SCOUT 2.0 AgileX Robotics Chikwata
Chitsauko ichi chine ruzivo rwakakosha rwekuchengetedza, robhoti risati rabatidzwa kekutanga, chero munhu kana sangano rinofanirwa kuverenga nekunzwisisa ruzivo urwu risati rashandisa mudziyo. Kana uine mibvunzo pamusoro pekushandisa, tapota taura nesu pa support@agilex.ai Ndapota teverai nekushandisa mirairo yese yegungano uye nhungamiro muzvitsauko zvebhuku rino, izvo zvakakosha zvikuru. Kunyanya kukoshesa kunofanira kubhadharwa kune zvinyorwa zvine chokuita nezviratidzo zvekunyevera.
Safety Information
Ruzivo rwuri mugwaro rino harusanganisi dhizaini, kuisirwa uye kushanda kwerobhoti rakazara, uye harisanganisire midziyo yese yekutenderera inogona kukanganisa kuchengetedzwa kweiyo yakazara sisitimu. Dhizaini uye kushandiswa kweiyo yakazara sisitimu inoda kutevedzera zvinodiwa zvekuchengetedza zvakamiswa mumiyero nemirairo yenyika iyo robhoti yakaiswa.
SCOUT vasanganisi uye vatengi vekupedzisira vane basa rekuona kuteererwa kwemitemo inoshanda uye mirau yenyika dzakakodzera, uye kuona kuti hapana njodzi huru mune yakazara robhoti application. Izvi zvinosanganisira asi hazvigumiri kune zvinotevera:
Kubudirira nebasa
- Ita ongororo yengozi yerobhoti yakazara system. Batanidza imwe midziyo yekuchengetedza yeimwe michina inotsanangurwa nenjodzi yekuongorora pamwe chete.
- Simbisa kuti dhizaini uye kuisirwa kwese robhoti system yekutenderera michina, kusanganisira software uye hardware masisitimu, ndeyechokwadi.
- Iri robhoti harina robhoti rakazara rakazvimirira robhoti, kusanganisira asi risingaganhurirwe kune otomatiki anti-kudhumhana, anti-kudonha, biological nzira yambiro uye mamwe ane chekuita nekuchengetedza mabasa. Mabasa ane hukama anoda vanobatanidza uye vatengi vekupedzisira kutevera mirairo yakakodzera uye mitemo inogoneka uye mirairo yekuongorora kuchengetedza , Kuve nechokwadi chekuti irobhoti rakagadzirwa harina chero njodzi huru uye njodzi dzekuchengetedza mumashandisirwo chaiwo.
- Unganidza magwaro ese ari muhunyanzvi faira: kusanganisira yekuongorora njodzi uye bhuku rino.
- Ziva njodzi dzinogona kuitika dzekuchengetedza usati washandisa uye kushandisa mudziyo.
Mafungiro Ezvakatipoteredza
- Kutanga kushandiswa, tapota verenga bhuku rino zvakanyatsonaka kuti unzwisise zvakakosha zvekushandisa uye tsanangudzo yekushanda.
- Kuti ushande kure kure, sarudza nzvimbo yakavhurika yekushandisa SCOUT2.0, nekuti SCOUT2.0 haina kuisirwa chero otomatiki chipingamupinyi chekudzivirira sensor.
- Shandisa SCOUT2.0 nguva dzose pasi -10 ℃ ~ 45 ℃ ambient tembiricha.
- Kana SCOUT 2.0 isina kugadzirwa neyakasiyana tsika IP dziviriro, mvura yayo uye guruva dziviriro ichave IP22 CHETE.
Pre-work Checklist
- Ita shuwa kuti mudziyo wega wega une simba rakakwana.
- Ita shuwa kuti Bunker haina chero hurema huri pachena.
- Tarisa kana bhatiri reremote control rine simba rakakwana.
- Paunenge uchishandisa, ita shuwa kuti emergency stop switch yaburitswa.
Operation
- Mukushanda kweremote control, ita shuwa kuti nzvimbo yakatenderedza yakakura.
- Ita remote control mukati mehuwandu hwekuonekwa.
- Mutoro mukuru weSCOUT2.0 i50KG. Paunenge uchishandiswa, ita shuwa kuti mubhadharo haupfuure 50KG.
- Paunenge uchiisa yekunze yekuwedzera paSCOUT2.0, simbisa iyo nzvimbo yepakati yehuwandu hwekuwedzera uye ita shuwa kuti iri pakati pekutenderera.
- Ndokumbira uchajise muine kana mudziyo wakadzikira bhatiri alarm. Kana SCOUT2..0 iine chirema, ndapota mira nekukurumidza kuishandisa kuti udzivise kukuvara kwechipiri.
- Kana SCOUT2.0 iine chirema, ndapota taura nehunyanzvi hwakakodzera kuti ugadzirise nayo, usaite chirema uri wega. Gara uchishandisa SCOUT2.0 munharaunda ine mwero wekudzivirira unodiwa kune iyo midziyo.
- Usasundire SCOUT2.0 zvakananga.
- Paunenge uchichaja, ita shuwa kuti ambient tembiricha iri pamusoro pe0 ℃.
- Kana motokari ichizununguka panguva yekutenderera kwayo, gadzirisa kumira.
Maintenance
- Gara uchitarisa kudzvanywa kwevhiri, uye chengetedza kudzvanywa kwevhiri pakati pe1.8bar ~ 2.0bar.
- Kana vhiri rikasakara zvakanyanya kana kuputika, ndapota ritsive nenguva.
- Kana bhatiri isingashandisi kwenguva yakareba, inoda kuchaja bhatiri nguva nenguva mumwedzi miviri kusvika ku2.
Nhanganyaya
SC OUT 2.0 yakagadzirwa senge UGV ine-zvinangwa zvakawanda ine akasiyana mashandisirwo mamiriro akatariswa: modular dhizaini; flexible connectivity; ine simba mota system inokwanisa kukwirisa mubhadharo. Zvimwe zvinhu zvakaita se stereo kamera, laser radar, GPS, IMU uye robhoti manipulator inogona kuisirwa sarudzo paSCOUT 2.0 yekufambisa kwepamusoro uye kuona komputa kushandisa. SCOUT 2.0 inowanzoshandiswa pakudzidzisa kutyaira uye kutsvagisa, mukati uye kunze kwekuchengetedza kuchengetedza, kuona nharaunda, zvinhu zvakajairika uye zvekufambisa, kutaura zvishoma chete.
Component list
| Zita | Quantity |
| SCOUT 2.0 Robot muviri | X 1 |
| Chaja yebhatiri (AC 220V) | X 1 |
| Aviation plug (chirume, 4-pini) | X 2 |
| USB kune RS232 tambo | X 1 |
| Remote control transmitter (optional) | X 1 |
| USB kune CAN kutaurirana module | X1 |
Tech specifications
Zvinodiwa pabudiriro
FS RC transmitter inopihwa (inosarudza) mufekitori yekumisikidza pf SCOUT 2.0, iyo inobvumira vashandisi kudzora chassis yerobhoti kufamba nekutendeuka; CAN uye RS232 inopindirana paSCOUT 2.0 inogona kushandiswa kugadzirisa mushandisi.
