Hunter AgileX Robotics Team
“
Bayanin samfur
Ƙayyadaddun bayanai
- Sunan samfur: BUNKER PRO AgileX Robotics Team
- Shafin Mai Amfani: V.2.0.1
- Sigar fayil: 2023.09
- Matsakaicin nauyi: 120KG
- Zazzabi Aiki: -20°C zuwa 60°C
- Matakan Kariyar IP: IP66 (idan ba a keɓance shi ba)
Umarnin Amfani da samfur
Bayanin Tsaro
Kafin amfani da mutum-mutumi, tabbatar da karantawa da fahimtar duk aminci
bayanin da aka bayar a cikin littafin. Yi haɗarin kima na
cikakken tsarin mutum-mutumi da kuma haɗa kayan aikin aminci masu mahimmanci.
Ku sani cewa mutum-mutumi ba shi da cikakken tsaro mai zaman kansa
ayyuka.
Muhalli
Karanta littafin a hankali kafin amfani na farko don fahimta
ayyuka na asali da ƙayyadaddun bayanai. Zaɓi wurin buɗe don nesa
sarrafawa kamar yadda abin hawa ya rasa na'urori masu gujewa cikas ta atomatik.
Yi aiki a yanayin zafi tsakanin -20 ° C zuwa 60 ° C.
Duba
Kafin aiki, tabbatar da cajin duk kayan aiki kuma suna da kyau
yanayi. Bincika ga rashin daidaituwa a cikin abin hawa da nesa
sarrafa baturi. Saki canjin tasha gaggawa kafin amfani.
Aiki
Yi aiki a wuraren buɗewa tsakanin layin gani. Kada ku wuce na
iyakar nauyin nauyi na 120KG. Tabbatar cewa tsakiyar taro yana a
tsakiyar juyawa lokacin shigar da kari. Cajin kayan aiki
lokacin voltage ya faɗi ƙasa da 48V kuma dakatar da amfani nan da nan idan
ana gano rashin daidaituwa.
FAQ
Tambaya: Menene zan yi idan na haɗu da rashin daidaituwa yayin amfani
da BUNKER PRO?
A: Dakatar da amfani da kayan aiki nan da nan don kauce wa na biyu
lalacewa. Tuntuɓi ma'aikatan fasaha masu dacewa don taimako.
Tambaya: Shin BUNKER PRO na iya guje wa cikas ta atomatik?
A: A'a, motar kanta ba ta da cikas ta atomatik
gujewa na'urori masu auna sigina. Yi aiki a cikin ƙananan buɗaɗɗen wurare don nesa
sarrafawa.
"'
BUNKER
PRO
Mai amfani
Manual
BUNKER
PRO AgileX Robotics Team User
Manual V.2.0.1
2023.09
Takardu
sigar
No. Sigar
Kwanan wata
Edita ta
Reviewer
Bayanan kula
1
V1.0.0/2023/3
daftarin farko
2
V2.0.0/2023/09
Ƙara hoto mai nunawa Gyara yadda ake amfani da fakitin ROS
Binciken daftarin aiki
1/35
3
V2.0.1/2023/09
Lissafin sigar mota mai aiki tare Ƙara tebur 3.2 Bayanin kuskure
tebur bayanin
Wannan babin ya ƙunshi mahimman bayanai na aminci, kafin a kunna robot ɗin 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 kuma 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.
Muhimmanci
Tsaro
Bayani
Bayanin da ke cikin wannan jagorar bai ƙunshi ƙira, shigarwa da aiki na cikakken aikace-aikacen mutum-mutumi ba, kuma baya haɗa da duk abubuwan da ke iya shafar amincin wannan 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 haɗawa da abokan ciniki na ƙarshe na BUNKERPRO suna da alhakin tabbatar da bin ka'idodin da suka dace da dokoki da ka'idoji masu amfani, da kuma tabbatar da cewa babu manyan haɗari a cikin cikakken aikace-aikacen robot. Wannan ya haɗa amma bai iyakance ga masu zuwa ba:
Tasiri
kuma
alhakin
Yi ƙididdigar haɗari na cikakken tsarin robot. Haɗa ƙarin kayan aikin aminci na wasu injuna waɗanda kimanta haɗarin haɗari suka ayyana
together. Confirm that the design and installation of the entire robot system’s peripherals, including
software da tsarin hardware, daidai ne.
2/35
Wannan mutum-mutumi ba shi da ayyukan aminci da suka dace na cikakken mutum-mutumi na hannu mai sarrafa kansa, gami da amma ba'a iyakance shi zuwa ga karo na atomatik, hana faɗuwa, gargaɗin tsarin halitta, da sauransu da dokoki da ka'idoji masu dacewa don tabbatar da cewa robot ɗin da aka haɓaka ba shi da kowane babban haɗari da ɓoyayyun hatsarori a aikace.
Tattara duk takaddun a cikin fasaha file: gami da kimanta haɗarin da wannan littafin. Sanin yuwuwar haɗarin aminci kafin aiki da amfani da kayan aiki.
Muhalli
Don amfani na farko, da fatan za a karanta wannan jagorar a hankali don fahimtar ainihin abun ciki na aiki da ƙayyadaddun aiki.
Zaɓi wuri mai buɗe ido don sarrafa nesa, saboda motar kanta ba ta da na'urori masu gujewa cikas ta atomatik.
Use in an ambient temperature of -20-60. If the vehicle does not individually customize the IP protection level, its water-proof and dust-
ikon tabbatarwa shine IP66.
