AGILEX Robotics Bunker Mini Neeg Hlau
Tshooj lus no muaj cov ntaub ntawv tseem ceeb ntawm kev nyab xeeb uas yuav tsum tau nyeem thiab nkag siab los ntawm ib tus neeg lossis lub koom haum ua ntej siv cov cuab yeej siv thaum lub tshuab hluav taws xob yog thawj zaug. Koj tuaj yeem tiv tauj peb ntawm support@agilex.ai yog tias koj muaj lus nug txog kev siv. Nws yog ib qho tseem ceeb heev uas tag nrho cov lus qhia sib dhos thiab cov lus qhia hauv lwm tshooj ntawm phau ntawv no raug ua raws thiab ua raws. Kev saib xyuas tshwj xeeb yuav tsum tau them rau cov ntawv txuas nrog cov cim ceeb toom.
Cov ntaub ntawv kev nyab xeeb
Cov ntaub ntawv hauv phau ntawv no tsis suav nrog kev tsim, kev teeb tsa thiab kev ua haujlwm ntawm daim ntawv thov neeg hlau ua tiav, thiab tsis suav nrog cov khoom siv hluav taws xob uas yuav cuam tshuam rau kev nyab xeeb ntawm kev ua tiav no. Kev tsim thiab siv cov txheej txheem tiav no yuav tsum tau ua raws li cov kev cai ntawm kev nyab xeeb uas tau tsim nyob rau hauv cov qauv thiab cov lus qhia tshwj xeeb ntawm lub teb chaws uas cov neeg hlau raug teeb tsa. Nws yog lub luag haujlwm ntawm BUNKERMINI cov neeg sib koom ua ke thiab cov neeg siv khoom kawg kom ua raws li cov kev qhia tshwj xeeb thiab cov kev cai thiab cov kev cai zoo, txhawm rau kom ntseeg tau tias tsis muaj kev phom sij loj hauv daim ntawv thov neeg hlau ua tiav example. Qhov no suav nrog tab sis tsis txwv rau cov hauv qab no:
Siv tau thiab lub luag haujlwm
- Ua qhov kev ntsuam xyuas txaus ntshai ntawm cov neeg hlau ua tiav.
- Txuas ua ke cov cuab yeej kev nyab xeeb ntxiv rau lwm lub tshuab raws li tau hais los ntawm kev ntsuas kev pheej hmoo.
- Paub meej tias kev tsim thiab kev teeb tsa ntawm lub peripheral ntawm cov neeg hlau ua tiav, suav nrog software thiab kho vajtse, yog qhov tseeb.
- Cov neeg hlau no tsis muaj qhov cuam tshuam txog kev nyab xeeb ntawm kev ua tiav kev tswj hwm tus kheej lub xov tooj ntawm tes, suav nrog tab sis tsis txwv rau tsis siv neeg tiv thaiv kev sib tsoo, tiv thaiv kev poob, kev ceeb toom kev lom neeg, thiab lwm yam.
- Cov haujlwm no xav kom cov neeg sib koom ua ke thiab cov neeg siv khoom kawg los ua qhov kev ntsuam xyuas kev nyab xeeb raws li cov kev qhia tshwj xeeb thiab cov kev cai thiab cov kev cai, kom ntseeg tau tias cov neeg tsim khoom tsim tsis muaj kev phom sij loj thiab muaj kev nyab xeeb hauv kev siv tswv yim.
- Sau tag nrho cov ntaub ntawv hauv cov txheej txheem file: suav nrog kev ntsuas kev pheej hmoo thiab phau ntawv no.
- Yuav tsum paub txog kev pheej hmoo ntawm kev nyab xeeb ua ntej ua haujlwm thiab siv cov khoom siv.
Ib puag ncig
- Thaum siv nws thawj zaug, thov nyeem phau ntawv no lub tsheb kom nkag siab txog cov ntsiab lus ntawm kev ua haujlwm yooj yim thiab kev ua haujlwm tshwj xeeb.
- Rau kev ua haujlwm tej thaj chaw deb, xaiv thaj chaw qhib rau siv, thiab lub tsheb nws tus kheej tsis muaj qhov tsis siv neeg tiv thaiv kev tiv thaiv.
- Siv nyob rau hauv qhov kub thiab txias ntawm -10 ℃ ~ 45 ℃.
- Lub peev xwm tsis muaj dej tsis zoo thiab plua plav ntawm lub tsheb yog IP67, thiab cov kev sim ntsuas yog: (1) tsis muaj dej huv, nrog dej tob ntawm 1 meter; (2) lub sijhawm xeem yog 30 feeb.
Kev tshuaj xyuas
- Nco ntsoov tias txhua lub cuab yeej muaj lub zog txaus.
- Xyuas kom tseeb tias tsis muaj qhov txawv txav hauv lub tsheb.
- Xyuas tias cov chaw taws teeb tswj cov roj teeb tau them tag nrho.
- Xyuas kom tseeb tias qhov chaw nres tsheb thaum muaj xwm ceev tau tso tawm thaum siv.
Kev ua haujlwm
- Xyuas kom meej tias thaj chaw ib puag ncig yog qhov khoob khoob thaum ua haujlwm.
- Kev tswj chaw taws teeb hauv qhov pom kev deb.
- Thaum txhim kho qhov txuas ntxiv sab nraud ntawm BUNKER MINI, paub meej tias qhov chaw nruab nrab ntawm qhov txuas ntxiv thiab xyuas kom meej tias nws nyob hauv nruab nrab ntawm kev sib hloov.
- Thov them lub sijhawm thaum lub cuab yeej voltage yog qis dua 24V.
- Thaum cov khoom siv txawv txav, thov tsum tsis txhob siv tam sim ntawd kom tsis txhob raug mob thib ob.
- Qhov siab tshaj plaws ntawm BUNKER MINI yog 35KG. Thaum siv, xyuas kom meej tias lub load tsis tshaj 35KG.
- Thaum cov khoom siv txawv txav, thov hu rau cov neeg ua haujlwm muaj feem cuam tshuam, thiab tsis txhob ua haujlwm yam tsis tau tso cai.
- Thov siv cov cuab yeej siv hauv ib puag ncig uas ua tau raws li kev tiv thaiv hauv chav kawm raws li nws chav tiv thaiv IP.
- Tsis txhob thawb lub tsheb ncaj qha.
