Sehlopha sa SCOUT 2.0 AgileX Robotics
Khaolo ena e na le tlhahisoleseding ea bohlokoa ea tšireletso, pele roboto e qala ho sebetsa ka lekhetlo la pele, motho leha e le ofe kapa mokhatlo ofe kapa ofe o tlameha ho bala le ho utloisisa boitsebiso bona pele ba sebelisa sesebelisoa. Haeba u na le lipotso mabapi le tšebeliso, ka kopo ikopanye le rona ho support@agilex.ai Ka kopo latela le ho kenya tšebetsong litaelo tsohle tsa kopano le litataiso likhaolong tsa bukana ena, e leng ea bohlokoa haholo. Tlhokomelo e khethehileng e lokela ho lefshoa temaneng e amanang le matšoao a temoso.
Boitsebiso ba Tšireletseho
Tlhahisoleseding e bukeng ena ha e kenyeletse moralo, ho kenya le ho sebetsa ha roboto e feletseng, ebile ha e kenyelle lisebelisoa tsohle tse ka 'nang tsa ama tšireletso ea tsamaiso e feletseng. Moralo le ts'ebeliso ea sistimi e felletseng e hloka ho ikamahanya le litlhoko tsa polokeho tse thehiloeng ho litekanyetso le melaoana ea naha eo roboto e kentsoeng ho eona.
Bahokahanyi ba SCOUT le bareki ba ho qetela ba na le boikarabello ba ho etsa bonnete ba ho latela melao le melaoana e sebetsang ea linaha tse amehang, le ho netefatsa hore ha ho na likotsi tse kholo ts'ebetsong e felletseng ea liroboto. Sena se kenyelletsa empa ha se felle feela ho tse latelang:
Sebetsa le boikarabelo
- Etsa tlhahlobo ea kotsi ea tsamaiso e feletseng ea roboto. Kopanya lisebelisoa tse ling tsa tšireletso tsa mechine e meng e hlalositsoeng ke tlhahlobo ea kotsi hammoho.
- Netefatsa hore moralo le ts'ebetso ea lisebelisoa tsohle tsa tsamaiso ea liroboto, ho kenyeletsoa lisebelisoa tsa software le hardware, li nepahetse.
- Roboto ena ha e na roboto e tsamaeang e ikemetseng e felletseng, ho kenyeletsoa empa e sa felle feela ho thibela ho thulana, ho thibela ho oela, temoso ea mokhoa oa baeloji le mesebetsi e meng e amanang le polokeho. Mesebetsi e amanang le eona e hloka bahokahanyi le bareki ba ho qetela hore ba latele melao e nepahetseng le melao le melao e ka khonehang bakeng sa tlhahlobo ea ts'ireletso , Ho etsa bonnete ba hore roboto e tsoetseng pele ha e na likotsi tse kholo le likotsi tsa ts'ireletso lits'ebetsong tsa sebele.
- Bokella litokomane tsohle faeleng ea tekheniki: ho kenyelletsa tlhahlobo ea kotsi le bukana ena.
- Tseba likotsi tse ka bang teng tsa polokeho pele o sebelisa le ho sebelisa sesebelisoa.
Mehopolo ea Tikoloho
- Bakeng sa ts'ebeliso ea pele, ka kopo bala bukana ena ka hloko ho utloisisa litaba tsa mantlha tsa ts'ebetso le lintlha tsa ts'ebetso.
- Bakeng sa ts'ebetso ea taolo e hole, khetha sebaka se batlang se bulehile ho sebelisa SCOUT2.0, hobane SCOUT2.0 ha e na sensara efe kapa efe ea ho qoba litšitiso ka boiketsetso.
- Sebelisa SCOUT2.0 kamehla ka tlas'a -10℃~45℃ mocheso oa tikoloho.
- Haeba SCOUT 2.0 e sa hlophisoa ka tšireletso e ikhethileng ea IP, tšireletso ea eona ea metsi le lerōle e tla ba IP22 FEELA.
Lethathamo la mosebetsi oa pele
- Etsa bonnete ba hore sesebelisoa ka seng se na le matla a lekaneng.
- Etsa bonnete ba hore Bunker ha e na liphoso tse hlakileng.
- Sheba hore na betri ea remote control e na le matla a lekaneng.
- Ha o sebelisa, etsa bonnete ba hore switch ea ho emisa ts'ohanyetso e lokolotsoe.
Tshebetso
- Ts'ebetsong ea taolo e hole, etsa bonnete ba hore sebaka se potileng se batla se le seholo.
- Etsa remote control ka har'a mefuta e mengata ea ponahalo.
- Boima bo boholo ba SCOUT2.0 ke 50KG. Ha o sebelisoa, etsa bonnete ba hore moputso ha o fete 50KG.
- Ha u kenya katoloso ea kantle ho SCOUT2.0, tiisa boemo ba setsi sa boima ba katoloso 'me u netefatse hore e bohareng ba ho potoloha.
- Ka kopo, tjhaja ka molumo ha sesebelisoa se le alamo e tlase ea betri. Ha SCOUT2..0 e na le sekoli, ka kopo emisa hanghang ho e sebelisa ho qoba tšenyo ea bobeli.
- Ha SCOUT2.0 e na le bofokoli, ka kopo ikopanye le setsebi se amehang ho sebetsana le eona, u se ke ua sebetsana le bothata boo u le mong. Kamehla sebelisa SCOUT2.0 tikolohong e nang le boemo ba tšireletso bo hlokoang bakeng sa lisebelisoa.
- Se ke oa sutumetsa SCOUT2.0 ka kotloloho.
- Ha o tjhaja, etsa bonnete ba hore mocheso o leng ka hodimo ho 0 ℃.
- Haeba koloi e sisinyeha nakong ea ho potoloha, lokisa ho emisa.
Tlhokomelo
- Kamehla hlahloba khatello ea thaere, 'me u boloke khatello ea thaere e pakeng tsa 1.8bar ~ 2.0bar.
- Haeba thaere e senyehile haholo kapa e phatlohile, ka kopo e khutlise ka nako.
- Haeba betri e sa sebetse nako e telele, e hloka ho tjhaja betri nako le nako ka mor'a likhoeli tse 2 ho isa ho tse 3.
Selelekela
SC OUT 2.0 e entsoe e le UGV ea merero e mengata e nang le maemo a fapaneng a ts'ebeliso e nkuoang: moralo oa modular; khokahanyo e feto-fetohang; sistimi e matla ea makoloi e khonang ho lefa chelete e ngata. Likarolo tse ling tse kang kh'amera ea stereo, radar ea laser, GPS, IMU le robotic manipulator li ka kenngoa ka boikhethelo ho SCOUT 2.0 bakeng sa ts'ebeliso e tsoetseng pele le lits'ebetso tsa pono ea komporo. SCOUT 2.0 hangata e sebelisoa bakeng sa thuto ea ho khanna le lipatlisiso, ho paterola ts'ireletso ea kahare le kantle, ho lemoha tikoloho, thepa e akaretsang le lipalangoang, ho bolela tse 'maloa feela.
Lethathamo la likarolo
| Lebitso | Bongata |
| SCOUT 2.0 'mele oa roboto | X 1 |
| Chaja ea betri (AC 220V) | X 1 |
| Aviation plug (e tona, 4-pin) | X 2 |
| thapo ea USB ho RS232 | X 1 |
| Remote control transmitter (boikhethelo) | X 1 |
| Mojule oa puisano oa USB ho CAN | X1 |
Litlhaloso tsa theknoloji
Tlhokahalo bakeng sa ntshetsopele
FS RC transmitter e fanoa (ho ikhethela) sebakeng sa fektheri pf SCOUT 2.0, e lumellang basebelisi ho laola chassis ea roboto ho tsamaea le ho reteleha; Khokahano ea CAN le RS232 ho SCOUT 2.0 e ka sebelisoa molemong oa mosebelisi.