The Basics
Ichi chikamu chinopa sumo pfupi kune SCOUT 2.0 mobile robot platform, sezvakaratidzwa muFigure 2.1 uye Mufananidzo 2.2.
- Mberi View
- Stop Switch
- Standard Profile Support
- Top Compartment
- Pamusoro peMagetsi Panel
- Retardant-kudhumhana Tube
- Rear Panel
SCOUT2.0 inotora modular uye yakangwara dhizaini pfungwa. Iyo inoumbwa dhizaini ye inflate rabha tire uye yakazvimirira kumiswa pane yemagetsi module, yakasanganiswa neiyo ine simba DC brushless servo mota, inoita kuti SCOUT2.0 robhoti chassis yekusimudzira chikuva ine simba rekupfuura uye kugona kugadzirisa pasi, uye inokwanisa kufamba zvakanaka paivhu rakasiyana. An-ti-collision matanda akaiswa akatenderedza mota kuti aderedze kukuvara kunobvira kumuviri wemotokari panguva yekudhumhana. Mwenje anoiswa kumberi nekumashure kwemota, iro mwenje chena wakagadzirirwa kuvhenekera kumberi nepo iro dzvuku rakagadzirirwa kumucheto kwekunyevera uye kuratidza.
Emergency stop mabhatani akaiswa pamativi ese erobhoti kuti ive nechokwadi chekupinda nyore uye kudzvanya chero imwe inogona kudzima simba rerobhoti nekukurumidza kana robhoti raita zvisingaite. Mvura-inoratidza majekiti emagetsi eDC uye nzvimbo dzekutaurirana dzinopihwa zvese kumusoro nekumashure kwerobhoti, izvo zvisingangobvumire kuchinjika kubatana pakati perobhoti uye zvekunze zvinhu asi zvakare inovimbisa kuchengetedzwa kwakakodzera mukati merobhoti kunyangwe iri kushanda zvakanyanya. mamiriro.
Iyo bayonet yakavhurika compartment yakachengeterwa pamusoro kune vashandisi.
Status chiratidzo
Vashandisi vanogona kuona mamiriro emuviri wemotokari kuburikidza nevoltmeter, iyo beeper uye marambi akaiswa paSCOUT 2.0. Kuti uwane rumwe ruzivo, ndapota tarisa kune Tafura 2.1.
| Status | Tsanangudzo |
| Voltage | Bhatiri razvino voltage inogona kuverengwa kubva kune voltmeter pane yekumashure yemagetsi interface uye nekururama kwe1V. |
|
Tsiva bhatiri |
Kana bhatiri voltage yakaderera pane 22.5V, mutumbi wemotokari unopa beep-beep-beep ruzha seyambiro. Kana bhatiri voltage inoonekwa seyakaderera pane 22V, SCOUT 2.0 ichashingairira kucheka magetsi kune ekunze ekuwedzera uye kutyaira kudzivirira bhatiri kuti risakuvare. Muchiitiko ichi, chassis haigone kugonesa kudzora kufamba uye kugamuchira yekunze yekuraira kutonga. |
| Robhoti rakabatidzwa | Maraiti ekumberi nekumashure anobatidzwa. |
Tafura 2.1 Tsanangudzo dzeChimiro cheMotokari
Mirayiridzo pamagetsi ekubatanidza
Pamusoro pemagetsi interface
SCOUT 2.0 inopa matatu 4-pini aviation connectors uye imwe DB9 (RS232) yekubatanidza. Chinzvimbo chepamusoro chekubatanidza ndege chinoratidzwa muMufananidzo 2.3.
SCOUT 2.0 ine aviation yekuwedzera interface zvese kumusoro uye kumashure kumagumo, imwe neimwe yakagadziriswa ine seti yemagetsi uye seti yeCAN yekutaurirana interface. Aya mainterface anogona kushandiswa kupa simba kumidziyo yakawedzerwa uye kumisikidza kutaurirana. Tsanangudzo dzakananga dzepini dzinoratidzwa muMufananidzo 2.4.
Izvo zvinofanirwa kucherechedzwa kuti, iyo yakawedzerwa magetsi pano inodzorwa nemukati, zvinoreva kuti magetsi anozobviswa zvine simba kana bhatiri volta.tage inodonhedza pasi pechikumbaridzo chakafanotaurwa voltage. Naizvozvo, vashandisi vanofanirwa kuona kuti SCOUT 2.0 chikuva chinotumira yakaderera voltage alarm pamberi pechikumbaridzo voltage inosvikwa uye zvakare teerera kune bhatiri recharging panguva yekushandisa.
| Pin Nha. | Pin Type | FuDnecfitinointioand | Mashoko |
| 1 | Simba | VCC | Simba rakanaka, voltage range 23 - 29.2V, MAX .ikozvino 10A |
| 2 | Simba | GND | Power negative |
| 3 | CAN | CAN_H | CAN bhazi kumusoro |
| 4 | CAN | CAN_L | CAN bhazi rakaderera |
Simba rakanaka, voltage range 23 - 29.2V, MAX. ikozvino 10A
| Pin Nha. | Tsanangudzo |
| 2 | RS232-RX |
| 3 | RS232-TX |
| 5 | GND |
Mufananidzo 2.5 Mufananidzo Dhiagiramu yeQ4 Pini
Rear magetsi interface
Iyo yekuwedzera interface kumucheto kumashure inoratidzwa muMufananidzo 2.6, apo Q1 ndiyo inoshandura kiyi sechitsiko chikuru chemagetsi; Q2 ndiyo recharging interface; Q3 ndiyo magetsi ekupa switch yedhiraivha system; Q4 ndiyo DB9 serial port; Q5 ndiyo yekuwedzera interface yeCAN uye 24V magetsi ekupa; Q6 ndiyo kuratidzwa kwebhatiri voltage.
| Pin Nha. | Pin Type | FuDnecfitinointioand | Mashoko |
| 1 | Simba | VCC | Simba rakanaka, voltage chiyero 23 - 29.2V, yakawanda ikozvino 5A |
| 2 | Simba | GND | Power negative |
| 3 | CAN | CAN_H | CAN bhazi kumusoro |
| 4 | CAN | CAN_L | CAN bhazi rakaderera |
Mufananidzo 2.7 Tsanangudzo yePamberi uye Rear Aviation Interface Pins
Mirayiridzo pane remote control FS_i6_S remote control mirayiridzo
FS RC transmitter chinhu chinosarudzika cheSCOUT2.0 chekudzora robhoti nemaoko. Iyo transmitter inouya neruboshwe-ruoko-throttle gadziriso. Tsanangudzo uye basa rinoratidzwa muMufananidzo 2.8. Basa rebhatani rinotsanangurwa se: SWA neSWD zvakaremara kwenguva, uye SWB ndiyo control mode sarudza bhatani, dial kumusoro ndeye command control mode, dial kune yepakati iri remote control mode; SWC bhatani rekudzora chiedza; S1 ibhatani rekupopotera, kudzora SCOUT2.0 kumberi nekumashure; S2 kutonga ndiko kudzora kutenderera, uye SIMBA ndiro bhatani remagetsi, dzvanya uye ubate panguva imwe chete kuti ubatidze.
