TRACER AgileX Robotics Team Autonomous Mobile Robot

Ichi chitsauko chine ruzivo rwakakosha rwekuchengetedza, iro robhoti risati raiswa simba kekutanga, chero munhu kana sangano rinofanira kuverenga nekunzwisisa ruzivo urwu usati washandisa 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 mubhuku rino harusanganisi dhizaini, kuisirwa uye kushanda kwerobhoti yakazara application, uye haisanganisi ese emidziyo yeperipheral inogona kukanganisa kuchengetedzwa kweiyo yakazara system. Dhizaini uye kushandiswa kweiyo yakazara sisitimu inoda kutevedzera zvinodiwa zvekuchengetedza zvakamiswa mumiyero nemirairo yenyika iyo robhoti yakaiswa. TRACER vasanganisi uye vatengi vekupedzisira vane basa rekuona kuteererwa nemitemo inoshanda uye mirau yenyika dzakakodzera, uye kuona kuti hapana njodzi huru mukuzara kwerobhoti application. Izvi zvinosanganisira asi hazvigumiri kune zvinotevera

Kubudirira uye mutoro

• 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 yeperipheral midziyo, 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 kuti vatevedze mirau yakakodzera uye inogoneka mitemo nemirairo yekuongorora kuchengetedza. Kuve nechokwadi chekuti robhoti yakagadziridzwa haina chero njodzi huru uye njodzi dzekuchengetedza mumashandisirwo chaiwo.
• Unganidza zvese zvinyorwa muhunyanzvi file: kusanganisira kuongororwa kwenjodzi uye bhuku rino.

Mafungiro Ezvakatipoteredza

• Kwekutanga kushandiswa, ndapota verenga bhuku rino zvakanyatsonaka kuti unzwisise zvakakosha zvekushandisa uye maitiro ekushanda.
• Kuti ushande kure, sarudza nzvimbo yakavhurika kuti ushandise TRACER, nekuti TRACER haina kugadzirwa chero otomatiki chipingamupinyi chinodzivirira sensor.
• Shandisa TRACER nguva dzose iri pasi -10 ℃ ~ 45 ℃ ambient tembiricha.
• Kana TRACER isina kugadzirwa neyakasiyana tsika IP dziviriro, mvura yayo uye guruva kudzivirira 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 rimoti controller bhatiri 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.
• Hurefu hwekutakura hweTRACER i100KG. Paunenge uchishandiswa, ita shuwa kuti mubhadharo haupfuure 100KG.
• Paunenge uchiisa yekunze yekuwedzera paTRACER, simbisa chinzvimbo chepakati pehuwandu hwekuwedzera uye ita shuwa kuti iri pakati pekutenderera.
• Ndokumbira uchajise nenguva kana mudziyo uchikwiratage yakaderera pane 22.5V.
• Kana TRACER iine chakakanganisika, ndapota imbomira kuishandisa kudzivirira kukuvara kwechipiri.
• Kana TRACER yakanganisa, ndapota taura nehunyanzvi hwakakodzera kuti ugadzirise, usaite chirema uri wega.
• Gara shandisa SCOUT MINI(OMNI) munharaunda ine mwero wekudzivirira unodiwa pamidziyo.
• Usasundire SCOUT MINI(OMNI) zvakananga.
• Paunenge uchichaja, ita shuwa kuti ambient tembiricha iri pamusoro pe0 ℃

Maintenance

Kuti uve nechokwadi chekuchengeta simba rebhatiri, bhatiri rinofanira kuchengetwa pasi pemagetsi, uye rinofanira kubhadharwa nguva dzose kana risina kushandiswa kwenguva refu.

MINIAGV(TRACER) Nhanganyaya

TRACER yakagadzirirwa seUGV yakawanda-chinangwa ine zvakasiyana-siyana zvekushandisa zvakatariswa: modular dhizaini; flexible connectivity; ine simba mota system inokwanisa kukwirisa mubhadharo.Kusanganiswa kwemavhiri maviri akasiyana chassis uye hub mota inogona kuita kuti ifambe flexible indoor.Zvimwe zvidimbu zvakaita sestereo kamera, laser radar, GPS, IMU uye robotic manipulator inogona kuiswa sarudzo paTRACER yepamberi. navigation uye komputa kuona application. TRACER inowanzoshandiswa pakudzidzisa kutyaira uye kutsvagisa, mukati uye kunze kwekuchengetedza kuchengetedza uye chekufambisa, kungotaura zvishoma chete.

Component list

Zita	Quantity
TRACER Robhoti muviri	x1
Bhatiri charger(AC 220V)	x1
Remote control transmitter (optional)	x1
USB kune serial tambo	x1
Aviation plug (chirume,4-Pini)	x1
USB kune CAN kutaurirana module	x1

Tech specifications

Zvido zvebudiriro
RC transmitter inopihwa (inosarudzika) mune yekumisikidza fekitori yeTRACER, iyo inobvumira vashandisi kudzora chassis yerobhoti kufamba uye kutendeuka; CAN uye RS232 interfaces paTRACER inogona kushandiswa kugadzirisa mushandisi

The Basics

Ichi chikamu chinopa sumo pfupi kune TRACER mobile robot platform, sezvakaratidzwa

TRACER Yakagadzirwa seyakazara yakangwara module, iyo pamwe neine simba DC hub mota, inogonesa chassis yeTRACER robhoti kuti ifambe zviri nyore panzvimbo yakati sandara yemukati. Anti-kudhumhana matanda anoiswa akatenderedza mota kuti aderedze kukuvara kunobvira kumuviri wemotokari panguva yekudhumhana. Mwenje inoiswa pamberi pemotokari, iyo mwenje chena yakagadzirirwa kuvhenekera pamberi. Chimbichimbi chekumisa chinomisikidzwa kumucheto kumashure kwemuviri wemotokari, iyo inogona kudzima simba rerobhoti nekukurumidza kana robhoti raita zvisingaite. Mvura-proof connectors yeDC simba uye kutaurirana interface inopiwa kumashure kweTRACER, iyo isingangobvumiri kushanduka kwekubatana pakati perobhoti uye kunze kwezvinhu asiwo inovimbisa kuchengetedzwa kwakakodzera kune mukati merobhoti kunyange pasi pemamiriro ekushanda akaoma. Iyo bayonet yakavhurika compartment yakachengeterwa pamusoro kune vashandisi.

