I-AGILEX ROBOTICS Bunker Mini Hlola Izingxenyekazi Zerobhothi

Lesi sahluko siqukethe ulwazi olubalulekile lwezokuphepha okufanele lufundwe futhi luqondwe yinoma yimuphi umuntu noma inhlangano ngaphambi kokusebenzisa okokusebenza lapho irobhothi livuliwe okokuqala ngqa. Ungasithinta ku support@agilex.ai uma unemibuzo mayelana nokusetshenziswa. Kubaluleke kakhulu ukuthi yonke imiyalelo yokuhlanganisa kanye nemihlahlandlela kwezinye izahluko zaleli bhukwana ilandelwe futhi isetshenziswe. Kufanele kuqashelwe ngokukhethekile umbhalo ohambisana nezimpawu eziyisixwayiso.

Ulwazi Lokuphepha

Ulwazi olukule manuwali alubandakanyi ukuklama, ukufakwa nokusebenza kohlelo oluphelele lwerobhothi, futhi alufaki noma yiziphi izinto ezithinta umngcele ezingase zithinte ukuphepha kwalesi simiso esiphelele. Ukuklanywa nokusetshenziswa kwalolu hlelo oluphelele kudinga ukuthotshelwa kwezidingo zokuphepha ezisungulwe kumazinga kanye nokucaciswa kwezwe lapho irobhothi lifakwe khona.
Kuyisibopho sabahlanganisi be-BUNKERMINI namakhasimende wokugcina ukuqinisekisa ukuthobela imininingwane efanele nemithetho nemithethonqubo esebenzayo, ukuze kuqinisekiswe ukuthi azikho izingozi ezinkulu ekusetshenzisweni okuphelele kwe-robot ex.ample. Lokhu kubandakanya kodwa akukhawulelwe kulokhu okulandelayo:

Ukuba semthethweni kanye nesibopho

• Yenza ukuhlolwa kwengozi yohlelo oluphelele lwamarobhothi.
• Xhumanisa okokusebenza okwengeziwe kokuphepha kweminye imishini njengoba kuchazwe ukuhlolwa kobungozi..
• Qinisekisa ukuthi ukudizayina nokufakwa kwama-peripherals wesistimu yerobhothi ephelele, okuhlanganisa isofthiwe nezinhlelo zehadiwe, kunembile.
• Leli robhothi alinayo imisebenzi efanelekile yokuphepha yerobhothi elihambahambayo elizimele eliphelele, okuhlanganisa kodwa elingakhawulelwe ekulweni nokungqubuzana okuzenzakalelayo, ukulwa nokuwa, isexwayiso sendlela yebhayoloji, njll. Le misebenzi idinga abahlanganisi kanye namakhasimende wokugcina ukuthi enze ukuhlola kokuphepha ngokuhambisana nemibandela efanele. ukucaciswa kanye nemithetho neziqondiso ezisebenzayo, ukuze kuqinisekiswe ukuthi irobhothi elithuthukisiwe alinazo izingozi ezinkulu nobungozi bokuphepha ekusebenzeni okungokoqobo.
• Qoqa wonke amadokhumenti kubuchwepheshe file: kufaka phakathi ukuhlolwa kobungozi kanye nale manuwali.
• Qaphela izingozi zokuphepha ezingaba khona ngaphambi kokusebenzisa kanye nokusebenzisa okokusebenza.

Imvelo

• Uma uyisebenzisa okokuqala ngqa, sicela ufunde leli bhukwana ngokucophelela ukuze uqonde okuqukethwe okuyisisekelo kokusebenza kanye nezici zokusebenza.
• Ngokusebenza kwesilawuli kude, khetha indawo evulekile uma kuqhathaniswa ozosetshenziswa, futhi imoto ngokwayo ayinazo izinzwa zokugwema izithiyo ezizenzakalelayo.
• Sebenzisa ekushiseni kwe-ambient okungu -10℃~45℃.
• Amandla emoto angangeni emanzini futhi angangeni uthuli yi-IP67, futhi izimo zokuhlola yilezi: (1) awekho amanzi ahlanzekile agelezayo, anobunzulu bamanzi obuyimitha elingu-1; (2) isikhathi sokuhlola imizuzu engama-30.

Ukuhlola

• Qiniseka ukuthi idivayisi ngayinye inamandla anele.
• Qinisekisa ukuthi akukho okungavamile okusobala emotweni.
• Hlola ukuthi amabhethri esilawuli kude ashajwe ngokugcwele yini.
• Qiniseka ukuthi iswishi yokumisa isimo esiphuthumayo ikhululiwe uma isetshenziswa.

