Iqembu le-SCOUT 2.0 AgileX Robotics
Lesi sahluko siqukethe ulwazi olubalulekile lokuphepha, ngaphambi kokuba irobhothi livulwe okokuqala ngqa, noma yimuphi umuntu noma inhlangano kufanele ifunde futhi iqonde lolu lwazi ngaphambi kokusebenzisa idivayisi. Uma unemibuzo mayelana nokusetshenziswa, sicela usithinte ku support@agilex.ai Sicela ulandele futhi usebenzise yonke imiyalelo yokuhlanganisa kanye nemihlahlandlela ezahlukweni zaleli bhukwana, okuyinto ebaluleke kakhulu. Kufanele kuqashelwe ngokukhethekile umbhalo ohlobene nezimpawu eziyisixwayiso.
Ulwazi Lokuphepha
Ulwazi olukule manuwali alubandakanyi ukuklanywa, ukufakwa nokusebenza kohlelo lwerobhothi oluphelele, futhi alufaki zonke izinto ezisetshenziswayo ezingase zithinte ukuphepha kohlelo oluphelele. Ukuklanywa nokusetshenziswa kwesistimu ephelele kudingeka kuhambisane nezidingo zokuphepha ezisungulwe kumazinga nemithetho yezwe lapho irobhothi lifakwe khona.
Abahlanganisi be-SCOUT namakhasimende okugcina banomthwalo wemfanelo wokuqinisekisa ukuthobela imithetho nemithethonqubo esebenzayo yamazwe afanelekile, nokuqinisekisa ukuthi azikho izingozi ezinkulu ekufakweni okuphelele kwamarobhothi. Lokhu kubandakanya kodwa akukhawulelwe kulokhu okulandelayo:
Ukusebenza kahle nokuzibophezela
- Yenza ukuhlolwa kwengozi yohlelo oluphelele lwamarobhothi. Xhumanisa izinto zokuphepha ezengeziwe zeminye imishini echazwe ukuhlolwa kobungozi ndawonye.
- Qinisekisa ukuthi ukuklanywa nokufakwa kwazo zonke izisetshenziswa eziseceleni zohlelo lwamarobhothi, okuhlanganisa isofthiwe nezinhlelo zehadiwe, kulungile.
- Le robhothi ayinalo irobhothi elihambahambayo elizimele eliphelele, okuhlanganisa kodwa elingagcini ngokuzenzakalelayo ngokumelene nokushayisana, ukulwa nokuwa, isexwayiso sendlela yebhayoloji kanye neminye imisebenzi yokuphepha ehlobene. Imisebenzi ehlobene idinga abahlanganisi namakhasimende wokugcina ukuthi alandele imithethonqubo efanele kanye nemithetho nemithethonqubo engenzeka yokuhlola ukuphepha , Ukuqinisekisa ukuthi irobhothi elithuthukisiwe alinazo izingozi ezinkulu kanye nezingozi zokuphepha ezinhlelweni zokusebenza zangempela.
- Qoqa wonke amadokhumenti efayelini lobuchwepheshe: okuhlanganisa nokuhlola ubungozi kanye nale manuwali.
- Yazi izingozi zokuphepha ezingaba khona ngaphambi kokusebenzisa kanye nokusebenzisa okokusebenza.
Ukucatshangelwa Kwemvelo
- Ukuze usebenzise okokuqala, sicela ufunde leli bhukwana ngokucophelela ukuze uqonde okuqukethwe okuyisisekelo kokusebenza kanye nemininingwane yokusebenza.
- Ngomsebenzi wesilawuli kude, khetha indawo evulekile uma kuqhathaniswa ozoyisebenzisa i-SCOUT2.0, ngoba i-SCOUT2.0 ayifakelwe noma iyiphi inzwa yokugwema izithiyo ezizenzakalelayo.
- Sebenzisa i-SCOUT2.0 njalo ngaphansi kwezinga lokushisa le-ambient -10℃~45℃.
- Uma i-SCOUT 2.0 ingalungiswanga ngokuvikelwa kwe-IP yangokwezifiso okuhlukile, ukuvikelwa kwayo kwamanzi nothuli kuzoba IP22 KUPHELA.
Uhlu Lokuhlola Umsebenzi Wangaphambili
- Qiniseka ukuthi idivayisi ngayinye inamandla anele.
- Qiniseka ukuthi i-Bunker ayinawo amaphutha asobala.
- Hlola ukuthi ibhethri lesilawuli kude linawo yini amandla anele.
- Uma usebenzisa, qiniseka ukuthi iswishi yokumisa isimo esiphuthumayo ikhululiwe.
Ukusebenza
- Emsebenzini wokulawula kude, qiniseka ukuthi indawo ezungezile ivulekile.
- Yenza isilawuli kude ngaphakathi kwebanga lokubonakala.
- Umthwalo omkhulu we-SCOUT2.0 ngu-50KG. Uma usebenzisa, qinisekisa ukuthi umthwalo okhokhelwayo aweqi ku-50KG.
- Uma ufaka isandiso sangaphandle ku-SCOUT2.0, qinisekisa indawo emaphakathi yesisindo sesandiso futhi uqiniseke ukuthi siphakathi nendawo yokuzungezisa.
- Sicela ushaje i-tine uma idivayisi ine-alamu ephansi yebhethri. Uma i-SCOUT2..0 inesici, sicela uyeke ngokushesha ukuyisebenzisa ukuze ugweme ukulimala kwesibili.
- Uma i-SCOUT2.0 ibe nenkinga, sicela uxhumane nochwepheshe abafanelekile ukuze ubhekane nayo, ungasibambeli wedwa leso sici. Ngaso sonke isikhathi sebenzisa i-SCOUT2.0 endaweni enezinga lokuvikela elidingwa okokusebenza.
- Ungaphushi i-SCOUT2.0 ngqo.
- Uma ushaja, qiniseka ukuthi izinga lokushisa le-ambient lingaphezulu kuka-0 ℃.
- Uma imoto inyakaza ngesikhathi iphenduka, lungisa ukumiswa.
Isondlo
- Njalo hlola ukucindezelwa kwesondo, futhi ugcine ingcindezi yesondo iphakathi kuka-1.8bar~2.0bar.
- Uma isondo liguge kakhulu noma liqhume, sicela ulishintshe kusenesikhathi.
- Uma ibhethri lingasebenzisi isikhathi eside, lidinga ukushaja ibhethri ngezikhathi ezithile ezinyangeni ezi-2 kuya kwezi-3.
Isingeniso
I-SC OUT 2.0 yakhelwe njenge-UGV enezinjongo eziningi enezimo ezihlukene zohlelo ezicatshangelwayo: idizayini ye-modular; ukuxhumana okuguquguqukayo; isistimu yemoto enamandla ekwazi ukukhokhelwa kakhulu. Izingxenye ezengeziwe ezifana nekhamera ye-stereo, i-laser radar, i-GPS, i-IMU kanye ne-robotic manipulator ingafakwa ngokuzithandela ku-SCOUT 2.0 ukuze uthole ukuzulazula okuthuthukile kanye nezinhlelo zokusebenza zokubona ngekhompyutha. I-SCOUT 2.0 ivamise ukusetshenziselwa ukufundisa ukushayela okuzimele kanye nocwaningo, ukugada ngezokuphepha kwangaphakathi nangaphandle, ukuzwa indawo ezungezile, ukuhleleka kwezinto kanye nezokuthutha, ukubala okumbalwa kuphela.
Uhlu lwezingxenye
| Igama | Ubuningi |
| I-SCOUT 2.0 Umzimba werobhothi | X 1 |
| Ishaja yebhethri (AC 220V) | X 1 |
| Ipulaki yendiza (owesilisa, 4-pin) | X 2 |
| Ikhebula le-USB ukuya ku-RS232 | X 1 |
| Isidluliseli sesilawuli kude (uma uthanda) | X 1 |
| Imojuli yokuxhumana ye-USB ukuya ku-CAN | X1 |
Imininingwane yobuchwepheshe
Isidingo sokuthuthukiswa
I-FS RC transmitter inikezwa (ongakukhetha) kusethingi yefekthri pf SCOUT 2.0, evumela abasebenzisi ukuthi balawule i-chassis yerobhothi ukuthi inyakaze futhi ijike; Izixhumanisi ze-CAN ne-RS232 ku-SCOUT 2.0 zingasetshenziselwa ukwenza ngokwezifiso komsebenzisi.