The Basics
Karolo ena e fana ka kenyelletso e khuts'oane ea sethala sa liroboto tse tsamaeang tsa SCOUT 2.0, joalo ka ha ho bonts'itsoe ho Figure 2.1 le Figure 2.2.
- Pele View
- Emisa switch
- Standard Profile Tšehetso
- Top Complete
- Phanele e kaholimo ea Motlakase
- Retardant-collision Tube
- Panele e ka morao
SCOUT2.0 e amohela mohopolo o hlophisitsoeng le o bohlale oa moralo. Moralo o kopaneng oa thaere ea rabara e nang le moea o matla le ho emisoa ho ikemetseng mojuleng oa matla, hammoho le enjene e matla ea DC brushless servo, e etsa hore sethala sa nts'etsopele sa roboto sa SCOUT2.0 se be le bokhoni bo matla ba ho feta le bokhoni ba ho ikamahanya le maemo, 'me se khona ho sisinyeha libakeng tse fapaneng. Mabala a an-ti-collision a phahamisoa ho potoloha koloi ho fokotsa tšenyo e ka bang teng 'meleng oa koloi nakong ea ho thulana. Mabone a phahamisitsoe ka pele le ka morao ho koloi, eo lebone le lesoeu le etselitsoeng ho bonesa ka pele ha lebone le lefubelu le entsoe ka morao bakeng sa temoso le lipontšo.
Likonopo tsa ho emisa maemo a tšohanyetso li kentsoe mahlakoreng ka bobeli a roboto ho etsa bonnete ba ho fihlella habonolo le ho tobetsa e 'ngoe le e' ngoe e ka koala matla a roboto hang ha roboto e sebetsa ka mokhoa o sa tloaelehang. Lihokelo tse thibelang metsi bakeng sa matla a DC le likhokahano tsa puisano li fanoa ka holimo le ka morao ho roboto, e sa lumelleng feela khokahano e bonolo lipakeng tsa roboto le likarolo tsa kantle empa hape e netefatsa tšireletso e hlokahalang kahare ho roboto leha e sebetsa ka thata. maemo.
Kamore e bulehileng ea bayonet e boloketsoe basebelisi ka holimo.
Pontsho ya boemo
Basebelisi ba ka tseba boemo ba 'mele oa koloi ka voltmeter, beeper le mabone a behiloeng ho SCOUT 2.0. Ho fumana lintlha, ka kopo sheba Lethathamo la 2.1.
| Boemo | Tlhaloso |
| Moqtage | Betri ea hajoale ea voltage ka baloa ho tloha ho voltmeter ho sebopeho sa motlakase se ka morao le ka ho nepahala ha 1V. |
|
Fetola betri |
Ha betri e phahamatage ka tlase ho 22.5V, 'mele oa koloi o tla fana ka molumo oa beep-beep-beep e le temoso. Ha betri e phahamatage fumanwa e le tlase ho 22V, SCOUT 2.0 e tla kgaola phepelo ya motlakase ho di atoloso tsa kantle ebe e kganna ho thibela betri hore e se senyehe. Tabeng ena, chassis e ke ke ea lumella taolo ea motsamao le ho amohela taolo ea taelo ea kantle. |
| Roboto e buletsoe | Mabone a ka pele le a ka morao a khantšitsoe. |
Lethathamo la 2.1 Litlhaloso tsa Boemo ba Koloi
Litaelo mabapi le li-interface tsa motlakase
Sehokelo sa motlakase se holimo
SCOUT 2.0 e fana ka likhokahanyo tse tharo tsa 4-pin le sehokelo se le seng sa DB9 (RS232). Boemo ba sehokedi se ka hodimo sa sefofane bo bontshitswe ho Setšoantšo sa 2.3.
SCOUT 2.0 e na le sehokelo sa katoloso ea sefofane ka holimo le ka morao, e 'ngoe le e 'ngoe e hlophisitsoe ka sete ea phepelo ea motlakase le sete sa sebopeho sa puisano sa CAN. Likhokahano tsena li ka sebelisoa ho fana ka matla ho lisebelisoa tse atolositsoeng le ho theha puisano. Litlhaloso tse tobileng tsa li-pin li bontšitsoe setšoantšong sa 2.4.
Re lokela ho hlokomela hore phepelo ea motlakase e atolositsoeng mona e laoloa ka hare, ho bolelang hore motlakase o tla khaoha hang ha betri e le matla.tage theolela ka tlase ho moeli o boletsoeng esale peletage. Ka hona, basebelisi ba hloka ho hlokomela hore sethala sa SCOUT 2.0 se tla romella molumo o tlasetage alamo pele ho monyako voltage fihla 'me hape u ele hloko ho tjhaja betri nakong ea ts'ebeliso.
| Pin No. | Mofuta oa Pin | FuDnecfitinointioand | Litlhaloso |
| 1 | Matla | VCC | Matla a nepahetseng, voltage fapaneng 23 - 29.2V, MAX .hona joale 10A |
| 2 | Matla | GND | Matla a fosahetseng |
| 3 | KA | TLHOKOMELISO | CAN bese e phahame |
| 4 | KA | KA_L | CAN bese e tlase |
Matla a nepahetseng, voltage fapaneng 23 - 29.2V, MAX. 10A ea morao-rao
| Pin No. | Tlhaloso |
| 2 | RS232-RX |
| 3 | RS232-TX |
| 5 | GND |
Setšoantšo sa 2.5 Papiso ea Setšoantšo sa Q4 Pins
Sebopeho sa motlakase se ka morao
Sebopeho sa katoloso ka morao se bontšoa ho Setšoantšo sa 2.6, moo Q1 e leng senotlolo sa senotlolo e le sesebelisoa se seholo sa motlakase; Q2 ke sebopeho sa recharging; Q3 ke sesebelisoa sa phepelo ea matla sa sistimi ea drive; Q4 ke DB9 serial koung; Q5 ke sebopeho sa katoloso bakeng sa phepelo ea motlakase ea CAN le 24V; Q6 ke pontšo ea matla a betritage.
| Pin No. | Mofuta oa Pin | FuDnecfitinointioand | Litlhaloso |
| 1 | Matla | VCC | Matla a nepahetseng, voltage fapaneng 23 - 29.2V, boholo ba hona joale 5A |
| 2 | Matla | GND | Matla a fosahetseng |
| 3 | KA | TLHOKOMELISO | CAN bese e phahame |
| 4 | KA | KA_L | CAN bese e tlase |
Setšoantšo sa 2.7 Tlhaloso ea Lithako tse ka Pele le tse ka morao tsa Sebopeho sa Lifofane
Litaelo mabapi le taolo ea remoutu FS_i6_S litaelo tsa taolo ea hole
FS RC transmitter ke sesebelisoa sa boikhethelo sa SCOUT2.0 bakeng sa ho laola roboto ka letsoho. Transmitter e tla le tlhophiso ea letsoho le letšehali. Tlhaloso le ts'ebetso e bontšitsoeng ho Setšoantšo sa 2.8. Mosebetsi oa konopo o hlalosoa e le: SWA le SWD li holofetse ka nakoana, 'me SWB ke konopo ea khetho ea mokhoa oa ho laola, daela holimo ke mokhoa oa ho laola taelo, ho letsetsa bohareng ke mokhoa oa ho laola hole; SWC ke konopo ea ho laola leseli; S1 ke konopo ea throttle, laola SCOUT2.0 pele le morao; Taolo ea S2 ke ho laola ho potoloha, 'me POWER ke konopo ea matla, tobetsa' me u tšoare ka nako e le 'ngoe ho bulela.
