Hunter AgileX Robotics Team
“
Product Information
Zvinotsanangurwa
- Zita reChigadzirwa: BUNKER PRO AgileX Robotics Team
- User Manual Version: V.2.0.1
- Gwaro Vhezheni: 2023.09
- Maximum Mutoro: 120KG
- Kushanda Tembiricha: -20°C kusvika 60°C
- IP Dziviriro Chikamu: IP66 (kana isina kurongeka)
Mirayiridzo Yekushandiswa Kwechigadzirwa
Safety Information
Usati washandisa robhoti, ita shuwa kuverenga nekunzwisisa kuchengetedzwa kwese
ruzivo rwakapihwa mubhuku rekushandisa. Ita ongororo yengozi ye
iyo yakazara robhoti system uye batanidza inodiwa yekuchengetedza michina.
Ziva kuti robhoti harina kuchengetedzwa kwakazara kwekuzvidzivirira
mabasa.
Environment
Verenga bhuku racho zvakanyatsonaka usati washandisa kekutanga kuti unzwisise
mashandiro ekutanga uye zvakatemwa. Sarudza nzvimbo yakazaruka yeremote
kudzora sezvo mota ichishaya otomatiki chipingamupinyi chekudzivirira masensa.
Inoshanda mukupisa kuri pakati -20°C kusvika 60°C.
Check
Usati washanda, ita shuwa kuti michina yese yakachajwa uye mune zvakanaka
mamiriro. Tarisa uone zvisizvo mumotokari uye kure
kudzora bhatiri. Sunungura chinomisikidza chekumisa switch usati washandisa.
Operation
Shanda munzvimbo dzakavhurika mukati memutsara wekuona. Usapfuure
yakanyanya kuremerwa muganho we120KG. Ita shuwa kuti pakati pemisa iri pa
pakati pekutenderera paunenge uchiisa ma extensions. Chaja midziyo
apo voltage inodonha pazasi 48V uye rega kushandisa nekukurumidza kana
abnormalities zvinoonekwa.
FAQ
Q: Chii chandinofanira kuita kana ndikasangana neabnormality ndichishandisa
iyo BUNKER PRO?
A: Rega kushandisa zvishandiso nekukurumidza kudzivirira yechipiri
kukuvara. Bata nevashandi vehunyanzvi vakakodzera kuti ubatsirwe.
Mubvunzo: Iyo BUNKER PRO inogona kudzivirira otomatiki zvipingamupinyi?
A: Kwete, mota yacho pachayo haina otomatiki chipingamupinyi
kudzivisa sensors. Shanda munzvimbo dzakavhurika kune dziri kure
control.
"`
BUNKER
PRO
Mushandisi
Manual
BUNKER
PRO AgileX Robotics Team Mushandisi
Chinyorwa V.2.0.1
2023.09
Gwaro
shanduro
Kwete. Version
Date
Yakarongedzwa na
Reviewer
Notes
1
V1.0.0 2023/3/17
gwaro rekutanga
2
V2.0.0 2023/09/02
Wedzera kupa mufananidzo Shandura mashandisiro eROS package
Kuongorora magwaro
1 / 35
3
V2.0.1 2023/09/018
Yakawiriraniswa mota paramende rondedzero Yakawedzerwa tafura 3.2 Mhosva ruzivo
tafura yekutsanangura
Ichi chitsauko chine ruzivo rwakakosha rwekuchengetedza, iro robhoti risati raiswa simba kekutanga, chero munhu kana sangano rinofanira kuverenga nekunzwisisa ruzivo urwu vasati vashandisa mudziyo. Kana iwe uine chero mibvunzo nezve kushandiswa, ndapota 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.
Zvakakosha
Safety
Information
Mashoko ari mubhuku rino haasanganisi magadzirirwo, kuiswa uye kushanda kwerobhoti yakakwana, uye haisanganisi zvose zvinotenderera zvinogona kukanganisa kuchengetedzwa kwegadziriro iyi yakakwana. Dhizaini uye kushandiswa kweiyo yakazara sisitimu inoda kutevedzera zvinodiwa zvekuchengetedza zvakamiswa mumiyero nemirairo yenyika iyo robhoti yakaiswa. Vanobatanidza uye vatengi vekupedzisira veBUNKERPRO vane basa rekuita kuti vatevedzere mitemo yakakodzera uye mitemo inoshanda nemirairo, uye kuve nechokwadi kuti hapana njodzi huru mukushandiswa kwakakwana kwerobhoti. Izvi zvinosanganisira asi hazvigumiri kune zvinotevera:
Kubudirira
uye
mutoro
Ita ongororo yengozi yerobhoti yakazara system. Batanidza imwe midziyo yekuchengetedza yeimwe michina inotsanangurwa nengozi yekuongorora
pamwe chete. Simbisa kuti dhizaini uye kuisirwa kwese marobhoti system's peripherals, kusanganisira
software uye hardware masisitimu, ndezvechokwadi.
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Iri robhoti harina mabasa akakodzera ekuchengetedza eakakwana akazvimirira ega robhoti, kusanganisira asi isina muganho kune otomatiki anti-kudhumhana, anti-kudonha, zvisikwa nzira yambiro, etc. Mabasa akakodzera anoda vanobatanidza uye vatengi vekupedzisira kuti vaite ongororo yekuchengeteka maererano nezvinodiwa. uye mitemo inoshanda nemirau kuti ive nechokwadi chekuti robhoti yakagadziridzwa haina chero njodzi huru uye njodzi dzakavanzwa mukushandisa kunoshanda.
Unganidza zvese zvinyorwa muhunyanzvi file: kusanganisira kuongororwa kwenjodzi uye bhuku rino. Ziva njodzi dzinogona kuitika dzekuchengetedza usati washandisa uye kushandisa mudziyo.