Ukusebenza

• Qinisekisa ukuthi indawo ezungezile ayinalutho ngesikhathi sokusebenza.
• Isilawuli kude ngaphakathi kwebanga lokubona.
• Uma ufaka isandiso sangaphandle ku-BUNKER MINI, qinisekisa ukuma okumaphakathi kwesandiso futhi uqiniseke ukuthi siphakathi nendawo yokuzungezisa.
• Sicela ukhokhise ngesikhathi lapho idivayisi ivolumutage ingaphansi kuka-24V.
• Uma okokusebenza kungavamile, sicela uyeke ukuzisebenzisa ngokushesha ukuze ugweme ukulimala kwesibili.
• Umthwalo omkhulu we-BUNKER MINI ngu-35KG. Uma usebenzisa, qiniseka ukuthi umthwalo okhokhelwayo aweqi ku-35KG.
• Uma okokusebenza kungavamile, sicela uxhumane nochwepheshe abafanelekile, futhi ungawuphathi ngaphandle kokugunyazwa.
• Sicela usebenzise okokusebenza endaweni ehlangabezana nezidingo zesigaba sokuvikela ngokuya ngesigaba sokuvikela se-IP.
• Ungasunduzi imoto ngqo.
• Lapho ushaja, qiniseka ukuthi izinga lokushisa le-ambient lingaphezulu kuka-0°C.

Isondlo

• Hlola njalo ukushuba kwesiseshi, bese uqinisa isiseshi njalo ngo-100~150H wokusebenza.
• Ngemuva kwamahora angu-200 wokusebenza, kuyadingeka ukuhlola ukuqiniswa kwama-bolts namantongomane ezingxenyeni ezihlukahlukene zomzimba wemoto, futhi uqinise ngokushesha uma ekhululekile.
• Ukuze uqinisekise umthamo wokugcina webhethri, ibhethri kufanele igcinwe nogesi, futhi kufanele ishajwe njalo uma ingasetshenziswa isikhathi eside.

Ukwethulwa kwe-BUNKER MINI

I-BUNKER MINI iyimoto ye-chassis elandelwa yonke indawo yezicelo zezimboni. Ifakwe ngokusebenza okulula nokuzwelayo, indawo enkulu yokuthuthukiswa, ukuguquguquka ekuthuthukisweni nasekusetshenzisweni emikhakheni ehlukahlukene, i-IP67 ingangenwa uthuli futhi ingangeni manzi, kanye nokubaleka okukhulu, njll. Ingasetshenziselwa ukuthuthukiswa kwamarobhothi akhethekile njengokuhlola nokuhlola, i-EOD. ukuhlenga, ukudubula okukhethekile, kanye nokuthutha okukhethekile, futhi kuyisixazululo sokunyakaza kwamarobhothi.

Uhlu Lomkhiqizo

1.1 Uhlu Lomkhiqizo
Igama	Ubuningi
Umzimba werobhothi we-BUNKER MINI	x1
Ishaja yebhethri (AC 220V)	x1
Ipulaki yendiza wesilisa (4Pin)	x1
Isilawuli kude se-FS (ongakukhetha)	x1
I-USB kuya ku-RS232	x1
Imojuli yokuxhumana ye-USB ukuya ku-CAN	x1

Iyadingeka ukuze kuthuthukiswe
I-BUNKER MINI ifakwe isilawuli kude se-FS esivela efektri, abasebenzisi abangasebenzisa ngayo ukulawula i-chassis yerobhothi leselula le-BUNKER MINI ukuze baqedele ukunyakaza nokujikeleza. Ngaphandle kwalokho, i-BUNKER MINI ifakwe isixhumi esibonakalayo se-CAN, lapho abasebenzisi bangaqhuba khona ukuthuthukiswa kwesibili.

Izisekelo

Le ngxenye izonikeza isingeniso esiyisisekelo se-BUNKER MINI irobhothi chassis, ukuze abasebenzisi nabathuthukisi babe nokuqonda okuyisisekelo kwe-BUNKER MINI chassis.

Incazelo yesixhumi esibonakalayo sikagesi
Isixhumi esibonakalayo sikagesi sangemuva siboniswa kuMfanekiso 2.1, lapho i-Q1 iyiswishi yokumisa izimo eziphuthumayo, i-Q2 iwukushintsha amandla, i-Q3 iwukusebenzelana kwesibonisi samandla, i-Q4 iyisixhumi esibonakalayo sokushaja, futhi i-Q5 iyisixhumi esibonakalayo se-CAN kanye ne-24V yamandla endiza.

Incazelo ye-interface yokuxhumana namandla ye-Q5 iboniswa kuMfanekiso 2-2.

