SCOUT 2.0 AgileX Robotics Team

Tshooj lus no muaj cov ntaub ntawv tseem ceeb ntawm kev nyab xeeb, ua ntej lub tshuab hluav taws xob tau siv rau thawj zaug, txhua tus neeg lossis lub koom haum yuav tsum nyeem thiab nkag siab cov ntaub ntawv no ua ntej siv lub cuab yeej. Yog tias koj muaj lus nug txog kev siv, thov hu rau peb ntawm support@agilex.ai Thov ua raws thiab ua raws li tag nrho cov lus qhia thiab cov lus qhia nyob rau hauv tshooj ntawm phau ntawv no, uas tseem ceeb heev. Kev saib xyuas tshwj xeeb yuav tsum tau them rau cov ntawv hais txog 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 tag nrho cov khoom siv peripheral uas yuav cuam tshuam rau kev nyab xeeb ntawm kev ua tiav. Kev tsim thiab siv cov txheej txheem tiav yuav tsum ua raws li cov kev cai ntawm kev nyab xeeb uas tau tsim nyob rau hauv cov qauv thiab cov kev cai ntawm lub teb chaws uas cov neeg hlau raug teeb tsa.

SCOUT integrators thiab cov neeg siv khoom kawg muaj lub luag haujlwm los xyuas kom meej ua raws li cov cai thiab cov kev cai ntawm cov teb chaws muaj feem xyuam, thiab xyuas kom meej tias tsis muaj kev phom sij loj hauv daim ntawv thov neeg hlau ua tiav. Qhov no suav nrog tab sis tsis txwv rau cov hauv qab no:

Kev ua tau zoo thiab lub luag haujlwm

• Ua qhov kev ntsuam xyuas txaus ntshai ntawm cov neeg hlau ua tiav. Txuas cov cuab yeej kev nyab xeeb ntxiv ntawm lwm lub tshuab uas tau teev tseg los ntawm kev ntsuas kev pheej hmoo ua ke.
• Paub meej tias kev tsim thiab kev teeb tsa ntawm tag nrho cov neeg hlau system cov khoom siv peripheral, suav nrog software thiab hardware systems, yog lawm.
• Cov neeg hlau no tsis muaj ib qho kev ua tiav ntawm cov neeg hlau txawb, suav nrog tab sis tsis txwv rau kev tiv thaiv kev sib tsoo tsis siv neeg, tiv thaiv kev poob, kev ceeb toom kev lom neeg thiab lwm yam kev nyab xeeb muaj feem xyuam. Cov haujlwm muaj feem cuam tshuam xav kom cov neeg sib koom ua ke thiab cov neeg siv khoom kawg ua raws li cov kev cai cuam tshuam thiab cov cai thiab cov kev cai ua tau rau kev soj ntsuam kev nyab xeeb, txhawm rau xyuas kom meej tias cov neeg tsim khoom tsim tsis muaj kev phom sij loj thiab muaj kev nyab xeeb hauv kev siv tiag tiag.
• Sau tag nrho cov ntaub ntawv nyob rau hauv cov ntaub ntawv technical: suav nrog kev ntsuas kev pheej hmoo thiab phau ntawv no.
• Paub txog kev pheej hmoo ntawm kev nyab xeeb ua ntej ua haujlwm thiab siv cov cuab yeej siv.

Environmental Considerations

• Rau kev siv thawj zaug, thov nyeem phau ntawv no kom zoo kom nkag siab txog cov ntsiab lus ntawm kev khiav hauj lwm thiab kev ua haujlwm tshwj xeeb.
• Rau cov chaw taws teeb tswj kev ua haujlwm, xaiv thaj chaw qhib kom siv SCOUT2.0, vim tias SCOUT2.0 tsis tau nruab nrog ib qho tsis siv neeg tiv thaiv kev tiv thaiv.
• Siv SCOUT2.0 ib txwm nyob rau hauv -10 ℃ ~ 45 ℃ ambient kub.
• Yog tias SCOUT 2.0 tsis tau teeb tsa nrog kev tiv thaiv IP cais, nws cov dej thiab plua plav tiv thaiv yuav yog IP22 nkaus xwb.

Pre-work checklist

• Xyuas kom tseeb tias txhua lub cuab yeej muaj lub zog txaus.
• Nco ntsoov tias Bunker tsis muaj qhov tsis xws luag.
• Xyuas seb lub roj teeb tswj chaw taws teeb puas muaj lub zog txaus.
• Thaum siv, xyuas kom tseeb tias qhov kev hloov pauv thaum muaj xwm ceev tau tso tawm.

Kev ua haujlwm

• Hauv kev tswj chaw taws teeb, xyuas kom thaj chaw ib puag ncig yog qhov dav.
• Ua cov chaw taws teeb tswj nyob rau hauv qhov ntau ntawm visibility.
• Qhov siab tshaj plaws ntawm SCOUT2.0 yog 50KG. Thaum siv, xyuas kom meej tias lub load tsis tshaj 50KG.
• Thaum txhim kho qhov txuas ntxiv sab nraud ntawm SCOUT2.0, lees paub txoj haujlwm ntawm qhov nruab nrab ntawm qhov loj ntawm qhov txuas ntxiv thiab xyuas kom meej tias nws nyob ntawm qhov chaw ntawm kev sib hloov.
• Thov them rau hauv tine thaum lub ntaus ntawv tsis tshua muaj roj teeb tswb. Thaum SCOUT2..0 muaj qhov tsis xws luag, thov tso tseg tam sim ntawd kom tsis txhob muaj kev puas tsuaj ntxiv.
• Thaum SCOUT2.0 muaj qhov tsis xws luag, thov hu rau tus kws tshaj lij los daws nws, tsis txhob daws qhov tsis xws ntawm koj tus kheej. Ib txwm siv SCOUT2.0 nyob rau hauv ib puag ncig nrog kev tiv thaiv qib xav tau rau cov khoom siv.
• Tsis txhob thawb SCOUT2.0 ncaj qha.
• Thaum them nyiaj, xyuas kom tseeb tias qhov kub thiab txias yog siab dua 0 ℃.
• Yog hais tias lub tsheb co thaum nws tig, kho lub ncua kev kawm ntawv.

Kev tu

• Tsis tu ncua xyuas lub siab ntawm lub log tsheb, thiab ua kom lub log tsheb siab ntawm 1.8bar ~ 2.0bar.
• Yog tias lub log tsheb hnyav hnyav los yog tawg, thov hloov lub sijhawm.
• Yog tias lub roj teeb tsis siv ntev, nws yuav tsum tau them lub roj teeb ib ntus hauv 2 mus rau 3 lub hlis.

Taw qhia

SC OUT 2.0 yog tsim los ua ntau lub hom phiaj UGV nrog rau qhov sib txawv daim ntawv thov scenarios suav hais tias: modular tsim; kev sib txuas yooj yim; haib lub cev muaj zog muaj peev xwm ntawm siab payload. Cov khoom siv ntxiv xws li lub koob yees duab tso suab, laser radar, GPS, IMU thiab cov neeg siv khoom siv hluav taws xob tuaj yeem xaiv tau nruab rau ntawm SCOUT 2.0 rau kev siv cov kev taw qhia siab thiab kev pom hauv computer. SCOUT 2.0 nquag siv rau kev kawm tsav tsheb thiab kev tshawb fawb, kev saib xyuas kev nyab xeeb hauv tsev thiab sab nraum zoov, kev paub txog ib puag ncig, kev thauj mus los thiab kev thauj mus los, rau npe rau ob peb tus xwb.