Litaelo mabapi le litlhoko tsa taolo le metsamao
Sistimi ea khokahanyo ea litšupiso e ka hlalosoa le ho beoa 'meleng oa koloi joalo ka ha ho bonts'itsoe ho Setšoantšo sa 2.9 ho latela ISO 8855.
Joalo ka ha ho bonts'itsoe ho Setšoantšo sa 2.9, 'mele oa koloi oa SCOUT 2.0 o tsamaisana le X axis ea sistimi e hlophisitsoeng ea litšupiso. Ka mokhoa oa taolo ea hole, sutumelletsa thupa ea "remoutu" S1 ho ea pele ho ea ka tsela e nepahetseng ea X, sutumelletsa S1 morao ho ea ka lehlakoreng le fosahetseng la X. Ha S1 e sutumelletsoa ho boleng bo phahameng, lebelo la ho sisinyeha ka tsela e nepahetseng ea X ke eona e phahameng ka ho fetisisa, Ha e sutumetsoa S1 ho ea bonyane, lebelo la ho tsamaea ka tsela e mpe ea tataiso ea X ke eona e phahameng ka ho fetisisa; thupa ea remote control S2 e laola ho tsamaisoa ha mabili a ka pele a 'mele oa koloi, sutumelletsa S2 ka ho le letšehali,' me koloi e thinyetsa ka ho le letšehali, e e sutumelletsa holimo, 'me lehlakoreng le leholo ka ho fetisisa, S2 Sututsa ka ho le letona. , koloi e tla retelehela ka ho le letona, ebe e e sutumelletsa ho ea holimo, ka nako ena lebelo le nepahetseng la ho tsamaisa ke lona le leholo ka ho fetisisa. Boemong ba taelo ea taolo, boleng bo botle ba lebelo la mola bo bolela ho sisinyeha ka tsela e nepahetseng ea axis ea X, 'me boleng bo bobe ba lebelo la mola bo bolela ho tsamaea ka tsela e mpe ea axis ea X; Boleng bo nepahetseng ba lebelo la angular bo bolela hore 'mele oa koloi o tloha tseleng e ntle ea axis ea X ho ea ka tsela e ntle ea axis ea Y,' me boleng bo bobe ba lebelo la angular bo bolela hore 'mele oa koloi o tloha tseleng e ntle ea X axis. ho ea tseleng e mpe ea axis ea Y.
Litaelo tsa taolo ea mabone
Mabone a behiloe ka pele le ka morao ho SCOUT 2.0, 'me sebopeho sa taolo ea mabone sa SCOUT 2.0 se bulehetse basebelisi bakeng sa boiketlo.
Ho sa le joalo, sebopeho se seng sa taolo ea mabone se bolokiloe ho transmitter ea RC bakeng sa ho boloka matla.
Hona joale taolo ea mabone e tšehetsoa feela ka mochine oa FS, 'me tšehetso ea li-transmitter tse ling e ntse e tsoela pele. Ho na le mefuta e 3 ea mekhoa ea mabone e laoloang ka RC transmitter, e ka fetoloang ka SWC. Tlhaloso ea taolo ea mokhoa: SWC lever e ka tlaase ho mokhoa o tloaelehileng o koetsoeng, bohareng ke bakeng sa mokhoa o tloaelehileng o bulehileng, holimo ke mokhoa oa ho phefumoloha o khanyang.
- NC MODE: IN NC MODE, HAEBA CHASSIS E NTSE, LIGHT E FELE HO TLA Tingoa, LE LIGHT REAR LE KE KENA BL MOKHOA HO BONTŠA MAEMO A ONA JOALE A SEBELISA; HAEBA CHASSIS E ESITA STATE TSE LING TLOAELEHANG LEBELO, THE REAR LIGHT TLA Tingoa EMPA PELE LIGHT TLA BUTSOA;
- NO mode: IN NO mode, HAEBA CHASSIS TSONA, LE LIGHT KA PELE TLA BA TLOAELEHANG ON, LE REAR LIGHT tla kena BL Mode ho bontša THE STATUS; HAEBA IN MOVEMENT MODE, THE REAR LIGHT E titiloe EMPA LE LIGHT LE KA PELE HO BUTSWA;
- BL MODE: Mabone a ka Pele le a KA KAMORA KABELI A KA MOKHOA OA HO PHEFUA KA TLAS'A MAEMO OHLE.
ELA HLOKO KA TAOLI EA MOKHOA: TOGGING SWC LEVER E BONAHALA MOKHOA OA NC, HA HO MOKHOA LE MOKHOA OA BL KA HARE, HARE LE MAEMO A TSOHLE.
Rea qala
Karolo ena e hlahisa ts'ebetso ea mantlha le nts'etsopele ea sethala sa SCOUT 2.0 se sebelisang sebopeho sa libese sa CAN.
Ts'ebeliso le ts'ebetso
Mokhoa oa mantlha oa ts'ebetso ea ho qala o bontšoa ka tsela e latelang:
Hlahloba
- Lekola boemo ba SCOUT 2.0. Hlahloba hore na ho na le liphapang tsa bohlokoa; haeba ho joalo, ka kopo ikopanye le tšebeletso ea ka mor'a thekiso bakeng sa tšehetso;
- Lekola boemo ba li-switches-stop stop. Etsa bonnete ba hore likonopo tsa ho emisa ka bobeli li lokollotsoe;
E qalang
- Fetola konopo ea senotlolo (Q1 phanele ea motlakase), 'me ka tloaelo, voltmeter e tla bonts'a molumo o nepahetseng oa betritage le mabone a ka pele le a ka morao a tla khantša ka bobeli;
- Sheba matla a betritage. Haeba ha ho na molumo o tsoelang pele oa "beep-beep-beep..." ho tsoa ho beeper, ho bolela molumo oa betri.tage nepahetse; haeba matla a betri a le tlase, ka kopo tjhaja betri;
- Tobetsa Q3 (konopo ea ho fetola matla a ho khanna).
Emergency stop
Tobetsa konopo ea konopo ea tšohanyetso ka letsohong le letšehali le ka ho le letona la 'mele oa koloi oa SCOUT 2.0;
Mokhoa oa mantlha oa ho sebetsa oa remote control:
Kamora hore chassis ea roboto ea mohala ea SCOUT 2.0 e qale ka nepo, bulela RC transmitter ebe u khetha mokhoa oa taolo ea hole. Joale, motsamao oa sethala sa SCOUT 2.0 o ka laoloa ke RC transmitter.
Ho tjhaja
SCOUT 2.0 E HLANKA LE 10A SHAJA KA HO FIHLELA HO FIHLELA TLHOKOMELO EA BAKENGI EA HO CHAJA.
Ts'ebetso ea ho tjhaja
- Netefatsa hore motlakase oa chassis ea SCOUT 2.0 o tima. Pele o tjhaja, ka kopo etsa bonnete ba hore switch ea motlakase ka har'a condole ea taolo e ka morao e tingoe;
- Kenya polaka ea tjhaja ka har'a sebopeho sa ho tjhaja sa Q6 karolong e ka morao ea taolo;
- Hokela tjhaja ho phepelo ya motlakase ebe o bulela switch tjhajang. Joale, roboto e kena sebakeng sa ho tjhaja.
