Gulu la SCOUT 2.0 AgileX Robotic Team

Mutuwu uli ndi mfundo zofunika kwambiri zokhudza chitetezo, loboti isanayambe kuyatsidwa kwa nthawi yoyamba, munthu aliyense kapena bungwe liyenera kuwerenga ndi kumvetsa izi musanagwiritse ntchito chipangizocho. Ngati muli ndi mafunso okhudza kugwiritsa ntchito, chonde titumizireni pa support@agilex.ai Chonde tsatirani ndikutsatira malangizo onse a msonkhano ndi malangizo omwe ali m'mitu ya bukhuli, zomwe ndi zofunika kwambiri. Chisamaliro chapadera chiyenera kuperekedwa ku malemba okhudzana ndi zizindikiro zochenjeza.

Zambiri Zachitetezo

Zomwe zili m'bukuli sizikuphatikiza kupanga, kukhazikitsa ndi kugwiritsa ntchito makina onse a roboti, komanso siziphatikiza zida zonse zotumphukira zomwe zingakhudze chitetezo chadongosolo lonse. Kupanga ndi kugwiritsa ntchito dongosolo lathunthu liyenera kutsata zofunikira zachitetezo zomwe zimakhazikitsidwa mumiyezo ndi malamulo adziko lomwe loboti imayikidwa.

Ophatikiza ma SCOUT ndi makasitomala otsiriza ali ndi udindo wowonetsetsa kuti akutsatira malamulo ndi malamulo omwe akuyenera kuchitika m'maiko okhudzidwa, ndikuwonetsetsa kuti palibe zoopsa zazikulu pakugwiritsira ntchito roboti yonse. Izi zikuphatikiza koma sizimangokhala:

Kuchita bwino komanso udindo

• Pangani kuwunika kowopsa kwa dongosolo lathunthu la roboti. Lumikizani zida zowonjezera zachitetezo zamakina ena omwe afotokozedwa ndi kuwunika kwachiwopsezo palimodzi.
• Tsimikizirani kuti mapangidwe ndi kukhazikitsa kwa zida zonse za makina a robot, kuphatikiza mapulogalamu ndi zida za hardware, ndi zolondola.
• Loboti iyi ilibe loboti yodziyimira yokha yoyenda yokha, kuphatikiza, koma osati kungogunda, kugwa, chenjezo lachilengedwe ndi ntchito zina zokhudzana ndi chitetezo. Ntchito zokhudzana nazo zimafuna ophatikizana ndi makasitomala otsiriza kuti azitsatira malamulo oyenerera ndi malamulo otheka ndi malamulo owunika chitetezo , Kuonetsetsa kuti robot yopangidwayo ilibe zoopsa zazikulu ndi zoopsa za chitetezo pazochitika zenizeni.
• Sonkhanitsani zikalata zonse mufayilo yaukadaulo: kuphatikiza kuwunika zoopsa ndi bukhuli.
• Dziwani zoopsa zomwe zingachitike musanagwiritse ntchito ndi kugwiritsa ntchito zida.

Kuganizira Zachilengedwe

• Kuti mugwiritse ntchito koyamba, chonde werengani bukuli mosamala kuti mumvetsetse zofunikira zogwirira ntchito komanso momwe mungagwiritsire ntchito.
• Kuti mugwiritse ntchito patali, sankhani malo otseguka kuti mugwiritse ntchito SCOUT2.0, chifukwa SCOUT2.0 ilibe zida zodziwikiratu zopewera zopinga.
• Gwiritsani ntchito SCOUT2.0 nthawi zonse pansi pa -10 ℃ ~ 45 ℃ kutentha kozungulira.
• Ngati SCOUT 2.0 sinakonzedwe ndi chitetezo cha IP chapadera, chitetezo chake chamadzi ndi fumbi chidzakhala IP22 POKHA.

Ntchito Yoyang'anira isanachitike

• Onetsetsani kuti chipangizo chilichonse chili ndi mphamvu zokwanira.
• Onetsetsani kuti Bunker ilibe cholakwika chilichonse.
• Onani ngati batire ya remote control ili ndi mphamvu zokwanira.
• Mukamagwiritsa ntchito, onetsetsani kuti switch yoyimitsa mwadzidzidzi yatulutsidwa.

Ntchito

• Pogwira ntchito yoyang'anira kutali, onetsetsani kuti dera lozungulira ndi lalikulu.
• Chitani zowongolera zakutali mkati mwazowoneka.
• Kulemera kwakukulu kwa SCOUT2.0 ndi 50KG. Mukagwiritsidwa ntchito, onetsetsani kuti malipirowo sakupitirira 50KG.
• Mukayika chowonjezera chakunja pa SCOUT2.0, tsimikizirani pomwe pali pakati pa kukula ndikuwonetsetsa kuti chiri pakati pa kuzungulira.
• Chonde yonjezerani mphamvu pamene chipangizocho chili ndi alamu yocheperako. Pamene SCOUT2..0 ili ndi vuto, chonde siyani kugwiritsa ntchito nthawi yomweyo kuti mupewe kuwonongeka kwachiwiri.
• Ngati SCOUT2.0 ili ndi vuto, chonde funsani akatswiri oyenerera kuti athane nawo, osathana ndi vutolo nokha. Nthawi zonse gwiritsani ntchito SCOUT2.0 m'malo okhala ndi chitetezo chomwe chimafunikira pazida.
• Osakankhira SCOUT2.0 mwachindunji.
• Mukamalipira, onetsetsani kuti kutentha kuli pamwamba pa 0 ℃.
• Ngati galimoto ikugwedezeka panthawi yozungulira, sinthani kuyimitsidwa.

Kusamalira

• Yang'anani pafupipafupi kuthamanga kwa tayala, ndikusunga kuthamanga kwa tayala pakati pa 1.8bar ~ 2.0bar.
• Ngati tayala latha kwambiri kapena laphulika, chonde lisintheni munthawi yake.
• Ngati batire siligwiritsa ntchito kwa nthawi yayitali, imayenera kulipiritsa batire nthawi ndi nthawi m'miyezi iwiri kapena itatu.

Mawu Oyamba

SC OUT 2.0 idapangidwa ngati UGV yazifukwa zambiri yokhala ndi mawonekedwe osiyanasiyana ogwiritsira ntchito: kapangidwe kake; kugwirizanitsa flexible; mphamvu yamagalimoto yamagalimoto omwe amatha kulipira kwambiri. Zina zowonjezera monga kamera ya stereo, laser radar, GPS, IMU ndi robotic manipulator zitha kukhazikitsidwa mwakufuna pa SCOUT 2.0 pakuyenda kwapamwamba komanso kugwiritsa ntchito masomphenya apakompyuta. SCOUT 2.0 imagwiritsidwa ntchito nthawi zambiri pophunzitsa komanso kafukufuku woyendetsa galimoto, kulondera m'nyumba ndi panja, kuyang'anira chilengedwe, kasamalidwe kazonse ndi kayendedwe, kungotchulapo zochepa chabe.

