Segway Nova Carter Manuel utilisateur

Nova Carter

Product Manual!

Table of Contents
Packing Contents ..........................................................................................................................3
Speciﬁcations ................................................................................................................................3
Product Overview..........................................................................................................................4
Important Safety Information.........................................................................................................6
Getting Started with Nova Carter ..................................................................................................7
NVIDIA Isaac™ Software .........................................................................................................................8
Hardware Information....................................................................................................................8
Nova Sensor Suite....................................................................................................................................9
Compute & System Devices...................................................................................................................10
System Architecture................................................................................................................................10
External Interfaces..................................................................................................................................11
Wheelbase..............................................................................................................................................11
Internal Component Diagram .................................................................................................................12
LED & Buzzer Status Indicators .............................................................................................................13
Sensor Positions & Fields of View..........................................................................................................13
Top Modules................................................................................................................................19
Changing the Top Module.......................................................................................................................19
Remove 3D Mapping Top Module ........................................................................................................................19
Install Basic Cargo Top Module ............................................................................................................................19
Basic Cargo Top Module Bolt Pattern...................................................................................................................20
Creating Custom Top Modules ...............................................................................................................20
Adapter Plate Bolt Pattern....................................................................................................................................21
Maintenance................................................................................................................................22
Changing the Battery..............................................................................................................................22
Battery Environmental Speciﬁcations .....................................................................................................25
Drive Wheel Tires Pressure....................................................................................................................25
Replaceable Fuse...................................................................................................................................26
Service Contact ......................................................................................................................................26
Certiﬁcations ...............................................................................................................................27
Software Documentation.............................................................................................................28
Segway RMPLite 220 Wheelbase ..........................................................................................................28
Nova Carter Init ......................................................................................................................................28
Re-ﬂashing Jetson on Nova Carter ........................................................................................................28
2

Packing Contents

Speciﬁcations

Refer to RMP220 wheelbase manual for additional details.

Item

Parameter

Model

Nova Carter P1

Computing Platform

NVIDIA Jetson AGX Orin™ 64GB module (with 2TB SSD and 10 GbE PCIe card)

Vehicle Size

722*500*556mm

Vehicle Weight

49.6kg

Maximum Payload

50kg

Top Speed

≥12km/h Unloaded

Tire Size

Front wheel 11 inches (280mm)

Operating Temperature

0~35 °C

Obstacle Clearance

25mm

Operation Hours

≥8h

Battery Capacity

1033Wh

Battery Replacement

Supported

Battery IP Rating

IPX7

Charging Time

Charger

Input 100~240V 50~60Hz 2.5A and output 42V 5.0A

Additional External Connections

Ethernet (10GbE), Displayport, USB-C 3.2 Gen 2 (for flashing NVIDIA Jetson AGX Orin™ and

general purpose use)

Connectivity

Wi-Fi 5 with 2x2 MIMO; Bluetooth 5.0/BLE;

Optimized Fast Roaming support - 802.11 k,v & r.

Certifications

UL2271, MSDS, UN38.3/EMC, GOST-R, RoHS, EU Battery Directive

Product Overview

Nova Carter products can be assembled into two conﬁgurations:

Presentation from various angles:"

Important Safety Information

•The Nova Carter robot is a small and light robot; it is designed to carry a payload of

50kg. The main hazard is impact from the robot itself, where moderate harm could result

from a worst-case direct collision. Robot operators should take the following precautions:

oFamiliarize yourself with the Nova Carter controls and dynamics in an open area

away from bystanders.

oBe aware of the speed at which Nova Carter can accelerate, decelerate, and

turn.

oBe aware that stopping Nova Carter quickly while it’s moving forward may cause

it to overshoot and move backwards.

•In the event of a safety incident, inspect the Nova Carter robot for the following:

oDamage to the robot chassis (including dents/punctures to the housing or

drivetrain)

oDamage to the sensors that emit IR (including scratches and pits on the optical

window)

•If there is damage, do not power on the Nova Carter robot. Use the tow handle to move

the robot and contact your Segway representative immediately. Nova Carter has a tow

handle to easily transport the robot manually. It’s located above the caster wheels.

•A red emergency stop (ESTOP) button is located above the caster wheels, below the

tow handle. Pushing the ESTOP button will disconnect power to the motors, but the

Nova Carter robot may continue to coast in the direction it was previously moving. It can

also roll if placed on a sloped surface while the ESTOP is pressed. Compute and

sensors will remain powered ON while the ESTOP is engaged.

•Do not open or remove any panels from the robot, and do not loosen or remove any

sensors.

•If you need further details on Isaac Robot safety information, contact your Segway

representative.

•The screw torque for the top cover panel and top modules SHALL NOT EXCEED 2 N*m.

(Please refer to the Top Modules section of this manual for installation instructions.)."

Getting Started with Nova Carter!

NVIDIA Isaac™ Software

Nova Carter is the reference robot for Isaac™, and several sample apps are available for Nova

Carter.

