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Panther Manual

Overview​

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Autonomous, mobile robot (AMR) platform dedicated to an outdoor environment. Compliant with an IP54 or IP66 rate of protection. Depending on the use case, it can be equipped with a robot arm, LIDARs, RGB-D cameras, GNSS receivers, UWB, and other equipment. It can be used in various application areas, such as agriculture, construction, inspection, and many more.

Looking for a quick start guide?

This is a manual. If you need a quick start guide instead, you can find it here.

warning

Before the First Use​

We know that you would really like to Quick start with Panther now, but your safety is the most important thing.

Brief Safety Information​

  1. Please read the Safety Instructions first.
  2. If you are not sure how something works, please read the manual.
  3. Please remember that the Emergency Button is available on the robot (a mechanical one) and in the software one (accessible from WebUI and Gamepad). Still, in some cases, you may not be able to use them quickly enough to stop the robot before causing damage.
  4. A detailed description of the safety features is available in the Safety section.

Hardware Guide​

Specification​

Basic Parameters (with WH01 wheels option and a single Battery)

NameValue
length809 mm
platform height356 mm
overall height370 mm
wheelbase440 mm
track of wheels695 mm
maximum ground clearance155 mm
minimum ground clearance138 mm
NameValue
width848 mm
weight55 kg
protection indexIP54 / IP66
operating temperature-20°C to 50°C
storage temperature-20°C to 50°C
charging temperature0°C to 45°C
battery typeLi-Ion 36 V

Traction Parameters (with WH01 wheels)

NameValue
max speed2 m/s
maximum carrying capacity100 kg
nominal shaft torque34.5 Nm
maximum shaft torque60 Nm
nominal total traction force725 N
maximum total traction force1511 N
hill grade traversal80% (39°)
payload (cargo)hill climb grade
0 kg96% (44°)
36 kg96% (44°)
52 kg96% (44°)
65 kg78% (38°)
100 kg54% (28°)

Great traction, large ramp angles, and high stability are ensured by the low center of gravity, located very close to the center of the robot. Details can be found in the files attached in the section Docs and Links.

International Protection Rating

The platform is offered in two variants of the protection class. The basic variant is dedicated to moderate indoor and outdoor conditions, with a rating of IP54. The upgraded variant is dedicated to an extremely demanding work environment with a rating of IP66. Sales details such as price, lead time, and other conditions are available in the store. More details are also in the Panther Options document.

Specification of given ratings:

ClassSolidFluid
IP54dust protectedprotection against splashes of water from any direction
IP66dust-tightprotection against strong water jets (100 l / min) poured on the housing from any side

Components​

ComponentQuantityDescription
Built-in Computer1Quad-core 64-bit SoC @ 1.5GHz and 4GB RAM. Used to manage all the basic functions of a mobile platform.
User Computer*1ASUS® NUC (Intel® Core i7-1360P, 16GB RAM, 500GB SSD, GPU: Intel® Iris® Xe), Lenovo ThinkStation P360 Tiny (Intel® Core i7-12700T, 16GB RAM, 512GB SSD, GPU: NVIDIA® T1000), or NVIDIA® Jetson Orin NX (ARM® Cortex® A78AE, 16GB RAM, 512GB SSD, GPU: NVIDIA® Ampere). See Panther Options for details.
Router1Teltonika RUTX11 - Dual-band (2.4 GHz / 5 GHz), Access Point / Client Mode, 4G LTE CAT 6, Bluetooth 4.0 LE, GNSS (GPS, GLONASS, BeiDou, Galileo and QZSS) - This multifunctional device ensures reliable external wireless communication and Ethernet link between internal components of the robot system. More details.
Antenna2Dual-band (2.4 GHz / 5 GHz) placed on the rear of the robot. See all Panther Options.
IMU (Inertial Measurement Unit)1PhidgetSpatial 3/3/3 Precision (3-axis compass, a 3-axis gyroscope, and a 3-axis accelerometer). More details.
Front and Rear Bumper Lights2Signal lighting made of 46 pcs. APA102C LED chips built into an aluminum profile on the robot's bumpers.
Brushless Motor with planetary gearbox480PMB800K.80RBL-100 - Drive implemented on 4 durable motors with 473 watts of power (900 W instantaneous power) each and planetary gears (30:1) with a maximum torque of 60 Nm allows the robot to move at a speed of 2 m/s even uphill with a slope of 40% with a load of 50 kg.
Encoders4Quadrature, optical encoder, 400cpr (counts per revolution) mounted on the motor. For one revolution of wheels it will count 30*400 = 12000 counts.
Wheel4WH01 - 370mm standard off-road wheels, WH02 - 203mm mecanum wheels. A recommended tire pressure for WH01 option is 1.0 to 1.5 bar (14 to 22 psi).
Additional kits**Together with the robot, you can get an integrated lidar, depth camera, manipulator, and more. See all at Panther Options.
*NUMBER OF USER COMPUTERS

