Sehlopha sa Hunter AgileX Robotics
Khaolo ena e na le lintlha tsa bohlokoa tsa polokeho; 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 kopo e feletseng ea roboto, ebile ha e kenyelle lisebelisoa tsohle tsa peripheral tse ka amang polokeho 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.
Bahoebi ba HUNTER SE le bareki ba ho qetela ba na le boikarabelo ba ho etsa bonnete ba hore ho latela melao le melaoana e sebetsang ea linaha tse amehang, le ho netefatsa hore ha ho na likotsi tse kholo ts'ebetsong e feletseng ea roboto.
Sena se kenyelletsa empa ha se felle feela ho tse latelang:
- Katleho le boikarabelo
- Etsa tlhahlobo ea kotsi ea tsamaiso e feletseng ea roboto.
- Hokela lisebelisoa tse ling tsa polokeho ea mechini e meng e hlalositsoeng ke tlhahlobo ea bona hammoho.
- Netefatsa hore moralo le ts'ebetso ea lisebelisoa tsohle tse ka thoko tsa sistimi ea liroboto, ho kenyeletsoa lisebelisoa tsa software le hard ware, li nepahetse.
- Roboto ena ha e na ts'ebetso e nepahetseng ea ts'ireletso ea roboto e felletseng e ikemetseng e tsamaeang, ho kenyeletsoa empa e sa felle feela ho thibela ho thulana, ho thibela ho oela, temoso ea mokhoa oa libopuoa, joalo-joalo. Mesebetsi e amehang e hloka bahokahanyi le bareki ba ho qetela ho etsa tlhahlobo ea polokeho ho latela litokisetso tse amehang le melao le melaoana e sebetsang ho netefatsa hore roboto e tsoetseng pele ha e na likotsi tse kholo le likotsi tse patiloeng ts'ebeliso e sebetsang.
- Bokella litokomane tsohle tsa tekheniki file: ho kenyeletsa tlhahlobo ea kotsi le bukana ena.
- Tikoloho
- Bakeng sa ts'ebeliso ea pele, ka kopo bala bukana ena ka hloko ho utloisisa litaba tsa mantlha tsa ts'ebetso le litlhaloso tsa ts'ebetso.
- E etselitsoe ho jara batho ka thata
- Bakeng sa ts'ebetso ea taolo e hole, khetha sebaka se batlang se bulehile ho sebelisa HUNTER SE, hobane ha e na sensor ea ho qoba litšitiso tse ikemetseng. Ka kopo, boloka sebaka se sireletsehileng sa limithara tse fetang 2 ha HUNTERSE e tsamaea.
- Sebelisa HUNTER SE tlas'a -10°C ~ 45°C mocheso oa tikoloho.
- Bokhoni ba ho thibela metsi le ho thibela lerole ba HUNTERSE ke IP22.
- Lethathamo la mosebetsi oa pele
- Etsa bonnete ba hore sesebelisoa ka seng se na le matla a lekaneng.
- Etsa bonnete ba hore koloi ha e na liphoso tse totobetseng.
- 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
- Etsa bonnete ba hore sebaka se potolohileng se batla se le seholo ha se sebelisoa.
- Etsa remote control ka har'a mefuta e mengata ea ponahalo.
- Boima bo boholo ba HUNTERSE ke 50KG. Ha o sebelisoa, etsa bonnete ba hore moputso ha o fete 50KG.
- Ha u kenya katoloso ea ka ntle, tiisa boemo ba setsi sa boima ba ho atolosa 'me u netefatse hore se bohareng ba koloi.
- Ka kopo tjhaja ka nako ha sesebelisoa se le alamo e tlase ea betri.
- Ha thepa e na le sekoli, ka kopo emisa hang-hang ho e sebelisa ho qoba tšenyo ea bobeli.
- Tlhokomelo
- Kamehla hlahloba khatello ea thaere, 'me u boloke khatello ea thaere e ka ba 2.0 BAR.
- Haeba thaere e senyehile haholo kapa e phatlohile, ka kopo e khutlise ka nako.
- Haeba betri e sa sebelisoe nako e telele, betri e hloka ho tjhajoa nako le nako likhoeling tse ling le tse ling tse peli ho isa ho tse 2.
- Ha sesebelisoa se e-na le sekoli, ka kopo ikopanye le setsebi se amehang ho sebetsana le sona, 'me u se ke ua sebetsana le bothata boo u le mong.
- Ka kopo e sebelise tikolohong e fihlelang litlhoko tsa boemo ba ts'ireletso ho latela boemo ba ts'ireletso ea IP ea lisebelisoa.
- Ha o tjhaja, etsa bonnete ba hore mocheso o phelang o ka hodimo ho 0°C.
SETSOMI SE Selelekela
HUNTERSE ke mofuta oa Ackermann o hlophisitsoeng oa UGV (UNMANNED GROUND VEHICLE), e leng chassis e entsoeng ka setataiso sa Ackermann, se nang le litšobotsi tse tšoanang le tsa likoloi, 'me e na le advan e hlakileng.tage litseleng tse tloaelehileng tsa samente le sekontiri. Ha ho bapisoa le chassis e fapaneng ea mabili a mane, HUNTERSE e na le matla a phahameng a mojaro, e ka finyella lebelo le phahameng la ho sisinyeha, 'me ka nako e ts'oanang e apara ka tlaase ho sebopeho le lithaere, tse loketseng mosebetsi oa nako e telele. Le hoja HUNTERSE e sa etsetsoa libaka tse fapa-fapaneng, e na le lisebelisoa tse emisitsoeng ka letsoho 'me e ka feta har'a litšitiso tse tloaelehileng tse kang maqhubu a lebelo. Khamera ea stereo, lidar, GPS, IMU, manipulator le lisebelisoa tse ling li ka kenngoa ka boikhethelo ho HUNTERSE bakeng sa lits'ebetso tse atolositsoeng. HUNTERSE e ka sebelisoa tlhahlobong e se nang motho, ts'ireletso, lipatlisiso tsa mahlale, lipatlisiso, thepa le likarolo tse ling.