- Thaum them nyiaj, xyuas kom tseeb tias qhov ntsuas kub ntawm qhov ntsuas kub siab tshaj 0 ° C.
Kev tu
- Tsis tu ncua xyuas qhov nro ntawm tus crawler, thiab zawm lub crawler txhua 100 ~ 150H ntawm kev ua haujlwm.
- Tom qab txhua txhua 200 teev ntawm kev ua haujlwm, nws yog ib qho tsim nyog yuav tsum tau kuaj xyuas qhov fastening ntawm bolts thiab ceev ntawm ntau qhov chaw ntawm lub cev lub tsheb, thiab ceev ceev tam sim yog tias lawv xoob.
- Txhawm rau kom ntseeg tau tias lub peev xwm khaws cia ntawm lub roj teeb, lub roj teeb yuav tsum khaws cia nrog hluav taws xob, thiab nws yuav tsum tau them tsis tu ncua thaum tsis siv sijhawm ntev.
Taw qhia ntawm BUNKER MINI
BUNKER MINI yog txhua qhov kev taug qab chassis tsheb rau kev lag luam. Nws yog qhov tshwj xeeb nrog kev ua haujlwm yooj yim thiab rhiab heev, qhov chaw loj loj, kev hloov pauv rau kev txhim kho thiab kev siv ntau yam, IP67 plua plav thiab dej tsis zoo, thiab muaj peev xwm ua tau zoo, thiab lwm yam. Nws tuaj yeem siv rau kev tsim cov neeg hlau tshwj xeeb xws li kev tshuaj xyuas thiab kev tshawb nrhiav, EOD cawm, tshwj xeeb tua, thiab thauj tshwj xeeb, thiab yog kev daws teeb meem rau cov neeg hlau txav.
Cov npe khoom
| Lub npe | Ntau |
| BUNKER MINI neeg hlau lub cev | x1 |
| Roj teeb charger (AC 220V) | x1 |
| Aviation plug txiv neej (4Pin) | x1 |
| FS chaw taws teeb tswj (yeem) | x1 |
| USB rau RS232 | x1 |
| USB rau CAN kev sib txuas lus module | x1 |
Kev ua haujlwm tsis zoo
Yuav tsum muaj rau kev txhim kho
BUNKER MINI yog nruab nrog FS cov chaw taws teeb tswj los ntawm lub Hoobkas, los ntawm cov neeg siv tuaj yeem tswj lub chassis ntawm BUNKER MINI mobile neeg hlau kom ua tiav cov kev txav thiab kev sib hloov. Dhau li ntawd, BUNKER MINI tau nruab nrog CAN interface, los ntawm cov neeg siv tuaj yeem ua qhov kev txhim kho theem nrab.
Cov hauv paus
Qhov no yuav muab cov lus qhia yooj yim rau BUNKER MINI mobile neeg hlau chassis, kom cov neeg siv thiab cov tsim tawm tuaj yeem nkag siab yooj yim ntawm BUNKER MINI chassis.
Hluav taws xob interface piav qhia
Lub rear hluav taws xob interface yog qhia nyob rau hauv daim duab 2.1, nyob rau hauv uas Q1 yog qhov chaw nres tsheb thaum muaj xwm ceev, Q2 yog lub hwj chim hloov, Q3 yog lub hwj chim zaub sib cuam tshuam, Q4 yog lub them interface, thiab Q5 yog lub CAN thiab 24V fais fab aviation interface.
Lub ntsiab txhais ntawm kev sib txuas lus thiab lub hwj chim interface ntawm Q5 yog qhia nyob rau hauv daim duab 2-2.
|
Tus Pin No. |
Pin
Hom |
Muaj nuj nqi thiab
Txhais |
Lus hais |
|
1 |
Hwj chim |
VCC |
Positive power supply, voltag46 ~ 54v,
Qhov siab tshaj tam sim no 10A |
| 2 | Hwj chim | GND | Lub hwj chim tsis zoo |
| 3 | YOG | CAN_H | CAN tsheb npav siab |
| 4 | YOG | KEV_L | CAN tsheb npav qis |
Cov lus qhia chaw taws teeb
FS chaw taws teeb tswj yog ib qho kev xaiv ntxiv rau BUNKER MINI cov khoom. Cov neeg siv khoom tuaj yeem xaiv nws raws li lawv qhov xav tau tiag tiag, thiab tuaj yeem tswj tau yooj yim BUNKER MINI universal robot chassis los ntawm kev siv cov chaw taws teeb tswj. Nyob rau hauv cov khoom no, peb txais yuav tus tsim ntawm sab laug tes accelerator. Saib daim duab 2.3 rau nws cov lus txhais thiab kev ua haujlwm. Cov haujlwm ntawm lub pob yog txhais raws li: SWA thiab SWD raug kaw ib ntus. SWB yog tus tswj hom xaiv khawm, tig mus rau cov lus txib tswj hom thaum thawb mus rau sab saum toj, thiab cov chaw taws teeb tswj hom thaum thawb mus rau nruab nrab. SWC yog lamp hom khawm, uas yog thawb mus rau sab saum toj rau lub teeb-ib txwm-ntawm hom, nruab nrab rau lub teeb-rau hom thaum lub tsheb txav, thiab hauv qab rau lub teeb-ib txwm-tawm hom. S1 yog lub accelerator khawm, uas tswj BUNKER MINI mus rau pem hauv ntej thiab rov qab; S2 tswj kev sib hloov, thiab POWER yog lub zog khawm. Nias thiab tuav tib lub sijhawm kom qhib lub chaw taws teeb tswj. Nws yuav tsum raug sau tseg tias SWA, SWB, SWC, thiab SWD yuav tsum nyob rau saum toj thaum lub chaw taws teeb tswj tau qhib.
Tswj cov lus txib thiab lus piav qhia
Peb tsim kom muaj kev sib koom ua ke ntawm cov tsheb thauj khoom hauv av raws li ISO 8855 tus qauv raws li qhia hauv daim duab 2.4.