Mndandanda wa zigawo

Dzina	Kuchuluka
SCOUT 2.0 Thupi la robot	X1 pa
Chaja cha batri (AC 220V)	X1 pa
Pulagi ya ndege (yachimuna, 4-pini)	X2 pa
USB ku RS232 chingwe	X1 pa
Ma transmitter akutali (posankha)	X1 pa
USB kupita ku CAN moduli yolumikizirana	X1

Tech specifications

Chofunikira pa chitukuko
FS RC transmitter imaperekedwa (posankha) mufakitole pf SCOUT 2.0, yomwe imalola ogwiritsa ntchito kuwongolera chassis ya loboti kuti isunthe ndikutembenuka; Mawonekedwe a CAN ndi RS232 pa SCOUT 2.0 angagwiritsidwe ntchito pakusintha makonda a wosuta.

Zoyambira

Gawoli limapereka chidziwitso chachidule cha nsanja ya robot ya SCOUT 2.0, monga momwe tawonetsera pa Chithunzi 2.1 ndi Chithunzi 2.2.

1. Patsogolo View
2. Lekani Kusintha
3. Standard Profile Thandizo
4. Chipinda Chapamwamba
5. Gulu Lamagetsi Lapamwamba
6. Tube yolumikizana ndi retardant
7. Kumbuyo Panel

SCOUT2.0 imatengera lingaliro lokhazikika komanso lanzeru. Kapangidwe kaphatikizidwe ka matayala a rabara oyaka komanso kuyimitsidwa kodziyimira pawokha pagawo lamagetsi, kuphatikiza injini yamphamvu ya DC brushless servo, imapangitsa nsanja yachitukuko ya roboti ya SCOUT2.0 kukhala ndi kuthekera kopambana komanso kusinthika kwapansi, ndipo imatha kusuntha mosasunthika pamtunda wosiyanasiyana. Miyendo ya An-ti-collision imayikidwa mozungulira galimotoyo kuti ichepetse kuwonongeka komwe kungachitike pagalimoto pakagundana. Nyali zonse zimayikidwa kutsogolo ndi kumbuyo kwa galimotoyo, pomwe kuwala koyera kumapangidwira kuti ziwunikire kutsogolo pamene kuwala kofiira kumapangidwira kumapeto kwa chenjezo ndi kusonyeza.

Mabatani oyimitsa mwadzidzidzi amaikidwa mbali zonse ziwiri za loboti kuti atsimikizire kulowa mosavuta ndikukankhira imodzi imatha kutseka mphamvu ya loboti nthawi yomweyo loboti ikachita zinthu molakwika. Zolumikizira zopanda madzi pamagetsi a DC ndi njira zoyankhulirana zimaperekedwa pamwamba komanso kumbuyo kwa loboti, zomwe sizimalola kulumikizana kosinthika pakati pa loboti ndi zida zakunja komanso zimatsimikizira chitetezo chofunikira mkati mwa loboti ngakhale ikugwira ntchito mwamphamvu. mikhalidwe.
Chipinda chotseguka cha bayonet chimasungidwa pamwamba kwa ogwiritsa ntchito.

Chizindikiro cha status
Ogwiritsa ntchito amatha kuzindikira momwe thupi lagalimoto limakhalira kudzera pa voltmeter, beeper ndi nyali zoyikidwa pa SCOUT 2.0. Kuti mudziwe zambiri, chonde onani Table 2.1.

Mkhalidwe	Kufotokozera
Voltage	Batire yamakono voltage imatha kuwerengedwa kuchokera ku voltmeter pamagetsi akumbuyo amagetsi komanso kulondola kwa 1V.
Bwezerani batire	Pamene batire voltage ndi yotsika kuposa 22.5V, thupi lagalimoto lidzapereka phokoso la beep-beep ngati chenjezo. Pamene batire voltage imadziwika kuti ndi yotsika kuposa 22V, SCOUT 2.0 idzadula mphamvu zowonjezera kunja ndikuyendetsa kuti batire isawonongeke. Pankhaniyi, chassis sichingathandizire kuwongolera kuyenda ndikuvomera kuwongolera kwakunja.
Maloboti amayatsidwa	Magetsi akutsogolo ndi akumbuyo amayatsidwa.

Table 2.1 Mafotokozedwe a Momwe Magalimoto Aliri

Malangizo pa zolumikizira zamagetsi

Top magetsi mawonekedwe
SCOUT 2.0 imapereka zolumikizira ndege za 4-pini ndi cholumikizira chimodzi cha DB9 (RS232). Malo a cholumikizira chapamwamba cha ndege akuwonetsedwa mu Chithunzi 2.3.

SCOUT 2.0 ili ndi mawonekedwe owonjezera oyendetsa ndege pamwamba ndi kumbuyo, chilichonse chimapangidwa ndi seti yamagetsi ndi seti ya CAN yolumikizirana. Zolumikizirazi zitha kugwiritsidwa ntchito kupereka mphamvu ku zida zowonjezera ndikukhazikitsa kulumikizana. Tanthauzo lachindunji la zikhomo likuwonetsedwa mu Chithunzi 2.4.

Ndikoyenera kudziwa kuti, magetsi owonjezera apa amayendetsedwa mkati, zomwe zikutanthauza kuti magetsi adzazimitsidwa pokhapokha batire itatha.tage imatsika pansi pa gawo lomwe latchulidwa kaletage. Chifukwa chake, ogwiritsa ntchito ayenera kuzindikira kuti nsanja ya SCOUT 2.0 itumiza voliyumu yotsikatage Alamu pamaso polowera voltage imafikiridwa komanso kulabadira kukonzanso kwa batri mukamagwiritsa ntchito.

Pin no.	Mtundu wa Pin	FuDnecfitinointiondi	Ndemanga
1	Mphamvu	Chithunzi cha VCC	Mphamvu zabwino, voltage range 23 - 29.2V, MAX .current 10A
2	Mphamvu	GND	Mphamvu negative
3	CAN	CHIYULO	CAN basi yokwera
4	CAN	CAN_L	CAN basi yotsika

Mphamvu zabwino, voltagndi osiyanasiyana 23 - 29.2V, MAX. masiku 10A

Pin no.	Tanthauzo
2	Mtengo wa RS232-RX
3	Mtengo wa RS232-TX
5	GND

Chithunzi 2.5 Chithunzi chojambula cha Q4 Pins

Kumbuyo magetsi mawonekedwe
Mawonekedwe owonjezera kumapeto akumbuyo akuwonetsedwa mu Chithunzi 2.6, pomwe Q1 ndiye chosinthira chachikulu ngati chosinthira chachikulu chamagetsi; Q2 ndi mawonekedwe recharging; Q3 ndiye mphamvu yosinthira magetsi pamagalimoto; Q4 ndi DB9 siriyo doko; Q5 ndi mawonekedwe owonjezera a CAN ndi 24V magetsi; Q6 ndi chiwonetsero cha batri voltage.