Lethathamo la likarolo
| Lebitso | bongata |
| HUNTERSErobotbody | X1 |
| Chaja ea betri (AC 220V) | X1 |
| Aviation plug(4Pin) | X1 |
| FSremotecontroltransmitter(boikhethelo) | X1 |
| Mojule oa puisano oa USB CAN | X1 |
Litlhaloso tsa theknoloji
| Mefuta ea parameter | Lintho | Litekanyetso |
| Mechanical parameters | L × W × H (mm) | 820X 640 X 310 |
| Wheelbase(mm) Ka pele/ka morao (mm) |
460 550 |
|
| Boima ba koloi(Kg) | 42 | |
| Mofuta oa Leshala | Lithium betri 24V 30Ah/60Ah | |
| Motlakase oa motlakase | DC brush-tlase 2 X 350W | |
| Mokhanni oa koloi | DC brush-tlase 105W | |
| Lebokose la gear la ho fokotsa | 1:4 | |
| Ho tsamaisa | Lebili le ka pele Ackermann | |
| Encoder | Magnetic encoder 1000 | |
| Maximuminnerwheelsteering angle | 22° | |
| Lisebelisoa tsa polokeho | Khahlano le ho thulana | |
| Litekanyetso tsa ts'ebetso | Ho nepahala ha tsamaiso Ha ho moroalo o phahameng ka ho fetisisa | 0.5° 4.8 |
| lebelo(m/s) Minimumturningradius(m) Boholo ba ho hloa maemo Nako e fokolang ea ho bulela (mm) Mocheso oa ho sebetsa Laela |
1.9 20° 120 (ho ea ho 45 °) -10 ~ 45C ° 50kg-remote-control |
|
| Laola mekhahlelo | Mokhoa oa ho laola | Taolo ea Remote Taolo ea Taolo |
| Phetiso | 2.4G/extremedistance 200m | |
| Sehokelo sa Puisano | KA |
Tlhokahalo bakeng sa ntshetsopele
FS RC transmitter e fanoa (ho ikhethela) sebakeng sa fektheri sa HUNTER SE, se lumellang basebelisi ho laola mochine oa roboto ho tsamaea le ho thinya; HUNTER SE e na le sebopeho sa CAN, 'me basebelisi ba ka etsa nts'etsopele ea bobeli ka eona.
The Basics
Karolo ena e tla fana ka kenyelletso ea motheo ho HUNTER SE mobile robot chassis, e le hore basebelisi le bahlahisi ba be le kutloisiso ea motheo ea mochine oa HUNTER SE. Lipalo 2.1 le 2.2 ka tlase li fana ka views ea chassis eohle ea liroboto tse tsamaeang.
- Profile Tšehetso
- Phanele ea kamore e holimo
- Konopo ea ho emisa ha ts'ohanyetso
- Mokhoa oa ho tsamaisa
Setšoantšo2.1 Pele View
- Liphetoho tsa Emergency stop
- Phanele ea motlakase e ka morao
- Fensetere ea ho fetola betri
Setšoantšo2.2 MoraoView
HUNTER SE e amohela mohopolo o hlophisitsoeng le o bohlale oa moralo ka kakaretso. Lebili la rabara ea vacuum le enjene e matla ea DC brush-less servo li sebelisoa mojuleng oa matla, e leng se etsang hore sethala sa nts'etsopele sa roboto sa HUNTER SE se be le bokhoni bo matla ba ho feta. Hape ho bonolo ho HUNTER SE ho tšela litšitiso ka ho emisoa ha borokho bo ka pele. Li-switch tsa maemo a tšohanyetso li kentsoe mahlakoreng ka bobeli a 'mele oa koloi, e le hore ts'ebetso ea ho emisa ts'ohanyetso e ka etsoa kapele ha ho hlaha maemo a tšohanyetso, e le ho qoba likotsi tsa polokeho le ho fokotsa kapa ho qoba tahlehelo e sa hlokahaleng. Karolo e ka morao ea HUNTER SE e na le sebopeho se bulehileng sa motlakase le sebopeho sa puisano, se loketseng bareki ho etsa nts'etsopele ea bobeli. Khokahano ea motlakase e amohela likhokahano tse sa keneleng metsi tsa sefofane moralong le khethong, e leng molemo ho atoloseng le ts'ebelisong ea basebelisi ka lehlakoreng le leng, mme e nolofalletsa sethala sa liroboto ho sebelisoa libakeng tse ling tse thata ka lehlakoreng le leng.
Pontsho ya boemo
Basebelisi ba ka tseba boemo ba 'mele oa koloi ka voltmeter, beeper le mabone a behiloeng ho HUNTERSE.
Bakeng sa lintlha tse qaqileng, ka kopo sheba setšoantšo sa 2.1.
| Boemo | Tlhaloso |
| Voltage | Betri ea hajoale ea voltage ka ba viewed ka voltmeter karolong e ka morao ea motlakase. |
| Vol e tlasetagalamo | Ha betri e phahamatage ka tlase ho 24.5V, 'mele oa koloi o tla fana ka molumo oa beep-beep-beep e le temoso. Ha betri e phahamatage fumanoa e le ka tlase ho 24.5V, HUNTERSE e tla khaola ka matla phepelo ea matla ho li-extensions tsa kantle le ho khanna ho thibela betri hore e se ke ea senyeha. Tabeng ena, chassis e ke ke ea nolofalletsa taolo ea mint le ho amohela koma le taolo ea kantle. |
Litaelo mabapi le li-interface tsa motlakase
Litaelo mabapi le sebopeho sa motlakase se ka morao
Sebopeho sa katoloso ka morao se bontšoa ho Setšoantšo sa 2.6, moo Q1 e leng sebopeho sa ho tjhaja; Q2 ke sesebelisoa sa matla; Q3 ke tšebelisano ea pontšo ea matla; Q4 ke sebopeho sa katoloso ea matla a CAN le 24V.