By default, there is only up to one User Computer in the robot. For detailed information, see Panther Options.

**MOUNTING OF EXTERNAL MODULES

Most of the external modules are attached to the profiles on the top of the platform. More details.

Communication​

Available as standard

  • Ethernet
  • USB
  • Wi-Fi (2.4GHz & 5GHz)

Possible to extend

  • LTE / 5G
  • GNSS (including GPS)
  • GPS RTK (with PC07 or PC09)
  • CAN
  • RS232
  • RS485

See all at Panther Options.

Block Diagram​

Graphic representation of Panther components and connections between them. A full, more detailed version of the block diagram can be found in the Docs and Links chapter.

Rear Panel Description​

On the Rear Panel of the robot, there are:

  • Power controls for the robot - two-position Battery Switch and Power Button.
  • USB connection (by default used for Gamepad).
  • Emergency Button.
  • And the robot's Charging Socket.
Rear Panel OverviewRear Panel Overview

Battery Switch​

The Battery Switch is used to cut off the Battery voltage from the robot's electrical circuits. Use this switch for long-time storage and shipping. In the event of a robot malfunction, setting the Battery Switch to the OFF position will turn off the robot immediately, without waiting for the operating system to shutdown.

Battery Switch positionKnob positionPower state
OFFleftbattery disconnected
ONrightbattery connected
DATA LOSS

Cutting off power using the Battery Switch may cause data loss on the Built-in Computer as well as on User Computers.

danger

Cutting off power by putting the Battery Switch in the OFF position is NOT the same as taking out the Battery. When it is necessary to interfere with the internal components of the robot, it is important to remove the Battery from the robot first!

Power Button and Status LED​

Power Button action is triggered with a press and hold of the button for 1 second.

Battery Switch positionRobot statusPower Button action
OFFpowered OFFno action
ONpowered OFFpower ON
ONpowered ONinitialize shutdown

The Power Button is equipped with an LED that indicates the robot's status:

LED stateStatus of the robot
ONpowered on
blinkingshutting down
OFFpowered off
SHUTDOWN TIMEOUT

When the Power Button is blinking the shutdown process is ongoing. Normally the button should stop blinking after about 10 to 20 seconds. The robot is waiting for the Built-in Computer to indicate a graceful shutdown. In case of an error of Built-in Computer hardware logic will timeout after 140 seconds and cut off the power anyway.

CONFIGURING GRACEFUL SHUTDOWN

The behavior of the robot after pressing the Power Button can be modified to suit your needs. See Panther Manager for more information.

Emergency Button​

The Emergency Button is connected directly to the Emergency Management Unit, and it is one of the inputs triggering the E-stop signal. Pushing it runs several actions on the robot. There is a possibility to program the behavior of the platform in emergency situations, however, the default actions are:

  • Activate the E-stop signal and latch it.
  • Actively brake the robot using motors.
  • Toggle an SPDT relay (external E-stop output).

You can read more about the E-stop in the chapter Safety.