Mirayiridzo pamusoro pezvido zvekutonga uye mafambiro
A referensi coordinate system inogona kutsanangurwa nekumisikidzwa pamutumbi wemotokari sezvakaratidzwa mumufananidzo 2.9 maererano ne ISO 8855.
Sezvinoratidzwa muMufananidzo 2.9, mutumbi wemotokari weSCOUT 2.0 uri kufambirana neX axis yeiyo yakamiswa referensi coordinate system. Muiyo remote control modhi, sundidzira chimuti cheremote control S1 kumberi kuti ufambe munzira yakanaka X, sundira S1 kumashure kuti ufambe nenzira isina kunaka X. Kana S1 inosundirwa kune iyo yakanyanya kukosha, kukurumidza kwekufamba munzira yakanaka X ndiyo yakanyanya, Kana yasundirwa S1 kusvika padiki, kumhanya kwekufamba munzira isina kunaka yeX gwara ndiyo yakanyanya; tsvimbo yeremote control S2 inodzora kutungamira kwemavhiri emberi emuviri wemotokari, kusundira S2 kuruboshwe, uye mota inotendeukira kuruboshwe, ichisaidzira kusvika pakakwirira, uye kona yekutungamirira ndiyo hombe, S2 Push kurudyi. , motokari ichatendeukira kurudyi, uye kuisundira kusvika kune yakakwirira, panguva ino iyo yakarurama yekutungamirira kona ndiyo yakakura. Mukutonga kwekuraira maitiro, kukosha kwakanaka kwemutsara velocity kunoreva kufamba munzira yakanaka ye X axis, uye kukosha kwakashata kweiyo linear velocity kunoreva kufamba munzira yakaipa ye X axis; Kukosha kwakanaka kweangular velocity zvinoreva kuti muviri wemotokari unofamba kubva munzira yakanaka ye X axis kuenda kune yakanaka nzira yeY axis, uye kukosha kwakashata kweangular velocity zvinoreva kuti muviri wemotokari unofamba kubva munzira yakanaka ye X axis. kudivi rakashata reY axis.
Mirayiridzo pamusoro pekutonga kwemwenje
Mwenje dzakaiswa kumberi nekumashure kweSCOUT 2.0, uye iyo mwenje yekudzora interface yeSCOUT 2.0 yakavhurika kune vashandisi kuti zvive nyore.
Zvichakadaro, imwe mwenje yekudzora interface yakachengetwa paRC transmitter yekuchengetedza simba.
Parizvino mwenje wemwenje unotsigirwa chete neFS transmitter, uye tsigiro yemamwe ma transmitter ichiri kuvandudzwa. Kune marudzi matatu emamodhi ekuvhenekesa anodzorwa neRC transmitter, anogona kuchinjika kuburikidza neSWC. Tsanangudzo yekudzora modhi: iyo SWC lever iri pazasi peiyo inowanzovharwa modhi, yepakati ndeyeiyo yakajairika yakavhurika modhi, kumusoro iri kufema mwenje modhi.
- NC Mode: IN NC Mode, KANA CHASSIS ICHIRI, CHIEDZA CHEMBERI CHICHADZIMWA, UYE CHIEDZA CHEKUmashure CHICHAPINDA BL MODE KUTI ZVIRATIDZE ZVINHU ZVAKAITIKA ZVAKAITIKA; KANA CHASSIS IRI MUCHINHU CHEKUFAMBIRA NEZVIMWE ZVAKASIYANA, CHIEDZA CHEKUmashure CHICHADZIMWA ASI CHIMWENYA CHEKUMBERI CHICHABATIRWA;
- HAPANA MODE: IN NO MODE, KANA CHASSIS ICHIRI, CHIMWERU CHEKUMBERI CHICHAVA AKAWANDA, UYE CHIEDZA CHEKUmashure CHICHAPINDA MUBL MODE KUTI ZVIRATIDZE STATUS; KANA MUMOVEMENT MODE, CHIEDZA CHEKUmashure CHINODZIMWA ASI CHIEDZA CHEMBERI CHINOBATIDZA;
- BL Mode: MBERI NEKUMBERI ZVIMWEMBI ZVIRI ZVIRI MUMODZI WEKUFUMIRA PASI ZVINOGONA ZVINHU.
CHERECHEDZA PAMUSORO PAMUSORO: TOGGLING SWC LEVER ZVINOITA KUTI NC Mode, HAPANA modhi uye BL modhi PAzasi, Pakati uye PASI PASI.
Kutanga
Ichi chikamu chinosuma mashandiro ekutanga uye kusimudzira kweSCOUT 2.0 chikuva uchishandisa CAN bhazi interface.
Use uye oparesheni
Iyo yekutanga yekushandisa maitiro ekutanga inoratidzwa sezvizvi:
Check
- Tarisa mamiriro eSCOUT 2.0. Tarisa uone kana paine kusakosha kwakakosha; kana zvirizvo, ndapota taura neiyo mushure mekutengesa sevhisi wega kuti uwane rutsigiro;
- Tarisa mamiriro e emergency-stop switches. Ita shuwa kuti ese mabhatani ekumisa emergency aburitswa;
Tanga
- Tenderedza kiyi switch (Q1 pamagetsi emagetsi), uye kazhinji, voltmeter inoratidza chaiyo bhatiri voltage nemarambi emberi nekumashure achabatidzwa zvese;
- Tarisa bhatiri voltage. Kana pasina inoenderera "beep-beep-beep ..." inonzwika kubva mubeeper, zvinoreva bhatiri vol.tage ndeyechokwadi; kana bhatiri simba rezinga rakaderera, ndapota shaja bhatiri;
- Dzvanya Q3 (dhiraivha simba switch bhatani).
Emergency stop
Dzvanya pasi emergency push bhatani kuruboshwe uye kurudyi kwe SCOUT 2.0 mota yemuviri;
Basic maitiro ekushandisa remote control:
Mushure mekunge chassis yeSCOUT 2.0 mobile robhoti yatangwa nemazvo, batidza RC transmitter uye sarudza iyo kure-control mode. Zvadaro, SCOUT 2.0 papuratifomu kufamba kunogona kudzorwa neRC transmitter.
Kuchaja
SCOUT 2.0 INOGADZIRWA NE10A CHAJA NEKUTANGA KUSANGANA NECHIDIMBU CHEVATENDI CHEKUCHAJA.
Kuchaja kushanda
- Ita shuwa kuti magetsi eSCOUT 2.0 chassis akadzimwa. Usati wachaja, ndapota ita shuwa kuti switch yemagetsi mune yekumashure control condole yakadzimwa;
- Isa plug yekuchaja muQ6 yekuchaja interface pane yekumashure control panel;
- Batanidza charger kune magetsi wobatidza switch muchaja. Zvadaro, robhoti inopinda muhurumende yekuchaja.