Tlhokomeliso: Hajoale, betri e hloka lihora tse 3 ho isa ho tse 5 hore e nchafatsoe ka botlalo ho tloha 22V, le vol.tage ea betri e nchafalitsoeng ka botlalo e ka ba 29.2V; nako ea ho tjhaja e balwa e le 30AH ÷ 10A = 3h.
Phetoho ea betri
SCOUT2.0 e amohela tharollo ea betri e ka senyehang molemong oa basebelisi. Maemong a mang a khethehileng, betri e ka nkeloa sebaka ka ho toba. Mehato ea ts'ebetso le litšoantšo ke tse latelang (pele o sebetsa, etsa bonnete ba hore SCOUT2.0 e tima):
- Bula karolo e ka holimo ea SCOUT2.0, 'me u ntše li-connectors tse peli tsa XT60 holim'a boto e kholo ea taolo (lihokelo tse peli li lekana) le sehokelo sa betri CAN;
Hang-hang SCOUT2.0 moeeng, lokolla li-screw tse robeli ho tloha tlase ka sekoahelo sa naha sa hex, ebe u hula betri kantle; - Tlosa betri ebe u lokisa li-screw tse tlase.
- Hokela segokanyimmediamentsi sa XT60 le matla a CAN ka har'a boto e kholo ea taolo, netefatsa hore likhokahano tsohle li nepahetse, ebe u kenya matla ho etsa liteko.
Puisano ka ho sebelisa CAN
SCOUT 2.0 e fana ka likhokahano tsa CAN le RS232 bakeng sa ho ikamahanya le basebelisi. Basebelisi ba ka khetha e 'ngoe ea li-interfaces tsena ho tsamaisa taolo ea taelo holim'a sehlopha sa koloi.
CAN thapo ya kgokelo
SCOUT2.0 fana ka li-plug tse peli tsa banna ba lifofane joalo ka ha ho bonts'itsoe ho Setšoantšo sa 3.2. Bakeng sa litlhaloso tsa mohala, ka kopo sheba Lethathamo la 2.2.
Phethahatso ea taolo ea taelo ea CAN
Qala chassis ea roboto ea mohala ea SCOUT 2.0 ka nepo, 'me u bulele mochine oa DJI RC. Ebe, fetohela ho mokhoa oa taolo oa taelo, ke hore, ho sututsa mokhoa oa S1 oa transmitter ea DJI RC holimo. Mothating ona, chassis ea SCOUT 2.0 e tla amohela taelo e tsoang ho sehokelo sa CAN, 'me moamoheli a ka boela a bapisa boemo ba chassis ba hajoale ka data ea nako ea nnete e tsoang ho bese ea CAN. Bakeng sa lintlha tse qaqileng tsa protocol, ka kopo sheba ho protocol ea puisano ea CAN.
E KA HLOKA melaetsa ea protocol
Qala chassis ea roboto ea mohala ea SCOUT 2.0 ka nepo, 'me u bulele mochine oa DJI RC. Ebe, fetohela ho mokhoa oa taolo oa taelo, ke hore, ho sututsa mokhoa oa S1 oa transmitter ea DJI RC holimo. Mothating ona, chassis ea SCOUT 2.0 e tla amohela taelo e tsoang ho sehokelo sa CAN, 'me moamoheli a ka boela a bapisa boemo ba chassis ba hajoale ka data ea nako ea nnete e tsoang ho bese ea CAN. Bakeng sa lintlha tse qaqileng tsa protocol, ka kopo sheba ho protocol ea puisano ea CAN.
Lethathamo la 3.1 Feedback Frame of SCOUT 2.0 Boemo ba Tsamaiso ea Chassis
| Taelo ea Lebitso la Taelo ea Boemo ba Boemo ba Tsamaiso | ||||
| Node ea ho romella | Node ea ho amohela
Taolo ea ho etsa liqeto |
ID | Potoloho (ms) | Nako ea ho amohela (ms) |
| Chassis ea ho tsamaisa ka terata
Boemo ba bolelele ba data |
yuniti 0x08
Mosebetsi |
0x151
Mofuta oa data |
20ms | Ha ho letho |
|
Tlhaloso |
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|
pele [0] |
Boemo ba hona joale ba 'mele oa koloi |
e sa saenneng int8 |
0x00 Sistimi e maemong a tloaelehileng 0x01 Boemo ba ho emisa maemo a tšohanyetso (ha e sebetse)
0x02 mokhelo tsamaisong |
|
|
pele [1] |
Taolo ea mokhoa |
e sa saenneng int8 |
0×00 Boemo ba standby 0×01 CAN mokhoa oa ho laola taelo 0×02 Mokhoa oa ho laola koung ea serial 0 × 03 Mokhoa oa ho laola hole |
|
| pele [2]
pele [3] |
Matla a betritage phahameng 8 bits Battery voltagka tlase ho likotoana tse 8 | e sa saenneng int16 | Moqtage × 10 (ka ho nepahala ha 0.1V) | |
| pele [4] | Reserved | – | 0x00 | |
| pele [5] | Boitsebiso bo hlolehileng | e sa saenneng int8 | Sheba Lethathamo la 3.2 [Tlhaloso ea Boitsebiso bo Hlōlehileng] | |
| pele [6] | Reserved | – | 0x00 | |
| pele [7] | Bala paritybit (palo) | e sa saenneng int8 | 0-255 ho bala loops, e tla eketsoa hang ha taelo e 'ngoe le e 'ngoe e rometsoe | |
Lethathamo la 3.2 Tlhaloso ea Boitsebiso bo Hlōlehileng
| Byte | hanyane | Tlhaloso |
|
pele [4] |
hanyane [0] | Tšireletso ea betritage phoso (0: Ha ho ho hloleha 1: Ho hloleha) Tshireletso voltage ke 22V
(Mofuta oa betri o nang le BMS, matla a ts'ireletso ke 10%) |
| hanyane [1] | Tšireletso ea betritage phoso[2] (0: Ha ho ho hloleha 1: Ho hloleha) Alamo voltage ke 24V
(Mofuta oa betri o nang le BMS, matla a temoso ke 15%) |
|
| hanyane [2] | Tšireletso ea ho khaoha ha RC transmitter (0: Tloaelehileng 1: RC transmitter e khaotsoe) | |
| hanyane [3] | No.1 ho hloleha ha puisano ea makoloi (0: Ha ho ho hloleha 1: Ho hloleha) | |
| hanyane [4] | No.2 ho hloleha ha puisano ea makoloi (0: Ha ho ho hloleha 1: Ho hloleha) | |
| hanyane [5] | No.3 ho hloleha ha puisano ea makoloi (0: Ha ho ho hloleha 1: Ho hloleha) | |
| hanyane [6] | No.4 ho hloleha ha puisano ea makoloi (0: Ha ho ho hloleha 1: Ho hloleha) | |
| hanyane [7] | E bolokiloe, ea kamehla 0 |
Tlhokomeliso[1]: Mofuta oa "roboto chassis" oa V1.2.8 o tšehetsoa ke liphetolelo tse latelang, 'me mofuta o fetileng o hloka ntlafatso ea firmware ho tšehetsa
Tlhokomeliso[2]: Buzzer e tla lla ha betri e le tlasetage, empa taolo ea chassis e ke ke ea ameha, 'me tlhahiso ea matla e tla khaoloa ka mor'a hore ho be le motlakase o tlase.tage phoso
Taelo ea foreimi ea maikutlo ea taolo ea motsamao e kenyelletsa maikutlo a lebelo la hona joale la mola le lebelo la 'mele oa koloi o tsamaeang. Bakeng sa lintlha tse qaqileng tsa protocol, ka kopo sheba Lethathamo la 3.3.