Tlhaloso ea phini e khethehileng ea Q4 e bontšoa ho Setšoantšo sa 2.7.
| Pin No. | Mofuta oa Pin | Mosebetsi le Tlhaloso | Litlhaloso |
| 1 | Matla | VCC | Matla a nepahetseng, voltage fapaneng 24.5 ~ 26.8v, boholo ba hona joale 10A |
| 2 | Matla | GND | Dative ea matla |
| 3 | KA | TLHOKOMELISO | CAN bese e phahame |
| 4 | KA | KA_L | KA Bulow |
Setšoantšo sa 2.7 Taelo ea Pin ea Sebopeho sa Ka morao sa Aviation
Litaelo mabapi le remote control
FS remote control ke sesebelisoa sa boikhethelo bakeng sa HUNTERSE. Bareki ba ka khetha ho latela litlhoko tsa sebele. Taolo e hole e ka laola habonolo chassis ea liroboto tsa HUNTERSE. Sehlahisoang sena, re sebelisa moralo oa letsoho le letšehali. Sheba Setšoantšo sa 2.8 bakeng sa tlhaloso le mosebetsi oa sona.
Mesebetsi ea likonopo e hlalosoa e le: SWC le SWA li holofalitsoe ka nakoana; SWB ke konopo ea khetho ea mokhoa oa ho laola, e letsetsa holimo ke mokhoa oa ho laola taelo, 'me e letsetsa bohareng ke mokhoa oa ho laola remote; SWD ke konopo ea pele ea leseli; letsetsa holimo ho khantša lebone, 'me u le letele ho ea tlaase ho tima lebone; S1 ke konopo ea throttle, e laolang HUNTER SE pele le morao; S2 e laola setereke sa lebili le ka pele, ha POWER e le konopo ea matla, 'me u ka bulela remote control ka ho li tobetsa ka nako e le 'ngoe.
Mesebetsi ea likonopo e hlalosoa e le: SWC le SWA li holofalitsoe ka nakoana; SWB ke konopo ea khetho ea mokhoa oa ho laola, e letsetsa holimo ke mokhoa oa ho laola taelo, 'me e letsetsa bohareng ke mokhoa oa ho laola remote; SWD ke konopo ea pele ea leseli; letsetsa holimo ho khantša lebone, 'me u le letele ho ea tlaase ho tima lebone; S1 ke konopo ea throttle, e laolang HUNTER SE pele le morao; S2 e laola setereke sa lebili le ka pele, ha POWER e le konopo ea matla, 'me u ka bulela remote control ka ho li tobetsa ka nako e le 'ngoe.
Litaelo mabapi le litlhoko tsa taolo le metsamao
Re thehile sistimi ea litšupiso tse hokahaneng bakeng sa koloi e tsamaeang fatše ho latela maemo a ISO 8855 joalo ka ha ho bonts'itsoe ho Setšoantšo sa 2.9.
Joalokaha ho bonts'itsoe ho Setšoantšo sa 2.9, 'mele oa koloi oa HUNTERSE o tsamaisana le X axis ea tsamaiso e hlophisitsoeng ea litšupiso. Mokhoeng oa taolo ea hole, sutumelletsa thupa ea remoutu S1 ho ea pele ho ea ka lehlakoreng le nepahetseng la X, ebe o 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 ntle ea X ke boholo; ha S1 e sutumelletsoa ho boleng bo tlase, lebelo la motsamao ka lehlakoreng le lebe la X ke boholo; thupa e laolang hōle S2 e laola ho tsamaisoa ha mabili a ka pele a 'mele oa koloi; sutumelletsa S2 ka ho le letšehali, 'me koloi e fetohela ka ho le letšehali; e sutumelletsa ho fihlela holimo, 'me angle ea ho tsamaisa ke eona e kholo ka ho fetisisa; sutumelletsa S2 ka ho le letona, 'me koloi e thinyetsa ka ho le letona; e sutumelletsa ho fihlela holimo, 'me lehlakoreng le letona la ho tsamaisa ke lona le leholo ka nako ena. 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; setereng ke angle ea ho tsamaisa lebili le ka hare.
Karolo ena haholo-holo e kenyelletsa ts'ebetso ea motheo le ts'ebeliso ea sethala sa HUNTERSE, le mokhoa oa ho phethahatsa tsoelo-pele ea bobeli ea HUNTERSE ka sebopeho sa ka ntle sa CAN le protocol ea libese ea CAN.
Rea qala
Ts'ebeliso le ts'ebetso
Ts'ebetso ea mantlha ea ts'ebetso ena ea ho qala ke e latelang:
Hlahloba
- Sheba boemo ba HUNTER SE. Hlahloba hore na ho na le liphoso tse kholo; 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 ts'ohanyetso li lokollotsoe;
- Ha u sebelisa ka lekhetlo la pele, etsa bonnete ba hore QQ2 (switch switch) e ka morao ea motlakase e otlolohile, 'me HUNTERSE e boemong ba ho tima motlakase ka nako ena.
E qalang
- Fetolela konopo ea knob sebakeng se otlolohileng (Q2); tlas'a maemo a tloaelehileng, voltmeter hangata e bonts'a matla a betritage;
- Sheba matla a betritage, le molumo o tloaelehilengtage fapaneng ke 24.5 ~ 26.8V; haeba ho na le molumo o tsoelang pele oa "beep-beep-beep..." ho tsoa ho beeper, ho bolela hore betritage tlase haholo, ka kopo o e lefise ka nako.
Koala
- Tlosa konopo ho ea thekeng ho khaola motlakase.
Emergency stop
- Tobetsa konopo ea ho emisa ts'ohanyetso ka lehlakoreng la 'mele oa koloi oa HUNTERSE.