Cherechedza: Parizvino, bhatiri rinoda maawa matatu kusvika mashanu kuti rizadziswe kubva pa3V, uye vol.tage yebhatiri rakazadzwa zvizere rinenge 29.2V; nguva yekuchaja inoverengerwa se30AH ÷ 10A = 3h.
Kutsiviwa kwebhatiri
SCOUT2.0 inotora inobviswa bhatiri mhinduro kuitira kurerukira vashandisi. Mune zvimwe zviitiko zvakakosha, bhatiri rinogona kuchinjwa zvakananga. Matanho ekushanda nemadhayagiramu ndeaya anotevera (asati ashanda, ona kuti SCOUT2.0 yadzima):
- Vhura mapaneru epamusoro eSCOUT2.0, uye sunungura maviri emagetsi eXT60 ekubatanidza pane iyo huru control board (zvibatanidza zviviri zvakaenzana) uye bhatiri CAN connector;
Rembedza SCOUT2.0 mumhepo, sunungura masiruuru masere kubva pasi ne national hex wrench, wobva wadhonza bhatiri panze; - Dzorera bhatiri uye gadzirisa pasi screws.
- Batanidza iyo XT60 interface uye simba CAN interface mukati mehombe yekudzora bhodhi, simbisa kuti mitsetse yese yekubatanidza ndeyechokwadi, wobva wavheneka kuti uedze.
Kukurukurirana uchishandisa CAN
SCOUT 2.0 inopa CAN uye RS232 maficha ekugadzirisa mushandisi. Vashandisi vanogona kusarudza imwe yeaya mainterfaces kuti aite yekuraira kutonga pamusoro pemuviri wemotokari.
CAN cable connection
SCOUT2.0 unza nemapulagi echirume maviri emuchadenga sezvakaratidzwa muMufananidzo 3.2. Kuti uwane tsananguro dzewaya, ndapota tarisa kune Tafura 2.2.
Implementation yeCAN command control
Nyatso tanga chassis yeSCOUT 2.0 nhare robhoti, uye batidza DJI RC transmitter. Wobva wachinja kune yekuraira maitiro, kureva kushandura S1 modhi yeDJI RC transmitter kumusoro. Panguva ino, SCOUT 2.0 chassis ichagamuchira murairo kubva kuCAN interface, uye muenzi anogona zvakare kusiyanisa yazvino mamiriro echasi neiyo chaiyo-nguva data inodzoserwa kubva kuCAN bhazi. Kuti uwane ruzivo rwakadzama rweprotocol, ndapota tarisa kuCAN kutaurirana protocol.
CAN meseji protocol
Nyatso tanga chassis yeSCOUT 2.0 nhare robhoti, uye batidza DJI RC transmitter. Wobva wachinja kune yekuraira maitiro, kureva kushandura S1 modhi yeDJI RC transmitter kumusoro. Panguva ino, SCOUT 2.0 chassis ichagamuchira murairo kubva kuCAN interface, uye muenzi anogona zvakare kusiyanisa yazvino mamiriro echasi neiyo chaiyo-nguva data inodzoserwa kubva kuCAN bhazi. Kuti uwane ruzivo rwakadzama rweprotocol, ndapota tarisa kuCAN kutaurirana protocol.
Tafura 3.1 Feedback Frame yeSCOUT 2.0 Chassis System Status
| Command Name System Status Feedback Command | ||||
| Kutumira node | Kugamuchira node
Kutonga kwekuita sarudzo |
ID | Cycle (ms) | Receive-timeout (ms) |
| Chassis-ye-waya
Data urefu Position |
chikamu 0x08
Function |
0x151
Data type |
20ms | Hapana |
|
Tsanangudzo |
||||
|
byte [0] |
Mamiriro azvino emutumbi wemotokari |
isina kusaina in8 |
0x00 Sisitimu mune yakajairika mamiriro 0x01 Emergency stop mode (isina kugoneswa)
0x02 System kunze |
|
|
byte [1] |
Mode control |
isina kusaina in8 |
0 × 00 Standby mode 0 × 01 CAN kuraira maitiro ekudzora 0 × 02 Serial port control mode 0 × 03 Remote control mode |
|
| byte [2]
byte [3] |
Bhatiri voltaguye yakakwirira 8 bits Battery voltaguye kuderedza 8 bits | isina kusaina in16 | voltage × 10 (nekururama kwe0.1V) | |
| byte [4] | Reserved | – | 0×00 | |
| byte [5] | Kukundikana ruzivo | isina kusaina in8 | Tarisa kuTable 3.2 [Tsanangudzo yeRuzivo Rwakundikana] | |
| byte [6] | Reserved | – | 0×00 | |
| byte [7] | Verenga paritybit (kuverenga) | isina kusaina in8 | 0-255 kuverenga zvishwe, izvo zvichawedzerwa kana murairo wega wega watumirwa | |
Tafura 3.2 Tsanangudzo yeRuzivo Rwakakundikana
| Byte | zvishoma | Meaning |
|
byte [4] |
zvishoma [0] | Battery undervoltage kukanganisa (0: Hapana kukundikana 1: Kukundikana) Dziviriro voltage 22v
(Iyo bhatiri vhezheni ine BMS, simba rekudzivirira i10%) |
| zvishoma [1] | Battery undervoltage kukanganisa[2] (0: Hapana kukundikana 1: Kutadza) Alarm voltage 24v
(Iyo bhatiri vhezheni ine BMS, iyo yambiro simba i15%) |
|
| zvishoma [2] | RC transmitter disconnection dziviriro (0: Zvakajairika 1: RC transmitter yakabviswa) | |
| zvishoma [3] | No.1 mota kutadza kutaurirana (0: Hapana kutadza 1: Kutadza) | |
| zvishoma [4] | No.2 mota kutadza kutaurirana (0: Hapana kutadza 1: Kutadza) | |
| zvishoma [5] | No.3 mota kutadza kutaurirana (0: Hapana kutadza 1: Kutadza) | |
| zvishoma [6] | No.4 mota kutadza kutaurirana (0: Hapana kutadza 1: Kutadza) | |
| zvishoma [7] | Yakachengetwa, default 0 |
Cherechedza[1]: Robot chassis firmware version V1.2.8 inotsigirwa neshanduro dzinotevera, uye shanduro yapfuura inoda kuvandudzwa kwefirmware kuti itsigire.
Cherechedza[2]: Iyo buzzer inonzwika kana bhatiri iri pasi-voltage, asi iyo chassis control haizokanganiswe, uye simba rinobuda richagurwa mushure meiyo under-vol.tage mhosva
Iyo yekuraira yekufamba inodzora mhinduro furemu inosanganisira mhinduro yeazvino mutsara kumhanya uye angular kumhanya kwekufamba muviri wemotokari. Kuti uwane ruzivo rwakadzama rweprotocol, ndapota tarisa kune Tafura 3.3.