Pin no.	Mtundu wa Pin	FuDnecfitinointiondi	Ndemanga
1	Mphamvu	Chithunzi cha VCC	Mphamvu zabwino, voltagE osiyanasiyana 23 - 29.2V, pazipita panopa 5A
2	Mphamvu	GND	Mphamvu negative
3	CAN	CHIYULO	CAN basi yokwera
4	CAN	CAN_L	CAN basi yotsika

Chithunzi 2.7 Kufotokozera kwa Pini za Kutsogolo ndi Kumbuyo kwa Aviation Interface

Malangizo pa remote control FS_i6_S malangizo akutali
FS RC transmitter ndi chowonjezera cha SCOUT2.0 chowongolera pamanja loboti. Transmitter imabwera ndi mawonekedwe akumanzere-kumanzere. Tanthauzo ndi ntchito zomwe zikuwonetsedwa mu Chithunzi 2.8. Ntchito ya batani imatanthauzidwa kuti: SWA ndi SWD ndizolemala kwakanthawi, ndipo SWB ndiyo njira yoyendetsera kusankha batani, kuyimba pamwamba ndi njira yolamulira, kuyimba pakati ndikuwongolera kutali; SWC ndi batani lowongolera kuwala; S1 ndi batani lamphamvu, kuwongolera SCOUT2.0 kutsogolo ndi kumbuyo; Kuwongolera kwa S2 ndikuwongolera kuzungulira, ndipo MPHAMVU ndi batani lamphamvu, dinani ndikugwira nthawi yomweyo kuti muyatse.

Malangizo pazofuna zowongolera ndi kayendedwe
Njira yolumikizirana yolumikizira imatha kufotokozedwa ndikukhazikitsidwa pagulu lagalimoto monga momwe zasonyezedwera pa Chithunzi 2.9 molingana ndi ISO 8855.

Monga momwe tawonetsera pa Chithunzi 2.9, gulu lagalimoto la SCOUT 2.0 likufanana ndi X axis ya kachitidwe kolumikizira komwe kakhazikitsidwa. Mumayendedwe akutali, kanikizani ndodo yakutali S1 kutsogolo kuti musunthe mbali yabwino ya X, kanikizani S1 kumbuyo kuti musunthe mbali yolakwika ya X. Pamene S1 ikankhidwira kumtengo wapatali, kuthamanga kwa kayendedwe kabwino ka X ndikokwanira kwambiri, Kukankhira S1 mpaka pang'onopang'ono, kuthamanga kwa kayendetsedwe kolakwika kwa njira ya X ndikokwanira; ndodo yakutali S2 imayang'anira chiwongolero cha mawilo akutsogolo a thupi lagalimoto, kukankhira S2 kumanzere, ndipo galimotoyo imatembenukira kumanzere, kukankhira kumtunda, ndipo mbali yowongolera ndiyo yayikulu kwambiri, S2 Kankhani kumanja. , galimotoyo idzatembenukira kumanja, ndikukankhira pazipita, panthawiyi ngodya yoyenera ndiyo yaikulu kwambiri. Mumayendedwe olamulira, mtengo wabwino wa liwiro la mzere umatanthawuza kusuntha kolowera njira yabwino ya X axis, ndipo phindu loyipa la liwiro la mzere limatanthauza kuyenda molakwika kwa X axis; Phindu labwino la liwiro la angular limatanthawuza kuti thupi lagalimoto limasuntha kuchoka ku njira yabwino ya X axis kupita ku njira yabwino ya Y axis, ndipo kufunikira koyipa kwa liwiro la angular kumatanthauza kuti thupi lagalimoto limasuntha kuchoka ku njira yabwino ya X axis. ku mbali yolakwika ya Y axis.

Malangizo owongolera kuyatsa
Zowunikira zimayikidwa kutsogolo ndi kumbuyo kwa SCOUT 2.0, ndipo mawonekedwe owunikira a SCOUT 2.0 ndi otsegukira kwa ogwiritsa ntchito mosavuta.
Pakadali pano, mawonekedwe ena owongolera kuyatsa amasungidwa pa RC transmitter kuti apulumutse mphamvu.

Pakadali pano kuwongolera kuyatsa kumangothandizidwa ndi FS transmitter, ndipo kuthandizira kwa ma transmitter ena kukadali pakukula. Pali mitundu itatu yamitundu yowunikira yomwe imayendetsedwa ndi RC transmitter, yomwe imatha kusinthidwa kudzera pa SWC. Mafotokozedwe owongolera mawonekedwe: chowongolera cha SWC chili pansi pamayendedwe omwe nthawi zambiri amatsekedwa, pakati ndi mawonekedwe otseguka, pamwamba ndikupumira.

• NC MODE: MU NC MODE, NGATI CHASSIS IKALI, KUKHALA KUTSOGOLO KUDZAZIMIDWA, NDIPO KUKHALA KWAMBIRI KUDZALOWA BL MODE KUTI KUONETSA NTCHITO YAKE POGWIRITSA NTCHITO TSOPANO; NGATI CHASSIS ILI M'BODWERA PA LIŵiro ENA WONSE, KUKHALA KWAMBIRI KUDZAZIMIDWA KOMA KUYANKHULA KUDZAYATSA;
• POpanda NTCHITO: POSAVUTA, NGATI CHASSIS IKALI, KUKHALA KWAKUTSOGOLO KUDZAKHALA KABWINO, NDIPO KUKHALA KWAM'MBUYO KUDZALOWA MU BL MODE KUTI KUONETSA ZINTHU ZAKALI; NGATI M'NJIRA YOYANG'ANIRA, KUKHALA KWAM'MBUYO KUDZAZIMIDWA KOMA KUKHALA KWAKUTSOGOLO KUYATSA;
• BL MODE: ZOYENERA KUTSOGOLO NDI KUM'MBUYO ZILI M'MABWERERO ONSE.

ZINDIKIRANI PA MALO OGWIRITSIRA NTCHITO: KUGWIRITSA NTCHITO YA SWC MWAMWAMBA MWA NC MODE, PALIBE NTCHITO NDI BL MODE PAmunsi, PAKATI NDI MALO APAPAMWAMBA.

Kuyambapo

Gawoli likuwonetsa magwiridwe antchito ndi chitukuko cha nsanja ya SCOUT 2.0 pogwiritsa ntchito mawonekedwe a mabasi a CAN.

Ntchito ndi ntchito
Njira yoyambira yoyambira ikuwonetsedwa motere:

Onani

• Onani momwe SCOUT 2.0. Onani ngati pali zolakwika zazikulu; ngati ndi choncho, chonde lemberani pambuyo pa malonda kuti muthandizidwe;
• Onani momwe masiwichi oyimitsidwa mwadzidzidzi. Onetsetsani kuti mabatani onse oyimitsa mwadzidzidzi atulutsidwa;

Yambitsani

• Tembenuzani chosinthira kiyi (Q1 pagawo lamagetsi), ndipo nthawi zambiri, voltmeter imawonetsa batire yoyeneratage komanso magetsi akutsogolo ndi akumbuyo onse aziyatsidwa;
• Onani mphamvu ya batritage. Ngati palibe mawu opitilira "beep-beep-beep ..." kuchokera ku beeper, zikutanthauza mphamvu ya batri.tage ndi wolondola; ngati mphamvu ya batire ili yochepa, chonde perekani batire;
• Dinani Q3 (batani la switch power switch).

Kuyimitsa mwadzidzidzi
Dinani batani lazadzidzi kumanzere ndi kumanja kwa galimoto ya SCOUT 2.0;

Njira yayikulu yogwiritsira ntchito remote control:
Pambuyo poyambitsa galimoto ya SCOUT 2.0 loboti yam'manja, yatsani RC transmitter ndikusankha njira yowongolera kutali. Kenako, SCOUT 2.0 mayendedwe apulatifomu amatha kuwongoleredwa ndi RC transmitter.