Lethathamo la 3.3 Movement Control Feedback Frame
| Taelo ea Lebitso la Movement Control Feedback Taelo | ||||
| Node ea ho romella | Node ea ho amohela | ID | Potoloho (ms) | Nako ea ho amohela (ms) |
| Chassis ea ho tsamaisa ka terata | Sehlopha sa taolo ea ho etsa liqeto | 0x221 | 20ms | Ha ho letho |
| Bolelele ba letsatsi | 0x08 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| pele [0]
pele [1] |
Lebelo la ho tsamaea le phahame ho li-bits tse 8
Lebelo la ho tsamaea le theola li-bits tse 8 |
saena int16 | Lebelo la sebele × 1000 (ka ho nepahala ha 0.001rad) | |
| pele [2]
pele [3] |
Lebelo la ho potoloha le phahame ho li-bits tse 8
Lebelo la ho potoloha le tlase ho li-bits tse 8 |
saena int16 | Lebelo la sebele × 1000 (ka ho nepahala ha 0.001rad) | |
| pele [4] | Reserved | – | 0x00 | |
| pele [5] | Reserved | – | 0x00 | |
| pele [6] | Reserved | – | 0x00 | |
| pele [7] | Reserved | – | 0x00 | |
Foreimi ea taolo e kenyelletsa ho buleha ha taolo ea lebelo la mola le ho laola ho buleha ha lebelo la angular. Bakeng sa lintlha tse qaqileng tsa protocol, ka kopo sheba Lethathamo la 3.4.
Lintlha tsa boemo ba chassis e tla ba maikutlo, 'me ho feta moo, tlhahisoleseling mabapi le motlakase oa motlakase, encoder le mocheso le tsona li kenyelelitsoe. Foreimi e latelang ea maikutlo e na le leseli mabapi le motlakase oa motlakase, encoder le mocheso oa enjene.
Linomoro tsa enjene ea li-motor tse 4 ka har'a chassis li bonts'oa setšoantšong se ka tlase:
| Lebitso la Taelo Motor Drive High Speed Information Feedback Frame | ||||
| Node ea ho romella | Node ea ho amohela | ID | Potoloho (ms) | Nako ea ho amohela (ms) |
| Chassis ea ho tsamaisa ka terata
Date length Boemo |
Sehlopha sa taolo ea ho etsa liqeto 0×08
Mosebetsi |
0x251~0x254
Mofuta oa data |
20ms | Ha ho letho |
|
Tlhaloso |
||||
| pele [0]
pele [1] |
Lebelo la motor le phahame ho li-bits tse 8
Lebelo la motor le theola likotoana tse 8 |
saena int16 | Lebelo la koloi, yuniti mm/s (boleng bo sebetsang+ -1500) | |
| pele [2]
pele [3] |
Motlakase o phahame ho feta li-bits tse 8
Motlakase oa motlakase o ka tlase ho li-bits tse 8 |
saena int16 |
Yuniti ea hajoale ea Motor 0.1A |
|
| byte [4] byte [5] byte [6]
pele [7] |
Boemo ba likotoana tse phahameng ka ho fetisisa Boemo ba likotoana tsa bobeli bo holimo Boemo ba likotoana tsa bobeli-tlase
Boemo bo tlase ka ho fetisisa |
saena int32 |
Boemo ba hajoale ba Yuniti ea enjene: pulse |
|
Lethathamo la 3.8 Mocheso oa motlakase, voltage le maikutlo a litaba tsa boemo
| Lebitso la Taelo Motor Drive Low Speed Information Feedback Frame | ||||
| Node ea ho romella
Chassis e tsamaisang ka terata Bolelele ba letsatsi |
Setsi sa taolo sa ho amohela node
0x08 |
ID 0x261~0x264 | Potoloho (ms) | Nako ea ho amohela (ms) |
| 20ms | Ha ho letho | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| pele [0]
pele [1] |
Khanna voltage holimo ho li-bits tse 8
Khanna voltagka tlase ho likotoana tse 8 |
e sa saenneng int16 | Voltage ea yuniti ea koloi 0.1V | |
| pele [2]
pele [3] |
Mocheso oa koloi o phahame ho li-bits tse 8
Mocheso oa koloi o ka tlase ho li-bits tse 8 |
saena int16 | Yuniti 1°C | |
| pele [4]
pele [5] |
Mocheso oa motlakase | saena int8 | Yuniti 1°C | |
| Boemo ba ho khanna | e sa saenneng int8 | Sheba lintlha ho [Boemo ba taolo ea Drive] | ||
| pele [6]
pele [7] |
Reserved | – | 0x00 | |
| Reserved | – | 0x00 | ||
serial Communication Protocol
Taelo ea serial protocol
Ke tekanyetso bakeng sa puisano ea serial e hlophisitsoeng ka kopanelo ke Electronic Industries Association (EIA) ea United States ka 1970 e kopane le Bell Systems, baetsi ba modem le baetsi ba li-computer terminal. Lebitso la eona ke "Technical Standard for Serial Binary Data Exchange Interface Between Data Terminal Equipment (DTE) le Data Communication Equipment (DCE)". Tekanyetso e bolela hore sehokelo sa DB-25-pini tse 25 se sebelisoe sehokelong ka seng. Likahare tsa lets'oao la phini ka 'ngoe li hlalositsoe, 'me maemo a matšoao a fapaneng le ona a boletsoe. Hamorao, PC ea IBM e ile ea nolofatsa RS232 ho sehokelo sa DB-9, se ileng sa fetoha maemo a sebetsang. Boema-kepe ba RS-232 ba taolo ea indasteri hangata bo sebelisa mela e meraro feela ea RXD, TXD, le GND.
Khokahano ea Serial
Sebelisa thapo ea serial ea USB ho RS232 sesebelisoa sa rona sa puisano ho hokela boema-kepe bo ka morao ba koloi, sebelisa sesebelisoa sa serial ho seta sekhahla se tsamaisanang sa baud, 'me u sebelise s.ample data e fanoeng ka holimo ho hlahloba. Haeba remote control e buletsoe, hoa hlokahala ho chencha remote ho laola mokhoa oa ho laola. Haeba remote control e sa buloa, romella feela taelo ea taolo ka kotloloho. Hoa lokela ho hlokomeloa hore taelo e tlameha ho romeloa nako le nako. Haeba chassis e feta 500MS mme taelo ea serial port e sa amoheloe, e tla kenya tahlehelo ea ts'ireletso ea khokahano. boemo.
Sekahare sa Protocol
Parameter ea Motheo ea Puisano
| Ntho | Paramethara |
| Baud Rate | 115200 |
| Parity | Ha ho teko |
| Bolelele ba biti ya data | 8 likotoana |
| Emisa hanyane | 1 hanyane |
Taelo ea protocol
| Qala hanyane | Bolelele ba foreimi | Mofuta oa taelo | Taelo ID | Sebaka sa lintlha | Foreime ID | Checksum tlhamo |
|||
| SOF | foreimi_L | CMD_TYPE | CMD_ID | data | … | lintlha[n] | foreime_id | hlahloba_kakaretso | |
| bethe 1 | bethe 2 | bethe 3 | bethe 4 | bethe 5 | bethe 6 | … | ka 6+n | ka 7+n | ka 8+n |
| 5A | A5 | ||||||||
Protocol e kenyelletsa karolo ea ho qala, bolelele ba foreimi, mofuta oa taelo ea foreimi, ID ea taelo, mofuta oa data, ID ea foreimi, le checksum. Bolelele ba foreimi bo bua ka bolelele ho sa kenyeletsoe sekhechana sa ho qala le checksum. Cheke ke kakaretso ea lintlha tsohle ho tloha qalong ho isa ho ID ea foreimi; foreimi ID bit e tsoa ho 0 ho ea ho 255 ho bala loops, e tla eketsoa hang ha taelo e 'ngoe le e 'ngoe e rometsoe.