Daim ntawv teev npe

Lub npe	Ntau
SCOUT 2.0 Neeg Hlau lub cev	X 1
Roj teeb charger (AC 220V)	X 1
Aviation plug (txiv neej, 4-pin)	X 2
USB rau RS232 cable	X 1
Chaw taws teeb tswj transmitter (yeem)	X 1
USB rau CAN kev sib txuas lus module	X1

Tech specifications

Kev xav tau rau kev txhim kho
FS RC transmitter yog muab (xaiv tau) hauv lub Hoobkas teeb tsa pf SCOUT 2.0, uas tso cai rau cov neeg siv tswj lub chassis ntawm cov neeg hlau txav thiab tig; CAN thiab RS232 interfaces ntawm SCOUT 2.0 tuaj yeem siv rau cov neeg siv kev hloov kho.

Cov hauv paus

Tshooj lus no muab cov lus qhia luv luv rau SCOUT 2.0 mobile neeg hlau platform, raws li pom hauv daim duab 2.1 thiab daim duab 2.2.

1. Pem hauv ntej View
2. Nres Hloov
3. Standard Profile Txhawb nqa
4. Sab saum toj Compartment
5. Sab saum toj Hluav Taws Xob Vaj Huam Sib Luag
6. Retardant-collision Tube
7. Lub Vaj Huam Sib Luag

SCOUT2.0 txais lub tswv yim tsim qauv thiab txawj ntse. Kev sib xyaw tsim ntawm cov roj hmab log tsheb thiab kev ywj pheej ncua ntawm lub zog module, ua ke nrog lub zog DC brushless servo lub cev muaj zog, ua rau SCOUT2.0 neeg hlau chassis txoj kev loj hlob platform muaj zog dhau lub peev xwm thiab hauv av hloov tau, thiab tuaj yeem txav mus los ntawm qhov sib txawv. Ib-ti-kev sib tsoo kab teeb yog mounted nyob ib ncig ntawm lub tsheb kom txo tau kev puas tsuaj rau lub tsheb lub cev thaum muaj kev sib tsoo. Lub teeb yog ob qho tib si ntsia rau pem hauv ntej thiab tom qab ntawm lub tsheb, uas lub teeb dawb yog tsim rau illumination nyob rau hauv pem hauv ntej whereas lub teeb liab yog tsim nyob rau hauv lub rear kawg rau ceeb toom thiab qhia.

Cov nyees khawm nres thaum muaj xwm ceev raug ntsia rau ntawm ob sab ntawm tus neeg hlau kom paub meej tias kev nkag tau yooj yim thiab nias ib qho tuaj yeem kaw lub zog ntawm tus neeg hlau tam sim ntawd thaum tus neeg hlau coj tus cwj pwm txawv txav. Cov dej pov thawj txuas rau DC lub zog thiab kev sib txuas lus sib txuas tau muab ob qho tib si rau saum thiab tom qab ntawm tus neeg hlau, uas tsis tsuas yog tso cai rau kev sib txuas yooj yim ntawm cov neeg hlau thiab cov khoom siv sab nraud tab sis kuj ua kom muaj kev tiv thaiv tsim nyog rau sab hauv ntawm tus neeg hlau txawm tias ua haujlwm hnyav. tej yam kev mob.
Lub bayonet qhib compartment yog tshwj tseg rau sab saum toj rau cov neeg siv.

Kev qhia txog xwm txheej
Cov neeg siv tuaj yeem txheeb xyuas qhov xwm txheej ntawm lub cev ntawm lub tsheb los ntawm lub voltmeter, lub beeper thiab teeb mounted ntawm SCOUT 2.0. Yog xav paub ntxiv, thov mus saib Table 2.1.

xwm txheej	Kev piav qhia
Voltage	Lub roj teeb tam sim no voltage tuaj yeem nyeem los ntawm voltmeter ntawm lub nraub qaum hluav taws xob thiab nrog qhov tseeb ntawm 1V.
Hloov roj teeb	Thaum lub roj teeb voltage qis dua 22.5V, lub tsheb lub cev yuav muab lub suab nrov beep-beep-beep raws li kev ceeb toom. Thaum lub roj teeb voltage raug kuaj pom tias qis dua 22V, SCOUT 2.0 yuav nquag txiav cov khoom siv hluav taws xob rau sab nraud txuas ntxiv thiab tsav los tiv thaiv lub roj teeb ntawm kev puas tsuaj. Hauv qhov no, lub chassis yuav tsis tso cai rau kev txav mus los thiab lees txais kev tswj hwm sab nraud.
Neeg hlau powered on	Pem hauv ntej thiab nram qab lub teeb yog switched.

Table 2.1 Cov lus piav qhia ntawm lub tsheb xwm txheej

Cov lus qhia txog hluav taws xob interfaces

Sab saum toj hluav taws xob interface
SCOUT 2.0 muab peb 4-pin aviation connectors thiab ib qho DB9 (RS232) connector. Txoj hauj lwm ntawm lub aviation connector saum toj kawg nkaus yog pom nyob rau hauv daim duab 2.3.

SCOUT 2.0 muaj lub dav hlau txuas txuas ntxiv rau sab saum toj thiab tom qab kawg, txhua tus tau teeb tsa nrog cov txheej txheem hluav taws xob thiab cov txheej txheem CAN kev sib txuas lus. Cov interfaces no tuaj yeem siv los muab lub zog rau cov khoom siv txuas ntxiv thiab tsim kev sib txuas lus. Cov ntsiab lus tshwj xeeb ntawm cov pins tau qhia hauv daim duab 2.4.

Nws yuav tsum tau muab sau tseg tias, lub zog txuas ntxiv ntawm no yog tswj los ntawm sab hauv, uas txhais tau hais tias lub hwj huam mov yuav raug txiav tawm thaum lub roj teeb vol.tage poob qis hauv qab qhov kev qhia ua ntej voltage. Yog li ntawd, cov neeg siv yuav tsum tau ceeb toom tias SCOUT 2.0 platform yuav xa qhov qis qistage tswb ua ntej qhov pib voltage mus txog thiab tseem them nyiaj rau lub roj teeb rov qab thaum siv.

Tus Pin No.	Tus Pin Hom	FuDnecfitinio thiab	Lus hais
1	Hwj chim	VCC	Lub zog zoo, voltage range 23 - 29.2V, MAX .tam sim no 10A
2	Hwj chim	GND	Lub zog tsis zoo
3	YOG	CAN_H	CAN tsheb npav siab
4	YOG	KEV_L	CAN tsheb npav qis

Lub zog zoo, voltag23-29.2V, MAX. tam sim no 10A

Tus Pin No.	Kev txhais
2	RS232-RX XNUMX
3	RS 232-TX
5	GND

Daim duab 2.5 Daim duab kos duab ntawm Q4 Pins

Rov qab hluav taws xob interface
Qhov txuas txuas ntxiv ntawm qhov kawg yog pom hauv daim duab 2.6, qhov twg Q1 yog qhov hloov pauv tseem ceeb raws li qhov hloov hluav taws xob tseem ceeb; Q2 yog lub recharge interface; Q3 yog lub zog hloov pauv ntawm lub zog tsav; Q4 yog DB9 serial chaw nres nkoj; Q5 yog qhov txuas txuas ntxiv rau CAN thiab 24V fais fab mov; Q6 yog cov zaub ntawm roj teeb voltage.