Environment
Chekutanga kushandisa, ndapota verenga bhuku rino zvakanyatsonaka kuti unzwisise zvakakosha zvekushandisa uye maitiro ekushanda.
Sarudza nzvimbo yakavhurika yekudzora kure, nekuti mota pachayo haina otomatiki chipingamupinyi chekudzivirira masensa.
Shandisa mune ambient tembiricha ye -20-60. Kana iyo mota isingaite yega yega iyo IP yekudzivirira nhanho, yayo yemvura-uchapupu uye guruva-
humbowo huwandu ndeye IP66.
Check
Ita shuwa kuti mudziyo wega wega une charge yakakwana. Ita shuwa kuti mota haina abnormalities zviri pachena. Tarisa kana bhatiri reremote control rine mari yakakwana. Ita shuwa kuti emergency stop switch yaburitswa paunenge uchishandisa.
Operation
Ita shuwa kuti nzvimbo yakatenderedza yakavhurika zvakanyanya panguva yekushanda. Remote control mukati memutsara wekuona. Iyo yakanyanya kuremerwa yeBUNKERPRO ndeye 120KG. Paunenge uchishandiswa, ita shuwa kuti iyo payload haina
kupfuura 120KG. Paunenge uchiisa yekunze yekuwedzera yeBUNKERPRO, simbisa iyo yepakati yehuwandu hweiyo
kuwedzera uye ita shuwa kuti iri pakati pekutenderera. Kana mudziyo wacho voltage yakaderera pane 48V, ndapota ichajai nenguva. Kana iyo midziyo isina kujairika, ndapota mira kuishandisa nekukasira kudzivirira kukuvara kwechipiri. Kana iyo midziyo isiri yakajairika, ndapota taura neakakodzera tekinoroji vashandi uye usaite
zvibate pasina mvumo.
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Ndokumbira uishandise munzvimbo inosangana nezvinodiwa zveyero yekudzivirira zvinoenderana neiyo IP yekudzivirira level yemidziyo.
Usasundidzira mota zvakananga. Paunenge uchichaja, ita shuwa kuti tembiricha ye ambient yakakura kupfuura 0°C.
Maintenance
Gara uchitarisa tension ye track yakamiswa, uye simbisa njanji 150~200H yega yega. Mushure memaawa 500 ega ega ekushanda, tarisa mabhaudhi nenzungu dzechikamu chimwe nechimwe chemuviri. I Tighten
pakarepo kana vasunungurwa. Kuti uve nechokwadi chekuchengetedza bhatiri, bhatiri rinofanira kuchengetwa nechaji,
uye bhatiri rinofanira kubhadharwa nguva dzose kana risina kushandiswa kwenguva refu.
Attention
Ichi chikamu chine mamwe matanho ekushandisa uye kugadzira BUNKERPRO.
Bhatiri
zvekungwaririra
Kana BUNKERPRO ichibva mufekitari, bhatiri harina kuzara. Iyo chaiyo bhatiri simba rinogona kuratidzwa kuburikidza ne voltage kuratidza mita paBUNKERPRO chassis kumashure kana kuverenga kuburikidza neCAN bhazi yekutaurirana interface;
Ndapota usachaja bhatiri mushure mekunge simba rayo rapera. Ndokumbira uichajise nenguva kana vhoriyamu yakadereratage paBUNKERPRO kumashure yakaderera pane 48V;
Static kuchengetedza mamiriro: Iyo yakanyanya tembiricha yekuchengetedza bhatiri ndeye -10 ° C ~ 45 ° C; kana chengetedzo isingashandiswe, bhatiri rinofanirwa kukwizwa uye kuburitswa kamwe chete mwedzi 1 wega wega, uye wozochengetwa mune yakazara vol.tage state. Ndapota usaisa bhatiri mumoto kana kupisa bhatiri, uye ndapota usachengeta bhatiri munzvimbo yakakwirira-yekushisa;
Kuchaja: Bhatiri rinofanirwa kuchajwa neyakatsaurirwa lithium bhatiri charger. Usachaji bhatiri riri pasi pe 0°C, uye usashandise mabhatiri, zvinhu zvemagetsi, uye majaja asina mwero.
Zvekungwaririra
nokuti
kushanda
zvakatipoteredza
Kupisa kwekushanda kweBUNKERPRO ndiko - 20 ~ 60; ndapota usashandise munzvimbo iyo tembiricha yakaderera pane - 20 kana kupfuura 60;
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Hunyoro hunodiwa hwenzvimbo yekushanda yeBUNKERPRO ndeiyi: huwandu hwe80%, hushoma 30%; Ndapota usashandise munzvimbo ine gasi rinoparadza uye rinopisa kana munzvimbo iri pedyo nezvinhu zvinobvira moto;
Usaichengete yakatenderedza zvinhu zvekudziya senge maheater kana makuru akakomberedzwa resistors; Kunze kweiyo yakasarudzika vhezheni (yakagadzirirwa neIP yekudzivirira level), BUNKER PRO
haina kudzivirira mvura, saka ndapota usashandise munzvimbo dzine mvura, sinou, kana mvura yakamira; Zvinokurudzirwa kuti urefu hwenzvimbo yekushanda haifaniri kudarika 1000M; Zvinokurudzirwa kuti tembiricha musiyano pakati masikati nousiku mukushanda
nzvimbo haifaniri kudarika 25 ° C; Gara uchiongorora uye chengetedza track tension vhiri.
Zvekungwaririra
nokuti
zvemagetsi
external
Ikozvino yemagetsi ekuwedzera ekuwedzera haifaniri kudarika 10A, uye simba rose harifaniri kudarika 480W;
Safety
zvekungwaririra
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-kushanda izvo zvinokonzeresa dambudziko rekuchengetedza vashandi;
Kana pane emergency, tinya bhatani rekumisa emergency uye dzima midziyo; Pasina rutsigiro rwehunyanzvi uye mvumo, ndapota usagadzirise iwe pachako zvemukati
midziyo chimiro.