Status chiratidzo
Vashandisi vanogona kuona mamiriro emuviri wemotokari kuburikidza ne voltmeter uye marambi akaiswa paTRACER. Kuti uwane ruzivo

Mirayiridzo pamagetsi ekubatanidza

Rear magetsi interface
Iyo yekuwedzera interface kumucheto kumashure inoratidzwa muMufananidzo 2.3, apo Q1 iri D89 serial port; Q2 ndiyo inomira chinja; Q3 ndiyo simba rekuchaja chiteshi; Q4 ndiyo yekuwedzera interface yeCAN uye 24V magetsi ekupa; Q5 ndiyo mita yemagetsi; Q6 ndiyo inotenderera chinja sechinhu chikuru chemagetsi.

Iyo pani yekumashure inopa yakafanana CAN yekutaurirana interface uye 24V simba rekubatanidza neiyo yepamusoro (mbiri dzadzo dziri mukati-yakabatana). Tsanangudzo dzepini dzinopihwa

Mirayiridzo paremote control
FS RC transmitter chinhu chakasarudzika cheTRACER chekudzora robhoti nemaoko. Iyo transmitter inouya neruboshwe-ruoko-throttle kumisikidzwa. Tsanangudzo nebasa

Pamusoro pezvimiti zviviri S1 uye S2 inoshandiswa kutumira mutsara uye angular velocity mirairo, maviri switch anogoneswa nekusarudzika: SWB yekutonga modhi sarudzo (yepamusoro chinzvimbo chemirairo yekudzora modhi uye nzvimbo yepakati yeremote control mode), SWC yekuvhenekesa. control. Iwo maviri mabhatani eSIMBA anoda kudzvanywa uye kubatwa pamwechete kuti abatidze kana kudzima transmitter.

Mirayiridzo pamusoro pezvido zvekutonga uye mafambiro
Sezvinoratidzwa mumufananidzo 2.7, mutumbi wemotokari weTRACER wakafanana neX axis yeiyo yakasimbiswa referensi coordinate system. Zvichitevera gungano iri, mutsara wemutsara wakanaka unoenderana nekufamba kuenda mberi kwemotokari pamwe nekwakanaka x-axis nzira uye yakanaka angular velocity inoenderana nechakanaka kutenderera kurudyi nezve z-axis. Mune iyo manual control mode ine RC transmitter, kusundira C1 tsvimbo (DJI modhi) kana S1 tsvimbo (FS modhi) kumberi kunoburitsa yakanaka linear velocity command uye kusundira C2 (DJI modhi) uye S2 (FS modhi) kuruboshwe. ichagadzira yakanaka angular velocity command

Kutanga

Ichi chikamu chinosuma mashandiro ekutanga uye kuvandudzwa kweTRACER chikuva uchishandisa CAN bhazi interface.

Use uye oparesheni

Check

• Tarisa mamiriro emuviri wemotokari. Tarisa uone kana paine zvakakosha anomalies; kana zvirizvo, ndapota taura nevashandi vebasa mushure mekutengesa kuti ubatsirwe;
• Tarisa mamiriro e emergency stop switch. Ita shuwa kuti ese mabhatani ekumisa emergency aburitswa.

Vhara
Tenderedza kiyi switch kuti udzime magetsi;

Tanga

• Emergency stop switch status. Simbisa kuti mabhatani ekumisa emergency anoburitswa ese;
• Tenderedza kiyi switch (Q6 pamagetsi emagetsi), uye kazhinji, voltmeter inoratidza chaiyo bhatiri voltage nemarambi emberi nekumashure achabatidzwa zvese

Emergency stop
Dzvanya pasi emergency push bhatani zvese kuruboshwe uye kurudyi kwemota yekumashure;

Basic operating procedure ye remote control
Mushure mekunge chassis yeTRACER nharembozha yatangwa nemazvo, vhura iyo RC transmitter uye sarudza iyo kure-control mode. Zvadaro, kufamba kwepuratifomu kweTRACER kunogona kudzorwa neRC transmitter.

Kuchaja
TRACER inoshongedzerwa ne10A charger nekukasira kuzadzisa zvinodiwa nevatengi.

Iyo yakadzama yekushandisa maitiro ekuchaja inoratidzwa sezvinotevera

• Ita shuwa kuti magetsi eTRACER chassis akadzimwa. Usati wachaja, ndapota ita shuwa Q6 (kiyi switch) mune yekumashure control console yakadzimwa;
• Isa plug yekuchaja muQ3 yekuchaja interface pane yekumashure control panel;
• Batanidza charger kune magetsi wobatidza switch muchaja. Zvadaro, robhoti inopinda muhurumende yekuchaja.

Kukurukurirana uchishandisa CAN
TRACER inopa CAN uye RS232 interfaces yekugadziridza mushandisi. Vashandisi vanogona kusarudza imwe yeaya mainterfaces kuti aite yekuraira kutonga pamusoro pemuviri wemotokari.