Mekhoa ea mantlha ea ts'ebetso ea taolo e hole
- Ka mor'a hore HUNTERSE mobile robot chassis e qalisoe ka mokhoa o ts'oanelang, e theohela ho RC transmitter mme e behe SWB ho mokhoa oa ho laola hole. Joale, mokhatlo oa sethala oa HUNTERSE o ka laoloa ke RC transmitter.
Ho tjhaja le ho nkela betri sebaka
HUNTER SE e na le tjhaja ea 10A ka ho sa feleng, e ka fihlelang litlhoko tsa ho tjhaja tsa bareki. Ha o tjhaja ka tlwaelo, ha ho na tlhaloso ya lebone la lebone ho chassis. Bakeng sa litaelo tse tobileng, ka kopo sheba tlhaloso ea lebone la sesupo sa tjhaja.
Mekhoa e ikhethileng ea ts'ebetso ea ho tjhaja ke e latelang:
- Netefatsa hore chassis ea HUNTER SE e maemong a ho koala. Pele o tjhaja, ka kopo etsa bonnete ba hore switch ea motlakase e ka morao ea motlakase e behiloe nako
- Kenya polaka ea tjhaja sebopehong sa ho tjhaja sa Ql karolong e ka morao ea taolo ea motlakase;
- Hokela tjhaja phepelong ya motlakase mme o tlose switch switch ho kenya boemo ba ho tjhaja.
Hlokomela: Hajoale, betri e hloka lihora tse ka bang 3 ho nchafatsoa ka botlalo ho tloha ho 24.5V, le vol.tage ea betri e nchafalitsoeng ka botlalo e ka ba 26.8V;
Phetoho ea betri
- Tlosa sesebelisoa sa motlakase sa chassis ea HUNTERSE
- Tobetsa senotlolo sebakeng sa betri ho bula sebaka sa betri
- Tlosa sehokelo sa betri se hoketsoeng hajoale, ka ho latellana (sehokelo sa matla sa XT60)
- Ntša betri, 'me u ele hloko hore betri ha e lumelloe ho thula le ho thula nakong ea ts'ebetso ena
Tsoelo-pele
Tekanyetso ea puisano ea CAN ho HUNTER SE e amohela maemo a CAN2.0B, sekhahla sa puisano ke 500K, 'me mokhoa oa molaetsa o nka mokhoa oa MOTOROLA. Lebelo la lebelo le lebelo la ho tsamaisa chassis le ka laoloa ka sebopeho sa libese sa CAN sa kantle; HUNTER SE e tla fana ka maikutlo mabapi le tlhaiso-leseling ea hajoale ea motsamao le tlhaiso-leseling ea boemo ba chassis ea HUNTER ka nako ea nnete. Taelo ea maikutlo a boemo ba sistimi e kenyelletsa maikutlo a hajoale a 'mele oa koloi, maikutlo a boemo ba taolo, bophahamo ba betritage maikutlo le maikutlo a phoso. Litaba tsa protocol li bonts'oa ho Lethathamo la 3.1.
Feedback Frame of HUNTER SEC chassis System Status
| Taelo Lebitso | Tsamaiso Boemo Maikutlo Taelo | |||
| Node ea ho romella | Node ea ho amohela | ID | Potoloho (ms) | Fumana nako ea ho felloa ke nako (ms) |
| Chassis ea ho tsamaisa ka terata | Sehlopha sa taolo ea ho etsa liqeto | 0x211 | 100ms | Ha ho letho |
| Bolelele ba data | 0x08 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| ka nako[0] | Boemo ba hona joale ba 'mele oa koloi | e sa ngolisoang8 | 0x00 Sistimi e maemong a tloaelehileng 0x01 Boemo ba ho emisa ha tshohanyetso 0x02 mokhelo tsamaisong |
|
| ka nako[1] | Taolo ea mokhoa | e sa ngolisoang8 | 0x00 Ema ka mokhoa 0x01 CAN mokhoa oa ho laola taelo 0x02 Mokhoa oa ho laola hole |
|
| byte[2] byte[3] | Matla a betri voltage bophahamo ba likotoana tse 8 Bophahamo ba betritage ke likotoana tse 8 ka tlase | e sa ngolisoang16 | Moqtage× 10 (ka ho nepahala ha 0.1V) | |
| byte[4] byte[5] | Tlhahisoleseding ea ho hlōleha ke li-bits tse 8 tse phahameng Boitsebiso ba ho hlōleha ke li-bits tse 8 tse tlaase | e sa ngolisoang16 | Sheba litlhaloso[Tlhaloso ea Boitsebiso bo Hlōlehileng] | |
| ka nako[6] | Reserved | _ | 0x00 | |
| ka nako[7] | Ho bala (palo) | e sa ngolisoang8 | 0 ~ 255 palo ea potoloho; nako le nako ha taelo e romelloa, palo e tla eketseha hang | |
| Tlhaloso ea Phoso | ||
| byte | Bit | Tlhaloso |
| ka nako[4] | hanyane [0] | E bolokiloe, ea kamehla 0 |
| hanyane [1] | E bolokiloe, ea kamehla 0 | |
| hanyane [2] | Ts'ireletso ea remote dis connection (0: Ha ho na ho hlōleha 1: Ho hloleha) | |
| hanyane [3] | E bolokiloe, ea kamehla 0 | |
| hanyane [4] | Khokahano ea puisano e kaholimo (0: Ha ho na ho hloleha 1: Ho hloleha) | |
| hanyane [5] | E bolokiloe, ea kamehla 0 | |
| hanyane [6] | Phoso ea boemo ba Drive (0: Ha ho na ho hloleha 1: ho hloleha) | |
| hanyane [7] | E bolokiloe, ea kamehla 0 | |
| ka nako[5] | hanyane [0] | Batla tlas'a voltage hloleha (0: Ha ho na ho hloleha 1: Ho hloleha) |
| hanyane [1] | Steeringzerosettingerror (0: Ha ho na ho hloleha 1: Ho hloleha) | |
| hanyane [2] | E bolokiloe, ea kamehla 0 | |
| hanyane [3] | Ho hloleha ha puisano ea mokhanni oa koloi (0: Ha ho ho hloleha 1: Ho hloleha) | |
| hanyane [4] | Rearrightmotorcommunicationfailure(0: Ha ho ho hloleha 1: Ho hloleha) | |
| hanyane [5] | Rearleftmotorcommunicationfailure(0: Ha ho ho hloleha 1: Ho hloleha) | |
| hanyane [6] | Motoroverheatfailure (0: Ha ho na ho hloleha 1: ho hloleha) | |
| hanyane [7] | Ho hloleha ha hajoale (0: Ha ho na ho hloleha 1: ho hloleha) | |
Taelo ea taolo ea motsamao oa maikutlo e kenyelletsa maikutlo a lebelo la hona joale la mola le sesupo sa 'mele oa koloi o tsamaeang. Litaba tse itseng tsa protocol li bonts'oa ho Lethathamo la 3.2.