Tafura 3.3 Movement Control Feedback Frame
| Command Name Movement Control Feedback Command | ||||
| Kutumira node | Kugamuchira node | ID | Cycle (ms) | Receive-timeout (ms) |
| Chassis-ye-waya | Sarudzo-yekuita control unit | 0x221 | 20ms | Hapana |
| Date kureba | 0×08 | |||
| Position | Function | Data type | Tsanangudzo | |
| byte [0]
byte [1] |
Kufambisa kumhanya kwakakwira 8 bits
Kufambisa kumhanya kunodzika 8 bits |
yakasaina int16 | Kumhanya chaiko × 1000 (nechokwadi che 0.001rad) | |
| byte [2]
byte [3] |
Kutenderera kumhanya kwakakwira 8 bits
Kutenderera kumhanya kunodzika 8 bits |
yakasaina int16 | Kumhanya chaiko × 1000 (nechokwadi che 0.001rad) | |
| byte [4] | Reserved | – | 0x00 | |
| byte [5] | Reserved | – | 0x00 | |
| byte [6] | Reserved | – | 0x00 | |
| byte [7] | Reserved | – | 0x00 | |
Iyo yekudzora furemu inosanganisira kutonga kuvhurika kwemutsara kumhanya uye kutonga kuvhurika kweangular kumhanya. Nezve zvakadzama zvemukati zveprotocol, ndapota tarisa kune Tafura 3.4.
Iyo chassis mamiriro eruzivo ichave mhinduro, uye chii chimwe, ruzivo nezve mota ikozvino, encoder uye tembiricha zvinosanganisirwa. Iyo inotevera mhinduro furemu ine ruzivo nezve mota ikozvino, encoder uye mota tembiricha.
Nhamba dzemota dze4 motors mune chassis inoratidzwa mumufananidzo uri pazasi:
| Raira Zita Mota Dhiraivha Yekumhanya Ruzivo Feedback Frame | ||||
| Kutumira node | Kugamuchira node | ID | Cycle (ms) | Receive-timeout (ms) |
| Chassis-ye-waya
Date length Position |
Sarudzo-yekuita control unit 0 × 08
Function |
0x251~0x254
Data type |
20ms | Hapana |
|
Tsanangudzo |
||||
| byte [0]
byte [1] |
Motor kumhanya yakakwira 8 bits
Motokari inomhanya inodzika 8 bits |
yakasaina int16 | Mota inofamba kumhanya, unit mm/s (inoshanda kukosha+ -1500) | |
| byte [2]
byte [3] |
Motokari ikozvino yakakwirira 8 bits
Motokari ikozvino yakaderera 8 bits |
yakasaina int16 |
Motokari ikozvino Chikamu 0.1A |
|
| byte [4] byte [5] byte [6]
byte [7] |
Chinzvimbo chepamusoro bhiti Chinzvimbo chechipiri-pamusoro bhiti Chinzvimbo chechipiri-chakaderera mabhiti
Position yakaderera mabhiti |
yakasaina int32 |
Ikozvino chinzvimbo chemota Unit: pulse |
|
Tafura 3.8 Mota tembiricha, voltage uye mamiriro eruzivo rwemhinduro
| Raira Zita Motor Drive Yakaderera Speed Ruzivo Feedback Frame | ||||
| Kutumira node
Steer-by-waya chassis Date kureba |
Kugamuchira node Sarudzo-yekuita control unit
0×08 |
ID 0x261~0x264 | Cycle (ms) | Receive-timeout (ms) |
| 20ms | Hapana | |||
| Position | Function | Data type | Tsanangudzo | |
| byte [0]
byte [1] |
Dhiraivha voltaguye yakakwirira 8 bits
Dhiraivha voltaguye kuderedza 8 bits |
isina kusaina in16 | Current voltage yedhiraivha unit 0.1V | |
| byte [2]
byte [3] |
Dhiraivha tembiricha yakakwira 8 bits
Dhiraivha tembiricha yakaderera 8 bits |
yakasaina int16 | Chikamu 1°C | |
| byte [4]
byte [5] |
Motokari tembiricha | yakasaina int8 | Chikamu 1°C | |
| Drive status | isina kusaina in8 | Ona zvese zviri mu [Drive control status] | ||
| byte [6]
byte [7] |
Reserved | – | 0x00 | |
| Reserved | – | 0x00 | ||
Seri Yekukurukurirana Protocol
Murairo we serial protocol
Ndiyo chiyero chekutaurirana kwakabatana kwakagadzirwa neElectronic Industries Association (EIA) yeUnited States muna 1970 yakabatana neBell Systems, vagadziri vemodemu uye vanogadzira macomputer terminal. Inonzi "Technical Standard yeSerial Binary Data Exchange Interface Pakati peData Terminal Equipment (DTE) uye Data Communication Equipment (DCE)". Chiyero chinotara kuti 25-pini DB-25 yekubatanidza inoshandiswa kune yega yega yekubatanidza. Chiratidzo chemukati chepini yega yega chinotsanangurwa, uye mazinga emasaini akasiyana anotsanangurwa zvakare. Gare gare, IBM's PC yakarerutsa RS232 kuita DB-9 yekubatanidza, iyo yakava chiyero chinoshanda. Iyo RS-232 chiteshi chekutonga kwemaindasitiri kazhinji inongoshandisa mitsara mitatu yeRXD, TXD, uye GND.
Serial Kubatanidza
Shandisa USB kune RS232 serial tambo mune yedu yekutaurirana chishandiso kubatanidza kune serial port kuseri kwemota, shandisa serial chishandiso kuseta inoenderana baud rate, uye shandisa iyo s.ample data yakapihwa pamusoro kuti iedze. Kana iyo remote control yakavhurwa, zvinodikanwa kushandura remote control kuti raira control mode. Kana iyo remote control isina kubatidzwa, ingotumira iyo control command zvakananga. Zvinofanira kucherechedzwa kuti murairo unofanirwa kutumirwa nguva nenguva. Kana chassis ichipfuura 500MS uye serial port command ikasagashirwa, ichapinda mukurasikirwa kwekudzivirira kwekubatanidza. chimiro.
Serial Protocol Content
Basic Kukurukurirana Parameter
| Item | Parameter |
| Baud Rate | 115200 |
| Parity | Hapana bvunzo |
| Data bit urefu | 8 zvishoma |
| Mira zvishoma | 1 zvishoma |
Murairo weprotocol
| Tanga zvishoma | Kureba kweframe | Command type | Command ID | Data field | Chimiro ID | Checksum composition |
|||
| SOF | furemu_L | CMD_TYPE | CMD_ID | data | … | data[n] | frame_id | check_sum | |
| byte 1 | byte 2 | byte 3 | byte 4 | byte 5 | byte 6 | … | zvakanaka 6+n | zvakanaka 7+n | zvakanaka 8+n |
| 5A | A5 | ||||||||
Iyo protocol inosanganisira yekutanga bit, furemu kureba, furemu yekuraira mhando, ID yekuraira, data renji, furemu ID, uye cheki. Kureba kwefuremu kunoreva kureba kusingasanganisire bhiti rekutanga uye cheki. Iyo cheki ndiyo chiyero che data rese kubva pakutanga bit kusvika kune ID yefuremu; iyo furemu ID bit inobva 0 kusvika 255 kuverenga zvishwe, izvo zvichawedzerwa kana murairo wega wega watumirwa.
