I-SCOUT 2.0 Iqela le-AgileX Robotics
Esi sahluko siqulethe ulwazi olubalulekileyo lokhuseleko, ngaphambi kokuba irobhothi ivuleke okokuqala, nawuphi na umntu okanye umbutho kufuneka ayifunde aze ayiqonde le nkcazelo ngaphambi kokuba asebenzise isixhobo. Ukuba unayo nayiphi na imibuzo malunga nokusetyenziswa, nceda uqhagamshelane nathi inkxaso@agilex.ai Nceda ulandele kwaye usebenzise yonke imiyalelo yendibano kunye nezikhokelo kwizahluko zale ncwadana, ebaluleke kakhulu. Ingqwalasela eyodwa kufuneka ihlawulwe kwisicatshulwa esinxulumene neempawu ezilumkisayo.
Ulwazi ngoKhuseleko
Ulwazi olukule ncwadana alubandakanyi uyilo, ufakelo kunye nokusebenza kwenkqubo yerobhothi epheleleyo, kwaye ayibandakanyi zonke izixhobo zeperipheral ezinokuchaphazela ukhuseleko lwenkqubo epheleleyo. Uyilo kunye nokusetyenziswa kwenkqubo epheleleyo kufuneka ihambelane neemfuno zokhuseleko ezisekwe kwimigangatho kunye nemimiselo yelizwe apho i-robot ifakwe khona.
I-SCOUT integrators kunye nabathengi bokugqibela banoxanduva lokuqinisekisa ukuthotyelwa kwemithetho esebenzayo kunye nemimiselo yamazwe achaphazelekayo, kunye nokuqinisekisa ukuba akukho bungozi obukhulu kwisicelo esipheleleyo serobhothi. Oku kuquka kodwa akuphelelanga koku kulandelayo:
Ukusebenza noxanduva
- Yenza uvavanyo lomngcipheko wenkqubo yerobhothi epheleleyo. Dibanisa izixhobo ezongezelelweyo zokhuseleko zabanye oomatshini abachazwe luvavanyo lomngcipheko kunye.
- Qinisekisa ukuba uyilo kunye nofakelo lwazo zonke izixhobo zomda werobhothi, kubandakanywa isoftware kunye neenkqubo zehardware, zichanekile.
- Le robhothi ayinayo i-robot epheleleyo ezimeleyo ehambayo, kubandakanywa kodwa ingaphelelanga ekuchaseni ukungqubana, ukulwa nokuwa, isilumkiso se-biological kunye neminye imisebenzi enxulumene nokhuseleko. Imisebenzi ehambelanayo ifuna abahlanganisi kunye nabathengi bokugqibela ukuba balandele imimiselo efanelekileyo kunye nemithetho enokwenzeka kunye nemimiselo yokuhlola ukhuseleko , Ukuqinisekisa ukuba i-robot ephuhlisiwe ayinayo nayiphi na ingozi enkulu kunye neengozi zokhuseleko kwizicelo zangempela.
- Qokelela onke amaxwebhu kwifayile yobugcisa: kubandakanywa uvavanyo lomngcipheko kunye nale ncwadana.
- Yazi imingcipheko yokhuseleko enokwenzeka phambi kokuba usebenze kunye nokusebenzisa isixhobo.
Ukuqwalaselwa kokusingqongileyo
- Kusetyenziso lokuqala, nceda ufunde le ncwadana ngononophelo ukuze uqonde umxholo osisiseko wokusebenza kunye neenkcukacha zokusebenza.
- Kumsebenzi wolawulo olukude, khetha indawo evulekileyo ukuze usebenzise i-SCOUT2.0, kuba i-SCOUT2.0 ayixhotyiswanga nayo nayiphi na inzwa yokuphepha imiqobo ezenzekelayo.
- Sebenzisa i-SCOUT2.0 rhoqo ngaphantsi kwe -10℃~45℃ ubushushu be-ambient.
- Ukuba iSKOUT 2.0 ayilungiswanga ngokhuseleko lwe-IP yesiko olwahlukileyo, ukhuseleko lwamanzi nothuli luya kuba IP22 KUPHELA.
Uluhlu lokutshekisha kwangaphambili
- Qinisekisa ukuba isixhobo ngasinye sinamandla awaneleyo.
- Qinisekisa ukuba iBunker ayinazo naziphi na iziphene ezicacileyo.
- Jonga ukuba ibhetri yesilawuli kude sinawo na amandla awoneleyo.
- Xa usebenzisa, qiniseka ukuba iswitshi yokumisa kaxakeka ikhululiwe.
Ukusebenza
- Kumsebenzi wolawulo olude, qinisekisa ukuba indawo ejikelezileyo ibanzi.
- Yenza ulawulo olukude phakathi koluhlu lokubonakala.
- Owona mthwalo uphezulu we-SCOUT2.0 yi-50KG. Xa usetyenziswa, qinisekisa ukuba umthwalo awugqithi kuma-50KG.
- Xa ufaka ulwandiso lwangaphandle kwi-SCOUT2.0, qinisekisa indawo esembindini wobunzima bosongezo kwaye uqinisekise ukuba sisembindini wokujikeleza.
- Nceda utshaje ngexabiso eliphantsi xa isixhobo sinesivusi sebhetri ephantsi. Xa i-SCOUT2..0 inesiphene, nceda uyeke kwangoko ukuyisebenzisa ukunqanda umonakalo wesibini.
- Xa i-SCOUT2.0 inesiphako, nceda uqhagamshelane nobugcisa obufanelekileyo ukuze ujongane naso, musa ukusiphatha wedwa eso siphene. Soloko usebenzisa i-SCOUT2.0 kwindawo enenqanaba lokhuseleko elifunekayo kwisixhobo.
- Musa ukutyhala SCOUT2.0 ngqo.
- Xa utshaja, qinisekisa ukuba ubushushu be-ambient bungaphezulu kwe-0 ℃.
- Ukuba isithuthi siyashukuma ngexesha lokujikeleza kwayo, lungisa ukumiswa.
Isondlo
- Jonga rhoqo uxinzelelo lwetayara, kwaye ugcine uxinzelelo lwetayara phakathi kwe-1.8bar ~ 2.0bar.
- Ukuba itayara ligugile kakhulu okanye ligqabhukile, nceda ulibuyisele kwangethuba.
- Ukuba ibhetri ayisebenzisi ixesha elide, kufuneka itshaje ibhetri ngamaxesha athile kwiinyanga ezi-2 ukuya kwezi-3.
Intshayelelo
I-SC OUT 2.0 iyilwe njenge-UGV yeenjongo ezininzi ezineemeko ezahlukeneyo zesicelo eziqwalaselwayo: uyilo lweemodyuli; unxibelelwano oluthambileyo; isistim yemoto enamandla ekwaziyo ukuhlawulwa kakhulu. Izinto ezongezelelweyo ezifana nekhamera ye-stereo, i-laser radar, i-GPS, i-IMU kunye ne-robotic manipulator inokufakwa ngokuzikhethela kwi-SCOUT 2.0 yokukhangela phambili kunye nezicelo zombono wekhompyutha. I-SCOUT 2.0 isetyenziswa rhoqo kwimfundo yokuqhuba ukuzimela kunye nophando, ukujikeleza ngokhuseleko lwangaphakathi nangaphandle, imvakalelo yokusingqongileyo, ulungiselelo lothutho jikelele, ukukhankanya nje ezimbalwa.
Uluhlu lwamacandelo
| Igama | Ubungakanani |
| SCOUT 2.0 Umzimba werobhothi | X 1 |
| Itshaja yebhetri (AC 220V) | X 1 |
| Iplagi yeAviation (indoda, iipin ezi-4) | X 2 |
| Intambo ye-USB ukuya kwi-RS232 | X 1 |
| Ugqithiso lolawulo olukude (ukhetho) | X 1 |
| Imodyuli yonxibelelwano ye-USB ukuya kwi-CAN | X1 |
Iinkcukacha zobuchwephesha
Imfuneko yophuhliso
I-FS RC transmitter inikezelwa (ukhetho) kwi-factory setting pf SCOUT 2.0, evumela abasebenzisi ukuba balawule i-chassis yerobhothi ukuhamba nokujika; I-CAN kunye ne-RS232 ujongano kwi-SCOUT 2.0 inokusetyenziselwa ukwenziwa komsebenzisi.