USB for Gamepad​

There is an EDAC 690-W04-260-014 connector, which provides a direct USB connection to the Built-in Computer. It is dedicated to connecting the Logitech F710 Pad with a modified waterproof USB receiver, but the port can be used to connect any USB 2.0 device to the computer. Information on how to use the Gamepad with the robot can be found in the chapter Remote Control.

Charging Socket​

There is a Weipu SP2112/S7 connector mounted on the Rear Deck of the robot with a waterproof cap. The necessary details on charging can be found in the chapter Charging Panther.

Battery & Charging​

Battery​

The Panther power supply is available with a couple of options for easily swappable battery packs. While purchasing the platform, you can choose the basic 720 Wh Battery (BAT01) or the doubled version of 1440 Wh (BAT02). Read more about it in the section Panther Options.

The Battery packs are made of Lithium-Ion cells with a rated voltage of 36 V and 20 Ah or 40 Ah capacity, which gives the Panther enough energy to move around in demanding terrain and perform calculations for about 3.5 hours in the standard version and 7 hours in the doubled version. Moving the robot in friendly terrain allows for a significant extension of the robot's working time, up to 8 hours (standby time up to 40 hours) for the single Battery variant. You can check more specific information about Panther power consumption calculated for the basic version of the Battery.

You can check the battery charge level via the /panther/battery/battery_status topic, the WebUI, or by observing the battery charge on Bumper Lights during charging. During normal operation, when the battery level is low (below 40% or 36 volts) or very low (below 10% or 33 volts), the animation will periodically display an orange or red indicator. You can find a preview of the animation in the section dedicated to Animations.

For more information about the Bumper Lights, please see the LED Animations and Bumper Lights sections, respectively.

Battery parameterValue for BAT01Value for BAT02
battery capacity720 Wh1440 Wh
runtime3.5 h - 8 h7 h - 16 h
standby time40 h80 h
total output power1.0 kW2.0 kW
maximum peak power1.8 kW3.2 kW

Battery Swap​

To remove, insert, or replace the Battery, you require access to the User Compartment. You will learn how to do it in the chapter User Compartment.

The Battery is attached to the inner walls of the robot with DIN 912 M5x12 bolts (4 mm Allen key). After removing the bolts (2 pcs for BAT01 and 4 pcs for BAT02) holding the Battery in place, slide the Battery out of the electrical connector by sliding the package towards the front of the robot by approximately 10 mm. After that, the Battery can be lifted by the handle located on its upper surface.

There are retaining pins pointing out of the Battery, be careful not to damage the seal on the surface of the robot. The Battery is heavy and can damage electronics and wires placed on the User Shelf if not lowered carefully. After lowering (1) the Battery to the bottom of the User Compartment, slide it towards the right side (2) of the robot and then along this wall to the rear (3) of the robot. The locating pins should finally position the Battery, which will slide smoothly into the power socket. The bolts holding the Battery in place should be tightened to a torque of 4 Nm. The steps described above are marked in the figure below.

Charging Panther​

In the set with the robot, we provide a dedicated Charger, which can charge the robot to 80% in 4 hours, and to 100% in 7 hours. The dedicated Charger can be connected directly to the robot's Charging Socket on its housing. There are two types of chargers available. By standard, Panther is shipped with a wired Charger - single or dual (in case of BAT02 option). On the top of these Chargers, there are LED indicators. If all of them are green, that means the Battery is fully charged or not connected. When at least one LED is red, that means the Battery is charging.

Another type of charger is a wireless charger. You can read more about it in the Panther Options section. The wireless charger has also a separate page in manual: Wireless charger.

CHARGING TIME

The charging time for the double Battery (BAT02) should be very close to the single Battery (BAT01). This is possible due to the dedicated Dual Charger for BAT02.

Parameter nameSingle ChargerWireless ChargerDual Charger
suitable battery optionsBAT01BAT01BAT02*
input voltage range100 - 240 V AC100 - 240 V AC100 - 240 V AC
input voltage frequency50 - 60 Hz50 - 60 Hz50 - 60 Hz
max output voltage42 V42 V42 V at two channels
max output current5 A5 A2x 5 A

* - The dual Charger can also charge the robot with BAT01.