Zvimwe
zvekungwaririra
Usadonhedza kana kuisa mota yakadzika pasi paunenge uchitakura nekumisa; Kune vasiri nyanzvi, ndapota usabvisa mota pasina mvumo.
ZVIRI MUKATI
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ZVIRI MUKATI
Gwaro
shanduro
Zvakakosha
Safety
Information
Attention
ZVIRI MUKATI
1
Nhanganyaya
ku
BUNKERPRO
1.1 Chigadzirwa rondedzero 1.2 Tech yakatarwa 1.3 Chinodiwa pakuvandudza
2
The
Basics
2.1Mirairo pamagetsi ekubatanidza 2.2 Mirayiridzo yeremote control 2.3 Mirayiridzo pane zvekutonga zvinodiwa uye mafambiro
3
Shandisa
uye
Development
3.1 Kushandisa uye kushanda 3.2 Kuchaja 3.3.2 CAN cable connection 3.3.3 Kuzadzikiswa kweCAN command control 3.4 Firmware upgrade 3.5 BUNKERPRO ROS Package Shandisa Ex.ample
4
Q&A
5
Product
Dimensions
5.1 Mufananidzo dhayagiramu yezviyero zvechigadzirwa
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5.2 Mufananidzo dhayagiramu wepamusoro akatambanudzwa tsigiro zviyero
1
Nhanganyaya
ku
BUNKERPRO
BUNKERPRO imotokari yakatevedzwa chassis kune ese-kutenderera indasitiri maapplication. Iine maitiro ekushanda kwakapfava uye kwakaoma, nzvimbo yakakura yekusimudzira, yakakodzera kusimudzira uye kushandiswa munzvimbo dzakasiyana-siyana, yakazvimirira suspension system, heavy-duty shock absorption, simba rekukwira, uye kukwanisa kukwira masitepisi. Inogona kushandiswa kugadzira marobhoti akakosha senge marobhoti ekuongorora nekuongorora, kununura uye EOD, kupfura kwakakosha, kufambisa kwakakosha, nezvimwe, kugadzirisa mhinduro dzemarobhoti.
1.1
Product
list
Zita BUNKER PRO Robot Muviri Battery Charger(AC 220V) Aviation male plug (4-Pini) FS remote control transmitter(Sarudzo) USB kuCAN kutaurirana module.
Huwandu x1 x1 x1 x1 x1
1.2
Tech
specifications
Parameter Types Mechanical tsanangudzo
Zvinhu L × W × H (mm)
Chigadziko chevhiri (mm)
Nhamba 1064*845*473
–
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Kumberi/kumashure vhiri base (mm)
–
Chassis urefu
120
Track wide
150
Curb uremu (kg)
180
Bhatiri Type
Lithium bhatiri
Battery parameters
60AH
Power drive mota
2 × 1500W Brushless servo mota
Steering drive mota
–
Yokupaka modhi
–
Kufambisa
Track type differential steering
Kumiswa fomu
Christie kumiswa + Matilda fourwheel balance kumiswa
Steering motor kuderedza
–
ratio
Steering mota encoder Dhiraivha mota kuderedza reshiyo
–
1 7.5
Dhiraivha mota sensor
Photoelectric kuwedzera 2500
Performance parameters
IP Giredhi
IP22
Kumhanya kukuru (km/h)
1.7m/s
Diminimum turning radius (mm)
Inogona kuchinja panzvimbo
Kukwirira kukuru (°)
30°
Maximum chipingamupinyi kuyambuka
180
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Kudzora
Ground clearance (mm) Hupenyu hwebhatiri hwepamusoro (h) Chinhambwe chikuru (km)
Nguva yekuchaja (h) Tembiricha yekushanda ()
Kudzora maitiro
RC transmitter System interface
740 8
15KM 4.5
-10 ~ 60 Remote control Control Command control mode 2.4G/yakanyanya kureba 200M
CAN
1.3
Zvinodiwa
nokuti
development
BUNKERPRO yakashongedzerwa neFS kure kudzora pafekitori, uye vashandisi vanogona kudzora iyo BUNKERPRO mobile robhoti chassis kuburikidza nekudzora kure kupedzisa kufamba uye kutenderera mashandiro; BUNKERPRO yakashongedzerwa neCAN interface, uye vashandisi vanogona kuita yechipiri kusimudzira kuburikidza nayo.
2
The
Basics
Ichi chikamu chinopa sumo yekutanga kune BUNKERPRO mobile robot chassis, kuitira kuti vashandisi nevagadziri vave nekunzwisisa kwekutanga kweBUNKERPRO chassis.
2.1Mirairo
on
zvemagetsi
interfaces
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Magetsi ekumashure anoratidzwa muMufananidzo 2.1, apo Q1 ndiyo CAN uye 48V simba rekufambisa ndege, Q2 ndiyo chinja chemagetsi, Q3 ndiyo yekuchaja interface, Q4 ndiyo antenna, Q5 neQ6 zvakateerana mutyairi debugging interface uye iyo huru. control debugging interface (isina kuvhurika kune kunze), uye Q7 ndiyo magetsi ekuratidzira kupindirana.
Mufananidzo 2.1 Rear Electrical Interfaces Tsanangudzo yekukurukurirana kweQ1 uye kushandiswa kwesimba kunoratidzwa mumufananidzo 2-2.
