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TH Robot
Instructions Manual
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Xiao R Geek TH Robot Instructions Manual

Heart to perfection、Born for maker
Hea rt to per fecti on、Born f or make r
Xiao R Robots Instructions
she nzhen C hina
Catalog
1、The tech ni cal data an d the copyr ig ht of system soft ware which are
2、This produ ct is suita bl e for 12 year s of a ge and olde r us ers, an d
enthus iasts and e du catio n or t eaching a im s, shall no t suitabl e for indust rial, con su mer, militar y a nd o ther fi el ds.
4、The compan y re ser ves the rig ht to change wi thout pri or n otice of
this produ cts descr ib ed in thi s ma nual. For p rinting e rr or s and progr am change s ,the compan y ca n make the nece ss ary chan ge s at any time t o the new ma nual.
5、The compan y re ser ves the rig hts of s of tware upg rade and in te re sts
of the final f un ction a t th e actual si tuation i n th e machi ne ,and the company ha s the final e xp lanat io n right.
6、I have caref ul ly read and not ed t he best sta te ment of the con te nt.
3、Please u se the batter y and e lectronic a cc essor ie s as our compan y
standa rd . If the user s change to the o ther acce ss ories , al l mista kes or damage s of rob ot c an not enjo y the warra nty.
Solemnly declare
Sole mnl y declare:
一、The l is t of i tems 二、 Mat te rs need in g atten ti on 三、
Comm on prob lems an d troub lesho oting s oluti on
03-0 4
四、The i nst ruction of m ain contro l board
05
01
02
1、51duin o Mainboard
2、 Arduino PWR Po we r-M otor driver b oa rd
06
五、
5.1、
1、51duin o 2、Arduino/ STMduin o
Asse mbl y drawings
Integr al w iring d ia gram of elect ro ni c system
07 08
六、
6.1、 Sens or instal la tion fo r fu ll functi on mode
1、 2、Arduino/ STMduin o
6.2、
Extras fu nctions of S ensors and mode s witch
51duin o sensors
sensor s
The tuto ri al of switching m od e in the soft ware
25
23 24
1、Oper ation i nstru ction s of the pr oduct (PC)
27-2 8
29-3 0
2、 HONE /PADOper ation i nstru ction s of the pr oduct (P )
七、Using th e tutorial
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5.2、
5.2.1、
5.2.2、 instal lation
5.2.3、
5.2.4、
Hardware ins tallati on
Hardware ins tallati on Rob ot Link WiF i Assemb ly drawin gs for Came ra a nd Cradle Motors a ssembly
5.3、As sembly dr aw ings over v iew for DS Robot
5.4、
5.4.1、
5.4.2、
Assemb ly drawin gs over view fo r TH Rob ot
TH Ro bo t as se mb ly d ra wi ng s
19-2 0
07-0 8
09 10-1 4 15-1 6
17-1 8
21-2 2
The elec tronic syst em i nstalla tion of manip ul ator
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一、 The list of items
一、DS Ro bo t
①、PCB m at er ia l ch assis*1 ②、Mai n co nt ro l bo ard *1 ③、Reg ul at ed p ow er supply a nd m ot or d ri ver board (P WR b oa rd )*1
(no this t yp e in 5 1d ui no )
④、Ro bot-Link W iF i video d at a module* 1 ⑤、Ro bot-Eye s US B camera* 1 ⑥、Te batter y and t he c harger* 1 ⑦、The whe els and mot or *4 ⑧、SG90 se r vo * 2 ⑨、The nyl on part s of c ra dle*1 ⑩、USB2. 0 to M icroUSB cab le *1
⑪、Hardw ar e in b ag *1 ⑫、Wire *1
二、TH Robot
①、Cra wl er c ha ss is*1 ②、Mai n co nt ro l bo ard *1 ③、
④、Ro bot-Link W iF i video d at a module* 1 ⑤、Ro bot-Eye s US B camera* 1 ⑥、Te batter y and t he c harger* 1 ⑦、SG90 se r vo *2 ⑧、The nyl on part s of *1 ⑨、USB2. 0 to M icroUSB cab le *1 ⑩、Hardware in bag *1
⑪、Wire* 1 ⑫、Fou r degrees of freedo m ma nipulat or
