ADLINK Technology NeuronBot User manual
NeuronBot
User’s Manual
Rapid Robotic Development Platform
Manual Rev.: 1.0
Revision Date: October 29, 2020
Part Number: 50-1Z334-1000
ii Preface
Preface
Copyright
Copyright © 2020 ADLINK Technology, Inc. This document contains proprietary information protected by copyright.
All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in
any form without prior written permission of the manufacturer.
Disclaimer
The information in this document is subject to change without prior notice in order to improve reliability, design, and
function and does not represent a commitment on the part of the manufacturer. In no event will the manufacturer
be liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use
the product or documentation, even if advised of the possibility of such damages.
Environmental Responsibility
ADLINK is committed to fulfill its social responsibility to global environmental preservation
through compliance with the European Union's Restriction of Hazardous Substances (RoHS)
directive and Waste Electrical and Electronic Equipment (WEEE) directive. Environmental
protection is a top priority for ADLINK. We have enforced measures to ensure that our
products, manufacturing processes, components, and raw materials have as little impact on
the environment as possible. When products are at their end of life, our customers are
encouraged to dispose of them in accordance with the product disposal and/or recovery
programs prescribed by their nation or company.
Battery Labels (for products with battery)
廢電池請回收
California Proposition 65 Warning
WARNING: This product can expose you to chemicals including acrylamide, arsenic, benzene,
cadmium, Tris(1,3-dichloro-2-propyl)phosphate (TDCPP), 1,4-Dioxane, formaldehyde, lead, DEHP,
styrene, DINP, BBP, PVC, and vinyl materials, which are known to the State of California to cause
cancer, and acrylamide, benzene, cadmium, lead, mercury, phthalates, toluene, DEHP, DIDP, DnHP,
DBP, BBP, PVC, and vinyl materials, which are known to the State of California to cause birth defects or other
reproductive harm. For more information go to www.P65Warnings.ca.gov.
Trademarks
Product names mentioned herein are used for identification purposes only and may be trademarks and/or
registered trademarks of their respective companies.
Revision History
Revision Description Date By
1.0 Initial release 2020-10-29 TS
NeuronBot
Preface iii
Table of Contents
Preface................................................................................................................................ii
List of Figures ....................................................................................................................v
1. Introduction................................................................................................................7
2. Product Overview......................................................................................................7
2.1. Main Specifications.....................................................................................................7
2.2. Power Specifications ..................................................................................................9
2.3. Software......................................................................................................................9
2.4. Package Contents ......................................................................................................9
2.5. Optional Accessories..................................................................................................9
2.6. Mechanical Dimensions............................................................................................10
2.7. System Layout..........................................................................................................12
3. Hardware Accessory Installation ...........................................................................16
3.1. Support Plate Installation..........................................................................................16
3.2. Top Camera Installation............................................................................................18
3.3. Front Camera Installation .........................................................................................21
3.4. Top Camera Cable Routing......................................................................................22
3.5. Front Camera Cable Routing....................................................................................23
4. Controls and I/O.......................................................................................................25
4.1. Power Button............................................................................................................25
4.2. Battery Status Indicator ............................................................................................25
4.3. GPIO Pinouts............................................................................................................25
5. Operating Instructions............................................................................................26
5.1. Getting Started..........................................................................................................26
5.2. Remote Control and Monitoring................................................................................35
5.3. ROS 1 Applications...................................................................................................42
5.4. ROS 2 Applications...................................................................................................50
6. Troubleshooting ......................................................................................................60
6.1. Self-diagnosis...........................................................................................................60
6.2. FAQ ..........................................................................................................................61
7. System Backup and Restore ..................................................................................64
7.1. Preparation...............................................................................................................64
7.2. Full Disk Backup.......................................................................................................67
7.3. Full Disk Restoration.................................................................................................74
NeuronBot
Preface v
List of Figures
Figure 1: Front View Dimensions (No Accessories)...............................................................................10
Figure 2: Front View Dimensions (with Accessories).............................................................................10
Figure 3: Side View Dimensions (No Accessories)................................................................................11
Figure 4: Side View Dimensions (with Accessories)..............................................................................11
Figure 5: Front View Layout (No Accessories).......................................................................................12
Figure 6: Front View Layout (with Accessories).....................................................................................13
Figure 7: Rear View Panel Layout (Rear Cover Attached) ....................................................................14
Figure 8: Rear View I/O Layout (Rear Cover Not Attached)..................................................................15
Figure 9: Isometric View with Accessories.............................................................................................16
vi Preface
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NeuronBot
Introduction 7
1. Introduction
The NeuronBot is an affordable, miniature, autonomous rapid robotic development platform with integrated
computational unit, LiDAR sensor, high payload capacity and dynamic motion capability, and is ideal for enabling a
wide range of exciting research, training, and educational activities.