Pini Nha. 1
Pin Type Simba
Basa uye Tsanangudzo
Mashoko
VCC
Positive power supply, voltage renji 46 ~ 54V, yakanyanya ikozvino 10A
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2
Simba
3
CAN
4
CAN
GND CAN_H CAN_L
Negative magetsi CAN bhazi rakakwira CAN bhazi rakaderera
Mufananidzo 2.2 Pini Tsanangudzo yeRear Aviation Extension Interface
2.2
Mirayiridzo
on
kure
control
Fs kure kudzora ndeye sarudzo yekuwedzera yeBUNKER PRO zvigadzirwa. Vatengi vanogona kusarudza zvinoenderana nezvinodiwa chaizvo. Kushandisa kure kure kunogona kudzora zviri nyore iyo BUNKER PRO universal robot chassis. Muchigadzirwa ichi, tinoshandisa kuruboshwe-ruboshwe throttle dhizaini. Tsanangudzo uye mabasa ayo anogona kuendeswa kuMufananidzo 2.3. Mabasa emabhatani anotsanangurwa se: SWA, SWB, SWC, SWD. SWD haisati yaitwa, pakati pazvo SWB ibhatani rekusarudza nzira, yakadanwa kumusoro ndiyo command control mode, yakadanwa pakati ndiyo irimote control mode, S1 ndiyo bhatani rekupuruzira, inodzora BUNKER PRO kuenda kumberi uye. backward; S2 inodzora kutenderera, uye SIMBA ndiro mabhatani ekupa magetsi, dzvanya woabata panguva imwe chete kuti ubatidze. Zvinofanira kucherechedzwa kuti kana remote control yabatidzwa, SWA, SWB, SWC, uye SWD zvese zvinofanirwa kunge zviri pamusoro.
11 / 35
Mufananidzo 2.3 Schematic diagram yeFS remote control mabhatani Remote
control
interface
tsananguro: Bunker : modhi Vol: bhatiri voltage Mota: chassis chimiro Batt: Chassis simba percentage P: Park Remoter: kure kure kudzora bhatiri nhanho Fault Code: Ruzivo rwemhosho (Inomiririra byte [5] mu211 furemu)
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2.3
Mirayiridzo
on
control
zvinoda
uye
kufamba
Isu takagadzira iyo coordination reference system yepasi nhare mbozha zvinoenderana neiyo ISO 8855 chiyero sezvakaratidzwa mumufananidzo 2.4.
Mufananidzo 2.4 Schematic Diagram yeReference Coordinate System yeMotokari Yemuviri Sezvinoratidzwa mumufananidzo 2.4, mutumbi wemotokari weBUNKERPRO unofanana ne X axis yeiyo yakasimbiswa referensi coordinate system. Muiyo remote control modhi, sundidzira remote controller rocker S1 kumberi kuti ufambe munzira yakanaka yeX, sundidzira S1 kumashure kuti ufambe nenzira isina kunaka yeKana wasundirwa kune hushoma kukosha, kumhanya kwekufamba munzira isina kunaka yeMota. muviri unotenderera kubva kunzira yakanaka ye X-axis kuenda kune yakaipa nzira yeY-axis. Kana S2 inosundirwa kuruboshwe kusvika kune yakanyanya kukosha, iyo counterclockwise kutenderera mutsara kumhanya ndiyo yakanyanya. Kana S2 ikasundirwa kurudyi kune iyo yakanyanya kukosha, kutenderera kwewachi kutenderera kwemutsara wekufamba ndiko kumhanya kwakanyanya. Mukutonga kwekuraira mode, kukosha kwakanaka kwemutsara wekumhanya kunoreva kufamba munzira yakanaka ye X-axis, uye kukosha kwakashata kwemutsara wekumhanya kunoreva kufamba nenzira yakaipa yeThe negative value of angular velocity zvinoreva kuti muviri wemotokari unofamba kubva munzira yakanaka yeX-axis kuenda kune yakaipa nzira yeY-axis.
3
Shandisa
uye
Development
Ichi chikamu chinonyanya kusuma kushanda kwekutanga uye kushandiswa kweBUNKERPRO papuratifomu, uye maitiro ekuita kusimudzira kwechipiri kwemuviri wemotokari kuburikidza nekunze kweCAN interface uye CAN bus protocol.
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3.1
Shandisa
uye
kushanda
Check
Tarisa mamiriro emuviri wemotokari. Tarisa kana mutumbi wemotokari une zvisizvo zviri pachena; kana zvakadaro, ndapota taura mushure mekutengesa-rutsigiro;
Paunenge uchishandisa kekutanga, simbisa kana Q2 (simba switch) mumashure emagetsi pani yakatsikirirwa; kana isina kudzvinyirirwa, ndapota idzvanya uye uisunungure, saka iri muchimiro chakaburitswa.
Tanga
Dhinda simba rekushandura (Q2 mumagetsi emagetsi); pasi pemamiriro akajairika, mwenje wemagetsi switch uchavhenekera, uye voltmeter icharatidza bhatiri voltage normally;
Tarisa bhatiri voltage. Kana voltage yakakura kudarika 48V, zvinoreva kuti bhatiri voltage zvakajairika. Kana voltage yakaderera pane 48V, ndapota bhadharisa; apo voltage yakaderera pane 46V, BUNKERPRO haigone kufamba zvakanaka.
Vhara
Dzvanya switch yemagetsi kuti udzime simba;
Basic
kushanda
maitiro
of
kure
control
Mushure mekutanga iyo BUNKERPRO robhoti chassis kazhinji, tanga kudzora kure uye sarudza iyo kure yekudzora modhi yekudzora kufamba kweBUNKER PRO papuratifomu kuburikidza neremote control.
3.2
Kuchaja
BUNKERPRO inoshongedzerwa neyakajairwa charger nekukasira, iyo inogona kusangana nekuchaja zvinodiwa nevatengi. The
zvakananga
kushanda
maitiro
of
kuchaja
vari
as
zvinotevera: Ita shuwa kuti iyo BUNKERPRO chassis iri mukudzima. Usati wachaja, ndapota ita
shuwa kuti Q2 (simba switch) iri kumashure kwemagetsi koni yakadzimwa; isa plug yejaja muQ3 yekuchaja interface mumashure emagetsi control panel; Batanidza charger kune magetsi uye wobatidza switch yekuchaja kuti upinde munzvimbo yekuchaja. Kana uchichaja nekusarudzika, hapana chiratidzo chemwenje pane chassis. Kuti iri kuchaja here kana kuti kwete zvinoenderana nechimiro chechiratidzo chechaja.
