SCOUT 2.0 AgileX Robotics Team
Wannan babin ya ƙunshi mahimman bayanan aminci, kafin a kunna mutum-mutumin a karon farko, kowane mutum ko ƙungiya dole ne ya karanta kuma ya fahimci wannan bayanin kafin amfani da na'urar. Idan kuna da wasu tambayoyi game da amfani, da fatan za a tuntuɓe mu a support@agilex.ai Da fatan za a bi ku aiwatar da duk umarnin taro da jagororin da ke cikin surori na wannan jagorar, wanda yake da mahimmanci. Ya kamata a ba da kulawa ta musamman ga rubutun da ke da alaƙa da alamun gargaɗi.
Bayanin Tsaro
Bayanin da ke cikin wannan jagorar bai ƙunshi ƙira, shigarwa da aiki na cikakken aikace-aikacen mutum-mutumi ba, kuma baya haɗa da duk kayan aikin da zai iya shafar amincin cikakken tsarin. Zane da amfani da cikakken tsarin yana buƙatar bin ka'idodin aminci da aka kafa a cikin ƙa'idodi da ƙa'idodin ƙasar da aka shigar da robot.
Masu haɗin SCOUT da abokan ciniki na ƙarshe suna da alhakin tabbatar da bin ka'idoji da ƙa'idodi na ƙasashen da suka dace, da kuma tabbatar da cewa babu manyan haɗari a cikin cikakkiyar aikace-aikacen robot. Wannan ya haɗa amma bai iyakance ga masu zuwa ba:
Inganci da alhaki
- Yi ƙididdigar haɗari na cikakken tsarin robot. Haɗa ƙarin kayan aikin aminci na wasu injuna waɗanda kimanta haɗarin haɗari tare.
- Tabbatar da cewa ƙira da shigar da na'urorin keɓaɓɓen tsarin robot, gami da software da tsarin hardware, daidai suke.
- Wannan mutum-mutumi ba shi da cikakken mutum-mutumi na hannu, wanda ya haɗa da amma ba'a iyakance shi ga haɗarin haɗari ta atomatik ba, hana faɗuwa, gargaɗin tsarin halitta da sauran ayyukan aminci masu alaƙa. Ayyukan da ke da alaƙa suna buƙatar masu haɗawa da abokan ciniki na ƙarshe don bin ƙa'idodi masu dacewa da dokoki da ƙa'idodi masu yuwuwa don ƙimar aminci , Don tabbatar da cewa robot ɗin da aka haɓaka ba shi da wani babban haɗari da haɗari na aminci a cikin ainihin aikace-aikacen.
- Tattara duk takaddun da ke cikin fayil ɗin fasaha: gami da kimanta haɗari da wannan jagorar.
- Sanin yuwuwar haɗarin aminci kafin aiki da amfani da kayan aiki.
La'akarin Muhalli
- Don amfani na farko, da fatan za a karanta wannan littafin a hankali don fahimtar ainihin abun ciki na aiki da ƙayyadaddun aiki.
- Don aikin sarrafa nisa, zaɓi wuri mai buɗewa don amfani da SCOUT2.0, saboda SCOUT2.0 ba ta da kowane firikwensin gujewa cikas ta atomatik.
- Yi amfani da SCOUT2.0 koyaushe a ƙarƙashin -10 ℃ ~ 45 ℃ zafin yanayi.
- Idan ba'a saita SCOUT 2.0 tare da kariyar IP na al'ada ba, ruwanta da kariyarsa za su zama IP22 KAWAI.
Jerin abubuwan dubawa kafin aiki
- Tabbatar cewa kowace na'ura tana da isasshen ƙarfi.
- Tabbatar cewa Bunker bashi da lahani bayyananne.
- Bincika idan baturin mai sarrafa nesa yana da isasshen ƙarfi.
- Lokacin amfani, tabbatar da an saki na'urar tasha ta gaggawa.
Aiki
- A cikin aikin sarrafawa mai nisa, tabbatar da yankin da ke kusa yana da fa'ida.
- Gudanar da nesa a cikin kewayon gani.
- Matsakaicin nauyin SCOUT2.0 shine 50KG. Lokacin amfani, tabbatar da cewa nauyin da aka biya bai wuce 50KG ba.
- Lokacin shigar da tsawo na waje akan SCOUT2.0, tabbatar da matsayin tsakiyar taro kuma a tabbata yana tsakiyar juyawa.
- Da fatan za a yi caji cikin tine lokacin da na'urar ba ta da ƙarancin ƙararrawar baturi. Lokacin da SCOUT2..0 yana da lahani, da fatan za a daina amfani da shi nan da nan don guje wa lalacewa ta biyu.
- Lokacin da SCOUT2.0 ya sami lahani, da fatan za a tuntuɓi ƙwararrun fasaha don magance shi, kar ku ɗauki lahani da kanku. Yi amfani da SCOUT2.0 koyaushe a cikin mahalli tare da matakin kariya da ake buƙata don kayan aiki.
- Kar a tura SCOUT2.0 kai tsaye.
- Lokacin caji, tabbatar cewa yanayin zafin jiki ya wuce 0 ℃.
- Idan abin hawa ya girgiza yayin jujjuyawarta, daidaita dakatarwar.
Kulawa
- Bincika matsi na taya akai-akai, kuma kiyaye ƙarfin taya tsakanin 1.8bar ~ 2.0bar.
- Idan taya ya yi tsanani sosai ko kuma ya fashe, da fatan za a canza shi cikin lokaci.
- Idan baturin baya amfani da dogon lokaci, yana buƙatar cajin baturin lokaci-lokaci a cikin watanni 2 zuwa 3.
Gabatarwa
SC OUT 2.0 an tsara shi azaman UGV mai maƙasudi da yawa tare da yanayin aikace-aikacen daban-daban da aka yi la'akari da su: ƙirar zamani; haɗi mai sauƙi; tsarin mota mai ƙarfi mai iya ɗaukar nauyi mai yawa. Ƙarin abubuwan da aka haɗa kamar kyamarar sitiriyo, radar laser, GPS, IMU da manipulator na mutum-mutumi ana iya shigar da su bisa zaɓi na SCOUT 2.0 don ci gaba da kewayawa da aikace-aikacen hangen nesa na kwamfuta. Ana amfani da SCOUT 2.0 akai-akai don ilimin tuki da bincike mai cin gashin kansa, aikin sintiri na cikin gida da waje, fahimtar yanayi, kayan aiki na gaba ɗaya da sufuri, don suna kaɗan kawai.
Jerin sassan
| Suna | Yawan |
| SCOUT 2.0 Robot Jikin | X 1 |
| Caja baturi (AC 220V) | X 1 |
| Filogi na jirgin sama (namiji, 4-pin) | X 2 |
| Kebul na USB zuwa RS232 | X 1 |
| Mai watsawa mai nisa (na zaɓi) | X 1 |
| USB zuwa CAN sadarwa module | X1 |
Bayanan fasaha
Bukatu don ci gaba
Ana ba da mai watsa FS RC (na zaɓi) a cikin saitin masana'anta pf SCOUT 2.0, wanda ke ba masu amfani damar sarrafa chassis na robot don motsawa da juyawa; Ana iya amfani da musaya na CAN da RS232 akan SCOUT 2.0 don keɓance mai amfani.