Kulipira
SCOUT 2.0 ILI NDI CHIRI YA 10A POSAKHALITSA KUTI IKAKUMANE NDI ZOFUNIKA KWA AKASITOMU WOYAMBITSA.

Kulipiritsa ntchito

• Onetsetsani kuti magetsi a SCOUT 2.0 chassis azizima. Musanapereke ndalama, chonde onetsetsani kuti chosinthira magetsi mu kondole yakumbuyo ndichozimitsidwa;
• Ikani pulagi ya charger mu mawonekedwe a Q6 pagawo lakumbuyo;
• Lumikizani chaja kumagetsi ndikuyatsa chosinthira mu charger. Kenako, loboti imalowa m'malo olipira.

Zindikirani: Pakadali pano, batire ikufunika pafupifupi maola 3 mpaka 5 kuti ibwerenso kuchokera ku 22V, ndi vol.tage ya batire yodzaza kwathunthu ndi pafupifupi 29.2V; nthawi yobwezeretsanso imawerengedwa ngati 30AH ÷ 10A = 3h.

Kusintha kwa batri
SCOUT2.0 imagwiritsa ntchito njira ya batri yochotsamo kuti ogwiritsa ntchito azigwiritsa ntchito. Nthawi zina zapadera, batire ikhoza kusinthidwa mwachindunji. Njira zogwirira ntchito ndi zithunzi zili motere (isanagwire ntchito, onetsetsani kuti SCOUT2.0 ndiyozimitsa):

• Tsegulani gulu lapamwamba la SCOUT2.0, ndikumasula zolumikizira ziwiri za XT60 pa bolodi lalikulu lowongolera (zolumikizira ziwirizo ndizofanana) ndi cholumikizira cha CAN cha batri;
  Lembani SCOUT2.0 m'mlengalenga, masulani zomangira zisanu ndi zitatu kuchokera pansi ndi wrench yamtundu wa hex, ndiyeno kokerani batire kunja;
• Bwezerani batire ndikukonza zomangira zapansi.
• Lumikizani mawonekedwe a XT60 ndi mawonekedwe a mphamvu ya CAN mu board yayikulu, tsimikizirani kuti mizere yonse yolumikizira ndi yolondola, ndiyeno yatsani kuyesa.

Kulankhulana pogwiritsa ntchito CAN
SCOUT 2.0 imapereka mawonekedwe a CAN ndi RS232 pakusintha makonda a ogwiritsa ntchito. Ogwiritsa ntchito amatha kusankha imodzi mwazolumikizanazi kuti azilamulira gulu lagalimoto.

CAN chingwe cholumikizira
SCOUT2.0 perekani ndi mapulagi aamuna awiri oyendetsa ndege monga momwe zasonyezedwera pa Chithunzi 3.2. Pamatanthauzidwe a waya, chonde onani Table 2.2.

Kukhazikitsa ya CAN command control
Yambitsani molondola chassis ya loboti yam'manja ya SCOUT 2.0, ndikuyatsa chotumizira DJI RC. Kenako, sinthani kumachitidwe owongolera, mwachitsanzo, kusintha mawonekedwe a S1 a DJI RC transmitter kupita pamwamba. Panthawiyi, SCOUT 2.0 chassis ivomereza lamulo kuchokera ku mawonekedwe a CAN, ndipo wolandirayo athanso kufotokoza momwe galimotoyo ilili panopa ndi deta yeniyeni yochokera ku CAN bus. Kuti mudziwe zambiri za protocol, chonde onani njira yolumikizirana ya CAN.

CAN meseji protocol
Yambitsani molondola chassis ya loboti yam'manja ya SCOUT 2.0, ndikuyatsa chotumizira DJI RC. Kenako, sinthani kumachitidwe owongolera, mwachitsanzo, kusintha mawonekedwe a S1 a DJI RC transmitter kupita pamwamba. Panthawiyi, SCOUT 2.0 chassis ivomereza lamulo kuchokera ku mawonekedwe a CAN, ndipo wolandirayo athanso kufotokoza momwe galimotoyo ilili panopa ndi deta yeniyeni yochokera ku CAN bus. Kuti mudziwe zambiri za protocol, chonde onani njira yolumikizirana ya CAN.

Table 3.1 Feedback Frame of SCOUT 2.0 Chassis System Status

Command Name System Status Feedback Command
Kutumiza node	Kulandira mfundo Kuwongolera popanga zisankho	ID	kuzungulira (ms)	Nthawi yolandila (ms)
Chiwongolero-ndi-waya chassis Deta kutalika Position	gawo 0x08 Ntchito	0x151 pa   Mtundu wa data	20ms	Palibe
			Kufotokozera
bati [0]	Mkhalidwe wamakono wa galimoto	osasainidwa int8	0x00 System mumayendedwe abwinobwino 0x01 Emergency stop mode (osayatsidwa) 0x02 System kupatula
bati [1]	Kuwongolera mode	osasainidwa int8	0 × 00 mode Standby 0 × 01 CAN njira yolamulira 0 × 02 seri port control mode 0 × 03 Njira yowongolera kutali
bati [2] bati [3]	Mphamvu ya batritagndi apamwamba 8 bits Battery voltagndi 8 bits	osasainidwa int16	Voltage × 10 (ndi kulondola kwa 0.1V)
bati [4]	Zosungidwa	–	0 × 00
bati [5]	Zolephera zambiri	osasainidwa int8	Onani Table 3.2 [Mafotokozedwe a Chidziwitso Cholephera]
bati [6]	Zosungidwa	–	0 × 00
bati [7]	Count paritybit (kuwerengera)	osasainidwa int8	0-255 kuwerengera malupu, omwe adzawonjezedwa kamodzi lamulo lililonse litatumizidwa

Table 3.2 Kufotokozera Zakulephera

Bwino	pang'ono	Tanthauzo
bati [4]	pang'ono [0]	Battery ili pansitage cholakwika (0: Palibe kulephera 1: Kulephera) Chitetezo voltagndi 22v (Mtundu wa batri wokhala ndi BMS, mphamvu yoteteza ndi 10%)
	pang'ono [1]	Battery ili pansitage cholakwika[2] (0: Palibe kulephera 1: Kulephera) Alamu voltagndi 24v (Mtundu wa batri wokhala ndi BMS, mphamvu yochenjeza ndi 15%)
	pang'ono [2]	RC transmitter disconnection protection (0: Normal 1: RC transmitter achotsedwa)
	pang'ono [3]	No.1 kulephera kulumikizana kwagalimoto (0: Palibe kulephera 1: Kulephera)
	pang'ono [4]	No.2 kulephera kulumikizana kwagalimoto (0: Palibe kulephera 1: Kulephera)
	pang'ono [5]	No.3 kulephera kulumikizana kwagalimoto (0: Palibe kulephera 1: Kulephera)
	pang'ono [6]	No.4 kulephera kulumikizana kwagalimoto (0: Palibe kulephera 1: Kulephera)
	pang'ono [7]	Zosungidwa, zosasinthika 0

Chidziwitso[1]: Mtundu wa Robot chassis firmware V1.2.8 umathandizidwa ndi mitundu ina, ndipo mtundu wakale umafunika kukweza kwa firmware kuti ithandizire.
Chidziwitso[2]: Buzzer imamveka batire ikatsika voltage, koma chiwongolero cha chassis sichingakhudzidwe, ndipo mphamvu yotulutsa mphamvu idzadulidwa pambuyo pa vol.tagndi cholakwika

Lamulo la kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake Kuti mudziwe zambiri za protocol, chonde onani Table 3.3.