CAN meseji protocol
TRACER inotora CAN2.0B yekutaurirana mwero iyo ine nhanho yekutaurirana ye500K uye Motorola meseji fomati. Via yekunze CAN bhazi interface, iyo inofamba mutsara kumhanya uye inotenderera angular kumhanya kwechasisi inogona kudzorwa; TRACER ichaita mhinduro pane yazvino mafambiro mamiriro uye ruzivo rwechassis mamiriro munguva chaiyo. Iyo protocol inosanganisira sisitimu mamiriro emhinduro chimiro, mafambiro ekugadzirisa mafambiro uye furemu yekudzora, zviri mukati mayo zvinoratidzwa seizvi: Iyo system mamiriro emhinduro yekuraira inosanganisira iyo yeruzivo ruzivo nezve yazvino mamiriro emuviri wemotokari, control mode mamiriro, bhatiri vol.tage uye kukundikana kwehurongwa. Tsanangudzo inopiwa muTafura 3.1.

Feedback Frame yeTRACER Chassis System Status

Command Name System Status Feedback Command
Kutumira node	Kugamuchira node	ID	Cycle (ms)	Receive-timeout (ms)
Chassis-ye-waya Data urefu Position	Decoisniotrno-lmuankiting 0x08 Function	0x151   Data type	20ms	Hapana
			Tsanangudzo
byte [0]	Cuvrerhenistlestbaotudsyof	isina kusaina in8	0x00 Sisitimu mune yakajairika mamiriro 0x01 Emergency stop mode 0x02 System kunze
byte [1]	Mode control	isina kusaina in8	0x00 Remote control mode 0x01 CAN command control mode[1] 0x02 Serial port control mode
byte [2] byte [3]	Bhatiri voltaguye yakakwirira 8 bits Battery voltaguye kuderedza 8 bits	isina kusaina in16	voltage X 10 (nekururama kwe0.1V)
byte [4]	Kukundikana ruzivo	isina kusaina in16	Ona zvinyorwa zveruzivo【Tafura 3.2】
byte [5]	Reserved	–	0x00
byte [6]	Reserved	–	0x00
byte [7]	Verenga paritybit (kuverenga)	isina kusaina in8	0 - 255 kuverenga zvishwe

Tsanangudzo yeKutadza Ruzivo

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.

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
Data urefu	0x08
Position	Function	Data type	Tsanangudzo
byte [0] byte [1]	Kufambisa kumhanya kwakakwira 8 bits Kufambisa kumhanya kunodzika 8 bits	yakasaina int16	Motokari inomhanya Uniti: mm/s
byte [2] byte [3]	Kutenderera kumhanya kwakakwira 8 bits Kutenderera kumhanya kunodzika 8 bits	yakasaina int16	Mota angular kumhanya Chikamu: 0.001rad/s
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.

Kudzora Frame yeMovement Control Command

Command Name Control Command
Kutumira node Kudzora-ne-waya chassis Data kureba	Kugamuchira node Chassis node 0x08	ID 0x111	Cycle (ms)	Receive-timeout (ms)
			20ms	500ms
Position	Function	Data type	Tsanangudzo
byte [0] byte [1]	Kufamba kumhanya kwakakwira 8 mabhiti Kufambisa kumhanya kunodzika 8 bits	yakasaina int16	Kumhanya kweMotokari: mm/s
byte [2] byte [3]	Kutenderera kumhanya kwakakwira 8 bits Kutenderera kumhanya kunodzika 8 bits	yakasaina int16	Mota angular speed Chikamu: 0.001rad/s
byte [4]	Reserved	—	0x00
byte [5]	Reserved	—	0x00
byte [6]	Reserved	—	0x00
byte [7]	Reserved	—	0x00

Chiedza chekudzora chimiro chinosanganisira ikozvino mamiriro emwenje wepamberi. Nezve zvakadzama zvemukati zveprotocol, ndapota tarisa kune Tafura 3.5.

Lighting Control Frame

Kutumira node	Kugamuchira node	ID	Cycle (ms) Receive-timeout (ms)
Chassis-ye-waya	Sarudzo-yekuita control unit	0x231	20ms	Hapana
Data urefu	0x08
Position	Function	Data type	Tsanangudzo
byte [0]	Lighting 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	[0, 100], apo 0mreafxeimrsutomnboribgrhigtnhetnssess, zana rinoreva
byte [3]	Reserved	—	0x00
byte [4]	Reserved	—	0x00
byte [5]	Reserved	—	0x00
byte [6] byte [7]	Reserved Count paritybit (kuverenga)	– isina kusaina in8	0x00 0a-

Iyo control mode frame inosanganisira set the control mode of chassis. Kuti uwane zvakadzama zvirimo, ndapota tarisa kune Tafura 3.7.

Kudzora Mode Frame Instruction

Kudzora mode kuraira
Kana iyo RC transmitter yakadzimwa, iyo yekudzora modhi yeTRACER inomisikidzwa kuraira control mode, zvinoreva kuti chassis inogona kudzorwa zvakananga kuburikidza nekuraira. Nekudaro, kunyangwe iyo chassis iri mukuraira kudzora modhi, iyo yekudzora modhi mumirairo inoda kuiswa ku0x01 kuti ibudirire kuita yekumhanyisa kuraira. Kana iyo RC transmitter ikabatidzwa zvakare, ine chiremera chepamusoro chepamusoro kuchengetedza kudzora kwekuraira uye chinja pamusoro peiyo nzira yekudzora. Chimiro chechimiro chinosanganisira meseji yemhosho yakajeka. Kuti uwane zvakadzama zvirimo, ndapota tarisa kune Tafura 3.8.