(The ver sion with m an ipula to r)
⑬、Dri ve r board of m anipula to r(The ver sion with m an ipula to r) ⑭、Ext en sion card of motor* 3( The ver si on with m an ipulato r) ⑮、Inf rared senso r* 2（The ver si on with lin e pa trol）
infrared s ensor*3 （The vers ion with li ne pat ro l&obs ta cle avoid an ce & foll ow ing）
⑯、Uit ra sonic s en sors* 1( The ver si on with obs tacle avoid ance) ⑰、Miu nt ing base of senso r(The ver si on with s en sor)
Regu la te d po we r supply an d mo to r dr iv er board( PW R bo ar d) *1
(no this t yp e in 5 1d ui no )
cradle
Not e (Each p roduc t packa ges are n ot the sa me,th e real ob ject sh ould be co nside red as fi na l act ual pur ch ase o f goods )
1, pleas e do not inst al l the battery in t he m other b oa rd at fi rst step. I t will eas ily burne d ci rc uit bec au se of short circuit wh il e insta ll ing, please i nstall th e ot her ele ct rical e qu ipment, a nd then put t he batter y into th e ma in cont ro l bo ard. 2, Before po we r on, ple as e carefully c heck the wi ri ng is cor re ct , if there are other me tal objec ts o n the circu it b oa rd , elimina te a ll shor t circuit co ndition s be fore you can tu rn i t on. 3, The batte r y is n ot allowe d to i nversel y co nnect , ot her wise it w ill cause ir re ve rsibl e damage. 4, The robot o nly allow s on e clien t software acce ss at a time, i f yo u have a cli en t softw are in t he control co nd ition , it n eeds to qui t th e current cl ientsof tw are to access a no ther ne w on e. 5, 【Speci al attentio n】Before elec trify t he rob ot with c ra dle or robotic ar m, the use rs should rea d sp ecifi ca tion of clien t software, then acc ording it to adju st the angl e of eac h steerin g ge ar,fi nally use the 'l ocking' f un ction to lo ck a ll angl es of se r vo . Withou t this step, it w ill lead to the s ervo damage ca use long tim e to g o to t he unavaila ble zone. 6,【Speci al attentio n】Please do n ot turn on th e ro bo t when TX , RX of WiFi board in sho rt ci rc ui t conditi ons, othe r wi se it wil l ca use the lights i n WiFi board alwa ys s hinin g, a nd the user s can not s ea rc h the sing le. Find mo re s ol ve ways in
.
Note: wh en i nstalli ng nylon co lumn to the WiF i module , it is impor tan t to n ote that resist ance in R68 m ar k on the WiFi mod ule.We sugges t clamp nut n ot m oving ,a nd use the rota ting way to ins ta ll the colu mn nylon on t he o thers ide, othe r wi se the rotary nut in t hi s side of is likely to le ad to R68 resista nce touch off by exter na l forces.
Comm on p ro bl em s and troub le
shoo ti ng s ol ut ion
7,【Speci al attentio n】
二、 Matters needing attention
三、Common problems and trouble shooting solution
Q1：The p ow er i s on , an d I can searc h th e wi fi s ig nal of robo t, b ut I c an n ot o r hardly c on ne ct . S:Pl ea se c ha rg e up the batt er y of r ob ot a nd then try to co nt ro l ag ai n. Q2:Tu rn o n th e switch, t he L ED l ig ht o f WiFi modu le i s bl in ki ng contin uo us ly . S:1) .A t th e mo me nt o f power on, q ui ck ly p re ss the Rese t bu tt on o f Wi fi board rapidl y an d co nt in uousl y, until th e LE D li gh t is b linking q ui ck ly. U se t he R j4 5 cable to c on ne ct W if i board and P C, t he n se t th e local IP as 192.1 68 .1 .3 , run co mm an d ‘t el net 192.1 68 .1 .1 ' in C MD,and ru n co mm an d ‘f irstboo t’ .