Duba
Ensure that each equipment has enough charge. Ensure that the vehicle has no obvious abnormalities. Check if the battery of the remote control has enough charge. Make sure that the emergency stop switch has been released when using.
Aiki
Ensure that the surrounding area is relatively open during operation. Remote control within the line of sight. The maximum load of BUNKERPRO is 120KG. When in use, ensure that the payload does not
exceed 120KG. When installing an external extension for BUNKERPRO, confirm the center of mass of the
extension and make sure it is at the center of rotation. When the equipment’s voltage is lower than 48V, please charge it in time. When the equipment is abnormal, please stop using it immediately to avoid secondary damage. When the equipment is abnormal, please contact the relevant technical personnel and do not
rike shi ba tare da izini ba.
3/35
Da fatan za a yi amfani da shi a cikin yanayin da ya dace da bukatun matakin kariya bisa ga matakin kariyar IP na kayan aiki.
Do not push the vehicle directly. When charging, make sure that the ambient temperature is greater than 0°C.
Kulawa
Regularly check the tension of the suspended track, and tighten the track every 150~200H. After every 500 hours of operation, check the bolts and nuts of each part of the body. I Tighten
them immediately if they are loose. In order to ensure the storage capacity of the battery, the battery should be stored with charge,
kuma ya kamata a yi caji akai-akai idan ba a yi amfani da shi na dogon lokaci ba.
Hankali
Wannan sashe ya ƙunshi wasu matakan kariya don amfani da haɓaka BUNKERPRO.
Baturi
matakan kariya
Lokacin da BUNKERPRO ya bar masana'anta, baturin bai cika caji ba. Ana iya nuna takamaiman ƙarfin baturi ta cikin voltage nuni mita akan BUNKERPRO chassis baya ko karanta ta hanyar sadarwar bas ta CAN;
Don Allah kar a yi cajin baturin bayan ƙarfinsa ya ƙare. Da fatan za a yi cajin shi a cikin lokacin da ƙaramin voltage a BUNKERPRO baya yana ƙasa da 48V;
Yanayin ajiya a tsaye: Mafi kyawun zafin jiki don ajiyar baturi shine -10 ° C ~ 45 ° C; Idan akwai ajiya don babu amfani, baturi dole ne a sake caji kuma a fitar da shi sau ɗaya kusan kowane wata 1, 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 baturi tare da ƙaddamar da cajar baturin lithium. Kada ku yi cajin baturin da ke ƙasa da 0°C, kuma kar a yi amfani da batura, kayan wuta, da caja waɗanda ba daidai ba.
Matakan kariya
domin
aiki
muhalli
Yanayin aiki na BUNKERPRO shine - 20 ~ 60; don Allah kar a yi amfani da shi a cikin yanayin da zafin jiki ya kasa - 20 ko sama da 60;
4/35
Abubuwan buƙatun zafi na yanayin aiki na BUNKERPRO sune: matsakaicin 80%, mafi ƙarancin 30%; Don Allah kar a yi amfani da shi a cikin yanayi mai lalata da iskar gas ko a cikin wani yanayi kusa da abubuwa masu ƙonewa;
Do not store it around heating elements such as heaters or large coiled resistors; Except for the specially customized version (customized with IP protection level), BUNKER PRO
is not waterproof, so please do not use it in environments with rain, snow, or standing water; It is recommended that the altitude of the operational environment should not exceed 1000M; It is recommended that the temperature difference between day and night in the operational
environment should not exceed 25°C; Regularly inspect and maintain the track tension wheel.
Matakan kariya
domin
lantarki
na waje
A halin yanzu na samar da wutar lantarki na baya baya kamata ya wuce 10A, kuma jimlar ƙarfin kada ta wuce 480W;
Tsaro
matakan kariya
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 na ciki da kanka
tsarin kayan aiki.
Sauran
matakan kariya
Do not drop or put the vehicle upside down when carrying and setting up; For non-professionals, please do not disassemble the vehicle without permission.
ABUBUWA
5/35
ABUBUWA
Takardu
sigar
Muhimmanci
Tsaro
Bayani
Hankali
ABUBUWA
1
Gabatarwa
ku
BUNKERPRO
1.1 Lissafin samfur 1.2 Bayanan fasaha 1.3 Bukatu don haɓakawa
2
The
Abubuwan asali
2.1 Umarni akan musaya na lantarki 2.2 Umarni akan kula da nesa
3
Amfani
kuma
Ci gaba
3.1 Amfani da aiki 3.2 Cajin 3.3.2 CAN haɗin kebul 3.3.3 Ganewar sarrafa umarnin CAN 3.4 haɓaka firmware 3.5 BUNKERPRO ROS Package Use Example
4
Tambaya&A
5
Samfura
Girma
5.1 Hoton hoto na girman samfurin
6/35
5.2 Hoton hoto na girman girman tallafi mai tsayi
1
Gabatarwa
ku
BUNKERPRO
BUNKERPRO abin hawa chassis ne da ake bin diddigin aikace-aikacen masana'antu. Yana da halaye na aiki mai sauƙi da mahimmanci, babban filin ci gaba, wanda ya dace da ci gaba da aikace-aikace a cikin nau'o'i daban-daban, tsarin dakatarwa mai zaman kanta, ƙaddamar da damuwa mai nauyi, ƙarfin hawan hawan ƙarfi, da kuma iya hawan matakan hawa. Ana iya amfani dashi don haɓaka na'urori na musamman irin su mutum-mutumi don dubawa da bincike, ceto da EOD, harbi na musamman, sufuri na musamman, da dai sauransu, don warware matsalolin motsi na robot.