DRIVING THE ROBOT WHILE CHARGING

It is forbidden to drive the robot during the charging process!

MAINTAINING THE LONG BATTERY LIFE

To maintain the long battery life, it is recommended to disconnect the charger after it finishes the charging process (the green LED(s) are ON).

Mounting Rails​

Sensors, equipment, and payloads can be attached to the profiles on top of the robot. The profiles used are aluminum V-slot 2020 profiles. The best way to attach the elements to them is to use mounting elements dedicated to this type of profile, such as T-nuts, fittings, and angles.

Rails on top of the RobotRails on top of the Robot

These profiles are fixed to the robot with four ISO 7379 M6x30 shoulder screws with DIN 986 M6 nyloc nuts.

Top rails fixingTop rails fixing

To enable access to the User Compartment, top rails can be pivoted by removing 2x shoulder screw M6x30 and 2x DIN 986 M6 nyloc nut in either the front or back. The maximum opening angle is 160 degrees with the built-in stop.

Top rails openTop rails open

For more useful information in the field of mechanics, please see the document Panther Overall Dimensions and the chapter CAD models.

info

The presence of the Mounting Rails has no effect on the water and dust resistance of the robot.

Bumper Lights​

The robot's Bumpers are made of a profile with the same cross-section as the Mounting Rails. They are 0.5 meters wide, and, in addition to buffering shock and reducing potential damage when the robot collides with an obstacle at high speed, sensors can be mounted to them. By default, the signaling lighting is mounted on each Bumper in the form of aluminum profiles with 46 programmable RGB LEDs.

These lights may be widely used to indicate the status of the robot, the direction of movement or the intention to change direction, warn about low Battery charge or other detected errors, signal the status of the charging process, or even to illuminate the area in front of the robot. More details regarding Bumper Lights and their control are available in the section LED Animations.

User Compartment​

The robot's volume has been divided into five parts. The central space, called the User Compartment, is dedicated to the user's components and electronics. The User Computer (for example, PC02 from Panther Options), the RUTX11 router, as well as the robot's Battery are located there.

Access to the User Compartment​

To access the User Compartment, pivot the Mounting Rails by removing 2x ISO 7379 M6x30 shoulder screws with DIN 986 M6 nyloc nuts. Then unscrew the Cover fastened with 8x (IP54) or 18x (IP66) bolts DIN912 M5x12.

Cover fixingCover fixing
caution

To ensure the tightness of the robot, make sure that there are no foreign objects on the seal when assembling the skin element and tighten the bolts with a torque of 4 - 5 Nm.

User Shelf​

The volume of the User Compartment is approximately 13.6 liters (3.6 US gallons) with the BAT01 option or 10.0 liters (2.6 US gallons) with the BAT02 option. This part of the robot has the same water and dust tightness class as the robot. At the bottom of this volume is an easily removable User Shelf to which devices located in this space are attached, excluding the Battery.

User's spaceUser's space

The usable space above the User Shelf is 150 mm high. The top surface of the BAT01 Battery module is 72.5 mm above the User Shelf. The usable space above this Battery is 77.5 mm high. There is no usable space above the Battery when the BAT02 is mounted.

To remove the User Shelf, loosen the DIN912 M5x12 bolts located around its perimeter and move the User Shelf towards the back of the robot, then lift it up. When planning to place components on the User Shelf, keep clearance around the heads of the mounting bolts to allow the User Shelf to be pushed back into place later. Usually, 4 out of 6 bolts are enough to fix the User Shelf properly.

On the front and rear walls of this User Compartment, above the User Shelf, there are connectors that provide power and allow the user to communicate with the robot.