Raws li pom nyob rau hauv 2.4, BUNKER MINI lub cev yog sib npaug rau X-axis ntawm cov qauv siv tau tsim. Hauv cov chaw taws teeb tswj hom, cov chaw taws teeb tswj joystick S1 txav mus rau qhov zoo ntawm X thaum thawb mus rau pem hauv ntej, thiab txav mus rau qhov tsis zoo ntawm X thaum thawb rov qab. Thaum S1 raug thawb mus rau tus nqi siab tshaj plaws, kev txav ceev hauv qhov kev taw qhia zoo ntawm X yog qhov loj tshaj plaws, thiab thaum thawb mus rau qhov tsawg kawg nkaus tus nqi, kev txav ceev hauv qhov tsis zoo ntawm X kev taw qhia yog qhov loj tshaj. Cov chaw taws teeb tswj joystick S2 tswj kev sib hloov ntawm lub tsheb lub cev sab laug thiab sab xis. Thaum S2 raug thawb mus rau sab laug, lub tsheb lub cev tig los ntawm qhov zoo ntawm X axis mus rau qhov zoo ntawm Y axis. Thaum S2 raug thawb mus rau sab xis, lub tsheb lub cev tig los ntawm qhov zoo ntawm X axis mus rau qhov tsis zoo ntawm Y axis. Thaum S2 raug thawb mus rau sab laug mus rau qhov siab tshaj plaws tus nqi, cov kab tawm tshaj tawm ntawm kev sib hloov ntawm lub voj voog yog qhov loj tshaj plaws, thiab thaum nws raug thawb mus rau sab xis mus rau qhov siab tshaj plaws, cov kab tawm tshaj tawm ntawm kev sib hloov clockwise yog qhov loj tshaj.
Nyob rau hauv kev tswj cov lus txib hom, qhov zoo ntawm cov linear tshaj tawm txhais tau tias txav mus rau qhov zoo ntawm X-axis, thiab qhov tsis zoo ntawm cov kab hluav taws xob txhais tau tias txav mus rau qhov tsis zoo ntawm X-axis. Qhov txiaj ntsig zoo ntawm qhov nrawm nrawm txhais tau hais tias lub tsheb lub cev txav los ntawm qhov zoo ntawm X-axis mus rau qhov zoo ntawm Y-axis, thiab qhov tsis zoo ntawm lub kaum sab xis txhais tau hais tias lub tsheb lub cev txav ntawm qhov zoo. ntawm X axis mus rau qhov tsis zoo ntawm Y axis.
Pib pib
Qhov no feem ntau yog qhia txog kev ua haujlwm yooj yim thiab siv BUNKER MINI platform, thiab qhia txog yuav ua li cas thiaj li ua tiav qhov kev txhim kho thib ob ntawm lub cev ntawm lub tsheb los ntawm qhov chaw nres nkoj CAN sab nraud thiab CAN tsheb npav raws tu qauv.
Siv thiab ua haujlwm
Tshawb xyuas
- Xyuas lub tsheb lub cev mob. Xyuas seb puas muaj qhov txawv txav hauv lub cev ntawm lub tsheb; yog tias muaj, thov hu rau kev txhawb nqa tom qab muag;
- Txheeb xyuas qhov xwm txheej nres nres thaum muaj xwm ceev. Paub meej tias Q1 khawm nres ntawm lub nraub qaum yog nyob rau hauv lub xeev tso tawm;
- Thaum siv thawj zaug, paub meej tias Q2 (hloov fais fab) hauv qab hluav taws xob vaj huam sib luag yog nias; yog li ntawd, thov nias thiab tso tawm, thiab nws yuav nyob rau hauv lub xeev tso tawm.
Fais fab tuag
- Nias lub hwj chim hloov mus txiav lub hwj chim.
Pib-up
- Nias lub hwj chim hloov (Q2 nyob rau hauv lub vaj huam sib luag hluav taws xob), nyob rau hauv ib txwm muaj xwm txheej, lub teeb ntawm lub hwj chim hloov yuav nyob rau, thiab lub voltmeter yuav tso saib lub roj teeb volt.tage ib txwm;
- Xyuas lub roj teeb voltage. Yog voltage yog ntau dua 24V, nws qhia tias lub roj teeb voltage yog normal. Yog tias nws tsawg dua 24V, lub roj teeb tsawg, thov them nws.
Thaum muaj xwm ceev nres
- Nias qhov chaw nres tsheb thaum muaj xwm ceev nyob tom qab ntawm BUNKER MINI lub cev.
Cov txheej txheem ua haujlwm yooj yim ntawm kev tswj chaw taws teeb
- Tom qab BUNKER MINI neeg hlau chassis pib ib txwm, tig rau cov chaw taws teeb tswj thiab xaiv hom tswj raws li cov chaw taws teeb tswj hom, kom cov lus tsa suab ntawm BUNKER MINI platform tuaj yeem tswj tau los ntawm cov chaw taws teeb tswj.
Kev them nyiaj
BUNKER MINI cov khoom tau nruab nrog tus qauv charger los ntawm lub neej ntawd, uas tuaj yeem ua tau raws li qhov xav tau ntawm cov neeg siv khoom.
Cov txheej txheem ua haujlwm tshwj xeeb ntawm kev them nqi yog raws li hauv qab no
- Xyuas kom tseeb tias BUNKER MINI chassis nyob rau hauv lub hwj chim tawm. Ua ntej them nyiaj, thov paub meej tias Q2 (hloov hluav taws xob) hauv qab hluav taws xob console raug kaw;
- Ntxig lub ntsaws ntawm lub charger rau hauv Q4 charging interface hauv qab hluav taws xob tswj vaj huam sib luag;
- Txuas lub charger rau lub hwj huam mov thiab qhib lub charger hloov mus rau hauv lub xeev them.
- Thaum them los ntawm lub neej ntawd, tsis muaj qhov taw qhia lub teeb ntawm lub chassis. Txawm hais tias nws them los yog tsis yog nyob ntawm qhov qhia txog ntawm lub charger.
Kev loj hlob
- BUNKER MINI cov khoom muab CAN interface rau cov neeg siv kev txhim kho, los ntawm cov neeg siv tuaj yeem hais kom ua thiab tswj lub cev lub tsheb.