1.1
Samfura
jeri
Sunan BUNKER PRO Robot Jikin Baturi Caja(AC 220V) Filogin namiji na jirgin sama (4-Pin) FS mai watsa ramut (ZABI) USB zuwa tsarin sadarwa na CAN
Yawan x1 x1 x1 x1 x1
1.2
Fasaha
ƙayyadaddun bayanai
Siga Nau'in Injini ƙayyadaddun bayanai
Abubuwan L × W × H (mm)
Ƙwallon ƙafa (mm)
Darajar 1064*845*473
–
7/35
Tushen dabaran gaba/baya (mm)
–
Tsayin chassis
120
Waƙa nisa
150
Nauyin Nauyin (kg)
180
Nau'in Baturi
Baturin lithium
Sigar baturi
60AH
Motar tuƙin wuta
2 × 1500W Brushless servo motor
Motar tuƙi
–
Yanayin kiliya
–
tuƙi
Nau'in waƙa daban tuƙi
Siffan dakatarwa
Dakatarwar Christie + Matilda ma'aunin ma'auni mai ƙafa huɗu
Ragewar tuƙi
–
rabo
Tuƙi mai rikodin motsi Turi rabon raguwar injin
–
1 7.5
Fitar da firikwensin motar
Photoelectric increment 2500
Siffofin ayyuka
Babban darajar IP
IP22
Matsakaicin gudun (km/h)
1.7m/s
Mafi ƙarancin juyi radius (mm)
Za a iya juya wuri
Matsakaicin ƙima (°)
30°
Matsakaicin ƙetare cikas
180
8/35
Sarrafa
Tsabtace ƙasa (mm) Matsakaicin rayuwar baturi (h) Matsakaicin nisa (km)
Lokacin caji (h) Yanayin aiki ()
Yanayin sarrafawa
RC transmitter System interface
740 8
15km 4.5
-10 ~ 60 Yanayin sarrafa umarnin sarrafawa mai nisa 2.4G / matsananciyar nisa 200M
CAN
1.3
Bukatu
domin
ci gaba
BUNKERPRO yana sanye take da FS mai nisa a masana'anta, kuma masu amfani za su iya sarrafa bututun robot na hannu na BUNKERPRO ta hanyar sarrafa nesa don kammala ayyukan motsi da juyawa; BUNKERPRO sanye take da CAN interface, kuma masu amfani za su iya aiwatar da ci gaban sakandare ta hanyarsa.
2
The
Abubuwan asali
Wannan sashe zai ba da gabatarwa ta asali ga BUNKERPRO robot chassis ta hannu, ta yadda masu amfani da masu haɓakawa su sami ainihin fahimtar BUNKERPRO chassis.
2.1 Umarni
on
lantarki
musaya
9/35
Ana nuna mu'amalar wutar lantarki ta baya a cikin Hoto 2.1, inda Q1 shine CAN da 48V ikon zirga-zirgar jiragen sama, Q2 shine canjin wutar lantarki, Q3 shine kewayon caji, Q4 shine eriya, Q5 da Q6 bi da bi ne direban keɓancewar dubawa da babban. sarrafa gyara kuskure (ba a buɗe zuwa waje ba), kuma Q7 shine hulɗar nunin wutar lantarki.
Hoto 2.1 Mutulolin Lantarki na baya Ana nuna ma'anar hanyar sadarwa da wutar lantarki ta Q1 a hoto na 2-2.
Fil Lamba 1
Ƙarfin Nau'in Pin
Aiki da Ma'anarsa
Jawabi
VCC
Ingantacciyar wutar lantarki, voltage kewayon 46 ~ 54V, matsakaicin halin yanzu 10A
10/35
2
Ƙarfi
3
CAN
4
CAN
GND CAN_H CAN_L
Rashin wutar lantarki CAN bas mai tsayi CAN bas ƙasa da ƙasa
Hoto 2.2 Ma'anar Ma'anar Ma'anar Faɗakarwa ta Rear Aviation
2.2
Umarni
on
m
sarrafawa
Ikon nesa na Fs kayan haɗi ne na zaɓi don samfuran BUNKER PRO. Abokan ciniki za su iya zaɓar bisa ga ainihin buƙatu. Yin amfani da na'ura mai nisa na iya sarrafa BUNKER PRO robot chassis na duniya cikin sauƙi. A cikin wannan samfurin, muna amfani da ƙirar magudanar hannun hagu. Za a iya komawa ma'anarsa da ayyukansa zuwa Hoto 2.3. An ayyana ayyukan maɓallan a matsayin: SWA, SWB, SWC, SWD. SWD bai kunna ba tukuna, daga cikinsu SWB akwai maɓallin zaɓin yanayin sarrafawa, ana buga sama zuwa sama shine yanayin sarrafa umarni, ana buga shi zuwa tsakiya shine yanayin sarrafawa, S1 shine maɓallin matsewa, yana sarrafa BUNKER PRO don ci gaba kuma baya; S2 yana sarrafa jujjuyawar, kuma WUTA shine Maɓallin samar da wutar lantarki, danna ka riƙe su lokaci guda don kunnawa. Ya kamata a lura cewa lokacin da aka kunna ramut, SWA, SWB, SWC, da SWD duk suna buƙatar kasancewa a saman.