Iziseko
Eli candelo libonelela ngentshayelelo emfutshane kwi-SCOUT 2.0 yesikhulumi serobhothi ephathwayo, njengoko kubonisiwe kuMfanekiso 2.1 nakuMfanekiso 2.2.
- Ngaphambili View
- Yeka ukutshintsha
- Umgangatho weProfile Inkxaso
- Igumbi eliphezulu
- Iphaneli yoMbane ephezulu
- I-Retardant-collision Tube
- Iphaneli yangasemva
I-SCOUT2.0 yamkela imodyuli kunye nengqikelelo yoyilo olukrelekrele. Uyilo oludityanisiweyo lwetayara lerabha elivuthelweyo kunye nokunqunyanyiswa okuzimeleyo kwimodyuli yamandla, kudityaniswa ne-DC enamandla ye-brushless servo motor, yenza ukuba iqonga lophuhliso lwe-robot ye-SCOUT2.0 libe namandla okupasa olomeleleyo kunye nokukwazi ukuziqhelanisa nomhlaba, kwaye inokuhamba bhetyebhetye kumhlaba owahlukileyo. Imiqadi ye-An-ti-collision ifakwe malunga nesithuthi ukunciphisa umonakalo onokwenzeka kumzimba wesithuthi ngexesha lokungqubana. Izibane zombini zixhonywe ngaphambili nangasemva kwisithuthi, apho isibane esimhlophe senzelwe ukukhanyisa ngaphambili ngelixa isibane esibomvu siyilwe ekupheleni ngasemva isilumkiso kunye nesalathiso.
Amaqhosha okumisa okungxamisekileyo afakwe kumacala omabini erobhothi ukuqinisekisa ukufikelela lula kwaye ukucofa nokuba omnye unokuvala amandla erobhothi ngoko nangoko xa irobhothi iziphatha ngendlela engaqhelekanga. Iziqhagamshelo ezinobungqina bamanzi kumandla eDC kunye nonxibelelwano lonxibelelwano zibonelelwe phezulu nangasemva kwerobhothi, ezingavumeli kuphela uqhagamshelo oluguquguqukayo phakathi kwerobhothi kunye nezinto zangaphandle kodwa ziqinisekisa ukhuseleko oluyimfuneko ngaphakathi kwirobhothi naphantsi kokusebenza kanzima. iimeko.
Indawo evulekileyo ye-bayonet igcinwe phezulu kubasebenzisi.
Ubume besalathiso
Abasebenzisi banokuchonga ubume bomzimba wesithuthi nge-voltmeter, i-beeper kunye nezibane ezifakwe kwi-SCOUT 2.0. Ngeenkcukacha, nceda ujonge kwiThebhile 2.1.
| Ubume | Inkcazo |
| Umqulutage | Ibhetri yangoku voltage inokufundwa kwi-voltmeter kwi-interface yombane yangasemva kunye nokuchaneka kwe-1V. |
|
Buyisela ibhetri |
Xa ibhetri voltage ingaphantsi kwe-22.5V, umzimba wesithuthi uya kunika isandi se-beep-beep-beep njengesilumkiso. Xa ibhetri voltagI-e ifunyenwe ingaphantsi kwe-22V, i-SCOUT 2.0 iya kunqumla ngokusebenzayo unikezelo lwamandla kwizandiso zangaphandle kwaye iqhube ukukhusela ibhetri ukuba yonakaliswe. Kule meko, i-chassis ayiyi kwenza ulawulo lwentshukumo kwaye yamkele ulawulo lomyalelo wangaphandle. |
| Irobhothi ivuliwe | Izibane zangaphambili nezingasemva zilayitiwe. |
Uluhlu 2.1 IiNkcazelo zesimo seSithuthi
Imiyalelo kujongano lombane
Ujongano lombane oluphezulu
I-SCOUT 2.0 ibonelela ngeziqhagamshelo ezintathu ze-4-pin kunye ne-DB9 (RS232) enye ikhonkco. Isikhundla somdibaniso wenqwelomoya ophezulu siboniswe kuMfanekiso 2.3.
I-SCOUT 2.0 ine-interface yolwandiso lwe-aviation zombini phezulu kunye nasemva, nganye ilungiswe kunye nesethi yonikezelo lwamandla kunye neseti yonxibelelwano lwe-CAN yonxibelelwano. Olu nxibelelwano lunokusetyenziswa ukunika amandla kwizixhobo ezandisiweyo kunye nokuseka unxibelelwano. Iinkcazelo ezithe ngqo zezikhonkwane zibonisiwe kuMfanekiso 2.4.
Kufuneka kuqatshelwe ukuba, unikezelo lwamandla olwandisiweyo apha lulawulwa ngaphakathi, okuthetha ukuba unikezelo lwamandla luya kunqunyulwa ngokusebenzayo xa umbane webhetri.tage yehla ngaphantsi komqobo ochaziweyo kwangaphambilitage. Ke ngoko, abasebenzisi kufuneka baqaphele ukuba iqonga leSCOUT 2.0 liya kuthumela ivolthi ephantsitage alarm phambi komgubasi voltagI-e ifikelelwe kwaye kwakhona ingqalelo ekutshajweni kwakhona kwebhetri ngexesha lokusetyenziswa.
| Phina No. | Uhlobo lwePine | FuDnecfitinointiokunye | Amagqabantshintshi |
| 1 | Amandla | VCC | Amandla avumayo, voltage uluhlu 23 - 29.2V, MAX .yangoku 10A |
| 2 | Amandla | GND | Amandla angalunganga |
| 3 | INGENZA | NGOKU_ | I-CAN ibhasi ephezulu |
| 4 | INGENZA | I-CAN_L | I-CAN ibhasi ephantsi |
Amandla avumayo, voltage uluhlu 23 - 29.2V, MAX. yangoku 10A
| Phina No. | Ingcaciso |
| 2 | RS232-RX |
| 3 | RS232-TX |
| 5 | GND |
Umzobo 2.5 Umzobo woMzobo we-Q4 Pins
Ujongano lombane olungasemva
I-interface yokwandisa ekupheleni ngasemva iboniswe kuMzobo 2.6, apho i-Q1 iyisitshixo esibalulekileyo njengombane oyintloko; Q2 lujongano lokutshaja; I-Q3 lutshintsho lombane lwenkqubo yokuqhuba; I-Q4 yi-DB9 ye-serial port; I-Q5 yi-interface yolwandiso lwe-CAN kunye ne-24V yamandla ombane; I-Q6 sisiboniso somthamo webhetritage.
| Phina No. | Uhlobo lwePine | FuDnecfitinointiokunye | Amagqabantshintshi |
| 1 | Amandla | VCC | Amandla avumayo, voltage uluhlu 23 - 29.2V, ubuninzi bangoku 5A |
| 2 | Amandla | GND | Amandla angalunganga |
| 3 | INGENZA | NGOKU_ | I-CAN ibhasi ephezulu |
| 4 | INGENZA | I-CAN_L | I-CAN ibhasi ephantsi |
Umzobo 2.7 INkcazelo yezikhonkwane zeNdibaniselwano yoPhapho ngasemva nangasemva
Imiyalelo kulawulo olukude FS_i6_S imiyalelo yolawulo olukude
I-FS RC transmitter yinto ekhethwayo ye-SCOUT2.0 yokulawula irobhothi ngesandla. I-transmitter iza ne-configuration yesandla sasekhohlo. Inkcazo kunye nomsebenzi oboniswe kuMfanekiso 2.8. Umsebenzi weqhosha uchazwa njenge: I-SWA kunye ne-SWD zikhubaziwe okwethutyana, kwaye i-SWB yimowudi yokulawula iqhosha lokukhetha, ukucofa phezulu yimo yokulawula yomyalelo, ukucofa phakathi yimowudi yokulawula kude; I-SWC liqhosha lokulawula ukukhanya; I-S1 yi-throttle iqhosha, lawula i-SCOUT2.0 phambili nangasemva; Ulawulo lwe-S2 lulawulo lokujikeleza, kwaye AMANDLA liqhosha lamandla, cofa kwaye ubambe kwangaxeshanye ukuvula.
