Gemini-O User Manual

1 Product Introduction

​ Gemini-O is an open source robot platform for scientific research, education and personal development. It is exquisitely designed and cost-effective. Based on a three-wheeled omnidirectional motion mechanism, Gemini-O integrates more than 10 sensors such as lidar, depth camera, ultrasonic array, microphone array, and monocular array, and provides NVIDIA's rich computing resources. Rich ROS/ROS2 software package and simulation environment are provided for beginner developers, and users can easily develop functions such as robot systems, positioning and navigation, voice vision, machine learning, and multi-machine formation.

2 Package Contents

The list of Gemini-O shipments is as follows.

No. Name Image Quantity
1 Gemini-O Robot body x1
2 Battery Charger (12.6V/4A) x1
3 Tools Kit x1
4 User manual x1
5 Product Warranty Certificate/After-Sale Service Manual x1
6 Inspection Sheet x1
7 Product certificate x1

3 Product Overview

3.1 The Basic

No. Description
A RGBD Camera
B Ultrasonic x 2
C USB Camera x 1
D Six-axis IMU
E RGB Strip x 2
F CSI Camera x 2
G Lidar

No. Description
H 7-inch touch screen
I Power Switch
J High Speed ​​Charger
K Power & Signal Expansion
L Voltage Display
M USB expansion interface x 2
N HDMI Port
O High Power Speaker

3.2 Status Indication

​Users can determine the status of the robot through the battery display, buzzer and lights installed on the Gemini-O.

Status Description
Current voltage The current battery voltage can be viewed through the power display screen in the back panel, accurate to 0.1V
Low voltage alarm When the battery voltage is lower than 10V, the robot will send out a harsh sound of "di-di-di".
Power on When powered on, the buzzer will make a "di~" sound, and the power display module and the screen will light up

3.3 Safety Information

3.3.1 Environment Considerations

  • For the first use,please read this manual robotefully to understand the basic operating content and operating specification.
  • Use Gemini-O always under -20℃~45℃ ambient temperature.
  • If Gemini-O is not configured with separate custom IPprotection, its water and dust protection will be IP22 ONLY.
  • Make sure the device has sufficient power.
  • Make sure Gemini-O does not have any obvious defects.

3.3.2 Inspection

  • Please charge in time when the device is low battery alarm.
  • When Gemini-O has a defect, please immediately stop using it to avoid secondary damage.
  • When device has had a defect, please contact the relevant technical to deal with it, do not handle the defect by yourself.

3.3.3 Operation

  • Ensure that the area around is relatively spacious.
  • Control within sight distance.
  • The maximum load of Gemini-O is 20 KG.
  • When installing an external extension on the Gemini-O, confirm the position of the center of mass of the extension and make sure it is at the center of rotation.

3.3.4 Charging

  • Gemini-O are equipped with a 5V/4A charger by default, which can meet the user's charging needs;
  • We recommend that you turn the robot off before charging. And there is no indicator light provided on the site while charging. For specific indicator lights, please refer to the description on the charger.
  • Please make sure the Gemini-O chassis is powered off when charging, and make sure the tail switch is off.
  • When charging, make sure the ambient temperature is greater than 0°C;
  • Insert the plug of the charger into the charging port at the rear of the robot;
  • Connect the charger to power supply and turn on the switch in the charger. Then, the robot enters the charging state;

3.3.5 Maintenance

  • According to the IP protection level of the device,please use Gemini in the environment with the protection level requires for the equipment.
  • Do not push the vehicle directly after the vehicle is turned on, this behavior will damage the motor or wheel and other structures;

3.3.6 Preparation before use

For safety during transportation, this product is shipped without a screen installed. After receiving the unmanned vehicle, users should refer to the following content to install the screen before using it. The accessories for the Gemini-O include screws and wrenches to install the screen

gemini_omni_install_screen01

Users can choose the corresponding type of wrench to screw the screws into the holes of the installation screen, as shown in the figure below after the installation is completed.

gemini_omni_install_screen02

After that, the user needs to connect the power supply cable and HDMI cable of the screen. The power supply cable and HDMI cable are as shown in the figure below.

gemini_omni_install_screen03

Users can refer to the following diagram to connect these two lines,There is one HDMI interface and two Micro b interfaces on the screen. If the upper interface is connected, the touch function of the screen can be enabled. Users can choose which interface to use according to their own needs.