Movement Control Feedback Frame
| Taelo Lebitso | Tsamaiso Boemo Maikutlo Taelo | |||
| Node ea ho romella | Node ea ho amohela | ID | Potoloho (ms) | Fumana nako ea ho felloa ke nako (ms) |
| Chassis ea ho tsamaisa ka terata | Uni ea taolo ea ho etsa liqeto | 0x221 | 20ms | ha ho letho |
| Bolelele ba data | 0x08 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| byte[0] byte[1] | Lebelo la motsamao le phahame ka likotoana tse 8 Lebelo la motsamao ke likotoana tse 8 ka tlase | saena16 | Lebelo la sebele × 1000 (ka ho nepahala ha 0.001m/s) | |
| ka nako[2] | Reserved | 0x00 | ||
| ka nako[3] | Reserved | 0x00 | ||
| ka nako[4] | Reserved | 0x00 | |
| ka nako[5] | Reserved | 0x00 | |
| ka nako[6] | Theangle ke likotoana tse 8 | Signedint16 | Sekhutlo sa sebele sa kahare X1000 (yuniti: 0.001rad) |
| ka nako[7] | hodimo | ||
| Theangle ke likotoana tse 8 | |||
| tlase |
Foreimi ea taolo ea motsamao e kenyelletsa taelo ea taolo ea lebelo le lebili le lebili le ka pele la taolo ea angle ea kahare.Likahare tse ikhethileng tsa protocol li bonts'itsoe ho Lethathamo la 3.3.
Movement Control Feedback Frame
| Taelo Lebitso |
Tsamaiso Boemo Maikutlo Taelo | |||
| Node ea ho romella | Node ea ho amohela | ID | Potoloho (ms) | Fumana nako ea ho tsoa(ms) |
| Sehlopha sa taolo ea ho etsa liqeto | Node ea chassis | 0x111 | 20ms | 500ms |
| Bolelele ba data | 0x08 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| byte[0] byte[1] | Lebelo la mola ke li-bits tse 8 holimo Lebelo la thelinear ke li-bits tse 8 ka tlase | saena int16 | Motho ea tsamaeang ka lebelo la koloi, yuniti: mm/s(boleng bo sebetsang: + -4800) | |
| ka nako[2] | Reserved | — | 0x00 | |
| ka nako[3] | Reserved | — | 0x00 | |
| ka nako[4] | Reserved | — | 0x00 | |
| ka nako[5] | Reserved | — | 0x00 | |
| byte[6] byte[7] | Lehlakore le na le likotoana tse 8 holimo Lehlakoreng le ka tlase ke likotoana tse 8 | saena int16 | Yuniti e ka hare ea setere: 0.001rad (boleng bo sebetsang + -400) | |
PS: Ka mokhoa oa taelo oa CAN, hoa hlokahala ho netefatsa hore foreimi ea taelo ea 0X111 e romelloa ka nako e ka tlaase ho 500MS (nako e khothalletsoang ke 20MS), ho seng joalo HUNTER SE e tla ahlola hore letšoao la taolo le lahlehile ebe le kenya phoso (0X211). maikutlo a hore puisano e ka hodimo e lahlehile). Ka mor'a hore tsamaiso e tlalehe phoso, e tla kena boemong ba standby. Haeba foreimi ea taolo ea 0X111 e khutlela ho nako e tloaelehileng ea ho romela ka nako ena, phoso e ka holimo ea ho khaola puisano e ka hlakoloa ka bo eona, 'me mokhoa oa ho laola o khutlela ho mokhoa oa ho laola CAN.
Sebopeho sa ho seta mokhoa se sebelisetsoa ho beha sebopeho sa taolo ea HUNTER SE. Litaba tse itseng tsa protocol li bonts'oa ho Lethathamo la 3.4.
Taelo ea ho beha Mokhoa oa Taolo
| Taelo Lebitso |
Tsamaiso Boemo Maikutlo Taelo | |||
| Node ea ho romella | Node ea ho amohela | ID | Potoloho (ms) | Fumana nako ea ho tsoa(ms) |
| Ho etsa liqeto yuniti ya taolo |
Node ea chassis | 0x421 | ha ho letho | ha ho letho |
| Bolelele ba data | 0x01 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| ka nako[0] | Mokhoa oa ho laola | e sa saenneng int8 | 0x00 Ema ka mokhoa 0x01 KANNA 0x01 Matla a ho kena |
|
Tlhaloso ea mokhoa oa ho laola: Haeba HUNTERSE e sebelisoa 'me mochine oa RC o sa hokahane, mokhoa oa ho laola o fetotsoe ho boemo ba standby. Ka nako ena, chassis e fumana feela taelo ea mokhoa oa ho laola, 'me ha e arabele litaelo tse ling. Ho sebelisa CAN bakeng sa taolo, o hloka ho fetohela ho mokhoa oa taelo oa CAN qalong. Haeba RC transmitter e buletsoe, RC transmitter e na le matla a phahameng ka ho fetisisa, e ka sireletsa taolo ea taelo le ho fetola mokhoa oa ho laola. Foreimi ea ho beha maemo e sebelisoa ho hlakola liphoso tsa sistimi. Litaba tsa protocol li bonts'oa ho Lethathamo la 3.5.