Litaba tsa Protocol
| Lebitso la Taelo Feedback Frame ea Boemo ba Boemo ba Tsamaiso | ||||
| Ho romela node Steer-by-wire chassis Bolelele ba foreimi Mofuta oa taelo ea Taelo ID Bolelele ba data
Boemo |
Setsi sa taolo sa ho amohela node
0x0C |
Potoloho (ms) Nako ea ho fumana nako (ms) | ||
| 100ms | Ha ho letho | |||
|
Mofuta oa data |
Tlhaloso |
|||
| Taelo ea maikutlo(0×AA)
0x01 |
||||
| 8
Mosebetsi |
||||
|
pele [0] |
Boemo ba hona joale ba 'mele oa koloi |
e sa saenneng int8 |
0 × 00 Sistimi e maemong a tloaelehileng 0 × 01 Boemo ba tšohanyetso ba ho emisa (ha bo khonehe) 0 × 02 Mokhelo
0×00 Boemo ba standby |
|
| pele [1] | Taolo ea mokhoa | e sa saenneng int8 | 0×01 CAN ho laola mokhoa oa ho laola 0×02 Mokhoa oa ho laola serial[1] 0×03 Mokhoa oa ho laola Remote | |
| pele [2]
pele [3] |
Matla a betritage holimo ho li-bits tse 8
Matla a betritagka tlase ho likotoana tse 8 |
e sa saenneng int16 | Moqtage × 10 (ka ho nepahala ha 0.1V) | |
| pele [4] | Reserved | — | 0x00 | |
| pele [5] | Boitsebiso bo hlolehileng | e sa saenneng int8 | Sheba ho [Tlhaloso ea Boitsebiso bo Hlōlehileng] | |
| pele [6]
pele [7] |
Reserved
Reserved |
—
— |
0x00 | |
| 0x00 | ||||
Movement Control Feedback Taelo
| Taelo ea Lebitso la Movement Control Feedback Taelo | ||||
| Node ea ho romella | Node ea ho amohela | Potoloho (ms) | Nako ea ho amohela (ms) | |
| Steer-by-wire chassis Bolelele ba foreimi Mofuta oa taelo ea ID
Bolelele ba data |
Sehlopha sa taolo ea ho etsa liqeto
0x0C |
20ms | Ha ho letho | |
| Taelo ea maikutlo (0×AA)
0x02 |
||||
| 8 | ||||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| pele [0]
pele [1] |
Lebelo la ho tsamaea le phahame ho li-bits tse 8
Lebelo la ho tsamaea le theola li-bits tse 8 |
saena int16 | Lebelo la sebele × 1000 (ka ho nepahala ha
0.001rad) |
|
| pele [2]
pele [3] |
Lebelo la ho potoloha le phahame ho li-bits tse 8
Lebelo la ho potoloha le tlase ho li-bits tse 8 |
saena int16 | Lebelo la sebele × 1000 (ka ho nepahala ha
0.001rad) |
|
| pele [4] | Reserved | – | 0x00 | |
| pele [5] | Reserved | – | 0x00 | |
| pele [6] | Reserved | – | 0x00 | |
| pele [7] | Reserved | – | 0x00 | |
Taolo ea Taolo ea Motsamao
| Taelo ea Taolo ea Lebitso la Taelo | ||||
| Node ea ho romella | Node ea ho amohela | Potoloho (ms) | Nako ea ho amohela (ms) | |
| Yuniti ya taolo ya ho etsa diqeto Bolelele ba foreimi Mofuta wa taelo ID ya Taelo
Bolelele ba data |
Node ea chassis
0×0A |
20ms | 500ms | |
| Taelo ea ho laola (0×55)
0x01 |
||||
| 6 | ||||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| pele [0]
pele [1] |
Lebelo la ho sisinyeha le phahame ho li-bits tse 8
Lebelo la ho sisinyeha le theola likotoana tse 8 |
saena int16 | Lebelo la koloi, yuniti: mm/s | |
| pele [2]
pele [3] |
Lebelo la ho potoloha le phahame ho li-bits tse 8
Lebelo la ho potoloha le tlase ho li-bits tse 8 |
saena int16 | Lebelo la ho potoloha ha koloi, yuniti: 0.001rad/s | |
| pele [4] | Reserved | – | 0x00 | |
| pele [5] | Reserved | – | 0x00 | |
Leseli la Taolo ea Leseli
| Lebitso la Taelo Leseli la Taolo ea Leseli | ||||
| Node ea ho romella | Node ea ho amohela | Potoloho (ms) | Nako ea ho amohela (ms) | |
| Yuniti ya taolo ya ho etsa diqeto Bolelele ba foreimi Mofuta wa taelo ID ya Taelo
Bolelele ba data |
Node ea chassis
0×0A |
20ms | 500ms | |
| Taelo ea ho laola (0×55)
0x04 |
||||
| 6
Mosebetsi |
||||
| Boemo | Mofuta oa letsatsi | Tlhaloso | ||
| pele [0] | Taolo ea khanya e thusa folaga | e sa saenneng int8 | 0x00 Taolo ea taolo ha e sebetse
0x01 Taolo ea mabone e nolofalletsa |
|
|
pele [1] |
Mokhoa oa lebone la pele |
e sa saenneng int8 | 0x002xB010 NmOC de
0x03 Bokhabane ba mosebelisi |
|
| pele [2] | Khanya e ikhethileng ea lebone la pele | e sa saenneng int8 | [01, 0100r]e,fwerhsetroem0 arexfiemrsumto bnroigbhrtignhetsns[e5s]s, | |
| pele [3] | Mokhoa oa khanya o ka morao | e sa saenneng int8 | 0x002xB010 mNOC de
0x03 Bokhabane ba mosebelisi [0, r, weherte 0 refxers u to nbo brightness, |
|
| pele [4] | Iketsetse khanya bakeng sa khanya e ka morao | e sa saenneng int8 | 100 ef rs o ma im m tness | |
| pele [5] | Reserved | — | 0x00 | |
Firmware ntlafatso
Bakeng sa ho nolofatsa basebelisi ho ntlafatsa mofuta oa firmware o sebelisoang ke SCOUT 2.0 le ho tlisetsa bareki boiphihlelo bo felletseng, SCOUT 2.0 e fana ka sehokelo sa ntlafatso sa firmware le software e tsamaellanang ea bareki. Setšoantšo sa skrini sa sesebelisoa sena
Ntlafatsa boitokisetso
- SERIAL CABLE × 1
- USB-TO-SERIAL PORT × 1
- SCOUT 2.0 CHASSIS × 1
- COMPUTER (WINDOWS OPERATING SYSTEM) × 1
Sesebelisoa sa ntlafatso ea firmware
https://github.com/agilexrobotics/agilex_firmware
Mokhoa oa ho ntlafatsa
- Pele o hokela, etsa bonnete ba hore chassis ea roboto e tima; Hokela thapo ea seriale boema-kepeng ba serial qetellong ea chassis ea SCOUT 2.0;
- Hokela thapo ya serial ho komporo;
- Bula software ea bareki;
- Khetha nomoro ea boema-kepe;
- Matla ho chassis ea SCOUT 2.0, 'me hang-hang u tobetse ho qala khokahanyo (SCOUT 2.0 chassis e tla emela 3s pele e tima; haeba nako ea ho ema e feta 3s, e tla kenya kopo); haeba khokahanyo e atleha, "ho kopanngoa ka katleho" ho tla hlahisoa ka lebokoseng la mongolo;
- Load Bin faele;
- Tobetsa konopo ea Ntlafatsa, 'me u emele tlhahiso ea ho phethela ntlafatso;
- Tlosa thapo ea seriale, tima chassis, 'me u time motlakase hape.