Izisekelo
Lesi sigaba sinikeza isingeniso esifushane seplathifomu yerobhothi ephathwayo ye-SCOUT 2.0, njengoba kukhonjisiwe kuMfanekiso 2.1 kanye noMfanekiso 2.2.
- Ngaphambili View
- Misa Ukushintsha
- I-Standard Profile Ukusekela
- Igumbi eliphezulu
- Iphaneli kagesi ephezulu
- I-Retardant-collision Tube
- Iphaneli yangemuva
I-SCOUT2.0 yamukela umqondo womklamo wemodular nohlakaniphile. Idizayini eyinhlanganisela yethayi lenjoloba elinamandla kanye nokumiswa okuzimele kumojula yamandla, kuhlanganiswe nenjini enamandla ye-DC brushless servo, kwenza inkundla yokuthuthukisa i-SCOUT2.0 irobhothi ibe nekhono eliqinile lokudlula kanye nekhono lokuzivumelanisa nomhlabathi, futhi ingahamba kalula ezindaweni ezihlukene. Imishayo ye-An-ti-collision igxunyekwa eduze kwemoto ukuze kuncishiswe ukulimala okungenzeka emzimbeni wemoto ngesikhathi ishayisana. Izibani zombili zifakwe ngaphambili nangemuva emotweni, isibani sakhona esimhlophe siklanyelwe ukukhanyisa ngaphambili kuyilapho ilambu elibomvu liklanywe ngemuva ukuze lixwayise futhi libonise.
Izinkinobho zokumisa eziphuthumayo zifakwe ezinhlangothini zombili zerobhothi ukuze kuqinisekiswe ukufinyelela okulula futhi ukucindezela noma iyiphi ingavala amandla erobhothi ngokushesha lapho irobhothi liziphatha ngendlela engavamile. Izixhumi ezingangenwa amanzi zamandla e-DC nezindawo zokuxhumana zinikezwa phezulu nangemuva kwerobhothi, ezingavumeli nje kuphela ukuxhumana okuguquguqukayo phakathi kwerobhothi nezinto zangaphandle kodwa futhi eziqinisekisa ukuvikelwa okudingekayo ngaphakathi kwerobhothi ngisho nangaphansi kokusebenza kanzima. izimo.
Ikhompathimenti evulekile ye-bayonet ibekelwe abasebenzisi phezulu.
Inkomba yesimo
Abasebenzisi bangakwazi ukubona isimo somzimba wemoto ngokusebenzisa i-voltmeter, i-beeper nezibani ezifakwe ku-SCOUT 2.0. Ukuze uthole imininingwane, sicela ubheke kuThebula 2.1.
| Isimo | Incazelo |
| Voltage | Ibhethri yamanje voltagi-e ingafundwa ku-voltmeter ku-interface kagesi yangemuva kanye nokunemba kwe-1V. |
|
Shintsha ibhethri |
Lapho ibhethri voltagi-e ingaphansi kuka-22.5V, indikimba yemoto izonikeza umsindo we-beep-beep-beep njengesixwayiso. Lapho ibhethri voltagI-e itholwe ingaphansi kuka-22V, i-SCOUT 2.0 izonqamula ukunikezwa kwamandla izandiso zangaphandle futhi ishayele ukuze ivikele ibhethri ukuthi lonakaliswe. Kulokhu, i-chassis ngeke ivumele ukulawula ukunyakaza futhi yamukele ukulawula komyalo wangaphandle. |
| Irobhothi livuliwe | Amalambu angaphambili nangemuva avuliwe. |
Ithebula 2.1 Izincazelo Zesimo Semoto
Imiyalo mayelana nezindawo zokusebenzela zikagesi
Top kagesi interface
I-SCOUT 2.0 ihlinzeka ngezixhumi ezintathu zendiza ezingamaphini angu-4 nesixhumi esisodwa se-DB9 (RS232). Isikhundla sesixhumi sezindiza esiphezulu siboniswe kuMfanekiso 2.3.
I-SCOUT 2.0 inokuxhumana okunwetshiwe kokundiza phezulu nangemuva, ngayinye elungiswe ngesethi yokuphakelwa kwamandla kanye nesethi yesixhumi esibonakalayo sokuxhumana se-CAN. Lezi zixhumanisi zingasetshenziswa ukunikeza amandla kumadivayisi anwetshiwe futhi kusungulwe ukuxhumana. Izincazelo eziqondile zamaphini zikhonjiswe kuMfanekiso 2.4.
Kufanele kuqashelwe ukuthi, ukunikezwa kwamandla okunwetshiwe lapha kulawulwa ngaphakathi, okusho ukuthi ugesi uzonqanyulwa uma ibhethri ishaya ngamandla.tage yehla ngaphansi kwe-threshold eshiwo ngaphambilinitage. Ngakho-ke, abasebenzisi badinga ukuqaphela ukuthi inkundla ye-SCOUT 2.0 izothumela ivolumu ephansitagi-alamu ngaphambi kwe-threshold voltagi-e ifinyelelwe futhi inake ukushajwa kabusha kwebhethri ngesikhathi sokusetshenziswa.
| Iphini No. | Uhlobo Lwephini | FuDnecfitinointioand | Ukuphawula |
| 1 | Amandla | VCC | Amandla avumayo, voltage ububanzi 23 - 29.2V, MAX .yamanje 10A |
| 2 | Amandla | GND | Amandla anegethivu |
| 3 | CAN | I-CAN_H | Ibhasi le-CAN liphakeme |
| 4 | CAN | I-CAN_L | CAN ibhasi eliphansi |
Amandla avumayo, voltagibanga 23 - 29.2V, MAX. yamanje 10A
| Iphini No. | Incazelo |
| 2 | I-RS232-RX |
| 3 | I-RS232-TX |
| 5 | GND |
Umfanekiso 2.5 Umdwebo Womdwebo wamaphinikhodi we-Q4
Isixhumi esibonakalayo sikagesi sangemuva
Isixhumi esibonakalayo esinwetshiwe ekugcineni esingemuva siboniswa kuMfanekiso 2.6, lapho i-Q1 iyiswishi eyisihluthulelo njengeswishi eyinhloko kagesi; I-Q2 iyisixhumi esibonakalayo sokushajwa; I-Q3 iwukushintshwa kokuphakelwa kwamandla kwesistimu yokushayela; I-Q4 iyimbobo ye-serial ye-DB9; I-Q5 iyisixhumi esibonakalayo esinwetshiwe se-CAN kanye nogesi we-24V; I-Q6 isibonisi sebhethri voltage.
| Iphini No. | Uhlobo Lwephini | FuDnecfitinointioand | Ukuphawula |
| 1 | Amandla | VCC | Amandla avumayo, voltage ububanzi 23 - 29.2V, esiphezulu samanje 5A |
| 2 | Amandla | GND | Amandla anegethivu |
| 3 | CAN | I-CAN_H | Ibhasi le-CAN liphakeme |
| 4 | CAN | I-CAN_L | CAN ibhasi eliphansi |
Umfanekiso 2.7 Incazelo Yezikhonkwane Zesixhumi Esibonakalayo Sokundiza Ngasemuva Nasemuva
Imiyalo yesilawuli kude FS_i6_S imiyalelo yesilawuli kude
I-FS RC Transmitter iyisetshenziswa ozikhethela sona se-SCOUT2.0 sokulawula irobhothi mathupha. I-transmitter iza nokucushwa kwesandla sokunxele. Incazelo kanye nomsebenzi oboniswe kuMfanekiso 2.8. Umsebenzi wenkinobho uchazwa ngokuthi: I-SWA ne-SWD akhutshaziwe okwesikhashana, futhi i-SWB iyinkinobho yokukhetha imodi yokulawula, ukudayela phezulu kuyimodi yokulawula umyalo, ukudayela phakathi nendawo kuyimodi yesilawuli kude; I-SWC iyinkinobho yokulawula ukukhanya; I-S1 iyinkinobho ye-throttle, lawula i-SCOUT2.0 phambili nangemuva; Ukulawula kwe-S2 ukulawula ukuzungezisa, futhi AMANDLA iyinkinobho yamandla, cindezela futhi ubambe ngesikhathi esifanayo ukuze uvule.
