TRACER AgileX Robotics Team Autonomous Mobile Robot
Mutuwu uli ndi mfundo zofunika kwambiri zokhudza chitetezo, loboti isanayambe kuyatsidwa kwa nthawi yoyamba, munthu aliyense kapena bungwe liyenera kuwerenga ndi kumvetsetsa 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 pulogalamu yathunthu ya robot, komanso sizikuphatikizapo zipangizo zonse zozungulira zomwe zingakhudze chitetezo cha dongosolo lonse. Kupanga ndi kugwiritsa ntchito dongosolo lathunthu liyenera kutsata zofunikira zachitetezo zomwe zimakhazikitsidwa mumiyezo ndi malamulo adziko lomwe loboti imayikidwa. Ophatikiza a TRACER ndi makasitomala otsiriza ali ndi udindo woonetsetsa kuti akutsatira malamulo ndi malamulo a mayiko oyenerera, ndikuwonetsetsa kuti palibe zowopsa zazikulu pakuyika kwathunthu kwa roboti. Izi zikuphatikiza koma sizimangokhala pazotsatirazi
Kuchita bwino ndi udindo
- Pangani kuwunika kowopsa kwa dongosolo lathunthu la roboti.
- Lumikizani zida zowonjezera zachitetezo zamakina ena omwe afotokozedwa ndi kuwunika kowopsa pamodzi.
- Tsimikizirani kuti mapangidwe ndi kuyika kwa zida zonse za makina a robot, kuphatikiza mapulogalamu ndi zida za hardware, ndizolondola.
- Loboti iyi ilibe loboti yodziyimira yokha yoyenda yokha, kuphatikiza, koma osati kungogunda, kugwa, chenjezo lachilengedwe ndi ntchito zina zokhudzana ndi chitetezo. Ntchito zofananira zimafuna ophatikiza ndi makasitomala omaliza kuti azitsatira malamulo oyenera ndi malamulo otheka kuti awunikenso chitetezo. Kuonetsetsa kuti robot yopangidwayo ilibe zoopsa zilizonse komanso zoopsa zachitetezo pakugwiritsa ntchito kwenikweni.
- Sungani zikalata zonse muukadaulo file: kuphatikizapo kuwunika zoopsa ndi bukuli.
Kuganizira Zachilengedwe
- Kuti mugwiritse ntchito koyamba, chonde werengani bukuli mosamala kuti mumvetsetse zofunikira zogwirira ntchito komanso momwe mungagwiritsire ntchito.
- Kuti mugwiritse ntchito zowongolera patali, sankhani malo otseguka kuti mugwiritse ntchito TRACER, chifukwa TRACER ilibe zida zodziwikiratu zopewera zopinga.
- Gwiritsani ntchito TRACER nthawi zonse pansi pa -10 ℃ ~ 45 ℃ kutentha kozungulira.
- Ngati TRACER 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 lakutali lili 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 TRACER ndi 100KG. Mukagwiritsidwa ntchito, onetsetsani kuti malipirowo sakupitirira 100KG.
- Mukayika chowonjezera chakunja pa TRACER, tsimikizirani malo apakati a misala ndikuwonetsetsa kuti ili pakati pa kuzungulira.
- Chonde yonjezerani mu nthawi pamene chipangizo voltage ndi otsika kuposa 22.5V.
- TRACER ikakhala ndi vuto, chonde siyani kugwiritsa ntchito nthawi yomweyo kuti mupewe kuwonongeka kwachiwiri.
- TRACER ikakhala ndi vuto, chonde funsani akatswiri oyenerera kuti athane nawo, osathana ndi vutolo nokha.
- Nthawi zonse gwiritsani ntchito SCOUT MINI(OMNI) m'malo okhala ndi chitetezo chofunikira pazida.
- Osakankhira SCOUT MINI(OMNI) mwachindunji.
- Mukamalipira, onetsetsani kuti kutentha kuli pamwamba pa 0 ℃
Kusamalira
Pofuna kuonetsetsa kuti batire ili ndi mphamvu zosungirako, batire liyenera kusungidwa pansi pa magetsi, ndipo liyenera kulipiritsidwa nthawi zonse ngati silikugwiritsidwa ntchito kwa nthawi yaitali.
MINIAGV (TRACER) Chiyambi
TRACER idapangidwa ngati UGV yamitundu yambiri yokhala ndi mawonekedwe osiyanasiyana ogwiritsira ntchito: kapangidwe kake; flexible kugwirizanitsa; Kuphatikizika kwa magudumu awiri osiyanitsa chassis ndi hub motor kungapangitse kusuntha mkati mwanyumba.Zigawo zowonjezera monga stereo kamera, laser radar, GPS, IMU ndi robotic manipulator zikhoza kuikidwa mwasankha pa TRACER kuti zikhale zapamwamba. kugwiritsa ntchito navigation ndi masomphenya apakompyuta. TRACER imagwiritsidwa ntchito nthawi zambiri pophunzitsa komanso kafukufuku woyendetsa galimoto, kulondera m'nyumba ndi panja ndi zoyendetsa, kungotchulapo zochepa chabe.
