ROBOWORKS STM32F103RC Mecabot Autonomous Mobile Robot
Malangizo Ogwiritsira Ntchito Zogulitsa
Kuthamanga Pa Mecabot
- Kuti mutsegule pa Mecabot, onetsetsani kuti batire yachajitsidwa bwino.
- Dinani ndikugwira batani lamphamvu mpaka makina a loboti ayambike.
Kuwongolera Mecabot:
- Gwiritsani ntchito pulogalamu yakutali yoperekedwa kapena chowongolera chakutali kuti muyende pa Mecabot. Tsatirani malangizo omwe ali mu bukhu la ogwiritsa ntchito pazowongolera zinazake.
FAQ
- Q: Kodi ndimatchaja bwanji batire la Mecabot?
- A: Kuti muwonjezere batire ya Mecabot, lumikizani chaja chanzeru chomwe mwapatsidwa ku malo opangira maloboti komanso potengera magetsi. Lolani batire kuti lizilipiritsa mokwanira musanadule.
Chidule
Mecabot ndi loboti yophunzitsa komanso yofufuza yozikidwa pa ROS (Robot Operating System) ya ofufuza a robotic, ophunzitsa, ophunzira ndi otukula.
Mecabot ili ndi buildin ROS Controller, LiDAR, Depth Camera, STM32 Motor/Power/IMU Controller ndi chassis yachitsulo yokhala ndi mawilo amnidirectional mecanum.
Mecabot ndiyabwino kwa oyamba kumene a ROS omwe ali ndi mtengo wotsika mtengo, kapangidwe kakang'ono komanso phukusi lokonzekera kupita. Mecabot ndi nsanja yolimba ya Autonomous Mobile Robot (AMR) yamaphunziro a robotic ndi ntchito zofufuza.
Mecabot imabwera ndi mitundu inayi:
- Mecabot 2 - Zoyenera kwa oyamba kumene a ROS komanso ma projekiti otsika mtengo.
- Mecabot Pro - Pulatifomu yoyenera ya Autonomous Mobile Robot (AMR) yophunzitsira zamaloboti, mapulojekiti a R&D komanso kujambula mwachangu.
- Mecabot Plus - Pulatifomu yabwino ya Autonomous Mobile Robot (AMR) yogwiritsira ntchito maloboti amkati. Gululi ndilofunika kwambiri kuti liganizidwe pa chitukuko cha mafakitale ndi malonda.
- Mecabot X - Pulatifomu yoyenera ya Autonomous Mobile Robot (AMR) yogwiritsa ntchito maloboti amkati okhala ndi mpanda wazitsulo.
Mecabot imabwera ndi olamulira otchuka a ROS monga:
- Jetson - Orin Nano
- Jetson - Orin NX
Zigawo Zofunikira
Zitsanzo
| Kusintha | Chithunzi |
| Mecabot 2 |  |
| Mecabot Pro |  |
| Mecabot Plus |  |
| Mecabot X |  |
Zofotokozera Zamalonda
Kuyambitsa kwa ROS Controllers
Pali mitundu iwiri ya ROS Controllers yomwe ikupezeka kuti igwiritsidwe ntchito ndi Mecabot yotengera nsanja ya Nvidia Jetson. Jetson Orin Nano ndi abwino pa maphunziro ndi kafukufuku. Jetson Orin NX imagwiritsidwa ntchito nthawi zambiri popanga ma prototyping ndi malonda.
Gome lotsatirali likuwonetsa kusiyana kwakukulu kwaukadaulo pakati pa owongolera osiyanasiyana omwe amapezeka ku Roboworks. Ma board onsewa amalola kuwerengera kwapamwamba ndipo ndi oyenerera ku ntchito zapamwamba za robotic monga masomphenya apakompyuta, kuphunzira mozama komanso kukonza zoyenda.