- BUNKER MINI cov khoom siv CAN2.0B tus qauv rau CAN kev sib txuas lus tus qauv, nrog rau kev sib txuas lus baud tus nqi ntawm 500K thiab cov lus hom ntawm MOTOROLA. Qhov txav tawm nrawm thiab tig lub kaum sab xis ntawm lub chassis tuaj yeem tswj tau los ntawm sab nraud CAN tsheb npav interface. Tsis tas li ntawd, BUNKER MINI yuav tawm tswv yim txog cov lus qhia tam sim no lub xeev cov ntaub ntawv thiab lub xeev cov ntaub ntawv ntawm BUNKER MINI chassis nyob rau lub sijhawm, thiab lwm yam. Cov txheej txheem suav nrog lub xeev cov lus tawm tswv yim, lub zog tswj kev tawm tswv yim ncej, thiab cov ncej tswj. Cov ntsiab lus ntawm cov txheej txheem yog raws li nram no: Lub system lub xeev cov lus hais kom muaj xws li tam sim no lub tsheb lub cev lub xeev tawm tswv yim, tswj hom lub xeev tawm tswv yim, roj teeb voltage tawm tswv yim thiab yuam kev. Cov ntsiab lus raws tu qauv tau qhia hauv Table 3.1
| Command npe | System xeev tawm tswv yim hais kom ua | |||
| Xa node Hlau-tswj chassis
Cov ntaub ntawv ntev |
Tau Txais Node ID 0x211 Cycle (ms) Tau Txais Lub Sijhawm (ms) | |||
| Chav tswj kev txiav txim siab
0 x 08 |
200ms ib | Tsis muaj | ||
| Qhov chaw | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
|
byte [0] |
Lub cev lub cev tam sim no |
unsigned 8 |
0x00 System normal
0x01 Kev kaw qhov xwm txheej ceev 0x02 Kev zam |
|
|
byte [1] |
Hom tswj |
unsigned 8 |
0x00 Standby hom
0x01 CAN hais kom tswj hom 0x03 Chaw taws teeb tswj hom |
|
|
byte [2]
byte [3] |
Sab saum toj yim lub roj teeb voltage
Qhov qis yim ntawm roj teeb voltage |
unsigned 16 |
Qhov tseeb voltage X10 (qhov tseeb rau 0.1V) |
|
| byte [4]
byte [5] |
Khaws tseg
Cov ntaub ntawv yuam kev |
-
unsigned 8 |
0 x 0
Yog xav paub ntxiv, saib [Fault Information Description] |
|
| byte [6] | Khaws tseg | - | 0 x 00 | |
|
byte [7] |
Suav check (count) |
unsigned 8 |
0 ~ 255 lub voj voog suav, suav ib zaug txhua zaus a
txib xa |
|
Cov lus piav qhia ntawm cov ntaub ntawv tsis raug
| Fault information description | ||
| Byte
byte [5] |
Me ntsis | Lub ntsiab lus |
| ib [0] | Roj teeb undervoltage txhaum | |
| ib [1] | Roj teeb undervoltage ceeb toom | |
|
ib [2] |
Kev tiv thaiv kev tiv thaiv tej thaj chaw deb (0: ib txwm, 1: chaw taws teeb tswj
disconnection) |
|
| ib [3] | Reserved, default 0 | |
| ib [4] | Tsav 2 kev sib txuas lus txhaum (0: tsis muaj txhaum, 1: txhaum) | |
| ib [5] | Tsav 3 kev sib txuas lus txhaum (0: tsis muaj txhaum, 1: txhaum) | |
| ib [6] | Reserved, default 0 | |
| ib [7] | Reserved, default 0 | |
Cov lus tsa suab tswj cov lus teb cov lus txib muaj xws li cov lus tawm tswv yim ntawm lub tsheb tam sim no lub cev qhov kev tawm suab tawm nrawm thiab cov lus tsa suab angular tshaj tawm. Cov ntsiab lus tshwj xeeb ntawm cov txheej txheem yog qhia hauv Table 3.3.
Table 3.3 Motion Control Feedback Ncej
| Command npe | Motion tswj cov lus qhia tawm tswv yim | |||
| Xa Node | Tau Txais Node ID Cycle (ms) Tau Txais Sijhawm (ms) | |||
| Hlau-tswj chassis | Chav tswj kev txiav txim siab | 0 x 221 | 20ms ib | Tsis muaj |
| Cov ntaub ntawv ntev | 0 x 08 | |||
| Qhov chaw | Muaj nuj nqi | Hom ntaub ntawv | 说明 | |
|
byte [0]
byte [1] |
Sab saum toj yim me ntsis ntawm kev txav ceev
Qhov qis yim ntawm cov txav ceev |
npe int16 |
Qhov tseeb ceev X 1000 (qhov tseeb rau 0.001m / s) |
|
|
byte [2]
byte [3] |
Sab saum toj yim ntsis ntawm kev sib hloov ceev
Qhov qis yim ntawm cov kev sib hloov ceev |
npe int16 |
Qhov tseeb ceev X 1000 (qhov tseeb rau 0.001rad / s) |
|
| byte [4] | Khaws tseg | - | 0 x 00 | |
| byte [5] | Khaws tseg | - | 0 x 00 | |
| byte [6] | Khaws tseg | - | 0 x 00 | |
| byte [7] | Khaws tseg | - | 0 x 00 | |
Tus ncej tswj muaj xws li linear tshaj tawm tswj qhib, lub kaum sab xis tshaj tawm tswj qhov qhib thiab checksum. Cov ntsiab lus tshwj xeeb raws tu qauv tau qhia hauv Table 3.4.