Foreimi ea Boemo ba Boemo
| Taelo Lebitso | Tsamaiso Boemo Maikutlo Taelo | |||
| Node ea ho romella | Node ea ho amohela | ID | Potoloho (ms) | Fumana nako ea ho tsoa(ms) |
| Ho etsa liqeto yuniti ya taolo |
Node ea chassis | 0x441 | ha ho letho | ha ho letho |
| Bolelele ba data | 0x01 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| ka nako[0] | taelo ea ho hlakola liphoso | e sa saenneng int8 | 0xFFCla mefokolo eohle e seng ea bohlokoa 0x04 Hlakola ho se sebetse hantle ha mokhanni oa koloi 0x05 Hlakola ho se sebetse hantle ha mokhanni oa koloi ea ka morao 0x06 Hlakola ho se sebetse hantle ha mokhanni oa koloi ea ka morao |
[Hlokomela] Sample data, lintlha tse latelang ke tsa tlhahlobo feela
- Koloi e ea pele ka lebelo la 0.15m/S
ka nako[0] ka nako[1] ka nako[2] ka nako[3] ka nako[4] ka nako[5] ka nako[6] ka nako[7] 0x00 0x96 0x00 0x00 0x00 0x00 0x00 0x00 q - Tsela ea koloi 0.2rad
ka nako[0] ka nako[1] ka nako[2] ka nako[3] ka nako[4] ka nako[5] ka nako[6] ka nako[7] 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xC8
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 motlakase tse tsamaisanang le li-motor tse tharo tse ka chassis ke: ho tsamaisa No. 1, lebili le ka morao le letona No. 2, lebili le letšehali le ka morao No.
Motor Drive High Speed Information Feedback Frame
| Lebitso la Taelo Motor Drive High Speed Information Feedback Frame | ||||
| Node ea ho romella | Node ea ho amohela | ID | Potoloho (ms) | Fumana nako ea ho tsoa(ms) |
| Chassis e tsamaisang ka terata Bolelele ba data Boemo |
Sehlopha sa taolo ea ho etsa liqeto 0x08 Mosebetsi | 0x251~0x253 Mofuta oa data |
20ms | Ha ho letho |
| Tlhaloso | ||||
| byte[0] byte[1] | Lebelo la enjene le phahame ka li-bits tse 8 Lebelo la koloi |
saena16 | Lebelo la hona joale la lebelo la enjene RPM | |
| e ka tlase ho likotoana tse 8 | |||
| byte[2] byte[3] | Motlakase oa motlakase o phahame ka li-bits tse 8 Mohaho oa motlakase ke likotoana tse 8 ka tlase | saena16 | Yuniti ea hajoale ea Motor 0.1A |
| byte[4] byte[5] byte[6] byte[7] | Reserved | — | 0x00 |
Motor Drive Low Speed Information Feedback Frame
| Taelo Lebitso la monko Drive Low Speed Information Feedback Frame | ||||
| Node ea ho romella | Node ea ho amohela | ID | Cycle(ms) Fumana nako ea ho tsoa(ms) | |
| Chassis ea ho tsamaisa ka terata | Sehlopha sa taolo ea ho etsa liqeto | 0x261~0x263 | 100ms | Ha ho letho |
| Bolelele ba data | 0x08 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| byte[0] byte[1] | Leqhubu la koloitage ke likotoana tse 8 ho feta The drive voltage ke likotoana tse 8 ka tlase | e sa ngolisoang16 | Currentdrivevoltage Unit 0.1V | |
| byte[2] byte[3] | Thempereichara ea ho khanna 8 bits holimo Mocheso oa koloi 8 bits ka tlase | saena16 | Yuniti 1℃ | |
| ka nako[4] | Mocheso oa motlakase | saena8 | Yuniti 1℃ | |
| ka nako[5] | Boemo ba ho khanna | e sa ngolisoang8 | Sheba lintlha ho [Drivecontrolstatus] | |
| ka nako[6] | Reserved | — | 0x00 | |
| ka nako[7] | Reserved | — | 0x00 | |
Tlhaloso ea Boemo ba Drive
| Boemo ba Drive | ||
| Byte | Bit | Tlhaloso |
| hanyane [0] | Whetherthepower supplyvoltage tlase haholo(0: Tloaelehileng 1: E tlase haholo) | |
| hanyane [1] | Ho futhumala ha koloi ho feta tekano (0: Tlwaeleho 1: E futhumala ho feta tekano) | |
| hanyane [2] | Whetherthedriveisovercurrent(0: Tloaelehileng 1: Overcurrent) | |
| hanyane [3] | Whetherthedrive is overheated (0: Tlwaelelo 1: Ho futhumala ho feta tekano) | |
| hanyane [4] | Boemo ba kutlo (0: Tlwaelehileng 1: E sa tlwaelehang) | |
| hanyane [5] | Driveerrorstatus (0: Tloaelehileng 1: Phoso) | |
| ka nako[5] | hanyane [6] | Drive nolofalletsa boemo (0: Numella 1: Thibela) |
| hanyane [7] | Reserved | |
Litlhophiso tsa zero le litaelo tsa maikutlo li sebelisoa ho lekanya boemo ba zero. Litaba tse ikhethileng tsa protocol.