Imiyalelo kwiimfuno zolawulo kunye neentshukumo
Inkqubo yokulungelelanisa ireferensi inokuchazwa kwaye ilungiswe kumzimba wesithuthi njengoko kuboniswe kuMfanekiso 2.9 ngokuhambelana ne-ISO 8855.
Njengoko kubonisiwe kuMzobo 2.9, umzimba wesithuthi we-SCOUT 2.0 uhambelana ne-X axis yenkqubo yolungelelwaniso lwesalathiso esekiweyo. Kwimowudi yolawulo olukude, tyhala intonga yolawulo olukude S1 ukuya phambili ukuya kwicala elilungileyo le-X, tyhala i-S1 ngasemva ukuya kwicala elingalunganga lika-X. Xa i-S1 ityhalelwa kwixabiso eliphezulu, isantya sokuhamba kwindlela efanelekileyo ye-X iyona nto iphezulu, Xa utyhalwa i-S1 ukuya kubuncinci, isantya sokuhamba kwicala elibi kwicala le-X liphezulu; intonga yolawulo olukude i-S2 ilawula ukuqhutywa kwamavili angaphambili omzimba wemoto, tyhala i-S2 ukuya ekhohlo, kwaye isithuthi sijikela ekhohlo, siyityhalele phezulu, kwaye i-angle yokuqhuba yeyona inkulu, S2 Push uye ngasekunene. , imoto iya kujika ngasekunene, kwaye iyityhale iye phezulu, ngeli xesha i-angle yokulawula i-right angle iyona inkulu. Kwimo yomyalelo wolawulo, ixabiso elilungileyo lesantya somgca lithetha ukuhamba kwicala elilungileyo le-X axis, kwaye ixabiso elingalunganga lesantya somgca lithetha intshukumo kwicala elingalunganga le-X axis; Ixabiso elilungileyo lesantya se-angular lithetha ukuba umzimba wemoto uhamba ukusuka kwicala elifanelekileyo le-X ukuya kwicala elifanelekileyo le-axis ye-Y, kwaye ixabiso elingalunganga lesantya se-angular lithetha ukuba umzimba wemoto usuka kwicala elifanelekileyo le-axis ye-X. ukuya kwicala elingalunganga le-Y axis.
Imiyalelo yokulawula ukukhanya
Izibane zifakwe ngaphambili nangasemva kwe-SCOUT 2.0, kunye ne-interface yokulawula ukukhanya kwe-SCOUT 2.0 ivulelekile kubasebenzisi ukuze kube lula.
Okwangoku, enye i-interface yolawulo lokukhanyisa igcinwe kwi-RC transmitter yokulondoloza amandla.
Okwangoku ulawulo lokukhanyisa luxhaswa kuphela nge-FS transmitter, kwaye inkxaso yezinye ii-transmitter isaphantsi kophuhliso. Kukho iintlobo ezi-3 zeendlela zokukhanyisa ezilawulwa nge-RC transmitter, ezinokuthi zitshintshwe nge-SWC. Inkcazo yokulawula imodi: i-SWC lever isezantsi kwimodi evaliweyo ngokuqhelekileyo, umbindi yimowudi evulekileyo ngokuqhelekileyo, phezulu kukuphefumula imo yokukhanya.
- IMODE YE-NC: KWIMODI YE-NC, UKUBA I-CHASSIS ISEKHO, UKUKHANYA NGAPHAMBI KUYA KUVALWA, KUNYE UKUKHANYA OKUNGANGAMVA KUYA KUNGENA INDLELA YE-BL UKUBONISA ISIMO SAKHO SOKUSEBENZA; UKUBA I-CHASSIS IKUMHLABA OHAMBAYO NGENGXELO ESITHILE ESIQHELEKILEYO, UKUKHANYA ANGASEMVA KUYA KUCINYWA KODWA UKUKHANYA ANGAPHAMBI KUYA KUKHANYA;
- AKUKHO MODE: AKUKHO MODINI, UKUBA I-CHASSIS ISEKHO, UKUKHANYA ANGAPHAMBI KUYA KUQHELEKA, KWAYE UKUKHANYA OKUNGANGAMVA KUYA KUNGENA KWIMODYI YE-BL UKUBONISA IMEKO ESILIYO; UKUBA KWIMOYDE YOKUHAMBA, UKUKHANYA ANGASEMVA KUYACINYWA KODWA UKHANYA ANGAPHAMBI LUYAKHANYA;
- IMODYI YE-BL: IZIbane EZINGAPHAMBI NANGASEMVA ZIKUMODINI YOKUPHEFUMELA PHANTSI KWAZO ZONKE IMEKO.
QAPHELA KWIMODILE YOLAWULO: UKUGUQULA I-SWC LEVER NGOKUBHEKISELELE KWIMODI YE-NC, AKUKHO IMODI KUNYE NE-BL EMZANTSI, PHAKATHI NEZINDAWO EZINGAPHEZULU.
Ndiyaqalisa
Eli candelo lazisa umsebenzi osisiseko kunye nophuhliso lweqonga leSCOUT 2.0 kusetyenziswa i-CAN bus interface.
Ukusetyenziswa kunye nokusebenza
Inkqubo esisiseko yokusebenza yokuqalisa iboniswa ngolu hlobo lulandelayo:
Khangela
- Jonga imeko yeSCOUT 2.0. Jonga ukuba kukho izinto ezingaqhelekanga; ukuba kunjalo, nceda uqhagamshelane nenkonzo yasemva kokuthengiswa kwakho ukuze ufumane inkxaso;
- Jonga imeko yonxunguphalo-yokuyeka. Qinisekisa ukuba omabini amaqhosha okumisa kaxakeka akhululiwe;
Ukuqala eqala
- Jikelezisa isitshixo sokutshintsha (i-Q1 kwiphaneli yombane), kwaye ngokuqhelekileyo, i-voltmeter iya kubonisa ibhetri echanekileyotage kunye nezibane zangaphambili nezingasemva ziya kulayitwa zombini;
- Jonga umthamo webhetritage. Ukuba akukho sandi siqhubekayo "beep-beep-beep..." sisuka kwi-beeper, oko kuthetha ukuba umthamo webhetritage ichanekile; ukuba inqanaba lamandla ebhetri liphantsi, nceda uhlawule ibhetri;
- Cinezela i-Q3 (iqhosha lokutshintsha amandla okuqhuba).
Ukumisa ngokungxamisekileyo
Cinezela phantsi iqhosha lokutyhala likaxakeka kokubini ngasekhohlo nasekunene kwe-SCOUT 2.0 umzimba wesithuthi;
Inkqubo esisiseko yokusebenza yolawulo olukude:
Emva kokuba i-chassis ye-SCOUT 2.0 yerobhothi ehambayo iqalwe ngokuchanekileyo, vula i-RC transmitter kwaye ukhethe imowudi yokulawula kude. Emva koko, i-SCOUT 2.0 intshukumo yeqonga inokulawulwa yi-RC transmitter.
Ukutshaja
ISKOUT 2.0 Ixhotyiswe nge-10A SHAJA NGOKUNGASELEKO UKUHLANGABEZANA NEMFUNO YOKUHLAWULWA KWABAXHUMI.
Umsebenzi wokutshaja
- Qinisekisa ukuba umbane weSCOUT 2.0 chassis ucinyiwe. Phambi kokutshaja, nceda uqiniseke ukuba isitshixo sombane kwikhondoli yolawulo yangasemva icinyiwe;
- Faka iplagi yetshaja kwi-Q6 yokutshaja ujongano kwiphaneli yokulawula yangasemva;
- Qhagamshela itshaja kumbane kwaye uvule iswitshi kwitshaja. Emva koko, i-robot ingena kwimeko yokutshaja.
