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On this page, we will introduce the SDP Mini and its specification, related tools and other development resources.


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Introduction

Overview

The SDP Mini 为思岚科技自主研发的一款迷你型机器人评估开发平台，它包含了SLAMWARE核心模块、激光雷达、里程计等核心要件，是实现SLAM方案的最小系统。该平台适用于对SLAMWARE室内导航定位解决方案进行初步评估，同时也可满足对导航定位有简单功能需求的高端玩具类或娱乐型机器人开发的需要。

该平台系思岚科技自主研发，内置SLAMWARE自主定位导航解决方案核心模块及RPLIDAR A2激光雷达，同时内置的 SLAMWARE扩展板Breakout3.0引出了核心模块所有主要接口供用户自行直接取用或配置；该平台仅依靠5号电池即可正常驱动，简单方便，灵活高效。

该平台提供的SDK支持在Windows、Linux，IOS和Android环境下使用，集成了核心的SLAMWARE 室内定位导航解决方案，同时预留多种传感器接口供用户自行评估开发。

is a small-size development platform designed by SLAMTEC for evaluating the performance of modular autonomous robot localization and navigation solution(SLAMWARE solution for short).

It is assembled by key components including SLAMWARE Core, RPLIDAR A2 and Breakout 3.0 board, and requires only 8 AA batteries to run well without concerns about batteries and charging. 

The SDK of SDP Mini, supported to run in Windows/Linux/IOS and Android environment, integrates the whole SLAMWARE solution and extra reserved sensor interfaces. 

With SDP Mini, users can have a general understanding about the SLAMWARE solution and examine its basic performance. Run as the most compact structure which realizes the basic SLAMWARE solution, it is suitable for the preliminary evaluation of SLAMWARE solution or the development of robots with basic needs for localization and navigation function.客户仅需根据自身设计需求添加相关传感器及其他配置即可开发出带有简单自主定位导航功能的机器人。

Key components

SLAMWARE自主定位导航解决方案核心模块（简称SLAMWARE核心模块）

SLAMWARE Core

It provides autonomous localization and navigation based on RPLIDAR and supports for communicating the navigation information via serial port and Ethernet bus.

For detailed specification, please refer to KBSW180102 SLAMWARE Core 数据手册.基于RPLIDAR提供实时定位和自主导航功能，同时支持串口和以太网交互导航信息。具体规格信息请参考SD001 SLAMWARE Core Datasheet。

SLAMWARE Breakout 3.0

SLAMWARE核心模块扩展板，用于提供可直接和A1/A2 雷达，网络，PC，电机及各种传感器等连接通讯的接口，方便用户基于该核心模块进行相关硬件或软件开发。

RPLIDAR A2

用于实现二维平面内一定范围内的360度全方位激光测距扫描，实时产生的所在空间平面点云地图信息可由SLAMWARE核心模块用于实现实时定位和自主导航功能。

Motor

As a shield for SLAMWARE Core, it provides the interfaces that can connect directly to RPLIDAR, network, PC, motor and varies sensors, which facilitates the software and hardware development based on the SLAMWARE Core.

RPLIDAR A2

It performs 2D 360-degree LIDAR scan in a range, and the generated 2D point cloud data can be used in mapping, localization and object/environment modeling. In SDP Mini, it provides raw data of the environment for SLAMWARE Core to analyze and handle.

Motor

The brush motor, with a simple schematic diagram, realizes the moving function of SAMWARE solution in SDP Mini, and it is easy to launch, control or improve. 

The diagram is as below:SDP Mini配置有有刷电机，它启动快，制动及时且控制电路相对简单，便于用户进行快速调节及改良，其电路原理图如下：


Specification


Item

Index

Parameter

Dimension &

Weight &

Material

Maximum diameter

项目

指标

参数

尺寸与质量

最大直径

185 mm±5mm

高度Height

100 mm±5mm

净重Weight

0.85kg ±0.05kg

材质

亚克力（上层面板4mm/下层面板5mm）

Material

acrylic (upper board is 4mm and lower board is 5mm)

Center of gravity

Height

重心

高度

47mm

Location

5mm backward of the centre point

位置

圆心向后5mm

RPLIDAR A2性能A2

最大扫描半径

8m（90%反光率表面）

Maximum distance range

8m(based on white objects with 90% reflectity)

Mapping

Resolution

地图构建

地图分辨率

5cm

最大建图面积

视具体使用环境及电池容量

Maximum mapping area

Varies in different environments and with different batteries

Moving

Normal speed

运动性能

行走速度

0.25m/s

最大行走速度Maximum speed

0.35m/s

接口Interfaces

硬件接口

Hardware interfaces

All the interfaces of Breakout 3.0 所有接口，详情可参考SLAMWARE 套件使用手册中“相关接口”章节了解详情。, please refer to the "Related Interfaces" in KBSW180108 SLAMWARE 套装用户手册 for details.