gemini_omni_install_screen04

4 Performance parameters

Parameter Type Item Indicator
Hardware Parameters Dimensions 280mmx260mmx170mm
Chassis height 17mm
Steering Three Wheel Omnidirectional
Weight 4Kg
Maximum load 10kg
Maximum speed 1m/s
Maximum climbing angle 15°
Battery 9800mAh 12V
Power connector DC(5.5x2.5mm)
Power expansion 12V 5A x 2, 5V 2A x 2
Working hours 3h
Standby time 6h
Indicators 2 RGB strips
System Parameters Industrial Computer NVIDIA Jetson Nano (4G)
CPU Quad-core ARM A57@1.43GHz
GPU 128-core Maxwell
System Ubuntu18.04
ROS version ROS Melodic
Communication interface USB, WiFi, HDMI ,CAN ,Sbus
Speaker 3Watt High Power Speaker
Monitor 7 inch 1024x600 touch screen
Sensors 6-axis IMU MPU6050
Motor encoder 3
Ultrasonic 2 ultrasonics, detection distance 450cm
Lidar Maximum detection distance 16m, 10000Hz measurement frequency
HD camera 2 HD cameras, 120 degrees without distortion, 8 million pixels
RGBD camera RGB:1920x1080@30fps
Depth:640x400@30fps
Voice module 2 microphones, Snowboy Voice Assistant supported

5 Main Components

5.1 Computer Parameters

Projects Metrics
CPU Ouad-Core ARMCortex-A57 MPCore
Frequency 64bitSoca1.43GHz
GPU 128-core NVIDIAMaxwellTM GPU
AI Performance 473 GFLOPS
Memory 4GB 64-bit(LPDDR425.6GB/s)
WiFi 2.4G,5G
Bluetooth Yes
Network Gigabit Ethernet (RJ45)
POE Powered Yes
Rated Power 5W-10W
Display HDM1DisplayPort
Camera CSI
IO 40pin
USB 4xUSB 3.0

5.2 RGBD camera parameters

Item Parameter
Baseline 40mm
Depth Range 0.3m—3m
Power Consumption The average power consumption of the whole machine is less than 2W, the peak value of the laser is less than 5W (duration 3ms), and the standby power consumption is typically less than 0.7W
Depth Map Resolution 640x400@30FPS
320x200@30FPS
Color image resolution 1920x1080@30FPS
1280x720@30FPS
640x480@30FPS
Accuracy TBD
Depth FOV H 67.9°, V 45.3°
Color FOV H 71°, V43.7° @1920x1080
Delay 30-45ms
Data transfer USB2.0 or above
Supported Operating Systems Android/Linux/Windows7/10
Power Supply USB
Working temperature 10℃ ~ 40℃
Application Scenarios Indoor
Dustproof/Waterproof Basic dustproof
Rating Class1 Laser
Dimension(mm) 59.6x17.4x11.1mm

5.3 Lidar Parameters

Item Min Typ Max Units Remarks
Ranging frequency / 10000 / Hz /
Scan Frequency 5 7 12 Hz /
Ranging Range 0.12 / 16 m 80% Reflectivity
Scan Angle / 0-360 / ° /
Absolute Error / 2 / cm Range≤1m
Relative Error / 2.0% / / 1m<Range≤8m
Angular Resolution 0.18@5Hz 0.25@7Hz 0.43@12Hz ° /

5.4 Ultrasonic parameters

Item Parameter
Detection Distance 2-200cm
Detection Accuracy 0.5cm
Detection Frequency 20Hz
communication interface TTL serial port
Output method USB output

5.5 Wireless network robotd parameters

Item Parameter
NIC chip Intel 8265AC
Wireless Band 2.4GHz/5GHz
Wireless Rate 300Mbps/867Mbps
WiFi Protocol 802.11ac
Bluetooth Version 4.2
NIC Interface NGFF(M.2)
Antenna Interface IPEX Interface
Compatible Systems Linux, Windows 10/8.1/8/7
Product Size 22mm × 30mm × 2.4mm

6 Expansion Board

​A power supply and signal expansion interface for secondary development are reserved above the Gemini-O. The details are as follows

gemini_omni_extension_interface

No. Description
A 2 axis head Yaw signal extension
B 2 axis head Pitch signal extension
C Unmanned vehicle Sbus signal expansion interface
D CAN bus signal expansion interface, from left to right are CANL, GND and CANH
E MR30 interface x 2, from top to bottom are GND, 5V, 12V

7 Q&A

Q1: After Gemini-O is powered on, the host is turned on and the screen does not light up A1： Cause analysis: the power supply line or HDMI line of the screen is loose due to the long-term movement of the unmanned vehicle, which makes the screen unable to display content normally. Solution: check whether the connection of these two wires is tight. If it is loose, reconnect it.


Q2: The movement performance of Gemini-O is abnormal. For example, when using the keyboard to remotely control the straight-line walking, the left or right deviation is serious, and everything displayed in the odometer is normal, or the navigation program cannot be executed normally A2： Cause analysis: the wheels are loose due to the long-term movement of the unmanned vehicle Solution: the user can check whether the fastening screws of the tire are loose. If they are loose, use tools to tighten the screws. In addition, because Gemini-O adopts the omni-directional wheel design, it is more free to move in any direction than ordinary unmanned vehicles, but it also loses some accuracy, resulting in its performance in motion accuracy is a little worse than other unmanned vehicles, which is also a feature of the omni-directional wheel itself.

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