AUTOCRAWLER robot

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The Xaxxon AUTOCRAWLER Robot is our latest mobile base platform, capable of indoor mapping, autonomous navigation and automated patrols. It's equipped with an integrated Xaxxon OpenLIDAR sensor, as well as an Intel Realsense™ D415 depth camera. Inside is a full mini-ITX desktop PC motherboard with an embedded Intel CPU, running Linux OS and ROS.

Xaxxxon AUTOCRAWLER Robot Assembled, tested and calibrated, includes charging dock Each US $2199.00 Part No.: XAX-084     ships out in 1-2 weeks

DOCUMENTATION SPECIFICATIONS

Autonomous Navigation and Mapping using the Robot Operating System (ROS) Navigation Stack Motion and Noise detection Define Scheduled Patrol Routes with point-and-click web GUI Powered by a x86-64 mini-ITX PC Open Source API

Auto-Docking Charging Station Xaxxon OpenLIDAR equipped Intel RealSense™ D415 Camera Real-Time Streaming Video Powerful 4WD Traction Front and Rear Lights Web Browser Remote Control

With Included Accessory Mounting Plate ↓

Auto-Charging

Docking with the wall-powered charging dock is handled automatically via ROS 2D image processing through the included camera and the Aruco marker on the dock.
The robot docks with the charger backwards (so it's not starting at a wall when charging). ↑ back to top

Integrated Xaxxon OpenLIDAR sensor

Long-life 5200mAh 3cell 2S LiPo battery

↑ Click for Component Diagrams

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Specifications

Sensors	Xaxxon OpenLIDAR rotational laser scanner Intel RealSense D415 Active Stereo Depth Camera with RGB Gyroscope: Pololu L3GD20 3-Axis Wheel encoder: single wheel quadrature hall-effects high resolution Battery current draw, system voltage and individual cell voltages Microphone RGB camera front and rear
Front RGB Camera	Intel Realsense RGB 1920x1080
Audio	Mono microphone and speaker
Lights	2 x Cree XR-E high intensity LEDs: tilting spotlight and reverse wide angle light, dimmable
Front Camera/ Spotlight Tilt	Servo actuated 40 degrees up, 20 down
Frame	High impact CNC machined ABS, 3D printed PLA reinforcements/details Hinged top opening > motherboard access Removable bottom panel > battery/motors access Removable top accessory multi-mounting panel, pass thru cable hatch
Rear Panel	Battery power toggle switch Power startup push switch Docking camera Reverse wide angle light Dock contacts Auxiliary DC power jack
Battery	3 cell Lithium Polymer 5200mAh, up to 4 hour run time Maximum battery size: 164mm x 57mm x 38mm
Battery Charging	Xaxxon POWER v2 PCB provides on board balance charging and power management, fault detection
Motor Controller	Motors/Audio/Lights/Gyro Xaxxon MALG PCB, Arduino compatible microcontroller
Motors	4 x 12V DC gear-motors. Top speed 0.4m/s
Wheels	4 x 125mm diameter, skid steering
Charging Dock	Automatic docking via 2D image processing International power compatible 120-240VAC > 15VDC wall wart Robot docks backwards
Docking Camera	USB 640 x 480 RGB, LED lighting
System Hardware	Motherboard: ASRock J5005-ITX, with Quad-Core Pentium J5005 CPU 2.8Gz 4Gb DDR4 RAM, up to 16Gb optional SSD 120Gb M.2 Wifi/Bluetooth mini-pcie + pigtail/antenna pair Xaxxon ATX Power Kit with wide input regulator Expansion USB2.0 hub 4-port unpowered
Software	Remote control via web-browser, desktop and mobile clients Autocrawler Java Server (bitbucket): on-board high-level motor control, multi-user, Apache Tomcat web server, webRTC streaming media server, telnet API server) Telnet protocol interface, automated script control, Python API ROS Noetic Autocrawler ROS package (github) Autonomous navigation via ROS Navigation Stack Mapping via Google Cartographer ROS Linux Ubuntu 20.04 64-bit OS Wifi access point mode, multiple overlapping network auto-switching OpenCV
Firmware	Arduino-C/Wiring open source for MALGv3 motors/encoders/gyro microcontroller and OpenLIDAR microcontroller
Dimensions	334L x 283W x 191H (millimeters) 4Kg weight. (Not including charging dock)
Payload /AccessoryMounting	Up to 10Kg Available top accessory multi-mounting panel, pass thru cable hatch Power available: 5V, 12V, ~2amps
	Made in Canada

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