Software interfaces软件接口

SLAMWARETM Windows/Linux/Android/IOS SDK

Power dissipation

功耗和供电& endurance

工作电流Operating current

0.7A

连续工作时间Endurance

2h

电源Power

8节5号电池

8 AA batteries

Working environment

Temperature

工作环境要求

温度

-10℃ ～ 40℃

湿度Humidity

30％ ～ 70％

Tools and usage

Tools with GUI

Robot Studio

SLAMWARE 设计有Robot Studio，一款极为友好的电脑端图形界面工具，涵盖了SLAMWARE解决方案的绝大部分功能操作，用户使用该工具连接至设备，即可对设备进行建图，运动，导航，虚拟墙等一系列操作。

了解Robot Studio功能，请参考SQ002 Robot Studio Cheat Sheet。

SLAMWARE Web Portal

在开发、调试及使用SLAMWARE设备的过程中，有时候需要对设备进行一些操作，如查看基本信息，更新版本，配置WiFi，可视化诊断等，通过Web Portal管理后台即可方便地进行这些操作。

当前该管理后台可支持的操作包括：

  • 查看设备信息
  • 重启模块
  • 更新固件
  • WiFi配置
  • 开启SLAMWARE Core诊断模式
  • 修改管理员密码

请参考SQ001 SLAMWARE Web Portal Function Overview了解该管理后台所有功能及使用方法。

Mobile application

SLAMTEC设计有可分别运行在ios和Android设备上的应用程序，涵盖了定位导航机器人所需要的基本建图和运动控制功能，添加好需要操控的设备即可对设备进行一系列控制，方便用户对解决方案进行评估和调试。

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设备型号支持：

Other

Slamware Console

It is a tool with graphical user interface for connecting to SLAMTEC devices. With this tool, users can control and debug SDP Mini in mapping, moving and other operations. 

Please refer to KBSW180113 RoboStudio User Manual for the detailed function description.

SLAMWARE Web Portal

SLAMTEC has designed a web portal tool to provide general operations for SLAMWARE devices during the  developing, debugging and using process. With this tool, users can check the basic information of SLAMWARE Core, update firmware, configure WiFi and diagnose the robot visually.

Currently supported operations are as below:

  • Check the device information
  • Restart module
  • Update firmware
  • Configure WiFi
  • Turn on SLAMWARE Core diagnose mode
  • Modify the password for administrator

Please check KBSW180153 SLAMWARE Web Portal Function Overview 1 for detailed usage.

Mobile application

SLAMTEC has designed mobile application for SDP Mini. It covers the basic moving control, localization and navigation function. After binding the device to the mobile phone, users can control the SDP Mini successfully.

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Note
  1. The application in ios version is supported to run on and over ios 9.0; the one in android version is supported to run on and over android 4.4.
  2. Domestic users  can register this app via mobile phone number.

Other tools

Slamware Console

Slamware Console is a development tool for SLAMWARE SDK. It is used for debugging the implementation of Control Bus protocol, checking the sensor status configured in the base and the data of odometer and wheels. For details, please refer to KBSW180110 Slamware Console 用户手册.Slamware Console是配套Slamware解决方案使用的一个命令行开发工具。这个工具的主要用途是调试您底盘的Control Bus协议实现是否正确。同时也可以用来诊断您的底盘上的各个传感器的状态，以及里程计和轮子的数据。请参考SA001 SLAMWARE Console Application Note了解详情。

slamware_config_tool

底盘配置工具slamwareslamware_config_tool可以设置底盘大小，轮距，自动回充等参数，详情请参考SA004 机器人底盘传感器位置坐标及底盘配置工具的使用。tool is a base configuration tool that can set the base diameter, the wheel base and the charging mode. For details, please refer to KBSW180147 机器人底盘传感器位置坐标及底盘配置工具的使用.

Reference

Ctrl Bus

关于外部系统将如何通过Control Bus 协议与底盘进行通讯，请参考SR001 For how to realize the communication between SLAMTEC base with user's system, please refer to KBSW180104 SLAMWARE Control Bus Protocol。通讯协议.

