Difference between revisions of "ZACO A10"

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A10 is a robotic vacuum cleaner sold by ZACO in Germany, by ILIFE elsewhere.
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ZACO A10 is a robotic vacuum cleaner sold by in Germany. This is a rebranding of ILIFE A10 and ILIFE A10S robots sold elsewhere in the world.
 +
 
 +
== Models & Naming ==
 +
* ILIFE is the main brand. The robot identifies itself (via hostname) as ''ilife''.
 +
* ILIFE A10 vs. ILIFE A10S: the A10S version has a mopping attachment, the A10 does not.
 +
* ZACO A10 has a mopping attachment. There is no ZACO A10S, because the mopping function comes included by default.
 +
 
 +
== Hardware ==
 +
 
 +
=== Main Board ===
 +
* CPU: AllWinner R16-J / A33
 +
* DRAM: 512 MiB, DDR3, 552 MHz
 +
* PMIC: AXP223
 +
* WiFi: Realtek 8189FTV, 802.11bgn 2.4G (only)
 +
* Storage: KLM4G1FETE-B041, 4 GB eMMC
 +
* connected to...
 +
** USB board: microUSB + FEL button for FW flashing
 +
** LIDAR board
 +
** speaker
 +
** LIDAR-bumper switch
 +
 
 +
=== Driver Board ===
 +
* connected to...
 +
** Main Board via UART
 +
** L & R wheel motor
 +
** L & R side-brush motor
 +
** bumper switch
 +
** bumper IR sensors
 +
** underside IR sensors
 +
** ...
 +
{{Todo|...}}
 +
 
 +
=== Peripherals ===
 +
* LIDAR (Light Detection And Ranging)
 +
* Speaker, 0.5 W, 8 Ohm
 +
{{Todo|...}}
  
 
== Research ==
 
== Research ==
−
 
+
Reported firmware version: 3.1.64
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=== Open Ports ===
 
−
* 22 - OpenSSH 7.4 (protocol 2.0)
 
−
* 11311 - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ROS Master API and Parameter Server API
 
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* 39638 - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ??
 
  
 
=== Software ===
 
=== Software ===
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* nothing dates later than 2016
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* BOOT0 version 4.2.0, commit 2c70a001bdce45080119e80622aa1f2a3899e7d7
−
* ROS version 1.11.20, Indigo release
+
* U-Boot 2011.09-rc1-00005-g2c70a00 from 2018-12-29 13:58:10
 +
* Linux 3.4.40 {{TODO|precise version}}
 +
* OpenSSH 7.4 from 2016
 +
* ROS version 1.11.20, Indigo release from 2016
 +
** nodes
 +
*** /ali_linkkit_wrapper
 +
*** /cartographer_node
 +
*** /cartographer_occupancy_grid_node_block
 +
*** /cartographer_occupancy_grid_node_wifi_map
 +
*** /door_search_client
 +
*** /door_search_server
 +
*** /hlds_laser_publisher
 +
*** /pp
 +
*** /robot_status_publisher
 +
*** /rosout
  
 
=== Operating System ===
 
=== Operating System ===
 
Users:
 
Users:
 
* root
 
* root
−
* backup
+
* backup, bin, daemon, games, gnats, irc, list, lp, mail, man, news, nobody, proxy, sync, sys, uucp, www-data
 +
 
 +
=== Open Ports ===
 +
* 22 - OpenSSH 7.4 (protocol 2.0)
 +
* 11311 - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ROS Master API and Parameter Server API
 +
* XXXXX - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ROS services
  
 
== External Links ==
 
== External Links ==
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* [https://wiki.ros.org/ROS/Master_API ROS Master API]
 
* [https://wiki.ros.org/ROS/Master_API ROS Master API]
 
* [https://cs.brown.edu/~vpk/papers/rossec.icra19.pdf Scanning the Internet for ROS: A View of Security in Robotics Research]
 
* [https://cs.brown.edu/~vpk/papers/rossec.icra19.pdf Scanning the Internet for ROS: A View of Security in Robotics Research]
 +
* Cartographer is a system that provides real-time ''simultaneous localization and mapping'' (SLAM) in 2D and 3D across multiple platforms and sensor configurations.[https://github.com/cartographer-project/cartographer]
 +
* linkkit, part of [https://github.com/alibaba/AliOS-Things AliOS Things]

Latest revision as of 17:35, 27 November 2021

ZACO A10 is a robotic vacuum cleaner sold by in Germany. This is a rebranding of ILIFE A10 and ILIFE A10S robots sold elsewhere in the world.

Models & Naming

  • ILIFE is the main brand. The robot identifies itself (via hostname) as ilife.
  • ILIFE A10 vs. ILIFE A10S: the A10S version has a mopping attachment, the A10 does not.
  • ZACO A10 has a mopping attachment. There is no ZACO A10S, because the mopping function comes included by default.

Hardware

Main Board

  • CPU: AllWinner R16-J / A33
  • DRAM: 512 MiB, DDR3, 552 MHz
  • PMIC: AXP223
  • WiFi: Realtek 8189FTV, 802.11bgn 2.4G (only)
  • Storage: KLM4G1FETE-B041, 4 GB eMMC
  • connected to...
    • USB board: microUSB + FEL button for FW flashing
    • LIDAR board
    • speaker
    • LIDAR-bumper switch

Driver Board

  • connected to...
    • Main Board via UART
    • L & R wheel motor
    • L & R side-brush motor
    • bumper switch
    • bumper IR sensors
    • underside IR sensors
    • ...

TODO: ...

Peripherals

  • LIDAR (Light Detection And Ranging)
  • Speaker, 0.5 W, 8 Ohm

TODO: ...

Research

Reported firmware version: 3.1.64

Software

  • BOOT0 version 4.2.0, commit 2c70a001bdce45080119e80622aa1f2a3899e7d7
  • U-Boot 2011.09-rc1-00005-g2c70a00 from 2018-12-29 13:58:10
  • Linux 3.4.40 Template:TODO
  • OpenSSH 7.4 from 2016
  • ROS version 1.11.20, Indigo release from 2016
    • nodes
      • /ali_linkkit_wrapper
      • /cartographer_node
      • /cartographer_occupancy_grid_node_block
      • /cartographer_occupancy_grid_node_wifi_map
      • /door_search_client
      • /door_search_server
      • /hlds_laser_publisher
      • /pp
      • /robot_status_publisher
      • /rosout

Operating System

Users:

  • root
  • backup, bin, daemon, games, gnats, irc, list, lp, mail, man, news, nobody, proxy, sync, sys, uucp, www-data

Open Ports

  • 22 - OpenSSH 7.4 (protocol 2.0)
  • 11311 - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ROS Master API and Parameter Server API
  • XXXXX - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ROS services

External Links

Retrieved from "https://kb.d5o.eu/index.php?title=ZACO_A10&oldid=613"