Tus Pin No.	Tus Pin Hom	FuDnecfitinio thiab	Lus hais
1	Hwj chim	VCC	Lub zog zoo, voltag23-29.2V, siab tshaj tam sim no 5A
2	Hwj chim	GND	Lub zog tsis zoo
3	YOG	CAN_H	CAN tsheb npav siab
4	YOG	KEV_L	CAN tsheb npav qis

Daim duab 2.7 Kev piav qhia ntawm Pem hauv ntej thiab nram qab Aviation Interface Pins

Cov lus qhia ntawm cov chaw taws teeb tswj FS_i6_S cov lus qhia kev tswj chaw taws teeb
FS RC transmitter yog ib qho kev xaiv ntawm SCOUT2.0 rau manually tswj tus neeg hlau. Lub transmitter tuaj nrog rau sab laug-tes-thov teeb tsa. Kev txhais thiab kev ua haujlwm tau pom hauv daim duab 2.8. Lub luag haujlwm ntawm lub pob yog txhais raws li: SWA thiab SWD yog ib ntus neeg xiam oob qhab, thiab SWB yog hom tswj xaiv khawm, hu rau sab saum toj yog hom kev tswj hwm, hu rau nruab nrab yog hom tswj chaw taws teeb; SWC yog lub teeb tswj khawm; S1 yog khawm khawm, tswj SCOUT2.0 rau pem hauv ntej thiab rov qab; S2 tswj yog tswj kev sib hloov, thiab POWER yog lub zog khawm, nias thiab tuav tib lub sijhawm kom tig rau.

Cov lus qhia txog kev tswj kev xav tau thiab kev txav
Ib qho kev sib koom ua ke tuaj yeem raug txhais thiab kho ntawm lub cev lub tsheb raws li pom hauv daim duab 2.9 raws li ISO 8855.

Raws li pom nyob rau hauv daim duab 2.9, lub tsheb lub cev ntawm SCOUT 2.0 yog nyob rau hauv parallel nrog X axis ntawm lub tsim siv reference system. Hauv hom kev tswj chaw taws teeb, thawb lub chaw taws teeb tswj tuav S1 rau pem hauv ntej kom txav mus rau qhov zoo X kev taw qhia, thawb S1 rov qab mus rau qhov tsis zoo X kev taw qhia. Thaum S1 raug thawb mus rau qhov siab tshaj plaws, kev txav ceev hauv qhov zoo X kev taw qhia yog qhov siab tshaj plaws, Thaum thawb S1 mus rau qhov tsawg kawg nkaus, kev txav ceev hauv qhov tsis zoo ntawm X kev taw qhia yog qhov siab tshaj plaws; Cov chaw taws teeb tswj tuav S2 tswj lub kauj ntawm lub log pem hauv ntej ntawm lub tsheb lub cev, thawb S2 mus rau sab laug, thiab lub tsheb tig mus rau sab laug, thawb nws mus rau qhov siab tshaj plaws, thiab lub kaum sab xis yog qhov loj tshaj plaws, S2 thawb mus rau sab xis. , lub tsheb yuav tig mus rau sab xis, thiab thawb nws mus rau qhov siab tshaj plaws, lub sijhawm no lub kaum sab xis yog qhov loj tshaj plaws. Nyob rau hauv kev tswj cov lus txib hom, qhov zoo ntawm cov linear tshaj tawm txhais tau hais tias txav mus rau qhov zoo ntawm X axis, thiab tus nqi tsis zoo ntawm cov kab tawm tshaj tawm 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 kev coj tsis zoo ntawm Y axis.

Cov lus qhia txog kev tswj teeb pom kev zoo
Lub teeb tau teeb tsa rau pem hauv ntej thiab tom qab ntawm SCOUT 2.0, thiab lub teeb pom kev zoo ntawm SCOUT 2.0 qhib rau cov neeg siv kom yooj yim.
Meanwhile, lwm lub teeb pom kev zoo tswj interface yog tshwj tseg ntawm RC transmitter rau kev txuag hluav taws xob.

Tam sim no kev tswj teeb pom kev zoo tsuas yog txhawb nqa nrog FS transmitter, thiab kev txhawb nqa rau lwm cov transmitters tseem tab tom txhim kho. Muaj 3 hom teeb pom kev zoo tswj nrog RC transmitter, uas tuaj yeem hloov tau los ntawm SWC. Cov lus piav qhia txog kev tswj hwm: SWC qib yog nyob rau hauv qab ntawm hom kaw ib txwm, nruab nrab yog rau hom qhib ib txwm, sab saum toj yog ua pa hom.

• NC MODE: Nyob rau hauv NC MODE, Yog tias lub CHASSIS tseem nyob, lub teeb pem hauv ntej yuav raug kaw, thiab lub teeb tom qab yuav nkag mus rau BL hom los qhia txog nws qhov kev ua haujlwm tam sim no; YOG LUB CHASSIS YOG IB TUG TXIV NTXHAIS KAWM NTAWV NTAWM IB TUG NTAUB NTAWV, LUB ROOJ HAUJ LWM HAUJ LWM HAUV LUB NTIAJ TEB NO YUAV TSUM TAU TXAIS LUB SIJ HAWM NTAWM LUB CHAW UA HAUJ LWM NTAWM LUB TSEV KAWM NTAWV;
• TSIS TXAUS SIAB: TSIS TXAUS SIAB, yog tias lub CHASSIS tseem nyob, lub teeb pem hauv ntej yuav zoo li qub, thiab lub teeb tom qab yuav nkag mus rau BL hom los qhia txog qhov xwm txheej; YOG IB QHOV CHAW UA HAUJ LWM, LUB ROOJ HAUJ LWM HAUV NTEJ TIV THAIV TIV THAIV TIV THAIV TIV THAIV TIV THAIV;
• BL MODE: Pem hauv ntej thiab nram qab teeb yog ob qho tib si hauv kev ua pa hom nyob rau hauv tag nrho cov xwm txheej.

CEEB TOOM RAU MODE CONTROL: TOGGLING SWC LEVER RESPECTIVELY hais txog NC hom, tsis muaj hom thiab BL hom hauv qab, nruab nrab thiab sab saum toj.

Pib pib

Tshooj lus no qhia txog kev ua haujlwm yooj yim thiab kev txhim kho ntawm SCOUT 2.0 platform siv CAN bus interface.

Siv thiab ua haujlwm
Cov txheej txheem kev khiav hauj lwm hauv paus pib yog qhia raws li hauv qab no:

Tshawb xyuas

• Txheeb xyuas qhov xwm txheej ntawm SCOUT 2.0. Xyuas seb puas muaj qhov tsis txaus ntseeg tseem ceeb; yog tias muaj, thov hu rau tom qab-muag kev pabcuam tus kheej rau kev txhawb nqa;
• Tshawb xyuas lub xeev ntawm cov keyboards nres xwm ceev. Xyuas kom tseeb tias ob lub khawm nres thaum muaj xwm ceev raug tso tawm;

Pib

• Tig tus yuam sij hloov (Q1 ntawm lub vaj huam sib luag hluav taws xob), thiab ib txwm, lub voltmeter yuav tso saib cov roj teeb kom raug.tage thiab pem hauv ntej thiab nram qab teeb yuav tsum tau ob leeg switched rau;
• Xyuas lub roj teeb voltage. Yog tias tsis muaj qhov txuas ntxiv "beep-beep-beep ..." suab los ntawm beeper, nws txhais tau tias lub roj teeb voltage yog lawm; yog tias lub roj teeb lub zog qis, thov them lub roj teeb;
• Nias Q3 (tsav lub hwj chim hloov khawm).

Thaum muaj xwm ceev nres
Nias lub khawm thaum muaj xwm ceev ob sab laug thiab sab xis ntawm SCOUT 2.0 lub tsheb lub cev;

Basic kev khiav hauj lwm txheej txheem ntawm tej thaj chaw deb tswj:
Tom qab lub chassis ntawm SCOUT 2.0 mobile neeg hlau pib raug, tig rau RC transmitter thiab xaiv hom chaw taws teeb tswj. Tom qab ntawd, SCOUT 2.0 platform txav tuaj yeem tswj tau los ntawm RC transmitter.

Kev them nyiaj
SCOUT 2.0 yog nruab nrog 10A CHARGER los ntawm kev ua haujlwm kom tau raws li cov neeg siv khoom xav tau them rov qab.

