Zhejiang Libiao Robotics LBMINI250 Ukuhlela Robhothi

Iingcaciso ezimfutshane

Iirobhothi zokuhlela ze-LBMini250 zisetyenziswa ikakhulu ukuhlenga-hlengisa kumashishini eenkonzo zonikezelo ezicacileyo kunye nolungiselelo lokugcinwa kwempahla. Isebenza kwiiplatifti zokuhlela ezikhethekileyo, ezi robhothi zinokufumana kwaye zenze ii-odolo ezivela kwiiseva ukukhulula iipasile kunye nokuzihambisa kwiindawo ezichongiweyo.

Iinkcazo zeeModyuli zeMveliso

Imodyuli yeBMSP 

1. .BMSPmodyuli ngemodyuli ye-chassis funda iRFID(13.56M) tags, fumana ulwazi lwendawo yangoku, irobhothi kunye nemodyuli engenazingcingo kumncedisi, umncedisi ngokusekwe kwindawo yangoku yerobhothi kunye nemiyalelo yomsebenzi ekhutshwe ngurhulumente, umyalelo weseva yohlalutyo lwerobhothi, kunye nokulawula isixhobo se-servo, njengokuphunyezwa komyalelo opheleleyo, ukuze qaphela ulawulo lwerobhothi kunye nokulawula ukuguqula, ulawulo lwenguqulo, ukunyakaza, ekugqibeleni uyaqonda yonke inkqubo yokusebenza.
2. Imodyuli yolawulo lwamandla
   Kwimodyuli yolawulo lwamandla, imiyalelo yokuvula nokucima iirobhothi inokufumaneka ngemodyuli engenacingo. Ukuba umyalelo wokunika amandla kwirobhothi ufunyenwe, imodyuli yokulawula amandla iya kutshintsha unikezelo lwamandla kunye namandla kuzo zonke izixhobo. Xa umyalelo wokucima i-robot ufunyenwe, imodyuli iya kucima unikezelo lwamandla kunye nokucima zonke izixhobo. Okwangoku, zonke ezinye izixhobo ziya kutshintshelwa kumazwe alindileyo kunye nokusetyenziswa kwamandla aphantsi ngaphandle kwemodyuli yolawulo lwamandla.
3.  Imodyuli yeChassis
   Qonda ukufunyaniswa kwe-RFID (13.56M) ikhowudi kunye nokufumanisa ulwazi lwendawo, kunye nokulayisha. Idatha kwimodyuli ye-BMSP ngonxibelelwano lwe-CAN.
4.  Ukutshintsha imodyuli yamandla Kwimodyuli yolawulo lwamandla, ulawulo lwentlawulo yebhetri luyenziwa, kunye nomthamotagubhaqo lwe-e, ubhaqo lwangoku, ubhaqo lobushushu, kunye neminye imisebenzi nayo inikezelwe. Imodyuli ihlengahlengisa umthamotage ukusuka kwibhetri ukuya kwi-24V ezinzileyo kwaye uyondla kwimodyuli yolawulo oluphambili.
5.  IBattery Pack kunye nePort yokuTshaja   Ipakethi yebhetri yenziwe nge-10 2.4V iibhetri ze-lithium kuthotho, kunye nesiphumo sokugqibela sevolthitage yi 24V kwimodyuli yonikezelo lwamandla okutshintsha. I-port yokutshaja inokufikelela kumbane ophezulu we-28V DC ukutshaja ibhetri, kunye nokutshaja okuphezulu kwangoku kwe-6A.
6. Iimodyuli zeServo  Okwangoku, irobhothi ineemodyuli ezintathu ze-servo, kubandakanya ivili lasekhohlo, ivili lasekunene, kunye neflap, ezisetyenziselwa ukulawula ukuhamba kunye nokuqhwaba ngenjongo yokugqibela yokukhulula.
7.  Amaqhosha kunye nezibane zesalathisi se-LED  Amaqhosha asetyenziselwa ukuvavanya iirobhothi enye kunye nokulawula ukuvalwa ngesandla. Ukukhanya kwesalathisi se-LED kuqeshwe ukubonisa imeko yangoku