11/35
Hoto 2.3 Tsarin tsari na maɓallan sarrafa nesa na FS Remote
sarrafawa
dubawa
bayanin: Bunker: samfurin Vol: baturi voltage Mota: Matsayin chassis Batt: Kashi na wutar lantarkitage P: Park Remoter: Ramut matakin baturi Laifin Code: Kuskuren bayanin (yana wakiltar byte [5] a cikin firam 211)
12/35
2.3
Umarni
on
sarrafawa
bukatun
kuma
ƙungiyoyi
Mun kafa tsarin daidaitawa don abin hawa na ƙasa bisa ga ma'aunin ISO 8855 kamar yadda aka nuna a Hoto 2.4.
Hoto 2.4 Tsarin Tsarin Tsarin Magana don Jikin Mota Kamar yadda aka nuna a Hoto 2.4, jikin abin hawa na BUNKERPRO yayi layi daya da axis X na tsarin daidaitawa da aka kafa. A cikin yanayin sarrafa nesa, tura rocker S1 na nesa don matsawa zuwa ingantacciyar hanya ta X, tura S1 baya don matsawa cikin mummunan yanayin Lokacin da aka tura zuwa mafi ƙarancin ƙimar, saurin motsi a cikin mummunan shugabanci na motar. jiki yana jujjuyawa daga ingantacciyar hanya ta axis X zuwa madaidaicin madaidaicin Y-axis. Lokacin da aka tura S2 zuwa hagu zuwa matsakaicin ƙima, saurin jujjuyawar madaidaiciyar agogon gaba shine matsakaicin. Lokacin da aka tura S2 zuwa dama zuwa matsakaicin ƙima, motsin layin juyawa na agogo shine matsakaicin gudu. A cikin yanayin umarni na sarrafawa, ƙimar ƙimar madaidaiciyar saurin madaidaiciya tana nufin motsi a cikin madaidaiciyar hanya ta axis X, kuma ƙarancin ƙimar saurin madaidaiciyar yana nufin motsi a cikin mummunan yanayin. jikin mota yana motsawa daga ingantacciyar hanya ta axis X zuwa mummunan shugabanci na axis Y.
3
Amfani
kuma
Ci gaba
Wannan sashe yafi gabatar da ainihin aiki da amfani da dandamali na BUNKERPRO, da kuma yadda ake aiwatar da haɓaka na biyu na jikin abin hawa ta hanyar haɗin gwiwar CAN na waje da ka'idar bas ta CAN.
13/35
3.1
Amfani
kuma
aiki
Duba
Duba yanayin jikin abin hawa. Bincika idan jikin abin hawa yana da ƙayyadaddun rashin daidaituwa; idan haka ne, tuntuɓi goyon bayan tallace-tallace;
Lokacin amfani da farko, tabbatar ko Q2 (canjin wutar lantarki) a cikin sashin wutar lantarki na baya an danna; idan ba a danna shi ba, don Allah a danna shi a sake shi, to yana cikin yanayin da aka saki.
Farawa
Latsa maɓallin wuta (Q2 a cikin wutar lantarki); a karkashin yanayi na al'ada, hasken wutar lantarki zai haskaka, kuma voltmeter zai nuna baturin baturitage kullum;
Duba baturin voltage. Idan voltage ya fi 48V, yana nufin baturi voltage al'ada ce. Idan voltage kasa da 48V, da fatan za a yi caji; lokacin da voltage kasa da 46V, BUNKERPRO ba zai iya motsawa akai-akai.
Rufewa
Danna maɓallin wuta don yanke wutar lantarki;
Na asali
aiki
hanyoyin
of
m
sarrafawa
Bayan fara chassis robot na BUNKERPRO akai-akai, fara sarrafa nesa kuma zaɓi yanayin nesa don sarrafa motsi na dandalin BUNKER PRO ta hanyar sarrafawa.
3.2
Cajin
BUNKERPRO an sanye shi da madaidaicin caja ta tsohuwa, wanda zai iya biyan bukatun abokan ciniki. The
takamaiman
aiki
hanyoyin
of
caji
su ne
as
follows: Make sure that the BUNKERPRO chassis is in a shutdown state. Before charging, please make
sure that Q2 (power switch) in the rear electrical console is turned off; insert the plug of the charger into the Q3 charging interface in the rear electrical control panel; Connect the charger to the power supply and turn on the charger switch to enter the charging state. When charging by default, there is no indicator light on the chassis. Whether it is charging or not depends on the status indicator of the charger.
3.3
Ci gaba
14/35
BUNKERPRO yana samar da hanyar sadarwa ta CAN don haɓaka mai amfani, kuma mai amfani zai iya sarrafa jikin abin hawa ta wannan hanyar sadarwa.
Ma'aunin sadarwa na CAN a cikin BUNKERPRO yana ɗaukar ma'aunin CAN2.0B; Adadin baud ɗin sadarwa shine 500K, kuma tsarin saƙon ya ɗauki tsarin MOTOROLA. Matsakaicin saurin motsi da saurin kusurwa na juyawa na chassis ana iya sarrafa shi ta hanyar haɗin bas na CAN na waje; BUNKERPRO zai ba da amsa bayanin matsayin motsi na yanzu da bayanin matsayi na BUNKERPRO chassis a ainihin lokacin.
Yarjejeniyar ta ƙunshi firam ɗin martanin matsayin tsarin, firam ɗin sarrafa motsi, da firam ɗin sarrafawa. Abin da ke cikin ka'idar shine kamar haka:
Umurnin amsa matsayin tsarin ya haɗa da bayanin halin abin hawa na yanzu, yanayin yanayin sarrafawa, juzu'in baturitage feedback, da kuma kuskure feedback. Ana nuna abun ciki na yarjejeniya a cikin Tebu 3.1.