Mndandanda wa zigawo
| Dzina | Kuchuluka |
| TRACER Thupi la robot | x1 |
| Chaja cha batri (AC 220V) | x1 |
| Remote control transmitter (ngati mukufuna) | x1 |
| USB ku serial chingwe | x1 |
| Pulagi ya ndege (yachimuna, 4-Pini) | x1 |
| USB kupita ku CAN moduli yolumikizirana | x1 |
Tech specifications
Zofuna zachitukuko
RC transmitter imaperekedwa (posankha) mu fakitale ya TRACER, yomwe imalola ogwiritsa ntchito kulamulira chassis ya robot kuti asunthe ndi kutembenuka; Mawonekedwe a CAN ndi RS232 pa TRACER atha kugwiritsidwa ntchito pakusintha makonda a wosuta
Zoyambira
Gawoli limapereka chidziwitso chachidule cha TRACER mobile robot platform, monga momwe tawonetsera
TRACER idapangidwa ngati gawo laluntha lathunthu, lomwe limodzi ndi mota yamphamvu ya DC hub, imathandizira kuti chassis ya loboti ya TRACER isunthike mosavuta pamalo athyathyathya amkati. Mitengo yoletsa kugunda imayikidwa mozungulira galimotoyo kuti ichepetse kuwonongeka komwe kungachitike pagalimoto ikagundana. Kuwala kumayikidwa kutsogolo kwa galimotoyo, yomwe kuwala koyera kumapangidwira kuunikira kutsogolo. Choyimitsa chadzidzidzi chimayikidwa kumapeto kwa galimoto, chomwe chimatha kutseka mphamvu ya robot nthawi yomweyo pamene loboti ikuchita molakwika. Zolumikizira zotsimikizira madzi za DC mphamvu ndi mawonekedwe olumikizirana zimaperekedwa kumbuyo kwa TRACER, zomwe sizimangolola kulumikizana kosinthika pakati pa roboti ndi zigawo zakunja komanso zimatsimikizira chitetezo chofunikira mkati mwa loboti ngakhale pazifukwa zogwira ntchito kwambiri. Chipinda chotseguka cha bayonet chimasungidwa pamwamba kwa ogwiritsa ntchito.
Chizindikiro cha status
Ogwiritsa ntchito amatha kuzindikira momwe thupi lagalimoto lilili kudzera pa voltmeter ndi magetsi oyikidwa pa TRACER. Kuti mudziwe zambiri
Malangizo pa zolumikizira zamagetsi
Kumbuyo magetsi mawonekedwe
Mawonekedwe owonjezera kumapeto akumbuyo akuwonetsedwa mu Chithunzi 2.3, pomwe Q1 ndi D89 serial port; Q2 ndiye chosinthira choyimitsa; Q3 ndiye doko lolipiritsa mphamvu; Q4 ndi mawonekedwe owonjezera a CAN ndi 24V magetsi; Q5 ndi mita yamagetsi; Q6 ndiye chosinthira chozungulira ngati chosinthira chachikulu chamagetsi.
Gulu lakumbuyo limapereka mawonekedwe ofanana a CAN olankhulana ndi mawonekedwe amphamvu a 24V ndi apamwamba (awiri aiwo ndi olumikizidwa mkati). Matanthauzo a pini amaperekedwa
Malangizo pa remote control
FS RC transmitter ndi chowonjezera cha TRACER chowongolera pamanja loboti. Transmitter imabwera ndi kasinthidwe kakumanzere-kumanzere. Kutanthauzira ndi ntchito
Kuphatikiza pa ndodo ziwiri za S1 ndi S2 zomwe zimagwiritsidwa ntchito potumiza maulamuliro a mzere ndi angular velocity, masiwichi awiri amayatsidwa mwachisawawa: SWB pakusankha mawonekedwe owongolera (malo apamwamba pamachitidwe olamulira ndi malo apakati amodeti yakutali), SWC pakuwunikira. kulamulira. Mabatani awiri a POWER amafunikira kukanikizidwa ndikugwirizira limodzi kuti muyatse kapena kuzimitsa chotumizira.
Malangizo pazofuna zowongolera ndi kayendedwe
Monga momwe zasonyezedwera pa Chithunzi 2.7, gulu lagalimoto la TRACER likufanana ndi X axis ya kachitidwe kolumikizira komwe kakhazikitsidwa. Pambuyo pa msonkhanowu, kuthamanga kwa mzere wabwino kumayenderana ndi kayendetsedwe ka galimoto motsatira njira yabwino ya x-axis ndipo liwiro labwino la angular limafanana ndi kuzungulira kwabwino kwa z-axis. Mumayendedwe apamanja omwe ali ndi RC transmitter, kukankhira ndodo ya C1 (DJI model) kapena ndodo ya S1 (FS model) patsogolo kutulutsa lamulo loyenda bwino ndikukankhira C2 (DJI model) ndi S2 (FS model) kumanzere. idzapanga lamulo labwino la angular velocity
Kuyambapo
Gawoli likuwonetsa ntchito yoyambira ndi chitukuko cha nsanja ya TRACER pogwiritsa ntchito mawonekedwe a mabasi a CAN.
Ntchito ndi ntchito
Onani
- Onani momwe thupi lagalimoto lilili. Onani ngati pali zolakwika zazikulu; ngati ndi choncho, chonde lemberani ogwira ntchito pambuyo pogulitsa kuti akuthandizeni;
- Onani masiwichi oyimitsa mwadzidzidzi. Onetsetsani kuti mabatani onse oyimitsa mwadzidzidzi atulutsidwa.
Tsekani
Tembenuzani chosinthira kiyi kuti mudule magetsi;
Yambitsani
- Sintha yoyimitsa mwadzidzidzi. Tsimikizirani kuti mabatani oyimitsa mwadzidzidzi onse atulutsidwa;
- Tembenuzani chosinthira kiyi (Q6 pagawo lamagetsi), ndipo nthawi zambiri, voltmeter imawonetsa batire yoyeneratage komanso magetsi akutsogolo ndi akumbuyo onse aziyatsidwa
Kuyimitsa mwadzidzidzi
Dinani batani lazadzidzi kumanzere ndi kumanja kwa galimoto yakumbuyo;
Njira yoyambira yogwiritsira ntchito remote control
Pambuyo poyambitsa galimoto ya TRACER loboti yam'manja, yatsani RC transmitter ndikusankha njira yowongolera kutali. Ndiye, TRACER nsanja kayendedwe akhoza kulamulidwa ndi RC transmitter.
Kulipira
TRACER ili ndi charger ya 10A mwachisawawa kuti ikwaniritse zomwe makasitomala akufuna.
Tsatanetsatane wa njira yolipirira ikuwonetsedwa motere
- Onetsetsani kuti magetsi a TRACER chassis azizima. Musanapereke ndalama, chonde onetsetsani kuti Q6 (kusintha kiyi) mu cholembera chakumbuyo chazimitsidwa;
- Ikani pulagi ya charger mu mawonekedwe a Q3 pagawo lakumbuyo;
- Lumikizani chaja kumagetsi ndikuyatsa chosinthira mu charger. Kenako, loboti imalowa m'malo olipira.