Table 3.3 Movement Control Feedback Frame

Command Name Movement Control Feedback Command
Kutumiza node	Kulandira mfundo	ID	kuzungulira (ms)	Nthawi yolandila (ms)
Chiwongolero-ndi-waya chassis	Chigawo chowongolera zisankho	0x221 pa	20ms	Palibe
Utali wa tsiku	0 × 08
Udindo	Ntchito	Mtundu wa data	Kufotokozera
bati [0] bati [1]	Liwiro losuntha lokwera 8 bits Liwiro losuntha limatsitsa ma bits 8	adasainira int16	Liwiro lenileni × 1000 (ndi kulondola kwa 0.001rad)
bati [2] bati [3]	Kuthamanga kozungulira kumakwera ma bits 8 Liwiro lozungulira limatsitsa ma bits 8	adasainira int16	Liwiro lenileni × 1000 (ndi kulondola kwa 0.001rad)
bati [4]	Zosungidwa	–	0x00 pa
bati [5]	Zosungidwa	–	0x00 pa
bati [6]	Zosungidwa	–	0x00 pa
bati [7]	Zosungidwa	–	0x00 pa

Chimango chowongolera chimaphatikizapo kuwongolera kutseguka kwa liwiro la liniya ndikuwongolera kutseguka kwa liwiro la angular. Kuti mudziwe zambiri za protocol, chonde onani Table 3.4.

Chidziwitso cha chassis chidzakhala mayankho, komanso zowonjezera, zambiri zamagalimoto apano, encoder ndi kutentha zimaphatikizidwanso. Chotsatira chotsatirachi chili ndi chidziwitso cha injini yamakono, encoder ndi kutentha kwa galimoto.
Nambala zamagalimoto za 4 motors mu chassis zikuwonetsedwa pachithunzi pansipa:

Dzina Lamulo la Motor Drive High Speed ​​Information Feedback Frame
Kutumiza node	Kulandira mfundo	ID	kuzungulira (ms)	Nthawi yolandila (ms)
Chiwongolero-ndi-waya chassis Utali wa tsiku Malo	Chigawo chowongolera zisankho 0 × 08 Ntchito	0x251~0x254   Mtundu wa data	20ms	Palibe
			Kufotokozera
bati [0] bati [1]	Kuthamanga kwa injini kumakwera 8 bits Kuthamanga kwa injini kumachepetsa ma bits 8	adasainira int16	Kuthamanga kwagalimoto, mamilimita / s (mtengo wake + -1500)
bati [2] bati [3]	Magalimoto amakono apamwamba 8 bits Mphamvu yamagetsi imatsitsa ma bits 8	adasainira int16	Magalimoto apano 0.1A
bati [4] bati [5] bati [6] bati [7]	Malo ang'onoang'ono ang'onoang'ono Malo achiwiri apamwamba kwambiri Malo achiwiri-otsika kwambiri Malo otsika kwambiri	adasainira int32	Malo apano agalimoto Unit: kugunda

Table 3.8 Kutentha kwagalimoto, voltage ndi mayankho a momwe zinthu ziliri

Dzina Lamulo la Motor Drive Low Speed ​​Information Feedback Frame
Kutumiza node Chiwongolero-ndi-waya Utali wa tsiku	Kulandira nodi yowongolera zisankho 0 × 08	ID 0x261~0x264	kuzungulira (ms)	Nthawi yolandila (ms)
			20ms	Palibe
Udindo	Ntchito	Mtundu wa data	Kufotokozera
bati [0] bati [1]	Kuyendetsa voltagndi 8 bits Kuyendetsa voltagndi 8 bits	osasainidwa int16	VoltagE ya galimoto unit 0.1V
bati [2] bati [3]	Kutentha kwapamwamba kwambiri kwa 8 bits Kutentha kwagalimoto kutsika 8 bits	adasainira int16	Gawo 1 ° C
bati [4] bati [5]	Kutentha kwagalimoto	adasainira int8	Gawo 1 ° C
	Drive status	osasainidwa int8	Onani zambiri mu [Drive control status]
bati [6] bati [7]	Zosungidwa	–	0x00 pa
	Zosungidwa	–	0x00 pa

Seri Communication Protocol

Malangizo a serial protocol
Ndi mulingo wolumikizirana wina ndi mnzake wopangidwa ndi Electronic Industries Association (EIA) waku United States mu 1970 molumikizana ndi Bell Systems, opanga ma modemu ndi opanga makompyuta. Dzina lake ndi "Technical Standard for Serial Binary Data Exchange Interface Between Data Terminal Equipment (DTE) ndi Data Communication Equipment (DCE)". Muyeso umanena kuti cholumikizira cha 25-pin DB-25 chimagwiritsidwa ntchito pa cholumikizira chilichonse. Chidziwitso cha pini iliyonse chimatchulidwa, ndipo milingo yazizindikiro zosiyanasiyana imatchulidwanso. Pambuyo pake, PC ya IBM idasinthiratu RS232 kukhala cholumikizira cha DB-9, chomwe chidakhala muyezo wothandiza. Doko la RS-232 loyang'anira mafakitale nthawi zambiri limagwiritsa ntchito mizere itatu ya RXD, TXD, ndi GND.

Kulumikiza Kwama serial
Gwiritsani ntchito chingwe cha USB kupita ku RS232 pachida chathu cholumikizirana kuti mulumikizane ndi doko lakumbuyo kwagalimoto, gwiritsani ntchito chida chojambulira kuti muyike kuchuluka kwa baud, ndikugwiritsa ntchito s.ample deta yomwe yaperekedwa pamwambapa kuyesa. Ngati chiwongolero chakutali chayatsidwa, ndikofunikira kuti musinthe chiwongolero chakutali kuti mulamulire mode. Ngati chowongolera chakutali sichiyatsidwa, ingotumizani lamulo lowongolera mwachindunji. Tiyenera kuzindikira kuti lamulo liyenera kutumizidwa nthawi ndi nthawi. Ngati chassis ipitilira 500MS ndipo lamulo la doko silinalandire, lidzalowa kutayika kwa chitetezo cholumikizira. udindo.

Zambiri za Seri Protocol
Basic Communication Parameter

Kanthu	Parameter
Mtengo wa Baud	115200
Parity	Palibe mayeso
Deta pang'ono kutalika	8 biti
Imani pang'ono	1 pang'ono

Malangizo a protocol

Yambani pang'ono		Kutalika kwa chimango	Mtundu wa lamulo	Command ID		Deta ya data		Chimango ID	Checksum kupanga
SOF		chimango_L	CMD_TYPE	CMD_ID	deta	…	zambiri[n]	chimango_id	check_sum
bati 1	bati 2	bati 3	bati 4	bati 5	bati 6	…	pa 6+n	pa 7+n	pa 8+n
5A	A5

Protocol imaphatikizapo poyambira, kutalika kwa chimango, mtundu wa lamulo la chimango, ID ya lamulo, mtundu wa data, ID ya chimango, ndi checksum. Kutalika kwa chimango kumatanthawuza kutalika kupatulapo poyambira ndi chekeni. Cheki ndi kuchuluka kwa deta yonse kuyambira poyambira mpaka ID ya chimango; chimango ID pang'ono ndi kuchokera 0 mpaka 255 kuwerengera malupu, amene adzawonjezedwa kamodzi lamulo lililonse kutumizidwa.