Tebur 3.1 Tsarin Ra'ayin Maimaitawa na BUNKERPRO Matsayin Tsarin Chassis
Sunan Umurni
Umarnin mayar da martani halin tsarin
Aika kumburi Karɓar kumburi
Chassis ta hanyar waya
Naúrar sarrafa yanke shawara
Bayani na 0x211
Zagaye (ms)
Karɓi lokacin ƙarewa (ms)
200ms
Babu
Tsawon bayanai Matsayi
0x08 Aiki
Nau'in bayanai
byte [0]
Halin halin yanzu na jikin abin hawa
ba sa hannu int8
Bayani
0x00 Tsarin a yanayin al'ada 0x01 Yanayin tsaida gaggawa 0x02 keɓanta tsarin
15/35
byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] Byte byte [5]
Sarrafa yanayi
Baturin voltage ya fi 8 ragi Baturin voltage yana ƙasa da rago takwas Ajiye
An adana bayanan gazawa
Duba kirga (ƙidaya)
ba sa hannu int8
ba sa hannu int16
ba sa hannu int8
ba sa hannu int8
0x00 Yanayin jiran aiki 0x01 CAN yanayin sarrafa umarni
0x03 Yanayin sarrafawa mai nisa
Ainihin voltage × 10 (tare da daidaito na 0.1V)
0x0 Koma zuwa [Bayyana Laifin
Bayani] 0X00
0 ~ 255 ƙidayar zagayowar; duk lokacin da aka aiko da umarni.
ƙidayar za ta ƙaru sau ɗaya
Tebura 3.2 Bayanin Laifi
Bayanin Laifi
Bit
Ma'ana
bit [0]
Batirin undervoltage laifi
bit [1]
Batirin undervoltage gargadi
bit [2]
Kariyar cire haɗin nesa (0: al'ada, 1: cire haɗin ramut)
bit [3]
Lamba 1 gazawar sadarwar mota (0: Babu gazawa 1: gazawa)
bit [4]
Lamba 2 gazawar sadarwar mota (0: Babu gazawa 1: gazawa)
16/35
bit [5] bit [6] bit [7]
Ajiye, tsoho 0 Ajiye, tsoho 0 Ajiye, tsoho 0
Umurnin firam ɗin sarrafa motsi ya haɗa da martani na saurin mizani na yanzu da saurin kusurwar jikin abin hawa mai motsi. Ana nuna takamaiman abun ciki na yarjejeniya a cikin Tebur 3.3.
Tebur 3.3 Tsarin Sauraron Ra'ayin Motsi
Sunan Umurni
Umarnin Sauraron Sauraron Motsi
Aika kumburi Karɓar kumburi
ID
Zagayowar ms
Karɓi lokacin ƙarewa (ms)
Chassis ta hanyar waya
Naúrar sarrafa yanke shawara
0 x221
20ms
Babu
Tsawon bayanai
0 x08
Matsayi
Aiki
Nau'in bayanai
Bayani
byte [0] byte [1]
8-bit high motsi gudun
8-bit low motsi gudun
sanya hannu int16
Ainihin gudun × 1000 (tare da daidaito na 0.001m/s)
byte [2] byte [3]
8-bit babban juyi gudun
8-bit ƙananan gudun juyawa
sanya hannu int16
Ainihin gudun × 1000 (tare da daidaito na 0.001rad/s)
byte [4]
Ajiye
–
0 x00
byte [5]
Ajiye
–
0 x00
17/35
byte [6]
Ajiye
–
byte [7]
Ajiye
–
0x00 0x00
Firam ɗin sarrafawa ya haɗa da buɗewar sarrafa saurin linzamin kwamfuta, buɗewar sarrafa saurin angular da jimlar duba. Ana nuna takamaiman abun ciki na ƙa'idar a cikin Tebur 3.4.
Tebur 3.4 Tsarin Gudanar da Motsi
Sunan Umurni
Aika kumburi Karɓar kumburi
Naúrar sarrafa yanke shawara
Kullin chassis
Tsawon bayanai
0 x08
Matsayi
Aiki
byte [0]
8-bit babban saurin layin layi
byte [1]
8-bit ƙananan gudun mizani
byte [2]
8-bit high angular gudun
byte [3]
8-bit low angular gudun
byte [4]
Ajiye
byte [5]
Ajiye
byte [6]
Ajiye
byte [7]
Ajiye
Umarnin Kulawa
ID
Zagaye (ms)
Karɓi lokacin ƙarewa (ms)
0 x111
20ms
Babu
Nau'in bayanai
Bayani
sanya hannu int16
Gudun motsi na jikin abin hawa, naúrar: mm/s, kewayo [-1700,1700]
sanya hannu int16
Gudun saurin kusurwa na jujjuyawar jikin abin hawa, naúrar: 0.001rad/s, kewayo
[-3140,3140]
–
0 x00
–
0 x00
–
0 x00
–
0 x00
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Ana amfani da firam ɗin saitin yanayin don saita ƙirar sarrafawa na tasha. Ana nuna takamaiman abun ciki na yarjejeniya a cikin Tebur 3.5
Tebur 3.5 Sarrafa Yanayin Saitin Tsarin
Sunan Umurni
Aika kumburi Karɓar kumburi
Naúrar sarrafa yanke shawara
Kullin chassis
Tsawon bayanai
0 x01
Matsayi
Aiki
byte [0]
CAN sarrafa kunna
Umarnin Saitin Yanayin Sarrafa
ID
Zagaye (ms)
Karɓi lokacin ƙarewa (ms)
0 x421
20ms
500ms
Nau'in bayanai mara sa hannun int8
Bayani
0x00 Yanayin jiran aiki 0x01 Yanayin umarni na iya kunna
Lura [1] Bayanin yanayin sarrafawa
Lokacin da ba a kunna ramut na BUNKERPRO ba, yanayin sarrafawa shine yanayin jiran aiki ta tsohuwa, kuma kuna buƙatar canza shi zuwa yanayin umarni don aika umarnin sarrafa motsi. Idan an kunna remote ɗin, na'urar tana da mafi girman iko kuma tana iya kare ikon sarrafa umarni. Lokacin da aka kunna ramut zuwa yanayin umarni, har yanzu yana buƙatar aika umarnin saitin yanayin sarrafawa kafin amsa umarnin saurin.