Sensing System
Sensing System: LiDAR & Kamera Yakuya
Leishen LSLiDAR imayikidwa pamitundu yonse ya Mecabot ndi mtundu wa N10 kapena M10 womwe ukugwiritsidwa ntchito. Ma LiDAR awa amapereka masinthidwe a digirii 360 ndi kawonedwe kozungulira ndipo amadzitamandira ndi kapangidwe kakang'ono komanso kopepuka. Ali ndi mawonekedwe apamwamba a Signal Noise ndi magwiridwe antchito abwino kwambiri pa zinthu zowoneka bwino / zotsika ndipo amachita bwino pakuwala kolimba. Amakhala ndi mawonekedwe a 30 metres ndi ma scan frequency a 12Hz. LiDAR iyi imaphatikizana mosasunthika mu Mecabots, kuwonetsetsa kuti mapu onse ndi kugwiritsa ntchito panyanja zitha kuchitika mosavuta pantchito yanu.
Gome ili pansipa likufotokozera mwachidule zaukadaulo wa ma LSLiDAR:
Kuphatikiza apo, Mecabots onse ali ndi Orbbec Astra Depth Camera, yomwe ndi kamera ya RGBD. Kamera iyi imakonzedwa kuti ikhale yogwiritsidwa ntchito kwambiri kuphatikiza kuwongolera ndi manja, kutsatira mafupa, kusanthula kwa 3D ndi chitukuko cha mtambo. Gome lotsatirali likufotokozera mwachidule zaukadaulo wa kamera yakuzama.
Chithunzi cha STM32
STM32 Board (Motor Control, Power Management & IMU)
Bungwe la STM32F103RC ndiye chowongolera chaching'ono chomwe chimagwiritsidwa ntchito mu Mecabots yonse. Ili ndi ntchito yayikulu ya ARM Cortex -M3 32-bit RISC core yomwe imagwira ntchito pafupipafupi 72MHz limodzi ndi kukumbukira kothamanga kwambiri. Imagwira ntchito mu -40 ° C mpaka + 105 ° C kutentha, ikugwirizana ndi ntchito zonse za robotic nyengo zapadziko lonse lapansi. Pali njira zopulumutsira mphamvu zomwe zimalola kupanga mapulogalamu otsika mphamvu. Zina mwazomwe zimagwiritsidwa ntchito ndi chowongolera chaching'onochi ndi monga: kuyendetsa galimoto, kuwongolera ntchito, kugwiritsa ntchito maloboti, zida zamankhwala ndi zogwira m'manja, zotumphukira za PC ndi masewera, nsanja za GPS, ntchito zamafakitale, ma alarm system video intercom ndi masikelo.
Zithunzi za STM32F103RC
| Chithunzi cha STM32F103RC | Mawonekedwe |
| Kwambiri | ARM32-bit Cortex -M3 CPU Max liwiro la 72 MHz |
| Zokumbukira | 512 KB ya Flash memory 64kB ya SRAM |
| Clock, Reset and Supply Management | 2.0 mpaka 3.6 V ntchito yofunsira ndi I/Os |
| Mphamvu | Kugona, Imani ndi Standby modes
|
| DMA | 12-njira DMA woyang'anira |
| Debug Mode | SWD ndi JTAG mawonekedwe Cortex-M3 Embedded Trace Macrocell |
| Madoko a I/O | Madoko 51 a I/O (omwe amatha kujambulidwa pa 16 zosokoneza zakunja ndi zololera za 5V) |
| Zowerengera nthawi | 4 × 16-bit nthawi
2 x 16-bit motor control PWM timer (yokhala ndi kuyimitsidwa mwadzidzidzi) 2 x watchdog timer (yodziyimira payokha ndi Window) SysTick timer (24-bit downcounter) 2 x 16-bit zoyambira zoyambira kuyendetsa DAC |
|
Communication Interface |
USB 2.0 mawonekedwe othamanga kwambiri a SDIO
CAN mawonekedwe (2.0B Yogwira) |
kupereka kwa RTC ndi zolembera zosunga zobwezeretseraChiwongolero & Driving System
Dongosolo lowongolera ndi kuyendetsa likuphatikizidwa ndi mapangidwe ndi mapangidwe a Mecabot. Kutengera mtundu womwe wagulidwa udzakhala mwina 2 wheel kapena 4 wheel drive, ndi zosankha zonse ziwiri kukhala zoyenera pazolinga zosiyanasiyana za kafukufuku ndi chitukuko. Mawilo a Mecabots onse ndi amnidirectional mecanum mawilo okhala ndi mitundu yonse kupatula Mecabot wamba kuphatikiza makina oyimitsidwa odziyimira pawokha. Banja la Mecabot la maloboti ndiabwino pa kafukufuku wambiri komanso ntchito zamalonda zomwe zimapangitsa kuti ikhale loboti yabwino kwambiri pantchito yanu yotsatira.