Status chinzvimbo Frame Instruction

Raira Zita Status chinzvimbo Frame
Kutumira node	Kugamuchira node	ID	Cycle (ms) Receive-timeout (ms)
Chassis-ye-waya Data urefu Position	Sarudzo-yekuita control unit 0x01 Function	0x441   Data type	Hapana	Hapana
			Tsanangudzo
byte [0]	Kudzora maitiro	isina kusaina in8	0x00 Bvisa zvikanganiso zvese 0x01 Bvisa zvikanganiso zvemotor 1 0x02 Bvisa zvikanganiso zvemota 2

Odometer Feedback Instruction

Kutumira node Steer-by-waya chassis Data urefu	Kugamuchira node Sarudzo-yekuita control unit 0x08	ID 0x311	Cycle (ms) 接收超时(ms)
			20ms	Hapana
Position	Function	Data type	Tsanangudzo
byte [0]	Kuruboshwe tire yepamusorosoro odometer	yakasaina int32	Dhata rekuruboshwe matayi odometer Unit mm
byte [1]	Tayi rekuruboshwe rechipiri chepamusoro odometer
byte [2]	Tayi rekuruboshwe rechipiri rakadzikira odometer
byte [3]	Kuruboshwe tai yakaderera odometer
byte [4]	Kurudyi tai yepamusoro odometer	akasaina in32-	Data yekurudyi tire odometer Unit mm
byte [5]	Kurudyi tai yechipiri chepamusoro odometer
byte [6]	Kurudyi tai yechipiri yakaderera odometer
byte [7]	Rudyi tai yakaderera odometer

Iyo chassis mamiriro eruzivo achadzoserwa; chii chimwe, ruzivo nezve mota. Iyi inotevera mhinduro furemu ine ruzivo nezve mota : Iyo siriyo nhamba dze2 motors mune chassis inoratidzwa mumufananidzo uri pazasi:

Motokari Yepamusoro-Kumhanya Ruzivo Feedback Frame

Raira Zita Mota Yepamusoro-Kumhanya Ruzivo Feedback Frame
Kutumira node	Kugamuchira node	ID	Cycle (ms) Receive-timeout (ms)
Kudzora-ne-waya chassis Data kureba Position	Chassis inotungamirwa newaya 0x08 Function	0x251~0x252   Data type	20ms	Hapana
			Tsanangudzo
byte [0] byte [1]	Motokari inotenderera kumhanya yakakwira 8 bits Motokari inotenderera kumhanya yakaderera 8 bits	yakasaina int16	Motokari inotenderera kumhanya Chikamu: RPM
byte [2]	Reserved	–	0x00
byte [3]	Reserved	—	0x00
byte [4]	Reserved	—	0x00
byte [5]	Reserved	—	0x00
byte [6]	Reserved	–	0x00

Motokari Yakaderera-Kumhanya Ruzivo Feedback Frame

Raira Zita Mota Yakaderera-kumhanya Ruzivo Feedback Frame
Kutumira node	Kugamuchira node	ID	Cycle (ms)
Kudzora-ne-waya chassis Data kureba Position	Chassis inotungamirwa newaya 0x08 Function	0x261~0x262   Data type	100ms
			Tsanangudzo
byte [0] byte [1]	Reserved Reserved	–	0x00 0x00
byte [2]	Reserved	–	0x00
byte [3]	Reserved	—	0x00
byte [4]	Reserved	—	0x00
byte [5]	Mamiriro emutyairi	—	Tsanangudzo inoratidzwa muTafura 3.12
byte [6]	Reserved	–	0x00
byte [7]	Reserved	–	0

Tsanangudzo yeKutadza Ruzivo

CAN cable connection
NEKUTSANANGURWA NEWAYA, ndokumbira TIVA KUTAFURA 2.2.

• Tsvuku: VCC (bhatiri rakanaka)
• Nhema:GND(bhatiri harina)
• Bhuruu:CAN_L
• Yero:CAN_H

Schematic Diagram yeAviation Male Plug

Cherechedza:Iyo yepamusoro inogoneka kubuda ikozvino inowanzotenderedza 5 A.

Kuitwa kweCAN command control
Nyatso tanga chassis yeTRACER nhare robhoti, uye batidza FS RC transmitter. Wobva wachinja kuenda kumirairo yekudzora modhi, kureva kushandura SWB modhi yeFS RC transmitter kumusoro. Panguva ino, TRACER chassis inogashira 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.

Kukurukurirana uchishandisa RS232

Nhanganyaya kune serial protocol
Iyi ndiyo serial communication mwero wakaumbwa pamwe chete neElectronic Industries Association (EIA) pamwe neBell System, vagadziri vemodemu uye vanogadzira macomputer terminal muna 1970. Zita rayo rakazara rinonzi "technical standard for serial binary data exchange interface pakati pe data terminal equipment. (DTE) uye dhata yekutaurirana michina (DCE). Iyi chiyero inoda kushandisa 25-pini DB-25 yekubatanidza iyo pini yega yega inotsanangurwa inoenderana nechiratidzo chemukati uye akasiyana masaini mazinga. Mushure mezvo, RS232 inorerutswa seDB-9 yekubatanidza muIBM PC, yave chiyero che de facto kubvira ipapo. Kazhinji, RS-232 ports yekutonga kwemaindasitiri inongoshandisa marudzi matatu etambo - RXD, TXD uye GND.

