ROBOWORKS STM32F103RC Mecabot Autonomous Mobile Robot User Manual

Fa'aaoga le polokalama fa'atonu mamao po'o le fa'atonuga mamao fa'aletino e fa'atautaia ai le Mecabot. Mulimuli i faʻatonuga i totonu o le tusi lesona mo faʻatonuga faʻapitoa.

FAQ

Q: E fa'afefea ona ou totogia le maa o le Mecabot?
- A: Ina ia fa'atumuina le maa o le Mecabot, fa'afeso'ota'i le uta atamai ua tu'uina atu i le pusa fa'atau a le robot ma se puna eletise. Fa'ataga le ma'a e utu atoa a'o le'i motusia.

Aotelega

Mecabot o se robot faʻaaoaoga ma suʻesuʻega e faʻavae i luga o le ROS (Robot Operating System) mo tagata suʻesuʻe robotic, faiaoga, tamaiti aʻoga ma atinaʻe.
Mecabot ua faʻapipiʻiina i totonu o le ROS Pule, LiDAR, Meapueata loloto, STM32 Motor/Power/IMU Pule ma taʻavale uʻamea faʻatasi ai ma uili mecanum omnidirectional.
Mecabot e lelei mo ROS amata ma tau taugofie, mamanu faʻapitoa ma sauni-e-alu afifi. O le Mecabot foi o se faʻavae malosi Autonomous Mobile Robot (AMR) mo aʻoaʻoga robotic ma suʻesuʻega.

Mecabot e sau ma ituaiga e fa:

Mecabot 2 – Talafeagai mo ROS amata ma galuega faatino maualalo paketi.

Mecabot Pro – Ose Autonomous Mobile Robot (AMR) fa'avae mo a'oa'oga robotic, poloketi R&D ma fa'ata'ita'iga vave.
Mecabot Plus - Ose Autonomous Mobile Robot (AMR) fa'avae mo talosaga i totonu ole fale. O lenei vaega e matua ogaoga lava e mafaufauina mo atina'e tau pisinisi ma pisinisi.

Mecabot X – Ose Autonomous Mobile Robot (AMR) fa'avae mo le fa'aogaina o le robot i totonu o le fale ma le pa'u u'amea atoa.

Mecabot e sau ma taʻutaʻua ROS pule e pei o:

Jetson - Orin Nano
Jetson - Orin NX

Vaega Autu

Fa'ata'ita'iga

Eseesega	Ata
Mecabot 2

Mecabot Pro
Mecabot Plus
Mecabot X

Fa'amatalaga o oloa

Fa'atomuaga o Pule ROS

E i ai 2 ituaiga o ROS Controllers e avanoa mo le faʻaogaina ma le Mecabot e faʻavae i luga o le Nvidia Jetson platform. Jetson Orin Nano e lelei mo aʻoaʻoga ma suʻesuʻega. O le Jetson Orin NX e fa'aaoga soo i fa'ata'ita'iga ma fa'atauga fa'apisinisi.
O le laulau o lo'o i lalo o lo'o fa'aalia ai le eseesega fa'apitoa fa'apitoa i le va o fa'atonuga eseese o lo'o maua mai Roboworks. O laupapa uma e lua e faʻatagaina le faʻatulagaina o tulaga maualuga ma e fetaui lelei mo faʻaoga robotic faʻapitoa e pei o le vaʻaia komepiuta, aʻoaʻoga loloto ma fuafuaga o gaioiga.