Protocol Content
| Raira Zita System Status Feedback Frame | ||||
| Kutumira node Steer-by-waya chassis kureba Kuraira rudzi Command ID Data kureba
Position |
Kugamuchira node Sarudzo-yekuita control unit
0×0C |
Cycle (ms) Receive-timeout (ms) | ||
| 100ms | Hapana | |||
|
Data type |
Tsanangudzo |
|||
| Mhinduro yekuraira (0×AA)
0×01 |
||||
| 8
Function |
||||
|
byte [0] |
Mamiriro azvino emutumbi wemotokari |
isina kusaina in8 |
0 × 00 Sisitimu mune yakajairika mamiriro 0 × 01 Emergency stop mode (isina kugoneswa) 0 × 02 System kunze
0 × 00 Standby mode |
|
| byte [1] | Mode control | isina kusaina in8 | 0×01 CAN kuraira kudzora maitiro 0×02 seri yekudzora maitiro [1] 0×03 Remote control mode | |
| byte [2]
byte [3] |
Bhatiri voltaguye yakakwirira 8 bits
Bhatiri voltaguye kuderedza 8 bits |
isina kusaina in16 | voltage × 10 (nekururama kwe0.1V) | |
| byte [4] | Reserved | — | 0×00 | |
| byte [5] | Kukundikana ruzivo | isina kusaina in8 | Tarisa ku [Tsanangudzo yeRuzivo Rwakakundikana] | |
| byte [6]
byte [7] |
Reserved
Reserved |
—
— |
0×00 | |
| 0×00 | ||||
Movement Control Feedback Command
| Command Name Movement Control Feedback Command | ||||
| Kutumira node | Kugamuchira node | Cycle (ms) | Receive-timeout (ms) | |
| Steer-by-waya chassis Kureba Kureba Command type Command ID
Data urefu |
Sarudzo-yekuita control unit
0×0C |
20ms | Hapana | |
| Mhinduro yekuraira (0×AA)
0×02 |
||||
| 8 | ||||
| Position | Function | Data type | Tsanangudzo | |
| byte [0]
byte [1] |
Kufambisa kumhanya kwakakwira 8 bits
Kufambisa kumhanya kunodzika 8 bits |
yakasaina int16 | Kumhanya chaiko × 1000 (nechokwadi che
0.001rad) |
|
| byte [2]
byte [3] |
Kutenderera kumhanya kwakakwira 8 bits
Kutenderera kumhanya kunodzika 8 bits |
yakasaina int16 | Kumhanya chaiko × 1000 (nechokwadi che
0.001rad) |
|
| byte [4] | Reserved | – | 0×00 | |
| byte [5] | Reserved | – | 0×00 | |
| byte [6] | Reserved | – | 0×00 | |
| byte [7] | Reserved | – | 0×00 | |
Movement Control Command
| Command Name Control Command | ||||
| Kutumira node | Kugamuchira node | Cycle (ms) | Receive-timeout (ms) | |
| Sarudzo-yekuita control unit Frame kureba Raira rudzi Command ID
Data urefu |
Chassis node
0×0A |
20ms | 500ms | |
| Kudzora murairo (0×55)
0×01 |
||||
| 6 | ||||
| Position | Function | Data type | Tsanangudzo | |
| byte [0]
byte [1] |
Movement inomhanya yakakwira 8 bits
Movement kumhanya yakaderera 8 bits |
yakasaina int16 | Kumhanya kwemotokari, chikwata: mm/s | |
| byte [2]
byte [3] |
Kutenderera kumhanya kwakakwira 8 bits
Kutenderera kumhanya kunodzika 8 bits |
yakasaina int16 | Motokari inotenderera angular kumhanya, chikwata: 0.001rad/s | |
| byte [4] | Reserved | – | 0x00 | |
| byte [5] | Reserved | – | 0x00 | |
Light Control Frame
| Raira Zita Chiedza Chekudzora Frame | ||||
| Kutumira node | Kugamuchira node | Cycle (ms) | Receive-timeout (ms) | |
| Sarudzo-yekuita control unit Frame kureba Raira rudzi Command ID
Data urefu |
Chassis node
0×0A |
20ms | 500ms | |
| Kudzora murairo (0×55)
0×04 |
||||
| 6
Function |
||||
| Position | Date type | Tsanangudzo | ||
| byte [0] | Light control inogonesa mureza | isina kusaina in8 | 0x00 Kudzora murairo haugoneki
0x01 Lighting control inogonesa |
|
|
byte [1] |
Front light mode |
isina kusaina in8 | 0x002xB010 NmOC de
0x03 Mushandisi-defiLnedobrightness |
|
| byte [2] | Kupenya kwakasarudzika kwechiedza chemberi | isina kusaina in8 | [01, 0100r]e,fwerhsetroem0 arexfiemrsumto bnroigbhrtignhetsns[e5s]s, | |
| byte [3] | Rear light mode | isina kusaina in8 | 0x002xB010 mNOC de
0x03 Mushandisi-defiLnedobrightness [0, r, weherte 0 refxers uto nbo brightness, |
|
| byte [4] | Gadzirisa kupenya kwechiedza chekumashure | isina kusaina in8 | 100 ef o ma im m tness | |
| byte [5] | Reserved | — | 0x00 | |
Firmware upgrades
Kugonesa vashandisi kukwidziridza iyo firmware vhezheni inoshandiswa neSCOUT 2.0 uye kuunza vatengi ruzivo rwakakwana, SCOUT 2.0 inopa firmware yekusimudzira hardware interface uye inoenderana nevatengi software. Mufananidzo weiyo application
Kuvandudza kugadzirira
- SERIAL CABLE × 1
- USB-KUTI-SERIAL PORT × 1
- SCOUT 2.0 CHASSIS × 1
- KOMPYUTA (WINDOWS OPERATING SYSTEM) × 1
Firmware upgrade software
https://github.com/agilexrobotics/agilex_firmware
Kuvandudza maitiro
- Usati wabatana, ita shuwa kuti robhoti chassis yadzimwa; Batanidza serial tambo pane serial port kumucheto kumashure kweSCOUT 2.0 chassis;
- Batanidza serial tambo kune komputa;
- Vhura software yemutengi;
- Sarudza nhamba yechiteshi;
- Simba paSCOUT 2.0 chassis, uye nekukasira dzvanya kuti utange kubatana (SCOUT 2.0 chassis ichamirira 3s isati yaiswa magetsi; kana nguva yekumirira ichipfuura 3s, ichapinda mukushandisa); kana iyo yekubatanidza ikabudirira, "yakabatana zvakabudirira" inokurudzirwa mubhokisi remavara;
- Rodha Bin faira;
- Dzvanya bhatani reKukwidziridza, uye mirira kukurumidza kwekusimudzira kupera;
- Bvisa serial tambo, dzima chassis, uye dzima simba uye wobatidza zvakare.