Asali
Wannan sashe yana ba da taƙaitaccen gabatarwa ga dandalin mutum-mutumi na hannu na SCOUT 2.0, kamar yadda aka nuna a Hoto 2.1 da Hoto 2.2.
- Gaba View
- Tsaya Sauyawa
- Standard Profile Taimako
- Babban ɗakin
- Babban Kwamitin Lantarki
- Retardant- karo Tube
- Rear Panel
SCOUT2.0 yana ɗaukar ra'ayin ƙira na zamani da fasaha. Ƙirƙirar ƙirar taya mai ƙarfi da dakatarwa mai zaman kanta akan tsarin wutar lantarki, haɗe tare da injin DC mai ƙarfi mara ƙarfi, yana sa dandamalin haɓaka robot chassis na SCOUT2.0 yana da ƙarfin wucewa da ƙarfin daidaita ƙasa, kuma yana iya motsawa cikin sauƙi akan ƙasa daban-daban. An-ti-karo karon katako yana rage haɗarin haɗari a kusa da abin hawa. Fitillun duka suna hawa gaba da bayan abin hawa, wanda aka tsara farin hasken don haskakawa a gaba yayin da an tsara hasken ja a ƙarshen ƙarshen don faɗakarwa da nuni.
Ana shigar da maɓallan tasha na gaggawa a ɓangarorin robot ɗin don tabbatar da sauƙin shiga da dannawa ɗaya na iya kashe wutar robot ɗin nan da nan lokacin da robot ɗin ya yi rashin daidaituwa. Ana samar da masu haɗin ruwa masu hana ruwa don wutar lantarki da mu'amalar sadarwa na DC duka a sama da kuma bayan robot ɗin, waɗanda ba wai kawai ke ba da damar haɗi mai sassauƙa tsakanin mutum-mutumi da kayan aikin waje ba amma kuma yana tabbatar da kariya mai mahimmanci ga ciki na robot ko da a cikin yanayin aiki mai tsanani.
An tanada buɗaɗɗen ɗakin bayonet a saman don masu amfani.
Alamar matsayi
Masu amfani za su iya gano matsayin jikin abin hawa ta hanyar voltmeter, ƙararrawa da fitilun da aka ɗora akan SCOUT 2.0. Don cikakkun bayanai, da fatan za a duba Tebu 2.1.
| Matsayi | Bayani |
| Voltage | Batirin na yanzu voltage ana iya karantawa daga na'urar voltmeter akan mahaɗin lantarki na baya kuma tare da daidaiton 1V. |
|
Sauya baturi |
Lokacin da baturi voltage yana ƙasa da 22.5V, jikin abin hawa zai ba da ƙarar ƙarar ƙara azaman faɗakarwa. Lokacin da baturi voltage an gano shi ƙasa da 22V, SCOUT 2.0 zai yanke wutar lantarki da gaske zuwa kari na waje da tuƙi don hana baturi lalacewa. A wannan yanayin, chassis ba zai ba da damar sarrafa motsi ba kuma ya karɓi sarrafa umarni na waje. |
| Robot ya kunna | Ana kunna fitilun gaba da na baya. |
Tebur 2.1 Bayanin Matsayin Mota
Umarni akan musaya na lantarki
Babban haɗin wutar lantarki
SCOUT 2.0 yana ba da masu haɗin jirgin sama 4-pin guda uku da mai haɗin DB9 (RS232). Ana nuna matsayin babban mai haɗin jirgin sama a cikin hoto 2.3.
SCOUT 2.0 yana da fasahar fadada jirgin sama duka a sama da kuma a ƙarshen baya, kowannensu yana da tsarin samar da wutar lantarki da saitin sadarwa ta CAN. Ana iya amfani da waɗannan musaya don samar da wuta ga na'urori masu tsawo da kafa sadarwa. Ana nuna takamaiman ma'anar fil a cikin hoto 2.4.
Ya kamata a lura cewa, tsawaita wutar lantarki a nan ana sarrafa shi cikin gida, wanda ke nufin za a yanke wutar lantarki da ƙarfi da zarar ƙarfin baturi.tage ya faɗi ƙasa da ƙayyadaddun ƙayyadaddun ƙira voltage. Don haka, masu amfani suna buƙatar lura cewa dandalin SCOUT 2.0 zai aika ƙaramin voltage ƙararrawa kafin bakin kofa voltage yana isa kuma kula da cajin baturi yayin amfani.
| Fil A'a | Nau'in Pin | FuDnecfitino da kuma | Jawabi |
| 1 | Ƙarfi | VCC | Tabbatacce mai ƙarfi, voltage kewayon 23 - 29.2V, MAX .10A na yanzu |
| 2 | Ƙarfi | GND | Ƙarfi mara kyau |
| 3 | CAN | BA_H | CAN bas high |
| 4 | CAN | BA_L | CAN bas low |
Tabbatacce mai ƙarfi, voltage kewayon 23 - 29.2V, MAX. yanzu 10A
| Fil A'a | Ma'ana |
| 2 | Saukewa: RS232-RX |
| 3 | Saukewa: RS232-TX |
| 5 | GND |
Hoto 2.5 Hoton Hoton Finai na Q4
Rear lantarki dubawa
Ƙwararren haɓakawa a ƙarshen baya yana nunawa a cikin Hoto 2.6, inda Q1 shine maɓalli na maɓalli a matsayin babban wutar lantarki; Q2 shine wurin yin caji; Q3 shine tsarin samar da wutar lantarki na tsarin tafiyarwa; Q4 ne DB9 serial tashar jiragen ruwa; Q5 shine ƙaddamarwar haɓakawa don CAN da wutar lantarki na 24V; Q6 shine nunin batir voltage.
| Fil A'a | Nau'in Pin | FuDnecfitino da kuma | Jawabi |
| 1 | Ƙarfi | VCC | Tabbatacce mai ƙarfi, voltage kewayon 23 - 29.2V, matsakaicin 5A na yanzu |
| 2 | Ƙarfi | GND | Ƙarfi mara kyau |
| 3 | CAN | BA_H | CAN bas high |
| 4 | CAN | BA_L | CAN bas low |
Hoto 2.7 Bayanin Fil ɗin Motar Jirgin Sama na Gaba da na Baya
Umarnin kan ramut FS_i6_S umarnin ramut
FS RC watsawa na zaɓi ne na SCOUT2.0 don sarrafa robot da hannu. Mai watsawa yana zuwa tare da daidaitawar magudanar hannun hagu. Ma'anar da aikin da aka nuna a hoto 2.8. Ana bayyana aikin maɓalli kamar: SWA da SWD an kashe su na ɗan lokaci, kuma SWB shine maɓallin zaɓin yanayin sarrafawa, bugun kiran sama shine yanayin sarrafa umarni, bugun kira zuwa tsakiya shine yanayin sarrafawa; SWC shine maɓallin sarrafa haske; S1 shine maɓallin matsi, sarrafa SCOUT2.0 gaba da baya; Ikon S2 shine sarrafa juyawa, kuma WUTA shine maɓallin wuta, latsa ka riƙe lokaci guda don kunnawa.