SKOUT 2.0 SDK
E le ho thusa basebelisi ho kenya ts'ebetsong nts'etsopele e amanang le liroboto ka mokhoa o bonolo haholoanyane, SDK e tšehelitsoeng ka sethala e etselitsoe SCOUT 2.0 mobile robot.SDK software package e fana ka sebopeho se thehiloeng ho C ++, se sebelisetsoang ho buisana le chassis ea roboto ea mohala ea SCOUT 2.0 le e ka fumana boemo ba morao-rao ba roboto le ho laola liketso tsa mantlha tsa roboto. Hajoale, CAN ikamahanya le puisano e teng, empa ho ikamahanya le maemo a RS232 ho ntse ho tsoela pele.Ho ipapisitse le sena, liteko tse amanang le tsona li phethiloe ho NVIDIA JETSON TX2.
SCOUT2.0 Pakete ea ROS
ROS e fana ka lits'ebeletso tse ling tse tloaelehileng tsa sistimi ea ts'ebetso, joalo ka ho tlosoa ha hardware, taolo ea lisebelisoa tsa boemo bo tlase, ts'ebetsong ea ts'ebetso e tloaelehileng, molaetsa oa li-interprocess le taolo ea pakete ea data. ROS e ipapisitse le meralo ea kerafo, e le hore ts'ebetso ea li-node tse fapaneng li ka amohela, le ho bokella lintlha tse fapaneng (tse kang ho utloa, ho laola, boemo, moralo, joalo-joalo) Hajoale ROS e tšehetsa UBUNTU haholo.
Tokisetso ea Nts'etsopele
Ho lokisa lisebelisoa
- CANlight can communication module ×1
- Buka ea Thinkpad E470 ×1
- AGILEX SCOUT 2.0 mobile robot chassis ×1
- AGILEX SCOUT 2.0 taolo e hole FS-i6s ×1
- AGILEX SCOUT 2.0 sokete ea matla a sefofane ×1
Sebelisa mohlalaample tikoloho tlhaloso
- Ubuntu 16.04 LTS (Ena ke mofuta oa liteko, o latsoitse ho Ubuntu 18.04 LTS)
- ROS Kinetic (Liphetolelo tse latelang le tsona li lekoa)
- Git
Khokahano ea lisebelisoa le boitokiso
- Etella pele terata ea CAN ea plug ea SCOUT 2.0 top aviation plug kapa tail plug, 'me u hokele CAN_H le CAN_L teratang ea CAN ho adaptara ea CAN_TO_USB ka ho latellana;
- Bulela konopo ea knob chassis ea roboto ea mohala ea SCOUT 2.0, 'me u hlahlobe hore na li-switches tsa ho emisa tsa tšohanyetso mahlakoreng ka bobeli li lokollotsoe;
- Hokela CAN_TO_USB sebakeng sa usb sa bukana. Setšoantšo sa khokahano se bontšoa ho Setšoantšo sa 3.4.
Ho kenya ROS le ho beha tikoloho
Bakeng sa lintlha tsa ho instola, ka kopo sheba ho http://wiki.ros.org/kinetic/Installation/Ubuntu
Lekola CANABLE hardware le puisano ea CAN
Ho seta adaptara ea CAN-TO-USB
- Numella gs_usb kernel module
$ sudo modprobe gs_usb - Ho beha sekhahla sa 500k Baud le ho nolofalletsa adaptara ea can-to-usb
$ sudo ip link set can0 up mofuta o ka bitrate 500000 - Haeba ha ho phoso e etsahetseng mehatong e fetileng, u lokela ho khona ho sebelisa taelo ea ho view sesebediswa sa can hang hang
$ ifconfig -a - Kenya le ho sebelisa li-can-utils ho lekola hardware
$ sudo apt install can-utils - Haeba can-to-usb e hoketsoe ho roboto ea SCOUT 2.0 lekhetlong lena, 'me koloi e buletsoe, sebelisa litaelo tse latelang ho beha leihlo lintlha tsa chassis ea SCOUT 2.0.
$ candump can0 - Ka kopo, sheba:
AGILEX SCOUT 2.0 ROS PACKAGE jarolla le ho bokella
- Khoasolla sephutheloana sa ros
$ sudo apt kenya ros-$ROS_DISTRO-controller-manager
$ sudo apt kenya ros-$ROS_DISTRO-teleop-twist-keyboard$ sudo apt kenya ros-$ROS_DISTRO-joint-state-publisher-gui$ sudo apt kenya libasio-dev - Clone bokella scout_ros khoutu
$ 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
Ka kopo sheba:https://github.com/agilexrobotics/scout_ros
Mehato ya tlhokomelo
Karolo ena e kenyelletsa litemoso tse lokelang ho hlokomeloa bakeng sa tšebeliso le nts'etsopele ea SCOUT 2.0.
Betri
- Betri e fanoeng ka SCOUT 2.0 ha e tjhaje ka botlalo maemong a feme, empa matla a eona a khethehileng a ka bonts'oa voltmeter qetellong ea chassis ea SCOUT 2.0 kapa a baloe ka sehokelo sa puisano sa libese sa CAN. Ho tjhaja betri ho ka emisoa ha LED e tala tjhajang e fetoha botala. Hlokomela hore ha o boloka tjhaja e ntse e hokahane ka mora hore LED e tala e bule, tjhaja e tla tswelapele ho tjhaja betri ka hoo e ka bang 0.1A ya hona jwale ka metsotso e ka bang 30 ho feta hore betri e tjhaje ka botlalo.
- Ka kopo u se ke ua tjhaja betri ka mor'a hore matla a eona a fokotsehe, 'me ka kopo tjhaja betri ka nako ha alamo ea boemo bo tlase ba betri e bulehile;
- Maemo a tsitsitseng a polokelo: Mocheso o motle ka ho fetisisa oa ho boloka betri ke -10 ℃ ho ea ho 45 ℃; haeba e bolokoa ntle le tšebeliso, betri e tlameha ho nchafatsoa le ho tsoa hang ka mor'a likhoeli tse ling le tse ling tse peli, ebe e bolokoa ka molumo o felletseng.tage state. Ka kopo u se ke ua kenya betri mollong kapa ua chesa betri, 'me ka kopo u se ke ua boloka betri sebakeng sa mocheso o phahameng;
- Ho tjhaja: Betri e tlameha ho tjhajwa ka tjhaja e inehetseng ya lithium; Libetri tsa lithium-ion li ke ke tsa qosoa ka tlase ho 0 ° C (32 ° F) 'me ho fetola kapa ho fetola libeteri tsa pele ho thibetsoe ka thata.