Kev them nyiaj yug

• Xyuas kom tseeb tias cov hluav taws xob ntawm SCOUT 2.0 chassis yog powered. Ua ntej them nyiaj, thov xyuas kom tseeb tias lub hwj chim hloov nyob rau hauv lub rear control condol raug muab tso tseg;
• Ntxig lub charger ntsaws rau hauv Q6 charging interface ntawm lub rear tswj vaj huam sib luag;
• Txuas lub charger rau lub hwj huam mov thiab qhib lub qhov hluav taws xob hauv lub charger. Tom qab ntawd, tus neeg hlau nkag mus rau hauv lub xeev them nyiaj.

Lus Cim: Txog tam sim no, lub roj teeb xav tau li ntawm 3 mus rau 5 teev kom rov them tag nrho ntawm 22V, thiab lub voltage ntawm lub roj teeb uas tau them tag nrho yog li 29.2V; Lub sijhawm them rov qab yog xam raws li 30AH ÷ 10A = 3h.

Hloov roj teeb
SCOUT2.0 txais yuav cov roj teeb tshem tawm kom yooj yim rau cov neeg siv. Hauv qee qhov tshwj xeeb, lub roj teeb tuaj yeem hloov ncaj qha. Cov kauj ruam ua haujlwm thiab cov duab kos yog raws li hauv qab no (ua ntej ua haujlwm, xyuas kom meej tias SCOUT2.0 yog lub hwj chim-off):

• Qhib lub vaj huam sib luag sab saud ntawm SCOUT2.0, thiab tshem tawm ob lub XT60 fais fab txuas ntawm lub rooj tsavxwm tswj lub ntsiab (ob lub connectors yog sib npaug) thiab lub roj teeb CAN connector;
  Dai SCOUT2.0 nyob rau hauv nruab nrab cua, unscrew yim screws los ntawm lub hauv qab nrog ib lub teb chaws hex ciaj ntswj, thiab ces rub lub roj teeb tawm;
• Hloov lub roj teeb thiab kho cov ntsia hlau hauv qab.
• Txuas lub XT60 interface thiab lub zog CAN interface rau hauv pawg tswj hwm lub ntsiab, lees paub tias tag nrho cov kab sib txuas yog lawm, thiab tom qab ntawd muab lub zog rau kev sim.

Kev sib txuas lus siv CAN
SCOUT 2.0 muab CAN thiab RS232 interfaces rau cov neeg siv kev hloov kho. Cov neeg siv tuaj yeem xaiv ib qho ntawm cov kev sib tshuam no los tswj kev tswj hwm lub cev ntawm lub tsheb.

CAN cable txuas
SCOUT2.0 xa nrog ob lub aviation txiv neej ntsaws raws li pom hauv daim duab 3.2. Rau cov lus txhais, thov mus saib hauv Table 2.2.

Kev nqis tes ua ntawm CAN hais kom ua tswj
Ua kom raug pib lub chassis ntawm SCOUT 2.0 mobile neeg hlau, thiab tig rau DJI RC transmitter. Tom qab ntawd, hloov mus rau hom kev tswj hwm, piv txwv li toggling S1 hom ntawm DJI RC transmitter mus rau sab saum toj. Lub sijhawm no, SCOUT 2.0 chassis yuav lees txais cov lus txib los ntawm CAN interface, thiab tus tswv tsev kuj tseem tuaj yeem txheeb xyuas lub xeev tam sim no ntawm chassis nrog cov ntaub ntawv lub sijhawm pub rov qab los ntawm CAN tsheb npav. Rau cov ncauj lus ntxaws ntxaws ntawm cov txheej txheem, thov xa mus rau CAN kev sib txuas lus raws tu qauv.

CAN lus raws tu qauv
Ua kom raug pib lub chassis ntawm SCOUT 2.0 mobile neeg hlau, thiab tig rau DJI RC transmitter. Tom qab ntawd, hloov mus rau hom kev tswj hwm, piv txwv li toggling S1 hom ntawm DJI RC transmitter mus rau sab saum toj. Lub sijhawm no, SCOUT 2.0 chassis yuav lees txais cov lus txib los ntawm CAN interface, thiab tus tswv tsev kuj tseem tuaj yeem txheeb xyuas lub xeev tam sim no ntawm chassis nrog cov ntaub ntawv lub sijhawm pub rov qab los ntawm CAN tsheb npav. Rau cov ncauj lus ntxaws ntxaws ntawm cov txheej txheem, thov xa mus rau CAN kev sib txuas lus raws tu qauv.

Table 3.1 Cov lus taw qhia Ncej ntawm SCOUT 2.0 Chassis System Status

Command Lub Npe System Status Feedback Command
Xa node	Txais node Kev txiav txim siab tswj	ID	Lub voj voog (ms)	Txais-lub sijhawm (ms)
Steer-by-wire chassis Cov ntaub ntawv ntev Txoj Haujlwm	ib 0x08 Muaj nuj nqi	0 x 151   Hom ntaub ntawv	20ms ib	Tsis muaj
			Kev piav qhia
byte [0]	Cov xwm txheej tam sim no ntawm lub cev tsheb	unsigned 8	0x00 System nyob rau hauv ib txwm mob 0x01 Kev kub ceev nres hom (tsis tau qhib) 0x02 System exception
byte [1]	Hom tswj	unsigned 8	0 × 00 Standby hom 0 × 01 tuaj yeem tswj hwm hom 0 × 02 Serial chaw nres nkoj tswj hom 0 × 03 Chaw taws teeb tswj hom
byte [2] byte [3]	Roj teeb voltage siab dua 8 ntsis roj teeb voltage qis 8bit	unsigned 16	Qhov tseeb voltage × 10 (nrog qhov tseeb ntawm 0.1V)
byte [4]	Khaws tseg	–	0 × 00 hli
byte [5]	Cov ntaub ntawv ua tsis tiav	unsigned 8	Xa mus rau Table 3.2 [Kev piav qhia ntawm Cov Ntaub Ntawv Tsis Ua Haujlwm]
byte [6]	Khaws tseg	–	0 × 00 hli
byte [7]	Suav paritybit ( suav)	unsigned 8	0-255 suav loops, uas yuav muab ntxiv ib zaug txhua qhov xa tuaj

Table 3.2 Nqe lus piav qhia txog kev ua tsis tiav

Byte	me ntsis	Lub ntsiab lus
byte [4]	ib [0]	Roj teeb undervoltage txhaum (0: Tsis ua hauj lwm 1: Failure) Kev tiv thaiv voltagyog 22v (Lub roj teeb version nrog BMS, lub zog tiv thaiv yog 10%)
	ib [1]	Roj teeb undervoltage txhaum[2] (0: Tsis muaj qhov tsis ua hauj lwm 1: Failure) Tswb voltagyog 24v (Lub roj teeb version nrog BMS, lub zog ceeb toom yog 15%)
	ib [2]	RC transmitter disconnection tiv thaiv (0: Ib txwm 1: RC transmitter disconnected)
	ib [3]	No.1 lub cev muaj zog kev sib txuas lus tsis ua hauj lwm (0: Tsis ua hauj lwm 1: Tsis ua hauj lwm)
	ib [4]	No.2 lub cev muaj zog kev sib txuas lus tsis ua hauj lwm (0: Tsis ua hauj lwm 1: Tsis ua hauj lwm)
	ib [5]	No.3 lub cev muaj zog kev sib txuas lus tsis ua hauj lwm (0: Tsis ua hauj lwm 1: Tsis ua hauj lwm)
	ib [6]	No.4 lub cev muaj zog kev sib txuas lus tsis ua hauj lwm (0: Tsis ua hauj lwm 1: Tsis ua hauj lwm)
	ib [7]	Reserved, default 0

Lus Cim [1]: Neeg hlau chassis firmware version V1.2.8 yog kev txhawb nqa los ntawm cov ntawv tom ntej, thiab cov ntawv dhau los yuav tsum tau hloov kho firmware los txhawb
Lus Cim [2]: Lub buzzer yuav suab thaum lub roj teeb qis-voltage.tage txhaum

Cov lus txib ntawm lub zog tswj kev tawm tswv yim thav duab suav nrog cov lus tawm tswv yim tam sim no linear ceev thiab angular ceev ntawm lub cev txav tsheb. Rau cov ncauj lus kom ntxaws ntawm cov txheej txheem, thov mus saib Table 3.3.