Iziqondiso mayelana nezidingo zokulawula nokunyakaza
Uhlelo lokuxhumanisa ireferensi lungachazwa futhi lulungiswe endikimbeni yemoto njengoba kukhonjisiwe kuMfanekiso 2.9 ngokuhambisana ne-ISO 8855.
Njengoba kuboniswe kuMfanekiso 2.9, indikimba yemoto ye-SCOUT 2.0 ihambisana ne-X eksisi yesistimu yokudidiyela yesithenjwa emisiwe. Kumodi yesilawuli kude, cindezela induku yesilawuli kude ethi S1 ukuya phambili ukuze uye endaweni eyi-X eqondile, sunduza u-S1 uhlehle ukuze uye endaweni engu-X enegethivu. Lapho i-S1 iphushwa enanini eliphakeme kakhulu, isivinini sokunyakaza esiqondisweni esihle esingu-X siphezulu, Lapho iphushwa i-S1 ifika kokuncane, isivinini sokunyakaza esiqondisweni esingesihle se-X siphezulu; i-remote control stick S2 ilawula isiteringi samasondo angaphambili omzimba wemoto, iphushele i-S2 kwesokunxele, bese imoto ijikela kwesokunxele, iyiphushele phezulu, kanti i-engeli yokuqondisa inkulu kakhulu, i-S2 Push iye kwesokudla. , imoto izophendukela kwesokudla, futhi iyiphushele phezulu, ngalesi sikhathi i-angle yokuqondisa elungile iyona enkulu kunazo zonke. Kumodi yomyalo wokulawula, inani eliphozithivu lejubane lomugqa lisho umnyakazo oya ohlangothini oluhle lwe-eksisi engu-X, futhi inani elibi lesivinini somugqa lisho ukunyakaza kuhlangothi olunegethivu ye-eksisi engu-X; Inani eliphozithivu lesivinini se-angular lisho ukuthi umzimba wemoto uhamba usuka ohlangothini oluqondile lwe-axis engu-X uye ohlangothini oluhle lwe-axis engu-Y, futhi inani elingalungile lesivinini se-angular lisho ukuthi umzimba wemoto uhamba usuka ohlangothini oluhle lwe-X axis. ukuya ohlangothini olunegethivu lwe-eksisi engu-Y.
Imiyalo yokulawula ukukhanyisa
Izibani zifakwe ngaphambili nangemuva kwe-SCOUT 2.0, futhi isixhumi esibonakalayo sokulawula ukukhanyisa se-SCOUT 2.0 sivulekele abasebenzisi ukuze kube lula.
Ngaleso sikhathi, esinye isixhumi esibonakalayo sokulawula ukukhanyisa sigcinwe kusidlulisi se-RC ukuze songe amandla.
Njengamanje isilawuli sokukhanyisa sisekelwa kuphela ngesidluliseli se-FS, futhi ukusekelwa kwamanye ama-transmitters kusathuthukiswa. Kunezinhlobo ezi-3 zezindlela zokukhanyisa ezilawulwa nge-RC transmitter, ezingashintshwa nge-SWC. Incazelo yokulawula imodi: i-lever ye-SWC ingaphansi kwemodi evamile evaliwe, phakathi nendawo eyemodi evamile evulekile, phezulu imodi yokukhanya yokuphefumula.
- NC MODE: IN NC MODE, UMA I-CHASSIS ISEKHONA, UKUKHANYA PHAMBILI KUZOVALWA, FUTHI UKUKHANYA NGASEMUVA KUZONGENA BL MODE UKUKHOMBISA ISIMO SAKHO SOKUSEBENZA; UMA I-CHASSIS ESESIMISWENI ESOKUHAMBAYO NGESIVISHA ESITHILE ESIJWAYELEKILE, UKUKHANYA NGASEMUVA KUYOVALWA KODWA UKUKHANYA OKUPHAMBILI KUZOKHANYA;
- AKUKHO Imodi: AKUKHO Imodi, UMA I-CHASSIS ISEKHONA, UKUKHANYA OKUPHAMBILI KUZOBA NGOKUJWAYELEKILE, FUTHI UKUKHANYA OKUNGEMUVA KUZOFAKA I-BL MODE UKUKHOMBISA ISIMO ESISEKHO; UMA IN MOVEMENT MODE, UKUKHANYA NGASEMUVA KUVALIWE KODWA UKUKHANYA OKUPHAMBILI KUKHANYA;
- INDLELA YE-BL: IZIKHATHI EZINGAPHAMBI NANGASEMUVA KOKUBILI KUSEMODINI YOKUPHEFUMELA NGAPHANSI KWAZO ZONKE IZIMO.
QAPHELA UKULAWULWA KWEMODE: UKUGUQUKA I-SWC LEVER NGOKUQINISEKISAYO INDLELA YE-NC, AYIKHO IMODI KANYE NEMODI YE-BL EZANSI, PHAKATHI KANYE NEZIKHUNDLA EZINGAPHEZULU.
Ukuqalisa
Lesi sigaba sethula ukusebenza okuyisisekelo nokuthuthukiswa kwenkundla ye-SCOUT 2.0 kusetshenziswa isixhumi esibonakalayo sebhasi ye-CAN.
Sebenzisa nokusebenza
Inqubo yokusebenza eyisisekelo yokuqala iboniswa kanje:
Hlola
- Bheka isimo se-SCOUT 2.0. Hlola ukuthi kukhona yini okudidayo okubalulekile; uma kunjalo, sicela uxhumane nesevisi yomuntu siqu ngemva kokudayiswa ukuze uthole ukwesekwa;
- Hlola isimo sokushintsha kwesimo esiphuthumayo. Qinisekisa ukuthi zombili izinkinobho zokumisa izimo eziphuthumayo zikhishiwe;
Qalisa
- Zungezisa inkinobho yokhiye (Q1 kuphaneli kagesi), futhi ngokuvamile, i-voltmeter izobonisa ivolumu yebhethri elungiletagU-e namalambu angaphambili nangemuva azokhanyiswa womabili;
- Hlola ivolumu yebhethritage. Uma ungekho umsindo oqhubekayo othi “beep-beep-beep…” ovela ku-beeper, kusho ivolumu yebhethri.tage ilungile; uma izinga lamandla ebhethri liphansi, sicela ushaje ibhethri;
- Cindezela i-Q3 (inkinobho yokushintsha amandla okushayela).
Isitobhi esiphuthumayo
Cindezela phansi inkinobho yokucindezela izimo eziphuthumayo kokubili kwesokunxele nakwesokudla se-SCOUT 2.0 yomzimba wemoto;
Inqubo yokusebenza eyisisekelo yesilawuli kude:
Ngemva kokuthi i-chassis yerobhothi yeselula ye-SCOUT 2.0 iqalwe kahle, vula isidlulisi se-RC bese ukhetha imodi yesilawuli kude. Bese, ukunyakaza kweplathifomu ye-SCOUT 2.0 kungalawulwa yi-RC transmitter.
Iyashaja
I-SCOUT 2.0 Ihlonyiswe NGESHAJA engu-10A NGOKUQINISEKILE UKUHLANGABEZANA NESIDINGO SAMAKHASIMENDE SOKUSHAJA KABUSHA.
Umsebenzi wokushaja
- Qiniseka ukuthi ugesi we-SCOUT 2.0 chassis ucishiwe. Ngaphambi kokushaja, sicela uqinisekise ukuthi iswishi yamandla ku-condole yokulawula ngemuva ivaliwe;
- Faka ipulaki yeshaja kusixhumi esibonakalayo sokushaja se-Q6 kuphaneli yokulawula yangemuva;
- Xhuma ishaja kugesi bese uvula iswishi eshajani. Khona-ke, irobhothi lingena esimweni sokushaja.