Table 3.4 Motion Control Command Control Ncej
| Command npe | Tswj cov lus txib | |||
| Xa node | Tau txais node ID Cycle (ms) Tau txais Timeout (ms) | |||
| Chav tswj kev txiav txim siab | Chassis node | 0 x 111 | 20ms ib | Tsis muaj |
| Cov ntaub ntawv ntev | 0 x 08 | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | ||
|
byte [0]
byte [1] |
Lub sab sauv yim me ntsis ntawm cov linear tshaj tawm
Qhov qis yim ntawm linear ceev |
npe int16 |
Kev ceev ntawm lub tsheb lub cev, chav tsev mm / s, tus nqi ntau [-1500, 1500] |
|
|
byte [2]
byte [3] |
Sab saum toj yim ntsis ntawm lub angular tshaj tawm Lub qis yim ntawm
lub angular tshaj tawm |
npe int16 |
Rotational angular tshaj tawm ntawm lub cev tsheb, chav tsev 0.001rad / s, tus nqi ntau [-1000, 1000] |
|
| byte [4] | Khaws tseg | — | 0 x 00 | |
| byte [5] | Khaws tseg | — | 0 x 00 | |
| byte [6] | Khaws tseg | — | 0 x 00 | |
| byte [7] | Khaws tseg | — | 0 x 00 | |
Hom teeb tsa ncej yog siv los teeb tsa kev tswj hwm ntawm lub davhlau ya nyob twg, thiab nws cov ntsiab lus tshwj xeeb raws tu qauv tau qhia hauv Table 3.5
Table 3.5 Tswj hom teeb tsa ncej
| Command npe | Tswj hom teeb tsa hais kom ua | |||
| Xa node | Txais node | ID | Lub voj voog (ms) | Lub sij hawm tau txais (ms) |
| Chav tswj kev txiav txim siab | Chassis node | 0 x 421 | 20ms ib | 500ms ib |
| Cov ntaub ntawv ntev | 0 x 01 | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
|
byte [0] |
CAN tswj
ua haujlwm |
unsigned 8 |
0x00 Standby hom
0x01 CAN hais kom ua hom qhib |
|
Nco tseg: Tswj hom lus piav qhia
Thaum lub chaw taws teeb tswj rau BUNKER MINI tsis qhib, lub neej ntawd tswj hom yog hom standby, thiab koj yuav tsum tau hloov mus rau hom lus txib kom xa cov lus txib tswj. Yog tias lub chaw taws teeb tswj tau qhib, nws muaj txoj cai siab tshaj plaws thiab tuaj yeem thaiv kev tswj hwm cov lus txib. Thaum cov chaw taws teeb tswj hloov mus rau hom kev hais kom ua, nws tseem yuav tsum xa cov kev tswj hwm kev teeb tsa ua ntej teb rau cov lus txib ceev. Lub xeev teeb tsa ncej yog siv los tshem tawm cov kev ua yuam kev, thiab nws cov ntsiab lus tshwj xeeb yog qhia hauv Table 3.6.
Table 3.6 Lub Xeev teeb tsa ncej
| Command npe | Xeev teeb tsa cov lus txib | |||
| Xa node | Txais node | ID | Lub voj voog (ms) | Lub sij hawm tau txais (ms) |
| Chav tswj kev txiav txim siab | Chassis node | 0 x 441 | Tsis muaj | Tsis muaj |
| Cov ntaub ntawv ntev | 0 x 01 | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
|
byte [0] |
yuam kev clearance hais kom ua |
unsigned 8 |
0x00 Clear tag nrho cov yuam kev 0x01 Clear motor 1 yuam kev
0x02 Clear motor 2 yuam kev |
|
Nco tseg 3: Example cov ntaub ntawv, cov ntaub ntawv hauv qab no yog rau kev sim siv nkaus xwb
- Lub tsheb txav mus tom ntej ntawm qhov ceev ntawm 0.15 / S
| byte [0] | byte [1] | byte [2] | byte [3] | byte [4] | byte [5] | byte [6] | byte [7] |
| 0 x 00 | 0 x 96 | 0 x 00 | 0 x 00 | 0 x 00 | 0 x 00 | 0 x 00 | 0 x 00 |
|
|||||||
| byte [0] | byte [1] | byte [2] | byte [3] | byte [4] | byte [5] | byte [6] | byte [7] |
| 0 x 00 | 0 x 00 | 0 x 00 | 0 xc8 | 0 x 00 | 0 x 00 | 0 x 00 | 0 x 00 |
Ntxiv nrog rau cov lus tawm tswv yim ntawm chassis xeev cov ntaub ntawv, cov ntaub ntawv tawm tswv yim chassis kuj suav nrog cov ntaub ntawv lub cev muaj zog thiab cov ntaub ntawv sensor
Table 3.7 Cov lus teb ntawm lub cev muaj zog ceev cov ntaub ntawv tam sim no
| Command npe | Lub cev muaj zog tsav tsheb high-speed cov ntaub ntawv tawm tswv yim ncej | |||
| Xa node | Txais node | ID | Lub voj voog (ms) | Lub sij hawm tau txais (ms) |
| Hlau-tswj chassis | Chav tswj kev txiav txim siab | 0x251-0x254 ib | 20ms ib | |
| Cov ntaub ntawv ntev | 0 x 08 | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
|
byte [0]
byte [1] |
Lub sab sauv yim ntawm lub cev muaj zog ceev
Qhov qis yim ntawm lub cev muaj zog ceev |
npe int16 |
Tam sim no lub cev muaj zog ceev unit RPM |
|
|
byte [2]
byte [3] |
Sab saum toj yim ntsis ntawm lub cev muaj zog tam sim no
Qhov qis yim ntawm lub cev muaj zog tam sim no |
npe int16 |
Lub cev muaj zog tam sim no 0.1A |
|
|
byte [4]
byte [5]
byte [6]
byte [7] |
Tam sim no txoj hauj lwm ntawm lub cev muaj zog yog siab tshaj
Tam sim no txoj hauj lwm ntawm lub cev muaj zog yog qhov thib ob siab tshaj plaws Tam sim no txoj hauj lwm ntawm lub cev muaj zog yog qhov thib ob qis tshaj Qhov tam sim no txoj hauj lwm ntawm lub lub cev muaj zog yog qhov qis tshaj |
npe int16
npe int16 kos npe int16 kos npe int16 |
Tam sim no txoj hauj lwm ntawm lub cev muaj zog Unit: pes tsawg pulses |
|
Table 3.8 Cov lus teb ntawm lub cev muaj zog kub, voltage thiab lub xeev cov ntaub ntawv
| Command npe | Lub cev muaj zog tsav tsheb qis-ceev cov ntaub ntawv tawm tswv yim ncej | |||
| Xa node | Tau txais node ID Cycle (ms) Tau txais Timeout (ms) | |||
| Hlau-tswj chassis | Chav tswj kev txiav txim siab | 0x261-0x264 ib | 20ms ib | Tsis muaj |