User Power Panel​

The User Power Panel distributes electric power for user applications. The image below shows its labels and arrangement:

User Compartment Front Wall - Power SupplyUser Compartment Front Wall - Power Supply

To meet the user's needs, the robot is equipped with 10 high-current electrical connectors that are able to provide up to 720 W of electrical power to the user's devices. The supply voltages available on the User Power Panel are:

  • 5 V limited to 15 A, split into 3x female XT60 connectors,
  • 12 V limited to 25 A, split into 3x female XT60 connectors,
  • 19 V limited to 10 A, split into 3x female XT60 connectors.
  • AUX Power which is the Battery voltage (32 - 42 V) rated at 10 A max. This output is disabled by default. AUX Power can be enabled and disabled separately from the Built-in Computer via a ROS service /panther/hardware/aux_power_enable. See section Panther ROS 2 API for more details.
TOTAL POWER OUTPUT

The total power from 5 V, 12 V, and 19 V outputs is limited to 360 W of power.

USED CONNECTORS

One 19 V output is used by an optional User Computer and one 12 V output is used by a Router.

ANTENNAS CONFIGURATION

These coaxial antenna cables are only present with the ANT01 option. In the ANT02 option, these wires are absent. Read more about in in the Panther Options section.

Communication Panel​

On the Rear Panel, there are sockets for connecting the Battery and communication with the robot. By default, there are Ethernet and USB connectors for the Built-in Computer and the User Safety Interface (USI) connected to the Emergency Management:

User Compartment Rear Wall - Communication PortsUser Compartment Rear Wall - Communication Ports

Service Spaces​

The four remaining spaces around the User Compartment are intended for the internal components of the robot and some elements of the additional option sets. In this case, the relevant information can be found in the description of the given option in Panther Options.

NO NEED TO ENTER SERVICE SPACE

It is usually not necessary for the user to access those spaces. Opening them is mainly meant for service work.

danger

It is advised to remove the battery before accessing service spaces to prevent electrical hazards and potential damage. Cutting off power by putting the Battery Switch in the OFF position is NOT the same as taking out the Battery. If power is required during maintenance (e.g. upgrading motor drivers), be extremely cautious. Ensure no metal objects, such as screws, fall into the service space as this can cause damage to the robot.

Access to the Front and Rear Service Spaces​

The Front and Rear Service Spaces are occupied by motors and built-in electronics.

To access the components in the Service Spaces, pivot the Mounting Rails by removing 2x ISO 7379 M6x30 shoulder screws with DIN 986 M6 nyloc nuts. Then unscrew the Front Deck (with the Husarion logo) or the Rear Deck (with the Emergency Button). Each is fastened with 15x DIN912 M5x12.

Deck fixingDeck fixing

Under the Front Deck, you will find among others standard power converters (5 V, 12 V, 19 V), distribution of higher voltages for the user, high voltage converter (24 V / 48 V) connection, front motor controller, and the Fan connection. Under the Rear Deck, you will find among others a Battery connector, the Built-in Computer with its microSD card, the Bumper Lights driver, the Power Board, the Charging Socket line and Rear Panel buttons connections, the rear motor driver, and antenna connections.

Deck fixingDeck fixing

Access to the Side Service Spaces​

Stringers (the structural elements located on the sides of the robot) also contain subassemblies.

To access these spaces, it is necessary to remove the wheels on the relevant side. Read more about removing wheels in the article Panther WH03 - Wheel Swap. Then you need to remove the Side Cover which is fastened with 12x bolts DIN912 M5x16.

By default, the Right Stringer has the Fan used for forced air circulation inside the robot (the Fan can be controlled via ROS service /panther/hardware/fan_enable). There are also cable harnesses in both Stringers. For some of Panther's options, additional equipment may be installed in these spaces. In such cases, the necessary information can be found in the description of the option in the Panther Options section.

caution

To ensure the tightness of the robot, make sure that there are no foreign objects on the seal when assembling the skin element and tighten the bolts with a torque of 4 - 5 Nm.