2. Product Overview
2.1. Main Specifications
NeuronBot NB-SK
Main System
Processor Intel® Celeron®Processor G3900TE
Memory 2x 4G DDR4
Storage 64GB mSATA
Inertial Motion Sensor GY85 9-axis IMU
3-axis gyroscope, 3-axis accelerometer, 3-axis magnetometer
Motor Control Unit Arduino Mega 2560
Encoder 7N14P 2-channel for motor control
Laser Distance Sensor
Sensor Model 2D 360° RPLIDAR A1, 12 meters
Sample Frequency 8000Hz
Scan Rate Range 1-10Hz, 5.5Hz typical
Communication Interface USB/UART
Front Side
Status LED Bar (front) The status LED bar lights one of the following colors according to the system status:
•Amber: NeuronBot is powered on.
•Blue: Base driver is active.
•Off: NeuronBot is powered off.
Camera Area For Intel® RealSense™ Depth Camera D435
(optional side stand bracket required for installation)
Rear Side
Battery Panel Battery status display
Power Button Power On/Off button
GPIO 1x GPIO connector
Power Requirements
Motherboard DC Input 24V DC ±5% via ATX power connector
Battery Provided by user if required
8 Product Overview
NeuronBot NB-SK
Mechanical
Payload 3 kg
Wheel Diameter 83 ±2 mm
Wheel Center Distance 218 ±3 mm
Translational Velocity Max. 0.6 m/s
Rotational Velocity Max. 0.6 m/s
Climbing Threshold 0° ±1°
Actuator DC carbon-brush motor (1:139)
Dimensions 260 x 270 x 260 mm (10.24 x 10.63 x10.24 inches)
Weight 7.8 kg
Environmental
Operating Temperature 0°C to 50°C (32°F to 122°F)
Operating Humidity 10% to 95%, non-condensing
Storage Temperature -20°C to 80°C (-4°F to 176°F)
EMC Compliant with CE, FCC Class B
Vibration Package random vibration: IEC 60068-2-64, 5-500Hz, 5Grms, 1hr/axis
Drop ISTA-1A
Software
SDK Neuron SDK (optional)
Environment Ubuntu 18.04 LTS
Middleware ROS/ROS 2
Intel®OpenVINO™
NeuronBot
Product Overview 9
2.2. Power Specifications
Motherboard Power Input 12VDC ±5% with ATX power connector
EOS1300-PWBD
Power Board Input: 24VDC ±5%,
Output: 12VDC ±5%, 24VDC ±10%, 5Vsb ±5%
Output protection: 12V and 5Vsb short protection by DC-DC converter
2.3. Software
Environment Ubuntu 18.04 LTS
Middleware ROS/ROS2
SDK Neuron SDK (optional)
2.4. Package Contents
Device 1x NeuronBot Rapid Robotic Development Platform
Documentation 1x Quick Start Guide
Cable 1x DisplayPort to HDMI adapter cable
2.5. Optional Accessories
ADLINK provides all the necessary parts and accessories for NeuronBot. You can purchase additional accessories
according to your needs.