Seri meseji protocol

Basic parameters yekutaurirana

Item	Parameter
Baud rate	115200
Check	Hapana cheki
Data bit urefu	8 zvishoma
Mira zvishoma	1 zvishoma

Basic parameters yekutaurirana

Tanga bit Frame urefu Raira rudzi Command ID Data field Frame ID
SOF		furemu_L	CMD_TYPE	CMD_ID	data [0] ... data[n]	frame_id	check_sum
byte 1	byte 2	byte 3	byte 4	byte 5	byte 6 … byte 6+n	zvakanaka 7+n	zvakanaka 8+n
5A	A5

Iyo protocol inosanganisira kutanga zvishoma, kureba kwefuremu, furemu yekuraira mhando, ID yekuraira, data data, furemu ID, uye checksum kuumbwa. Ipo, kureba kwefuremu kunoreva kureba kusingasanganisire bhiti rekutanga uye cheki yemhando; iyo checksum inoreva iyo sum kubva pakutanga zvishoma kune yese data yefuremu ID; iyo furemu ID ndeye loop count pakati pe0 kusvika 255, iyo inozowedzerwa kana murairo wese watumirwa.

Protocol content
Sistimu yemhinduro yekuraira

Raira Zita System mamiriro emhinduro yekuraira
Kutumira node	Kugamuchira node	Cycle (ms) Receive-timeout (ms)
Steer-by-waya chassis kureba kweframe Command type	Sarudzo-yekuita control unit 0x0a Mhinduro yekuraira (0xAA)	20ms	Hapana
Command ID	0x01
Kureba kwenzvimbo yedata	6
Position	Function	Data type	Tsanangudzo
byte [0]	Mamiriro azvino emutumbi wemotokari	isina kusaina in8	0x00 System mune yakajairika mamiriro 0x01 Emergency stop mode (isina kugoneswa) 0x01 System kunze
byte [1]	Mode control	isina kusaina in8	0x00 Remote control mode 0x01 CAN kuraira maitiro ekudzora [1] 0x02 Serial port control mode
byte [2] byte [3]	Bhatiri voltaguye yakakwirira 8 bits Bhatiri voltaguye kuderedza 8 bits	isina kusaina in16	voltage X 10 (nekururama kwe0.1V)
byte [4] byte [5]	Kutadza ruzivo kwakakwira 8 bits Kutadza ruzivo kudzikisa 8 bits	isina kusaina in16	[DescripSteioennofteFsaiflourredeIntafoilrsmation]

• @BRIEF SERIAL MESSAGE CHECKSUM EXAMPTHE CODE
• @PARAM[IN] *DATA : SERIAL MESSAGE DATA STRUCT POINTER
• @PARAM[IN] LEN :SERIAL MESSAGE DATA UREFU
• @DZOSERA CHECKSUM RESULT
• STATIC UINT8 AGILEX_SERIALMSGCHECKSUM(UINT8 *DATA, UINT8 LEN)
• UINT8 CHECKSUM = 0X00;
• FOR(UINT8 I = 0; I < (LEN-1); I++)
• CHECKSUM += DATA[I];

Example ye serial cheki algorithm kodhi

Tsanangudzo yeKutadza Ruzivo
Byte	Bit	Meaning
byte [4]         byte [5]     [1]: Th subs	zvishoma [0]	Tarisa kukanganisa kweCAN kutaurirana kutonga kuraira (0: Hapana kukundikana 1: Kutadza)
	zvishoma [1]	Mota drive over-temperature alarm[1] (0: Hapana alarm 1: Alarm) Tembiricha inogumira ku55 ℃
	zvishoma [2]	Alarm yeMotor over-current[1] (0: Hapana alarm 1: Alarm) Ikozvino kukosha kwe15A
	zvishoma [3]	Battery under-voltage alarm (0: Hapana aramu 1: Aramu) Aramu voltaguye 22.5v
	zvishoma [4]	Yakachengetwa, default 0
	zvishoma [5]	Yakachengetwa, default 0
	zvishoma [6]	Yakachengetwa, default 0
	zvishoma [7]	Yakachengetwa, default 0
	zvishoma [0]	Battery under-voltage kukundikana (0: Hapana kukundikana 1: Kukundikana) Protective voltaguye 22v
	zvishoma [1]	Bhatiri pamusoro-voltage kukundikana (0: Hapana kukundikana 1: Kukundikana)
	zvishoma [2] zvishoma [3] zvishoma [4]	No.1 motokari yekukurukurirana kukundikana (0: Hapana kukanganisa 1: Kukundikana) No.2 motokari yekukurukurirana kukundikana (0: Hapana kukanganisa 1: Kukundikana) No.3 mota kutadza kutaurirana (0: Hapana kutadza 1: Kutadza)
	zvishoma [5]	No.4 mota kutadza kutaurirana (0: Hapana kutadza 1: Kutadza)
	zvishoma [6] zvishoma [7] zvakafanana ve	Motokari dhiraivha pamusoro-tembiricha dziviriro [2] (0: Hapana dziviriro 1: Dziviriro) Tembiricha inogumira ku65 ℃ Motor over-current protection[2] (0: Hapana dziviriro 1: Dziviriro) Ikozvino inoshanda kukosha 20A marobhoti chassis firmware version mushure meV1.2.8 inotsigirwa, asi shanduro dzakapfuura dzinoda kutsigirwa.