Umarni akan buƙatun sarrafawa da motsi
Ana iya ma'anar tsarin daidaitawa da daidaitawa a jikin abin hawa kamar yadda aka nuna a cikin hoto 2.9 daidai da ISO 8855.
Kamar yadda aka nuna a Hoto 2.9, jikin abin hawa na SCOUT 2.0 yana cikin layi daya da axis X na tsarin daidaitawa da aka kafa. A cikin yanayin ramut, tura sandar ramut S1 gaba don matsawa cikin ingantacciyar hanyar X, tura S1 baya don matsawa cikin madaidaicin hanyar X. Lokacin da aka tura S1 zuwa matsakaicin ƙima, saurin motsi a cikin madaidaicin jagorar X shine matsakaicin, Lokacin da aka tura S1 zuwa mafi ƙanƙanta, saurin motsi a cikin mummunan shugabanci na jagoran X shine matsakaicin; Remot stick S2 yana sarrafa sitiyatin gaban ƙafafun motar, yana tura S2 zuwa hagu, motar kuma ta juya zuwa hagu, tana matsawa zuwa matsakaicin, kuma kusurwar sitiya ita ce mafi girma, S2 Push zuwa dama, motar za ta juya zuwa dama, kuma ta matsa zuwa iyakar, a wannan lokacin kusurwar madaidaiciya ita ce mafi girma. A cikin yanayin umarni na sarrafawa, ma'auni mai mahimmanci na saurin madaidaiciya yana nufin motsi a cikin kyakkyawan shugabanci na axis X, kuma mummunan darajar madaidaicin madaidaicin yana nufin motsi a cikin mummunan shugabanci na axis X; Mahimman ƙimar saurin angular yana nufin jikin mota yana motsawa daga ingantacciyar alkiblar X axis zuwa kyakkyawan shugabanci na axis Y.
Umarni akan kula da hasken wuta
Ana ɗora fitilu a gaba da bayan SCOUT 2.0, kuma yanayin sarrafa hasken wuta na SCOUT 2.0 yana buɗe wa masu amfani don dacewa.
A halin yanzu, an tanadar da wata hanyar sarrafa hasken wuta akan mai watsa RC don ceton makamashi.
A halin yanzu ana tallafawa sarrafa hasken wuta tare da mai watsawa na FS, kuma tallafi ga sauran masu watsawa har yanzu yana kan haɓakawa. Akwai nau'ikan yanayin hasken wuta guda 3 da ake sarrafa su tare da watsa RC, waɗanda za'a iya canzawa ta hanyar SWC. Bayanin sarrafa yanayi: lever na SWC yana a ƙasan yanayin da aka rufe kullum, tsakiya don yanayin buɗewa kullum, saman yanayin haske ne na numfashi.
- NC MODE: IN NC MODE, IDAN HAR YANZU CHASSIS YAKE, ZA'A KASHE HASKE NA GABA, KUMA HASKEN BAYA ZAI SHIGA BLUE DOMIN NUNA MATSAYIN AIKI NA YANZU; IDAN CHASSIS YANA CIKIN TAFIYA STATE A WASU SAURI NA AL'ADA, ZA'A KASHE HASKE NA BAYA AMMA HASKEN GABA ZA A KUNNA;
- BABU HAULI: BA KOWA BA, IDAN HAR YANZU CHASSIS KENAN, HASKE NA GABA ZAI YIWA KWANCIYAR KWANA, KUMA HASKEN BAYANI ZAI SHIGA HANYAR BL DOMIN NUNA MATSAYIN HAR YANZU; IDAN A HANYAR MOTSA, ANA KASHE HASKE NA BAYA AMMA HASKEN GABA YANA KUNNE;
- KYAUTA BL: GABA DA BAYA FUSKA DUKA SUKE A CIKIN HANKALI.
NOTE AKAN SAMUN SAUKI: TOGGLING SWC LEVER DARAJA YANA NUFIN NC MODE, BABU MODE DA BL MODE A KASA, TSAKI DA MANYAN MATSAYI.
Farawa
Wannan sashe yana gabatar da ainihin aiki da haɓaka dandamali na SCOUT 2.0 ta amfani da haɗin bas na CAN.
Amfani da aiki
Ana nuna ainihin tsarin aiki na farawa kamar haka:
Duba
- Duba yanayin SCOUT 2.0. Bincika ko akwai muhimman abubuwan da ba su dace ba; idan haka ne, da fatan za a tuntuɓi keɓaɓɓen sabis na siyarwa don tallafi;
- Bincika yanayin maɓallan dakatar da gaggawa. Tabbatar cewa duka maɓallan dakatarwar gaggawa an saki;
Farawa
- Juya maɓallin maɓallin (Q1 akan panel ɗin lantarki), kuma yawanci, voltmeter zai nuna madaidaicin ƙarfin baturitage da na gaba da na baya za a kunna su;
- Duba baturin voltage. Idan babu ci gaba da sautin “beep-beep-beep…” daga ƙara, yana nufin baturin voltage daidai ne; idan matakin ƙarfin baturi yayi ƙasa, da fatan za a yi cajin baturin;
- Latsa Q3 (maɓallin kunna wutar lantarki).
Tasha gaggawa
Danna maɓallin tura gaggawa a hagu da dama na jikin abin hawa SCOUT 2.0;
Asalin tsarin aiki na sarrafa ramut:
Bayan an fara chassis na SCOUT 2.0 robot hannu daidai, kunna mai watsawa RC kuma zaɓi yanayin nesa. Sannan, motsin dandamali na SCOUT 2.0 na iya sarrafa shi ta hanyar watsa RC.
Cajin
SCOUT 2.0 ANA SANYA DA CHARJAR 10A TA TSOKACI DOMIN SAMUN BUQATAR CUSTOMING.
Yin caji
- Tabbatar cewa an kashe wutar lantarki na SCOUT 2.0 chassis. Kafin yin caji, da fatan a tabbatar an kashe wutar lantarki a cikin ta'aziyyar kula da baya;
- Saka filogi na caja a cikin cajin Q6 akan sashin kula da baya;
- Haɗa caja zuwa wutar lantarki kuma kunna mai kunnawa a cikin caja. Sa'an nan, robot ya shiga yanayin caji.
Lura: A yanzu, baturin yana buƙatar kimanin sa'o'i 3 zuwa 5 don a cika shi gaba ɗaya daga 22V, da vol.tage na cikakken cajin baturi kusan 29.2V; Ana ƙididdige lokacin cajin azaman 30AH ÷ 10A = 3h.