Table 3.3 Movement Control Feedback Ncej

Command Lub Npe Movement Control Feedback Command
Xa node	Txais node	ID	Lub voj voog (ms)	Txais-lub sijhawm (ms)
Steer-by-wire chassis	Chav tswj kev txiav txim siab	0 x 221	20ms ib	Tsis muaj
Hnub tim	0 × 08 hli
Txoj hauj lwm	Muaj nuj nqi	Hom ntaub ntawv	Kev piav qhia
byte [0] byte [1]	Tsiv ceev dua 8 ntsis Tsiv ceev qis dua 8 ntsis	npe int16	Qhov tseeb ceev × 1000 (nrog qhov tseeb ntawm 0.001rad)
byte [2] byte [3]	Kev sib hloov ceev siab dua 8 ntsis Kev sib hloov ceev qis dua 8 ntsis	npe int16	Qhov tseeb ceev × 1000 (nrog qhov tseeb ntawm 0.001rad)
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

Cov ncej tswj muaj xws li tswj kev qhib siab ntawm linear ceev thiab tswj kev qhib siab ntawm angular ceev. Rau nws cov ncauj lus kom ntxaws ntawm cov txheej txheem, thov mus saib Table 3.4.

Cov ntaub ntawv xwm txheej chassis yuav yog cov lus tawm tswv yim, thiab dab tsi ntxiv, cov ntaub ntawv hais txog lub cev muaj zog tam sim no, encoder thiab kub kuj suav nrog. Cov lus qhia nram qab no muaj cov ntaub ntawv hais txog lub cev muaj zog tam sim no, encoder thiab lub cev muaj zog kub.
Lub cev muaj zog ntawm 4 lub cev muaj zog hauv lub chassis tau qhia hauv daim duab hauv qab no:

Command Lub Npe Tsav Tsav Cov Ntaub Ntawv Ceev Cov Lus Qhia Cov Lus Qhia
Xa node	Txais node	ID	Lub voj voog (ms)	Txais-lub sijhawm (ms)
Steer-by-wire chassis Hnub tim txoj hauj lwm	Kev txiav txim siab tswj chav tsev 0 × 08 Muaj nuj nqi	0x251-0x254 ib   Hom ntaub ntawv	20ms ib	Tsis muaj
			Kev piav qhia
byte [0] byte [1]	Lub cev muaj zog ceev dua 8 ntsis Lub cev muaj zog ceev qis dua 8 ntsis	npe int16	Lub tsheb txav ceev, unit mm / s (tus nqi zoo + -1500)
byte [2] byte [3]	Lub cev muaj zog tam sim no siab dua 8 ntsis Lub cev muaj zog tam sim no qis dua 8 ntsis	npe int16	Lub cev muaj zog tam sim no 0.1A
byte [4] byte [5] byte [6] byte [7]	Txoj hauj lwm siab tshaj plaws Txoj hauj lwm thib ob- siab tshaj cov khoom Txoj hauj lwm thib ob-qis tshaj cov khoom Txoj hauj lwm qis tshaj me ntsis	npe int32	Tam sim no txoj hauj lwm ntawm lub cev muaj zog Unit: mem tes

Table 3.8 Lub cev muaj zog kub, voltage thiab xwm txheej cov lus qhia tawm tswv yim

Command Lub Npe Tsav Tsav Tsheb Tsawg Cov Lus Qhia Cov Lus Qhia Cov Lus Qhia
Xa node Steer-by-wire chassis Hnub ntev	Tau txais node Kev txiav txim siab tswj chav tswj 0 × 08 hli	ID 0x261-0x264	Lub voj voog (ms)	Txais-lub sijhawm (ms)
			20ms ib	Tsis muaj
Txoj hauj lwm	Muaj nuj nqi	Hom ntaub ntawv	Kev piav qhia
byte [0] byte [1]	Tsav voltage siab 8bit Tsav voltage qis 8bit	unsigned 16	Tam sim no voltage ntawm tsav unit 0.1V
byte [2] byte [3]	Tsav kub siab dua 8 ntsis Tsav kub qis dua 8 ntsis	npe int16	Chav ntsuas 1 ° C
byte [4] byte [5]	Lub cev muaj zog kub	npe int8	Chav ntsuas 1 ° C
	Tsav xwm txheej	unsigned 8	Saib cov ntsiab lus hauv [Drive control status]
byte [6] byte [7]	Khaws tseg	–	0 x 00
	Khaws tseg	–	0 x 00

Serial Communication Protocol

Kev qhia ntawm serial raws tu qauv
Nws yog tus qauv rau kev sib txuas lus sib txuas ua ke tsim los ntawm Electronic Industries Association (EIA) ntawm Tebchaws Meskas hauv xyoo 1970 nrog rau Tswb Systems, cov chaw tsim khoom thiab cov chaw tsim khoom hauv computer. Nws lub npe yog "Technical Standard for Serial Binary Data Exchange Interface between Data Terminal Equipment (DTE) and Data Communication Equipment (DCE)". Tus qauv qhia tias 25-pin DB-25 connector yog siv rau txhua qhov txuas. Cov ntsiab lus teeb liab ntawm txhua tus pin yog qhia meej, thiab theem ntawm ntau yam teeb liab kuj tau qhia meej. Tom qab ntawd, IBM's PC simplified RS232 rau hauv DB-9 connector, uas tau los ua tus qauv siv tau. RS-232 chaw nres nkoj ntawm kev lag luam tswj feem ntau tsuas yog siv peb kab ntawm RXD, TXD, thiab GND.

Txog Qhov Kev Sib Txuas
Siv USB rau RS232 serial cable hauv peb cov cuab yeej sib txuas lus txuas mus rau qhov chaw nres nkoj serial tom qab ntawm lub tsheb, siv cov cuab yeej serial los teeb tsa tus nqi sib xws, thiab siv cov serial.ample cov ntaub ntawv muab saum toj no los kuaj. Yog tias lub chaw taws teeb tswj tau qhib, nws yuav tsum tau hloov cov chaw taws teeb tswj mus rau kev tswj hwm hom. Yog tias qhov chaw taws teeb tswj tsis tau qhib, tsuas yog xa cov lus txib ncaj qha. Nws yuav tsum raug sau tseg tias cov lus txib yuav tsum raug xa mus raws sijhawm. Yog tias lub chassis tshaj 500MS thiab tsis tau txais cov lus txib chaw nres nkoj, nws yuav nkag mus rau qhov poob ntawm kev tiv thaiv kev sib txuas. xwm txheej.

Serial Protocol Cov ntsiab lus
Basic Communication Parameter

Yam khoom	Parameter
Baud Rate	115200
Parity	Tsis kuaj
Cov ntaub ntawv me ntsis ntev	8 bits
Txhob me ntsis	1bit ib

Kev qhia txog kev cai

Pib me ntsis		Ncej ntev	Hom lus txib	Hais kom ua ID		Cov ntaub ntawv		Ncej ID	Checksum muaj pes tsawg leeg
SOF		ncej_L	CMD_TYPE	CMD_ID	cov ntaub ntawv	…	data [n]	frame_id	check_sum
bytej 1	bytej 2	bytej 3	bytej 4	bytej 5	bytej 6	…	peb 6+n	peb 7+n	peb 8+n
5A	A5

Cov txheej txheem muaj xws li pib me ntsis, ncej ntev, ncej hom lus txib, hais kom ua ID, cov ntaub ntawv ntau, ncej ID, thiab checksum. Lub thav duab ntev yog hais txog qhov ntev tsis suav qhov pib me ntsis thiab cov checksum. Lub checksum yog cov lej ntawm tag nrho cov ntaub ntawv los ntawm qhov pib me ntsis mus rau tus ncej ID; tus ncej ID me ntsis yog los ntawm 0 mus rau 255 suav loops, uas yuav muab ntxiv ib zaug txhua lo lus txib xa.