Ana amfani da firam ɗin saitin matsayi don share kurakuran tsarin. Ana nuna takamaiman abun ciki na yarjejeniya a cikin Tebu 3.6.
Tebur 3.6 Tsarin Saitin Matsayi
Sunan Umurni
Aika kumburi Karɓar kumburi
Naúrar sarrafa yanke shawara
Kullin chassis
Umurnin Saitin Matsayi
ID
Zagaye (ms)
Karɓi lokacin ƙarewa (ms)
0 x441
Babu
Babu
19/35
Tsawon bayanai Matsayi
byte [0]
0x01 Aiki
Nau'in bayanai
Kuskuren share umarnin
ba sa hannu int8
Bayani
0x00 share duk kurakurai 0x01 Share kuskuren injin 1 0x02 Share kuskuren injin 2
Bayani na 3: Sampda data; Bayanan da ke biyowa don dalilai ne na gwaji kawai 1. Motar ta ci gaba a gudun 0.15/S
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0 x00
0 x96
0 x00
0 x00
0 x00
0 x00
0 x00
0 x00
2. Motar tana juyawa a 0.2RAD/S
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0 x00
0 x00
0 x00
0xc8 ku
0 x00
0 x00
0 x00
0 x00
Baya ga bayanin matsayin chassis za a dawo da shi, bayanan bayanan chassis kuma sun haɗa da bayanan mota da bayanan firikwensin.
Tebura 3.7 Gudun Mota na Bayanin Matsayi na Yanzu
Sunan Umurni
Firam ɗin Bayanin Mai Girma Tuƙi
Aika kumburi Karɓar kumburi
ID
Tasiri-by-waya chassis
Yanke shawara
naúrar sarrafawa
0x251~0x254
Zagaye (ms)
Karɓi lokacin ƙarewa (ms)
20ms
Babu
Tsawon bayanai
0 x08
20/35
Matsayin byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
Aiki 8-bit high motor
gudun 8-bit low motor
Gudun Ajiye 8-bit ƙananan zafin jiki Ajiye Matsayin Drive An Ajiye
Nau'in bayanai
sanya hannu int16
ba a sanya hannu ba - int8
Bayani
Rukunin saurin mota na yanzu RPM
0x00 Raka'a 1
0x00 Duba Table 3.9 don cikakkun bayanai
0x00 0x00
Tebur 3.8 Motar Zazzabi, Voltage da Bayanin Bayanin Matsayi
Sunan Umurni
Firam ɗin Bayanin Bayanin Tuba Ƙananan Gudu
Aika kumburi Karɓar kumburi
ID
Zagaye (ms)
Karɓi lokacin ƙarewa (ms)
Tasiri-by-waya chassis
Yanke shawara
naúrar sarrafawa
0x261~0x264
Babu
Babu
Tsawon bayanai
0 x08
Matsayi
Aiki
Nau'in bayanai
Bayani
byte [0]
Ajiye
–
byte [1]
Ajiye
–
Rukunin saurin mota na yanzu RPM
21/35
byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
8-bit high drive zafin jiki
8-bit ƙananan zafin jiki
Ajiye
Matsayin tuƙi
Ajiye
Ajiye
sanya hannu int16
ba sa hannu int8
–
Tebur 3.9 Matsayin Tuƙi
Raka'a 1
0x00 Duba Table 3.9 don cikakkun bayanai
0x00 0x00
Byte byte [5]
Bishiyoyi [0] bit [1] bit [2] bit [3] bit [4] bit [5] bit [6] bit [7]
Bayanin Ko wutar lantarki voltage yayi ƙasa da ƙasa (0:Normal
1:Maƙarƙashiya) Ko motar ta yi zafi sosai (0: Al'ada 1:
Yafi zafi) Ajiye Ajiye Ajiye
Teburin 3.10 Odometer Feedback Frame
Sunan Umurni
Tsarin Bayanin Bayanin Odometer
22/35
Aika kumburi Karɓar kumburi
ID
Tasiri-by-waya chassis
Yanke shawara
naúrar sarrafawa
Tsawon bayanai
0 x08
Matsayi
Aiki
byte [0]
Mafi girman ɗan ƙaramin odometer na ƙafar hagu
byte [1]
Na biyu-mafi girman bitar ƙafar hagu
odometer
byte [2]
Na biyu-mafi ƙasƙanci na ƙafar hagu
odometer
byte [3]
Mafi ƙasƙanci na hagu
dabaran odometer
byte [4]
Mafi girman ɗan ƙaramin odometer dabaran dama
byte [5]
Na biyu-mafi girma na dama
dabaran odometer
byte [6]
Na biyu-mafi ƙarancin ɗan dama
dabaran odometer
0x311 Nau'in bayanan da aka sanya hannu int32 sa hannu int32
Zagaye (ms)
Karɓi lokacin ƙarewa (ms)
20ms
Babu
Bayani
Chassis hagu dabaran odometer martani Sashe: mm
Chassis dama dabaran odometer martani Sashin amsa: mm
23/35
byte [7]
Mafi ƙasƙanci ɗan ƙaramin odometer dabaran dama
Tebur 3.11 Bayanin Bayanin Kula da Nisa
Sunan Umurni