Kulankhulana pogwiritsa ntchito CAN
TRACER imapereka mawonekedwe a CAN ndi RS232 kuti musinthe makonda anu. Ogwiritsa ntchito amatha kusankha imodzi mwamawonekedwe awa kuti azilamulira gulu lagalimoto.
CAN meseji protocol
TRACER imatengera mulingo wolumikizirana wa CAN2.0B womwe uli ndi mulingo wolumikizirana wa 500K ndi mtundu wa uthenga wa Motorola. Pogwiritsa ntchito mawonekedwe a mabasi akunja a CAN, kuthamanga kwa liniya wosuntha komanso kuthamanga kozungulira kwa chassis kumatha kuwongoleredwa; TRACER iyankha pazomwe zachitika pano komanso zambiri zamtundu wa chassis munthawi yeniyeni. Protocol imaphatikizanso mawonekedwe amtundu wamagalimoto, mawonekedwe owongolera 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 ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake.tage ndi kulephera kwadongosolo. Kufotokozera kwaperekedwa mu Table 3.1.
Feedback Frame of TRACER Chassis System Status
| Command Name System Status Feedback Command | ||||
| Kutumiza node | Kulandira mfundo | ID | kuzungulira (ms) | Nthawi yolandila (ms) |
| Chiwongolero-ndi-waya chassis
Deta kutalika Position |
Decoisniotrno-lmuankiting 0x08
Ntchito |
0x151 pa
Mtundu wa data |
20ms | Palibe |
|
Kufotokozera |
||||
|
bati [0] |
Cuvrerheniclestbaotudsyof |
osasainidwa int8 |
0x00 System mumayendedwe abwinobwino 0x01 Emergency stop mode 0x02 Kupatulapo kachitidwe | |
|
bati [1] |
Kuwongolera mode |
osasainidwa int8 |
0x00 Mode control mode 0x01 CAN command mode control mode [1] 0x02 seri port control mode | |
| bati [2] bati [3] | Mphamvu ya batritagndi apamwamba 8 bits Battery voltagndi 8 bits | osasainidwa int16 | Voltage X 10 (ndi kulondola kwa 0.1V) | |
| bati [4] | Zolephera zambiri | osasainidwa int16 | Onani zolemba kuti mumve zambiri【Table 3.2】 | |
| bati [5] | Zosungidwa | – | 0x00 pa | |
| bati [6] | Zosungidwa | – | 0x00 pa | |
| bati [7] | Count paritybit (kuwerengera) | osasainidwa int8 | 0 - 255 kuwerengera malupu | |
Kufotokozera za Kulephera Information
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.
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 |
| Kutalika kwa data | 0x08 pa | |||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera | |
| bati [0]
bati [1] |
Liwiro losuntha lokwera 8 bits
Liwiro losuntha limatsitsa ma bits 8 |
adasainira int16 | Kuthamanga kwagalimoto: mm/s | |
| bati [2]
bati [3] |
Kuthamanga kozungulira kumakwera ma bits 8
Liwiro lozungulira limachepetsa ma bits 8 |
adasainira int16 | Galimoto angular liwiro Unit: 0.001rad/s | |
| 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.
Control Frame of Movement Control Command
| Command Name Control Command | ||||
| Kutumiza node
Chiwongolero-ndi-waya chassis Kutalika kwa data |
Kulandila node ya Chassis node
0x08 pa |
ID 0x111 | kuzungulira (ms) | Nthawi yolandila (ms) |
| 20ms | 500ms | |||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera | |
| bati [0] bati [1] | Kuthamanga kwapamwamba 8 Bits Kuthamanga kumatsitsa 8 bits | adasainira int16 | Liwiro lagalimoto: mm/s | |
| bati [2]
bati [3] |
Kuthamanga kozungulira kumakwera ma bits 8
Liwiro lozungulira limachepetsa ma bits 8 |
adasainira int16 | Liwiro la galimoto
Unit: 0.001rad / s |
|
| bati [4] | Zosungidwa | — | 0x00 pa | |
| bati [5] | Zosungidwa | — | 0x00 pa | |
| bati [6] | Zosungidwa | — | 0x00 pa | |
| bati [7] | Zosungidwa | — | 0x00 pa | |
Chingwe chowongolera kuwala chimaphatikizapo mawonekedwe apano akuwunikira kutsogolo. Kuti mudziwe zambiri za protocol, chonde onani Table 3.5.
Lighting Control Frame
| Kutumiza node | Kulandira mfundo | ID | Kuzungulira (ms) Nthawi yolandila (ms) | |
| Chiwongolero-ndi-waya chassis | Chigawo chowongolera zisankho | 0x231 pa | 20ms | Palibe |
| Kutalika kwa data | 0x08 pa | |||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera | |
| bati [0] | Kuwongolera kuyatsa 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 | [0, 100], pomwe 0mreafxeimrsutomnboribgrhigtnhetnssessss, 100 amatanthauza | |
| bati [3] | Zosungidwa | — | 0x00 pa | |
| bati [4] | Zosungidwa | — | 0x00 pa | |
| bati [5] | Zosungidwa | — | 0x00 pa | |
| bati [6] bati [7] | Count paritybit (kuwerengera) | –
osasainidwa int8 |
0x00 pa
0a- |
|
The ulamuliro mumalowedwe chimango monga anapereka ulamuliro akafuna chassis. Kuti mudziwe zambiri, chonde onani Table 3.7.
Control Mode Frame Malangizo
Control mode malangizo
Ngati RC transmitter yazimitsidwa, njira yowongolera ya TRACER imasinthidwa kuti ilamulire, zomwe zikutanthauza kuti chassis ikhoza kuyendetsedwa mwachindunji kudzera mwa lamulo. Komabe, ngakhale chassis ili mumayendedwe owongolera, njira yowongolera mu lamulo iyenera kukhazikitsidwa ku 0x01 kuti mukwaniritse bwino liwiro. RC transmitter ikangoyatsidwanso, imakhala ndi udindo wapamwamba kwambiri woteteza kuwongolera kwamalamulo ndikusintha mawonekedwe owongolera. Chigawo cha malo chili ndi uthenga wolakwika. Kuti mudziwe zambiri, chonde onani Table 3.8.