Cov ntsiab lus raws tu qauv

Command Lub Npe System Status Feedback Frame
Xa node Steer-by-wire chassis Ncej ntev Command hom Command ID Cov ntaub ntawv ntev Txoj hauj lwm	Tau txais node Kev txiav txim siab tswj chav tswj 0 x0c	Cycle (ms) Tau txais-timeout (ms)
		100ms ib	Tsis muaj
		Hom ntaub ntawv	Kev piav qhia
	Cov lus hais kom ua (0 × AA) 0 × 01 hli
	8 Muaj nuj nqi
byte [0]	Cov xwm txheej tam sim no ntawm lub cev tsheb	unsigned 8	0 × 00 System nyob rau hauv ib txwm mob 0 × 01 Thaum muaj xwm ceev nres hom (tsis enabled) 0 × 02 System exception 0 × 00 Standby hom
byte [1]	Hom tswj	unsigned 8	0 × 01 CAN hais kom ua hom 0 × 02 Serial tswj hom[1] 0 × 03 Chaw taws teeb tswj hom
byte [2] byte [3]	Roj teeb voltage siab 8bit Roj teeb voltage qis 8bit	unsigned 16	Qhov tseeb voltage × 10 (nrog qhov tseeb ntawm 0.1V)
byte [4]	Khaws tseg	—	0 × 00 hli
byte [5]	Cov ntaub ntawv ua tsis tiav	unsigned 8	Xa mus rau [Description of Failure Information]
byte [6] byte [7]	Khaws tseg Khaws tseg	— —	0 × 00 hli
			0 × 00 hli

Movement Control Feedback Command

Command Lub Npe Movement Control Feedback Command
Xa node	Txais node	Lub voj voog (ms)	Txais-lub sijhawm (ms)
Steer-by-wire chassis Ncej ntev Command hom Command ID Cov ntaub ntawv ntev	Chav tswj kev txiav txim siab 0 x0c	20ms ib	Tsis muaj
	Cov lus txib (0 × AA) 0 × 02 hli
	8
Txoj hauj lwm	Muaj nuj nqi	Hom ntaub ntawv	Kev piav qhia
byte [0] byte [1]	Tsiv ceev dua 8 ntsis Tsiv ceev qis dua 8 ntsis	npe int16	Qhov tseeb ceev × 1000 (nrog qhov tseeb ntawm 0.001 Nws.)
byte [2] byte [3]	Kev sib hloov ceev siab dua 8 ntsis Kev sib hloov ceev qis dua 8 ntsis	npe int16	Qhov tseeb ceev × 1000 (nrog qhov tseeb ntawm 0.001 Nws.)
byte [4]	Khaws tseg	–	0 × 00 hli
byte [5]	Khaws tseg	–	0 × 00 hli
byte [6]	Khaws tseg	–	0 × 00 hli
byte [7]	Khaws tseg	–	0 × 00 hli

Movement Control Command

Lub Npe Lub Npe Control Command
Xa node	Txais node	Lub voj voog (ms)	Txais-lub sijhawm (ms)
Kev txiav txim siab tswj chav tsev Ncej ntev Command hom Command ID Cov ntaub ntawv ntev	Chassis node 0 × 0 A	20ms ib	500ms ib
	Tswj hais kom ua (0 × 55) 0 × 01 hli
	6
Txoj hauj lwm	Muaj nuj nqi	Hom ntaub ntawv	Kev piav qhia
byte [0] byte [1]	Kev txav nrawm dua 8 ntsis Kev txav nrawm qis dua 8 ntsis	npe int16	Lub tsheb txav ceev, chav tsev: mm / s
byte [2] byte [3]	Kev sib hloov ceev siab dua 8 ntsis Kev sib hloov ceev qis dua 8 ntsis	npe int16	Lub tsheb tig angular ceev, chav tsev: 0.001rad / s
byte [4]	Khaws tseg	–	0 x 00
byte [5]	Khaws tseg	–	0 x 00

Lub Teeb Tswj Ncej

Command Lub Npe Lub Teeb Tswj Ncej
Xa node	Txais node	Lub voj voog (ms)	Txais-lub sijhawm (ms)
Kev txiav txim siab tswj chav tsev Ncej ntev Command hom Command ID Cov ntaub ntawv ntev	Chassis node 0 × 0 A	20ms ib	500ms ib
	Tswj hais kom ua (0 × 55) 0 × 04 hli
	6 Muaj nuj nqi
Txoj hauj lwm		Hnub tim hom	Kev piav qhia
byte [0]	Lub teeb tswj pab kom chij	unsigned 8	0x00 Tswj hais kom ua tsis raug 0x01 Teeb pom kev zoo tswj tau
byte [1]	Pem hauv ntej teeb hom	unsigned 8	0x002xB010 NmOC de 0x03 Tus neeg siv-txhais lusLnedobrightness
byte [2]	Kev cai brightness ntawm pem hauv ntej teeb	unsigned 8	[01, 0100r]e,fwerhsetroem0 arexfiemrsumto bnroigbhrtignhetsns[e5s]s,
byte [3]	Tsheb teeb hom	unsigned 8	0x002xB010 mNOC de 0x03 Tus neeg siv-txhais lusLnedobrightness [0, r, weherte 0 refxers uto nbo brhightness,
byte [4]	Customize brightness rau lub teeb rear	unsigned 8	100 ef rs o ma im m rig tness
byte [5]	Khaws tseg	—	0 x 00

Firmware hloov kho dua tshiab
Txhawm rau pab txhawb cov neeg siv kom hloov kho cov firmware version siv los ntawm SCOUT 2.0 thiab coj cov neeg siv khoom tiav ntau dua, SCOUT 2.0 muab cov firmware hloov kho kho vajtse interface thiab cov neeg siv khoom siv software. Ib qho screenshot ntawm daim ntawv thov no

Txhim kho kev npaj

• SERIAL CABLE × 1
• USB-rau-Serial PORT × 1
• SCOUT 2.0 CHASSIS × 1
• COMPUTER (WINDOWS OPERATING SYSTEM) × 1

Firmware upgrade software
https://github.com/agilexrobotics/agilex_firmware

Txhim kho txheej txheem

• Ua ntej kev sib txuas, xyuas kom cov neeg hlau chassis yog powered; Txuas lub serial cable mus rau qhov chaw nres nkoj serial tom qab kawg ntawm SCOUT 2.0 chassis;
• Txuas lub serial cable rau lub computer;
• Qhib tus neeg siv khoom software;
• Xaiv tus lej chaw nres nkoj;
• Fais fab ntawm SCOUT 2.0 chassis, thiab tam sim ntawd nyem rau kev sib txuas (SCOUT 2.0 chassis yuav tos 3s ua ntej fais fab tuag; yog tias lub sijhawm tos ntau dua 3s, nws yuav nkag mus rau hauv daim ntawv thov); yog tias qhov kev sib txuas ua tiav, "txuas tau zoo" yuav raug ceeb toom rau hauv lub thawv ntawv;
• Load Bin ntaub ntawv;
• Nyem lub Upgrade khawm, thiab tos kom sai li sai tau upgrade tiav;
• Tshem tawm cov kab hluav taws xob sib txuas, lub hwj chim tawm ntawm lub chassis, thiab tig lub hwj chim tawm thiab rov ua dua.