Qaphela: Okwamanje, ibhethri idinga cishe amahora ama-3 kuye kwayi-5 ukuze ishajwe ngokugcwele isuka ku-22V, kanye nevolthi.tagi-e yebhethri eshajwe ngokugcwele icishe ibe ngu-29.2V; ubude besikhathi sokushajwa bubalwa njengo-30AH ÷ 10A = 3h.
Ukushintshwa kwebhethri
I-SCOUT2.0 yamukela isisombululo sebhethri esikhiphekayo ukuze kube lula kubasebenzisi. Kwezinye izimo ezikhethekile, ibhethri lingashintshwa ngokuqondile. Izinyathelo zokusebenza nemidwebo zimi kanje (ngaphambi kokuthi usebenze, qinisekisa ukuthi i-SCOUT2.0 ivaliwe):
- Vula iphaneli engenhla ye-SCOUT2.0, bese ukhipha izixhumi ezimbili zamandla e-XT60 ebhodini eliyinhloko lokulawula (izixhumi ezimbili ziyalingana) nesixhumi se-CAN yebhethri;
Lengisa i-SCOUT2.0 emoyeni, qaqa izikulufu eziyisishiyagalombili ukusuka phansi ngesikrufu se-hex sikazwelonke, bese uhudulela ngaphandle ibhethri; - Shintsha ibhethri bese ulungisa izikulufu ezingezansi.
- Xhuma isixhumi esibonakalayo se-XT60 kanye nesixhumi esibonakalayo samandla se-CAN ebhodini eliyinhloko lokulawula, qinisekisa ukuthi zonke izintambo zokuxhuma zilungile, bese uvula amandla ukuze uhlole.
Ukuxhumana kusetshenziswa i-CAN
I-SCOUT 2.0 ihlinzeka nge-CAN kanye ne-RS232 interface yokwenza ngokwezifiso umsebenzisi. Abasebenzisi bangakhetha okukodwa kwalokhu kuxhumana ukuze balawule umyalo phezu kwendikimba yemoto.
CAN uxhumano lwekhebula
I-SCOUT2.0 iletha ngamapulagi amabili endiza wesilisa njengoba kukhonjisiwe kuMfanekiso 3.2. Ukuze uthole izincazelo ngocingo, sicela ubheke kuThebula 2.2.
Ukuqaliswa yokulawula umyalo we-CAN
Qalisa kahle i-chassis yerobhothi yeselula ye-SCOUT 2.0, bese uvula i-DJI RC transmitter. Bese, ushintshela kumodi yokulawula umyalo, okungukuthi ukuguqula imodi ye-S1 yesidlulisi se-DJI RC siye phezulu. Kuleli qophelo, i-SCOUT 2.0 chassis izokwamukela umyalo ovela kusixhumi esibonakalayo se-CAN, futhi umsingathi angakwazi futhi ukuhlaziya isimo samanje se-chassis ngedatha yesikhathi sangempela ebuya ebhasini le-CAN. Ngokuqukethwe okuningiliziwe kwephrothokholi, sicela ubheke kuphrothokholi yokuxhumana ye-CAN.
INGABE umlayezo olandelwayo
Qalisa kahle i-chassis yerobhothi yeselula ye-SCOUT 2.0, bese uvula i-DJI RC transmitter. Bese, ushintshela kumodi yokulawula umyalo, okungukuthi ukuguqula imodi ye-S1 yesidlulisi se-DJI RC siye phezulu. Kuleli qophelo, i-SCOUT 2.0 chassis izokwamukela umyalo ovela kusixhumi esibonakalayo se-CAN, futhi umsingathi angakwazi futhi ukuhlaziya isimo samanje se-chassis ngedatha yesikhathi sangempela ebuya ebhasini le-CAN. Ngokuqukethwe okuningiliziwe kwephrothokholi, sicela ubheke kuphrothokholi yokuxhumana ye-CAN.
Ithebula 3.1 Uhlaka Lwempendulo ye-SCOUT 2.0 Isimo Sohlelo Lwe-Chassis
| I-Command Name System Feedback Command | ||||
| Ithumela inodi | I-node yokwamukela
Ukulawula ukwenza izinqumo |
ID | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| I-chassis yokuqondisa ngocingo
Ubude bedatha Isikhundla |
iyunithi 0x08
Umsebenzi |
0x151
Uhlobo lwedatha |
20ms | Lutho |
|
Incazelo |
||||
|
ibhayithi [0] |
Isimo samanje somzimba wemoto |
engasayiniwe int8 |
0x00 Uhlelo olusesimweni esijwayelekile 0x01 Imodi yokuma yesimo esiphuthumayo (ayivuliwe)
0x02 Okuhlukile kwesistimu |
|
|
ibhayithi [1] |
Ukulawula imodi |
engasayiniwe int8 |
0×00 Imodi yokulinda 0×01 imodi yokulawula ye-CAN 0×02 Imodi yokulawula imbobo ye-serial 0×03 Imodi yesilawuli kude |
|
| ibhayithi [2]
ibhayithi [3] |
Ibhethri voltage ephakeme 8 bits Ibhethri voltage yehlisa 8 bits | engasayiniwe int16 | Ivolumu yangempelatage × 10 (ngokunemba kwe-0.1V) | |
| ibhayithi [4] | Igodliwe | – | 0×00 | |
| ibhayithi [5] | Ulwazi lokwehluleka | engasayiniwe int8 | Bheka kuThebula 3.2 [Incazelo Yolwazi Lokwehluleka] | |
| ibhayithi [6] | Igodliwe | – | 0×00 | |
| ibhayithi [7] | Bala i-paritybit (ukubala) | engasayiniwe int8 | 0-255 ukubala amalophu, azokwengezwa uma wonke umyalo uthunyelwe | |
Ithebula 3.2 Incazelo Yolwazi Lokuhluleka
| Byte | kancane | Incazelo |
|
ibhayithi [4] |
kancane [0] | Ukunganakwa kwebhethritage iphutha (0: Akukho ukwehluleka 1: Ukwehluleka) Ukuvikelwa voltagngi 22v
(Inguqulo yebhethri ene-BMS, amandla okuvikela angu-10%) |
| kancane [1] | Ukunganakwa kwebhethritage iphutha[2] (0: Akukho ukwehluleka 1: Ukwehluleka) I-alamu voltagngi 24v
(Inguqulo yebhethri ene-BMS, amandla ayisixwayiso angu-15%) |
|
| kancane [2] | Isivikelo sokunqanyulwa kwesidlulisi se-RC (0: Okujwayelekile 1: Isidluliseli se-RC sinqanyuliwe) | |
| kancane [3] | No.1 ukwehluleka kokuxhumana kwezimoto (0: Akukho ukwehluleka 1: Ukwehluleka) | |
| kancane [4] | No.2 ukwehluleka kokuxhumana kwezimoto (0: Akukho ukwehluleka 1: Ukwehluleka) | |
| kancane [5] | No.3 ukwehluleka kokuxhumana kwezimoto (0: Akukho ukwehluleka 1: Ukwehluleka) | |
| kancane [6] | No.4 ukwehluleka kokuxhumana kwezimoto (0: Akukho ukwehluleka 1: Ukwehluleka) | |
| kancane [7] | Kugciniwe, okuzenzakalelayo 0 |
Qaphela[1]: Inguqulo ye-robot chassis ye-firmware engu-V1.2.8 isekelwa izinguqulo ezilandelayo, futhi inguqulo yangaphambilini idinga ukuthuthukiswa kwe-firmware ukuze isekele
Inothi[2]: I-buzzer izokhala uma ibhethri lingaphansi kwevolthitage, kodwa ukulawulwa kwe-chassis ngeke kuthinteke, futhi ukuphuma kwamandla kuzonqanyulwa ngemva kwe-under-voltage iphutha
Umyalo wohlaka lwempendulo yokulawula ukunyakaza uhlanganisa impendulo yesivinini somugqa wamanje kanye nesivinini se-angular somzimba wemoto ehambayo. Ukuze uthole imininingwane enemininingwane yephrothokholi, sicela ubheke kuThebula 3.3.