Status position Frame Instruction
| Command Name Status position Frame | ||||
| Kutumiza node | Kulandira mfundo | ID | Kuzungulira (ms) Nthawi yolandila (ms) | |
| Chiwongolero-ndi-waya chassis
Deta kutalika Position |
Gawo lopanga zisankho 0x01
Ntchito |
0x441 pa
Mtundu wa data |
Palibe | Palibe |
|
Kufotokozera |
||||
| bati [0] | Control mode | osasainidwa int8 | 0x00 Chotsani zolakwika zonse 0x01 Chotsani zolakwika zamagalimoto 1 0x02 Chotsani zolakwika zamagalimoto 2 | |
Malangizo a Odometer Feedback
| Kutumiza node Steer-by-waya chassis
Kutalika kwa data |
Kulandira nodi yowongolera zisankho
0x08 pa |
ID 0x311 | Cycle (ms) 接收超时(ms) | |
| 20ms | Palibe | |||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera | |
| bati [0] | Tayala lakumanzere kwambiri odometer |
adasainira int32 |
Deta ya matayala odometer kumanzere Unit mm |
|
| bati [1] | Tayala lakumanzere lachiwiri lalitali odometer | |||
| bati [2] | Tayala lakumanzere lachiwiri lotsikitsitsa odometer | |||
| bati [3] | Tayala lakumanzere odometer yotsika kwambiri | |||
| bati [4] | Tayala lakumanja lalitali kwambiri odometer |
adasainidwa mkati32- |
Deta ya matayala akumanja odometer Unit mm |
|
| bati [5] | Tayala lakumanja lachiwiri lalitali odometer | |||
| bati [6] | Tayala lakumanja lachiwiri lotsikitsitsa odometer | |||
| bati [7] | Tayala lakumanja odometer otsika kwambiri | |||
Chidziwitso cha chassis chidzabwezedwanso; zambiri, zambiri za galimoto. Mayankho otsatirawa ali ndi chidziwitso cha mota : Nambala zotsatizana za ma motors 2 mu chassis zikuwonetsedwa pachithunzi pansipa:
Motor High-liwiro Information Feedback Frame
| Dzina Lamulo Lachidziwitso Chachidziwitso Chokwera Kwambiri | ||||
| Kutumiza node | Kulandira mfundo | ID | Kuzungulira (ms) Nthawi yolandila (ms) | |
| Chiwongolero-ndi-waya chassis Kutalika kwa data
Udindo |
Chiwongolero-ndi-waya chassis 0x08
Ntchito |
0x251~0x252
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 | Liwiro la mozungulira
Unit: RPM |
|
| bati [2] | Zosungidwa | – | 0x00 pa | |
| bati [3] | Zosungidwa | — | 0x00 pa | |
| bati [4] | Zosungidwa | — | 0x00 pa | |
| bati [5] | Zosungidwa | — | 0x00 pa | |
| bati [6] | Zosungidwa | – | 0x00 pa | |
Motor Low-liwiro Information Feedback Frame
| Dzina Lamulo Lachidziwitso Chachidziwitso Chotsika Chotsika | ||||
| Kutumiza node | Kulandira mfundo | ID | kuzungulira (ms) | |
| Chiwongolero-ndi-waya chassis Kutalika kwa data
Udindo |
Chiwongolero-ndi-waya chassis 0x08
Ntchito |
0x261~0x262
Mtundu wa data |
100ms | |
|
Kufotokozera |
||||
| bati [0]
bati [1] |
Zosungidwa
Zosungidwa |
– | 0x00 pa
0x00 pa |
|
| bati [2] | Zosungidwa | – | 0x00 pa | |
| bati [3] | Zosungidwa | — | 0x00 pa | |
| bati [4] | Zosungidwa | — | 0x00 pa | |
| bati [5] | Udindo wa oyendetsa | — | Zambiri zikuwonetsedwa mu Table 3.12 | |
| bati [6] | Zosungidwa | – | 0x00 pa | |
| bati [7] | Zosungidwa | – | 0 | |
Kufotokozera za Kulephera Information
CAN chingwe cholumikizira
PAKUTANTHAUZIRA WAWAYA, CHONDE ONANI KUTABULA 2.2.
- Chofiira: VCC (Battery positive)
- Wakuda:GND (batri alibe)
- Buluu:CAN_L
- Yellow:CAN_H
Chithunzi cha Schematic cha Aviation Male Plug
Zindikirani: Kuthekera kwakukulu komwe kungapezeke pano kumakhala pafupifupi 5 A.
Kukhazikitsa kwa CAN command control
Yambitsani molondola chassis ya loboti yam'manja ya TRACER, ndikuyatsa FS RC transmitter. Kenako, sinthani kumachitidwe owongolera, mwachitsanzo, kutembenuza SWB mode ya FS RC transmitter kupita pamwamba. Panthawiyi, TRACER chassis ivomereza lamulo kuchokera ku mawonekedwe a CAN, ndipo wolandirayo athanso kufotokozera momwe galimotoyo ilili panopa ndi deta yeniyeni yochokera ku CAN bus. Kuti mudziwe zambiri za protocol, chonde onani njira yolumikizirana ya CAN.