Sauya baturi
SCOUT2.0 yana ɗaukar maganin batir mai cirewa don dacewar masu amfani. A wasu lokuta na musamman, ana iya maye gurbin baturin kai tsaye. Matakan aiki da zane-zane sune kamar haka (kafin aiki, tabbatar da cewa SCOUT2.0 yana da wuta):
- Bude babban kwamiti na SCOUT2.0, kuma cire haɗin haɗin wutar lantarki na XT60 guda biyu akan babban allon sarrafawa (masu haɗin haɗin biyu daidai suke) da mai haɗa baturi CAN;
Rataya SCOUT2.0 a tsakiyar iska, cire sukurori takwas daga ƙasa tare da maƙallan hex na ƙasa, sannan ja baturin waje; - Sauya baturin kuma gyara sukurun ƙasa.
- Toshe haɗin XT60 da wutar lantarki na CAN cikin babban allon sarrafawa, tabbatar da cewa duk layin haɗin suna daidai, sannan kunna wuta don gwadawa.
Sadarwa ta amfani da CAN
SCOUT 2.0 yana ba da musaya na CAN da RS232 don keɓance mai amfani. Masu amfani za su iya zaɓar ɗaya daga cikin waɗannan mu'amala don gudanar da sarrafa umarni akan jikin abin hawa.
CAN haɗin kebul
SCOUT2.0 yana isar da matosai guda biyu na jirgin sama kamar yadda aka nuna a hoto 3.2. Don ma'anar waya, da fatan za a koma Tebu 2.2.
Aiwatarwa na CAN umarni iko
Daidai fara chassis na SCOUT 2.0 robot hannu, kuma kunna watsa DJI RC. Sannan, canza zuwa yanayin sarrafa umarni, watau juya yanayin S1 na mai watsa DJI RC zuwa sama. A wannan gaba, SCOUT 2.0 chassis zai karɓi umarnin daga CAN interface, kuma mai watsa shiri kuma na iya yin la'akari da yanayin chassis na yanzu tare da bayanan ainihin lokacin da aka dawo daga bas ɗin CAN. Don cikakken abun ciki na yarjejeniya, da fatan za a koma zuwa ka'idar sadarwa ta CAN.
CAN saƙon yarjejeniya
Daidai fara chassis na SCOUT 2.0 robot hannu, kuma kunna watsa DJI RC. Sannan, canza zuwa yanayin sarrafa umarni, watau juya yanayin S1 na mai watsa DJI RC zuwa sama. A wannan gaba, SCOUT 2.0 chassis zai karɓi umarnin daga CAN interface, kuma mai watsa shiri kuma na iya yin la'akari da yanayin chassis na yanzu tare da bayanan ainihin lokacin da aka dawo daga bas ɗin CAN. Don cikakken abun ciki na yarjejeniya, da fatan za a koma zuwa ka'idar sadarwa ta CAN.
Tebur 3.1 Tsarin Ra'ayi na SCOUT 2.0 Matsayin Tsarin Chassis
| Umarnin mayar da martani na Sunan Tsarin Matsayi | ||||
| Aika kumburi | Karɓar kumburi
Gudanar da yanke shawara |
ID | Zagaye (ms) | Lokacin karɓa (ms) |
| Chassis ta hanyar waya
Tsawon bayanai Matsayi |
ku 0x08
Aiki |
0 x151
Nau'in bayanai |
20ms | Babu |
|
Bayani |
||||
|
byte [0] |
Halin halin yanzu na jikin abin hawa |
ba sa hannu int8 |
0x00 Tsarin a cikin yanayin al'ada 0x01 Yanayin tsayawa na gaggawa (ba a kunna ba)
0x02 keɓanta tsarin |
|
|
byte [1] |
Sarrafa yanayi |
ba sa hannu int8 |
0×00 Yanayin jiran aiki 0×01 CAN yanayin sarrafa umarni 0×02 Yanayin sarrafa tashar jiragen ruwa na Serial 0×03 Yanayin sarrafawa mai nisa |
|
| byte [2]
byte [3] |
Baturi voltage mafi girma 8 bit Baturi voltage kasa 8 bits | ba sa hannu int16 | Ainihin voltage × 10 (tare da daidaito na 0.1V) | |
| byte [4] | Ajiye | – | 0×00 | |
| byte [5] | Bayanin gazawa | ba sa hannu int8 | Koma zuwa Tebur 3.2 [Bayanin Rashin Ganewa] | |
| byte [6] | Ajiye | – | 0×00 | |
| byte [7] | Ƙidaya paritybit (ƙidaya) | ba sa hannu int8 | 0-255 kirga madaukai, waɗanda za a ƙara da zarar kowane umarni ya aika | |
Tebur 3.2 Bayanin Bayanin gazawa
| Byte | bit | Ma'ana |
|
byte [4] |
bit [0] | Batirin undervoltage laifi (0: Babu gazawa 1: gazawa) Kariya juzu'itagku 22v
(Sigar baturi tare da BMS, ikon kariya shine 10%) |
| bit [1] | Batirin undervoltage laifi[2] (0: Babu gazawa 1: gazawa) Ƙararrawa juzu'itagku 24v
(Sigar baturi tare da BMS, ikon faɗakarwa shine 15%) |
|
| bit [2] | Kariyar cire haɗin mai watsa RC (0: Na al'ada 1: Katse haɗin RC) | |
| bit [3] | Lamba 1 gazawar sadarwar mota (0: Babu gazawa 1: gazawa) | |
| bit [4] | Lamba 2 gazawar sadarwar mota (0: Babu gazawa 1: gazawa) | |
| bit [5] | Lamba 3 gazawar sadarwar mota (0: Babu gazawa 1: gazawa) | |
| bit [6] | Lamba 4 gazawar sadarwar mota (0: Babu gazawa 1: gazawa) | |
| bit [7] | Ajiye, tsoho 0 |
Lura[1]: Robot chassis firmware version V1.2.8 yana samun goyan bayan juzu'i na gaba, kuma sigar da ta gabata tana buƙatar haɓaka firmware don tallafawa.
Lura[2]: Buzzer zai yi sauti lokacin da baturi ya kasance ƙarƙashin-voltage, amma sarrafa chassis ba za a yi tasiri ba, kuma za a yanke fitarwar wutar lantarki bayan ƙarar-vol.tage laifi
Umurnin firam ɗin sarrafa motsi ya haɗa da martanin saurin mizani na yanzu da saurin kusurwar jikin abin hawa mai motsi. Don cikakken abun ciki na yarjejeniya, da fatan za a koma Tebu 3.3.
Tebur 3.3 Tsarin Sauraron Ra'ayin Motsi
| Umurnin mayar da martani na Motsi Sunan Umurni | ||||
| Aika kumburi | Karɓar kumburi | ID | Zagaye (ms) | Lokacin karɓa (ms) |
| Chassis ta hanyar waya | Naúrar sarrafa yanke shawara | 0 x221 | 20ms | Babu |
| Tsawon kwanan wata | 0×08 | |||
| Matsayi | Aiki | Nau'in bayanai | Bayani | |
| byte [0]
byte [1] |
Matsar da sauri sama da 8 bits
Gudun motsi ƙasa da raƙuman ruwa 8 |
sanya hannu int16 | Ainihin gudun × 1000 (tare da daidaito na 0.001rad) | |
| byte [2]
byte [3] |
Saurin jujjuyawa ya fi 8 ragi
Saurin jujjuyawa ƙasa da rago 8 |
sanya hannu int16 | Ainihin gudun × 1000 (tare da daidaito na 0.001rad) | |
| byte [4] | Ajiye | – | 0 x00 | |
| byte [5] | Ajiye | – | 0 x00 | |
| byte [6] | Ajiye | – | 0 x00 | |
| byte [7] | Ajiye | – | 0 x00 | |
Firam ɗin sarrafawa ya haɗa da buɗewar sarrafawa na saurin layi da kuma sarrafa buɗewar saurin kusurwa. Don cikakken abun ciki na yarjejeniya, da fatan za a koma Tebu 3.4.