Chithunzi cha Mecabot 2 Design:
Chithunzi cha Mecabot Pro Design:
Chithunzi cha Mecabot Plus Design:
Chithunzi cha Mecabot X Design:
Kuwongolera Mphamvu
Ma Mecabots onse amabwera ndi 6000 mAh Power Mag, maginito a LFP (Lithium Iron Phosphate) batire ndi Power Charger. Makasitomala amatha kukweza batire kukhala 20000 mAh ndi mtengo wowonjezera. Mabatire a LFP ndi mtundu wa batri ya lithiamu-ion yomwe imadziwika chifukwa cha kukhazikika, chitetezo, komanso moyo wautali. Mosiyana ndi mabatire amtundu wa lithiamu-ion, omwe amagwiritsa ntchito cobalt kapena faifi tambala, mabatire a LFP amadalira chitsulo cha phosphate, chopereka njira yokhazikika komanso yopanda poizoni. Amalimbana kwambiri ndi kuthawa kwamafuta, kuchepetsa chiopsezo cha kutentha kwambiri ndi moto. Ngakhale kuti ali ndi mphamvu zochepa zochepetsera mphamvu poyerekeza ndi mabatire ena a lithiamu-ion, mabatire a LFP amapambana mu kukhazikika, ndi moyo wautali, kuthamanga mofulumira, komanso kuchita bwino pa kutentha kwakukulu, kuwapanga kukhala abwino kwa magalimoto amagetsi (EVs) ndi machitidwe osungira mphamvu. Power Mag imatha kulumikizidwa ndi chitsulo chilichonse cha loboti chifukwa cha kapangidwe kake ka maginito. Zimapangitsa kusinthanitsa mabatire mwachangu komanso kosavuta.
Mfundo Zaukadaulo
| Chitsanzo | 6000 mAh | 20000 mAh |
| Battery Pack | 22.4V 6000mAh | 22.4V 20000mAh |
| Zofunika Kwambiri | Lithium Iron Phosphate | Lithium Iron Phosphate |
| Cutoff Voltage | 16.5 V | 16.5 V |
| Voltage | 25.55 V | 25.55 V |
| Kulipira Panopa | 3A | 3A |
| Zinthu Zachipolopolo | Chitsulo | Chitsulo |
| Kutaya Magwiridwe | 15 Kutulutsa Kosalekeza | 20 Kutulutsa Kosalekeza |
| Pulagi | DC4017MM cholumikizira chachikazi (charging) XT60U-F cholumikizira chachikazi (kutulutsa) | DC4017MM cholumikizira chachikazi (charging) XT60U-F cholumikizira chachikazi (kutulutsa) |
| Kukula | 177 * 146 * 42mm | 208 * 154 * 97mm |
| Kulemera | 1.72kg | 4.1kg |
Chitetezo cha Battery:
- Kuzungulira kwachidule, overcurrent, overcharge, over- discharge protection, support charger when using, build-in security valve, flame retardant board.
Poyimitsa Paokha (Mphamvu+):
- Auto Charging Station ili ndi mtundu wa Rosbot 2+ ndipo ingagulidwe padera kuti mugwire ntchito ndi Rosbot 2, Rosbot Pro ndi Rosbot Plus.