Imisebenzi yamaqhosha kunye nezibane zesalathisi ziboniswa ngolu hlobo lulandelayo:

Izibane ze-LED ezibomvu ezibomvu zingabonisa ukungasebenzi kakuhle. Iimeko zezibane zesalathisi ziboniswa ngolu hlobo lulandelayo:

SN	Imeko yokuKhanya kwesalathisi			Iinkcazelo zoMbuso
	Ukusebenza	Umbuso	Yima ecaleni kuka
1	icimile	icimile	icimile	Iibhetri zivaliwe okanye amandla awabonelelwanga.
2	icimile	icimile	kwi-0.2s kwaye ucime kwi-4s	Yima ecaleni kuka
3	kwi 0.5s kwaye off for 1.5s	icimile	icimile	Phantsi kobume bokuvalwa, imiyalelo evela kumncedisi ayiphunyezwanga, kwaye akukho kungasebenzi kakuhle kuxelwa phantsi kwesi simo.
4	kwi 0.5s kwaye off for 0.5s	icimile	icimile	Ngaphantsi kokusebenza, ukufumana imiyalelo evela kumncedisi
5	kwi 0.5s kwaye off for	on	icimile	Phantsi komsebenzi, ilinde imiyalelo evela kumncedisi
	0.5s
6	kwi-0.2s kwaye ucime kwi-0.2s	kwi 0.2s kwaye cima kwi0.2s	ilungiselelwe 0.2s kunye nokucima kwi-0.2s	Ukungasebenzi kakuhle, kuba iRFID ayinakubonwa.
7	Nasiphi na isibane sihlala sivuliwe			Ngenisa imo yokusebenza.
8	Nakuphi na ukukhanya kulayitiwe kwi-0.2s kwaye icime i-0.2s			Indlela yokukhetha umsebenzi

Intshayelelo kwiMisebenzi yamaQhosha:

Akukho qhosha liya kusebenza xa irobhothi iphantsi kweNo.1 State eboniswe ngasentla

INombolo yelizwe langoku (jonga itheyibhile engentla)）	Amaqhosha	Inkcazo yeMisebenzi
1	Nayiphi na	Akukho msebenzi
2	Cinezela [A] + [C] ku-3s	Faka amandla kwaye uvuse irobhothi
3-8	Cinezela [B] + [C] ngo-5s	Cima kwaye utshintshe irobhothi kwindawo yokulinda
3-6	Cinezela [A]	Irobhothi ingena kwimeko yokusebenza
3-6	Cofa [B]	Irobhothi ingena kwindawo yokuvala
3-6	Cofa [C]	Ngenisa imeko yokhetho lomsebenzi (No.8 state). Kamva, ungatshintshela komnye umsebenzi xa ucofa u [C] kwaye ukhethe nabani na No.1 ukuya No.7 imisebenzi
8	Cinezela [A]	Ngenisa ubume bomsebenzi wangoku (No.7 State)
8	Cofa [B]	Phuma kwimeko yokhetho lomsebenzi kwaye ubuyele kwimeko yokuvala
7	Cinezela [A]	Qala ukuphumeza umsebenzi wangoku
7	Cofa [B]	Misa ukuphunyezwa komsebenzi wangoku
7	Cofa [C]	Phuma kumsebenzi wangoku kwaye ubuyele kwimeko yokuvala

Amanqaku: Yonke le misebenzi ingentla ikukujija irobhothi enye ukuze igcinwe okanye ivavanywe. Akukho kuguqulwa kuya kufuneka xa irobhothi iphantsi komsebenzi wesiqhelo.