| Cov ntaub ntawv ntev | 0 x 08 | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
|
byte [0]
byte [1] |
Sab saum toj yim ntsis ntawm tus tsav tsheb voltage
Lub qis yim ntawm tus tsav tsheb voltage |
npe int16 |
Tam sim no tus tsav tsheb voltagib 0.1v |
|
|
byte [2]
byte [3] |
Sab saum toj yim ntsis ntawm tus tsav tsheb kub
Lub qis yim ntawm tus tsav tsheb kub |
npe int16 |
chav ntsuas 1 ℃ |
|
| byte [4] | Lub cev muaj zog kub | npe int8 | unit 1 ℃ | |
| byte [5] | Actuator xeev | unsigned 8 | Saib Table 3-9 kom paub meej | |
| byte [6] | Khaws tseg | - | 0 x 00 | |
| byte [7] | Khaws tseg | 0 x 00 | ||
Table 3.9 Actuator sate
| Fault information description | ||
|
byte [5] |
ib [0] | Seb lub hwj huam mov voltage tsawg dhau (0: ib txwm 1: qis dhau) |
| ib [1] | Seb lub cev muaj zog tshaj qhov kub (0: li qub 1: tshaj-kub) | |
| ib [2] | Seb lub cev muaj zog dhau-tam sim no (0: ib txwm 1: dhau-tam sim no) | |
| ib [3] | Seb tus tsav yog kub dhau (0: ib txwm 1: tshaj-kub) | |
| ib [4] | Sensor xeev (0: normal 1: txawv txav) | |
| ib [5] | Actuator yuam kev xeev (0: normal 1: txawv txav) | |
| ib [6] | Actuator enabling xeev (0: Disabling 1: Enabling) | |
| ib [7] | Khaws tseg | |
Table 3.10 Odometer Cov Lus Qhia Ntxiv Ncej
| Command npe | Odometer cov ntaub ntawv tawm tswv yim ncej | |||
| Xa node Hlau-tswj chassis
Cov ntaub ntawv ntev |
Txais node | ID | Lub voj voog (ms) | Lub sij hawm tau txais (ms) |
| Chav tswj kev txiav txim siab
0 x 08 |
0 x 311 | 20ms ib | Tsis muaj | |
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
|
byte [0] |
Qhov siab tshaj me ntsis ntawm sab laug log odometer
Qhov thib ob siab tshaj me ntsis ntawm sab laug log odometer Qhov thib ob qis tshaj me ntsis ntawm sab laug log odometer Qhov qis tshaj ntawm lub log sab laug tus ntsuas odometer |
|||
|
byte [1]
byte [2] |
npe int32 |
Lub odometer tawm tswv yim ntawm sab laug log ntawm lub chassis Unit: mm |
||
|
byte [3] |
||||
|
byte [4]
byte [5]
byte [6]
byte [7] |
Qhov siab tshaj me ntsis ntawm txoj cai log odometer
Qhov thib ob siab tshaj me ntsis ntawm txoj cai log odometer Qhov thib ob qis tshaj me ntsis ntawm txoj cai log odometer Qhov qis tshaj me ntsis ntawm txoj cai log tus ntsuas odometer |
npe int32 |
Lub odometer tawm tswv yim ntawm txoj cai log ntawm lub chassis Unit: mm |
|
Table 3.11 Cov ntaub ntawv tswj chaw taws teeb tawm tswv yim
| Command npe | Chaw taws teeb tswj cov ntaub ntawv tawm tswv yim ncej | |||
| Xa node | Tau txais node ID Cycle (ms) Tau txais Timeout (ms) | |||
| Hlau-tswj chassis | Chav tswj kev txiav txim siab | 0 x 241 | 20ms ib | Tsis muaj |
| Cov ntaub ntawv ntev | 0 x 08 | |||
| Txoj hauj lwm | Muaj nuj nqi | Hom ntaub ntawv | Kev piav qhia | |
|
byte [0] |
Chaw taws teeb tswj SW tawm tswv yim |
unsigned 8 |
bit[0-1]: SWA：2-up 3-down bit[2-3]: SWB：2-up 1-mid 3-down bit[4-5]: SWC：2-up 1-mid 3- nqes
bit[6-7]: SWD: 2-up 3-down |
|
| byte [1] | Txoj cai joystick sab laug thiab sab xis | npe int8 | Tus nqi ntau: [-100,100] | |
| byte [2] | Txoj cai joystick nce thiab nqis | npe int8 | Tus nqi ntau: [-100,100] | |
| byte [3] | Sab laug joystick nce thiab nqis | npe int8 | Tus nqi ntau: [-100,100] | |
| byte [4] | Sab laug joystick sab laug thiab sab xis | npe int8 | Tus nqi ntau: [-100,100] | |
| byte [5] | Sab laug pob qhov rooj VRA | npe int8 | Tus nqi ntau: [-100,100] | |
| byte [6] | Khaws tseg | — | 0 x 00 | |
|
byte [7] |
Suav xyuas |
tsis tau kos npe
intxnumx |
0-255 loop suav |
|
CAN kab kev sib txuas
BUNKER MINI muab aviation plug txiv neej raws li qhia hauv daim duab 3.2. Lub ntsiab lus ntawm kab yog tias daj yog CANH, xiav yog CANL, liab yog lub zog zoo, thiab dub yog lub zog tsis zoo.
Nco tseg: Tam sim no BUNKER MINI version tsuas muaj lub sab saum toj interface qhib rau sab nraud txuas ntxiv. Lub hwj chim mov hauv qhov version no tuaj yeem muab qhov siab tshaj plaws tam sim no ntawm 10A.
Realization ntawm CAN hais kom ua tswj
Pib lub BUNKER MINI mobile neeg hlau chassis ib txwm, tig rau FS chaw taws teeb tswj, thiab tom qab ntawd hloov hom kev tswj kom tswj tau, uas yog, thawb lub SWB hom xaiv khawm ntawm FS chaw taws teeb tswj mus rau sab saum toj, ces BUNKER MINI chassis yuav lees txais cov lus txib los ntawm CAN interface, thiab tus tswv tsev kuj txheeb xyuas cov xwm txheej tam sim no ntawm lub chassis los ntawm cov ntaub ntawv tiag tiag uas tau rov qab los ntawm lub npav CAN. Xa mus rau CAN kev sib txuas lus raws tu qauv rau cov ntsiab lus tshwj xeeb raws tu qauv.
Siv thiab ua haujlwm
Txhawm rau pab txhawb cov neeg siv kom hloov kho cov firmware version ntawm BUNKER MINI thiab coj mus rau cov neeg siv khoom zoo dua, BUNKER MINI muab cov khoom siv sib txuas rau kev hloov kho firmware thiab cov neeg siv khoom sib xws. Nws cov neeg siv interface tau pom hauv daim duab 3.3.
