N10 Programable Mobile Robots
ROOBOWORKS
Rosbot User Manual
Npaj los ntawm: Wayne Liu, Zijie Li, Reilly Smithers & Tara Hercz 30 Lub Kaum Hli 2024 Version #: 20241030
Copyright © 2024 Roboworks. Txhua txoj cai.
ROOBOWORKS
TAB SIS
1. Cov Khoom Tseem Ceeb 2. Cov Khoom Qhia Tshwj Xeeb 3. Kev Taw Qhia rau ROS Controllers 4. Sensing System: LiDAR & Depth Camera 5. STM32 Board (Motor Control, Power Management & IMU) 6. Steering & Driving System 7. Power Management 8. Tele- kev khiav hauj lwm 9. ROS 2 Quick Start 10. Pre-installed ROS 2 Humble Packages
Cov ntsiab lus Rosbot yog tsim los rau ROS (Robot Operating System) tus tsim tawm, tus kws qhia ntawv thiab cov tub ntxhais kawm. Lub plawv ntawm Rosbot yog tag nrho cov programmable software moj khaum thiab configurable hardware architecture raws li cov neeg hlau nrov tshaj plaws platform - ROS. Rosbot los nrog plaub tus qauv: Rosbot 2 - Haum rau ROS cov pib tshiab thiab cov phiaj xwm nyiaj txiag tsawg. Rosbot Pro - Tsim nyog rau ROS cov neeg tsim khoom thiab cov kws qhia ntawv uas xav tau ntau yam txheej txheem rau kev tsim qauv sai lossis kev qhia. Rosbot Plus - Qhov no yog 4WD version ntawm Rosbot nrog Independent Suspension Systems. Pawg no yog qhov loj txaus los txiav txim siab rau kev lag luam thiab kev lag luam loj hlob. Rosbot Plus HD - Qhov no yog Hnyav Duty version ntawm Rosbot Plus uas qhov siab tshaj plaws payload yog txog 45 kg. Rosbot los nrog nrov ROS controllers xws li: · Jetson Orin Nano · Jetson Orin NX
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ROOBOWORKS
1. Cov ntsiab lus tseem ceeb
Varia% ntawm Rosbot 2
Duab
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Rosbot Pro Rosbot Ntxiv
2. Khoom Specifications Khoom Matrix
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Khoom npe Lub cev muaj zog txo qhov sib piv Max Ceev Qhov hnyav Max Payload Loj Tsawg Tig Radius Roj Teeb Lub Neej
Fais fab mov
Paj Lug 2:1
Rosbot Pro 1:18
Rosbot Ntxiv 1:18
Rosbot Plus HD 1:47
1.3m / s 9.26 kg 16 kg 445 * 360 * 206 hli 0.77m
1.65m / s
2.33m / s
0.89m / s
19.54kg ib
35.16kg ib
35.18kg ib
20kg ib
22kg ib
45kg ib
774*570*227mm 766*671*319mm 766*671*319mm
1.02m ua
1.29m ua
1.29m ua
Txog 9.5 teev (tsis muaj load),
Txog 8.5 teev (20% payload)
Txog 4.5 teev (tsis muaj load), Txog 3 teev (20% payload)
24v 6100 mAh LFP roj teeb + 3A tam sim no ntse charger
Steering Iav Log Encoder
S20F 20kg torque digital servo
DS5160 60kg torque digital servo
125mm diameters khoom roj hmab log
180mm diameters khoom roj hmab log
254 hli inflatable roj hmab log
500 kab AB theem siab precision encoder
Suspension System Coaxial Pendulum Suspension System 4W Independent Suspension System
Tswj interface
iOS & Android App ntawm Bluetooth lossis Wifi, PS2, CAN, Serial Port, USB
3. Kev Taw Qhia ntawm ROS Controllers
Muaj 2 hom ROS Controllers muaj rau siv nrog Rosbot raws li Nvidia Jetson platform. Jetson Orin Nano yog haum rau kev tshawb fawb thiab kev kawm. Jetson Orin NX yog qhov zoo tshaj plaws rau kev tsim khoom thiab kev lag luam. Cov lus hauv qab no qhia txog cov kev sib txawv tseem ceeb ntawm cov tswj ntau yam muaj los ntawm Roboworks. Ob lub rooj tsavxwm tso cai rau kev suav qib siab thiab tsim nyog rau kev siv cov neeg hlau siab tshaj plaws xws li kev pom hauv computer, kev kawm tob thiab kev npaj ua haujlwm.