Faiga Fa'alogo

Faiga Fa'alogo: LiDAR & Meapueata loloto

O le Leishen LSLiDAR ua fa'apipi'iina i suiga uma o Mecabot ma le fa'ata'ita'iga N10 po'o le M10 o lo'o fa'aogaina. O nei mea a le LiDAR e ofoina atu le 360 tikeri su'esu'e va'aiga ma le si'osi'omaga va'aiga ma fa'amaualuga se fa'ata'ita'iga fa'apitoa ma mama. E maualuga le latou Fa'ailo Pisa Fa'ailoga ma sili ona lelei le fa'atinoina o le fa'atinoina i luga o mea maualuga/maualalo e atagia ai ma fa'atino lelei i tulaga malamalama malosi. O lo'o i ai le latou va'aiga o le 30 mita ma le fa'ata'ita'iga o le 12Hz. O lenei LiDAR e tu'ufa'atasia lelei i totonu o Mecabots, fa'amautinoaina o fa'afanua uma ma fa'aoga fa'atautaia e mafai ona faigofie ona ausia i lau poloketi.

O le laulau i lalo o loʻo otootoina ai faʻamatalaga faʻapitoa a le LSLiDARs:

E le gata i lea, o Mecabots uma ua faʻapipiʻiina i le Orbbec Astra Depth Camera, o se mea pueata RGBD. O lenei mea pu'eata e sili ona lelei mo le ita tele o fa'aoga e aofia ai le fa'atonutonuina o taga, su'esu'ega auivi, su'esu'ega 3D ma le atina'eina o ao. O le siata o lo'o i lalo o lo'o fa'apupula ai uiga fa'apitoa o le meapueata loloto.

STM32 Komiti Fa'atonu

STM32 Komiti Fa'atonu (Fa'atonuga, Pulea Malosiaga & IMU)

O le STM32F103RC Board o le micro-controller faʻaaogaina i Mecabots uma. O loʻo i ai le maualuga o le ARM Cortex -M3 32-bit RISC autu o loʻo galue ile 72MHz faʻatasi ai ma manatuaga faʻapipiʻi maualuga. E galue i le -40°C i le +105°C le maualuga o le vevela, e fetaui ma talosaga uma robotic i tau i le lalolagi atoa. O lo'o i ai auala e fa'asaoina ai le mana e fa'ataga ai le fa'atulagaina o fa'aoga maualalo le malosi. O nisi o fa'aoga o lenei micro-controller e aofia ai: ta'avale afi, fa'atonuga o talosaga, fa'aoga robotic, masini fa'afoma'i ma lima, PC ma ta'aloga ta'aloga, fa'afanua GPS, fa'aoga fale gaosi oloa, fa'ailo fa'alogo vitiō intercom ma sikola.

STM32F103RC / Fa'aaliga

STM32F103RC	Vaega
Autu	ARM32-bit Cortex –M3 CPU Max saoasaoa o le 72 MHz
Faamanatuga	512 KB ole Flash manatua 64kB ole SRAM
Uati, Toe setiina ma le Pulega o Sapalai	2.0 i le 3.6 V sapalai talosaga ma I/Os
Malosiaga	Moe, Taofi ma Siisii sapalai mo RTC ma tusi resitala
DMA	12-auala DMA pule
Faiga Debug	SWD ma JTAG feso'ota'iga Cortex-M3 Embedded Trace Macrocell
I/O uafu	51 I/O ports (e mafai ona fa'afanua i luga ole 16 fa'alavelave fa'alavelave i fafo ma le 5V fa'apalepale)
Taimi	4×16-bit timers 2 x 16-bit fa'atonutonu afi PWM taimi (fa'atasi ai ma fa'alavelave fa'afuase'i) 2 x va'aiga taimi (tuto'atasi ma Fa'amalama) SysTick timer (24-bit downcounter) 2 x 16-bit taimi masani e ave ai le DAC
Feso'ota'iga Feso'ota'iga	USB 2.0 fa'aoga televave fa'aoga SDIO CAN feso'ota'iga (2.0B Active)

Fa'atonu & Aveta'avale

O le faʻatonuga ma le taʻavale faʻapipiʻi faʻatasi ma le mamanu ma le fausiaina o le Mecabot. E fa'atatau i le fa'ata'ita'iga na fa'atauina o le a fa'atatau i le 2 uili po'o le 4 uili ta'avale, fa'atasi ai ma filifiliga uma e lua e fetaui lelei i le tele o su'esu'ega ma atina'e. O uili i luga o Mecabots uma o uili mecanum omnidirectional ma ituaiga uma e ese mai i le Mecabot masani e aofia ai se faiga faʻamalolo tutoatasi. O le aiga Mecabot o robots e lelei mo le tele o suʻesuʻega ma pisinisi faʻapisinisi e avea ai ma robot atoatoa mo lau isi poloketi.