When using Isaac™ AMR refer to the NVIDIA Isaac™ AMR documentation: https://

developer.nvidia.com/isaac/amr

When using ROS refer to NVIDIA Isaac™ ROS (https://developer.nvidia.com/isaac-ros) and the

repository for Nova Carter https://github.com/NVIDIA-ISAAC-ROS/nova_carter

Hardware Information

Nova Carter is based on the NVIDIA Isaac Nova Orin™ (https://developer.nvidia.com/isaac/

nova-orin) compute and sensor architecture, which prescribes a speciﬁc list of sensor

requirements and the system design for an Autonomous Mobile Robot (AMR) built around

NVIDIA® Jetson Orin™. Nova Carter uses the NVIDIA® Jetson AGX Orin™ Developer Kit as its

compute platform, and the Segway RMPLite 220 as its wheelbase platform."

Nova Sensor Suite

Sensor Type

Sensor Name

I/O

Part Name

Manufacturer

Details

HFOV

VFOV

Stereo Camera

Front Stereo

GMSL2

Hawk#

LI-AR0234CS-

STEREO-GMSL2

Leopard Imaging

2.3 MP RGGB

121.5

73.5

Stereo Camera

Rear Stereo

GMSL2

Hawk#

LI-AR0234CS-

STEREO-GMSL2

Leopard Imaging

2.3 MP RGGB

121.5

73.5

Stereo Camera

Left Stereo

GMSL2

Hawk#

LI-AR0234CS-

STEREO-GMSL2

Leopard Imaging

2.3 MP RGGB

121.5

73.5

Stereo Camera

Right Stereo

GMSL2

Hawk#

LI-AR0234CS-

STEREO-GMSL2

Leopard Imaging

2.3 MP RGGB

121.5

73.5

Camera

Front Fisheye

GMSL2

Owl#

LI-AR0234CS-GMSL2-

OWL

Leopard Imaging

2.3 MP RGGB

202.0

+/- 3

127.2 +/-

Camera

Rear Fisheye

GMSL2

Owl#

LI-AR0234CS-GMSL2-

OWL

Leopard Imaging

2.3 MP RGGB

202.0

+/- 3

127.2 +/-

Camera

Left Fisheye

GMSL2

Owl#

LI-AR0234CS-GMSL2-

OWL

Leopard Imaging

2.3 MP RGGB

202.0

+/- 3

127.2 +/-

Camera

Right Fisheye

GMSL2

Owl#

LI-AR0234CS-GMSL2-

OWL

Leopard Imaging

2.3 MP RGGB

202.0

+/- 3

127.2 +/-

IMU

Front Stereo

IMU

I2C

BMI088

Bosch

12.5 - 1600 Hz

IMU

Chassis IMU

I2C

BMI088

Bosch

12.5 - 1600 Hz

Magnetometer

Chassis

Magnetometer

I2C

BMM150

Bosch

10 Hz

Barometer

Chassis

Barometer

I2C

BMP390

Bosch

≤200 Hz

2D Lidar

Front 2D Lidar

Ethernet

RPLidar S2E

Slamtec

10 Hz

0.12 deg

resolution

0.05-30m

range

360

2D Lidar

Back 2D Lidar

Ethernet

RPLidar S2E

Slamtec

10 Hz

0.12 deg

resolution

0.05-30m

range

360

3D Lidar

3D Mapping

Top Module

Ethernet

Hesai XT32

Hesai

5-20 Hz

0.09-0.36 deg

resolution#

0.05-120m

range

360

31 (+15 /

-16)

Compute & System Devices

System Architecture

The block diagram below illustrates how the Nova system architecture is implemented on Nova

Carter. Speciﬁcs on the sensors and other system components used are also provided in tables.

Figure 1 - Nova Carter System Block Diagram

Device Name

I/O

Part Name

Manufacturer

Details

Primary

Compute

Misc.

Jetson AGX Orin™

Developer Kit

NVIDIA

Please refer to the NVIDIA Jetson AGX Orin™

Developer Kit User Guide.

WiFi/BT Card

M.2, 2.4GHz,

5GHz

AW-CB375NF

Azurewave

Included with Jetson AGX Orin™ Developer Kit

GMSL Adapter

Board

CSI, I2C to

GMSL2

LI-JAG-ADP-

GMSL2-8CH

Leopard Imaging

8-CH GMSL2 board for NVIDIA® Jetson AGX

Orin™ Developer Kit

GPIO Board

CAN, USB

Segway Robotics

Provides CAN transceivers and RGB LED control.

Speciﬁc for Nova Carter and not for individual

sale.

Data Storage

M.2 NVMe

980 PRO 2TB SSD

Samsung

Mounted at /mnt/nova_ssd/

Network

Interface Card

PCIe, 10

GbE

X540-10G-2T-X8

Intel

External-facing network connections.

Connected to rear IO panel.

Ethernet Switch

1 GbE

TL-SG1005I

TP-Link

Internal sensor network connections.

Connected to 10 GbE port on Jetson.

Wheelbase

CAN

RMPLite 220

Segway Robotics

Handles motor control and battery management.

Provides system power.

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