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4. Sensing System: LiDAR & Depth Lub Koob Yees Duab A Leishen LSLiDAR tau teeb tsa rau txhua qhov kev hloov pauv Rosbot nrog rau tus qauv N10 lossis M10 siv. Cov LiDAR no muab 360 degree scanning ntau yam thiab ib puag ncig kev nkag siab thiab khav theeb tsim qauv tsim thiab lub teeb. Lawv muaj qhov sib txawv ntawm Cov Teeb Meem Tsis Txaus Siab thiab kev tshawb pom zoo ntawm cov khoom siv hluav taws xob siab / qis thiab ua tau zoo hauv lub teeb muaj zog. Lawv muaj qhov ntsuas qhov deb ntawm 30 meters thiab scan zaus ntawm 12Hz. LiDAR no koom ua ke seamlessly rau hauv Rosbots, kom ntseeg tau tias txhua daim ntawv qhia thiab kev siv navigational tuaj yeem ua tiav hauv koj qhov project. Cov lus hauv qab no qhia txog cov kev qhia tshwj xeeb ntawm LSLiDARs:
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Tsis tas li ntawd, txhua Rosbots tau nruab nrog lub koob yees duab Orbbec Astra Depth, uas yog lub koob yees duab RGBD. Lub koob yees duab no tau kho kom zoo rau kev npau taws ntawm kev siv suav nrog kev tswj kev taw qhia, kev taug qab pob txha, 3D scanning thiab taw tes huab kev loj hlob. Cov lus hauv qab no qhia txog cov yam ntxwv ntawm lub koob yees duab qhov tob.
5. STM32 Board (Motor Control, Power Management & IMU) STM32F103RC Board yog micro-controller siv nyob rau hauv tag nrho Rosbots. Nws muaj kev ua haujlwm siab ARM Cortex -M3 32-ntsis RISC core ua haujlwm ntawm 72MHz zaus nrog rau kev kub ceev embedded nco. Nws ua haujlwm hauv -40 ° C txog + 105 ° C qhov kub thiab txias, haum rau txhua qhov kev siv neeg hlau hauv cov huab cua thoob ntiaj teb. Muaj cov qauv txuag hluav taws xob uas tso cai rau kev tsim cov ntawv siv hluav taws xob tsawg. Qee qhov kev siv ntawm no microcontroller muaj xws li: lub cev muaj zog tsav, kev tswj daim ntawv thov, daim ntawv thov neeg hlau, cov khoom siv kho mob thiab cov khoom siv tes, PC thiab gaming peripherals, GPS platforms, cov ntawv thov kev lag luam, tswb system video intercom thiab scanners.
Copyright © 2024 Roboworks. Txhua txoj cai.
STM32F103RC tub ntxhais
Lub moos nco, Rov pib dua thiab Kev Tswj Xyuas Khoom
Fais fab DMA Debug Hom I/O ports
Timers
Kev sib txuas lus Interface
Nta
ARM32-ntsis Cortex M3 CPU
Max ceev ntawm 72 MHz
512 KB ntawm Flash nco
64 kB ntawm SRAM
2.0 rau 3.6V daim ntawv thov khoom thiab I / Os
Pw tsaug zog, Nres thiab Standby hom
V muab rau RTC thiab thaub qab sau npe
BAT
12-channel DMA maub los
SWB and JTAG interfaces
Cortex-M3 Embedded Trace Macrocell
51 I / O cov chaw nres nkoj (mappable ntawm 16 sab nraud cuam tshuam vectors thiab 5V ua siab ntev)
4 × 16-ntsis timers
2 x 16-ntsis lub cev muaj zog tswj PWM timers (nrog rau kev kub ntxhov
nres)
2 x watchdog timers (ywj siab thiab qhov rai)
SysTick timer (24-ntsis downcounter)
2 x 16-ntsis timers yooj yim tsav lub DAC
USB 2.0 puv ceev interface
SDIO interface
CAN interface (2.0B Active)
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6. Steering & Driving System Lub Steering thiab tsav tsheb yog kev koom ua ke nrog kev tsim thiab tsim ntawm Rosbot. Nyob ntawm tus qauv yuav nws yuav yog 2 lub log lossis 4 lub log tsav, nrog rau ob qho kev xaiv tsim nyog rau ntau yam kev tshawb fawb thiab kev tsim kho lub hom phiaj. Cov log ntawm txhua Rosbots yog cov roj hmab khoom nrog cov log tsheb tiv thaiv daus. Muaj cov coaxial pendulum ncua kev kawm ntawv, thiab sab saum toj ntau Rosbots tau nruab nrog kev poob siab absorbers nrog ywj siab ncua kev kawm ntawv, kom ntseeg tau tias nws muaj peev xwm ua tiav txoj kev taug kev nyuaj. Steering thiab Tsav Tsheb Technical Specifications:
Copyright © 2024 Roboworks. Txhua txoj cai.