Imiyalelo yomsebenzisi

Iirobhothi zi-actuators zeenkqubo zokuhlela kwaye imisebenzi yazo eqhelekileyo ifuna inkxaso yeqonga lonke lokuhlela. Ngexesha lomsebenzi wabo oqhelekileyo, akukho nkohliso efunekayo konke konke, kwaye yonke imisebenzi yabo igqityiwe kwiseva.
Ivula amandla 

Iirobhothi zinikwe amandla ngesoftware yeseva kunye nezixhobo zokutshintsha. Ungathumela umyalelo wokunika amandla kwirobhothi kunye nesoftware yokutshintsha yeseva nge-LBAP-102LU isixhobo esingenazingcingo sesixhobo sokutshintsha. Emva koko, irobhothi inokuthi isebenze ngokuzenzekelayo.

Ukuhlela

Ukuhlelwa kwerobhothi kunokubonwa ngomncedisi. Unokulawula iirobhothi kunye nokutshintshiselana ngedatha ngeemodyuli ezingenazingcingo kunye nesoftware yeseva. Umncedisi uya kuzama ukuqhagamshela zonke iirobhothi ezinikwe amandla. Emva koqhagamshelo oluqhelekileyo, umncedisi uya kuhlala eqhagamshelwe neerobhothi, afumane ulwazi malunga nendawo yangoku yeerobhothi ngeekhowudi ze-RFID, kunye nokulawula ukuhamba kweerobhothi okanye ukuphaphatheka ngokwemeko yeqonga lokuhlela langoku.

Ukucima amandla

Iirobhothi zinikwe amandla ngesoftware yeseva kunye nezixhobo zokutshintsha. Iirobhothi zinokunikwa amandla ngokukhupha imiyalelo ehambelanayo kubo nge-LBAP-102LU isixhobo esingenazingcingo sesixhobo sokutshintsha kunye nesoftware yokutshintsha iseva. Xa irobhothi ibhaqa ukuba voltagI-e yebhetri enye ingaphantsi kwe-2.1V, iya kuvala ngokuzenzekelayo.

Ingxelo yeFCC

Naluphi na utshintsho okanye uhlengahlengiso olungavunywanga ngokucacileyo liqela elinoxanduva lokuthotyelwa lunokuphelisa igunya lomsebenzisi lokusebenzisa isixhobo. Esi sixhobo sithobela inxalenye ye-15 yeMithetho yeFCC. Umsebenzi uxhomekeke kwezi meko zimbini zilandelayo:

1. Esi sixhobo asinakubanga uphazamiseko oluyingozi, kunye
2. Esi sixhobo kufuneka samkele naluphi na uphazamiseko olufunyenweyo, kubandakanywa uphazamiseko olunokubangela ukusebenza okungafunekiyo.

Phawula: Esi sixhobo sivavanyiwe saza safunyanwa ukuba sithobela imida yesixhobo sedijithali soDidi B, ngokungqinelana nenxalenye ye-15 yeMithetho yeFCC. Le mida yenzelwe ukubonelela ngokhuseleko olufanelekileyo ekuphazamisekeni okuyingozi kwindawo yokuhlala. Esi sixhobo sivelisa ukusetyenziswa kwaye sinokusasaza amandla amaza erediyo kwaye, ukuba asifakanga kwaye sisetyenziswe ngokuhambelana nemiyalelo, sinokubangela uphazamiseko oluyingozi kunxibelelwano lwerediyo. Nangona kunjalo, akukho siqinisekiso sokuba ukuphazamiseka akuyi kwenzeka kufakelo oluthile. Ukuba esi sixhobo sibangela uphazamiseko oluyingozi kunomathotholo okanye ulwamkelo lukamabonakude, olunokumiselwa ngokucinywa nokulayita isixhobo, umsebenzisi uyakhuthazwa ukuba azame ukulungisa uphazamiseko ngenye okanye ngaphezulu kwezi ndlela zilandelayo:

• Jongisa kwakhona okanye uhambise i-eriyali efumanayo.
• Yandisa ukwahlukana phakathi kwesixhobo kunye nomamkeli.
• Qhagamshela izixhobo kwindawo yokuphuma kwisekethe eyahlukileyo kuleyo apho umamkeli aqhagamshelwe khona.
• Dibana nomthengisi okanye igcisa likanomathotholo/kumabonakude ukuze ufumane uncedo.

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