ROS 2 Yambani Mwamsanga
- Loboti ikayamba kuyatsidwa, imayendetsedwa ndi ROS mwachisawawa. Tanthauzo lake, bolodi lowongolera chassis la STM32 limavomereza malamulo kuchokera kwa ROS 2 Controller - The Jetson Orin.
- Kukhazikitsa koyambirira ndikwachangu komanso kosavuta, kuchokera pa PC yanu (Ubuntu Linux akulimbikitsidwa) kulumikizana ndi loboti ya Wi-Fi hotspot. Achinsinsi mwachisawawa ndi "dongguan".
- Kenako, lumikizani ku loboti pogwiritsa ntchito SSH kudzera pa terminal ya Linux, IP adilesi ndi 192.168.0.100, mawu achinsinsi ndi dongguan.
- Ndi mwayi wofikira ku loboti, mutha kupita ku chikwatu cha ROS 2, pansi pa "wheeltec_ROS 2"
- Musanayambe kuyesa mapulogalamu, yendani ku wheeltec_ROS 2/turn_on_wheeltec_robot/ ndikupeza wheeltec_udev.sh - Zolembazi ziyenera kuyendetsedwa, makamaka kamodzi kokha kuti zitsimikizire kusinthidwa koyenera kwa zotumphukira.
- Tsopano mutha kuyesa momwe roboti imagwirira ntchito, kuti mutsegule magwiridwe antchito a ROS 2, thamangani: "roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch"
- Mu terminal yachiwiri, mutha kugwiritsa ntchito keyboard_teleop node kutsimikizira kuwongolera kwa chassis, iyi ndi mtundu wosinthidwa wa ROS 2 Turtlebot ex wotchuka.ample. Lembani: "roslaunch wheeltec_robot_rc keyboard_teleop.launch"
Maphukusi a ROS 2 oyikiratu
Pansipa pali maphukusi otsatirawa omwe amatsata ogwiritsa ntchito, pomwe maphukusi ena angakhalepo, awa ndi odalira okha.
turn_on_wheeltec_robot
- Phukusili ndilofunika kuti robot igwire ntchito komanso kulumikizana ndi wowongolera chassis.
- Zolemba zoyambirira "turn_on_wheeltec_robot.launch" ziyenera kugwiritsidwa ntchito pa boot iliyonse kuti mukonze ROS 2 ndi controller.
wheeltec_rviz2
- Muli ndi kukhazikitsa files kuyambitsa rviz ndi kasinthidwe ka Pickerbot Pro.
wheeltec_robot_slam
- Phukusi la Mapu a SLAM ndi kumasulira kwanuko ndi kasinthidwe ka Pickerbot Pro.
wheeltec_robot_rrt2
- Kufufuza mwachangu mitengo yachisawawa - Phukusili limathandizira Pickerbot Pro kukonzekera njira yopita komwe ikufunika, poyambitsa malo owunikira.
wheeltec_robot_keyboard
- Phukusi labwino lotsimikizira magwiridwe antchito a loboti ndikuwongolera pogwiritsa ntchito kiyibodi, kuphatikiza kuchokera pa PC yakutali.
wheeltec_robot_nav2
- ROS 2 Navigation 2 node phukusi.
wheeltec_lidar_ros2
- Phukusi la ROS 2 Lidar lokonzekera Leishen M10/N10.
wheeltec_joy
- Phukusi lowongolera la Joystick, lili ndi kukhazikitsa files za Joystick node.
simple_follower_ros2
- Chinthu choyambirira ndi mzere wotsatira ma aligorivimu pogwiritsa ntchito scan ya laser kapena kamera yakuzama.
ros2_astra_kamera
- Phukusi la kamera yaku Astra yokhala ndi madalaivala ndikuyambitsa files.
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ROBOWORKS STM32F103RC Mecabot Autonomous Mobile Robot [pdf] Buku Logwiritsa Ntchito STM32F103RC Mecabot Autonomous Mobile Robot, STM32F103RC, Mecabot Autonomous Mobile Robot, Autonomous Mobile Robot, Mobile Robot, Robot |