Item Description
Camera Intel® RealSense™ Depth Camera D435
Support Plate Attachable top plate for LIDAR protection, object transport, and top camera installation
Brackets Front bracket for Intel® RealSense™ Depth Camera D435
Top bracket for Intel® RealSense™ Depth Camera D435
Stand-offs M3 stand-offs for attaching support plate
Large, top-side stand-off for attaching top camera
10 Product Overview
2.6. Mechanical Dimensions
Note: All are dimensions shown in millimeters.
2.6.1. Front View Dimensions
Holes for
M4 screws
218
101.5
23
30
25
Figure 1: Front View Dimensions (No Accessories)
Note: M4 screw holes are for attaching the front camera bracket to the chassis (see Front Camera
Installation on page 21).
256
218
23
480
Figure 2: Front View Dimensions (with Accessories)
NeuronBot
Product Overview 11
2.6.2. Side View Dimensions
266.5
248
Figure 3: Side View Dimensions (No Accessories)
315
480
Figure 4: Side View Dimensions (with Accessories)
12 Product Overview
2.7. System Layout
2.7.1. Front View Layout (No Accessories)
A B
C D E
Figure 5: Front View Layout (No Accessories)
A Status LED bar D Wheel
B LIDAR component E
Screw holes for front
camera bracket
C
Wheel
-
-
NeuronBot
Product Overview 13
2.7.2. Front View Layout (with Accessories)
AB
D E
C
Figure 6: Front View Layout (with Accessories)
A
Support plate
D
RealSense camera
B Top-side stand-off E
Front bracket for RealSense
camera
C
RealSense camera
-
-
14 Product Overview
2.7.3. Rear View Layout
A B C
D
E
Figure 7: Rear View Layout
A Battery status indicator D Rear cover knob
B
Power button
E
Rear cover
C
GPIO connector
-
-
Note: The rear cover is attached to the chassis by two magnetic fasteners. To access the rear panel I/O, remove
the rear cover by grasping the knob and gently pulling the cover away from the chassis.
For details on I/O connectors and internal components, refer to the AmITX-SL-G User’s Manual, downloadable
from the ADLINK website.
NeuronBot
Product Overview 15
2.7.4. Rear View I/O Layout (Rear Cover Removed)
E
D
A
C
B
Figure 8: Rear View I/O Layout (Rear Cover Not Attached)
A USB 3.0 ports (4x) D LAN ports (2x)
B DisplayPorts (3x) E
Magnetic fasteners for rear
cover
C
USB 2.0 ports (4x)
-
-
16 Hardware Accessory Installation
3. Hardware Accessory Installation
This section describes how to install the following accessories on the NeuronBot:
•Support plate
•Intel®RealSense™ Depth Camera D435
Note: You can install up to two cameras according to your needs.
Intel® RealSense™
Depth Camera D435
(Top-Mounted)
Support Plate
Intel® RealSense™
Depth Camera D435
(Front-Mounted)
Figure 9: Isometric View with Accessories
3.1. Support Plate Installation
1. Attach the support plate stand-offs to the NeuronBot.
NeuronBot
Hardware Accessory Installation 17
2. Align the holes on the support plate with the stand-offs and place the support plate on top of the stand-offs.
3. Attach the screws to the support plate.
18 Hardware Accessory Installation
3.2. Top Camera Installation
1. Attach the support plate to the NeuronBot.
a. Attach the support plate standoffs to the NeuronBot.
b. Attach the large, top-side stand-off to the support plate.
NeuronBot
Hardware Accessory Installation 19
c. Place the attached stand-off and support plate on the NeuronBot.
d. Align the holes on the support plate with the stand-offs and attach the screws.
20 Hardware Accessory Installation
2. Attach the top bracket to the large, top-side stand-off.
3. Assemble the camera by screwing the camera head onto the camera base.
4. Attach the assembed camera to the top bracket using the adhesive sticker provided with the NeuronBot.
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