Bayanin matsayi na chassis zai zama martani, kuma menene ƙari, an haɗa bayanin game da motsi na yanzu, mai ɓoyewa da zafin jiki. Firam ɗin martani mai zuwa ya ƙunshi bayanin game da motsi na yanzu, mai ɓoyewa da zafin motsi.
Lambobin motoci na injina 4 a cikin chassis ana nuna su a cikin hoton da ke ƙasa:
| Sunan Umurnin Motar Direban Babban Gudun Bayanin Fassara | ||||
| Aika kumburi | Karɓar kumburi | ID | Zagaye (ms) | Lokacin karɓa (ms) |
| Chassis ta hanyar waya
Matsayin tsayin kwanan wata |
Naúrar sarrafa yanke shawara 0×08
Aiki |
0x251~0x254
Nau'in bayanai |
20ms | Babu |
|
Bayani |
||||
| byte [0]
byte [1] |
Gudun mota ya fi 8 bits
Gudun mota ƙasa da 8 bits |
sanya hannu int16 | Gudun motsin abin hawa, naúrar mm/s (ƙimar inganci + -1500) | |
| byte [2]
byte [3] |
Motar halin yanzu mafi girma 8 bits
Motar halin yanzu ƙananan 8 bits |
sanya hannu int16 |
Nau'in Mota na yanzu 0.1A |
|
| byte [4] byte [5] byte [6]
byte [7] |
Matsayi mafi girman ragi Matsayi na biyu mafi girma mafi girma Matsayi na biyu-mafi ƙasƙanci
Matsayi mafi ƙasƙanci rago |
sanya hannu int32 |
Matsayi na yanzu na sashin motar: bugun jini |
|
Tebur 3.8 Motar zafin jiki, voltage da bayanin matsayi
| Sunan Umurnin Motar Tuba Ƙarƙashin Bayanan Bayanin Fassara | ||||
| Aika kumburi
Tsawon kwanan wata na tuƙi-by-waya chassis |
Karɓar kumburin yanki na yanke shawara
0×08 |
ID 0x261~0x264 | Zagaye (ms) | Lokacin karɓa (ms) |
| 20ms | Babu | |||
| Matsayi | Aiki | Nau'in bayanai | Bayani | |
| byte [0]
byte [1] |
Tuki voltage fiye 8 bits
Tuki voltage kasa 8 bits |
ba sa hannu int16 | Vol. na yanzutage naúrar tuƙi 0.1V | |
| byte [2]
byte [3] |
Fitar da zafin jiki sama da 8 bit
Fitar da zafin jiki ƙasa da 8 bit |
sanya hannu int16 | Naúrar 1°C | |
| byte [4]
byte [5] |
Motar zafin jiki | sanya hannu int8 | Naúrar 1°C | |
| Matsayin tuƙi | ba sa hannu int8 | Duba cikakkun bayanai a cikin [Halin sarrafa Drive] | ||
| byte [6]
byte [7] |
Ajiye | – | 0 x00 | |
| Ajiye | – | 0 x00 | ||
Serial Communication Protocol
Umarnin serial yarjejeniya
Ma'auni ne don sadarwa ta hanyar haɗin gwiwa ta Ƙungiyar Masana'antu ta Lantarki (EIA) ta Amurka a cikin 1970 tare da Bell Systems, masana'antun modem da masu kera tashoshi na kwamfuta. Sunan sa shine "Ma'aunin Fasaha don Mu'amalar Sadarwar Bayanai ta Serial Binary Tsakanin Kayan Tashar Bayanai (DTE) da Kayan Sadarwar Bayanai (DCE)". Ma'auni ya nuna cewa ana amfani da haɗin DB-25 mai 25-pin don kowane mai haɗawa. Abubuwan da ke cikin siginar kowane fil an ƙayyadadden ƙayyadaddun su, kuma an ƙayyade matakan sigina daban-daban. Daga baya, PC ɗin IBM ya sauƙaƙa RS232 zuwa mai haɗin DB-9, wanda ya zama ma'auni mai amfani. Tashar RS-232 na sarrafa masana'antu gabaɗaya tana amfani da layukan RXD, TXD, da GND guda uku kawai.
Serial Connection
Yi amfani da kebul na USB zuwa RS232 a cikin kayan sadarwar mu don haɗawa da tashar tashar jiragen ruwa a bayan motar, yi amfani da kayan aikin serial don saita ƙimar baud daidai, kuma amfani da s.ample bayanan da aka bayar a sama don gwadawa. Idan an kunna ramut ɗin, ya zama dole a canza ramut zuwa yanayin sarrafa umarni. Idan ba'a kunna ramut ɗin ba, kawai aika umarnin sarrafawa kai tsaye. Ya kamata a lura cewa dole ne a aika umarnin lokaci-lokaci. Idan chassis ɗin ya wuce 500MS kuma ba a karɓi umarnin tashar tashar jiragen ruwa ba, zai shigar da asarar kariya ta haɗi. matsayi.
Serial Protocol Content
Sigar Sadarwa ta asali
| Abu | Siga |
| Baud Rate | 115200 |
| Daidaituwa | Babu gwaji |
| Tsawon bit Data | 8 bits |
| Dakatar kadan | 1 bit |
Umarnin yarjejeniya
| Fara kadan | Tsawon firam | Nau'in umarni | ID na umarni | Filin bayanai | ID Frame | Checksum abun da ke ciki |
|||
| SOF | firam_L | CMD_TYPE | CMD_ID | data | … | data[n] | firam_id | check_sum | |
| baiti 1 | baiti 2 | baiti 3 | baiti 4 | baiti 5 | baiti 6 | … | baiti 6+n | baiti 7+n | baiti 8+n |
| 5A | A5 | ||||||||
Ƙa'idar ta haɗa da farkon bit, tsayin firam, nau'in umarnin firam, ID na umarni, kewayon bayanai, ID ɗin firam, da checksum. Tsawon firam yana nufin tsayin ban da fara bit da checksum. Ƙididdiga ta ƙididdiga ita ce jimlar duk bayanai daga farkon bit zuwa ID ɗin firam; bit ɗin ID ɗin firam ɗin yana daga madaukai masu ƙidayar 0 zuwa 255, waɗanda za a ƙara da zarar an aika kowane umarni.