Kulumikizana pogwiritsa ntchito RS232
Chiyambi cha serial protocol
Uwu ndi mulingo wolumikizirana womwe unapangidwa pamodzi ndi Electronic Industries Association (EIA) pamodzi ndi Bell System, opanga ma modemu ndi opanga makompyuta mu 1970. (DTE) ndi zida zolumikizirana ndi data (DCE). Muyezo uwu umafunika kugwiritsa ntchito cholumikizira cha 25-pin DB-25 chomwe pini iliyonse imatchulidwa ndi zomwe zili ndi siginecha ndi milingo yosiyanasiyana yazizindikiro. Pambuyo pake, RS232 imasinthidwa kukhala cholumikizira cha DB-9 mu IBM PCs, yomwe yakhala mulingo wa de facto kuyambira pamenepo. Nthawi zambiri, madoko a RS-232 owongolera mafakitale amangogwiritsa ntchito mitundu itatu ya zingwe - RXD, TXD ndi GND.
serial message protocol
Basic magawo a kulankhulana
| Kanthu | Parameter |
| Mtengo wamtengo | 115200 |
| Onani | Palibe cheke |
| Deta pang'ono kutalika | 8 biti |
| Imani pang'ono | 1 pang'ono |
Basic magawo a kulankhulana
| Yambitsani bit Frame length Lamulo lamtundu wa Command ID Data field Frame ID | |||||||
| SOF | chimango_L | CMD_TYPE | CMD_ID | data [0] ... data[n] | chimango_id | check_sum | |
| bati 1 | bati 2 | bati 3 | bati 4 | bati 5 | pa 6 … baiti 6+n | pa 7+n | pa 8+n |
| 5A | A5 | ||||||
Protocol imaphatikizapo kuyamba pang'ono, kutalika kwa chimango, mtundu wa lamulo la chimango, ID ya lamulo, gawo la data, ID ya chimango, ndi kapangidwe ka checksum. Kumene, kutalika kwa chimango kumatanthawuza kutalika kwake, kupatulapo chiyambi ndi kalembedwe ka checksum; checksum imatanthawuza kuchuluka kuyambira poyambira pang'ono kupita ku data yonse ya ID ya chimango; ID ya chimango ndi chiwerengero cha loop pakati pa 0 mpaka 255, chomwe chidzawonjezedwa kamodzi lamulo lililonse litatumizidwa.
Zomwe zili mu protocol
Lamulo la ndemanga za mawonekedwe adongosolo
| Lamulo la mayankho a Command Name System | |||
| Kutumiza node | Kulandira mfundo | Kuzungulira (ms) Nthawi yolandila (ms) | |
| Chiwongolero-ndi-waya chassis Utali wa chimango
Mtundu wa lamulo |
Gawo lopanga zisankho 0x0a
Ndemanga lamulo (0xAA) |
20ms | Palibe |
| Command ID | 0x01 pa | ||
| Kutalika kwa data | 6 | ||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera |
|
bati [0] |
Mkhalidwe wamakono wa galimoto |
osasainidwa int8 |
0x00 System mu mkhalidwe wabwinobwino
0x01 Emergency stop mode (osayatsidwa) 0x01 Kupatulapo pa System |
|
bati [1] |
Kuwongolera mode |
osasainidwa int8 |
0x00 Mode control mode 0x01 CAN command mode control [1]
0x02 seri port control mode |
| bati [2]
bati [3] |
Mphamvu ya batritagndi 8 bits
Mphamvu ya batritagndi 8 bits |
osasainidwa int16 | Voltage X 10 (ndi kulondola kwa 0.1V) |
| bati [4]
bati [5] |
Zambiri zolephera zimakwera ma bits 8
Zolephera zimatsitsa ma bits 8 |
osasainidwa int16 | [DescripSteioennofteFsaiflourredeIntafoilrsmation] |
- @BRIEF SERIAL MESSAGE CHECKSUM EXAMPKODI
- @PARAM[IN] *DATA : SERIAL MESSAGE DATA STRUCT POINTER
- @PARAM[IN] LEN :UTALIFU WA DATA YA UTHENGA WA SERIAL
- @BWERANI ZOTSATIRA ZA CHECKSUM
- STATIC UINT8 AGILEX_SERIALMSGCHECKSUM(UINT8 *DATA, UINT8 LEN)
- UINT8 CHECKSUM = 0X00;
- FOR(UINT8 I = 0 ; I < (LEN-1); I++)
- CHECKSUM += DATA[I];
Example of serial check algorithm code
| Kufotokozera za Kulephera Information | ||
| Bwino | Pang'ono | Tanthauzo |
|
bati [4]
bati [5]
[1]: Ma subs |
pang'ono [0] | Onani cholakwika cha lamulo lowongolera kulumikizana kwa CAN (0: Palibe kulephera 1: Kulephera) |
| pang'ono [1] | Alamu yoyendetsa galimoto mopitirira muyeso[1] (0: Palibe alamu 1: Alamu) Kutentha kumangokhala 55 ℃ | |
| pang'ono [2] | Alamu yamagetsi yamagetsi[1] (0: Palibe alamu 1: Alamu) Mtengo wapano 15A | |
| pang'ono [3] | Battery pansi-voltage alamu (0: Palibe alamu 1: Alamu) Alamu voltagE 22.5V | |
| pang'ono [4] | Zosungidwa, zosasinthika 0 | |
| pang'ono [5] | Zosungidwa, zosasinthika 0 | |
| pang'ono [6] | Zosungidwa, zosasinthika 0 | |
| pang'ono [7] | Zosungidwa, zosasinthika 0 | |
| pang'ono [0] | Battery pansi-voltage kulephera (0: Palibe kulephera 1: Kulephera) Protective voltagE 22V | |
| pang'ono [1] | Kutha kwa batritage kulephera (0: Palibe kulephera 1: Kulephera) | |
| pang'ono [2]
pang'ono [3] pang'ono [4] |
No.1 motor communication kulephera (0: Palibe kulephera 1: Kulephera) No.2 kulephera kwa kulumikizana kwagalimoto (0: Palibe kulephera 1: Kulephera)
No.3 kulephera kulumikizana kwagalimoto (0: Palibe kulephera 1: Kulephera) |
|
| pang'ono [5] | No.4 kulephera kulumikizana kwagalimoto (0: Palibe kulephera 1: Kulephera) | |
| pang'ono [6]
pang'ono [7] chimodzimodzi ve |
Kutetezedwa kwa mota kupitilira kutentha [2] (0: Palibe chitetezo 1: Chitetezo) Kutentha kumangokhala 65 ℃
Chitetezo chamagetsi chamakono[2] (0: Palibe chitetezo 1: Chitetezo) Mtengo wamakono 20A mawonekedwe a robot chassis firmware version pambuyo pa V1.2.8 amathandizidwa, koma zomasulira zam'mbuyomu ziyenera |
|
- Matembenuzidwe otsatirawa a robot chassis firmware version pambuyo pa V1.2.8 amathandizidwa, koma zomasulira zam'mbuyomu ziyenera kusinthidwa zisanayambe kuthandizidwa.