Txhim kho kev npaj
- Serial X 1 USB rau serial chaw nres nkoj X 1
- BUNKER MINI chassisX 1
- PC(WINDOWS operating system) X 1
Firmware upgrade software
Txhim kho kev npaj
- Xyuas kom meej tias cov neeg hlau chassis fais fab tuag ua ntej kev sib txuas;
- Siv Serial txuas mus rau BUNKER MINI chassis los txhim kho qhov chaw nres nkoj serial, thiab txuas mus rau lub computer;
- Qhib tus neeg siv khoom software;
- xaiv tus lej chaw nres nkoj;
- BUNKER MINI chassis yog powered rau, nyem Pib Txuas tam sim ntawd, (BUNKER MINI) chassis yuav tos 6S ua ntej fais fab tuag; Yog tias lub sijhawm dhau 6S, nws yuav nkag mus rau hauv daim ntawv thov); yog tias kev sib txuas ua tiav, nws yuav ua rau "kev sib txuas ua tiav" hauv lub thawv ntawv;
- Load BIN file;
- Nyem rau ntawm kev txhim kho thiab tos kom qhov kev hloov kho tiav; Disconnect tus Serial, fais fab tuag lub chassis, thiab fais fab rov qab.
BUNKER MINI ROS Pob siv Example
ROS muab qee qhov kev pabcuam kev ua haujlwm, xws li kho vajtse abstraction, kev tswj cov cuab yeej qis, kev siv cov haujlwm sib xws, kev sib txuas lus, thiab kev tswj cov ntaub ntawv. ROS yog ua raws li cov duab kos duab, kom cov txheej txheem ntawm cov nodes sib txawv tuaj yeem tau txais, tshaj tawm, thiab sib sau ua ke ntau yam ntaub ntawv (xws li kev paub, tswj, xeev, kev npaj, thiab lwm yam). Tam sim no ROS feem ntau txhawb UBUNTU.
Kev npaj kev txhim kho
Kev npaj kho vajtse
- CANlight tuaj yeem sib txuas lus module X1
- Thinkpad E470 Laptop X1
- AGILEX BUNKER MINI mobile neeg hlau chassis X1
- AGILEX BUNKER MINI txhawb cov chaw taws teeb tswj FS-i6s X1
- AGILEXBUNKER MINI sab saum toj aviation receptacle X1
Ib puag ncig piav qhia ntawm kev siv example
- Ubuntu 16.04 LTS (qhov no yog beta version, sim ntawm Ubuntu 18.04 LTS)
- ROS Kinetic (tseem sim hauv cov ntawv tom ntej)
- Git
Hardware kev sib txuas thiab kev npaj
- Rub tawm CAN kab ntawm BUNKER MINI 4-core aviation lossis rear plug, thiab txuas CAN_H thiab CAN_L hauv kab CAN rau CAN_TO_USB adapter feem;
- Tig rau lub chassis pob qhov hloov ntawm BUNKER MINI mobile neeg hlau, thiab xyuas seb qhov chaw nres tsheb thaum muaj xwm ceev ntawm ob sab raug tso tawm;
- Txuas CAN_TO_USB mus rau USB chaw nres nkoj ntawm lub laptop. Daim duab sib txuas tau pom hauv daim duab 3.4.
ROS Installation thiab Ib puag ncig teeb tsa
- Yog xav paub ntxiv txog kev teeb tsa, thov xa mus rau http://wiki.ros.org/kinetic/Installation/Ubuntu
Test CANABLE hardware thiab CAN kev sib txuas lus
Teeb tsa CAN-TO-USB
- Adapter Enabling
- gs_usb kernel module
- $ sudo modprobe gs_usb
- Teem 500k baud tus nqi 和 Enabling can-to-usb adapter
- $ sudo ip txuas teeb can0 li hom tuaj yeem bitrate 500000If
- tsis muaj qhov yuam kev tshwm sim hauv cov kauj ruam dhau los, koj yuav tsum tuaj yeem ua tau view tus tuaj yeem ntaus tam sim nrog cov lus txib $ ifconfig -a
- Nruab thiab siv can-utils los sim kho vajtse $ sudo apt nruab can-utils
- Yog hais tias lub can-to-usb tau txuas nrog BUNKER neeg hlau lub sijhawm no, thiab lub tsheb tau siv, siv cov lus txib hauv qab no los saib xyuas cov ntaub ntawv los ntawm BUNKERchassis $ candump can0
Kev siv
- https://github.com/agilexrobotics/agx_sdk
- https://wiki.rdu.im/_pages/Notes/Embedded-System/Linux/can-bus-in-linux.html
AGILEX BUNKER ROS PACKAGE Download tau thiab sau
- Download ros dependencies
- $ sudo apt nruab
- ros-$ROS_DISTRO-teleop-twist-key-board
- $ sudo apt nruab libasio-dev
- Clone thiab sau cov bunker_ros qhov chaws
- $ cd ~/catkin_ws/src
- $ git clone -recursive
- https://github.com/agilexrobotics/ugv_sdk.git
- $ git clone
- https://github.com/agilexrobotics/bunker_ros.git
- cd ua $ ..
- $ catkin_make
- Siv: https://github.com/agilexrobotics/bunker_ros
Pib lub ROS node
- Pib lub hauv paus node
- $ roslaunch bunker_bringup bunker_minimal.launch Pib lub keyboard chaw taws teeb ua haujlwm ntawm node
- $ roslaunch bunker_bringup bunker_teleop_keyboard.launch
Nco ntsoov
Qhov no muaj qee cov ntsiab lus uas yuav tsum tau them sai sai rau thaum siv thiab tsim BUNKER MINI.
Kev ceev faj txog roj teeb
- Lub roj teeb ntawm BUNKER MINI cov khoom tsis tau them tag nrho thaum nws tawm hauv lub hoobkas. Lub roj teeb tshwj xeeb tuaj yeem pom los ntawm BUNKER MINI chassis rear voltage tso saib lossis nyeem los ntawm CAN tsheb npav kev sib txuas lus interface;
- Thov tsis txhob them lub roj teeb tom qab nws tas lawm. Thov them nyiaj rau lub sijhawm thaum tus nqi qistage tom qab ntawm BUNKER MINI qhia hauv qab 24V;
- Static cia tej yam kev mob: Qhov zoo tshaj plaws cia kub yog -10 ℃ ~ 45 ℃. Lub roj teeb yuav tsum tau them thiab tso tawm ib hlis ib zaug lossis yog li ntawd thaum nws tsis siv, thiab tom qab ntawd lub roj teeb yuav tsum muab khaws cia rau ntawm qhov ntim puv.tage. Tsis txhob muab lub roj teeb rau hauv hluav taws, lossis ua kom sov lub roj teeb, thiab tsis txhob khaws lub roj teeb ntawm qhov kub thiab txias;
- Kev them nyiaj yug: Nws yuav tsum tau them nrog lub charger tshwj xeeb rau cov roj teeb lithium. Tsis txhob them lub roj teeb qis dua 0 ° C, thiab tsis txhob siv cov roj teeb, cov khoom siv hluav taws xob thiab cov khoom siv hluav taws xob uas tsis yog tus qauv hauv lub Hoobkas qub.