Abubuwan da ke cikin yarjejeniya
| Tsarin Bayanin Matsayin Sunan Umurni | ||||
| Aika node Steer-by-waya chassis Tsawon Frame na nau'in Dokokin ID na tsawon lokaci
Matsayi |
Karɓar kumburin yanki na yanke shawara
0×0C ku |
Zagayowar (ms) Lokacin karɓa (ms) | ||
| 100ms | Babu | |||
|
Nau'in bayanai |
Bayani |
|||
| Umarnin mayar da martani(0×AA)
0×01 |
||||
| 8
Aiki |
||||
|
byte [0] |
Halin halin yanzu na jikin abin hawa |
ba sa hannu int8 |
0 × 00 Tsarin a cikin yanayin al'ada 0 × 01 Yanayin tasha na gaggawa (ba a kunna ba) 0 × 02 Bangaren tsarin
0×00 Yanayin jiran aiki |
|
| byte [1] | Sarrafa yanayi | ba sa hannu int8 | 0 × 01 CAN Yanayin sarrafa umarni 0 × 02 Yanayin sarrafa Serial[1] 0 × 03 Yanayin sarrafawa mai nisa | |
| byte [2]
byte [3] |
Baturi voltage fiye 8 bits
Baturi voltage kasa 8 bits |
ba sa hannu int16 | Ainihin voltage × 10 (tare da daidaito na 0.1V) | |
| byte [4] | Ajiye | — | 0×00 | |
| byte [5] | Bayanin gazawa | ba sa hannu int8 | Koma zuwa [Bayanin Rashin Ganewa] | |
| byte [6]
byte [7] |
Ajiye
Ajiye |
—
— |
0×00 | |
| 0×00 | ||||
Umarnin Sauraron Sauraron Motsi
| Umurnin mayar da martani na Motsi Sunan Umurni | ||||
| Aika kumburi | Karɓar kumburi | Zagaye (ms) | Lokacin karɓa (ms) | |
| Tuƙi-by-waya chassis Tsawon Frame nau'in Umurnin ID
Tsawon bayanai |
Naúrar sarrafa yanke shawara
0×0C ku |
20ms | Babu | |
| Umarnin mayar da martani (0×AA)
0×02 |
||||
| 8 | ||||
| Matsayi | Aiki | Nau'in bayanai | Bayani | |
| byte [0]
byte [1] |
Matsar da sauri sama da 8 bits
Gudun motsi ƙasa da raƙuman ruwa 8 |
sanya hannu int16 | Ainihin gudun × 1000 (tare da daidaiton
0.001 raka'a) |
|
| byte [2]
byte [3] |
Saurin jujjuyawa ya fi 8 ragi
Saurin jujjuyawa ƙasa da rago 8 |
sanya hannu int16 | Ainihin gudun × 1000 (tare da daidaiton
0.001 raka'a) |
|
| byte [4] | Ajiye | – | 0×00 | |
| byte [5] | Ajiye | – | 0×00 | |
| byte [6] | Ajiye | – | 0×00 | |
| byte [7] | Ajiye | – | 0×00 | |
Umurnin Kula da Motsi
| Umurnin Sarrafa Sunan Umurni | ||||
| Aika kumburi | Karɓar kumburi | Zagaye (ms) | Lokacin karɓa (ms) | |
| Nau'in sarrafa yanke shawara Tsawon Tsawon tsari na nau'in umarni ID
Tsawon bayanai |
Kullin chassis
0×0A |
20ms | 500ms | |
| Umurnin sarrafawa (0×55)
0×01 |
||||
| 6 | ||||
| Matsayi | Aiki | Nau'in bayanai | Bayani | |
| byte [0]
byte [1] |
Gudun motsi ya fi girma 8 bits
Gudun motsi ƙasa da raƙuman ruwa 8 |
sanya hannu int16 | Gudun motsin abin hawa, naúrar: mm/s | |
| byte [2]
byte [3] |
Saurin jujjuyawa ya fi 8 ragi
Saurin jujjuyawa ƙasa da rago 8 |
sanya hannu int16 | Gudun jujjuyawar anguwar mota, naúrar: 0.001rad/s | |
| byte [4] | Ajiye | – | 0 x00 | |
| byte [5] | Ajiye | – | 0 x00 | |
Firam ɗin Kula da Haske
| Sunan Umurni Tsarin Hasken Haske | ||||
| Aika kumburi | Karɓar kumburi | Zagaye (ms) | Lokacin karɓa (ms) | |
| Nau'in sarrafa yanke shawara Tsawon Tsawon tsari na nau'in umarni ID
Tsawon bayanai |
Kullin chassis
0×0A |
20ms | 500ms | |
| Umurnin sarrafawa (0×55)
0×04 |
||||
| 6
Aiki |
||||
| Matsayi | Nau'in kwanan wata | Bayani | ||
| byte [0] | Ikon haske yana kunna tuta | ba sa hannu int8 | Umarnin sarrafawa 0x00 ba shi da inganci
0x01 ikon sarrafa hasken wuta |
|
|
byte [1] |
Yanayin haske na gaba |
ba sa hannu int8 | 0x002xB010 NmOC de
0x03 Mai amfani-bayyanar da haske |
|
| byte [2] | Hasken al'ada na hasken gaba | ba sa hannu int8 | [01, 0100r] e, fwerhsetroem0 arexfiemrsumto bnroigbhrtignhetsns[e5s], | |
| byte [3] | Yanayin hasken baya | ba sa hannu int8 | 0x002xB010 mNOC de
0x03 Mai amfani-bayyanar da haske [0, r, 0 refxers don nbo haske, |
|
| byte [4] | Keɓance haske don hasken baya | ba sa hannu int8 | Kimanin 100 ne kawai ake buƙata | |
| byte [5] | Ajiye | — | 0 x00 | |
Firmware haɓakawa
Domin sauƙaƙe masu amfani don haɓaka sigar firmware da SCOUT 2.0 ke amfani da ita da kuma kawo wa abokan ciniki cikakkiyar ƙwarewa, SCOUT 2.0 yana ba da haɓaka kayan aikin firmware da software na abokin ciniki daidai. Hoton hoton wannan aikace-aikacen
Haɓaka shiri
- SERIAL CABLE × 1
- Kebul-ZO-SERIAL PORT × 1
- SCOUT 2.0 CHASSIS × 1
- KWAMFUTA (TSARIN AIKI DA WINDOWS) × 1
Firmware haɓaka software
https://github.com/agilexrobotics/agilex_firmware
Hanyar haɓakawa
- Kafin haɗawa, tabbatar da an kunna chassis na robot; Haɗa kebul ɗin serial zuwa tashar tashar jiragen ruwa a ƙarshen ƙarshen SCOUT 2.0 chassis;
- Haɗa kebul na serial zuwa kwamfuta;
- Bude software na abokin ciniki;
- Zaɓi lambar tashar jiragen ruwa;
- Ƙarfin SCOUT 2.0 chassis, kuma nan da nan danna don fara haɗi (SCOUT 2.0 chassis zai jira 3s kafin kunnawa; idan lokacin jira ya wuce 3s, zai shigar da aikace-aikacen); idan haɗin ya yi nasara, "haɗin nasara" za a sa a cikin akwatin rubutu;
- Load Bin fayil;
- Danna maɓallin Haɓakawa, kuma jira saurin haɓaka haɓakawa;
- Cire haɗin kebul na serial, kashe chassis, sa'annan a kashe wutar kuma a sake kunnawa.