Taelo ea ho tsamaisa Zero
| Taelo Lebitso | Ho tsamaisa Zero Potso | |||
| Node ea ho romella | Node ea ho amohela | ID | Cycle (ms) | Fumana nako ea ho tsoa(ms) |
| Chassis ea ho tsamaisa ka terata | Taolo ea ho etsa liqeto | 0x432 | Ha ho letho | ha ho letho |
| Bolelele ba data | 0x01 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| ka nako[0] | Zero off e beha li-bits tse 8 holimo | saena16 | Zero off set value pulse number reference value 22000+-10000 | |
| ka nako[1] | Thezerooffsetis 8 bits ka tlase | |||
Taelo ea ho Feedback ea Zero Setting
| Taelo Lebitso | Ho tsamaisa Zero Potso | |||
| Node ea ho romella | Node ea ho amohela | ID | Cycle (ms) | Fumana nako ea ho tsoa(ms) |
| Chassis ea ho tsamaisa ka terata | Taolo ea ho etsa liqeto | 0x43 B | Ha ho letho | ha ho letho |
| Bolelele ba data | 0x01 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| ka nako[0] | Thezerooffsetis 8 bits holimo | saena16 | chassis e tla sebelisa boleng bo sa lekanyetsoang ka holim'a mefuta e behiloeng ea 22000 | |
| ka nako[1] | Thezerooffsetis 8 bits ka tlase | |||
Taelo ea Potso ea Zero
| Taelo Lebitso | Ho tsamaisa Zero Potso | |||
| Node ea ho romella | Node ea ho amohela | ID | Cycle (ms) | Fumana nako ea ho tsoa(ms) |
| Taolo ea ho etsa liqeto | Chassis ea ho tsamaisa ka terata | 0x433 | Ha ho letho | ha ho letho |
| Bolelele ba data | 0x01 | |||
| Boemo | Mosebetsi | Mofuta oa data | Tlhaloso | |
| ka nako[0] | Botsa boleng ba hona joale ba zero off set | e sa ngolisoang8 | Boleng bo tsitsitseng: 0×AA Potso e khutlisa ka katleho 0×43B |
|
CAN thapo ya kgokelo
HUNTER SE e romelloa ka sehokelo sa banna ba sefofane. 
Ts'ebetsong ea taolo ea taelo ea CAN
Qala HUNTERSE mobile robot chassis ka tloaelo, bulela FS remote control, ebe u fetola mokhoa oa ho laola ho laola taelo, ke hore, fetola khetho ea mokhoa oa SWB oa FS remote control holimo. Ka nako ena, mochine oa HUNTERSE o tla amohela taelo e tsoang ho CAN interface, 'me moeti a ka boela a hlahloba boemo ba hona joale ba chassis ka nako ea sebele ea data e fepetsoeng ke bese ea CAN ka nako e le' ngoe. Sheba ho protocol ea puisano ea CAN bakeng sa litaba tse itseng tsa protocol.
HUNTERSE ROS Package sebelisa example
ROS e fana ka litšebeletso tse ling tse tloaelehileng tsa tsamaiso ea tsamaiso, tse kang ho tlosoa ha hardware, ho laola thepa ea boemo bo tlaase, ho kenya ts'ebetsong ea mesebetsi e tloaelehileng, molaetsa oa li-inter-process le tsamaiso ea pakete ea data. ROS e ipapisitse le meralo ea meralo ea graph, e le hore lits'ebetso tsa li-node tse fapaneng li ka amohela, ho lokolla, le ho bokella lintlha tse fapaneng (tse kang ho utloa, ho laola, boemo, moralo, joalo-joalo). Hajoale ROS e ts'ehetsa UBUNTU haholo.
Ho lokisa lisebelisoa
- CAN light can communication module X1
- ThinkpadE470 notebookX1
- AGILEX HUNTER SEmobilerobotchassisX1
- AGILEX HUNTER SE e tšehetsa taolo e hole FS-i6sX1
- AGILEX HUNTERS Erearaviation sokete X1
Sebelisa mohlalaample tikoloho tlhaloso
- Ubuntu 16.04 LTS (Ena ke mofuta oa teko, o lekiloeng ho Ubuntu18.04 LTS)
- ROSKinetic (Liphetolelo tse latelang le tsona li lekoa)
- Git
Khokahano ea lisebelisoa le boitokiso
- Etella pele thapo ea CAN ea plug ea HUNTER SE, 'me u hokele CAN_H le CAN_L ho thapo ea CAN ho adaptara ea CAN TO USB ka ho latellana;
- Bulela konopo ea knob ho chassis ea liroboto tsa HUNTER SE, 'me u hlahlobe hore na li-switches tsa ho emisa tsa tšohanyetso mahlakoreng ka bobeli lia lokolloa;
- Hokela CAN HO USB ho sebopeho sa usb sa buka ea lintlha. Setšoantšo sa khokahano.
Ho kenya ROS
- Bakeng sa lintlha tsa ho instola, ka kopo sheba ho http://wiki.ros.org/kinetic/Installa-tion/Ubuntu
Hardware le puisano ea CAN
- Seta adaptara ea CAN-TO-USB
- Beha sekhahla sa baud sa 500k 'me u khone ho sebelisa adaptara ea usb
- Haeba ha ho phoso e etsahetseng mehatong e fetileng, u lokela ho khona ho sebelisa taelo ea ho view thepa ea mokoti hang-hang
- Kenya le ho sebelisa can-utile ho lekola hardware
- sudor aptinstallcan-utils
- Haeba can-to-usb e hoketsoe ho roboto ea HUNTER SE lekhetlong lena, 'me koloi e buletsoe, sebelisa litaelo tse latelang ho beha leihlo dataho tsoa ho HUNTERSEchassis.