Ithebula 3.3 Uhlaka Lwempendulo Yokulawula Ukunyakaza
| I-Command Name Movement Control Feedback Command | ||||
| Ithumela inodi | I-node yokwamukela | ID | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| I-chassis yokuqondisa ngocingo | Iyunithi yokulawula yokwenza izinqumo | 0x221 | 20ms | Lutho |
| Ubude bedethi | 0×08 | |||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo | |
| ibhayithi [0]
ibhayithi [1] |
Isivinini esihambayo siphakeme ngamabhithi ayi-8
Isivinini sokunyakaza sehlisa amabhithi ayi-8 |
usayine i-int16 | Isivinini sangempela × 1000 (ngokunemba kwe-0.001rad) | |
| ibhayithi [2]
ibhayithi [3] |
Isivinini sokuzungezisa siphakeme ngamabhithi ayi-8
Isivinini sokuzungezisa siphansi ngamabhithi angu-8 |
usayine i-int16 | Isivinini sangempela × 1000 (ngokunemba kwe-0.001rad) | |
| ibhayithi [4] | Igodliwe | – | 0x00 | |
| ibhayithi [5] | Igodliwe | – | 0x00 | |
| ibhayithi [6] | Igodliwe | – | 0x00 | |
| ibhayithi [7] | Igodliwe | – | 0x00 | |
Uhlaka lokulawula luhlanganisa ukuvuleka kokulawula kwesivinini somugqa kanye nokulawula ukuvuleka kwesivinini se-angular. Ngokuqukethwe kwayo okuningiliziwe kwephrothokholi, sicela ubheke kuThebula 3.4.
Ulwazi lwesimo se-chassis luzoba impendulo, futhi ngaphezu kwalokho, ulwazi mayelana nemoto yamanje, isishumeki sekhodi kanye nezinga lokushisa nakho kufakiwe. Uhlaka lwempendulo olulandelayo luqukethe ulwazi mayelana nemoto yamanje, isifaki khodi kanye nezinga lokushisa lemoto.
Izinombolo zezimoto zamamotho ama-4 ku-chassis ziboniswa esithombeni esingezansi:
| Igama lomyalo le-Motor Drive High Speed Information Feedback Frame | ||||
| Ithumela inodi | I-node yokwamukela | ID | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| I-chassis yokuqondisa ngocingo
Ubude bedethi Isikhundla |
Iyunithi yokulawula yokwenza izinqumo 0×08
Umsebenzi |
0x251~0x254
Uhlobo lwedatha |
20ms | Lutho |
|
Incazelo |
||||
| ibhayithi [0]
ibhayithi [1] |
Isivinini semoto siphezulu ngamabhithi ayi-8
Isivinini sezimoto sehlisa amabhithi ayi-8 |
usayine i-int16 | Isivinini sokuhamba kwemoto, iyunithi mm/s (inani elisebenzayo+ -1500) | |
| ibhayithi [2]
ibhayithi [3] |
Injini yamanje iphakeme ngamabhithi ayi-8
I-Motor current iphansi kwamabhithi angu-8 |
usayine i-int16 |
Iyunithi yamanje yezimoto 0.1A |
|
| ibhayithi [4] ibhayithi [5] ibhayithi [6]
ibhayithi [7] |
Isikhundla amabhithi aphezulu kakhulu Indawo amabhithi esibili aphezulu Indawo amabhithi esibili aphansi kakhulu
Isikhundla esiphansi kakhulu |
usayine i-int32 |
Indawo yamanje yeyunithi yemoto: ishayela |
|
Ithebula 3.8 Izinga lokushisa leMotor, voltage kanye nempendulo yolwazi lwesimo
| Igama Lomyalo I-Motor Drive Ulwazi Oluphansi Lolwazi Lwempendulo Uhlaka | ||||
| Ithumela inodi
I-chassis yokuqondisa ngocingo Ubude bedethi |
Ukuthola iyunithi yokulawula yokwenza izinqumo
0×08 |
I-ID 0x261~0x264 | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) |
| 20ms | Lutho | |||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo | |
| ibhayithi [0]
ibhayithi [1] |
IDrayivu voltage phezulu 8 bits
IDrayivu voltage yehlisa 8 bits |
engasayiniwe int16 | Ivolumu yamanjetagiyunithi yedrayivu engu-0.1V | |
| ibhayithi [2]
ibhayithi [3] |
Izinga lokushisa lokushayela liphakeme ngamabhithi ayi-8
Izinga lokushisa lokushayela liphansi ngamabhithi ayi-8 |
usayine i-int16 | Iyunithi 1°C | |
| ibhayithi [4]
ibhayithi [5] |
Izinga lokushisa lezimoto | usayine i-int8 | Iyunithi 1°C | |
| Isimo seDrayivu | engasayiniwe int8 | Bona imininingwane kokuthi [Isimo sokulawula IDrayivu] | ||
| ibhayithi [6]
ibhayithi [7] |
Igodliwe | – | 0x00 | |
| Igodliwe | – | 0x00 | ||
I-Serial Communication Protocol
Umyalelo we-serial protocol
Kuyindinganiso yokuxhumana kwe-serial eyakhiwe ngokuhlanganyela yi-Electronic Industries Association (EIA) yase-United States ngo-1970 ihlangene ne-Bell Systems, abakhiqizi bemodemu nabakhiqizi betheminali yamakhompyutha. Igama layo lithi “Izinga Lobuchwepheshe Le-Serial Binary Data Exchange Interface Phakathi Kwezisetshenziswa Zetheminali Yedatha (i-DTE) Nezisetshenziswa Zokuxhumana Ngedatha (DCE)”. Izinga libeka ukuthi isixhumi esingu-25-pin DB-25 sisetshenziswa kusixhumi ngasinye. Okuqukethwe kwesignali yephinikhodi ngayinye kucacisiwe, futhi amazinga amasignali ahlukahlukene nawo acacisiwe. Kamuva, i-PC ye-IBM yenza i-RS232 yaba lula yaba isixhumi se-DB-9, okwaba izinga elisebenzayo. Ichweba le-RS-232 lokulawulwa kwezimboni ngokuvamile lisebenzisa imigqa emithathu kuphela ye-RXD, TXD, ne-GND.
Ukuxhumeka komkhiqizo
Sebenzisa ikhebula le-serial le-USB ukuya ku-RS232 ethuluzini lethu lokuxhumana ukuze uxhume embobeni yomkhiqizo ngemuva kwemoto, sebenzisa ithuluzi le-serial ukusetha izinga le-baud elihambisanayo, futhi usebenzise i-s.ample idatha enikezwe ngenhla ukuze ihlolwe. Uma isilawuli-kude sivuliwe, kubalulekile ukushintsha isilawulikude sibe yimodi yokulawula. Uma isilawuli kude singavulwanga, vele uthumele umyalo wokulawula ngqo. Kumele kuqashelwe ukuthi umyalo kufanele uthunyelwe ngezikhathi ezithile. Uma i-chassis idlula i-500MS futhi umyalo we-serial port ungamukelwa, uzongena ekulahlekelweni kokuvikelwa kokuxhumeka. isimo.
Okuqukethwe Kwephrothokholi Ye-serial
Ipharamitha Yokuxhumana Eyisisekelo
| Into | Ipharamitha |
| Isilinganiso se-Baud | 115200 |
| Ukulingana | Akukho ukuhlolwa |
| Ubude bebhithi yedatha | 8 amabhithi |
| Yima kancane | 1 bit |
Umyalelo wephrothokholi
| Qala kancane | Ubude bozimele | Uhlobo lomyalo | I-ID yomyalo | Inkambu yedatha | I-ID yozimele | I-Checksum ukwakheka |
|||
| I-SOF | ifreyimu_L | CMD_TYPE | CMD_ID | idatha | … | idatha[n] | ifreyimu_id | hlola_isamba | |
| i-byte 1 | i-byte 2 | i-byte 3 | i-byte 4 | i-byte 5 | i-byte 6 | … | ibe 6+n | ibe 7+n | ibe 8+n |
| 5A | A5 | ||||||||
Iphrothokholi ihlanganisa ibhithi yokuqala, ubude bozimele, uhlobo lomyalo wozimele, i-ID yomyalo, ibanga ledatha, i-ID yozimele, kanye nokuhlola. Ubude befreyimu bubhekisela kubude ngaphandle kwebhithi yokuqala kanye nesheke. I-checksum iyisamba sayo yonke idatha kusukela ekuqaleni kuya ku-ID yozimele; ibhithi ye-ID yohlaka isuka ku-0 iye ku-255 wokubala amalophu, azokwengezwa uma wonke umyalo uthunyelwe.