SCOUT 2.0 SDK
Domin taimaka wa masu amfani aiwatar da ci gaban da ke da alaƙa da mutum-mutumi cikin dacewa, an ɓullo da SDK mai goyan bayan giciye don SCOUT 2.0 robot ta hannu. Kunshin software na SDK yana ba da tsarin tushen C ++, wanda ake amfani dashi don sadarwa tare da chassis na SCOUT 2.0 robot hannu kuma yana iya samun sabon matsayi na robot da sarrafa ainihin ayyukan robot. A halin yanzu, CAN daidaitawa zuwa sadarwa yana samuwa, amma RS232 na daidaitawa yana ci gaba da tafiya. Bisa ga wannan, an kammala gwaje-gwaje masu dangantaka a cikin NVIDIA JETSON TX2.
Kunshin SCOUT2.0 ROS
ROS yana ba da wasu daidaitattun sabis na tsarin aiki, kamar ƙayyadaddun kayan aiki, sarrafa ƙananan na'ura, aiwatar da aikin gama gari, saƙon tsaka-tsaki da sarrafa fakitin bayanai. ROS ya dogara ne akan tsarin gine-gine, ta yadda tsarin nodes zai iya karba, da kuma tara bayanai daban-daban (kamar ji, sarrafawa, matsayi, tsarawa, da dai sauransu) A halin yanzu ROS yana tallafawa UBUNTU.
Shirye-shiryen Ci Gaba
Shirye-shiryen Hardware
- CANlight iya sadarwa module ×1
- Thinkpad E470 littafin rubutu ×1
- AGILEX SCOUT 2.0 robot chassis × 1
- AGILEX SCOUT 2.0 ramut FS-i6s ×1
- AGILEX SCOUT 2.0 saman soket ɗin wutar jirgin sama ×1
Yi amfani da tsohonample bayanin muhalli
- Ubuntu 16.04 LTS (Wannan sigar gwaji ce, wacce aka ɗanɗana akan Ubuntu 18.04 LTS)
- ROS Kinetic (ana kuma gwada nau'ikan na gaba)
- Git
Haɗin hardware da shirye-shirye
- Fitar da wayar CAN na SCOUT 2.0 saman filogin jirgin sama ko filogin wutsiya, sannan ku haɗa CAN_H da CAN_L a cikin wayar CAN zuwa adaftar CAN_TO_USB bi da bi;
- Kunna maɓallin maɓalli a kan SCOUT 2.0 robot chassis na hannu, kuma duba ko an saki tasha ta gaggawa a bangarorin biyu;
- Haɗa CAN_TO_USB zuwa wurin kebul na littafin rubutu. Ana nuna hoton haɗin gwiwa a cikin hoto 3.4.
ROS shigarwa da saitin yanayi
Don cikakkun bayanan shigarwa, da fatan za a duba http://wiki.ros.org/kinetic/Installation/Ubuntu
Gwada CANABLE hardware da CAN sadarwa
Saita adaftar CAN-TO-USB
- Kunna gs_usb kernel module
$ sudo modprobe gs_usb - Saita ƙimar Baud 500k da kunna adaftar can-to-usb
$ sudo ip link kafa can0 nau'in nau'in nau'in nau'in nau'in nau'in nau'in nau'i na iya bitrate 500000 - Idan babu kuskure a cikin matakan da suka gabata, yakamata ku iya amfani da umarnin zuwa view na'urar gwangwani nan da nan
$ idan-a - Shigar da amfani da kayan aiki don gwada kayan aiki
$ sudo dace shigar can-utils - Idan an haɗa can-to-usb zuwa robot SCOUT 2.0 wannan lokacin, kuma motar ta kunna, yi amfani da waɗannan umarni don saka idanu akan bayanan SCOUT 2.0 chassis.
$ candump can0 - Da fatan za a koma zuwa:
AGILEX SCOUT 2.0 ROS PACKAGE zazzagewa da tattarawa
- Zazzage fakitin ros
$ sudo dace shigar ros-$ROS_DISTRO-mai sarrafa-mai sarrafa
$ sudo dace shigar ros-$ROS_DISTRO-teleop-twist-keyboard$ sudo dace shigar ros-$ROS_DISTRO-joint-state-publisher-gui$ sudo dace shigar libasio-dev - Clone tattara lambar Scout_ros
$ cd ~/catkin_ws/src
$ git clone https://github.com/agilexrobotics/scout_ros.git$ git clone https://github.com/agilexrobotics/agx_sdk.git
$ cd scout_ros && git checkout scout_v2
$ cd ../agx_sdk && git checkout scout_v2
$ cd ~/catkin_ws
$ catkin_make
Da fatan za a koma zuwa:https://github.com/agilexrobotics/scout_ros
Matakan kariya
Wannan sashe ya ƙunshi wasu tsare-tsare waɗanda yakamata a kula dasu don amfani da haɓaka SCOUT 2.0.
Baturi
- Baturin da aka kawo tare da SCOUT 2.0 ba a cika caja a saitin masana'anta ba, amma takamaiman ƙarfin ƙarfinsa ana iya nuna shi akan voltmeter a ƙarshen ƙarshen SCOUT 2.0 chassis ko karanta ta hanyar sadarwar bas ta CAN. Ana iya dakatar da cajin baturi lokacin da koren LED akan cajar ya juya kore. Lura cewa idan kun haɗa caja bayan koren LED ya kunna, caja zai ci gaba da cajin baturin tare da kusan 0.1A halin yanzu na kusan mintuna 30 don samun cikakken cajin baturin.
- Don Allah kar a yi cajin baturin bayan ƙarfinsa ya ƙare, kuma da fatan za a yi cajin baturin a lokacin da ƙaramar matakin baturi ke kunne;
- Yanayin ajiya a tsaye: Mafi kyawun zafin jiki don ajiyar baturi shine -10 ℃ zuwa 45 ℃; Idan akwai ajiya don babu amfani, baturi dole ne a sake caji kuma a fitar da shi sau ɗaya kusan kowane watanni 2, sannan a adana shi cikin cikakken vol.tage state. Don Allah kar a sanya baturin a wuta ko zafi baturin, kuma don Allah kar a adana baturin a yanayin zafi mai zafi;
- Cajin: Dole ne a yi cajin baturin tare da keɓaɓɓen cajar baturin lithium; Ba za a iya cajin batirin lithium-ion ƙasa da 0°C (32°F) ba kuma an hana gyaggyarawa ko musanya ainihin batura.