Zolemba za Protocol

Command Name System Status Feedback Frame
Kutumiza node Steer-by-waya chassis Utali wamtundu Lamulo lamtundu wa Command ID Utali wa data Udindo	Kulandira nodi yowongolera zisankho 0 × 0C	Kuzungulira (ms) Nthawi yolandila (ms)
		100ms	Palibe
		Mtundu wa data	Kufotokozera
	Ndemanga lamulo (0×AA) 0 × 01
	8 Ntchito
bati [0]	Mkhalidwe wamakono wa galimoto	osasainidwa int8	0 × 00 Dongosolo labwinobwino 0 × 01 Njira yoyimitsa mwadzidzidzi (yosaloledwa) 0 × 02 Kupatulapo kachitidwe 0 × 00 mode Standby
bati [1]	Kuwongolera mode	osasainidwa int8	0 × 01 CAN kulamulira mode 0 × 02 seri control mode [1] 0 × 03 mode ulamuliro kutali
bati [2] bati [3]	Mphamvu ya batritagndi 8 bits Mphamvu ya batritagndi 8 bits	osasainidwa int16	Voltage × 10 (ndi kulondola kwa 0.1V)
bati [4]	Zosungidwa	—	0 × 00
bati [5]	Zolephera zambiri	osasainidwa int8	Onani ku [Mafotokozedwe a Chidziwitso Cholephera]
bati [6] bati [7]	Zosungidwa Zosungidwa	— —	0 × 00
			0 × 00

Movement Control Feedback Command

Command Name Movement Control Feedback Command
Kutumiza node	Kulandira mfundo	kuzungulira (ms)	Nthawi yolandila (ms)
Chiwongolero-ndi-waya chassis Frame kutalika Lamulo lamtundu wa Command ID Kutalika kwa data	Chigawo chowongolera zisankho 0 × 0C	20ms	Palibe
	Lamulo la ndemanga (0×AA) 0 × 02
	8
Udindo	Ntchito	Mtundu wa data	Kufotokozera
bati [0] bati [1]	Liwiro losuntha lokwera 8 bits Liwiro losuntha limatsitsa ma bits 8	adasainira int16	Liwiro lenileni × 1000 (ndi kulondola kwa 0.001rad)
bati [2] bati [3]	Kuthamanga kozungulira kumakwera ma bits 8 Liwiro lozungulira limatsitsa ma bits 8	adasainira int16	Liwiro lenileni × 1000 (ndi kulondola kwa 0.001rad)
bati [4]	Zosungidwa	–	0 × 00
bati [5]	Zosungidwa	–	0 × 00
bati [6]	Zosungidwa	–	0 × 00
bati [7]	Zosungidwa	–	0 × 00

Movement Control Command

Command Name Control Command
Kutumiza node	Kulandira mfundo	kuzungulira (ms)	Nthawi yolandila (ms)
Chigawo chopanga zisankho Utali wa Frame Lamulo lamtundu wa Command ID Kutalika kwa data	Chassis node 0 × 0 A	20ms	500ms
	Lamulo lowongolera (0×55) 0 × 01
	6
Udindo	Ntchito	Mtundu wa data	Kufotokozera
bati [0] bati [1]	Kuthamanga kumakwera 8 bits Kuthamanga kwamayendedwe kumatsika 8 bits	adasainira int16	Kuthamanga kwagalimoto, gawo: mm/s
bati [2] bati [3]	Kuthamanga kozungulira kumakwera ma bits 8 Liwiro lozungulira limatsitsa ma bits 8	adasainira int16	Kuthamanga kwa magalimoto ang'ono, gawo: 0.001rad/s
bati [4]	Zosungidwa	–	0x00 pa
bati [5]	Zosungidwa	–	0x00 pa

Light Control Frame

Dzina Lamulo Loyang'anira Kuwala Kwambiri
Kutumiza node	Kulandira mfundo	kuzungulira (ms)	Nthawi yolandila (ms)
Chigawo chopanga zisankho Utali wa Frame Lamulo lamtundu wa Command ID Kutalika kwa data	Chassis node 0 × 0 A	20ms	500ms
	Lamulo lowongolera (0×55) 0 × 04
	6 Ntchito
Udindo		Mtundu wa tsiku	Kufotokozera
bati [0]	Kuwongolera kowunikira kumathandizira mbendera	osasainidwa int8	0x00 Control lamulo ndi losavomerezeka Kuwongolera kwa 0x01 kuyatsa
bati [1]	Front kuwala mode	osasainidwa int8	0x002xB010 NmOC de 0x03 User-defiLnedobrightness
bati [2]	Kuwala kwachizolowezi kwa nyali yakutsogolo	osasainidwa int8	[01, 0100r]e,fwerhsetroem0 arexfiemrsumto bnroigbhrtignhetsns[e5s]s,
bati [3]	Kumbuyo kuwala mode	osasainidwa int8	0x002xB010 mNOC de 0x03 User-defiLnedobrightness [0, r, weherte 0 refxers kuti nbo kuwala,
bati [4]	Sinthani kuwala kuti muunikire kumbuyo	osasainidwa int8	100 ef o ine ndiri wotsimikiza
bati [5]	Zosungidwa	—	0x00 pa

Firmware kukweza
Pofuna kupangitsa ogwiritsa ntchito kukweza mtundu wa firmware wogwiritsidwa ntchito ndi SCOUT 2.0 ndikubweretsera makasitomala chidziwitso chokwanira, SCOUT 2.0 imapereka mawonekedwe amtundu wa hardware ndi mapulogalamu a kasitomala ofanana. Chithunzi chojambula cha pulogalamuyi

Sinthani kukonzekera

• SERIAL CABLE × 1
• USB-TO-SERIAL PORT × 1
• SCOUT 2.0 CHASSIS × 1
• KOMPYUTA (MAwindo OPERATING SYSTEM) × 1

Firmware yowonjezera pulogalamu
https://github.com/agilexrobotics/agilex_firmware

Njira yowonjezera

• Musanalumikizidwe, onetsetsani kuti chassis ya loboti yazimitsidwa; Lumikizani chingwe cha serial pa doko la serial kumapeto kwa SCOUT 2.0 chassis;
• Lumikizani chingwe chosalekeza ku kompyuta;
• Tsegulani pulogalamu ya kasitomala;
• Sankhani nambala ya doko;
• Yambani pa SCOUT 2.0 chassis, ndipo dinani nthawi yomweyo kuti muyambitse kulumikizana (SCOUT 2.0 chassis idikirira 3s isanayambe kuyatsa; ngati nthawi yodikirira ikupitilira 3s, ilowa mu pulogalamuyi); ngati kulumikizana kukuyenda bwino, "kulumikizidwa bwino" kudzafunsidwa mubokosi lolemba;
• Lowani Fayilo ya Bin;
• Dinani batani la Sinthani, ndipo dikirani kuti mutsirize kukweza;
• Lumikizani chingwe cha serial, thimitsani chassis, ndi kuzimitsa magetsi ndi kuyatsanso.