3.3
Development
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BUNKERPRO inopa CAN interface yekuvandudza kwemushandisi, uye mushandisi anogona kudzora muviri wemotokari kuburikidza neiyi interface.
Iyo CAN yekutaurirana mwero muBUNKERPRO inotora iyo CAN2.0B chiyero; iyo yekutaurirana baud rate i500K, uye iyo meseji fomati inotora iyo MOTOROLA fomati. Iyo mutsara wekufamba kwekufamba uye angular velocity yekutenderera kwechasisi inogona kudzorwa kuburikidza nekunze kweCAN bhasi interface; BUNKERPRO ichapindura iyo yazvino yekufamba mamiriro ruzivo uye iyo mamiriro eiyo BUNKERPRO chassis munguva chaiyo.
Iyo protocol inosanganisira sisitimu mamiriro emhinduro furemu, mafambiro ekutonga mhinduro chimiro, uye yekudzora furemu. Zviri mukati meiyo protocol ndezvizvi:
Iyo sisitimu mamiriro emhinduro yekuraira inosanganisira yazvino mamiriro emuviri mamiriro emota, control mode mamiriro emhinduro, bhatiri voltage mhinduro, uye mhinduro yekukanganisa. Zviri mukati meiyo protocol inoratidzwa muTafura 3.1.
Tafura 3.1 Feedback Frame yeBUNKERPRO Chassis System Status
Command Name
Murairo wemhinduro yemamiriro ehurongwa
Kutumira node Kugamuchira node
Chassis-ye-waya
Sarudzo-yekuita control unit
ID 0x211
Cycle (ms)
Gamuchira nguva yekupera (ms)
200ms
Hapana
Data urefu Position
0x08 Basa
Data type
byte [0]
Mamiriro azvino emutumbi wemotokari
isina kusaina in8
Tsanangudzo
0x00 Sisitimu mune yakajairika mamiriro 0x01 Emergency stop mode 0x02 System kunze
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byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] byte [5]
Mode control
Bhatiri voltage inosvika 8 bhiti kumusoro Bhatiri voltage ari mabhiti masere kudzika Reserved
Kutadza ruzivo Reserved
Verenga cheki (kuverenga)
isina kusaina in8
isina kusaina in16
isina kusaina in8
isina kusaina in8
0x00 Standby mode 0x01 CAN kuraira kudzora maitiro
0x03 Remote control mode
voltage × 10 (nekururama kwe0.1V)
0x0 Tarisa ku [Tsanangudzo yeMhosva
Ruzivo] 0X00
0 ~ 255 kutenderera kuverenga; nguva dzose murairo unotumirwa,
kuverenga kuchawedzera kamwe chete
Tafura 3.2 Tsanangudzo YeMhosva Ruzivo
Tsanangudzo YeMhosva Ruzivo
Bit
Meaning
zvishoma [0]
Battery undervoltage mhosva
zvishoma [1]
Battery undervoltage yambiro
zvishoma [2]
Remote control disconnection dziviriro (0: zvakajairika, 1: kuremote control disconnection)
zvishoma [3]
No.1 mota kutadza kutaurirana (0: Hapana kutadza 1: Kutadza)
zvishoma [4]
No.2 mota kutadza kutaurirana (0: Hapana kutadza 1: Kutadza)
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zvishoma [5] zvishoma [6] zvishoma [7]
Yakachengetwa, default 0 Yakachengetwa, default 0 Yakachengetwa, default 0
Murairo wekufambisa kudzora mhinduro furemu inosanganisira mhinduro yeazvino mutsara velocity uye angular velocity yekufamba muviri wemotokari. Iyo chaiyo protocol yemukati inoratidzwa muTafura 3.3.
Tafura 3.3 Movement Control Feedback Frame
Command Name
Movement Control Feedback Command
Kutumira node Kugamuchira node
ID
Cycle ms
Gamuchira nguva yekupera (ms)
Chassis-ye-waya
Sarudzo-yekuita control unit
0x221
20ms
Hapana
Data urefu
0x08
Position
Function
Data type
Tsanangudzo
byte [0] byte [1]
8-bit yakakwirira inofamba kumhanya
8-bit yakaderera inofamba kumhanya
yakasaina int16
Kumhanya chaiko × 1000 (ine huchokwadi hwe0.001m/s)
byte [2] byte [3]
8-bit yakakwirira kutenderera kumhanya
8-bit yakaderera kutenderera kumhanya
yakasaina int16
Kumhanya chaiko × 1000 (ine huchokwadi hwe0.001rad/s)
byte [4]
Reserved
–
0x00
byte [5]
Reserved
–
0x00
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byte [6]
Reserved
–
byte [7]
Reserved
–
0x00 0x00
Iyo yekudzora furemu inosanganisira mutsara velocity control kuvhura, angular velocity control kuvhura uye cheki huwandu. Izvo zvakananga zvemukati zveprotocol zvinoratidzwa muTafura 3.4.