SCOUT 2.0 SDK
Kuti ubatsire vashandisi kuita budiriro ine chekuita nemarobhoti zviri nyore, muchinjika-chikuva unotsigirwa SDK inogadzirwa SCOUT 2.0 nhare robhoti.SDK software package inopa C++ based interface, iyo inoshandiswa kutaurirana nechassis yeSCOUT 2.0 nhare robhoti uye inogona kuwana yazvino mamiriro erobhoti uye kudzora zviito zvekutanga zverobhoti. Parizvino, CAN kujairana nekutaurirana iripo, asi RS232-based adaptation ichiri kuitika.Kubva pane izvi, bvunzo dzine hukama dzakapedzwa muNVIDIA JETSON TX2.
SCOUT2.0 ROS Package
ROS inopa mamwe akajairwa sisitimu masevhisi masevhisi, senge Hardware abstraction, yakaderera-level mudziyo kudzora, kuita basa rakajairwa, interprocess meseji uye data packet management. ROS yakavakirwa pamavakirwo egirafu, kuitira kuti maitirwo emanodhi akasiyana akwanise kugamuchira, uye nekuunganidza ruzivo rwakasiyana (sekunzwa, kutonga, chimiro, kuronga, nezvimwewo) Parizvino ROS inonyanya kutsigira UBUNTU.
Kugadzirira Kubudirira
Hardware kugadzirira
- KUNOGONA kunogona kutaurirana module × 1
- Thinkpad E470 kabhuku ×1
- AGILEX SCOUT 2.0 mobile robhoti chassis ×1
- AGILEX SCOUT 2.0 kure kudzora FS-i6s ×1
- AGILEX SCOUT 2.0 yepamusoro yendege simba socket ×1
Shandisa example environment description
- Ubuntu 16.04 LTS (Iyi vhezheni yekuyedza, yakaravira paUbuntu 18.04 LTS)
- ROS Kinetic (Mavhezheni anotevera anoedzwa zvakare)
- Git
Hardware kubatana uye kugadzirira
- Buditsa waya yeCAN yepuragi yeSCOUT 2.0 yepamusoro yendege kana kuti plug yemuswe, wobatanidza CAN_H neCAN_L muwaya yeCAN kune CAN_TO_USB adapta zvakatevedzana;
- Batidza knob switch pane SCOUT 2.0 mobile robhoti chassis, uye tarisa kana emergency stop switch pamativi ese ari kuburitswa;
- Batanidza CAN_TO_USB kunzvimbo yeusb yenotibhuku. Dhiyagiramu yekubatanidza inoratidzwa muMufananidzo 3.4.
Kuiswa kweROS uye kugadzika kwezvakatipoteredza
Kuti uwane ruzivo rwekuisa, ndapota tarisa kune http://wiki.ros.org/kinetic/Installation/Ubuntu
Edza CANABLE Hardware uye CAN kutaurirana
Kugadzirisa CAN-TO-USB adapta
- Gonesa gs_usb kernel module
$ sudo modprobe gs_usb - Kuseta 500k Baud chiyero uye gonesa can-to-usb adapta
$ sudo ip link set can0 up type inogona bitrate 500000 - Kana pasina kukanganisa kwakaitika mumatanho apfuura, iwe unofanirwa kukwanisa kushandisa murairo kuti view chigaba chacho pakarepo
$ ifconfig -a - Isa uye shandisa can-utils kuyedza Hardware
$ sudo apt install can-utils - Kana iyo can-to-usb yakabatana nerobhoti SCOUT 2.0 panguva ino, uye mota yakabatidzwa, shandisa mirairo inotevera kutarisa data kubva kuSCOUT 2.0 chassis.
$ candump can0 - Ndokumbira utarise kune:
AGILEX SCOUT 2.0 ROS PACKAGE dhawunirodha uye nyora
- Dhaunirodha ros package
$ sudo apt kuisa ros-$ROS_DISTRO-controller-maneja
$ sudo apt kuisa ros-$ROS_DISTRO-teleop-twist-keyboard$ sudo apt kuisa ros-$ROS_DISTRO-joint-state-publisher-gui$ sudo apt kuisa libasio-dev - Clone gadzira scout_ros kodhi
$ 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
Ndokumbira utarise ku:https://github.com/agilexrobotics/scout_ros
Zvekungwaririra
Ichi chikamu chinosanganisira mamwe matanho anofanirwa kucherechedzwa pakushandiswa nekuvandudzwa kweSCOUT 2.0.
Bhatiri
- Bhatiri rakapihwa SCOUT 2.0 harina kubhadhariswa zvizere mukuseta fekitori, asi simba rayo chairo rinogona kuratidzwa pavoltmeter kumucheto kumashure kweSCOUT 2.0 chassis kana kuverenga kuburikidza neCAN bhazi yekutaurirana interface. Kuchaja bhatiri kunogona kumiswa kana iyo yegirini LED pajaja yachinja girinhi. Ziva kuti kana ukachengeta charger yakabatana mushure mekunge girinhi ye LED yabatidzwa, charger icharamba ichichaja bhatiri neinenge 0.1A yazvino kwemaminetsi angangoita makumi matatu kuti bhatiri rizadzwe.
- Ndapota usachaja bhatiri mushure mekunge simba rayo rapera, uye ndapota shajai bhatiri nenguva apo alarm yakaderera yebhatiri iri;
- Static kuchengetedza mamiriro: Iyo yakanyanya tembiricha yekuchengetedza bhatiri ndeye -10 ℃ kusvika 45 ℃; kana chengetedzo isingashandiswe, bhatiri rinofanirwa kuchajwa uye kuburitswa kamwe chete mwedzi miviri yega yega, uye yozochengetwa yakazara vol.tage state. Ndokumbira usaise bhatiri mumoto kana kupisa bhatiri, uye ndapota usachengeta bhatiri munzvimbo yekupisa kwepamusoro;
- Kuchaja: Bhatiri rinofanira kuchajwa nechaja yakatsaurirwa lithium bhatiri; mabhatiri e-lithium-ion haakwanise kuchajwa pasi pe0 ° C (32 ° F) uye kugadzirisa kana kutsiva mabhatiri ekutanga kunorambidzwa zvachose.