Mecabot 2 Design Ata:

Mecabot Pro Design Ata:

Mecabot Plus Design Ata:

Mecabot X Design Ata:

Pulea Malosiaga

O Mecabots uma e sau ma le 6000 mAh Power Mag, o le LFP maneta (Lithium Iron Phosphate) ma le Power Charger. E mafai e tagata faʻatau ona faʻaleleia le maa i le 20000 mAh ma le tau faaopoopo. O maa LFP o se ituaiga o maa lithium-ion e iloa mo lo latou mautu, saogalemu, ma le umi o le taamilosaga o le olaga. E le pei o maa lithium-ion masani, lea e faʻaogaina ai le cobalt poʻo le nickel, o maa LFP e faʻalagolago i le phosphate uʻamea, e ofoina atu se isi mea e sili atu ona gafatia ma faʻaitiitia ai le oona. Latou te matua tetee atu i le vevela, faʻaitiitia le lamatiaga o le vevela ma le afi. E ui ina maualalo le malosi o le malosi pe a faʻatusatusa i isi maʻa lithium-ion, o maa LFP e sili atu le tumau, faʻatasi ai ma le umi o le ola, faʻavave vave, ma sili atu le faʻatinoina i le vevela tele, ma faʻaogaina lelei mo taʻavale eletise (EVs) ma le faʻaogaina o le malosi. E mafai ona fa'apipi'i le Power Mag i so'o se u'amea o se robot ona o lona fa'avae maneta. E vave ma faigofie ai le fesuia'i maa.

Fa'amatalaga Fa'apitoa

Fa'ata'ita'iga	6000mAh	20000mAh
Pusa ma'a	22.4V 6000mAh	22.4V 20000mAh
Mea Autu	Lithium Uamea Phosphate	Lithium Uamea Phosphate
Cutoff Voltage	16.5 V	16.5 V
Atoa Voltage	25.55 V	25.55 V
Totogiina o le taimi nei	3A	3A
Mea'ai atigi	Uamea	Uamea
Fa'atinoga Fa'alele	15A Fa'asa'oloto Fa'aauau	20A Fa'asa'oloto Fa'aauau
Poloka	DC4017MM fa'afeso'ota'i tama'ita'i (fa'atonuina) XT60U-F fa'afeso'ota'i fafine (tu'u)	DC4017MM fa'afeso'ota'i tama'ita'i (fa'atonuina) XT60U-F fa'afeso'ota'i fafine (tu'u)
Tele	17714642mm	20815497mm
mamafa	1.72kg	4.1kg

Puipuiga maa:

O le taʻavale pupuu, faʻafefeteina, faʻafefeteina, puipuiga faʻafefe, lagolago faʻatonu aʻo faʻaaogaina, faʻapipiʻiina i totonu o le saogalemu, laupapa mumu afi.

Tulaga Ta'avale Ta'avale (Power+):

Auto Charging Station o lo'o fa'apipi'iina ma le Rosbot 2+ fa'ata'ita'iga ma e mafai ona fa'atau fa'atasi e galulue fa'atasi ma Rosbot 2, Rosbot Pro ma Rosbot Plus.

ROS 2 Amata vave

O le taimi muamua e faʻaola ai le robot, e pulea e le ROS e ala i le faaletonu. O lona uiga, o le STM32 chassis controller board e talia poloaiga mai le ROS 2 Controller - O le Jetson Orin.
O le seti muamua e vave ma faigofie, mai lau PC talimalo (Ubuntu Linux fautuaina) faʻafesoʻotaʻi i le Wi-Fi hotspot a le robot. O le fa'aupuga e le mafai ona fa'aogaina o le "dongguan".