SCOUT 2.0 SDK
Pofuna kuthandiza ogwiritsa ntchito kukhazikitsa chitukuko chokhudzana ndi maloboti mosavuta, SDK yothandizidwa ndi nsanja imapangidwa kuti ikhale ya SCOUT 2.0 loboti yam'manja.SDK software phukusi limapereka mawonekedwe a C++, omwe amagwiritsidwa ntchito kulumikizana ndi chassis ya SCOUT 2.0 loboti yam'manja ndi atha kupeza mawonekedwe aposachedwa a loboti ndikuwongolera zochita zoyambira za loboti. Pakalipano, CAN kusintha kwa kulankhulana kulipo, koma kusintha kochokera ku RS232 kudakali mkati.Kutengera izi, mayesero okhudzana ndi izi atsirizidwa mu NVIDIA JETSON TX2.

Phukusi la SCOUT2.0 ROS
ROS imapereka ntchito zina zamakina ogwiritsira ntchito, monga kuchotsera kwa hardware, kuwongolera zida zotsika, kukhazikitsa ntchito wamba, uthenga wolumikizana ndi kasamalidwe ka paketi ya data. ROS imatengera kamangidwe ka ma graph, kotero kuti ma node osiyanasiyana amatha kulandira, ndikuphatikiza zidziwitso zosiyanasiyana (monga zomverera, kuwongolera, mawonekedwe, kukonza, ndi zina) Pakali pano ROS imathandizira kwambiri UBUNTU.

Kukonzekera Chitukuko
Kukonzekera kwa Hardware

• CANlight imatha kulumikizana ndi gawo × 1
• Thinkpad E470 notebook × 1
• AGILEX SCOUT 2.0 mafoni a robot chassis ×1
• AGILEX SCOUT 2.0 chowongolera chakutali FS-i6s ×1
• AGILEX SCOUT 2.0 pamwamba zitsulo zamphamvu zoyendetsa ndege × 1

Gwiritsani ntchito example chilengedwe kufotokoza

• Ubuntu 16.04 LTS (Uwu ndi mtundu woyeserera, wolawa pa Ubuntu 18.04 LTS)
• ROS Kinetic (Matembenuzidwe otsatirawa amayesedwanso)
• Git

Kulumikizana kwa Hardware ndikukonzekera 

• Tulutsani mawaya a CAN a pulagi ya SCOUT 2.0 pamwamba pa ndege kapena pulagi yamchira, ndikulumikiza CAN_H ndi CAN_L mu CAN waya ku CAN_TO_USB adaputala motsatana;
• Yatsani chosinthira cholumikizira pa SCOUT 2.0 chassis yam'manja ya robot, ndikuwona ngati masiwichi oyimitsa mwadzidzidzi mbali zonse atulutsidwa;
• Lumikizani CAN_TO_USB ku nsonga ya usb ya kope. Chithunzi cholumikizira chikuwonetsedwa pazithunzi 3.4.

Kukhazikitsa kwa ROS ndikusintha chilengedwe
Kuti mudziwe zambiri za kukhazikitsa, chonde onani http://wiki.ros.org/kinetic/Installation/Ubuntu

Yesani CANABLE hardware ndi CAN kulankhulana
Kukhazikitsa CAN-TO-USB adaputala

• Yambitsani gawo la gs_usb kernel
  $ sudo modprobe gs_usb
• Kukhazikitsa 500k Baud mlingo ndikuyatsa adapter can-to-usb
  $ sudo ip link set can0 up type imatha kubisa 500000
• Ngati palibe cholakwika m'masitepe am'mbuyomu, muyenera kugwiritsa ntchito lamulo ku view chipangizo cha chitini nthawi yomweyo
  $ ifconfig -a
• Ikani ndi kugwiritsa ntchito can-utils kuyesa hardware
  $ sudo apt install can-utils
• Ngati can-to-usb yalumikizidwa ku loboti ya SCOUT 2.0 nthawi ino, ndipo galimotoyo yayatsidwa, gwiritsani ntchito malamulo otsatirawa kuti muyang'anire zomwe zachokera ku SCOUT 2.0 chassis
  $ candump can0
• Chonde onani:
  • 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 kutsitsa ndikuphatikiza 

• Tsitsani phukusi la ros
  $ sudo apt kukhazikitsa ros-$ROS_DISTRO-controller-manager
  $ sudo apt kukhazikitsa ros-$ROS_DISTRO-teleop-twist-keyboard$ sudo apt kukhazikitsa ros-$ROS_DISTRO-joint-state-publisher-gui$ sudo apt kukhazikitsa libasio-dev
• Clone phatikiza scout_ros code
  $ cd ~/catkin_ws/src
  $ git clone https://github.com/agilexrobotics/scout_ros.git$ git clone https://github.com/agilexrobotics/agx_sdk.git
  $ cd scout_ros && git checkout scout_v2
  $ cd ../agx_sdk && git checkout scout_v2
  $ cd ~/catkin_ws
  $ catkin_make
  Chonde onani:https://github.com/agilexrobotics/scout_ros

Kusamalitsa

Gawoli lili ndi njira zodzitetezera zomwe ziyenera kutsatiridwa pakugwiritsa ntchito SCOUT 2.0 ndi chitukuko.

Batiri

• Batire loperekedwa ndi SCOUT 2.0 silinaperekedwe mokwanira mu fakitale, koma mphamvu yake yeniyeni imatha kuwonetsedwa pa voltmeter kumapeto chakumbuyo kwa SCOUT 2.0 chassis kapena kuwerenga kudzera pa CAN bus communication interface. Kuwonjezera batire kumatha kuyimitsidwa nyali yobiriwira pa charger ikasanduka yobiriwira. Dziwani kuti ngati musunga chojambulira cholumikizidwa pambuyo pa kuyatsa kwa LED yobiriwira, chojambuliracho chimapitilira kulitcha batire ndi pafupifupi 0.1A yapano kwa mphindi pafupifupi 30 kuti batire ili lonse.
• Chonde musalipitse batire mphamvu yake ikatha, ndipo chonde yonjezerani batire panthawi yomwe alamu ya batri yotsika itsegulidwa;
• Zosungirako zosasunthika: Kutentha kwabwino kwa batire yosungirako ndi -10 ℃ mpaka 45 ℃; ngati yasungidwa osagwiritsidwa ntchito, batire liyenera kuwonjezeredwa ndikutulutsidwa kamodzi pafupifupi miyezi iwiri iliyonse, kenako ndikusungidwa mu voliyumu yonse.tagndi state. Chonde musayike batire pamoto kapena kutentha batire, ndipo chonde musasunge batire pamalo otentha kwambiri;
• Kulipiritsa: Batire liyenera kulipiritsidwa ndi charger yodzipereka ya lithiamu; mabatire a lithiamu-ion sangathe kulipiritsidwa pansi pa 0 ° C (32 ° F) ndipo kusintha kapena kusintha mabatire oyambirira ndikoletsedwa.