Tikoloho ya tshebetso
- Mocheso o sebetsang oa SCOUT 2.0 ke -10℃ ho ea ho 45℃; ka kopo u se ke ua e sebelisa ka tlase ho -10 ℃ le ka holimo ho 45 ℃;
- Litlhoko tsa mongobo o lekanyelitsoeng tikolohong ea tšebeliso ea SCOUT 2.0 ke: boholo ba 80%, bonyane 30%;
- Ka kopo u se ke ua e sebelisa tikolohong e nang le likhase tse senyang le tse chang kapa tse koaletsoeng linthong tse tukang;
- U se ke ua e beha haufi le licheso kapa lisebelisoa tsa ho futhumatsa tse kang li-resistors tse kholo tse kopantsoeng, joalo-joalo;
- Ntle le mofuta o ikhethileng (sehlopha sa ts'ireletso sa IP se hlophisitsoeng), SCOUT 2.0 ha se bopaki ba metsi, ka hona, ka kopo u se ke oa e sebelisa sebakeng se nang le lipula, lehloa kapa tikoloho e bokelletsoeng ke metsi;
- Boemo bo phahameng ba tikoloho ea tšebeliso e khothaletsoang ha boa lokela ho feta 1,000m;
- Phapang ea mocheso lipakeng tsa mots'eare le bosiu sebakeng se khothalelitsoeng ho sebelisoa ha ea lokela ho feta 25 ℃;
- Kamehla hlahloba khatello ea thaere, 'me u netefatse hore e ka har'a 1.8 bar ho isa ho 2.0bar.
- Haeba thaere leha e le efe e tsofetse haholo kapa e feletsoe ke moea, ka kopo e khutlise ka nako.
Lithapo tsa motlakase/katoloso
- Bakeng sa matla a atolositsoeng ka holimo, hona joale ha ea lokela ho feta 6.25A le matla a feletseng ha aa lokela ho feta 150W;
- Bakeng sa phepelo e atolositsoeng ea matla ka morao, hona joale ha ea lokela ho feta 5A mme matla a felletseng ha aa lokela ho feta 120W;
- Ha sistimi e lemoha hore betri e voltage e tlase ho feta bophahamo ba modumotage, li atoloso tsa phepelo ea matla a kantle li tla fetisetsoa ho tsona. Ka hona, basebelisi ba khothaletsoa ho hlokomela haeba li atoloso tsa kantle li kenyelletsa ho bolokoa ha data ea bohlokoa mme ha li na ts'ireletso ea ho tima.
Keletso e eketsehileng ea polokeho
- Haeba ho na le lipelaelo nakong ea ts'ebeliso, ka kopo latela bukana ea litaelo kapa ikopanye le basebetsi ba tekheniki;
- Pele o sebelisoa, ela hloko boemo ba lebala, 'me u qobe ho se sebetse hantle ho ka bakang bothata ba polokeho ea basebetsi;
- Maemong a tšohanyetso, tobetsa konopo ea ho emisa ts'ohanyetso ebe o tima sesebelisoa;
- Ntle le ts'ehetso ea tekheniki le tumello, ka kopo u se ke oa fetola sebopeho sa lisebelisoa tsa kahare.
Lintlha tse ling
- SCOUT 2.0 e na le likarolo tsa polasetiki ka pele le ka morao, ka kopo u se ke ua otla likarolo tseo ka ho toba ka matla a feteletseng ho qoba tšenyo e ka bang teng;
- Ha u tšoara kapa ua emisa, ka kopo u se ke ua oa kapa ua beha koloi holimo;
- Bakeng sa bao e seng litsebi, ka kopo u se ke ua qhaqha koloi ntle le tumello.
Q&A
- P: SCOUT 2.0 e qalisoa ka nepo, empa ke hobane'ng ha RC transmitter e sitoa ho laola 'mele oa koloi hore o tsamaee?
A: Ntlha ea pele, hlahloba hore na motlakase oa motlakase o boemong bo tloaelehileng, hore na mochine oa motlakase oa koloi o hatelloa fatše le hore na li-switches tsa E-stop li lokolloa; ebe, hlahloba hore na mokhoa oa ho laola o khethiloeng ka konopo ea khetho ea mokhoa o ka holimo le letšehali ho transmitter ea RC e nepahetse. - P: taolo e hole ea SCOUT 2.0 e maemong a tloaelehileng, mme tlhahisoleseling mabapi le boemo ba chassis le motsamao o ka amoheloa ka nepo, empa ha protocol ea foreimi ea taolo e fanoa, ke hobane'ng ha mokhoa oa ho laola 'mele oa koloi o ke ke oa fetoloa mme chassis e arabela foreimi ea taolo. protocol?
A: Ka tloaelo, haeba SCOUT 2.0 e ka laoloa ke RC transmitter, ho bolela hore motsamao oa chassis o tlas'a taolo e nepahetseng; haeba sebopeho sa maikutlo sa chassis se ka amoheloa, ho bolela hore sehokelo sa katoloso ea CAN se maemong a tloaelehileng. Ka kopo, sheba setšoantšo sa taolo ea CAN se rometsoeng ho bona hore na tlhahlobo ea data e nepahetse le hore na mokhoa oa ho laola o boemong ba ho laola taelo. O ka sheba boemo ba folaga ea phoso ho tsoa karolong ea phoso ho foreimi ea maikutlo a boemo ba chassis. - P: SCOUT 2.0 e fana ka molumo oa "beep-beep-beep ..." ts'ebetsong, mokhoa oa ho sebetsana le bothata bona?
A: Haeba SCOUT 2.0 e fana ka molumo ona oa "beep-beep-beep" khafetsa, ho bolela hore betri e molumo oa alamo.tage state. Ka kopo tjhaja betri ka nako. Hang ha molumo o mong o amanang le oona o hlaha, ho ka 'na ha e-ba le liphoso tsa ka hare. U ka sheba likhoutu tse amanang le liphoso ka bese ea CAN kapa ua buisana le basebetsi ba amanang le tekheniki. - P: Na thaere ea SCOUT 2.0 hangata e bonoa ts'ebetsong?
A: Hangata thaere ea SCOUT 2.0 e bonoa ha e ntse e sebetsa. Joalo ka ha SCOUT 2.0 e ipapisitse le moralo o fapaneng oa mabili a mane, khohlano ea ho thella le khohlano ea rolling li etsahala ha 'mele oa koloi o potoloha. Haeba fuluru e se boreleli empa e le makukuno, lithaere li tla tsofala. E le ho fokotsa kapa ho fokotsa lebelo la ho roala, ho fetola li-angle tse nyenyane ho ka etsoa bakeng sa ho fokotsa pivot. - P: Ha puisano e sebelisoa ka bese ea CAN, taelo ea karabo ea chassis e fanoa ka nepo, empa ke hobane'ng ha koloi e sa arabe taelo ea taolo?
K: Ho na le mochini oa ts'ireletso ea likhokahano ka hare ho SCOUT 2.0, ho bolelang hore chassis e fuoa ts'ireletso ea nako ha e sebetsa ka litaelo tsa taolo ea kantle ea CAN. Ha re re koloi e amohela foreimi e le 'ngoe ea protocol ea puisano, empa ha e fumane taelo e latelang ea taolo kamora 500ms. Tabeng ena, e tla kenya mokhoa oa tšireletso ea puisano 'me e behe lebelo ho 0. Ka hona, litaelo tse tsoang k'homphieutheng e ka holimo li tlameha ho ntšoa nako le nako.
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Litokomane / Lisebelisoa
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Sehlopha sa Agilex Robotics SCOUT 2.0 AgileX Robotics [pdf] Bukana ea Mosebelisi Sehlopha sa SCOUT 2.0 AgileX Robotics, SCOUT 2.0, Sehlopha sa AgileX Robotics, Sehlopha sa Liroboto |