Tafura 3.4 Movement Control Frame
Command Name
Kutumira node Kugamuchira node
Sarudzo-yekuita control unit
Chassis node
Data urefu
0x08
Position
Function
byte [0]
8-bit yakakwirira mutsara kumhanya
byte [1]
8-bit yakaderera mutsetse kumhanya
byte [2]
8-bit high angular velocity
byte [3]
8-bit low angular velocity
byte [4]
Reserved
byte [5]
Reserved
byte [6]
Reserved
byte [7]
Reserved
Kudzora Mirayiridzo
ID
Cycle (ms)
Gamuchira nguva yekupera (ms)
0x111
20ms
Hapana
Data type
Tsanangudzo
yakasaina int16
Kufamba kumhanya kwemuviri wemotokari, unit: mm/s, renji [-1700,1700]
yakasaina int16
Angular velocity yemotokari kutenderera kwemuviri, chikwata: 0.001rad / s, mararamiro
[- 3140,3140]
–
0x00
–
0x00
–
0x00
–
0x00
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Iyo modhi yekumisikidza furemu inoshandiswa kuseta iyo control interface yeiyo terminal. Iyo chaiyo protocol yemukati inoratidzwa muTafura 3.5
Tafura 3.5 Kudzora Mode Setting Frame
Command Name
Kutumira node Kugamuchira node
Sarudzo-yekuita control unit
Chassis node
Data urefu
0x01
Position
Function
byte [0]
CAN kudzora gonesa
Kudzora Mode Setting Command
ID
Cycle (ms)
Gamuchira nguva yekupera (ms)
0x421
20ms
500ms
Mhando yedata isina kusaina int8
Tsanangudzo
0x00 Standby mode 0x01 CAN yekuraira modhi inogonesa
Cherechedza [1] Tsanangudzo yekudzora maitiro
Kana iyo yekudzora kure yeBUNKERPRO isina simba, iyo yekudzora modhi ndiyo yekumira mode nekukasira, uye iwe unofanirwa kuichinjisa kumirairo yekuraira kutumira kufamba kwekutonga kuraira. Kana remote control ikabatidzwa, remote control ine simba guru uye inogona kudzivirira kutonga kwemirairo. Kana iyo remote control ichichinjirwa kune yekuraira modhi, ichiri kuda kutumira iyo control mode yekumisikidza yekuraira isati yapindura kumhanyisa kuraira.
Chimiro chekugadzirisa chimiro chinoshandiswa kubvisa kukanganisa kwehurongwa. Iyo chaiyo protocol yemukati inoratidzwa muTafura 3.6.
Tafura 3.6 Status Setting Frame
Command Name
Kutumira node Kugamuchira node
Sarudzo-yekuita control unit
Chassis node
Status Setting Command
ID
Cycle (ms)
Gamuchira nguva yekupera (ms)
0x441
Hapana
Hapana
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Data urefu Position
byte [0]
0x01 Basa
Data type
Mhosho pakubvisa murairo
isina kusaina in8
Tsanangudzo
0x00 bvisa zvikanganiso zvese 0x01 Bvisa mota 1 kukanganisa 0x02 Bvisa mota 2 kukanganisa
Cherechedza 3: Sample data; Iyi data inotevera ndeyezvinangwa zvekuyedza chete 1. Mota inofamba ichimhanya 0.15/S
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00
0x96
0x00
0x00
0x00
0x00
0x00
0x00
2. Motokari inotenderera pa 0.2RAD/S
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00
0x00
0x00
0xc8
0x00
0x00
0x00
0x00
Pamusoro peiyo chassis mamiriro eruzivo achadzoserwa, iyo chassis mhinduro ruzivo inosanganisira mota data uye sensor data.
Tafura 3.7 Mota Yekumhanya Yazvino Nzvimbo Yeruzivo Feedback
Command Name
Motokari Dhivha Yepamusoro Yekumhanyisa Ruzivo Feedback Frame
Kutumira node Kugamuchira node
ID
Chassis-ye-waya
Kuita zvisarudzo
control unit
0x251~0x254
Cycle (ms)
Gamuchira nguva yekupera (ms)
20ms
Hapana
Data urefu
0x08
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Position byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
Basa 8-bit yakakwira mota
kumhanya 8-bit yakaderera mota
speed Reserved 8-bit low drive tembiricha Reserved Drive status Reserved Reserved
Data type
yakasaina int16
isina kusaina in8 -
Tsanangudzo
Yazvino mota kumhanya Chikamu RPM
0x00 Chikamu 1
0x00 Ona Tafura 3.9 yeruzivo
0x00 0x00
Tafura 3.8 Motokari Tembiricha, Voltage uye Status Information Feedback
Command Name
Motokari Dhivha Yakaderera Yekumhanyisa Ruzivo Feedback Frame
Kutumira node Kugamuchira node
ID
Cycle (ms)
Gamuchira nguva yekupera (ms)
Chassis-ye-waya
Kuita zvisarudzo
control unit
0x261~0x264
Hapana
Hapana
Data urefu
0x08
Position
Function
Data type
Tsanangudzo
byte [0]
Reserved
–
byte [1]
Reserved
–
Yazvino mota kumhanya Chikamu RPM
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byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
8-bit yakakwirira dhiraivha tembiricha
8-bit yakaderera drive tembiricha
Reserved
Drive status
Reserved
Reserved
yakasaina int16
isina kusaina in8
–
Tafura 3.9 Drive Status
Chikamu 1
0x00 Ona Tafura 3.9 yeruzivo
0x00 0x00
Byte byte [5]
Bhiti [0] zvishoma [1] zvishoma [2] zvishoma [3] zvishoma [4] zvishoma [5] zvishoma [6] zvishoma [7]
Tsanangudzo Kana magetsi emagetsi voltage yakaderera zvakanyanya (0:Zvakajairika
1:Kuderera zvakanyanya) Kunyangwe mota yanyanya kupisa (0: Zvakajairika 1:
Overheated) Yakachengeterwa Yakachengetedzwa Yakachengeterwa Yakachengetedzwa Yakachengetedzwa
Tafura 3.10 Odometer Feedback Frame
Command Name
Odometer Ruzivo Feedback Frame
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Kutumira node Kugamuchira node
ID
Chassis-ye-waya
Kuita zvisarudzo
control unit
Data urefu
0x08
Position
Function
byte [0]
Yepamusoro bhiti rekuruboshwe vhiri odometer
byte [1]
Chechipiri-chakakwirira chidimbu chevhiri rekuruboshwe
odometer
byte [2]
Chechipiri-chakaderera zvishoma chevhiri rekuruboshwe
odometer
byte [3]
Pazasi zvishoma kuruboshwe
vhiri odometer
byte [4]
Yepamusoro bhiti rekurudyi vhiri odometer
byte [5]
Chechipiri-chakakwirira chikamu chekurudyi
vhiri odometer
byte [6]
Chechipiri-chishoma chekurudyi
vhiri odometer
0x311 Mhando yedata yakasainwa int32 yakasainwa int32
Cycle (ms)
Gamuchira nguva yekupera (ms)
20ms
Hapana
Tsanangudzo
Chassis kuruboshwe vhiri odometer mhinduro Chikamu: mm
Chassis yekurudyi vhiri odometer mhinduro Chikamu: mm
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byte [7]
Yakaderera zvishoma yekurudyi vhiri odometer
Tafura 3.11 Remote Kudzora Ruzivo Feedback
Command Name
Remote Control Information Feedback Frame
Kutumira node Kugamuchira node
Chassis-ye-waya
Kuita zvisarudzo
control unit
ID 0x241
Cycle (ms)
Gamuchira nguva yekupera (ms)
20ms
Hapana
Data urefu Position
0x08 Basa
Data type
byte [0]
Remote control SW mhinduro
isina kusaina in8
Tsanangudzo
zvishoma[0-1]: SWA: 2-Kumusoro 3-Pasi zvishoma[2-3]: SWB: 2-Kumusoro 1-Pakati 3-
Pazasi zvishoma [4-5]: SWC: 2-Kumusoro 1-pakati 3-
Pazasi zvishoma[6-7]: SWD: 2-Kumusoro 3-Pasi
byte [1] byte [2]
Kurudyi lever kuruboshwe uye kurudyi
Lever yekurudyi kumusoro nekudzika
yakasaina int8 yakasainwa int8
Range: [-100,100] Range: [-100,100]
byte [3]
Kuruboshwe kumusoro nekudzika
yakasaina int8
Range: [-100,100]
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byte [4] byte [5] byte [6] byte [7]
Kuruboshwe kuruboshwe kuruboshwe uye kurudyi
Bambo rekuruboshwe VRA
Reserved
Verenga cheki
yakasaina int8
yakasaina in8 -
isina kusaina in8
Range: [-100,100] Range: [-100,100] 0x00
0-255 kutenderera kuverenga
3.3.2
CAN
cable
kubatana
BUNKERPRO inotakurwa ine aviation plug yechirume chinongedzo sezvakaratidzwa mumufananidzo 3.2. Tsanangudzo yetambo: yero iCANH, bhuruu iCANL, tsvuku isimba rakanaka, uye dema haina simba.
Cherechedza:
In
the
current
BUNKERPRO
shanduro,
the
external
extension
interface
is
chete
open
ku
the
rear
interface.
In
izvi
shanduro,
the
simba
supply
anogona
provide
a
maximum
current
of
10A.
Mufananidzo 3.2 Schematic Diagram yeAviation Plug Male Connector
3.3.3
Kuziva
of
CAN
command
control
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Tanga iyo BUNKERPRO mobile robhoti chassis kazhinji, batidza iyo FS remote control, uye wobva wachinja iyo yekudzora modhi kukuraira kutonga, ndiko kuti, shandura iyo SWB modhi sarudzo yeFS kure kure kure kumusoro. Panguva ino, iyo BUNKERPRO chassis ichagamuchira murairo kubva kuCAN interface, uye muenzi anogona zvakare kuongorora mamiriro azvino echasi kuburikidza neiyo realtime data inodzoserwa nebhazi reCAN panguva imwe chete. Tarisa kuCAN kutaurirana protocol kune yakatarwa protocol yemukati.
3.4
Firmware
upgrade
Kuti ubatsire vashandisi kukwidziridza firmware vhezheni yeBUNKER MINI 2.0 uye kuunza kune vatengi ruzivo rwakakwana, BUNKER MINI 2.0 inopa iyo hardware interface ye firmware kusimudzira uye inoenderana mutengi software.
Upgrade
Kugadzirira
Agilex INOGONA kugadzirisa module X 1 Micro USB tambo X 1 BUNKER PRO chassis X 1 komputa (WINDOWS OS (Operating System)) X 1
Upgrade
Process
1.Sungai USBTOCAN module pakombiyuta, uye wozarura AgxCandoUpgradeToolV1.3_boxed.exe software (kutevedzana hakugoni kukanganisa, tanga wazarura purogiramu uye wobva wavhara mumodule, chigadziro hachizozivikanwi). 2.Dzvanya bhatani reOpen Serial, wobva wadzvanya bhatani remagetsi pamutumbi wemotokari. Kana iyo yekubatanidza ikabudirira, iyo vhezheni ruzivo rwehutongi huchazivikanwa, sezvakaratidzwa mumufananidzo.
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3.Dzvanya iyo Load Firmware File bhatani rekuisa iyo firmware kuti ikwidziridzwe. Kana kurodha kwakabudirira, ruzivo rwe firmware ruchawanikwa, sezvinoratidzwa mumufananidzo
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4.Click node kuti uvandudzwe mubhokisi rezvinyorwa, uye ipapo chengeta Tanga Kuvandudza Firmware kuti utange kuvandudza firmware. Mushure mekunge kukwidziridzwa kwabudirira, pop-up bhokisi richakurumidza.