Rosbot Chassis Design Diagram: Rosbot 2
Rosbot Pro
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Rosbot Plus
7. Fais fab tswj fais fab Mag - Sib nqus LFP roj teeb: Txhua Rosbots tuaj nrog 6000 mAh Power Mag, sib nqus LFP (Lithium Iron Phosphate) roj teeb thiab lub hwj chim Charger. Cov neeg siv khoom tuaj yeem hloov kho lub roj teeb rau 20000 mAh nrog tus nqi ntxiv. LFP roj teeb yog ib hom lithium-ion roj teeb uas paub txog lawv txoj kev ruaj ntseg, kev nyab xeeb, thiab lub neej ntev. Tsis zoo li cov roj teeb lithium-ion ib txwm siv, uas siv cobalt lossis npib tsib xee, LFP cov roj teeb cia siab rau cov hlau phosphate, muab cov kev xaiv zoo dua thiab tsis muaj tshuaj lom. Lawv yog cov heev resistant rau thermal runaway, txo txoj kev pheej hmoo ntawm overheating thiab hluav taws. Thaum lawv muaj lub zog qis dua piv rau lwm cov roj teeb lithium-ion, LFP roj teeb ua haujlwm tau zoo, nrog rau
Copyright © 2024 Roboworks. Txhua txoj cai.
Lub neej ntev dua, kev them nyiaj sai dua, thiab kev ua haujlwm zoo dua hauv qhov kub thiab txias, ua rau lawv zoo tagnrho rau cov tsheb fais fab (EVs) thiab lub zog cia. Fais fab Mag tuaj yeem txuas rau txhua qhov chaw hlau ntawm tus neeg hlau vim nws qhov tsim qauv sib nqus. Nws ua rau swapping roj teeb sai thiab yooj yim.
Technical Specifications:
Qauv roj teeb pob
Core Material Cutoff Voltage
Full Voltage Charging Current
Plhaub Material Discharge
Kev ua tau zoo
6000mAh 22.4V 6000mAh Lithium Hlau Phosphate
16.5 V 25.55 V.
3A Hlau 15A Nruam Tawm
20000mAh 22.4V 20000mAh Lithium Hlau Phosphate
16.5 V 25.55 V.
3A Hlau 20A Nruam Tawm
DC4017MM poj niam connector
DC4017MM poj niam connector
Plug
(them) XT60U-F poj niam
(them) XT60U-F poj niam
connector (tso tawm)
connector (tso tawm)
Qhov hnyav hnyav
177 * 146 * 42mm 1.72kg
208 * 154 * 97mm 4.1kg
Kev tiv thaiv roj teeb: luv luv Circuit Court, overcurrent, overcharge, over-discharge tiv thaiv, txhawb them thaum siv, built-in kev ruaj ntseg valve, nplaim hluav taws retardant board.
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Super Charge: Super Charge yog qhov chaw nres tsheb pib them nrog Rosbot 2S, Rosbot Pro S, Rosbot Plus S qauv thiab tuaj yeem yuav nyias los ua haujlwm nrog Rosbot 2, Rosbot Pro thiab Rosbot Plus. 8. Tele-operation Muaj 4 txoj hauv kev tele-operate tus neeg hlau: 8.1 Tswj los ntawm PS2 maub los:
8.1.1. Txuas PS2 maub los rau PCB board 8.1.2. Tos kom txog thaum qhov taw qhia tig liab ntawm tus maub los thiab tom qab ntawd nias lub pob pib. 8.1.3 ib. Ntawm lub vijtsam pcb board, thawb sab laug joystick rau pem hauv ntej thiab hloov nws los ntawm ros mus rau ps2 tswj hom. Cov duab hauv qab no qhia txog ob hom kev tswj sib txawv: ROS lossis PS2:
8.2 Tswj los ntawm ros2 node thiab keyboard 8.2.1. Hloov cov tswj hom rau ros 8.2.2. Xyuas kom tseeb tias tus neeg hlau nqa tau khiav (saib ntu 9)
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8.2.3 ib. Khiav cov lus txib no: python3 ros2/src/wheeltec_robot_keyboard/wheeltec_robot_keyboard/wheeltec_keyboard.py 4. Xwb, koj tuaj yeem khiav cov lus txib no:
ros2 khiav wheeltec_robot_keyboard wheeltec_keyboard
8.3 Tswj los ntawm ros2 node thiab USB A maub los 8.3.1. Txuas USB A maub los 8.3.2. Hloov cov tswj hom rau ros 8.3.3. Xyuas kom tseeb tias cov neeg hlau nqa tau khiav (saib ntu 9) 8.3.4. Khiav cov lus txib no:
ros2 tso wheeltec_joy wheeltec_joy.launch.py
8.4 Tswj los ntawm Mobile App ntawm Wifi lossis Bluetooth txuas Mus saib Roboworks 'App Chaw Nres Tsheb website thiab taug qab mus rau ntu Chaw Tswjhwm Saib Xyuas Mobile Apps mus download tau lub Mobile App rau koj lub xov tooj ntawm tes: https://www.roboworks.net/apps
9. ROS 2 Quick Start Thaum tus neeg hlau pib ua ntej, nws raug tswj los ntawm ROS los ntawm lub neej ntawd. Lub ntsiab lus, STM32 chassis controller board txais cov lus txib los ntawm ROS 2 Controller xws li Jetson Orin.