Okuqukethwe Kwephrothokholi
| Uhlaka Lwempendulo Yesimo Segama Lomyalo | ||||
| Ithumela inodi ye-Ster-by-wire chassis Ubude bozimele Uhlobo lomyalo lwe-Command ID Ubude bedatha
Isikhundla |
Ukuthola iyunithi yokulawula yokwenza izinqumo
0×0C |
Umjikelezo (ms) Isikhathi sokuvala sokuthola (ms) | ||
| 100ms | Lutho | |||
|
Uhlobo lwedatha |
Incazelo |
|||
| Umyalo wempendulo(0×AA)
0×01 |
||||
| 8
Umsebenzi |
||||
|
ibhayithi [0] |
Isimo samanje somzimba wemoto |
engasayiniwe int8 |
0×00 Uhlelo olusesimweni esivamile 0×01 Imodi yokuma ephuthumayo (ayivuliwe) 0×02 Okuhlukile kwesistimu
0×00 Imodi yokulinda |
|
| ibhayithi [1] | Ukulawula imodi | engasayiniwe int8 | Imodi yokulawula ye-0×01 CAN 0×02 Imodi yokulawula i-serial[1] 0×03 Imodi yesilawuli kude | |
| ibhayithi [2]
ibhayithi [3] |
Ibhethri voltage phezulu 8 bits
Ibhethri voltage yehlisa 8 bits |
engasayiniwe int16 | Ivolumu yangempelatage × 10 (ngokunemba kwe-0.1V) | |
| ibhayithi [4] | Igodliwe | — | 0×00 | |
| ibhayithi [5] | Ulwazi lokwehluleka | engasayiniwe int8 | Bheka [Incazelo Yolwazi Lokuhluleka] | |
| ibhayithi [6]
ibhayithi [7] |
Igodliwe
Igodliwe |
—
— |
0×00 | |
| 0×00 | ||||
I-Movement Control Feedback Command
| I-Command Name Movement Control Feedback Command | ||||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) | |
| I-steer-by-wire chassis Ubude bozimele bohlobo lwe-Command ID
Ubude bedatha |
Iyunithi yokulawula yokwenza izinqumo
0×0C |
20ms | Lutho | |
| Umyalo wempendulo (0×AA)
0×02 |
||||
| 8 | ||||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo | |
| ibhayithi [0]
ibhayithi [1] |
Isivinini esihambayo siphakeme ngamabhithi ayi-8
Isivinini sokunyakaza sehlisa amabhithi ayi-8 |
usayine i-int16 | Isivinini sangempela × 1000 (ngokunemba kwe
0.001rad) |
|
| ibhayithi [2]
ibhayithi [3] |
Isivinini sokuzungezisa siphakeme ngamabhithi ayi-8
Isivinini sokuzungezisa siphansi ngamabhithi angu-8 |
usayine i-int16 | Isivinini sangempela × 1000 (ngokunemba kwe
0.001rad) |
|
| ibhayithi [4] | Igodliwe | – | 0×00 | |
| ibhayithi [5] | Igodliwe | – | 0×00 | |
| ibhayithi [6] | Igodliwe | – | 0×00 | |
| ibhayithi [7] | Igodliwe | – | 0×00 | |
Umyalo Wokulawula Ukunyakaza
| I-Command Name Control Command | ||||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) | |
| Iyunithi yokulawula ukwenza izinqumo Ubude bozimele Uhlobo lomyalo I-ID yomyalo
Ubude bedatha |
I-Chassis node
0×0A |
20ms | 500ms | |
| Lawula umyalo (0×55)
0×01 |
||||
| 6 | ||||
| Isikhundla | Umsebenzi | Uhlobo lwedatha | Incazelo | |
| ibhayithi [0]
ibhayithi [1] |
Isivinini sokunyakaza siphezulu ngamabhithi ayi-8
Isivinini sokunyakaza sehlisa amabhithi ayi-8 |
usayine i-int16 | Isivinini sokuhamba kwemoto, iyunithi: mm/s | |
| ibhayithi [2]
ibhayithi [3] |
Isivinini sokuzungezisa siphakeme ngamabhithi ayi-8
Isivinini sokuzungezisa siphansi ngamabhithi angu-8 |
usayine i-int16 | Isivinini sokuzungezisa imoto, iyunithi: 0.001rad/s | |
| ibhayithi [4] | Igodliwe | – | 0x00 | |
| ibhayithi [5] | Igodliwe | – | 0x00 | |
Uhlaka Lokulawula Okukhanyayo
| Igama lomyalo Uhlaka Lokulawula Ukukhanya | ||||
| Ithumela inodi | I-node yokwamukela | Umjikelezo (ms) | Isikhathi sokuvala sokuthola (ms) | |
| Iyunithi yokulawula ukwenza izinqumo Ubude bozimele Uhlobo lomyalo I-ID yomyalo
Ubude bedatha |
I-Chassis node
0×0A |
20ms | 500ms | |
| Lawula umyalo (0×55)
0×04 |
||||
| 6
Umsebenzi |
||||
| Isikhundla | Uhlobo lwedethi | Incazelo | ||
| ibhayithi [0] | Ukulawula ukukhanya kuvumela umaka | engasayiniwe int8 | 0x00 umyalo wokulawula awuvumelekile
0x01 amandla okulawula ukukhanya |
|
|
ibhayithi [1] |
Imodi yokukhanya yangaphambili |
engasayiniwe int8 | 0x002xB010 NmOC de
0x03 User-defiLnedobrightness |
|
| ibhayithi [2] | Ukukhanya ngokwezifiso kokukhanya okungaphambili | engasayiniwe int8 | [01, 0100r]e,fwerhsetroem0 arexfiemrsumto bnroigbhrtignhetsns[e5s]s, | |
| ibhayithi [3] | Imodi yokukhanya yangemuva | engasayiniwe int8 | 0x002xB010 mNOC de
0x03 User-defiLnedobrightness [0, r, weherte 0 refxers uto nbo brightness, |
|
| ibhayithi [4] | Hlela ukukhanya ukuze uthole ukukhanya kwangemuva | engasayiniwe int8 | 100 ef o ma im m tness | |
| ibhayithi [5] | Igodliwe | — | 0x00 | |
I-Firmware ukuthuthukiswa
Ukuze kube lula abasebenzisi ukuthi bathuthukise inguqulo ye-firmware esetshenziswa i-SCOUT 2.0 futhi ilethe amakhasimende ulwazi oluphelele, i-SCOUT 2.0 inikeza isixhumi esibonakalayo sokuthuthukisa i-firmware kanye nesofthiwe yeklayenti ehambisanayo. Isithombe-skrini salolu hlelo lokusebenza
Thuthukisa ukulungiselela
- IKHABULA YOMTHETHO × 1
- I-USB-TO-SERIAL PORT × 1
- I-SCOUT 2.0 CHASSIS × 1
- IKHOMPYUTHA (UHLELO LOKUSEBENZA KWAMAwindi) × 1
Isofthiwe yokuthuthukisa i-Firmware
https://github.com/agilexrobotics/agilex_firmware
Inqubo yokuthuthukisa
- Ngaphambi kokuxhuma, qiniseka ukuthi i-chassis yerobhothi ivaliwe; Xhuma ikhebula le-serial embobeni yeserial ekupheleni kwe-SCOUT 2.0 chassis;
- Xhuma ikhebula le-serial kukhompyutha;
- Vula isofthiwe yeklayenti;
- Khetha inombolo yembobo;
- Vula i-SCOUT 2.0 chassis, bese uchofoza ngokushesha ukuze uqale ukuxhuma (i-SCOUT 2.0 chassis izolinda ama-3s ngaphambi kokukhanyisa; uma isikhathi sokulinda singaphezu kuka-3s, izofaka isicelo); uma uxhumano kuphumelela, "kuxhunywe ngempumelelo" kuzokwaziswa ebhokisini lombhalo;
- Layisha ifayela le-bin;
- Chofoza inkinobho ethi Thuthukisa, bese ulinda ukwaziswa kokuqedwa kokuthuthukisa;
- Nqamula ikhebula le-serial, vala i-chassis, bese ucisha amandla uphinde uvule futhi.