SCOUT 2.0 SDK
Txhawm rau pab cov neeg siv siv kev txhim kho neeg hlau yooj yim dua, tus ntoo khaub lig-platform txhawb SDK yog tsim rau SCOUT 2.0 mobile robot.SDK software pob muab C ++ raws li kev sib txuas, uas yog siv los sib txuas lus nrog lub chassis ntawm SCOUT 2.0 mobile neeg hlau thiab tuaj yeem tau txais cov xwm txheej tshiab ntawm tus neeg hlau thiab tswj cov haujlwm yooj yim ntawm tus neeg hlau. Txog tam sim no, CAN hloov kho rau kev sib txuas lus muaj, tab sis RS232-raws li kev hloov pauv tseem tab tom ua.Raws li qhov no, cov kev ntsuas cuam tshuam tau ua tiav hauv NVIDIA JETSON TX2.

SCOUT 2.0 ROS Pob
ROS muab qee qhov kev pabcuam kev ua haujlwm, xws li kho vajtse abstraction, kev tswj cov cuab yeej qis, kev ua haujlwm zoo, kev sib txuas lus thiab kev tswj xyuas cov ntaub ntawv. ROS yog raws li cov duab kos duab, kom cov txheej txheem ntawm cov nodes sib txawv tuaj yeem tau txais, thiab sib sau ntau yam ntaub ntawv (xws li kev paub, tswj, xwm txheej, 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 × 1
• Phau ntawv Thinkpad E470 × 1
• AGILEX SCOUT 2.0 mobile neeg hlau chassis × 1
• AGILEX SCOUT 2.0 chaw taws teeb tswj FS-i6s × 1
• AGILEX SCOUT 2.0 sab saum toj aviation fais fab qhov (socket) × 1

Siv exampib puag ncig piav qhia

• Ubuntu 16.04 LTS (Qhov no yog qhov kev sim version, saj ntawm Ubuntu 18.04 LTS)
• ROS Kinetic (Cov ntawv tom ntej no kuj raug sim)
• Git

Hardware kev sib txuas thiab kev npaj 

• Ua kom lub CAN xaim ntawm SCOUT 2.0 sab saum toj aviation plug lossis tus Tsov tus tw ntsaws, thiab txuas CAN_H thiab CAN_L hauv CAN xaim mus rau CAN_TO_USB adapter feem;
• Qhib lub pob qhov rooj rau ntawm SCOUT 2.0 mobile neeg hlau chassis, thiab xyuas seb qhov chaw nres tsheb thaum muaj xwm ceev ntawm ob sab raug tso tawm;
• Txuas lub CAN_TO_USB mus rau qhov taw tes usb ntawm phau ntawv. Daim duab sib txuas tau pom hauv daim duab 3.4.

ROS installation thiab ib puag ncig kev 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
Teem CAN-TO-USB adapter

• Qhib gs_usb kernel module
  $ sudo modprobe gs_usb
• Teem 500k Baud tus nqi thiab pab kom tau-rau-usb adapter
  $ sudo ip txuas teeb can0 li hom tuaj yeem bitrate 500000
• Yog tias tsis muaj qhov yuam kev tshwm sim hauv cov kauj ruam dhau los, koj yuav tsum siv tau cov lus txib rau view lub tshuab tau tam sim ntawd
  $ ifconfig -a
• Txhim kho thiab siv cov cuab yeej siv los ntsuas cov khoom siv
  $ sudo apt nruab can-utils
• Yog hais tias lub can-to-usb tau txuas nrog SCOUT 2.0 neeg hlau lub sijhawm no, thiab lub tsheb tau qhib, siv cov lus txib hauv qab no los saib xyuas cov ntaub ntawv los ntawm SCOUT 2.0 chassis
  $ candump tau 0
• Thov xa mus rau:
  • https://github.com/agilexrobotics/agx_sdk
  • https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux.html

AGILEX SCOUT 2.0 ROS PACKAGE rub tawm thiab muab tso ua ke 

• Download ros pob
  $ sudo apt nruab ros-$ROS_DISTRO-controller-manager
  $ sudo apt nruab ros-$ROS_DISTRO-teleop-twist-keyboard$ sudo apt nruab ros-$ROS_DISTRO-joint-state-publisher-gui$ sudo apt nruab libasio-dev
• Clone compile scout_ros code
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/agilexrobotics/scout_ros.git$ ua 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
  Thov xa mus rau:https://github.com/agilexrobotics/scout_ros

Cov kev ceev faj

Tshooj lus no suav nrog qee qhov kev ceev faj uas yuav tsum tau them nyiaj rau SCOUT 2.0 siv thiab txhim kho.

Roj teeb

• Lub roj teeb muab nrog SCOUT 2.0 tsis tau them tag nrho hauv lub Hoobkas teeb tsa, tab sis nws lub peev xwm tshwj xeeb tuaj yeem tso tawm ntawm voltmeter tom qab kawg ntawm SCOUT 2.0 chassis lossis nyeem ntawm CAN tsheb npav sib txuas lus. Lub roj teeb rov qab tuaj yeem nres thaum lub teeb ntsuab LED ntawm lub charger hloov ntsuab. Nco ntsoov tias yog tias koj khaws lub charger txuas tom qab lub teeb ntsuab LED tau txais, lub charger yuav txuas ntxiv them lub roj teeb nrog li 0.1A tam sim no rau li 30 feeb ntxiv kom tau txais lub roj teeb tag nrho.
• Thov tsis txhob them lub roj teeb tom qab nws lub hwj chim tau tas lawm, thiab thov kom them lub roj teeb nyob rau lub sijhawm thaum lub tswb nrov qis;
• Static cia tej yam kev mob: qhov zoo tshaj plaws kub rau roj teeb cia yog -10 ℃ to 45 ℃; Yog tias tsis muaj kev cia khoom siv, lub roj teeb yuav tsum tau them rov qab thiab tso tawm ib zaug txhua 2 lub hlis, thiab tom qab ntawd muab tso rau hauv tag nrho vol.tage xeev. Thov tsis txhob muab lub roj teeb tso rau hauv hluav taws lossis kub lub roj teeb, thiab tsis txhob muab lub roj teeb cia rau hauv qhov chaw kub kub;
• Kev them nyiaj: Lub roj teeb yuav tsum tau them nrog lub roj teeb lithium tshwj xeeb; Cov roj teeb lithium-ion tsis tuaj yeem them qis dua 0 ° C (32 ° F) thiab hloov pauv lossis hloov cov roj teeb qub raug txwv nruj.

Kev ua haujlwm ib puag ncig

• Kev khiav hauj lwm kub ntawm SCOUT 2.0 yog -10 ℃ to 45 ℃; Thov tsis txhob siv nws hauv qab -10 ℃ thiab siab dua 45 ℃ ;
• Cov kev cai rau cov av noo nyob rau hauv ib puag ncig siv SCOUT 2.0 yog: siab tshaj 80%, yam tsawg kawg nkaus 30%;
• Thov tsis txhob siv nyob rau hauv ib puag ncig nrog corrosive thiab flammable gases los yog kaw rau combustible tshuaj;
• Tsis txhob muab tso rau ze ntawm lub tshuab cua sov lossis cov khoom cua sov xws li cov coiled resistors loj, thiab lwm yam .;
• Tsuas yog rau cov kev hloov kho tshwj xeeb (IP tiv thaiv chav kawm kho mob), SCOUT 2.0 tsis yog dej pov thawj, yog li thov tsis txhob siv nws nyob rau hauv rainy, snowy los yog dej-accumulated ib puag ncig;
• Qhov siab ntawm qhov pom zoo siv ib puag ncig yuav tsum tsis pub tshaj 1,000m;
• Qhov kub sib txawv nruab hnub thiab hmo ntuj ntawm kev pom zoo siv ib puag ncig yuav tsum tsis pub tshaj 25 ℃;
• Tsis tu ncua xyuas lub log tsheb siab, thiab xyuas kom tseeb tias nws nyob hauv 1.8 bar rau 2.0bar.
• Yog hais tias ib lub log tsheb hnyav heev los yog tau tawg, thov hloov nws raws sijhawm.