- Mehloli ea litšupiso:
HUNTER SE ROS PACKAGE jarolla le ho bokella
- Khoasolla sephutheloana se itšetlehileng ka liroes
$ sudor aptinstalllibasio-dev
$ sudor ap kenya roes-$ROS_DISTRO-telecopy-twist-keyboard. - Kopanya 'me u bokelle hunter_2_rossource code$ cd~/catkin_ws/src
$ gitclone-e pheta-pheta https://github.com/agilexrobotics/ugv_sdk.git
$ gitclonehttps://github.com/agilexrobotics/hunter_ros.git
$cd..
$ catkin_make - Mohloli oa litšupiso:
https://github.com/agilexrobotics/hunter_ros
Qala li-node tsa ROS
- Qala node ea motheo
$ roslaunchhunter_bringup hunter_robot_base.launch Startthekeyboard remoteoperationnode
$ roslaunchhunter_bringup hunter_teleop_key-board. Qala
Mehato ya tlhokomelo
Karolo ena e kenyelletsa litemoso tse lokelang ho eloa hloko bakeng sa ts'ebeliso le nts'etsopele ea HUNTER SE.
Betri
- Betri e fanoeng ka HUNTER SE ha e lefelloe ka botlalo sebakeng sa fektheri, empa matla a eona a khethehileng a matla a ka bonts'oa voltmeter qetellong ea HUNTER SE chassis kapa e baloe ka sebopeho sa puisano sa libese tsa 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 o seke oa tjhaja betri ka mora hore matla a yona a fele, mme ka kopo tjhaja betri ka nako ha lowbatterylevelalarmis e butswe;
- 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 o se ke oa kenya betri mollong kapa oa hotetsa betri, 'me ka kopo u se ke oa kenya betri
- tikoloho e phahameng ea mocheso;
- Ho tjhaja: Betri e tlameha ho tjhajwa ka tjhaja ya betri ya lithium. Se ke oa tjhaja betri ka tlase ho 0°C, hape o se ke wa sebedisa dibetri, thepa ya motlakase, le ditjhaja tse sa tlwaelehang.
- HUNTER SE e ts'ehetsa feela ho nkela le ts'ebeliso ea betri e fanoeng ke rona, 'me betri e ka tjhajoa ka thoko.
Ts'ebetso
- Mocheso o sebetsang oa HUNTER SE ke -10℃ho isa ho 45℃; ka kopo u se ke ua e sebelisa ka tlase ho -10 ℃ kapa ka holimo ho 45 ℃;
- Litlhoko tsa mongobo o lekanyelitsoeng tikolohong ea ts'ebetso ea HUNTER SE ke: boholo ba 80%, bonyane ba 30%;
- Ka kopo u se ke ua e sebelisa tikolohong e nang le likhase tse senyang le tse tukang kapa tse koaletsoeng linthong tse tukang;
- Se ke oa e boloka haufi le lisebelisoa tsa ho futhumatsa joalo ka heatersorlarge coiled resistors;
- HUNTER SE ha e na metsi, kahoo ka kopo u se ke ua e sebelisa sebakeng se nang le pula, lehloa kapa metsi;
- Ho khothalletsoa hore bophahamo ba tikoloho ea ts'ebetso bo hlokomele ho feta 1000M;
- Ho khothalletsoa hore phapang ea mocheso pakeng tsa motšehare le bosiu tikolohong ea ts'ebetso e se ke ea feta 25 ° C;
Katoloso ea kantle ea motlakase
- Bakeng sa phepelo e atolositsoeng ea matla ka morao, hona joale ha ea lokela ho feta 10A mme matla a felletseng ha aa lokela ho feta 240W;
- Ha sistimi e lemoha hore betri e voltage e tlase ho feta bophahamo ba modumotage, likatoloso tsa phepelo ea motlakase kantle li tla tingoa ka mafolofolo. Ka hona, basebelisi ba khothaletsoa ho hlokomela hore na litlatsetso tsa kantle li kenyelletsa ho boloka data ea bohlokoa mme ha li na tšireletso ea motlakase.
Lintlha tse ling
- Ha u tšoara le ho seta, ka kopo u se ke ua oa kapa ua beha koloi ka lehlakoreng la eona;
- Bakeng sa bao e seng litsebi, ka kopo u se ke ua qhaqha koloi ntle le tumello.
Q&A
P: HUNTER SE e qadile ka nepo, empa ke hobaneng ha RC transmitter e sa kgone ho laola koloi e tsamayang?
A: Ntlha ea pele, hlahloba hore na motlakase oa koloi o boemong bo tloaelehileng, le hore na li-switches tsa E-stop li lokolloa; ebe, hlahloba hore na mokhoa oa ho laola o khethiloe ka sesebelisoa sa khetho ea topleftmode hoRCtransmitteri e nepahetseng.
P: HUNTER SE taolo e hole 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 HUNTER SE e ka laoloa ke RC transmitter, ho bolela hore mokhatlo oa chassis o tlas'a taolo e nepahetseng; haeba sebopeho sa maikutlo a 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 tlhahiso ea boemo kapa folakha ho tsoa ho karolo ea phoso ho foreimi ea maikutlo a boemo ba chassis.
P: HUNTER SE e fana ka "beep-beep-beep ..." molumo o sebetsang; joang ho sebetsana le bothata bona?
A: Haeba HUNTER SE 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.
Litekanyo tsa Sehlahisoa
Setšoantšo sa setšoantšo sa litekanyo tsa kantle tsa sehlahisoa
Setšoantšo sa setšoantšo sa litekanyo tse atolositsoeng tsa tšehetso
- Mohlala: ZEN-OB1640Q
- Boima ka mithara: 0.78kg/m
- Botenya ba lebota: 2mm
Liroboto tsa Agile(Dongguan)
Co., Ltd. WWW.AGILEX.AI
Moholo: + 86-769-22892150
MOBILE: +86-19925374409
Litokomane / Lisebelisoa
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Sehlopha sa Hunter AgileX Robotics [pdf] Bukana ea Mosebelisi Sehlopha sa AgileX Robotics, AgileX, Sehlopha sa Liroboto |