- Alamu yotentha kwambiri ya mota yoyendetsa ndi ma alarm amotor over-current sichidzasinthidwa mkati koma ingokhazikitsidwa kuti ipereke kompyuta yapamwamba kuti imalize kukonza zina. Ngati kuyendetsa mopitilira muyeso kumachitika, tikulimbikitsidwa kuchepetsa liwiro lagalimoto; ngati kutentha kwambiri kumachitika, akulimbikitsidwa kuchepetsa liwiro kaye ndikudikirira kuti kutentha kuchepe. Chizindikiro cha mbenderachi chidzabwezeretsedwanso ku chikhalidwe chachilendo pamene kutentha kukucheperachepera, ndipo alamu yowonjezereka idzachotsedwa mwamsanga pamene mtengo wamakono udzabwezeretsedwa ku chikhalidwe chabwino;
- Kutetezedwa kwa kutentha kwambiri kwa mota drive ndi motor over-current protection zidzakonzedwa mkati. Pamene kutentha kwa galimoto kumakwera kuposa kutentha kwa chitetezo, kutulutsa kwa galimoto kumakhala kochepa, galimotoyo imayima pang'onopang'ono, ndipo kulamulira kwa kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe ka kayendetsedwe kake kadzakhala kosavomerezeka. Chizindikiro ichi sichidzachotsedwa, chomwe chimafunika kompyuta yapamwamba kuti itumize lamulo lochotsa chitetezo cholephera. Lamulo likachotsedwa, lamulo loyendetsa kayendetsedwe ka kayendetsedwe kake likhoza kuchitidwa mwachizolowezi.
Movement control feedback command
| Dzina Lamulo | Movement Control Feedback Command | ||
| Kutumiza node | Kulandira mfundo | kuzungulira (ms) | Nthawi yolandila (ms) |
| Chiwongolero-ndi-waya chassis Utali wa chimango
Mtundu wa lamulo |
Gawo lopanga zisankho 0x0A
Lamulo la ndemanga (0xAA) |
20ms | Palibe |
| Command ID | 0x02 pa | ||
| Kutalika kwa data | 6 | ||
| 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 X 1000 (ndi kulondola kwa
0.001m/s) |
| bati [2]
bati [3] |
Kuthamanga kozungulira kumakwera ma bits 8
Liwiro lozungulira limachepetsa ma bits 8 |
adasainira int16 | Liwiro lenileni X 1000 (ndi kulondola kwa
0.001rad/s) |
| bati [4] | Zosungidwa | – | 0x00 pa |
| bati [5] | Zosungidwa | – | 0x00 pa |
Movement control command
| Command Name Control Command | |||
| Kutumiza node | Kulandira mfundo | Cycle (ms) | Landirani-nthawi yatha(ms) |
| Kupanga zisankho gawo lowongolera Kutalika kwa maziko
Mtundu wa lamulo |
Chassis node 0x0A
Lamulo lowongolera (0x55) |
20ms | Palibe |
| Command ID | 0x01 pa | ||
| Kutalika kwa data | 6 | ||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera
0x00 Remote control mode |
|
bati [0] |
Control mode |
osasainidwa int8 |
0x01 CAN yolamulira njira [1] 0x02 serial port control mode Onani Note 2 kuti mumve zambiri* |
| bati [1] | Kulephera kuchotsa lamulo | osasainidwa int8 | Kuthamanga kwakukulu 1.5m/s, mtengo wamtundu (-100, 100) |
| bati [2] | Liniya liwiro peresentitage | adasainira int8 | Kuthamanga kwakukulu 0.7853rad/s, mtengo wamtundu (-100, 100) |
|
bati [3] |
Angular liwiro peresentitage |
adasainira int8 |
0x01 0x00 mode control mode CAN kulamulira mode [1]
0x02 serial port control mode Onani Note 2 kuti mumve zambiri * |
| bati [4] | Zosungidwa | – | 0x00 pa |
| bati [5] | Zosungidwa | – | 0x00 pa |
No.1 motor drive information information frame
| Dzina Lamulo | No.1 Motor Drive Information Feedback Frame | ||
| Kutumiza node | Kulandira mfundo | kuzungulira (ms) | Nthawi yolandila (ms) |
| Chiwongolero-ndi-waya chassis Utali wa chimango
Mtundu wa lamulo |
Gawo lopanga zisankho 0x0A
Ndemanga lamulo (0xAA) |
20ms | Palibe |
| Command ID | 0x03 pa | ||
| Kutalika kwa data | 6 | ||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera |
| bati [0]
bati [1] |
No.1 pagalimoto pano apamwamba 8 bits
No.1 pagalimoto pano m'munsi 8 bits |
osasainidwa int16 | Zenizeni X 10 (ndi kulondola kwa 0.1A) |
| bati [2]
bati [3] |
No.1 drive rotational liwiro apamwamba 8 bits
No.1 pagalimoto mozungulira liwiro kutsitsa 8 bits |
adasainira int16 | Kuthamanga kwenikweni kwa shaft (RPM) |
| bati [4] | No.1 hard disk drive (HDD) kutentha | adasainira int8 | Kutentha kwenikweni (ndi kulondola kwa 1 ℃) |
| bati [5] | Zosungidwa | — | 0x00 pa |
No.2 motor drive information information frame
| Dzina Lamulo | No.2 Motor Drive Information Feedback Frame | ||
| Kutumiza node | Kulandira mfundo | kuzungulira (ms) | Nthawi yolandila (ms) |
| Chiwongolero-ndi-waya chassis Utali wa chimango
Mtundu wa lamulo |
Gawo lopanga zisankho 0x0A
Ndemanga lamulo (0xAA) |
20ms | Palibe |
| Command ID | 0x04 pa | ||
| Kutalika kwa data | 6 | ||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera |
| bati [0]
bati [1] |
No.2 pagalimoto pano apamwamba 8 bits
No.2 pagalimoto pano m'munsi 8 bits |
osasainidwa int16 | Zenizeni X 10 (ndi kulondola kwa 0.1A) |
| bati [2]
bati [3] |
No.2 drive rotational liwiro apamwamba 8 bits
No.2 pagalimoto mozungulira liwiro kutsitsa 8 bits |
adasainira int16 | Kuthamanga kwenikweni kwa shaft (RPM) |
| bati [4] | No.2 hard disk drive (HDD) kutentha | adasainira int8 | Kutentha kwenikweni (ndi kulondola kwa 1 ℃) |
| bati [5] | Zosungidwa | — | 0x00 pa |
Kuwala kowongolera chimango
| Dzina Lamulo Lowunikira Kuwongolera Frame | |||
| Kutumiza node | Kulandira mfundo | kuzungulira (ms) | Nthawi yolandila (ms) |
| Kupanga zisankho gawo lowongolera Kutalika kwa maziko
Mtundu wa lamulo |
Chassis node 0x0A
Lamulo lowongolera (0x55) |
20ms | 500ms |
| Command ID | 0x02 pa | ||
| Kutalika kwa data | 6 | ||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera |
| bati [0] | Kuwongolera kuyatsa kumathandizira mbendera | osasainidwa int8 | 0x00 Control lamulo ndi losavomerezeka
Kuwongolera kwa 0x01 kuyatsa |
|
bati [1] |
Front kuwala mode |
osasainidwa int8 |
0x010 NOC
0x03 Us0exr-0d2eBfiLnemdobdreightness |
| bati [2] | Kuwala kwachizolowezi kwa nyali yakutsogolo | osasainidwa int8 | [0, 100]r,ewfehresrteo0mreafxeimrsutomnboribgrhigtnhetnssess, 0x00 NC |
| bati [3] | Kumbuyo kuwala mode | osasainidwa int8
osasainidwa int8 |
0x01 pa
0x03 0x02 BL mode Kuwala kofotokozedwa ndi ogwiritsa ntchito [0, ], pomwe 0 akunena za kusawala, |
| bati [4] | Kuwala kwachizolowezi kwa nyali yakumbuyo | 100 amatanthauza kuwala kwakukulu | |
| bati [5] | Zosungidwa | — | 0x00 pa |
Kuwala kowongolera ndemanga chimango
| Lamulo Lamulo Lowunikira Kuwongolera Feedback Frame | |||
| Kutumiza node | Kulandira mfundo | kuzungulira (ms) | Nthawi yolandila (ms) |
| Chiwongolero-ndi-waya chassis
Kutalika kwa chimango Mtundu wa lamulo |
Gawo lopanga zisankho 0x0A
Ndemanga lamulo (0xAA) |
20ms | Palibe |
| Command ID | 0x07 pa | ||
| Kutalika kwa data | 6 | ||
| Udindo | Ntchito | Mtundu wa data | Kufotokozera |
| bati [0] | Kuwongolera kwakanthawi kowunikira kumathandizira mbendera | osasainidwa int8 | 0x00 Control lamulo ndi losavomerezeka
Kuwongolera kwa 0x01 kuyatsa |
|
bati [1] |
Mawonekedwe akutsogolo akutsogolo |
osasainidwa int8 |
0x00 NC
0x01 pa 0x02 BL mode 0x03 Kuwala kofotokozedwa ndi ogwiritsa ntchito [0, ], pomwe 0 akunena za kusawala, |
| bati [2] | Kuwala kwamakono kwa nyali yakutsogolo | osasainidwa int8 | 100 amatanthauza kuwala kwakukulu |
| bati [3] | Mawonekedwe akumbuyo akumbuyo | osasainidwa int8
osasainidwa int8 |
0x00 NC
0x01 pa 0x02 BL mode [0, 0x03 kuwonetseredwa kwa ogwiritsa ntchito,], pamene 0 akunena kuti palibe kuwala |
| bati [4]
bati [5] |
Kuwala kwamasiku ano kwa nyali yakumbuyo
Zosungidwa |
— | 100 amatanthauza kuwala kwa m0ax0im0 um |
Example data
Chassis imayendetsedwa kuti ipite patsogolo pa liwiro la 0.15m / s, pomwe deta yeniyeni ikuwonetsedwa motere.
| Yambani pang'ono | Flernamgthe | Comtympeand | ComImDand | Deta ya data | Chimango ID | cCohmepcoksitmion | |||
| bati 1 | bati 2 | bati 3 | bati 4 | bati 5 | bati 6 | …. | pa 6+n | pa 7+n | pa 8+n |
| 0x5A | 0x5 ndi | 0x0A | 0x55 pa | 0x01 pa | …. | …. | …. | 0x00 pa | 0x6B |
Zomwe zili mugawo la data zikuwonetsedwa motere:
Dongosolo lonse la data ndi: 5A 5 0A 55 01 02 00 0A 00 00 00 00 6B
Kulumikizana kwa seri
Chotsani chingwe cha serial cha USB-to-RS232 kuchokera pazida zathu zoyankhulirana kuti mulumikize padoko lakumbuyo chakumbuyo. Kenako, gwiritsani ntchito chida cha serial port kuti muyike kuchuluka kwa baud, ndikuyesa ndi examptsiku loperekedwa pamwambapa. Ngati transmitter ya RC yayatsidwa, iyenera kusinthidwa kukhala njira yolamulira; ngati RC transmitter yazimitsidwa, tumizani mwachindunji lamulo lowongolera. Zindikirani kuti, lamuloli liyenera kutumizidwa nthawi ndi nthawi, chifukwa ngati chassis sichinalandire lamulo la doko pambuyo pa 500ms, idzalowa muchitetezo chosalumikizidwa.
Firmware zowonjezera
Doko la RS232 pa TRACER litha kugwiritsidwa ntchito ndi ogwiritsa ntchito kukweza fimuweya kwa wowongolera wamkulu kuti apeze zosintha ndi zina zowonjezera. Pulogalamu yamakasitomala a PC yokhala ndi mawonekedwe ogwiritsa ntchito imaperekedwa kuti ithandizire kukulitsa mwachangu komanso kosavuta. Chithunzi cha pulogalamuyi chikuwonetsedwa pa chithunzi 3.3.