Malo ogwirira ntchito

• Kutentha kwa SCOUT 2.0 ndi -10 ℃ mpaka 45 ℃; chonde musagwiritse ntchito pansipa -10 ℃ ndi pamwamba pa 45 ℃;
• Zofunikira pa chinyezi chapafupi m'malo ogwiritsira ntchito SCOUT 2.0 ndi: pazipita 80%, osachepera 30%;
• Chonde musaigwiritse ntchito m'malo okhala ndi mpweya woyaka kapena wotsekedwa ndi zinthu zoyaka;
• Osayiyika pafupi ndi ma heaters kapena zinthu zotenthetsera monga zopinga zazikulu zophimbidwa, ndi zina zotero;
• Kupatula mtundu wa makonda (gulu lachitetezo la IP losinthidwa makonda), SCOUT 2.0 sizowona madzi, chifukwa chake chonde musagwiritse ntchito m'malo amvula, matalala kapena madzi;
• Kukwezeka kwa malo omwe akulimbikitsidwa kugwiritsa ntchito sayenera kupitirira 1,000m;
• Kusiyana kwa kutentha pakati pa usana ndi usiku wa malo ovomerezeka ogwiritsidwa ntchito sikuyenera kupitirira 25 ℃;
• Yang'anani pafupipafupi kuthamanga kwa tayala, ndipo onetsetsani kuti ili mkati mwa 1.8 bar mpaka 2.0bar.
• Ngati tayala latha kwambiri kapena laphulika, chonde sinthani pakapita nthawi.

Zingwe zamagetsi / zowonjezera

• Kwa mphamvu zowonjezera pamwamba, zamakono siziyenera kupitirira 6.25A ndipo mphamvu zonse siziyenera kupitirira 150W;
• Kwa magetsi owonjezera kumapeto kumbuyo, zamakono siziyenera kupitirira 5A ndipo mphamvu zonse siziyenera kupitirira 120W;
• Pamene dongosolo detects kuti batire voltage ndi wotsika kuposa volite yotetezekatage kalasi, zowonjezera zamagetsi zakunja zidzasinthidwa mwachangu. Chifukwa chake, ogwiritsa ntchito amalangizidwa kuti azindikire ngati zowonjezera zakunja zikuphatikiza kusungidwa kwa data yofunika ndipo zilibe chitetezo chozimitsa.

Malangizo owonjezera otetezera

• Ngati mukukayika mukamagwiritsa ntchito, chonde tsatirani malangizo okhudzana nawo kapena funsani akatswiri okhudzana ndiukadaulo;
• Musanagwiritse ntchito, samalani ndi momwe zinthu zilili m'munda, ndikupewa zolakwika zomwe zingayambitse vuto la chitetezo cha ogwira ntchito;
• Pakakhala ngozi, dinani batani loyimitsa mwadzidzidzi ndikuzimitsa zida;
• Popanda thandizo laukadaulo ndi chilolezo, chonde musasinthe nokha zida zamkati.

Zolemba zina

• SCOUT 2.0 ili ndi mbali za pulasitiki kutsogolo ndi kumbuyo, chonde musamenye mwachindunji mbalizo ndi mphamvu zambiri kuti mupewe kuwonongeka;
• Pogwira ndi kuyimitsa, chonde musagwe kapena kuyika galimoto mozondoka;
• Kwa omwe si akatswiri, chonde musamasule galimotoyo popanda chilolezo.

Q&A

• Q: SCOUT 2.0 idakhazikitsidwa molondola, koma bwanji RC transmitter sangathe kuwongolera thupi lagalimoto kuti lisunthe?
  A: Choyamba, yang'anani ngati magetsi oyendetsa galimoto ali mumkhalidwe wabwinobwino, ngati cholumikizira chamagetsi chikutsitsidwa pansi komanso ngati masiwichi a E-stop amamasulidwa; ndiye, yang'anani ngati mawonekedwe owongolera osankhidwa ndi chosinthira chakumanzere chakumanzere pa chopatsira cha RC ndicholondola.
• Q: SCOUT 2.0 remote control ili mumkhalidwe wabwinobwino, ndipo chidziwitso chokhudza chassis ndi kayendedwe kakhoza kulandiridwa bwino, koma protocol yowongolera ikaperekedwa, chifukwa chiyani njira yoyendetsera galimotoyo siyingasinthidwe ndipo chassis imayankha pa chimango chowongolera. protocol?
  A: Kawirikawiri, ngati SCOUT 2.0 ikhoza kuwongoleredwa ndi RC transmitter, zikutanthawuza kuti kayendetsedwe ka chassis ikuyendetsedwa bwino; ngati mawonekedwe a chassis angavomerezedwe, zikutanthauza kuti ulalo wowonjezera wa CAN uli mumkhalidwe wabwinobwino. Chonde yang'anani mawonekedwe owongolera a CAN omwe atumizidwa kuti muwone ngati cheke cha data ndi cholondola komanso ngati mawonekedwe owongolera ali mumayendedwe owongolera. Mutha kuyang'ana momwe chizindikiro cha cholakwikacho chilili munkhani ya chassis.
• Q: SCOUT 2.0 imapereka phokoso la "beep-beep-beep ..." mukugwira ntchito, momwe mungathanirane ndi vutoli?
  A: Ngati SCOUT 2.0 ikupereka mawu akuti "beep-beep-beep" mosalekeza, zikutanthauza kuti batire ili mu alamu.tagndi state. Chonde yonjezerani batire munthawi yake. Pamene phokoso lina logwirizana lichitika, pangakhale zolakwika zamkati. Mutha kuyang'ana zolakwika zofananira kudzera pa basi ya CAN kapena kulumikizana ndi akatswiri ogwirizana nawo.
• Q: Kodi matayala a SCOUT 2.0 amavala nthawi zambiri akugwira ntchito?
  A: Matayala amavala a SCOUT 2.0 nthawi zambiri amawoneka akamayenda. Monga SCOUT 2.0 imatengera kapangidwe ka chiwongolero cha magudumu anayi, kukangana kwa ma sliding ndi kugundana kumachitika pamene thupi lagalimoto limazungulira. Ngati pansi si yosalala koma molimba, matayala amatheratu. Kuti muchepetse kapena kuchedwetsa kuvala, kutembenuza pang'ono kumatha kuchitidwa kuti muchepetse pivot.
• Q: Pamene kuyankhulana kukugwiritsidwa ntchito kudzera pa basi ya CAN, lamulo la ndemanga la chassis limaperekedwa molondola, koma chifukwa chiyani galimotoyo siimayankha kulamula?
  A: Pali njira yotetezera kulumikizana mkati mwa SCOUT 2.0, zomwe zikutanthauza kuti chassis imaperekedwa ndi chitetezo chanthawi yayitali pokonza malamulo akunja a CAN. Tiyerekeze kuti galimotoyo imalandira ndondomeko imodzi yolankhulirana, koma sichilandira lamulo lotsatira la 500ms. Pankhaniyi, idzalowetsamo njira yotetezera mauthenga ndikuyika liwiro ku 0. Choncho, malamulo ochokera ku makompyuta apamwamba ayenera kuperekedwa nthawi ndi nthawi.

Miyeso Yazinthu

Chithunzi chojambula chazinthu zakunja zakunja

Chifaniziro cha miyeso yowonjezera yowonjezera yowonjezera

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

Zolemba / Zothandizira

Agilex Robotic SCOUT 2.0 AgileX Robotic Team [pdf] Buku Logwiritsa Ntchito SCOUT 2.0 AgileX Robotic Team, SCOUT 2.0, AgileX Robotic Team, Robotic Team

Maumboni

• Buku Logwiritsa Ntchito