Frame mayar da martani ga Bayanin Ikon Nesa
Aika kumburi Karɓar kumburi
Tasiri-by-waya chassis
Yanke shawara
naúrar sarrafawa
Bayani na 0x241
Zagaye (ms)
Karɓi lokacin ƙarewa (ms)
20ms
Babu
Tsawon bayanai Matsayi
0x08 Aiki
Nau'in bayanai
byte [0]
Ra'ayin SW mai nisa
ba sa hannu int8
Bayani
bit[0-1]: SWA: 2-Up 3-Down bit[2-3]: SWB: 2-Up 1-Tsakiya 3-
Kasa bit[4-5]: SWC: 2-Up 1-Tsakiya 3-
Sauƙaƙe [6-7]: SWD: 2-Up 3-Down
byte [1] byte [2]
Lever dama hagu da dama
Lever dama sama da ƙasa
sanya hannu int8 sanya hannu int8
Rage: [-100,100] Rage: [-100,100]
byte [3]
Lever hagu sama da ƙasa
sanya hannu int8
Rage: [-100,100]
24/35
byte [4] byte [5] byte [6] byte [7]
Lever hagu hagu da dama
Kullin hagu VRA
Ajiye
Kidayar dubawa
sanya hannu int8
sanya hannu int8 -
ba sa hannu int8
Rage: [-100,100] Rage: [-100,100] 0x00
Ƙididdigar zagayowar 0-255
3.3.2
CAN
na USB
haɗi
Ana jigilar BUNKERPRO tare da haɗin haɗin namiji na jirgin sama kamar yadda aka nuna a hoto 3.2. Ma'anar kebul: rawaya shine CANH, blue shine CANL, ja yana da inganci, kuma baki shine rashin ƙarfi.
Lura:
In
da
halin yanzu
BUNKERPRO
sigar,
da
na waje
tsawo
dubawa
is
kawai
bude
ku
da
baya
dubawa.
In
wannan
sigar,
da
iko
wadata
iya
bayar da
a
matsakaicin
halin yanzu
of
10 A.
Hoto 3.2 Tsare-tsare na Mai Haɗi na Maleji na Jirgin Sama
3.3.3
Ganewa
of
CAN
umarni
sarrafawa
25/35
Fara BUNKERPRO robot chassis na wayar hannu akai-akai, kunna ramut na FS, sannan canza yanayin sarrafawa zuwa sarrafa umarni, wato, kunna yanayin zaɓi na SWB na FS ramut zuwa sama. A wannan lokacin, BUNKERPRO chassis zai karɓi umarni daga keɓancewar CAN, kuma mai watsa shiri na iya bincika halin yanzu na chassis ta ainihin bayanan da bas ɗin CAN ke bayarwa a lokaci guda. Koma zuwa ka'idar sadarwa ta CAN don takamaiman abun ciki na yarjejeniya.
3.4
Firmware
haɓakawa
Don sauƙaƙe masu amfani don haɓaka sigar firmware na BUNKER MINI 2.0 da kuma kawo wa abokan ciniki ƙarin cikakkiyar ƙwarewa, BUNKER MINI 2.0 yana ba da ƙirar kayan masarufi don haɓaka firmware da software na abokin ciniki daidai.
Haɓakawa
Shiri
Agilex CAN debugging module X 1 Micro USB cable X 1 BUNKER PRO chassis X 1 A computer (WINDOWS OS (Operating System)) X 1
Haɓakawa
Tsari
1.Toshe cikin na'urar USBTOCAN akan kwamfutar, sannan ka buɗe software na AgxCandoUpgradeToolV1.3_boxed.exe (jerin ba zai iya zama kuskure ba, da farko buɗe software sannan toshe cikin module, na'urar ba za a gane ba). 2. Danna maɓallin Buɗe Serial, sannan danna maɓallin wuta a jikin motar. Idan haɗin ya yi nasara, za a gane sigar bayanin babban iko, kamar yadda aka nuna a cikin adadi.
26/35
3. Danna Load Firmware File maballin don loda firmware don haɓakawa. Idan loading ya yi nasara, za a sami bayanan firmware, kamar yadda aka nuna a cikin adadi
27/35
4.Click node da za a inganta a cikin node list akwatin, sa'an nan kuma danna Fara Upgrade Firmware don fara upgrading da firmware. Bayan haɓakawa ya yi nasara, akwatin pop-up zai faɗakarwa.
28/35
3.5
BUNKERPRO
ROS
Kunshin
Amfani
Example
ROS yana ba da wasu daidaitattun sabis na tsarin aiki, irin su abstraction hardware, ƙananan matakan sarrafa kayan aiki, aiwatar da ayyuka gama gari, saƙon tsaka-tsaki da sarrafa fakitin bayanai. ROS ya dogara ne akan tsarin gine-gine, ta yadda tafiyar matakai na nodes daban-daban za su iya karɓa, saki, da tara bayanai daban-daban (kamar ji, sarrafawa, matsayi, tsarawa, da sauransu). A halin yanzu ROS yana goyan bayan UBUNTU.