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3.5
BUNKERPRO
ROS
Package
Shandisa
Example
ROS inopa mamwe akajairwa sisitimu masevhisi masevhisi, senge Hardware abstraction, yakaderera-level dhizaini kudzora, kuita mabasa akajairwa, inter-process meseji uye data packet management. ROS yakavakirwa padhizaini yekuvaka, kuitira kuti maitiro emanode akasiyana agone kugamuchira, kuburitsa, uye kuunganidza ruzivo rwakasiyana (sekunzwa, kutonga, chimiro, kuronga, nezvimwewo). Parizvino ROS inonyanya kutsigira UBUNTU.
Development
kugadzirira
Hardware
kugadzirira CANlight inogona kutaurirana module X1 Thinkpad E470 notebook X1 AGILEX BUNKERPRO mobile robhoti chassis X1 AGILEX BUNKERPRO inotsigira kure kure FS-i6s X1 AGILEX BUNKERPRO yepamusoro aviation socket X1 Shandisa
example
zvakatipoteredza
tsananguro Ubuntu 18.04 ROS Git
Hardware
kubatana
uye
kugadzirira
Budisa kunze CAN tambo yeBUNKERPRO yepamusoro aviation plug kana plug yemuswe, uye batanidza CAN_H neCAN_L muCAN tambo kuCAN_TO_USB adapta zvichitevedzana;
Batidza knob switch paBUNKERPRO mobile robhoti chassis, uye tarisa kana emergency stop switch pamativi ese ari kuburitswa;
Batanidza CAN_TO_USB kune usb interface yenotibhuku. Dhiyagiramu yekubatanidza inoratidzwa muMufananidzo 3.4.
Mufananidzo 3.4 Schematic Diagram yeCAN CABLE Connection
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ROS
kuiswa
uye
zvakatipoteredza
setting
Kuti uwane ruzivo rwekuisa, ndapota tarisa ku http://wiki.ros.org/kinetic/Installation/Ubuntu
Test
ZVINOGONA
hardware
uye
CAN
kutaurirana
Kugadzirisa CAN-TO-USB adapta Gonesa gs_usb kernel module
sudo modprobe gs_usb
Kuseta 500k Baud chiyero uye kugonesa inogona-ku-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
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Ndokumbira utarise ku: [1] https://github.com/agilexrobotics/agx_sdk [2] https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux. html
AGILEX
BUNKERPRO
ROS
PACKAGE
download
uye
compile
Dhawunirodha ros dependent package
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
Clone uye unganidza bunker_ros source code
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src git clone https://github.com/agilexrobotics/ugv_sdk.git git clone https://github.com/agilexrobotics/bunker_ros.git cd .. catkin_make source /setup.bash
Reference source: https://github.com/agilexrobotics/bunker_ros
Tanga
the
ROS
nodes
Tanga nheyo node
roslaunch bunker_bringup bunker_robot_base.launch Tanga kiibhodhi iri kure.
roslaunch bunker_bringup bunker_teleop_keyboard.launch
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Github ROS yekuvandudza dhairekitori uye mirairo yekushandisa * _base :: Iyo yakakosha node yechassis kutumira uye kugamuchira hierarchical CAN meseji. Zvichienderana nemaitiro ekutaurirana e ros, inogona kudzora kufamba kwechasi uye kuverenga mamiriro eiyo bunker kuburikidza nemusoro wenyaya. *_msgs: Tsanangura iyo chaiyo meseji fomati yechassis mamiriro emhinduro musoro *_bringup: kutanga files yechassis node uye keyboard control node, uye zvinyorwa zvekugonesa iyo usb_to_can module.
4
Q&A
Q BUNKERPRO inotangwa zvakajairwa, asi nei isingafambe kana uchishandisa remote control kuenda
kudzora muviri wemotokari?
A Chekutanga, simbisa kana switch yemagetsi yakadzvanywa; uyezve, simbisa kana kutonga
modhi yakasarudzwa kuburikidza neiyo modhi yekusarudza switch padivi rekuruboshwe reremote control ndeyechokwadi.
Mubvunzo: Iyo BUNKERPRO iri kure yekudzora yakajairika; iyo chassis chimiro uye yekufamba ruzivo mhinduro ndeye yakajairika; asi nei nzira yekudzora yemuviri wemotokari isingachinji, uye nei chassis isingapindure kune control frame protocol kana iyo control frame protocol inopihwa? A: Mumamiriro ezvinhu akajairwa, kana BUNKERPRO ichigona kudzorwa neremote control, zvinoreva kuti chassis movement control yakajairika; kana ichigona kugashira chimiro chemhinduro chechasisi, zvinoreva kuti iyo CAN yekuwedzera link yakajairika. Ndokumbira utarise kana murairo wachinjirwa ku can control mode.
Mubvunzo: Paunenge uchitaurirana kuburikidza nebhazi reCAN, iyo chassis mhinduro yekuraira ndeye yakajairika; asi nei motokari isingapinduri kana ichibudisa kutonga? A: BUNKERPRO ine nzira yekudzivirira yekukurukurirana mukati. Iyo chassis ine nguva yekudzivirira nzira kana ichigadzirisa CAN inodzora mirairo kubva kunze. Ngatitii kuti mushure mokunge motokari yagamuchira chimiro chekutaura kweprotocol, asi haigamuchire murairo unotevera wekutonga kwepamusoro pe500MS, ichapinda mukuchengetedzwa kwekutaurirana, uye kukurumidza kwayo ndeye 0. Nokudaro, mirairo kubva kune kombiyuta inotakura inofanira. kupihwa nguva nenguva.
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5
Product
Dimensions
5.1
Mufananidzo
diagram
of
chigadzirwa
dimensions
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5.2
Mufananidzo
diagram
of
pamusoro
extended
rutsigiro
dimensions
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Zvinyorwa / Zvishandiso
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AgileX Hunter AgileX Robotics Team [pdf] User Manual Hunter AgileX Robotics Team, AgileX Robotics Team, Robotics Team, Team |