1. Shanduro dzinotevera dzerobhoti chassis firmware version mushure meV1.2.8 dzinotsigirwa, asi shanduro dzakapfuura dzinoda kuvandudzwa zvisati zvatsigirwa.
2. Iyo yakanyanya-tembiricha alarm yemotor drive uye mota pamusoro-yazvino alarm haizogadziriswe mukati asi inongosetwa kuitira kupa iyo komputa yekumusoro kupedzisa kumwe kugadziridza. Kana kutyaira pamusoro-ikozvino kuchiitika, zvinokurudzirwa kuderedza kumhanya kwemotokari; kana kunyanyisa-tembiricha kukaitika, zvinokurudzirwa kudzikisa kumhanya kutanga uye kumirira tembiricha kudzikira. Iyi mureza bhiti ichadzoserwa kune yakajairika mamiriro sezvo tembiricha inodzikira, uye iyo-aramu yemazuva ano ichanyatso kucheneswa kana kukosha kwazvino kwadzoserwa kune yakajairika mamiriro;
3. Kudzivirirwa kwepamusoro-tembiricha yemotor drive uye iyo mota pamusoro-ikozvino chengetedzo ichagadziriswa mukati. Kana tembiricha yemota yekutyaira yakakwira kupfuura tembiricha yekudzivirira, dhiraivha inobuda ichaganhurwa, mota inomira zvishoma nezvishoma, uye kukosha kwekutonga kwekufamba kwekutonga kuraira kuchave kusingaite. Ichi chidimbu chemureza hachizonyatso kucheneswa, icho chinoda kombiyuta yepamusoro kutumira murairo wekubvisa kudzivirira kukundikana. Kana murairo wacheneswa, mutemo wekutonga wekufamba unogona kungoitwa zvakajairika.

Movement control feedback command

Command Name	Movement Control Feedback Command
Kutumira node	Kugamuchira node	Cycle (ms)	Receive-timeout (ms)
Steer-by-waya chassis kureba kweframe Command type	Sarudzo-yekuita control unit 0x0A Mhinduro yekuraira (0xAA)	20ms	Hapana
Command ID	0x02
Kureba kwenzvimbo yedata	6
Position	Function	Data type	Tsanangudzo
byte [0] byte [1]	Kufambisa kumhanya kwakakwira 8 bits Kufambisa kumhanya kunodzika 8 bits	yakasaina int16	Kumhanya chaiko X 1000 (nechokwadi che 0.001m/s)
byte [2] byte [3]	Kutenderera kumhanya kwakakwira 8 bits Kutenderera kumhanya kunodzika 8 bits	yakasaina int16	Kumhanya chaiko X 1000 (nechokwadi che 0.001rad/s)
byte [4]	Reserved	–	0x00
byte [5]	Reserved	–	0x00

Movement control command

Command Name Control Command
Kutumira node	Kugamuchira node	Cycle (ms)	Receive-timeout(ms)
Sarudzo-yekuita control unit Frame kureba Command type	Chassis node 0x0A Kudzora murairo (0x55)	20ms	Hapana
Command ID	0x01
Kureba kwenzvimbo yedata	6
Position	Function	Data type	Tsanangudzo 0x00 Remote control mode
byte [0]	Kudzora maitiro	isina kusaina in8	0x01 CAN kuraira kudzora maitiro[1] 0x02 Serial port control mode Ona Cherechedzo 2 kuti uwane ruzivo*
byte [1]	Kutadza kubvisa murairo	isina kusaina in8	Kumhanya kukuru 1.5m/s, kukosha kwerudzi (-100, 100)
byte [2]	Linear speed percenttage	yakasaina int8	Kumhanya kukuru 0.7853rad/s, kukosha kwemhando (-100, 100)
byte [3]	Angular speed percenttage	yakasaina int8	0x01 0x00 Remote control mode INOGONA kuraira maitiro ekudzora[1] 0x02 Serial port control mode Ona Cherechedzo 2 yeruzivo *
byte [4]	Reserved	–	0x00
byte [5]	Reserved	–	0x00

No.1 motor drive information feedback frame

Command Name	No.1 Motor Drive Information Feedback Frame
Kutumira node	Kugamuchira node	Cycle (ms)	Receive-timeout (ms)
Steer-by-waya chassis kureba kweframe Command type	Sarudzo-yekuita control unit 0x0A Mhinduro yekuraira (0xAA)	20ms	Hapana
Command ID	0x03
Kureba kwenzvimbo yedata	6
Position	Function	Data type	Tsanangudzo
byte [0] byte [1]	No.1 drive ikozvino yakakwirira 8 bits No.1 drive ikozvino yakaderera 8 bits	isina kusaina in16	Chaikozvino X 10 (ine huchokwadi hwe0.1A)
byte [2] byte [3]	No.1 drive rotational speed yakakwira 8 bits No.1 drive rotational speed yakaderera 8 bits	yakasaina int16	Chaiyo mota shaft velocity (RPM)
byte [4]	No.1 hard disk drive (HDD) tembiricha	yakasaina int8	Tembiricha chaiyo (ine huchokwadi hwe1 ℃)
byte [5]	Reserved	—	0x00

No.2 motor drive information feedback frame

Command Name	No.2 Motor Drive Information Feedback Frame
Kutumira node	Kugamuchira node	Cycle (ms)	Receive-timeout (ms)
Steer-by-waya chassis kureba kweframe Command type	Sarudzo-yekuita control unit 0x0A Mhinduro yekuraira (0xAA)	20ms	Hapana
Command ID	0x04
Kureba kwenzvimbo yedata	6
Position	Function	Data type	Tsanangudzo
byte [0] byte [1]	No.2 drive ikozvino yakakwirira 8 bits No.2 drive ikozvino yakaderera 8 bits	isina kusaina in16	Chaikozvino X 10 (ine huchokwadi hwe0.1A)
byte [2] byte [3]	No.2 drive rotational speed yakakwira 8 bits No.2 drive rotational speed yakaderera 8 bits	yakasaina int16	Chaiyo mota shaft velocity (RPM)
byte [4]	No.2 hard disk drive (HDD) tembiricha	yakasaina int8	Tembiricha chaiyo (ine huchokwadi hwe1 ℃)
byte [5]	Reserved	—	0x00