CAD Models​

To facilitate the work with the project based on the Panther platform, we have prepared CAD models for download in three extension formats:

STEP HQSTEP LQF3Donline model
Pth v1.2x with pneumatic wheelszipzipzipOnline model
Pth v1.2x with pneumatic and mecanum wheelszip
Pth v1.2x with mecanum wheelszip
MODEL COMPATIBILITY

These CAD models are applicable to Panther v1.2/v1.21/v1.22 robot revisions.

Software Guide​

The Panther UGV’s ROS 2 driver runs on a Built-in Computer powered by a customized Ubuntu-based operating system with a real-time kernel.

Interaction with Panther's hardware is primarily facilitated through the Robot Operating System (ROS), with all drivers developed in ROS. The source code is available in the GitHub repository husarion/husarion_ugv_ros. The platform supports both ROS and ROS 2, offering consistent APIs and behavior across both versions.

User-level ROS 2 software is intended to run on a separate user computer.

ROS

ROS is a set of software libraries and tools for building robot applications, offering a common framework for development. It is open-source, making it free to use and modify.

Software Resources​

By default, Panther ROS is deployed using Docker, which simplifies deployment, management, and updates of the ROS system. While the default setup is within a Docker container, you can run Panther ROS drivers natively. Instructions are available on the husarion_ugv_ros GitHub page.

Autostart Native ROS Driver

Natively built ROS packages do not include autostart functionality. Users need to add it, for example, by creating a systemd service.

The provided Panther ROS system is designed to compose all the basic functionalities of the robot. It allows to control of the robot with velocity commands and provides the user with odometry information, which can be used for robot localization. The Panther ROS system is also designed to monitor the robot's state and perform safety features that will prevent any hazardous behavior. The basic states of the robot are represented by the Bumper LED Animations. This allows the user to recognize if the robot is ready to operate or in E-stop mode, informs about the Battery state, or displays an animation indicating the occurrence of an error in the system. More detailed information about the state of the robot can be acquired using ROS topics. Errors in the system are also logged into the system and can be easily accessed using the Docker interface. The Panther ROS system includes a robot description, which can be used to visualize the robot with all its components.

The Panther ROS system is designed to be easy to use and maintain. It is also designed to be extensible so that it can be easily customized for different applications.

Launch System Analysis​

This section provides an overview of the system launch times for the Panther robot version 1.23, ROS driver version 2.3.0, and RUTX11 firmware version RUTX_R_00.07.13.3. The measurements were conducted multiple times to ensure accuracy, and the results presented are averaged values.

RUTX11​

DescriptionTime (mm:ss)
LAN network availability.1:15
Wi-Fi network availability.1:20

Built-in Computer​

DescriptionTime (mm:ss)
Full boot time (from pressing the robot's power button to full system readiness).1:18
Boot time for RPi0:28
Time from RPi boot to full system readiness.0:50
Driver docker container startup time (from RPi boot).0:34
Driver initialization time inside Docker.0:16

Autonomy reference stack​

The husarion-ugv-autonomy template repository provides a Docker-Compose workspace that bundles all navigation-related nodes (Nav2), SLAM and the docking server required by Panther / Lynx.

PathPurpose
compose.hardware.yamlLaunches navigation and docking containers on the real robot. Environment variables such as OBSERVATION_TOPIC, OBSERVATION_TOPIC_TYPE, CAMERA_* and SLAM are forwarded so you can point the stack at any LIDAR/camera without editing the file. Networking is set to host for zero-conf DDS discovery.
compose.simulation.yamlAdds a Gazebo container plus a components.yaml model layout. use_sim_time is preset, so clocks are synchronised automatically.
config/Holds runtime parameters: nav2_params.yaml, pc2ls_params.yaml (planner, controller & point-cloud-to-laser tuning), components.yaml (where each sensor is mounted in simulation), docking_server.yaml, apriltag.yaml (dock poses and tag size) cyclonedds.xml (DDS QoS / discovery options)
sensors/Optional compose fragments for bespoke drivers; drop in another file when the default containers do not cover your sensor.