Yanayin aiki
- Yanayin aiki na SCOUT 2.0 shine -10 ℃ zuwa 45 ℃; don Allah kar a yi amfani da shi a ƙasa -10 ℃ da sama da 45 ℃;
- Abubuwan buƙatun don yanayin zafi a cikin yanayin amfani na SCOUT 2.0 sune: matsakaicin 80%, mafi ƙarancin 30%;
- Don Allah kar a yi amfani da shi a cikin mahalli tare da iskar iskar gas mai lalacewa ko kuma a rufe ga abubuwa masu ƙonewa;
- Kar a sanya shi kusa da na'urori masu dumama ko abubuwan dumama kamar manyan juzu'i na nadi, da sauransu;
- Sai dai sigar musamman na musamman (ajin kariyar IP na musamman), SCOUT 2.0 ba ta da ruwa, don haka kar a yi amfani da shi a cikin ruwan sama, dusar ƙanƙara ko taruwar ruwa;
- Girman yanayin amfani da aka ba da shawarar kada ya wuce mita 1,000;
- Bambancin zafin jiki tsakanin dare da rana na yanayin amfani da aka ba da shawarar kada ya wuce 25 ℃;
- Yi duba kullun taya, kuma tabbatar yana tsakanin mashaya 1.8 zuwa mashaya 2.0.
- Idan kowace taya ta mutu da gaske ko ta bushe, da fatan za a maye gurbin ta cikin lokaci.
Wutar lantarki/tsawo
- Don tsawaita wutar lantarki a saman, na yanzu bai kamata ya wuce 6.25A ba kuma jimlar ƙarfin kada ta wuce 150W;
- Don tsawaita wutar lantarki a ƙarshen baya, na yanzu bai kamata ya wuce 5A ba kuma jimlar ƙarfin kada ta wuce 120W;
- Lokacin da tsarin ya gano cewa baturin voltage yana ƙasa da amintaccen voltage ajin, za a kunna haɓaka samar da wutar lantarki na waje da gaske zuwa. Don haka, ana ba da shawarar masu amfani su lura idan kari na waje ya ƙunshi ajiyar mahimman bayanai kuma basu da kariyar kashe wuta.
Ƙarin shawarwarin aminci
- Idan akwai shakku yayin amfani, da fatan za a bi jagorar koyarwa mai alaƙa ko tuntuɓi ma'aikatan fasaha masu alaƙa;
- Kafin amfani, kula da yanayin filin, kuma kauce wa rashin aiki wanda zai haifar da matsalar lafiyar ma'aikata;
- Idan akwai gaggawa, danna maɓallin dakatar da gaggawa kuma kashe kayan aiki;
- Ba tare da goyan bayan fasaha da izini ba, don Allah kar a gyara tsarin kayan aiki na ciki da kanka.
Sauran bayanin kula
- SCOUT 2.0 yana da sassan filastik a gaba da baya, don Allah kar a buga waɗancan sassan da ƙarfi kai tsaye don guje wa yuwuwar lalacewa;
- Lokacin sarrafawa da saitawa, don Allah kar a faɗi ko sanya abin hawa a kife;
- Ga waɗanda ba ƙwararru ba, don Allah kar a harhada abin hawa ba tare da izini ba.
Tambaya&A
- Tambaya: An fara SCOUT 2.0 daidai, amma me yasa mai watsa RC ba zai iya sarrafa jikin abin hawa don motsawa ba?
A: Na farko, duba ko wutar lantarki ta kasance a cikin yanayin al'ada, ko an danna maɓallin wutar lantarki da kuma ko an saki maɓallan E-Stop; sannan, duba ko yanayin sarrafawa da aka zaɓa tare da maɓallin zaɓin zaɓi na saman hagu akan mai watsa RC daidai ne. - Tambaya: SCOUT 2.0 ramut yana cikin yanayin al'ada, kuma ana iya karɓar bayanin game da matsayin chassis da motsi daidai, amma lokacin da aka ba da ka'idar firam ɗin sarrafawa, me yasa ba za a iya canza yanayin sarrafa jikin abin hawa ba kuma chassis ɗin ya ba da amsa ga ka'idar firam ɗin sarrafawa?
A: A al'ada, idan SCOUT 2.0 za a iya sarrafa shi ta hanyar RC transmitter, yana nufin motsi na chassis yana ƙarƙashin kulawa mai kyau; idan za a iya karɓar firam ɗin ra'ayi na chassis, yana nufin CAN tsawaita hanyar haɗin gwiwa yana cikin yanayin al'ada. Da fatan za a duba firam ɗin sarrafawa na CAN da aka aiko don ganin ko binciken bayanan daidai ne kuma ko yanayin sarrafawa yana cikin yanayin sarrafa umarni. Kuna iya duba matsayin tuta na kuskure daga kuskuren bit a cikin firam ɗin martanin halin chassis. - Tambaya: SCOUT 2.0 yana ba da sautin "beep-beep-beep..." a cikin aiki, ta yaya za a magance wannan matsala?
A: Idan SCOUT 2.0 yana ba da wannan "beep-beep-beep" sautin ci gaba, yana nufin baturin yana cikin ƙararrawa.tage state. Da fatan za a yi cajin baturin cikin lokaci. Da zarar wasu sauti masu alaƙa sun faru, ana iya samun kurakurai na ciki. Kuna iya bincika lambobin kuskure masu alaƙa ta hanyar bas ɗin CAN ko sadarwa tare da ma'aikatan fasaha masu alaƙa. - Tambaya: Shin ana ganin kullun taya na SCOUT 2.0 a koyaushe yana aiki?
A: Rigar taya ta SCOUT 2.0 ana ganin kullun lokacin tana gudana. Kamar yadda SCOUT 2.0 ya dogara akan ƙirar tuƙi mai ƙafafu huɗu daban-daban, juzu'in zamewa da juzu'i duka suna faruwa lokacin da abin hawa ke juyawa. Idan bene ba santsi ba amma m, saman taya zai ƙare. Don ragewa ko rage lalacewa, ana iya juyar da ƙaramin kusurwa don ƙarancin kunna pivot. - Tambaya: Lokacin da aka aiwatar da sadarwa ta hanyar bas ɗin CAN, ana ba da umarnin amsa chassis daidai, amma me yasa motar ba ta amsa umarnin sarrafawa?
A: Akwai hanyar kariya ta sadarwa a cikin SCOUT 2.0, wanda ke nufin ana samar da chassis tare da kariya ta lokacin aiki lokacin sarrafa umarnin sarrafa CAN na waje. A ce abin hawa ya karɓi firam guda ɗaya na ƙa'idar sadarwa, amma ba ta karɓar umarnin sarrafawa na gaba bayan 500ms. A wannan yanayin, zai shiga yanayin kariyar sadarwa kuma ya saita saurin zuwa 0. Don haka, umarni daga kwamfutar babba dole ne a ba da shi lokaci-lokaci.
Girman samfur
Hoton hoto na girman samfurin waje
Hoton hoto na babban mizani na goyan baya
Mai rabawa na hukuma
service@generationrobots.com
+ 49 30 30 01 14 533
www.generationrobots.com
Takardu / Albarkatu
 |
Agilex Robotics SCOUT 2.0 AgileX Robotics Team [pdf] Manual mai amfani SCOUT 2.0 AgileX Robotics Team, SCOUT 2.0, AgileX Robotics Team, Robotics Team |