2).If th e fi rs t st ep i s not worki ng , pl ea se c ontact th e cu st om er s ervicer t o so lv e this pro bl em . Q3: Op en t he c li en t software of P C, s ho wi ng t hat I shoul d se t up t he s of tware of . net fram ew or k. S: 1). Goo gl e or B ai du the keyw or ds '. ne t fr amewo rk d ow nl oa d', find th e ve rs io n of frame wo rk , do wn load and in st al l it . Q4: The softwa re o f co mp ut er can not co nt ro l th e ro bot, but mo bi le p ho ne o r Pad can. S:1) .C lo se t he f irewall o f co mp ut er.
2).R em ov e th e RJ 45 Ethern et c ab le o f PC , th en restar t co mp ut er.
3).U se t he a no th er c omputer t o co nt ra st . Q5: You ca n se ar ch t he s ignatur e of r ob ot , an d it can show t he r ad io o f ro bot, but the soft wa re o f PC a nd m obile pho ne c an n ot c on trol the ro bo t. S:1) . Pl ug t he t wo j umper cap , ma ke s ur e th e in structi on t ra ns mi ssion is co rr ec t.
2).cha ng e th e US B ca ble.
3). If the s te ps a s ab ov e is not work in g, p le as e use the exp lo re r to l og i n 192.1
68.1.1 w hi ch i s a ma na gemen t in te rf ac e of W ifi board ( Th e co de i s ad min), find the c la ss if ic ation of sy st em , th en p ress the bu tt on o f re st ore the fac to ry settin gs . Q6: The robot ca n be c on tr ol led, but th e di re ct io n of all side i s on t he c on tr ary. S: in se tt in g ve rs ion of uppe r ma ch in e, c hange the i ns tr uc ti on of oppos it e ac ti on , then s av e it . Q7: The video is n o pr ob le m, b ut when cho os in g th e Wi fi mode opt io ns o f co nt rol ling sof tw ar e in c om puter, the s of tw ar e wi ll displa y a wr on g po p-up hint b ox . S:1) . Cl os e th e fi rewll of co mp ut er, r es ta rt the robo t an d so ft wa re, wait fo r ab ou t 30 secon ds , th en c on nect afte r mo du le s ys tem initi al iz at io n is comple te .
2).U se t he e xp lo rer to land i n 19 2. 16 8. 1.1 manag em en t in te rface mod ul e, r es t­ ore the fa ct or y se tt ings agai n. ( Th es e qu es ti ons are pro vi de d in Q 5) Q8: Ch oo si ng t he W ifi mode in P C cl ie nt s of tw are, ther e is n ot a w ro ng p op-up hint box , bu t ca n no t co ntrol the r ob ot c ar, b ut m obile pho ne c an . S:1) . Us e th e ex pl orer to log i n 19 2. 16 8. 1.1 manag em en t in te rface mod ul e, r e­ store th e fa ct or y se ttings ag ai n. ( Th es e qu es tions are p ro vi de d in Q 5)
2).If th e fi rs t st ep i s not worki ng , ma yb e th e MicroUS B is l oo se , it c ause the data can n ot p as s th ro ugh the USB c ab le t o th e ma in board. At t he s am e ti me , use the Du po nt L in e in T TL seria l po rt p in o f Wi Fi m odule
Q11: T he c am er a has no phot os , th e ro bo t can contr ol . S:1) . Ch ec k th e US B interfa ce i s co nn ec ti ng corr ec tl y.
2).U se t he c am er a with comp ut er, t ry t o ch at b y video, ma ke s ur e th e ca mera is perfe ct , if i t ca n no t be used by co mp ut er, p le ase conta ct c us to me r service r to chang e it . Q12: The dista nc e of r ob ot c ontroll in g is n ea r (l ess than 2 me te rs ) S:1) . Ch ec k wh et her the ant en na i s lo os e, please t ig ht en . 2) , Avo id u si ng the robo t surrou nd in g th e en viron me nt o f ma ny w ir eless rou te r. 3) , us in g the explo re r login 19 2. 16 8. 1. 1 WiFi modu le m an ag em ent inter fa ce , Un de r the "WiFi " ca t egory, change t he c ha nn el e leven (11) to 1 or 3, and sa ve t he S et ti ngs. Q13: M an ua l co nt rol mode is n or ma l, b ut t he robot mo ve me nt i s am iss in line w al ­ king and o bs ta cl e av oidan ce a nd o th er m ode of auto ma ti c. S:1) . Acc or di ng t o the tutor ia l, c ar ef ul ly chec k if t he s en so r wi ring is cor re ct , th e se ­ nsitiv it y ad ju st ment is cor re ct .