I-SCOUT 2.0 SDK
Ukuze kusizwe abasebenzisi basebenzise ukuthuthukiswa okuhlobene nerobhothi ngendlela elula kakhudlwana, i-SDK esekelwa inkundla yesiphambano yenzelwe irobhothi leselula le-SCOUT 2.0.Iphakheji lesofthiwe ye-SDK inikeza isixhumi esibonakalayo esisekelwe ku-C++, esisetshenziselwa ukuxhumana ne-chassis yerobhothi leselula le-SCOUT 2.0 kanye ingathola isimo sakamuva serobhothi futhi ilawule izenzo eziyisisekelo zerobhothi. Okwamanje, ukuzijwayeza kwe-CAN ekuxhumaneni kuyatholakala, kodwa ukulungiswa okusekelwe ku-RS232 kusaqhubeka.Ngokusekelwe kulokhu, ukuhlola okuhlobene kuqediwe ku-NVIDIA JETSON TX2.
Iphakheji ye-SCOUT2.0 ROS
I-ROS ihlinzeka ngamasevisi athile esistimu yokusebenza ajwayelekile, njengokukhishwa kwezingxenyekazi zekhompiyutha, ukulawula idivayisi yezinga eliphansi, ukuqaliswa komsebenzi ovamile, umlayezo wokucubungula kanye nokuphathwa kwephakethe ledatha. I-ROS isekelwe ekwakhiweni kwegrafu, ukuze inqubo yamanodi ahlukene ikwazi ukuthola, futhi ihlanganise imininingwane ehlukahlukene (njengenzwa, ukulawula, isimo, ukuhlela, njll.) Njengamanje i-ROS isekela i-UBUNTU.
Ukulungiselela Intuthuko
Ukulungiswa kwehardware
- CANlight can communication module ×1
- I-Thinkpad E470 notebook ×1
- I-AGILEX SCOUT 2.0 i-chassis yerobhothi yeselula ×1
- I-AGILEX SCOUT 2.0 isilawuli kude FS-i6s ×1
- I-AGILEX SCOUT 2.0 isokhethi yamandla endiza ephezulu ×1
Sebenzisa isibampincazelo yemvelo
- Ubuntu 16.04 LTS (Lena inguqulo yokuhlola, enambitha ku-Ubuntu 18.04 LTS)
- I-ROS Kinetic (Izinguqulo ezilandelayo nazo ziyahlolwa)
- I-Git
Ukuxhumeka kwezingxenyekazi zekhompuyutha nokulungiselela
- Khipha intambo ye-CAN yepulagi yendiza ephezulu ye-SCOUT 2.0 noma ipulaki yomsila, bese uxhuma i-CAN_H ne-CAN_L kuntambo ye-CAN ku-adaptha ye-CAN_TO_USB ngokulandelana;
- Vula inkinobho ye-knob ku-chassis yerobhothi ephathwayo ye-SCOUT 2.0, bese uhlola ukuthi amaswishi okumisa izimo eziphuthumayo nhlangothi zombili akhululiwe yini;
- Xhuma i-CAN_TO_USB endaweni ye-usb yenothibhubhu. Umdwebo wokuxhuma ukhonjiswe kuMfanekiso 3.4.
Ukufakwa kwe-ROS nokulungiselelwa kwemvelo
Ukuze uthole imininingwane yokufaka, sicela ubheke http://wiki.ros.org/kinetic/Installation/Ubuntu
Hlola ihadiwe ye-CANABLE kanye nokuxhumana kwe-CAN
Ukusetha i-adaptha ye-CAN-TO-USB
- Nika amandla imojuli ye-gs_usb kernel
$ sudo modprobe gs_usb - Ukusetha isilinganiso se-500k Baud futhi unike amandla i-adaptha ye-can-to-usb
$ sudo ip link set can0 up type ingabitrate 500000 - Uma kungekho phutha elenzeke ezinyathelweni ezedlule, kufanele ukwazi ukusebenzisa umyalo othi view idivayisi yekani ngokushesha
$ ifconfig -a - Faka futhi usebenzise ama-can-utils ukuze uhlole ihadiwe
$ sudo apt ukufaka ama-can-utils - Uma i-can-to-usb ixhunywe ku-SCOUT 2.0 irobhothi ngalesi sikhathi, futhi imoto ivuliwe, sebenzisa le miyalelo elandelayo ukuze ugade idatha evela ku-SCOUT 2.0 chassis
$ candump can0 - Sicela ubhekisele ku:
Landa futhi uhlanganise i-AGILEX SCOUT 2.0 ROS PACKAGE
- Landa iphakheji ye-ros
$ sudo apt ukufaka ros-$ROS_DISTRO-controller-manager
$ sudo kufanele ufake i-ros-$ROS_DISTRO-teleop-twist-keyboard$ sudo kufanele ufake i-ros-$ROS_DISTRO-joint-state-publisher-gui$ sudo kufanele ufake i-libasio-dev - Clone hlanganisa ikhodi 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
Sicela ubhekisele ku:https://github.com/agilexrobotics/scout_ros
Izinyathelo zokuzivikela
Lesi sigaba sihlanganisa izinyathelo zokuphepha okufanele ziqashelwe ukuze kusetshenziswe futhi kuthuthukiswe i-SCOUT 2.0.
Ibhethri
- Ibhethri elihlinzekwe nge-SCOUT 2.0 alishajiwe ngokugcwele esimweni sefekthri, kodwa amandla alo athile angavezwa ku-voltmeter ekugcineni kwe-SCOUT 2.0 chassis noma afundwe ngesixhumi esibonakalayo sokuxhumana sebhasi ye-CAN. Ukushajwa kabusha kwebhethri kungamiswa uma i-LED eluhlaza eshaja iba luhlaza. Qaphela ukuthi uma ugcina ishaja ixhunyiwe ngemva kokuba i-LED eluhlaza ikhanya, ishaja izoqhubeka nokushaja ibhethri cishe ngo-0.1A wamanje cishe imizuzu engu-30 ngaphezulu ukuze ibhethri lishajwe ngokugcwele.
- Sicela ungayishaji ibhethri ngemva kokuphelelwa amandla, futhi sicela ushaje ibhethri kusenesikhathi lapho i-alamu yezinga eliphansi lebhethri ikhanya;
- Izimo zokugcina ezimile: Izinga lokushisa elingcono kakhulu lokugcina ibhethri ngu -10℃ kuya ku-45℃; uma igcinwa ingasetshenziswa, ibhethri kufanele lishajwe futhi lishajwe kanye njalo ezinyangeni ezi-2, bese ligcinwa ngevolumu egcwele.tage state. Sicela ungafaki ibhethri emlilweni noma ushise ibhethri, futhi sicela ungaligcini ibhethri endaweni enezinga eliphezulu lokushisa;
- Ukushaja: Ibhethri kufanele ishajwe ngeshaja yebhethri ye-lithium ezinikele; amabhethri e-lithium-ion awakwazi ukushajwa ngaphansi kuka-0°C (32°F) futhi ukulungisa noma ukufaka esikhundleni samabhethri asekuqaleni kwenqatshelwe ngokuphelele.