Qaphela: Okwangoku, ibhetri idinga malunga neeyure ezi-3 ukuya kwezi-5 ukuze itshajwe ngokupheleleyo ukusuka kwi-22V, kunye nevolthi.tagibhetri egcwaliswe ngokupheleleyo imalunga ne-29.2V; ixesha lokutshaja kwakhona libalwa njenge-30AH ÷ 10A = 3h.
Ukutshintshwa kwebhetri
I-SCOUT2.0 ithatha isisombululo sebhetri ekwazi ukususwa ukuze kube lula kubasebenzisi. Kwezinye iimeko ezikhethekileyo, ibhetri inokutshintshwa ngokuthe ngqo. Amanyathelo okusebenza kunye nemizobo ngolu hlobo lulandelayo (phambi kokuba usebenze, qinisekisa ukuba i-SCOUT2.0 icinyiwe):
- Vula iphaneli ephezulu ye-SCOUT2.0, kwaye ukhuphe iiplagi ezimbini ze-XT60 zokudibanisa amandla kwibhodi yokulawula ephambili (iziqhagamshelo ezimbini zilingana) kunye nebhetri ye-CAN isixhumi;
Hang SCOUT2.0 emoyeni, khulula izikrufu ezisibhozo ukusuka ezantsi ngesikrufu seheksi sesizwe, uze utsale ibhetri uyikhuphe; - Tshintsha ibhetri kwaye ulungise izikrufu ezisezantsi.
- Xhuma i-interface ye-XT60 kunye ne-interface ye-CAN yamandla kwibhodi yokulawula engundoqo, qinisekisa ukuba yonke imigca yokudibanisa ichanekile, kwaye unike amandla ukuvavanya.
Unxibelelwano usebenzisa i-CAN
I-SCOUT 2.0 ibonelela nge-CAN kunye ne-RS232 ujongano kulungiselelwa umsebenzisi. Abasebenzisi banokukhetha enye yolu nxibelelwano ukwenza ulawulo lomyalelo kumzimba wesithuthi.
CAN uqhagamshelo lwentambo
I-SCOUT2.0 ihambisa ngeeplagi ezimbini ze-aviation zamadoda njengoko kubonisiwe kuMfanekiso 3.2. Ukufumana iinkcazo ngocingo, nceda ujonge kwiTheyibhuli 2.2.
Ukuphunyezwa yolawulo lwe-CAN yomyalelo
Qalisa ngokuchanekileyo i-chassis ye-SCOUT 2.0 irobhothi ephathwayo, kwaye uvule i-DJI RC transmitter. Emva koko, tshintshela kwimowudi yokulawula umyalelo, okt ukuguqula imowudi ye-S1 ye-DJI RC transmitter ukuya phezulu. Ngeli xesha, i-SCOUT 2.0 i-chassis iya kwamkela umyalelo ovela kwi-interface ye-CAN, kwaye umamkeli unokuphinda acazulule imeko yangoku ye-chassis kunye nedatha yexesha lokwenyani efakwe kwibhasi ye-CAN. Ngomxholo oneenkcukacha weprotocol, nceda ubhekisele kwiprotocol yonxibelelwano lwe-CAN.
I-CAN umyalezo olandelwayo
Qalisa ngokuchanekileyo i-chassis ye-SCOUT 2.0 irobhothi ephathwayo, kwaye uvule i-DJI RC transmitter. Emva koko, tshintshela kwimowudi yokulawula umyalelo, okt ukuguqula imowudi ye-S1 ye-DJI RC transmitter ukuya phezulu. Ngeli xesha, i-SCOUT 2.0 i-chassis iya kwamkela umyalelo ovela kwi-interface ye-CAN, kwaye umamkeli unokuphinda acazulule imeko yangoku ye-chassis kunye nedatha yexesha lokwenyani efakwe kwibhasi ye-CAN. Ngomxholo oneenkcukacha weprotocol, nceda ubhekisele kwiprotocol yonxibelelwano lwe-CAN.
Itheyibhile 3.1 iFeedback Frame of SCOUT 2.0 iChassis System Status
| Umyalelo weGama leSixokelelwano seNgxelo yoBume Umyalelo | ||||
| Ukuthumela indawo | Ukufumana indawo
Ulawulo lokwenza izigqibo |
ID | Umjikelo (ms) | Ukufumana ixesha lokuphuma (ms) |
| I-chassis yokulawula ngocingo
Ubude bedatha Isikhundla |
iyunithi 0x08
Umsebenzi |
0x151
Uhlobo lwedatha |
20ms | Akukho nanye |
|
Inkcazo |
||||
|
byte [0] |
Ubume bangoku bomzimba wesithuthi |
engatyikitywanga int8 |
0x00 Inkqubo ekwimeko eqhelekileyo 0x01 Imo yokuyeka kaxakeka (ayivulelwanga)
0x02 Inkqubo ngaphandle |
|
|
byte [1] |
Ulawulo lwemowudi |
engatyikitywanga int8 |
0×00 Imo yokulinda 0×01 CAN imo yokulawula yomyalelo 0×02 Uthotho lwendlela yokulawula izibuko 0 × 03 Imodi yokulawula kude |
|
| byte [2]
byte [3] |
Ibhetri ivoltage ephezulu 8 bits Ibhetri voltage yehlisa 8 bits | engatyikitywanga int16 | Eyona voltage × 10 (ngokuchaneka kwe-0.1V) | |
| byte [4] | Igciniwe | – | 0×00 | |
| byte [5] | Ulwazi lokusilela | engatyikitywanga int8 | Jonga kwiTheyibhuli 3.2 [Inkcazo yoLwabiwo loSilelo] | |
| byte [6] | Igciniwe | – | 0×00 | |
| byte [7] | Bala iparitybit (bala) | engatyikitywanga int8 | 0-255 ukubala iilophu, eziya kongezwa xa umyalelo ngamnye uthunyelwe | |
Uluhlu 3.2 INkcazelo yeNkcukacha yokusilela
| Byte | kancinci | Intsingiselo |
|
byte [4] |
kancinci [0] | Ukungakhathali kwebhetritage fault (0: Akukho kusilela 1: Ukusilela) Protection voltagNgu-22V
(Inguqulo yebhetri ene-BMS, amandla okukhusela yi-10%) |
| kancinci [1] | Ukungakhathali kwebhetritage fault[2] (0: Akukho kusilela 1: Ukusilela) Alarm voltagNgu-24V
(Inguqulo yebhetri ene-BMS, amandla esilumkiso yi-15%) |
|
| kancinci [2] | Ukhuseleko lokuqhawula uqhagamshelo lwe-RC (0: Ngesiqhelo 1: Isidluliseli se-RC siqhawulwe) | |
| kancinci [3] | No.1 ukusilela konxibelelwano lwemoto (0: Akukho kusilela 1: Ukusilela) | |
| kancinci [4] | No.2 ukusilela konxibelelwano lwemoto (0: Akukho kusilela 1: Ukusilela) | |
| kancinci [5] | No.3 ukusilela konxibelelwano lwemoto (0: Akukho kusilela 1: Ukusilela) | |
| kancinci [6] | No.4 ukusilela konxibelelwano lwemoto (0: Akukho kusilela 1: Ukusilela) | |
| kancinci [7] | Igciniwe, engagqibekanga 0 |
Qaphela[1]: Uguqulelo lwe-robot chassis ye-firmware ye-V1.2.8 ixhaswa ziinguqulelo ezilandelayo, kwaye inguqulelo yangaphambili ifuna uphuculo lwe-firmware ukuxhasa
Qaphela[2]: I-buzzer iya kuvakala xa ibhetri iphantsi kwevolthitage, kodwa ulawulo lwe-chassis aluyi kuchaphazeleka, kwaye imveliso yamandla iya kunqunyulwa emva kwe-under-vol.tage mpazamo
Umyalelo wesakhelo sengxelo yokulawula intshukumo ibandakanya impendulo yesantya sangoku somgca kunye nesantya se-angular somzimba wesithuthi esishukumayo. Ngomxholo ocacileyo weprotocol, nceda ujonge kwiTheyibhuli 3.3.