Nzvimbo yekushanda
- Iyo tembiricha yekushandisa yeSCOUT 2.0 ndeye -10 ℃ kusvika 45 ℃; ndapota usashandise pazasi -10 ℃ uye pamusoro pe45 ℃;
- Zvinodiwa zvehunyoro hunyoro munzvimbo yekushandisa yeSCOUT 2.0 ndeiyi: yakanyanya 80%, shoma 30%;
- Ndapota usashandise munzvimbo ine gasi rinopisa uye rinopisa kana kuvharwa kune zvinopisa;
- Usaiise pedyo nemaheater kana zvinhu zvekudziya senge mahombe akakomberedzwa resistors, nezvimwewo;
- Kunze kweiyo yakasarudzika vhezheni (IP yekudzivirira kirasi yakagadziridzwa), SCOUT 2.0 haisi-chiratidzo chemvura, saka ndapota usashandise munzvimbo inonaya, ine chando kana yakaunganidzwa nemvura;
- Kukwirira kwenzvimbo yakakurudzirwa kushandiswa hakufanirwe kudarika 1,000m;
- Musiyano wetembiricha pakati pemasikati nehusiku wekurudziro-ed kushandiswa nharaunda haifanire kudarika 25 ℃;
- Gara uchitarisa kudzvanywa kwetai, uye ita shuwa kuti iri mukati me1.8 bar kusvika 2.0bar.
- Kana vhiri ripi zvaro rasakara kana kuti raputika, ndapota ritsive nenguva.
Tambo dzemagetsi/dzekuwedzera
- Nokuda kwesimba rakawedzerwa pamusoro, ikozvino haifaniri kudarika 6.25A uye simba rose harifaniri kudarika 150W;
- Nokuda kwesimba rakawedzerwa kumucheto kumashure, ikozvino haifaniri kudarika 5A uye simba rose harifaniri kudarika 120W;
- Kana iyo system yaona kuti bhatiri voltage yakaderera pane safe voltage kirasi, ekunze magetsi ekuwedzera ekuwedzera achave achishingairira kuchinjirwa kune. Naizvozvo, vashandisi vanokurudzirwa kuti vaone kana ekunze ekuwedzera achisanganisira kuchengetwa kwedata rakakosha uye asina simba-rekudzivirira.
Mamwe mazano ekuchengetedza
- Muchiitiko chekusahadzika chero panguva yekushandiswa, ndokumbirawo uteedzere zvine hukama bhuku rekuraira kana kubvunza zvine chekuita nehunyanzvi vashandi;
- Usati washandisa, teerera kune mamiriro emunda, uye dzivirira zvisizvo-zvinozokonzera dambudziko rekuchengetedza vashandi;
- Kana pane emergency, tinya bhatani rekumisa emergency uye dzima mudziyo;
- Pasina rutsigiro rwehunyanzvi uye mvumo, ndapota usagadzirise iwe pachako chimiro chemukati memidziyo.
Zvimwe zvinyorwa
- SCOUT 2.0 ine zvikamu zvepurasitiki kumberi nekumashure, ndapota usarove izvo zvikamu nesimba rakawandisa kudzivirira kukuvara kunobvira;
- Pakubata nekumisa, ndapota usadonha kana kuisa mota yakatsikitsira;
- Kune vasiri nyanzvi, ndapota usabvisa mota pasina mvumo.
Q&A
- Mubvunzo: SCOUT 2.0 yakatangwa nemazvo, asi nei iyo RC transmitter isingakwanise kudzora muviri wemotokari kuti ufambe?
A: Kutanga, tarisa kana magetsi ekufambisa ari mumamiriro ezvinhu, kana dhizha remagetsi rinotsikirirwa pasi uye kana E-stop switches inosunungurwa; wobva watarisa kana iyo yekudzora modhi yakasarudzwa neyekumusoro kuruboshwe modhi yekusarudza switch paRC transmitter ndeyechokwadi. - Mubvunzo: SCOUT 2.0 remote control iri mumamiriro akajairwa, uye ruzivo nezve chassis chimiro uye kufamba kunogona kugamuchirwa nemazvo, asi kana iyo control frame protocol yapihwa, nei iyo mota yekudzora muviri modhi isingachinjike uye chassis ichipindura kune yekudzora furemu. protocol?
A: Kazhinji, kana SCOUT 2.0 inogona kudzorwa neRC transmitter, zvinoreva kuti chassis kufamba kuri pasi pekutonga kwakaringana; kana iyo chassis mhinduro furemu inogona kugamuchirwa, zvinoreva kuti CAN yekuwedzera link iri mune yakajairika mamiriro. Ndokumbira utarise iyo CAN yekudzora furemu yakatumirwa kuti uone kana cheki yedata yakarurama uye kana iyo yekudzora modhi iri mumirairo yekudzora maitiro. Iwe unogona kutarisa mamiriro ekukanganisa mureza kubva pane yekukanganisa bit mune chassis chimiro mhinduro furemu. - Mubvunzo: SCOUT 2.0 inopa "beep-beep-beep ..." inonzwika mukushanda, maitiro ekugadzirisa dambudziko iri?
A: Kana SCOUT 2.0 ichipa iyi "beep-beep-beep" ruzha nguva dzose, zvinoreva kuti bhatiri riri mu alarm vol.tage state. Ndapota chajai bhatiri nenguva. Kana imwe ruzha rwakabatana rwaitika, panogona kunge paine zvikanganiso zvemukati. Iwe unogona kutarisa ane hukama kukanganisa makodhi kuburikidza neCAN bhazi kana kutaurirana-kate nevane hukama nehunyanzvi vashandi. - Mubvunzo: Iko kupfeka kwetayi kweSCOUT 2.0 kunowanzoonekwa mukushanda?
A: Kupfeka kwetayi kweSCOUT 2.0 kunowanzoonekwa kana ichimhanya. Sezvo SCOUT 2.0 yakavakirwa pane mana-mavhiri akasiyana dhizaini dhizaini, kutsvedza uye kukweshana kunoitika zvese zvinoitika kana muviri wemotokari uchitenderera. Kana uriri husina kutsvedzerera asi hwakakasharara, nzvimbo dzine matai dzichasakara. Kuti uderedze kana kudzikisira kupfeka, diki-angle kutendeuka inogona kuitwa kuitira kushoma kubatidza pivot. - Mubvunzo: Kana kutaurirana kuchiitwa kuburikidza neCAN bhazi, iyo chassis mhinduro yekuraira inopihwa nemazvo, asi nei mota isingadaviri kukuraira kwekutonga?
A: Kune nzira yekudzivirira yekutaurirana mukati SCOUT 2.0, zvinoreva kuti chassis inopihwa nguva yekudzivirira kana ichigadzira ekunze CAN control mirairo. Ngatitii mota inogamuchira imwe chimiro chekutaurirana protocol, asi haigamuchire inotevera furemu yekudzora murairo mushure me500ms. Muchiitiko ichi, ichapinda nzira yekudzivirira yekukurukurirana uye kuisa kukurumidza kusvika 0. Nokudaro, mirairo kubva pakombiyuta yepamusoro inofanira kupiwa nguva nenguva.
Product Dimensions
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service@generationrobots.com
+49 30 30 01 14 533
www.generationrobots.com
Zvinyorwa / Zvishandiso
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Agilex Robotics SCOUT 2.0 AgileX Robotics Chikwata [pdf] User Manual SCOUT 2.0 AgileX Robotics Team, SCOUT 2.0, AgileX Robotics Team, Robotics Team |