Sosoo ai, faʻafesoʻotaʻi i le robot e faʻaaoga ai le SSH e ala i le Linux terminal, tuatusi IP o le 192.168.0.100, le faʻaogaina o le password o le dongguan.
Fa'atasi ai ma le avanoa fa'amau i le robot, e mafai ona e fa'afeiloa'i i le ROS 2 potu faigaluega faila, i lalo o le "wheeltec_ROS 2"

A'o le'i faia polokalame su'ega, fa'afeiloa'i ile wheeltec_ROS 2/turn_on_wheeltec_robot/ ma su'e wheeltec_udev.sh - O lenei tusitusiga e tatau ona fa'atino, e masani lava na'o le tasi e mautinoa ai le fa'atulagaina lelei o peripheral.
Ua mafai nei ona e su'eina le gaioiga a le robot, e amata ai le ROS 2 controller functionality, tamoe: "roslaunch turn_on_wheeltec_robot turn_on_wheeltec_robot.launch"

I le laina lona lua, e mafai ona e faʻaogaina le keyboard_teleop node e faʻamaonia ai le pulea o chassis, o se suiga lea o le lauiloa ROS 2 Turtlebot ex.ample. Ituaiga: “roslaunch wheeltec_robot_rc keyboard_teleop.launch”

ROS 2 Faʻamaualalo Pakets na faʻapipiʻiina muamua

O lo'o i lalo afifi e fa'atatau i tagata fa'aoga, a'o iai isi afifi, ae na'o fa'alagolago.

turn_on_wheeltec_robot

O lenei afifi e taua tele mo le faʻaogaina o gaioiga faʻaogaina ma fesoʻotaʻiga ma le taʻavale taʻavale.
O le tusitusiga autu "turn_on_wheeltec_robot.launch" e tatau ona faʻaoga i luga o seevae taʻitasi e faʻapipiʻi ai le ROS 2 ma le pule.

wheeltec_rviz2

O lo'o iai fa'alauiloa files e faʻalauiloa rviz faʻatasi ai ma faʻasologa masani mo Pickerbot Pro.

wheeltec_robot_slam

SLAM Mapping ma localization package ma faʻasologa masani mo Pickerbot Pro.

wheeltec_robot_rrt2

Vave su'esu'e fua fa'atatau algorithm - O lenei afifi e mafai ai e Pickerbot Pro ona fuafua se ala i le nofoaga o lo'o mana'omia, e ala i le fa'alauiloaina o nodes su'esu'e.

wheeltec_robot_keyboard

Fa'atauga fa'apitoa mo le fa'amaoniaina o galuega fa'atino a le robot ma le fa'atonutonuina o le fa'aogaina o le piano, e aofia ai mai le PC talimalo mamao.

wheeltec_robot_nav2

ROS 2 Navigation 2 pusa node.

wheeltec_lidar_ros2

ROS 2 Lidar afifi mo le faʻatulagaina o Leishen M10/N10.

wheeltec_joy

Joystick control package, o lo'o iai le fa'alauiloa files mo nodes Joystick.

faigofie_follower_ros2

Mea autu ma laina mulimuli i algorithms e faʻaaoga ai le laser scan poʻo le ata loloto.

ros2_astra_camera

Astra depth camera package ma aveta'avale ma fa'alauiloa files.

www.roboworks.net

Pepa / Punaoa

ROBOWORKS STM32F103RC Mecabot Autonomous Mobile Robot [pdf] Tusi Taiala
STM32F103RC Mecabot Autonomous Mobile Robot, STM32F103RC, Mecabot Autonomous Mobile Robot, Autonomous Mobile Robot, Mobile Robot, Robot

Fa'asinomaga

Tusi Taiala

ROBOWORKS STM32F103RC Mecabot Autonomous Mobile Robot

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FAQ