Helper commands (Justfile)​

just dock DOCK_NAME        # Dock Husarion UGV to the charging dock using navigation stack
just dock-direct DOCK_NAME # Dock Husarion UGV to the charging dock without using navigation stack
just start-hardware        # Start navigation on User Computer inside Husarion UGV
just start-simulation      # Start Gazebo simulator with navigation stack
just start-visualization   # Configure and run Husarion WebUI
just stop-visualization    # Stop Husarion WebUI
just undock                # Undock Husarion UGV from the charging dock

Upstream ROS 2 code​

Both navigation and docking containers are built from the husarion/husarion-ugv-autonomy:<distro>-<tag> image, which in turn packages the sources in husarion_ugv_autonomy_ros (SLAM, Nav2 bring-up, docking state-machine). Fork that repository if you need to change node logic and rebuild the image locally.

Sensor interface​

The stack is sensor-agnostic: any device that publishes LaserScan or PointCloud2 (plus a TF to base_link) and any RGB-D/mono camera that publishes Image + CameraInfo can be used. Simply export the five environment variables listed in the README, or add a new service under sensors/ that runs your proprietary driver.

Extended notes​

A detailed explanation of the architecture and customisation workflow is available in the blog post: https://husarion.com/blog/husarion-ugv-autonomy/

Network​

By default the network mask is 255.255.255.0 and the devices' IPs begin with 10.15.20.XX. The default static IPs are:

  • RUTX11 10.15.20.1 - an internal router with an access point and a DHCP server,
  • Built-in Computer 10.15.20.2 - a SBC with Panther's driver,
  • Additional: User Computer 10.15.20.3 - look at Computer (PC),
  • Additional: a manipulator 10.15.20.4 - look at Manipulators (MAN).
Network diagramNetwork diagram

More information about User Computer network settings can be found here.

Overview​

Panther is equipped with a Teltonika RUTX11 router running open-source firmware OpenWRT, which provide the following interfaces:

Ethernet

  • 1x WAN 10/100/1000 Mbps (by default configured as a LAN port)
  • 3x LAN 10/100/1000 Mbps
  • 3 ports are available for user equipment

Wireless

  • Two radios (2.4GHz and 5GHz)
  • Support for 802.11ac (Wi-Fi 5) with link rate up to 867 Mbps, fast roaming with 802.11r
  • Works as access point (AP) and/or as a client/station (STA)
  • External antennas with 2 dBi gain

Cellular

  • Dual-Sim with fail-over
  • LTE (4G) Cat 6
  • External antennas with 3dBi gain (Panther Options - ANT02)
  • Support for exact frequency bands depends on your locale. By default we equip Panther with version suitable for shipping address. For more details go here.

GNSS

Each form of connectivity can be part of an automatic WAN fail-over in order to provide a continuous connection to external services. More information is available on the manufacturer site. Some RUTX11 configuration scripts are available on our GitHub repository.

Connecting to Panther's Hotspot​

Panther provides a hotspot with a default SSID Panther_<serial_number> and Panther_5G_<serial_number> for 2.4GHz and 5GHz band respectively with password husarion.

Wi-Fi Connection

You can find a step-by-step tutorial on how to connect Panther to Wi-Fi.

Connecting Panther to a Wi-Fi​

Panther can be connected to Wi-Fi on the 2.4GHz or 5GHz band. It will be used as a WAN source and be prioritized over cellular connection. Single radio can act simultaneously as AP (access point) and STA (client).

By default, Panther scans for available networks and connects to the first one provided in the configuration file. In case of a low signal level or loss of signal, the next one on the list will chosen (if available). This behavior can be modified by the user.

SCANNING NETWORKS IN 5GHZ AP

Due to the limitation of the Wi-Fi chipset, it is not possible to scan for available networks, while providing AP on a 5GHz interface. It's advised to use 2.4GHz for WAN uplink. For more information, go to documentation on our GitHub repository

Remote Access​

You can access your Panther over the Internet, from any place in the world. You can use the preinstalled Husarnet VPN service. To access your robot follow the steps from here.