Lighting control frame

Raira Zita Lighting Control Frame
Kutumira node	Kugamuchira node	Cycle (ms)	Receive-timeout (ms)
Sarudzo-yekuita control unit Frame kureba Command type	Chassis node 0x0A Kudzora murairo (0x55)	20ms	500ms
Command ID	0x02
Kureba kwenzvimbo yedata	6
Position	Function	Data type	Tsanangudzo
byte [0]	Lighting control inogonesa mureza	isina kusaina in8	0x00 Kudzora murairo haugoneki 0x01 Lighting control inogonesa
byte [1]	Front light mode	isina kusaina in8	0x010 NOC 0x03 Us0exr-0d2eBfiLnemdobdreightness
byte [2]	Kupenya kwakasarudzika kwechiedza chemberi	isina kusaina in8	[0, 100]r,ewfehresrteo0mreafxeimrsutomnboribgrhigtnhetnssess, 0x00 NC
byte [3]	Rear light mode	isina kusaina in8   isina kusaina in8	0x01 NO 0x03 0x02 BL maitiro Kupenya kwakatsanangurwa nemushandisi [0,], apo 0 inoreva kusapenya,
byte [4]	Kupenya kwetsika kwechiedza chekumashure		100 inoreva kupenya kwakanyanya
byte [5]	Reserved	—	0x00

Chiedza chekudzora mhinduro frame

Raira Zita Lighting Control Feedback Frame
Kutumira node	Kugamuchira node	Cycle (ms)	Receive-timeout (ms)
Chassis-ye-waya Kureba kweframe Command type	Sarudzo-yekuita control unit 0x0A Mhinduro yekuraira (0xAA)	20ms	Hapana
Command ID	0x07
Kureba kwenzvimbo yedata	6
Position	Function	Data type	Tsanangudzo
byte [0]	Ikozvino magetsi ekudzora anogonesa mureza	isina kusaina in8	0x00 Kudzora murairo haugoneki 0x01 Lighting control inogonesa
byte [1]	Current light mode	isina kusaina in8	0x00 NC 0x01 NO 0x02 BL modhi 0x03 Mushandisi-inotsanangurwa kupenya [0,], apo 0 inoreva kusapenya,
byte [2]	Ikozvino kupenya kwechiedza chemberi	isina kusaina in8	100 inoreva kupenya kwakanyanya
byte [3]	Current back light mode	isina kusaina in8   isina kusaina in8	0x00 NC 0x01 NO 0x02 BL maitiro [0, 0x03 Mushandisi-inotsanangurwa kujeka, ], apo 0 anoreva t hapana kupenya
byte [4] byte [5]	Ikozvino kupenya kwetsika kwechiedza chekumashure Reserved	—	100 inoreva m0ax0im0 um kupenya

Example data
Iyo chassis inodzorwa kuti iende kumberi kune mutsara kumhanya we 0.15m / s, kubva iyo chaiyo data inoratidzwa sezvinotevera.

Tanga zvishoma		Flernamgthe	Comtympeand	ComImDand	Data field			Chimiro ID	cCohmepcoksitmion
byte 1	byte 2	byte 3	byte 4	byte 5	byte 6	….	zvakanaka 6+n	zvakanaka 7+n	zvakanaka 8+n
0x5A	0xA5	0x0A	0x55	0x01	….	….	….	0x00	0x6B

Iyo data field content inoratidzwa sezvinotevera:

Iyo yese data tambo ndeye: 5A A5 0A 55 01 02 00 0A 00 00 00 00 6B

Serial connection
Bvisa serial tambo ye USB-kusvika-RS232 kubva kune yedu yekutaurirana chishandiso kit kuti ibatanidze pachiteshi cheseri chiri kumagumo. Wobva washandisa serial port chishandiso kuseta inoenderana baud rate, uye itisa bvunzo neye exampzuva rakapihwa pamusoro. Kana iyo RC transmitter iripo, inoda kuchinjirwa kumirairo yekudzora maitiro; kana iyo RC transmitter yadzimwa, tumira zvakananga iyo control command. Izvo zvinofanirwa kucherechedzwa kuti, iwo murairo unofanirwa kutumirwa nguva nenguva, nekuti kana chassis isina kugamuchira serial port command mushure me500ms, ichapinda iyo yakabviswa kuchengetedzwa mamiriro.

Firmware upgrades
Iyo RS232 chiteshi paTRACER inogona kushandiswa nevashandisi kukwidziridza firmware yemutongi mukuru kuitira kuti uwane bugfixes uye maficha ekuwedzera. Iyo PC mutengi application ine graphical mushandisi interface inopihwa kubatsira kuita iyo yekusimudzira maitiro nekukurumidza uye yakatsetseka. Mufananidzo 3.3.

Kuvandudza kugadzirira

• Seri tambo X 1
• USB-kune-serial port X 1
• TRACER chassis X 1
• Computer (Windows operating system) X 1

Firmware update 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 kweTRACER chassis;
• Batanidza serial tambo kune komputa;
• Vhura software yemutengi;
• Sarudza nhamba yechiteshi;
• Simba paTRACER chassis, wobva wadzvanya ipapo kuti utange kubatana (TRACER chassis ichamirira 6s isati yaiswa magetsi; kana nguva yekumirira ichipfuura 6s, ichapinda mukushandisa); kana iyo yekubatanidza ikabudirira, "yakabatana zvakabudirira" inokurudzirwa mubhokisi remavara;
• Load Bin file;
• Dzvanya bhatani reKukwidziridza, uye mirira kukurumidza kwekusimudzira kupera;
• Bvisa serial tambo, dzima chassis, wobva wadzima simba uye wobatidza zvakare.