2).In th e pa tr ol s ti ll or other a ut om at ic m ode, the ro bo t sh ou ld b e overall p er fo r­ mance fo r th e fo rw ar d, please o bs er ve l ef t and right s id e of t he m ot or rotati on direct io n, e xc ha nge the pos it io n of t he r etreat si de o f mo to r wi ring, mak in g th e state of t he v eh ic le g o forward , an d th en r ef er to "Q6" ad ju st t he d ir ection of t he robot in m an ua l co nt rol mode. Q14: Af te r el ec tr ify, ro bo t itself re gu la rl y mo ve around , un co nt ro lled. S: 1.C on ta ct c li ent servi ce r, qu it t he t es t mode. Q15: The users c an n ot d ow nl oad burni ng p ro gr am w hen secon da ry d ev el opment. S: 1). Re mo ve t he U SB cable wh ic h is c on ne cted with t he m ai n co nt rol board .
2).Red uc e th e ba ud rate of the bu rn in g so ft ware.
3). Re pl ac e th e bu rn tool or co mp ut er . Q16: Th e US B is i ns talled co rr ec tl y, an d tu rn o n th e switch, t he L ED l ig ht i s not on in WiFi mo du le , an d ca n not find th e Wi re le ss s ignal. S:Ch ec ki ng w he ther the R6 8 re si st an ce touch off by exter na l fo rc es . If off , pl ease cont ac t th e cl ie nt s ervicer t o so lv e it .
Q9：The c ra dl e or r ob otic arm ma ke n oi se w he n turn to the d ea d zo ne o f po sition. S: Sto p th e se rv o of c ra dle and a rm s, t he n co nn ect each se rv o ac co rd ing to the inst ru ct io n , an d ad just the an gl e an d lo ck the prop er o ne . Q10: Th e vi de o of c amera is no t cl ea r. S: Rot at in g ca me ra lens by ha nd s, a dj us t the focal l en gt h.
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Arduino PWR Power-Motor driver board
5V
RX
TX
GND
GND
5V
SDA
SCL
4
PWM3
电机M 2-
电机M 2+
电机M 1-
电机M 1+
2
PW M1 1
AO
A1
A2
A3
A4
A5
GND
5V
Moto rs I nt er fa ce
Outp ut v ol ta ge
5V out pu t
serv o1
serv o2
serv o3
serv o4
serv o5
serv o6
serv o7
serv o8
USB po we r su pp or t and UA RT in te rface
P22M ai nl ig ht inte rf ac e
Swit ch
7-15 V in pu t
—— 51duino Mainboard
serv o1
serv o2
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The se ns or o f in fr ared obst ac le a vo id ance
ultras onic ECHO
ultras onic TRIG
The i nfrar ed trac ing lef t
The i nfrar ed trac ing rig ht
The i nfrar ed foll owing l eft
The i nfrar ed foll owing r ight
四、Mainboard instructions
USB2. 0- Mi cr oU SB C able
WiFi mod ule
Batte ry
51duino Mainboa rd
Power c ab le
Camera
USB2.0 inte rface
5.2、Hardware installation
PW R Pow er & M ot or-Driver
Ard ui no U NO R 3 Ma in b oa rd
Ard ui no M ai nb oa rd
Camera
WiFi module
Batte ryUSB2.0 inte rface
USB2. 0- Mi cr oU SB C able
Power c ab le
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五、Assembly drawings
5.1、In tegra l wirin g diagr am of ele ctron ic syst em for 51 duino
5.1、In tegra l wirin g diagr am of ele ctron ic syst em for Ar duino
5.2.1、 Hardware installation for 51duino
5.2.1、 Hardware installation for Arduino
注意：裸露的电子系统禁止做静电测试！
注意：裸露的电子系统禁止做静电测试！
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