtec.Co.,Ltd

APOLLO

General Purpose Robot Platform Standard Version

User manual

Model: A2M21

2018

-01
-1

8

rev
.1

.0

1
2
3
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Содержание A2M21

Страница 1: ...1 25 Copyright c 2016 2017 Shanghai Slamtec Co Ltd www slamtec com Shanghai Slamtec Co Ltd APOLLO General Purpose Robot Platform Standard Version User manual Model A2M21 2018 01 18 rev 1 0...

Страница 2: ...BLOCK DIAGRAM 4 PARTS 5 APOLLO 5 SENSORS 5 CHARGER 6 DEMO MODULE OPTIONAL 8 EXTENDED PLATFORM 9 INTRODUCTION 9 PORT DEFINITION 9 DEPLOYMENT AND USAGE 12 APOLLO DEPLOYMENT 12 CONNECT TO COMPUTER 17 DE...

Страница 3: ...self and the extended module connected to it And our users can control the whole Apollo and its upper extended module via varies control ports and pins Apollo A2M21 standard version has a complete bas...

Страница 4: ...ti story buildings When getting to each floor Apollo marks the current floor and bulid map for that floor The multi story building map is useful for preparing floor plans shop navigation evacuation pl...

Страница 5: ...guration Lidar Sensor Apollo is equipped with a high performance Lidar with scan range more than 15 meters Based on the map data provided by the Lidar Apollo can build map with resolution up to 5cm an...

Страница 6: ...o an edge of a step the cliff sensor can detect the step and send signals out to request the change of the robot direction Therefore the robot can avoide falling down from a higher place and move free...

Страница 7: ...harged Green light Apollo is fully charged Charging Red light Apollo is charging normally Exceptions Light flicks or goes out There are problems in the charger Figure 2 3 Apollo Charger Indicators Des...

Страница 8: ...ll refuse to work Release switch Corresponded with the emergency stop switch after pressing down the emergency stop switch user need press the release switch to recover Apollo to normal status and con...

Страница 9: ...rface 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...

Страница 10: ...ce 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 10A Max Used for providing po...

Страница 11: ...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 Typi...

Страница 12: ...ower port on the wall for the charger the power board is not recommended since it may cause danger due to massy wires The ground in front of the charger should meet the following requirements a Open T...

Страница 13: ...n find a docked window opened in the left side of the pane as in Figure 4 2 In this window user can connect to or disconnect from robots Figure 4 2 RoboStudio Robot Interface Right click the whitespac...

Страница 14: ...e major work area will show the robot map information and its status The robot name will turn to green and the robot status will turn to Connected as below Figure 4 4 RoboStudio Robot Connection Right...

Страница 15: ...ip of apollo 17 int apollo_port 1445 the port of apollo default is 1445 18 19 rpos robot_platforms SlamwareCorePlatform apollo 20 rpos robot_platforms SlamwareCorePlatform connect apollo_ip apollo_por...

Страница 16: ...pollo 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 co...

Страница 17: ...oStudio graphical tool is used for testing and controlling Apollo Please download it from our official website as below http www slamtec com cn RoboStudio In the same page we also provide a document t...

Страница 18: ...echarging When the battery is lower than 30 this value can be adjusted by the upper system according to actual requirements Apollo will find the charger by itself and start recharging automatically Ma...

Страница 19: ...battery Inversely it will induce fatal damage to the battery and even lead to battery heating swelling leaking fire and explosion Storage The battery should be stored in a cool and dry place If you ar...

Страница 20: ...ly connect the positive and negative anodes of the battery or it may lead to fatal damage to the battery and even fire Do not put the battery into fire or it may cause danger Do not put battery into l...

Страница 21: ...f Apollo when it is walking on a soft carpet which can sag more than 2cm Ensure that Apollo always starts on its charger Do not change or replace anything in the machine without autiorization Ensure t...

Страница 22: ...ency charging cable The wire connection of build in system switch or designed switch goes wrong Please check the Control Port Definition and connect related wires properly 3 After launching Apollo you...

Страница 23: ...lo can not go back to charge itself normally The charger is move to a different place Rebuild the map and do not move the charger The charger position is not set in the map Set the position of the cha...

Страница 24: ...24 25 Copyright c 2016 2017 Shanghai Slamtec Co Ltd Figure 6 2 Apollo Mechanical Dimensions Mechanical Dimensions...

Страница 25: ...LO EXTENDED PLATFORM 9 FIGURE 3 2 APOLLO EXTENDED PLATFORM INTERFACE DEFINITION 10 FIGURE 3 3 PIN DEFINITION OF APOLLO EXTENDED PLATFORM CONTROL PORT 10 FIGURE 3 4 SUPPORTED SWITCH TYPE OF APOLLO EXTE...

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