Sinthani kukonzekera
- Seri chingwe X 1
- USB-to-seerial port X 1
- TRACER chassis X 1
- Kompyuta (Windows operating system) X 1
Firmware update software
https://github.com/agilexrobotics/agilex_firmware
Njira yowonjezera
- Musanalumikizidwe, onetsetsani kuti chassis ya loboti yazimitsidwa;
- Lumikizani chingwe cha serial pa doko la seriyo kumapeto kwa TRACER chassis;
- Lumikizani chingwe chosalekeza ku kompyuta;
- Tsegulani pulogalamu ya kasitomala;
- Sankhani nambala ya doko;
- Yambani pa TRACER chassis, ndipo dinani nthawi yomweyo kuti muyambitse kulumikizana (TRACER chassis idikirira 6s isanayambe kuyatsa; ngati nthawi yodikirira ikupitilira 6s, ilowa mu pulogalamuyi); ngati kulumikizana kukuyenda bwino, "kulumikizidwa bwino" kudzafunsidwa mubokosi lolemba;
- Lowani Bin file;
- Dinani batani la Sinthani, ndipo dikirani kuti mutsirize kukweza;
- Chotsani chingwe cholumikizira, zimitsani chassis, ndiyeno muzimitsa magetsi ndi kuyatsanso.
Chiyankhulo Chamakasitomala cha Kusintha kwa Firmware
Kusamalitsa
Gawoli lili ndi njira zodzitetezera zomwe ziyenera kutsatiridwa kuti TRACER igwiritsidwe ntchito ndi chitukuko.
Batiri
- Batire loperekedwa ndi TRACER silinaperekedwe mokwanira pakupanga fakitale, koma mphamvu yake yeniyeni ya mphamvu imatha kuwonetsedwa pa voltmeter kumapeto kwa TRACER chassis kapena kuwerenga kudzera pa CAN bus communication interface. Kuchangitsanso batire kumatha kuyimitsidwa nyali yobiriwira pa charger ikasanduka yobiriwira. Zindikirani kuti ngati musunga chojambulira cholumikizidwa pambuyo pa kuyatsa kobiriwira kwa LED, chojambuliracho chimapitilira kulitcha batire ndi pafupifupi 0.1A yapano kwa mphindi 30 kuti batire ikhale yokwanira.
- 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 -20 ℃ mpaka 60 ℃; 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.
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 lachitetezo cha ogwira ntchito;
- Pakakhala ngozi, dinani batani loyimitsa mwadzidzidzi ndikuzimitsa zida;
- Popanda thandizo laukadaulo ndi chilolezo, chonde musasinthe nokha zida zamkati
Malo ogwirira ntchito
- Kutentha kwa ntchito ya TRACER panja ndi -10 ℃ mpaka 45 ℃;chonde musagwiritse ntchito pansi -10 ℃ ndi pamwamba pa 45 ℃ panja;
- Kutentha kwa ntchito ya TRACER m'nyumba ndi 0 ℃ mpaka 42 ℃; chonde musagwiritse ntchito pansi pa 0 ℃ ndi pamwamba pa 42 ℃ m'nyumba;
- Zofunikira pa chinyezi chaching'ono pamalo ogwiritsira ntchito TRACER ndi: pazipita 80%, osachepera 30%;
- Chonde musagwiritse ntchito m'malo okhala ndi mpweya woyaka komanso 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 cha IP lasinthidwa makonda), TRACER siwotchinjiriza 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 ogwiritsidwa ntchito omwe akulimbikitsidwa sikuyenera kupitirira 25 ℃;
Zingwe zamagetsi / zowonjezera
- Pogwira ndi kukhazikitsa, chonde musagwe kapena kuyika galimoto mozondoka;
- Kwa omwe si akatswiri, chonde musamasule galimotoyo popanda chilolezo.
Zolemba zina
- Pogwira ndi kukhazikitsa, chonde musagwe kapena kuyika galimoto mozondoka;
- Kwa omwe si akatswiri, chonde musamasule galimotoyo popanda chilolezo
Q&A
- Q: TRACER idakhazikitsidwa molondola, koma bwanji RC transmitter sangathe kuwongolera galimoto kuti isunthe?
A:Choyamba, fufuzani ngati magetsi oyendetsa galimoto ali mumkhalidwe wabwinobwino, ngati cholumikizira chamagetsi chikutsitsidwa komanso ngati ma switch a E-stop atulutsidwa; ndiye, yang'anani ngati mawonekedwe owongolera osankhidwa ndi chosinthira chakumanzere chakumanzere pa chopatsira cha RC ndicholondola. - Q: Kuwongolera kwakutali kwa TRACER kuli bwino bwino, ndipo chidziwitso chokhudza chassis ndi kuyenda chitha kulandiridwa bwino, koma pulogalamu yowongolera ikaperekedwa, chifukwa chiyani njira yoyendetsera galimotoyo siyingasinthidwe ndipo chassis imayankha pa protocol yowongolera. ?
A: Kawirikawiri, ngati TRACER 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. - Q:TRACER imapereka phokoso la" beep-beep-beep ..." pogwira ntchito, momwe mungathanirane ndi vutoli?
A: Ngati TRACER 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 okhudzana ndiukadaulo. - Q:Pamene kuyankhulana kukugwiritsidwa ntchito kudzera pa basi ya CAN, lamulo la ndemanga la chassis limaperekedwa molondola, koma chifukwa chiyani galimotoyo siimayankha kulamula?
A:Muli njira yotetezera kulumikizana mkati mwa TRACER, 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 kulankhulana ndikuyika liwiro ku 0. Choncho, malamulo ochokera ku makompyuta apamwamba ayenera kuperekedwa nthawi ndi nthawi.
Miyeso Yazinthu
Chithunzi chojambula chazinthu zakunja zakunja
- gr@generationrobots.com
- + 33 5 56 39 37 05
- www.generationrobots.com
Zolemba / Zothandizira
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TRACER AgileX Robotics Team Autonomous Mobile Robot [pdf] Buku Logwiritsa Ntchito AgileX Robotics Team Autonomous Mobile Robot, AgileX, Gulu la Robot Autonomous Mobile Robot, Autonomous Mobile Robot, Mobile Robot |