Mutengi Interface yeFirmware Upgrade

Zvekungwaririra

Ichi chikamu chinosanganisira mamwe matanho anofanirwa kucherechedzwa pakushandisa nekuvandudzwa kweTRACER.

Bhatiri

• Bhatiri rakapihwa neTRACER harina kubhadhariswa zvizere mugadziriso yefekitori, asi simba rayo chairo rinogona kuratidzwa pane voltmeter kumucheto kumashure kweTRACER chassis kana kuverenga kuburikidza neCAN bus communication 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 -20 ℃ kusvika 60 ℃; kana chengetedzo isingashandiswe, bhatiri rinofanirwa kuchajwa uye kuburitswa kamwe chete mwedzi miviri yega yega, uye yozochengetwa yakazara vol.tage state. Ndapota usaisa bhatiri mumoto kana kupisa bhatiri, uye ndapota usachengeta bhatiri munzvimbo yakakwirira-yekushisa;
• 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.

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-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 chimiro chemukati memidziyo

Nzvimbo yekushanda

• Tembiricha yekushandisa yeTRACER kunze ndeye -10 ℃ kusvika 45 ℃; ndapota usashandise pazasi -10 ℃ uye pamusoro pe45 ℃ kunze;
• Kupisa kwekushanda kweTRACER mukati memba ndeye 0 ℃ kusvika 42 ℃; ndapota usashandise pazasi 0 ℃ uye pamusoro pe42 ℃ mukati;
• Zvinodiwa kune hunyoro hunoenderana munzvimbo yekushandisa yeTRACER ndeiyi: huwandu hwe80%, hushoma 30%;
• Ndapota usashandise munzvimbo ine gasi rinopisa uye rinopisa kana kuvharwa kune zvinhu zvinopisa;
• Usaiise pedyo nemaheater kana zvinhu zvekudziya senge mahombe akakomberedzwa resistors, nezvimwewo;
• Kunze kweiyo yakasarudzika vhezheni (IP yekudzivirira kirasi yakagadziridzwa), TRACER haisi-chiratidzo chemvura, saka ndapota usashandise munzvimbo inonaya, ine chando kana yakaunganidzwa nemvura;
• Kukwirira kwenzvimbo yakakurudzirwa kushandiswa hakufanirwe kudarika 1,000m;
• Musiyano wekushisa pakati pemasikati neusiku wenzvimbo yakakurudzirwa kushandiswa haifanire kudarika 25 ℃;

Tambo dzemagetsi/dzekuwedzera

• Paunenge uchibata uye uchimisa, ndapota usadonha kana kuisa mota kumusoro;
• Kune vasiri nyanzvi, ndapota usabvisa mota pasina mvumo.

Zvimwe zvinyorwa

• Paunenge uchibata uye uchimisa, ndapota usadonha kana kuisa mota kumusoro;
• Kune vasiri nyanzvi, ndapota usabvisa mota pasina mvumo

Q&A

• Q: TRACER yakatangwa nemazvo, asi nei iyo RC transmitter isingakwanise kudzora muviri wemotokari kuti ufambe?
  A: Chekutanga, tarisa kuti magetsi edhiraivha ari mumamiriro akajairwa, ingave dhiraivha yemagetsi inotsikirirwa pasi uye kana E-stop switch inoburitswa; wobva watarisa kana iyo yekudzora modhi yakasarudzwa neyekumusoro kuruboshwe modhi yekusarudza switch paRC transmitter ndeyechokwadi.
• Q: TRACER remote control iri mune yakajairika mamiriro, uye ruzivo nezve chassis chimiro uye kufamba kunogona kugashirwa nemazvo, asi kana iyo control frame protocol yapihwa, nei iyo mota yekudzora muviri modhi isingachinjike uye chassis ichipindura kune control frame protocol. ?
  A: Kazhinji, kana TRACER ichigona kudzorwa neRC transmitter, zvinoreva kuti chassis movement iri pasi pekutonga kwakakodzera; 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.
• Q:TRACER inopa "beep-beep-beep ..." ruzha mukushanda, maitiro ekugadzirisa dambudziko iri?
  A: Kana TRACER 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 nevane hukama nehunyanzvi vashandi.
• Q: Kana kutaurirana kuchiitwa kuburikidza neCAN bhazi, iyo chassis mhinduro yekuraira inopihwa nemazvo, asi nei mota isingadaviri kukuraira kwekutonga?
  A: Pane nzira yekudzivirira yekutaurirana mukati meTRACER, zvinoreva kuti chassis inopihwa nguva yekudzivirira kana uchigadzira ekunze CAN control mirairo. Ngatitii mota inogamuchira imwe chimiro chekutaurirana protocol, asi haigamuchire inotevera furemu yekudzora murairo mushure me500ms. Muchiitiko ichi, ichapinda kuchengetedzwa kwekutaurirana uye kuisa kukurumidza kusvika 0. Nokudaro, mirairo kubva pakombiyuta yepamusoro inofanira kupiwa nguva nenguva.

Product Dimensions

Mufananidzo dhayagiramu yezvigadzirwa zvekunze zviyero

• gr@generationrobots.com
• +33 5 56 39 37 05
• www.generationrobots.com

Zvinyorwa / Zvishandiso

TRACER AgileX Robotics Team Autonomous Mobile Robot [pdf] User Manual AgileX Robotics Team Autonomous Mobile Robot, AgileX, Robotics Team Autonomous Mobile Robot, Autonomous Mobile Robot, Mobile Robot

References

• User Manual