Itheyibhile 3.3 iMovement Control Feedback Frame
| Umyalelo weGama loLawulo lweNtshukumo Umyalelo | ||||
| Ukuthumela indawo | Ukufumana indawo | ID | Umjikelo (ms) | Ukufumana ixesha lokuphuma (ms) |
| I-chassis yokulawula ngocingo | Iyunithi yolawulo lokwenza izigqibo | 0x221 | 20ms | Akukho nanye |
| Ubude bomhla | 0×08 | |||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Inkcazo | |
| byte [0]
byte [1] |
Isantya esihambayo siphezulu kwiibhithi ezisi-8
Isantya esishukumayo sisezantsi kwiibits ezi-8 |
isayinwe in16 | Isantya esiyiyo × 1000 (ngokuchaneka kwe-0.001rad) | |
| byte [2]
byte [3] |
Isantya sokujikeleza siphezulu 8 bits
Isantya sokujikeleza sisezantsi iibhithi ezisi-8 |
isayinwe in16 | Isantya esiyiyo × 1000 (ngokuchaneka kwe-0.001rad) | |
| byte [4] | Igciniwe | – | 0x00 | |
| byte [5] | Igciniwe | – | 0x00 | |
| byte [6] | Igciniwe | – | 0x00 | |
| byte [7] | Igciniwe | – | 0x00 | |
Isakhelo solawulo sibandakanya ukuvuleka kokulawula kwesantya somgca kunye nokulawula ukuvuleka kwesantya se-angular. Ngomxholo wayo oneenkcukacha zeprotocol, nceda ujonge kwiThebhile 3.4.
Ulwazi lwesimo se-chassis luya kuba yingxelo, kwaye yintoni enye, ulwazi malunga nemoto yangoku, i-encoder kunye nobushushu nazo zibandakanyiwe. Esi sikhokelo sengxelo silandelayo sinolwazi malunga nemoto yangoku, iencoder kunye nobushushu bemoto.
Amanani eemoto ezi-4 kwi-chassis abonisiwe kulo mfanekiso ungezantsi:
| Igama lomyalelo Motor Drive High Speed Information Feedback Frame | ||||
| Ukuthumela indawo | Ukufumana indawo | ID | Umjikelo (ms) | Ukufumana ixesha lokuphuma (ms) |
| I-chassis yokulawula ngocingo
Ubude bomhla Isikhundla |
Iyunithi yokulawula ukwenza izigqibo 0 × 08
Umsebenzi |
0x251~0x254
Uhlobo lwedatha |
20ms | Akukho nanye |
|
Inkcazo |
||||
| byte [0]
byte [1] |
Isantya seMotor siphezulu kwi-bits ezi-8
Isantya seMotor sisezantsi iibits ezi-8 |
isayinwe in16 | Isantya sokuhamba kwemoto, iyunithi mm/s (ixabiso elisebenzayo+ -1500) | |
| byte [2]
byte [3] |
Imotor yangoku iphezulu 8 bits
Imotor yangoku isezantsi kwe-8 bits |
isayinwe in16 |
Iyunithi yangoku yeMoto 0.1A |
|
| byte [4] byte [5] byte [6]
byte [7] |
Indawo amasuntswana aphezulu Indawo amasuntswana esibini aphezulu Indawo amasuntswana esibini-phantsi
Isikhundla amasuntswana asezantsi |
isayinwe in32 |
Indawo yangoku yeYunithi yemoto: i-pulse |
|
Itheyibhile 3.8 Ubushushu beMoto, voltage kunye nengxelo yolwazi lobume
| Igama lomyalelo weMoto Drive yeNgcaciso yeSpeed esiPhansi yeFeedback Frame | ||||
| Ukuthumela indawo
I-chassis yokulawula ngocingo Ubude bomhla |
Ukufumana iyunithi yolawulo yokwenza izigqibo
0×08 |
I-ID 0x261~0x264 | Umjikelo (ms) | Ukufumana ixesha lokuphuma (ms) |
| 20ms | Akukho nanye | |||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Inkcazo | |
| byte [0]
byte [1] |
Qhuba umthamotagkwaye phezulu 8 bits
Qhuba umthamotage yehlisa 8 bits |
engatyikitywanga int16 | Umqulu wangokutagi-e yeyunithi yokuqhuba 0.1V | |
| byte [2]
byte [3] |
Qhuba iqondo lobushushu eliphezulu 8 bits
Qhuba iqondo lobushushu lisezantsi 8 bits |
isayinwe in16 | Iyunithi 1°C | |
| byte [4]
byte [5] |
Ubushushu beMoto | isayinwe in8 | Iyunithi 1°C | |
| Imo yokuqhuba | engatyikitywanga int8 | Bona iinkcukacha [kwisimo solawulo lweDrive] | ||
| byte [6]
byte [7] |
Igciniwe | – | 0x00 | |
| Igciniwe | – | 0x00 | ||
Uthotho lweProtokholi yoNxibelelwano
Umyalelo we-serial protocol
Lumgangatho wonxibelelwano olulandelelanayo oluqulunqwe ngokudibeneyo yi-Electronic Industries Association (EIA) yase-United States ngo-1970 ngokubambisana ne-Bell Systems, abavelisi bemodem kunye nabavelisi beeterminal zekhompyutha. Igama layo "nguMgangatho woBuchule weSerial Binary Data Exchange Interface phakathi kweSixhobo seSiteshi seDatha (DTE) kunye neZixhobo zoNxibelelwano lweDatha (DCE)". Umgangatho umisela ukuba i-25-pin ye-DB-25 isidibanisi sisetyenziselwa isinxibelelanisi ngasinye. Umxholo wesiginali wephini ngalinye uchaziwe, kwaye amanqanaba emiqondiso eyahlukeneyo nawo achaziwe. Kamva, i-PC ye-IBM yenza lula i-RS232 kwisidibanisi se-DB-9, esiye saba ngumgangatho osebenzayo. Izibuko le-RS-232 lolawulo lwemizi-mveliso lisebenzisa kuphela imigca emithathu ye-RXD, TXD, kunye ne-GND.
Udibaniso Uthotho
Sebenzisa i-USB ukuya kwi-RS232 intambo yochungechunge kwisixhobo sethu sonxibelelwano ukuqhagamshela kwizibuko le-serial ngasemva kwemoto, sebenzisa isixhobo sothotho ukuseta ireyithi ye-baud ehambelanayo, kwaye usebenzise i-s.ample data enikwe ngasentla ukuvavanya. Ukuba i-remote control ivuliwe, kuyimfuneko ukutshintshela isilawuli kude kwimowudi yokulawula. Ukuba ulawulo olukude aluvulwanga, thumela nje umyalelo wolawulo ngqo. Kufuneka kuqatshelwe ukuba umyalelo kufuneka uthunyelwe ngamaxesha. Ukuba i-chassis idlula i-500MS kwaye umyalelo we-port ye-serial awufunyanwanga, uya kungena ekulahlekelweni kokukhuselwa koqhagamshelwano. ubume.
Umxholo weProtocol yothotho
IParameter yoNxibelelwano oluSisiseko
| Into | Ipharamitha |
| Ireyithi yeBaud | 115200 |
| Ukulingana | Akukho vavanyo |
| Ubude bebhithi yedatha | 8 amasuntswana |
| Yeka kancinci | 1 bit |
Umyalelo weprotocol
| Qala kancinci | Ubude besakhelo | Uhlobo lomyalelo | Isazisi somyalelo | Indawo yedatha | Isakhelo se-ID | I-Checksum ukwakheka |
|||
| SOF | isakhelo_L | CMD_TYPE | CMD_ID | idatha | … | idatha[n] | isakhelo_id | itsheki_ixabiso | |
| bhayi 1 | bhayi 2 | bhayi 3 | bhayi 4 | bhayi 5 | bhayi 6 | … | byte 6+n | byte 7+n | byte 8+n |
| 5A | A5 | ||||||||
Iprothokholi ibandakanya ukuqala kancinci, ubude besakhelo, uhlobo lomyalelo wesakhelo, i-ID yomyalelo, uluhlu lwedatha, isakhelo se-ID, kunye netshekhisum. Ubude besakhelo bubhekisa kubude obungabandakanyi isuntswana lokuqala kunye netshekhisum. I-checksum sisimbuku sayo yonke idatha ukusuka ekuqaleni ukuya kwi-ID yesakhelo; isakhelo se-ID bit isuka kwi-0 ukuya kwi-255 yokubala iilophu, eziya kudityaniswa kanye xa umyalelo ngamnye uthunyelwe.