Hluav taws xob / txuas txuas

• Rau qhov txuas txuas hluav taws xob rau sab saum toj, qhov tam sim no yuav tsum tsis pub tshaj 6.25A thiab tag nrho lub zog yuav tsum tsis pub tshaj 150W;
• Rau lub zog txuas ntxiv ntawm qhov kawg, qhov tam sim no yuav tsum tsis pub tshaj 5A thiab tag nrho lub zog yuav tsum tsis pub tshaj 120W;
• Thaum lub kaw lus pom tias lub roj teeb voltage yog qis dua qhov kev nyab xeeb voltage chav kawm, cov khoom siv hluav taws xob sab nraud yuav raug hloov mus rau. Yog li, cov neeg siv tau pom zoo kom ceeb toom yog tias cov kev txuas ntxiv sab nraud cuam tshuam nrog kev khaws cov ntaub ntawv tseem ceeb thiab tsis muaj kev tiv thaiv hluav taws xob.

Cov lus qhia ntxiv txog kev nyab xeeb

• Yog tias muaj kev tsis txaus siab thaum siv, thov ua raws li phau ntawv qhia ntsig txog lossis sab laj cov neeg ua haujlwm muaj feem cuam tshuam;
• Ua ntej siv, ua tib zoo saib xyuas qhov xwm txheej, thiab zam kev ua haujlwm tsis zoo uas yuav ua rau muaj teeb meem kev nyab xeeb ntawm cov neeg ua haujlwm;
• Thaum muaj xwm txheej ceev, nias lub pob nres thaum muaj xwm ceev thiab lub hwj chim tawm ntawm cov khoom siv;
• Yog tias tsis muaj kev txhawb nqa thiab kev tso cai, thov tsis txhob hloov kho cov khoom siv sab hauv.

Lwm sau ntawv

• SCOUT 2.0 muaj cov khoom yas nyob rau hauv pem hauv ntej thiab nram qab, thov tsis txhob ncaj qha mus tsoo cov khoom uas muaj zog heev kom tsis txhob muaj kev puas tsuaj;
• Thaum tuav thiab teeb tsa, thov tsis txhob poob los yog tso lub tsheb upside down;
• Rau cov uas tsis yog cov kws tshaj lij, thov tsis txhob cuam tshuam lub tsheb yam tsis tau tso cai.

Q&A

• Q: SCOUT 2.0 tau pib ua kom raug, tab sis vim li cas RC transmitter tsis tuaj yeem tswj lub cev lub tsheb kom txav mus los?
  A: Ua ntej, xyuas seb lub tshuab hluav taws xob fais fab puas nyob rau hauv ib txwm muaj, seb lub tshuab hluav taws xob hloov hluav taws xob puas raug nias thiab seb E-stop keyboards raug tso tawm; Tom qab ntawd, xyuas seb hom kev tswj hwm xaiv nrog rau sab laug sab laug xaiv hloov ntawm RC transmitter puas yog.
• Q: SCOUT 2.0 cov chaw taws teeb tswj yog nyob rau hauv ib txwm muaj, thiab cov ntaub ntawv hais txog chassis xwm txheej thiab txav tuaj yeem tau txais raug, tab sis thaum cov txheej txheem tswj hwm tau tshaj tawm, vim li cas lub tsheb lub cev tswj tsis tuaj yeem hloov pauv thiab lub chassis teb rau tus ncej tswj. raws tu qauv?
  A: Feem ntau, yog SCOUT 2.0 tuaj yeem tswj tau los ntawm RC transmitter, nws txhais tau tias lub chassis txav tau raug tswj kom raug; yog hais tias lub chassis tawm tswv yim ncej tuaj yeem lees txais, nws txhais tau tias CAN txuas txuas ntxiv yog nyob rau hauv ib txwm muaj. Thov tshawb xyuas CAN tswj thav duab xa mus saib seb cov ntaub ntawv txheeb xyuas puas yog thiab seb hom tswj puas nyob hauv hom kev tswj hwm. Koj tuaj yeem tshawb xyuas cov xwm txheej ntawm qhov yuam kev ntawm qhov yuam kev me ntsis hauv chassis xwm txheej tawm tswv yim ncej.
• Q: SCOUT 2.0 muab lub suab "beep-beep-beep ..." hauv kev ua haujlwm, yuav ua li cas daws qhov teeb meem no?
  A: Yog tias SCOUT 2.0 muab lub suab "beep-beep-beep" txuas ntxiv, nws txhais tau tias lub roj teeb nyob hauv lub tswb nrov.tage xeev. Thov them lub roj teeb rau lub sijhawm. Thaum lwm qhov cuam tshuam lub suab tshwm sim, tej zaum yuav muaj teeb meem sab hauv. Koj tuaj yeem tshawb xyuas cov lej yuam kev cuam tshuam ntawm CAN tsheb npav lossis sib txuas lus nrog cov neeg ua haujlwm cuam tshuam.
• Q: Puas yog lub log hnav ntawm SCOUT 2.0 feem ntau pom hauv kev ua haujlwm?
  A: Lub log hnav ntawm SCOUT 2.0 feem ntau pom thaum nws khiav. Raws li SCOUT 2.0 yog ua raws li plaub lub log sib txawv ntawm lub kauj tsheb tsim, zawv zawg kev sib txhuam thiab dov kev sib txhuam ob qho tib si tshwm sim thaum lub tsheb lub cev tig. Yog hais tias lub hauv pem teb tsis du tab sis ntxhib, cov log tsheb yuav plam tawm. Txhawm rau kom txo qis lossis qeeb ntawm qhov hnav, lub kaum sab xis me me tuaj yeem ua kom qis dua ntawm lub pivot.
• Q: Thaum kev sib txuas lus tau siv los ntawm CAN tsheb npav, chassis tawm tswv yim hais kom raug, tab sis vim li cas lub tsheb tsis teb rau cov lus txib?
  A: Muaj kev tiv thaiv kev sib txuas lus hauv SCOUT 2.0, uas txhais tau hais tias lub chassis tau muab kev tiv thaiv lub sijhawm thaum ua haujlwm sab nraud CAN tswj cov lus txib. Piv txwv tias lub tsheb tau txais ib qho kev sib txuas lus raws tu qauv, tab sis nws tsis tau txais cov kab lus txuas ntxiv ntawm kev tswj hwm tom qab 500ms. Nyob rau hauv rooj plaub no, nws yuav nkag mus rau kev sib txuas lus tiv thaiv hom thiab teem lub ceev mus rau 0. Yog li ntawd, cov lus txib los ntawm lub computer sab sauv yuav tsum tau muab tso tawm ib ntus.

Khoom Dimensions

Daim duab kos duab ntawm cov khoom sab nraud

Daim duab kos duab ntawm sab saum toj ncua kev txhawb nqa qhov ntev

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service@generationrobots.com
+49 30 30 01 14 533
www.generationrobots.com

Cov ntaub ntawv / Cov ntaub ntawv

Agilex Robotics SCOUT 2.0 AgileX Robotics Team [ua pdf] Tus neeg siv phau ntawv SCOUT 2.0 AgileX Robotics Team, SCOUT 2.0, AgileX Robotics Team, Pab Pawg Neeg Hlau

Cov ntaub ntawv

• Cov neeg siv phau ntawv