Indawo yokusebenza
- Izinga lokushisa lokusebenza le-SCOUT 2.0 lingu -10℃ kuya ku-45℃; sicela ungayisebenzisi ngaphansi -10℃ nangaphezulu kuka-45℃;
- Izidingo zomswakama ohlobene endaweni esetshenziswayo ye-SCOUT 2.0 yilezi: ubuningi obungama-80%, ubuncane obungu-30%;
- Sicela ungawusebenzisi endaweni enezisi ezibolayo nezivuthayo noma ezivalwe ezintweni ezivuthayo;
- Ungayibeki eduze kwezifudumezi noma izinto zokushisisa njengezinsimbi ezinkulu eziboshiwe, njll.;
- Ngaphandle kwenguqulo eyenziwe ngokwezifiso (ikilasi lokuvikela i-IP elenziwe ngendlela oyifisayo), i-SCOUT 2.0 ayivumeli amanzi, ngakho-ke sicela ungayisebenzisi endaweni enemvula, eneqhwa noma enqwabelene emanzini;
- Ukuphakama kwendawo yokusetshenziswa okunconyiwe akufanele kudlule i-1,000m;
- Umehluko wezinga lokushisa phakathi kwemini nobusuku endaweni enconyiwe yokusetshenziswa akufanele udlule ku-25℃;
- Njalo hlola ingcindezi yesondo, futhi uqiniseke ukuthi ingaphakathi kwebha engu-1.8 ukuya ku-2.0bar.
- Uma noma iliphi isondo liguge kakhulu noma liqhumile, sicela ulishintshe kusenesikhathi.
Izintambo zikagesi/zesandiso
- Ngokunikezwa kwamandla okunwetshiwe ngaphezulu, owamanje akufanele weqe u-6.25A futhi amandla aphelele akufanele adlule ku-150W;
- Ngokunikezwa kwamandla okunwetshiwe ekugcineni okungemuva, owamanje akufanele weqe u-5A futhi amandla aphelele akufanele adlule ku-120W;
- Uma isistimu ithola ukuthi ibhethri voltagu-e uphansi kunevolumu ephephiletage-class, izandiso zokunikezwa kwamandla zangaphandle zizoshintshelwa kukho. Ngakho-ke, abasebenzisi bayaphakanyiswa ukuthi baqaphele uma izandiso zangaphandle zibandakanya ukugcinwa kwedatha ebalulekile futhi zingenakho ukuvikeleka kokucinywa kwamandla.
Iseluleko esengeziwe sokuphepha
- Uma kukhona ukungabaza ngesikhathi sokusetshenziswa, sicela ulandele imanuwali yemiyalelo ehlobene noma uthintane nabasebenzi bezobuchwepheshe abahlobene;
- Ngaphambi kokusetshenziswa, naka isimo senkundla, futhi ugweme ukusebenza kabi okuzodala inkinga yokuphepha kwabasebenzi;
- Esimeni esiphuthumayo, cindezela inkinobho yokumisa izimo eziphuthumayo bese ucisha okokusebenza;
- Ngaphandle kosekelo lobuchwepheshe nemvume, sicela ungaguquli mathupha ukwakheka kwezinto zangaphakathi.
Amanye amanothi
- I-SCOUT 2.0 inezingxenye zepulasitiki ngaphambili nangemuva, sicela ungazishayi ngokuqondile lezo zingxenye ngamandla amakhulu ukuze ugweme ukulimala okungenzeka;
- Lapho uphatha futhi umisa, sicela ungawi noma umise imoto ibheke phansi;
- Kwabangewona ochwepheshe, sicela ungayiqaqi imoto ngaphandle kwemvume.
I-Q&A
- Q: I-SCOUT 2.0 iqalwe kahle, kodwa kungani i-RC transmitter ingakwazi ukulawula umzimba wemoto ukuthi uhambe?
A: Okokuqala, hlola ukuthi ukunikezwa kwamandla edrayivu kusesimweni esijwayelekile, noma ngabe iswishi yamandla edrayivu icindezelwe phansi nokuthi ama-E-stop switches akhululwa yini; bese, hlola ukuthi imodi yokulawula ekhethiwe ngeswishi yokukhetha yemodi kwesokunxele ephezulu kusidluliseli se-RC ilungile yini. - Q: I-SCOUT 2.0 isilawuli kude sisesimweni esivamile, futhi ulwazi mayelana nesimo se-chassis nokunyakaza lungatholwa ngendlela efanele, kodwa uma iphrothokholi yohlaka lokulawula ikhishwa, kungani imodi yokulawula umzimba wemoto ingenakushintshwa futhi i-chassis iphendule kuhlaka lokulawula. umthetho olandelwayo?
A: Ngokuvamile, uma i-SCOUT 2.0 ingalawulwa yi-RC transmitter, kusho ukunyakaza kwe-chassis kungaphansi kokulawulwa okufanele; uma uhlaka lwempendulo ye-chassis lungamukelwa, kusho ukuthi isixhumanisi sesandiso se-CAN sisesimweni esijwayelekile. Sicela uhlole uhlaka lokulawula lwe-CAN oluthunyelwe ukuze ubone ukuthi ukuhlolwa kwedatha kulungile yini nokuthi imodi yokulawula ikumodi yokulawula yomyalo. Ungahlola isimo sefulegi lephutha entweni yephutha kuhlaka lwempendulo yesimo se-chassis. - Q: I-SCOUT 2.0 inika umsindo othi “beep-beep-beep…” ekusebenzeni, ungabhekana kanjani nale nkinga?
A: Uma i-SCOUT 2.0 inika lo msindo we-“beep-beep-beep” ngokuqhubekayo, kusho ukuthi ibhethri liku-alamu.tage state. Sicela ushaje ibhethri kusenesikhathi. Uma omunye umsindo ohlobene uvela, kungase kube namaphutha angaphakathi. Ungahlola amakhodi amaphutha ahlobene ngebhasi le-CAN noma uxhumane nezisebenzi zezobuchwepheshe ezihlobene. - Q:Ingabe ukuguga kwamasondo e-SCOUT 2.0 kuvamise ukubonakala kusebenza?
A: Amasondo e-SCOUT 2.0 ajwayele ukubonakala uma isebenza. Njengoba i-SCOUT 2.0 isuselwe ekwakhiweni kwesiteringi esinamasondo amane, i-sliding friction kanye ne-rolling friction kokubili kwenzeka lapho umzimba wemoto uzungeza. Uma iphansi libushelelezi kodwa limahhadlahhadla, izindawo zamasondo zizoguga. Ukuze unciphise noma wehlise ijubane ukuguga, ukujika kwe-engeli encane kungenziwa ukuze kuncishiswe ukuvula i-pivot. - Q: Uma ukuxhumana kwenziwa ngebhasi le-CAN, umyalo wempendulo ka-chassis ukhishwa ngendlela efanele, kodwa kungani imoto ingaphenduli kumyalo wokulawula?
A: Kukhona indlela yokuvikela ukuxhumana ngaphakathi kwe-SCOUT 2.0, okusho ukuthi i-chassis inikezwa isivikelo sokuvala isikhathi lapho kusetshenzwa imiyalo yangaphandle yokulawula i-CAN. Ake sithi imoto ithola uhlaka olulodwa lwephrothokholi yokuxhumana, kodwa ayitholi umyalo olandelayo wokulawula ngemva kuka-500ms. Kulokhu, izongena kwimodi yokuvikela ukuxhumana futhi isethe isivinini ku-0. Ngakho-ke, imiyalo evela kukhompyutha ephezulu kufanele ikhishwe ngezikhathi ezithile.
Ubukhulu bomkhiqizo
Umdwebo womdwebo wobukhulu bangaphandle bomkhiqizo
Umdwebo womdwebo wobukhulu bosekelo obunwetshiwe
Umsabalalisi osemthethweni
service@generationrobots.com
+49 30 30 01 14 533
www.generationrobots.com
Amadokhumenti / Izinsiza
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Iqembu le-Agilex Robotics SCOUT 2.0 AgileX Robotics [pdf] Imaniwali yosebenzisayo Ithimba le-SCOUT 2.0 AgileX Robotics, SCOUT 2.0, Ithimba le-AgileX Robotics, Ithimba Lerobhothi |