Umxholo weProtocol
| Igama lomyalelo Isakhelo seNgxelo yeSimo seSixokelelwano | ||||
| Ukuthumela inodi Steer-by-wire chassis Ubude befreyimu Uhlobo lomyalelo Ubude bedatha yeSazisi somyalelo
Isikhundla |
Ukufumana iyunithi yolawulo yokwenza izigqibo
0×0C |
Umjikelo (ms) Ukufumana ixesha lokuphuma (ms) | ||
| 100ms | Akukho nanye | |||
|
Uhlobo lwedatha |
Inkcazo |
|||
| Umyalelo wengxelo(0×AA)
0×01 |
||||
| 8
Umsebenzi |
||||
|
byte [0] |
Ubume bangoku bomzimba wesithuthi |
engatyikitywanga int8 |
I-0 × 00 Inkqubo kwimeko eqhelekileyo 0 × 01 Imo yokumisa iNgxakeko (ayivulwanga) 0 × 02 Inkqubo ngaphandle kwenkqubo
0×00 Imo yokulinda |
|
| byte [1] | Ulawulo lwemowudi | engatyikitywanga int8 | 0×01 CAN imo yokulawula yomyalelo 0×02 Imowudi yokulawula uthotho [1] 0×03 Imowudi yokulawula ekude | |
| byte [2]
byte [3] |
Ibhetri ivoltagkwaye phezulu 8 bits
Ibhetri ivoltage yehlisa 8 bits |
engatyikitywanga int16 | Eyona voltage × 10 (ngokuchaneka kwe-0.1V) | |
| byte [4] | Igciniwe | — | 0×00 | |
| byte [5] | Ulwazi lokusilela | engatyikitywanga int8 | NONE | |
| byte [6]
byte [7] |
Igciniwe
Igciniwe |
—
— |
0×00 | |
| 0×00 | ||||
Umyalelo woLawulo lweMovement
| Umyalelo weGama loLawulo lweNtshukumo Umyalelo | ||||
| Ukuthumela indawo | Ukufumana indawo | Umjikelo (ms) | Ukufumana ixesha lokuphuma (ms) | |
| I-chassis yokulawula ngocingo Ubude besakhelo somyalelo uhlobo lomyalelo we-ID
Ubude bedatha |
Iyunithi yolawulo lokwenza izigqibo
0×0C |
20ms | Akukho nanye | |
| Umyalelo wengxelo (0×AA)
0×02 |
||||
| 8 | ||||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Inkcazo | |
| byte [0]
byte [1] |
Isantya esihambayo siphezulu kwiibhithi ezisi-8
Isantya esishukumayo sisezantsi kwiibits ezi-8 |
isayinwe in16 | Isantya esiyiyo × 1000 (ngokuchaneka kwe
0.001rad) |
|
| byte [2]
byte [3] |
Isantya sokujikeleza siphezulu 8 bits
Isantya sokujikeleza sisezantsi iibhithi ezisi-8 |
isayinwe in16 | Isantya esiyiyo × 1000 (ngokuchaneka kwe
0.001rad) |
|
| byte [4] | Igciniwe | – | 0×00 | |
| byte [5] | Igciniwe | – | 0×00 | |
| byte [6] | Igciniwe | – | 0×00 | |
| byte [7] | Igciniwe | – | 0×00 | |
Umyalelo woLawulo lweNtshukumo
| Umyalelo weGama loLawulo Umyalelo | ||||
| Ukuthumela indawo | Ukufumana indawo | Umjikelo (ms) | Ukufumana ixesha lokuphuma (ms) | |
| Iyunithi yolawulo lokwenza izigqibo Ubude besakhelo somyalelo uhlobo lomyalelo we-ID
Ubude bedatha |
Indawo yeChassis
0×0A |
20ms | 500ms | |
| Umyalelo wokulawula (0×55)
0×01 |
||||
| 6 | ||||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Inkcazo | |
| byte [0]
byte [1] |
Isantya sokushukuma phezulu 8 bits
Isantya sentshukumo sisezantsi iibits ezi-8 |
isayinwe in16 | Isantya sokuhamba kwemoto, iyunithi: mm/s | |
| byte [2]
byte [3] |
Isantya sokujikeleza siphezulu 8 bits
Isantya sokujikeleza sisezantsi iibhithi ezisi-8 |
isayinwe in16 | Ukujikeleza kwemoto isantya se-angular, iyunithi: 0.001rad/s | |
| byte [4] | Igciniwe | – | 0x00 | |
| byte [5] | Igciniwe | – | 0x00 | |
Isakhelo sokuLawula ukukhanya
| Igama lomyalelo weSakhelo sokuLawula ukukhanya | ||||
| Ukuthumela indawo | Ukufumana indawo | Umjikelo (ms) | Ukufumana ixesha lokuphuma (ms) | |
| Iyunithi yolawulo lokwenza izigqibo Ubude besakhelo somyalelo uhlobo lomyalelo we-ID
Ubude bedatha |
Indawo yeChassis
0×0A |
20ms | 500ms | |
| Umyalelo wokulawula (0×55)
0×04 |
||||
| 6
Umsebenzi |
||||
| Isikhundla | Uhlobo lomhla | Inkcazo | ||
| byte [0] | Ulawulo lokukhanya luvumela iflegi | engatyikitywanga int8 | 0x00 Umyalelo wolawulo awusebenzi
0x01 Ulawulo lokukhanyisa luvuleleke |
|
|
byte [1] |
Imowudi yokukhanya yangaphambili |
engatyikitywanga int8 | 0x002xB010 NmOC de
0x03 User-defiLnedobrightness |
|
| byte [2] | Ukuqaqamba ngokwesiko kwesibane sangaphambili | engatyikitywanga int8 | [01, 0100r]e,fwerhsetroem0 arexfiemrsumto bnroigbhrtignhetsns[e5s]s, | |
| byte [3] | Imowudi yokukhanya yangasemva | engatyikitywanga int8 | 0x002xB010 mNOC de
0x03 User-defiLnedobrightness [0, r, weherte 0 refxers uto nbo brightness, |
|
| byte [4] | Lungiselela ukukhanya ukuze wenze ukukhanya ngasemva | engatyikitywanga int8 | 100 ef r o ma im m tness | |
| byte [5] | Igciniwe | — | 0x00 | |
I-Firmware uphuculo
Ukuze kube lula ukuba abasebenzisi baphucule inguqulelo ye-firmware esetyenziswa yi-SCOUT 2.0 kwaye izise abathengi amava apheleleyo, i-SCOUT 2.0 ibonelela ngojongano lwe-hardware yophuculo lwe-firmware kunye nesoftware yomxumi ehambelanayo. Umfanekiso wekhusi wesi sicelo
Ukuphucula ukulungiswa
- IKHEBILI YOMTHETHO × 1
- I-USB-TO-SERIAL PORT × 1
- I-SCOUT 2.0 I-CHASSIS × 1
- IKHOMPYUTHA (INKQUBO YOKUSEBENZA KWEEWINDOWS) × 1
Isoftware yophuculo lweFirmware
https://github.com/agilexrobotics/agilex_firmware
Inkqubo yokuphucula
- Ngaphambi koqhagamshelo, qinisekisa ukuba i-chassis yerobhothi iyacinywa; Qhagamshela intambo yesiriyali kwi-serial port kwisiphelo esingasemva se-SCOUT 2.0 chassis;
- Qhagamshela intambo yesiriyali kwikhompyuter;
- Vula isoftware yomxhasi;
- Khetha inombolo yezibuko;
- Amandla kwi-SCOUT 2.0 chassis, kwaye ngoko nangoko nqakraza ukuqalisa uxhulumaniso (i-SCOUT 2.0 chassis iya kulinda i-3s phambi kombane; ukuba ixesha lokulinda lingaphezulu kwe-3s, liya kungena kwisicelo); ukuba uxhulumaniso luphumelela, "uxhulumaniso ngempumelelo" luya kuhanjiswa kwibhokisi yokubhaliweyo;
- Layisha ifayile yomgqomo;
- Nqakraza i Uphuculo iqhosha, kwaye ulinde ukwaziswa kophuculo olugqitywe;
- Nciphisa intambo yesiriyali, cima i-chassis, kwaye ucime umbane uphinde uvule kwakhona.