Kev teeb tsa thawj zaug yog nrawm thiab yooj yim, los ntawm koj lub PC host PC (Ubuntu Linux pom zoo) txuas mus rau tus neeg hlau Wi-Fi hotspot. Tus password los ntawm lub neej ntawd yog "dongguan".
Tom ntej no, txuas mus rau neeg hlau siv SSH ntawm lub davhlau ya nyob twg Linux, IP chaw nyob yog 192.168.0.100, default password yog dongguan. ~$ ssh wheeltec@192.168.0.100 Nrog lub davhlau ya nyob twg nkag mus rau tus neeg hlau, koj tuaj yeem taug kev mus rau ROS 2 chaw ua haujlwm nplaub tshev, nyob rau hauv "wheeltec_ROS 2" Ua ntej khiav cov kev sim, mus rau wheeltec_ROS 2/turn_on_wheeltec_robot/ thiab locatev wheeltec. tsab ntawv yuav tsum tau khiav, feem ntau tsuas yog ib zaug kom paub meej tsim nyog configuration ntawm peripheral. Tam sim no koj tuaj yeem sim cov neeg hlau ua haujlwm, txhawm rau tso lub ROS 2 maub los ua haujlwm, khiav:
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"roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch" ~ $ ros2 launch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch Hauv lub davhlau ya nyob twg thib ob, koj tuaj yeem siv keyboard_teleop node kom siv tau cov chassis tswj, qhov no yog ib qho kev hloov kho tshiab ntawm tus nrov OS 2.ample. Hom (ntau dua tele-op tswj muaj nyob rau hauv ntu 8): "ros2 khiav wheeltec_robot_keyboard wheeltec_keyboard"
10. Pre-installed ROS 2 Hwjchim Ntim Pob Hauv qab no yog cov hauv qab no cov neeg siv-taw qhia cov pob khoom, thaum lwm cov pob yuav muaj nyob, cov no tsuas yog kev vam khom xwb. tig_on_wheeltec_robot
Cov pob no yog qhov tseem ceeb rau kev ua haujlwm ntawm neeg hlau thiab kev sib txuas lus nrog tus tswj chassis. Thawj tsab ntawv "turn_on_wheeltec_robot.launch" yuav tsum tau siv rau ntawm txhua lub khau raj los teeb tsa ROS 2 thiab tus tswj hwm. wheeltec_rviz2 Muaj tso tawm files los tso tawm rviz nrog kev cai teeb tsa rau Pickerbot Pro.
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wheeltec_robot_slam SLAM Mapping thiab localization pob nrog kev cai configuration rau Pickerbot Pro.
wheeltec_robot_rrt2 Kev tshawb nrhiav nrawm nrawm ntawm tsob ntoo algorithm - Cov pob no ua rau Pickerbot Pro npaj txoj hauv kev rau nws qhov chaw xav tau, los ntawm kev pib tshawb nrhiav cov pob.
wheeltec_robot_keyboard Cov pob yooj yim rau kev lees paub cov neeg hlau ua haujlwm thiab tswj kev siv cov keyboard, suav nrog los ntawm cov chaw taws teeb tswj PC.
wheeltec_robot_nav2 ROS 2 Navigation 2 node pob.
wheeltec_lidar_ros2 ROS 2 Lidar pob rau kev teeb tsa Leishen M10/N10.
wheeltec_joy Joystick tswj pob, muaj tso tawm files rau Joystick nodes.
simple_follower_ros2 Cov khoom yooj yim thiab kab hauv qab algorithms siv laser scan lossis lub koob yees duab tob.
ros2_astra_camera Astra tob lub koob yees duab pob nrog cov tsav tsheb thiab tso tawm files.
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Cov ntaub ntawv / Cov ntaub ntawv
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