Ci gaba
shiri
Hardware
preparation CANlight can communication module X1 Thinkpad E470 notebook X1 AGILEX BUNKERPRO mobile robot chassis X1 AGILEX BUNKERPRO supporting remote control FS-i6s X1 AGILEX BUNKERPRO top aviation socket X1 Use
example
muhalli
description Ubuntu 18.04 ROS Git
Hardware
haɗi
kuma
shiri
Fitar da kebul na CAN na babban filogin jirgin sama na BUNKERPRO ko filogin wutsiya, sannan ku haɗa CAN_H da CAN_L a cikin kebul ɗin CAN zuwa adaftar CAN_TO_USB bi da bi;
Kunna maɓalli a kan BUNKERPRO robot chassis na hannu, kuma duba ko an sake kunna tasha ta gaggawa a bangarorin biyu;
Haɗa CAN_TO_USB zuwa haɗin kebul na littafin rubutu. Ana nuna hoton haɗin gwiwa a cikin hoto 3.4.
Hoto 3.4 Tsarin Tsarin Haɗin CAN CABLE
29/35
ROS
shigarwa
kuma
muhalli
saitin
Don cikakkun bayanan shigarwa, da fatan za a koma zuwa http://wiki.ros.org/kinetic/Installation/Ubuntu
Gwaji
ANA IYA
hardware
kuma
CAN
sadarwa
Setting CAN-TO-USB adaptor Enable gs_usb kernel module
sudo modprobe gs_usb
Saita 500k Baud rate da kunna can-to-usb adaftan sudo ip mahada saitin can0 sama nau'in 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
ifconfig -a
Shigar da amfani da kayan aiki don gwada kayan aikin sudo apt 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.
kambun can0
30/35
Da fatan za a koma zuwa: [1] https://github.com/agilexrobotics/agx_sdk [2] https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux. html
AGILEX
BUNKERPRO
ROS
Kunshin
zazzagewa
kuma
tattara
Zazzage fakitin dogaro da ros
$ sudo dace shigar -y ros-$ROS_DISTRO-teleop-twist-keyboard
Clone kuma tara lambar tushe bunker_ros
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src git clone https://github.com/agilexrobotics/ugv_sdk.git git clone https://github.com/agilexrobotics/bunker_ros.git cd .. catkin_make source devel /saitin.bash
Madogararsa: https://github.com/agilexrobotics/bunker_ros
Fara
da
ROS
nodes
Fara kumburin tushe
roslaunch bunker_bringup bunker_robot_base.launch Start the keyboard remote operation node
roslaunch bunker_bringup bunker_teleop_keyboard.launch
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Github ROS kundin adireshi na haɓakawa da umarnin amfani *_base:: Babban kumburi don chassis don aikawa da karɓar saƙonnin CAN masu matsayi. Dangane da tsarin sadarwa na ros, yana iya sarrafa motsi na chassis kuma ya karanta matsayin bunker ta cikin batun. * _msgs: Ƙayyade takamaiman tsarin saƙon batun mayar da martani ga matsayin chassis *_kawo: farawa files don nodes na chassis da nodes masu sarrafa madannai, da rubutun don kunna tsarin usb_to_can
4
Tambaya&A
Q BUNKERPRO an fara shi akai-akai, amma me yasa baya motsawa yayin amfani da ramut zuwa
sarrafa jikin abin hawa?
A Farko, tabbatar ko an danna maɓallin wuta; sa'an nan, tabbatar ko sarrafa
Yanayin da aka zaɓa ta hanyar sauya zaɓin yanayin a gefen hagu na sama na ramut daidai ne.
Tambaya: Ikon nesa na BUNKERPRO na al'ada ne; matsayin chassis da bayanan motsi na al'ada ne; amma me ya sa ba za a iya kunna yanayin sarrafa abin hawa ba, kuma me yasa chassis ɗin baya amsa ka'idar firam ɗin sarrafawa lokacin da aka ba da ka'idar firam ɗin sarrafawa? A: A karkashin yanayi na al'ada, idan BUNKERPRO za a iya sarrafa shi ta hanyar nesa, yana nufin cewa sarrafa motsi na chassis al'ada ne; idan zai iya karɓar firam ɗin ra'ayi na chassis, yana nufin cewa hanyar haɗin CAN ta al'ada ce. Da fatan za a duba ko an canza umarnin zuwa yanayin sarrafawa.
Tambaya: Lokacin sadarwa ta bas ɗin CAN, umarnin amsawar chassis al'ada ne; amma me ya sa abin hawa ba ya amsa lokacin bayar da kulawa? A: BUNKERPRO yana da hanyar kariyar sadarwa a ciki. Chassis yana da tsarin kariya na lokaci lokacin sarrafa umarni na CAN daga waje. A ce bayan abin hawa ya sami firam na tsarin sadarwa, amma ba ta sami na gaba na tsarin sarrafawa fiye da 500MS ba, za ta shiga kariyar sadarwa, kuma saurin sa ya kai 0. Don haka, umarni daga kwamfutar mai masaukin dole ne. a ba da shi lokaci-lokaci.
32/35
5
Samfura
Girma
5.1
Misali
zane
of
samfur
girma
33/35
5.2
Misali
zane
of
saman
mika
goyon baya
girma
34/35
35/35
Takardu / Albarkatu
 |
AgileX Hunter AgileX Robotics Team [pdf] Manual mai amfani Mafarauta AgileX Robotics Team, AgileX Robotics Team, Robotics Team, Team |