I-SCOUT 2.0 SDK
Ukuze uncede abasebenzisi baphumeze uphuhliso olunxulumene ne-robot ngokulula ngakumbi, i-SDK ye-cross-platform exhaswayo iphuhliswe kwi-SCOUT 2.0 ye-robot ye-mobile.I-SDK iphakheji yesofthiwe inikezela nge-interface ye-C ++ esekelwe, esetyenziselwa ukunxibelelana ne-chassis ye-robot ye-SCOUT 2.0 kunye unokufumana imeko yamva nje yerobhothi kwaye ulawule iintshukumo ezisisiseko zerobhothi. Okwangoku, ulungelelwaniso lwe-CAN kunxibelelwano luyafumaneka, kodwa ulungelelwaniso olusekwe kwi-RS232 lusaqhubeka.Ngokusekelwe koku, iimvavanyo ezinxulumeneyo ziye zagqitywa kwi-NVIDIA JETSON TX2.
SCOUT2.0 ROS Package
I-ROS ibonelela ngeenkonzo ezithile zenkqubo yokusebenza esemgangathweni, ezifana ne-hardware abstraction, ulawulo lwesixhobo esisezantsi, ukuphunyezwa komsebenzi oqhelekileyo, umyalezo we-interprocess kunye nolawulo lwepakethe yedatha. I-ROS isekwe kwi-architecture yegrafu, ukuze inkqubo yeenodi ezahlukileyo ikwazi ukufumana, kwaye ihlanganise ulwazi olwahlukeneyo (njengokuvava, ukulawula, ubume, ukucwangcisa, njl.) Ngoku iROS ixhasa ubukhulu becala UBUNTU.
ULungiselelo loPhuhliso
Ukulungiswa kwehardware
- I-CANlight inonxibelelwano lwemodyuli ×1
- Thinkpad E470 notebook ×1
- I-AGILEX SCOUT 2.0 i-chassis yerobhothi ephathwayo ×1
- I-AGILEX SCOUT 2.0 ulawulo olude FS-i6s ×1
- I-AGILEX SCOUT 2.0 isiseko samandla sokuhamba ngenqwelomoya ×1
Sebenzisa example inkcazo yokusingqongileyo
- Ubuntu 16.04 LTS (Le yinguqulelo yovavanyo, incasa ku-Ubuntu 18.04 LTS)
- I-ROS Kinetic (Iinguqulelo ezilandelayo nazo ziyavavanywa)
- Git
Uqhagamshelo lwe-Hardware kunye nokulungiselela
- Khokela ngaphandle ucingo lwe-CAN lwe-SCOUT 2.0 iplagi ye-aviation ephezulu okanye iplagi yomsila, kwaye uqhagamshele i-CAN_H kunye ne-CAN_L kucingo lwe-CAN kwi-CAN_TO_USB iadaptha ngokulandelelanayo;
- Layita iswitshi kwi-knob kwi-SCOUT 2.0 yerobhothi ye-chassis ephathwayo, kwaye ujonge ukuba ukutshitsha kokumisa kaxakeka kumacala omabini kukhululiwe;
- Qhagamshela i-CAN_TO_USB kwindawo ye-usb yencwadana. Umzobo wokudibanisa uboniswe kuMfanekiso 3.4.
Ufakelo lwe-ROS kunye nolungiselelo lokusingqongileyo
Ngeenkcukacha zofakelo, nceda ujonge ku http://wiki.ros.org/kinetic/Installation/Ubuntu
Vavanya i-hardware ye-CANABLE kunye ne-CAN yonxibelelwano
Ukucwangcisa i-CAN-TO-USB iadaptha
- Yenza imodyuli ye-gs_usb kernel isebenze
$ sudo modprobe gs_usb - Ukuseta i-500k yesantya se-Baud kwaye uvule iadaptha ye-can-to-usb
$ sudo ip link set can0 up type can bitrate 500000 - Ukuba akukho mpazamo yenzekileyo kumanyathelo angaphambili, kuya kufuneka ukwazi ukusebenzisa umyalelo woku view isixhobo setoti kwangoko
$ ifconfig -a - Faka kwaye usebenzise ii-can-utils ukuvavanya i-hardware
$ sudo apt install can-utils - Ukuba i-can-to-usb iqhagamshelwe kwi-robot ye-SCOUT 2.0 ngeli xesha, kwaye imoto ilayitiwe, sebenzisa le miyalelo ilandelayo ukujonga idatha esuka kwi-SCOUT 2.0 chassis
$ candump can0 - Nceda bhekisa ku:
I-AGILEX SCOUT 2.0 I-ROS PACKAGE khuphela kwaye uhlanganise
- Khuphela iphakheji ye-ros
$ sudo apt ukufaka ros-$ROS_DISTRO-controller-manager
$ sudo apt ukufaka ros-$ROS_DISTRO-teleop-twist-keyboard$ sudo apt ukufaka ros-$ROS_DISTRO-joint-state-publisher-gui$ sudo apt install libasio-dev - Clone qokelela ikhowudi ye-scout_ros
$ 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
Nceda bhekisa ku:https://github.com/agilexrobotics/scout_ros
Ukulumkela
Eli candelo libandakanya ezinye izilumkiso ekufuneka zithathelwe ingqalelo kusetyenziso nophuhliso lwe-SCOUT 2.0.
Ibhetri
- Ibhetri ebonelelwe nge-SCOUT 2.0 ayihlawuliswanga ngokupheleleyo kwiseto yefektri, kodwa amandla ayo athile angaboniswa kwivoltmeter ngasemva kwe-SCOUT 2.0 chassis okanye ifundwe nge-CAN yonxibelelwano lwebhasi. Ukutshajwa ngokutsha kwebhetri kunokuyekwa xa i-LED eluhlaza kwitshaja ijika ibe luhlaza. Qaphela ukuba ugcina itshaja iqhagamshelwe emva kokuba i-LED eluhlaza ilayitiwe, itshaja iya kuqhubeka nokutshaja ibhetri malunga ne-0.1A yangoku malunga nemizuzu engama-30 ngaphezulu ukufumana ibhetri ngokupheleleyo.
- Nceda ungahlawulisi ibhetri emva kokuba amandla ayo ephelile, kwaye nceda uhlawule ibhetri ngexesha xa i-alamu yezinga lebhetri ephantsi ivuliwe;
- Iimeko zokugcina ezizinzileyo: Obona bushushu bungcono bokugcinwa kwebhetri yi-10℃ ukuya kwi-45℃; kwimeko yogcino olungasetyenziswanga, ibhetri kufuneka itshajwe kwakhona kwaye itshajwe kanye malunga neenyanga ezi-2, emva koko igcinwe kumthamo opheleleyo.tage-state. Nceda ungayifaki ibhetri emlilweni okanye uyifudumeze ibhetri, kwaye nceda ungayigcini ibhetri kwindawo yobushushu obuphezulu;
- Ukutshaja: Ibhetri kufuneka itshajwe ngetshaja yelithium ezinikeleyo; iibhetri ze-lithium-ion azikwazi ukuhlawuliswa ngaphantsi kwe-0 ° C (32 ° F) kunye nokuguqula okanye ukubuyisela iibhetri zokuqala akuvumelekanga ngokungqongqo.