Access to Router WebUI​

By utilizing either the WebUI or SSH, you can effectively manage and configure your RUTX router. Further configuration details can be found in the Teltonika RUTX11 manual.

MethodAddressUsernamePassword
WebUI10.15.20.1adminHusarion1! or Husarion1 for older robots
SSH10.15.20.1rootHusarion1! or Husarion1 for older robots
WEBUI AVAILABILITY

You have to be connected to Panther's network to access WebUI.

SECURITY PRECAUTIONS

For safety reasons it is strongly advised to change the default password!

Using a Cellular Connection​

If your Panther is equipped with the (ANT02 option) it is possible to use the cellular connection with failover to a second SIM and priority of WLAN connection over cellular.

Installing a SIM Card(s)​

First, open the Cover following instruction, then you can access Teltonika RUTX11 SIM slots, more details are available in the RUTX11 quick start guide.

Configuration of SIM Slots​

In the default configuration, each SIM slot is enabled with automatic APN and priority of WLAN connection over cellular. To change settings such as PIN code, custom APN, or CHAP/PAP authentication use router's WebUI, see the RUTX11 mobile configuration guide.

Resetting Router to Default Settings​

In case of misconfiguration, it is possible to reset the router to working default settings (as shipped to you). To do it press and hold the reset button on powered on RUTX11 for at least 6 seconds. Signal strength LEDs indicate elapsed time. After all five LEDs are lit up, the reset button can be released. After automatic restart router is ready to be used again.

Safety​

The robot has been equipped with solutions for the safe use of the equipment, both in the software and hardware layer.

warning

Please take this chapter seriously. Inadequate and irresponsible using of the robot may cause damage to the device, the workplace, and people in the vicinity.

The robot is equipped with an Emergency Management (EMU). It is a system that takes control of the robot's components as well as its power in crisis situations. The EMU can stop the robot's movement, turn off the power of the user's device, or even turn off the entire robot if so configured. It also provides a dedicated electrical User Safety Interface (USI) led out to the User Space.

Due to the appearance of any trigger, such as a Built-in Computer's CPU crash or Emergency Button press, the EMU will call and latch the E-stop signal. This means that in such situations, for the further work of the robot, the problem should be resolved, and then the E-stop latch should be reset.

ADVANCED EMU CONFIGURATION

This chapter describes only the basic default EMU configuration, however, the system is configurable. To learn more about the possibilities and how to configure them, visit a separate article: Emergency Management Unit.

safety board logic

Hardware​

Emergency Button​

On the rear side of the robot, there is a red push button. Pushing the Emergency Button causes:

  • activate the E-stop signal and latch it,
  • actively brake the robot using motors,
  • toggle a SPDT relay (external E-stop output).
ADVANCED EMU CONFIGURATION

These actions are the default EMU configuration. To learn more about the possibilities and how to configure it, visit a separate article: Emergency Management Unit

User Safety Interface (USI)​

USI is an electrical hardware interface for EMU designed to integrate Panther with the user's equipment. This thread is covered in detail in the Emergency Management article in the chapter User Safety Interface.

Transporting Panther​

Panther is shipped in a wooden box for two reasons: to protect the robot itself, and to comply with transportation safety regulations for batteries. Li-Ion batteries with a capacity of over 100 Wh are considered dangerous goods. As long as the product with such a battery is properly packaged and marked, it can be transported by various means, including air transport.

If you consider transporting Panther to a remote location, we recommend that you keep the wooden box with the UN3481 marking and Class 9 (batteries) symbol. You will also need to confirm with your carrier that you are working with dangerous goods. For more details, please contact us at support@husarion.com

Before shipping, disarm Panther by setting all switches to the OFF position and pressing the Emergency Button. Also, the Battery charge level should be below 30% (35V). The tires pressure shall be about 1.5 bar for air transportation and 1 bar for ground/sea transport.

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