SDK API Reference

关于Windows平台开发SLAMWARE SDK的API参考介绍，请参考SR002 SLAMWARE For API reference of SLAMWARE SDK on Windows platform, please refer to SLAMWARE SDK API Reference(Windows)；

关于SLAMWARE SDK 中坐标系及地图数据类型的介绍，请参考SA002 Introduction for Coordinate System and Map Data in SLAMWARE SDK；

关于机器人底盘电机里程计的介绍，用法和代码示例，请参考SA003 基于SLAMWARE解决方案的服务型机器人底盘电机里程计概述及代码示例；

关于如何使用SLAMWARE SDK实现机器人的运动控制及其返回状态判断，请参考SA006 使用Slamware SDK实现机器人的运动控制及其返回状态判断

Mechanical dimensions

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FAQ

;

For the introduction of the map data type and coordinate system in SLAMWARE SDK, please refer to KBSW180143 关于SLAMWARE SDK中坐标系统以及地图数据的概述;

For the introduction of odometer of base, its usage and related code, please refer to KBSW180145 基于Slamware解决方案的服务型机器人底盘电机里程计概述及代码示例;

For how to control the moving and check the return status of robot with SLAMWARE SDK, please refer to KBSW180167 使用Slamware SDK实现机器人的运动控制及其返回状态判断.


Mechanical dimensions

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FAQ

  1. Definition of indicators

    The definition of indicators on Breakout 3.0

    Indicator nameStatusDefinition
    D1light up redpower on Breakout 3.0
    indicator on SLAMWARE Corelight up greenpower on SLAMWARE Core
    U6light up and flash in blue colorduring launching
    light up bluelaunch successfully
    flash yellow colorbattery lower than 30%
    flash in red colorbattery lower than 15%


  2. Model Definition

    ProductSLAMWARE SDP Mini
    ModelA1M1-R1
    Major ComponentsSLAMWARE Core Lite Module (Model: B1M4, please refer to KBSW180103 SLAMWARE Core 型号定义（Model Definition） for details.)
    RPLIDAR A2 Laser Range Scanner
    SLAMWARE Core Breakout 3.0
    two-wheeled differential drive motor


  3. Unbinding SDP Mini and reset WiFi

when the SDP Mini is required to bind to another account of RoboHome mobile application or the network changes, the SDP Mini needs to be unbound first, and after resetting Wifi, it can be bound to another account or be found in a new network environment.  The steps are as below:

    1. Turn on the SW1 switch on the SLAMWARE Breakout 3.0 of SDP Mini to launch the device;
      Image Added
    2.  Log in to the RoboHome with the account which is bound with the SDP Mini → Refresh the Device Center and the bound SDP Mini will be online→ Click Edit in the upper right corner to enter editing mode→ Click the crash bin icon in the right of the SDP mini → Click Yes, delete in the dialog box.
      Image Added
    3. When the network changes, follow the following steps to switch the Station mode back to AP mode so that we can reassign the ip address:

      1. As shown below, remove the jumper in J22 on Breakout 3.0 board of SDP Mini and put it on the GND pin and RX2 pin of the same interface, then restart the SDP Mini. (Except for the buzz of normal launch, the SDP Mini will emit a longer buzz to indicate a successful WiFi reset. )

        Note

        After resetting, please turn the switch off and put the jumper back to normal state to ensure that the SDP Mini will work well later.

        Image Added

      2. After launching the SDP Mini, connect it to the computer with network cable, and then login to 192.168.11.1 in Chrome(Default username: admin; default password: admin111). Go to Administration on the upper right corner of the page → choose Configure WiFi on the left panel → choose Restore button in the bottom of the page.

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Related pages

If you are a new comer for SLAMTEC products, please turn to KBSW185201 SLAMWARE SDP Mini 快速启动指南 first;

For more help, please contact support@slamtec.com.

在网络环境发生变化时，如何将处于Station模式的SDP Mini切换至AP模式以便于重新分配ip地址？

方式1：如下图所示，将SDP Mini的Breakout 3.0 的J22接口处GND和GND pin上的短接帽移除并重新接入至该接口的GND和RX2 pin脚，然后重启SDP Mini（SDP Mini 除正常启动时发声外，系统启动后蜂鸣器还会长鸣一声提示WiFi reset成功）即可将SDP Mini的Station模式reset至AP模式。

Note

reset成功后，请及时将短接帽还原至正常状态，以免影响后续使用。

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  • 方式2：用网线将SDP Mini连接至电脑端，然后从Chrome中登录至192.168.11.1（默认用户名：admin 默认密码： admin111）-》在页面右上方选择Administration菜单 -》在页面左侧菜单选择Configure WiFi -》在打开的页面最下方点选红色Restore按钮，restore成功后即可reset至AP模式。
    Image Removed

    • Related pages

    如果您是第一次使用SDP mini产品，请先参考SQ103 SLAMWARE SDP Mini Quick Start；

    如需更多帮助，请联系 support@slamtec.com。