Indawo yokusebenza
- Ubushushu bokusebenza be-SCOUT 2.0 yi -10℃ ukuya ku-45℃; Nceda ungayisebenzisi ngaphantsi kwe -10℃ nangaphezulu kwe-45℃;
- Iimfuno zokufuma okuhambelanayo kwindawo yokusetyenziswa kweSCOUT 2.0 zezi: ezona zininzi ziyi-80%, ubuncinane yi-30%;
- Nceda ungayisebenzisi kwindawo engqongileyo enerhasi ezonakalisayo nezinokutsha okanye evalwe kwizinto ezinokutsha;
- Musa ukuyibeka kufuphi nezifudumezi okanye izinto zokufudumeza ezifana ne-resistors ezinkulu ezidibeneyo, njl.;
- Ngaphandle kwenguqulo elungiselelwe ngokukodwa (iklasi yokukhusela i-IP eyenziwe ngokwezifiso), i-SCOUT 2.0 ayinabungqina bamanzi, ngoko ke nceda ungayisebenzisi kwindawo enemvula, enekhephu okanye yamanzi;
- Umphakamo wendawo ekucetyiswayo yokusetyenziswa akufuneki udlule kwi-1,000m;
- Umahluko weqondo lobushushu phakathi kwemini nobusuku kwindawo ekucetyiswa ukuba uyisebenzise kufuneka ungabi ngaphezu kwe25℃;
- Rhoqo jonga uxinzelelo lwetayara, kwaye uqiniseke ukuba lungaphakathi kwe-1.8 bar ukuya kwi-2.0bar.
- Ukuba naliphi na itayara liguge kakhulu okanye ligqabhukile, nceda ulibuyisele kwangethuba.
Iintambo zombane/zokwandiswa
- Ukunikezelwa kwamandla okwandisiweyo phezulu, okwangoku akufanele kudlule i-6.25A kwaye amandla apheleleyo akufanele adlule i-150W;
- Kunikezelo lwamandla olwandisiweyo kwisiphelo esingasemva, okwangoku akufanele kudlule i-5A kwaye amandla apheleleyo akufanele adlule i-120W;
- Xa inkqubo ibhaqa ukuba ibhetri voltagu-e ungaphantsi kunomthamo okhuselekileyotageklasini, izandiso zonikezelo lwamandla zangaphandle ziya kutshintshelwa ngokusebenzayo. Ke ngoko, abasebenzisi bayacetyiswa ukuba baqaphele ukuba izandiso zangaphandle zibandakanya ukugcinwa kwedatha ebalulekileyo kwaye akukho mandla okhuseleko.
Iingcebiso ezongezelelweyo zokhuseleko
- Ukuba kukho nakuphi na ukuthandabuza ngexesha lokusetyenziswa, nceda ulandele incwadana yomyalelo ehambelanayo okanye uqhagamshelane nabasebenzi bezobugcisa abanxulumeneyo;
- Phambi kokusetyenziswa, nikela ingqalelo kwimeko yentsimi, kwaye uphephe ukusebenza kakubi okuya kubangela ingxaki yokhuseleko lwabasebenzi;
- Kwimeko yongxamiseko, cofa iqhosha lokumisa likaxakeka kwaye ucime isixhobo;
- Ngaphandle kwenkxaso yobugcisa kunye nemvume, nceda musa ukuguqula ngokwakho isakhiwo sesixhobo sangaphakathi.
Amanye amanqaku
- ISKOUT 2.0 inamalungu eplastiki ngaphambili nangasemva, nceda ungawabethi ngokuthe ngqo ezo ndawo ngamandla agqithisileyo ukuthintela umonakalo onokwenzeka;
- Xa uphethe kwaye umisa, nceda ungawi okanye usibeke phezulu isithuthi;
- Kubantu abangezongcali, nceda musa ukukhulula isithuthi ngaphandle kwemvume.
Q&A
- Q: I-SCOUT 2.0 iqalwe ngokuchanekileyo, kodwa kutheni i-RC ingakwazi ukulawula umzimba wesithuthi ukuba uhambe?
A: Okokuqala, khangela ukuba unikezelo lwamandla okuqhuba lukwimeko eqhelekileyo, ingaba i-drive power switch icinezelwe phantsi kwaye ingaba i-E-stop switches ikhululiwe; emva koko, khangela ukuba imo yolawulo ekhethiweyo kunye nemowudi yokukhetha ephezulu ekhohlo kwi-transmitter ye-RC ichanekile. - Umbuzo: I-SCOUT 2.0 ulawulo olukude lukwimeko eqhelekileyo, kwaye ulwazi malunga nesimo se-chassis kunye nokunyakaza kunokufunyanwa ngokuchanekileyo, kodwa xa i-protocol yefreyimu yokulawula ikhutshwe, kutheni imowudi yokulawula umzimba wesithuthi ayinakutshintshwa kwaye i-chassis iphendule kwisakhelo sokulawula. protocol?
A: Ngokuqhelekileyo, ukuba i-SCOUT 2.0 inokulawulwa yi-RC transmitter, ithetha ukuba intshukumo ye-chassis iphantsi kolawulo olufanelekileyo; ukuba isakhelo sengxelo ye-chassis sinokumkelwa, kuthetha ukuba ikhonkco lolwandiso lwe-CAN lukwimeko eqhelekileyo. Nceda ujonge isakhelo solawulo se-CAN esithunyelweyo ukuze ubone ukuba ukhangelo lwedatha luchanekile kwaye nokuba imo yolawulo ikwimo yolawulo lomyalelo. Ungajonga ubume beflegi yempazamo kwibitna yempazamo kwisimo sempendulo ye-chassis. - Umbuzo: I-SCOUT 2.0 inika isandi esithi "beep-beep-beep ..." ekusebenzeni, indlela yokujongana nale ngxaki?
A: Ukuba i-SCOUT 2.0 inika esi sandi “beep-beep-beep” ngokuqhubekayo, oko kuthetha ukuba ibhetri ikwi-alamu.tage-state. Nceda utshaje ibhetri ngexesha. Nje ukuba kuvele esinye isandi esinxulumeneyo, kunokubakho iimpazamo zangaphakathi. Ungajonga iikhowudi zemposiso ezinxulumeneyo ngebhasi ye-CAN okanye unxibelelane nabasebenzi bezobugcisa abanxulumeneyo. - Q: Ngaba ukunxitywa kwamatayara eSCOUT 2.0 kuqhelekile ukubonwa xa usebenza?
A: Ukunxitywa kwamatayara eSKOUT 2.0 kuqhelekile ukubonwa xa ibaleka. Njengoko iSKOUT 2.0 isekwe kuyilo lokuqhuba olwahlukileyo lwamavili amane, ukukhuhlana kokutyibilika kunye nokungqubana okuqengqelekayo kwenzeka xa umzimba wesithuthi ujikeleza. Ukuba umgangatho awugudi kodwa urhabaxa, amatayara aya kuguga. Ukuze unciphise okanye ucothise ukunxiba, ukujika kwe-angle encinci kunokuqhutywa ngokujika okuncinci kwi-pivot. - Umbuzo: Xa unxibelelwano luphunyezwa ngebhasi ye-CAN, umyalelo wempendulo ye-chassis ukhutshwa ngokuchanekileyo, kodwa kutheni isithuthi singaphenduli kumyalelo wokulawula?
A: Kukho indlela yokhuseleko lonxibelelwano ngaphakathi kwe-SCOUT 2.0, okuthetha ukuba i-chassis ibonelelwa ngokhuseleko lwasemva kwexesha xa kusetyenzwa imiyalelo yolawulo lwangaphandle lwe-CAN. Masithi isithuthi sifumana isakhelo esinye seprotocol yonxibelelwano, kodwa ayifumani isakhelo esilandelayo somyalelo wolawulo emva kwe500ms. Kule meko, iya kungena kwimodi yokukhusela unxibelelwano kwaye ibeke isantya kwi-0. Ngoko ke, imiyalelo evela kwikhompyutheni ephezulu kufuneka ikhutshwe ngezikhathi ezithile.
Imilinganiselo yeMveliso
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Umsasazi osemthethweni
service@generationrobots.com
+49 30 30 01 14 533
www.generationrobots.com
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I-Agilex Robotics SCOUT 2.0 Iqela le-AgileX Robotics [pdf] Incwadi yokusebenzisa I-SCOUT 2.0 iQela le-AgileX Robotics, i-SCOUT 2.0, iQela le-AgileX Robotics, iQela leRobhothi |