Kev ceev faj rau kev ua haujlwm ib puag ncig
- Kev ua haujlwm kub ntawm BUNKER MINI yog -10 ℃ ~ 45 ℃, thov tsis txhob siv nyob rau hauv ib puag ncig uas qhov kub thiab txias qis dua -10 ℃ thiab siab dua 45 ℃;
- Tsis txhob siv nws nyob rau hauv ib puag ncig uas muaj corrosive los yog flammable gases los yog nyob rau hauv ib puag ncig ze rau cov nplaim taws;
- Tsis txhob cia nws nyob ib puag ncig cov khoom cua sov xws li cov cua sov lossis cov coiled loj resistors;
- Qib waterproof thiab plua plav pov thawj ntawm BUNKER MINI yog IP67, thov tsis txhob siv nws hauv dej kom ntev, thiab xyuas kom tshem tawm xeb tsis tu ncua;
- Nws raug pom zoo tias qhov siab ntawm ib puag ncig yuav tsum tsis txhob tshaj 1000M;
- Nws raug pom zoo tias qhov kub sib txawv nruab hnub thiab hmo ntuj yuav tsum tsis txhob siab tshaj 25 ℃;
- Tsis tu ncua xyuas thiab tswj cov tensioners.
Kev ceev faj rau kev nthuav dav hluav taws xob sab nraud
- Lub rear expansion fais fab mov tam sim no tsis tshaj 6.25A, thiab tag nrho lub hwj chim tsis tshaj 300W.
Kev ceev faj txog kev nyab xeeb
- Yog tias koj muaj lus nug thaum lub sijhawm siv, thov ua raws li cov lus qhia muaj feem xyuam lossis nrog cov neeg ua haujlwm paub txog;
- Ua ntej siv cov khoom siv, ua tib zoo saib xyuas qhov xwm txheej ntawm qhov chaw kom tsis txhob muaj teeb meem kev nyab xeeb ntawm cov neeg ua haujlwm los ntawm kev ua haujlwm tsis raug;
- Thaum muaj xwm txheej ceev, lub hwj chim tawm ntawm cov khoom siv los ntawm kais lub khawm nres thaum muaj xwm ceev;
- Tsis txhob hloov kho cov khoom siv sab hauv yam tsis muaj kev txhawb nqa thiab kev tso cai
Lwm yam kev ceev faj
- Thaum nqa thiab teeb tsa ua haujlwm, thov tsis txhob poob lossis tig rov qab;
- rau cov tsis muaj kev tshaj lij, thov tsis txhob disassemble nws yam tsis tau tso cai.
Q&A
- Q: BUNKER MINI pib ib txwm, tab sis lub tsheb lub cev tsis txav nrog cov chaw taws teeb tswj?
- A: Ua ntej, txiav txim siab seb lub hwj chim hloov yog nias thiab seb qhov hloov pauv thaum muaj xwm txheej ceev raug tso tawm, thiab tom qab ntawd paub meej tias seb hom kev tswj tau xaiv los ntawm kev xaiv hom hloov ntawm sab laug sab laug ntawm cov chaw taws teeb tswj yog qhov tseeb.
- Q: Thaum BUNKER MINI cov chaw taws teeb tswj yog qhov qub, lub chassis lub xeev thiab cov lus qhia cov lus taw qhia yog qhov qub, thiab cov txheej txheem tswj hwm tau tshaj tawm, vim li cas lub tsheb lub cev tswj hom tsis tuaj yeem hloov pauv, thiab lub chassis tsis teb rau cov txheej txheem tswj hwm?
- A: Raws li ib txwm muaj, yog BUNKER MINI tuaj yeem tswj tau los ntawm cov chaw taws teeb tswj, nws txhais tau hais tias lub chassis motion control yog qhov qub, thiab nws tuaj yeem tau txais cov lus tawm tswv yim ntawm lub chassis, uas txhais tau hais tias CAN txuas txuas ntxiv yog qhov qub. Thov xyuas seb cov lus txib hloov mus rau CAN tswj hom..
- Q: Thaum cov kev sib txuas lus cuam tshuam tau ua tiav los ntawm CAN tsheb npav, thiab cov lus qhia chassis yog qhov qub, vim li cas lub tsheb tsis teb tom qab kev tswj hwm tau tawm?
- A: BUNKER MINI muaj kev tiv thaiv kev sib txuas lus hauv. Chassis muaj lub sijhawm tiv thaiv lub sijhawm thaum cuam tshuam nrog sab nraud CAN tswj cov lus txib. Piv txwv tias tom qab lub tsheb tau txais cov qauv ntawm kev sib txuas lus raws tu qauv, nws tsis tau txais cov ncej tom ntej ntawm kev tswj cov lus txib rau ntau tshaj 500MS, thiab nws yuav nkag mus rau kev tiv thaiv kev sib txuas lus nrog kev ceev ntawm 0, yog li cov lus txib los ntawm tus tswv tsev computer yuav tsum ua ntu zus. tso tawm.
Khoom Dimensions
Cov duab kos duab qhia txog qhov loj me
Piv txwv ntawm sab saum toj expansion bracket qhov ntev
AGILE X
- Songling Robot (Dongguan) Co., Ltd.
- www.AGILEX.AI
- TEL: +86-0769-22892150
- MOBILE: + 86-19925374409
Cov ntaub ntawv / Cov ntaub ntawv
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AGILEX Robotics Bunker Mini Neeg Hlau [ua pdf] Tus neeg siv phau ntawv Bunker Mini neeg hlau, Bunker Mini, Mini neeg hlau, neeg hlau |