Iphini No.	Phina Uhlobo	Umsebenzi kanye Incazelo	Ukuphawula
1	Amandla	VCC	Ukunikezwa kwamandla okuhle, voltagibanga 46~54v, umkhawulo wamanje 10A
2	Amandla	GND	Ukunikezwa kwamandla okungekuhle
3	CAN	I-CAN_H	Ibhasi le-CAN liphakeme
4	CAN	I-CAN_L	CAN ibhasi eliphansi

Umfanekiso 2.2 Iphinikhodi yencazelo yomdwebo wesixhumi esibonakalayo esinwetshiwe sokundiza

Imiyalo yesilawuli kude
Isilawuli kude se-FS siyisisetshenziswa ongasikhetha semikhiqizo ye-BUNKER MINI. Amakhasimende angayikhetha ngokwezidingo zawo zangempela, futhi angalawula kalula i-BUNKER MINI irobhothi chassis ngokusebenzisa isilawuli kude. Kulo mkhiqizo, sisebenzisa ukwakheka kwesisheshisi esingakwesokunxele. Bheka Umfanekiso 2.3 ukuze uthole incazelo nemisebenzi yawo.
Imisebenzi yenkinobho ichazwa ngokuthi: I-SWA ne-SWD akhutshaziwe okwesikhashana. I-SWB iyinkinobho yokukhetha imodi yokulawula, iphendukela kumodi yokulawula lapho iphushelwa phezulu, kanye nemodi yesilawuli kude lapho iphushelwa phakathi. I-SWC yiyona

i-lamp inkinobho yemodi, ephushelwa phezulu ngemodi yokukhanyisa izibani, emaphakathi ngemodi yokukhanyisa izibani lapho imoto ihamba, naphansi imodi yokucima izibani ngokuvamile. I-S1 iyinkinobho ye-accelerator, elawula i-BUNKER MINI ukuya phambili nangemuva; I-S2 ilawula ukujikeleza, futhi AMANDLA iyinkinobho yamandla. Cindezela bese ubamba ngesikhathi esifanayo ukuze uvule isilawuli kude. Kufanele kuqashelwe ukuthi i-SWA, i-SWB, i-SWC, ne-SWD idinga ukuba phezulu uma isilawuli kude sivuliwe.

Lawula umyalo nencazelo yokunyakaza
Sisungula uhlaka lwereferensi yokuxhumanisa imoto ephathwayo ephansi ngokwezinga le-ISO 8855 njengoba kukhonjisiwe kuMfanekiso 2.4.

Njengoba kuboniswe kokuthi 2.4, indikimba ye-BUNKER MINI ihambisana ne-X-eksisi yohlaka lwesithenjwa olumisiwe.
Kumodi yesilawuli kude, i-joystick yerimothi ye-S1 ihamba iye ohlangothini oluhle luka-X lapho iphushelwa phambili, futhi ihamba ngendlela eyi-X lapho idudulelwa emuva. Uma i-S1 iphushwa enanini eliphezulu, isivinini sokunyakaza siye ohlangothini oluhle luka-X sikhulu, futhi uma siphushelwa enanini elincane, isivinini sokunyakaza siye ohlangothini olungeluhle lwesiqondiso sika-X sikhulu. I-joystick ye-remote control S2 ilawula ukujikeleza komzimba wemoto kwesokunxele nakwesokudla. Uma i-S2 iphushelwa kwesokunxele, umzimba wemoto uzungeza usuka ohlangothini oluhle lwe-eksisi engu-X uye ohlangothini oluhle lwe-eksisi ye-Y. Uma i-S2 iphushelwa kwesokudla, umzimba wemoto uzungeza usuka ohlangothini oluhle lwe-axis engu-X uye ohlangothini olungeluhle lwe-eksisi ye-Y. Uma i-S2 iphushelwa kwesokunxele kuya kunani eliphezulu, isivinini somugqa sokuzungezisa ngokuphambene newashi sikhulu, futhi lapho siphushelwa kwesokudla kuya kunani eliphakeme kakhulu, isivinini somugqa sokuzungezisa njengewashi sikhulu kakhulu.

Kumodi yomyalo wokulawula, inani eliphozithivu lejubane lomugqa lisho ukuhamba ngendlela eqondile ye-X-eksisi, futhi inani elibi lesivinini somugqa lisho ukuhamba ngendlela engafanele ye-X-eksisi. Inani elihle lejubane le-angular lisho ukuthi umzimba wemoto uhamba usuka ohlangothini oluhle lwe-X-eksisi ukuya ohlangothini oluhle lwe-Y-eksisi, futhi inani elibi lesivinini se-angular lisho ukuthi umzimba wemoto uhamba usuka ohlangothini oluhle. ye-eksisi engu-X ukuya ohlangothini olunegethivu lwe-eksisi engu-Y.

Ukuqalisa

Le ngxenye yethula ngokuyinhloko ukusebenza okuyisisekelo nokusetshenziswa kwenkundla ye-BUNKER MINI, futhi yethula indlela yokwenza ukuthuthukiswa kwesibili kwendikimba yezimoto ngokusebenzisa ichweba langaphandle le-CAN kanye nephrothokholi yebhasi ye-CAN.

Sebenzisa nokusebenza

Hlola

• Hlola isimo somzimba wemoto. Bheka ukuthi kukhona yini okungavamile emzimbeni wemoto; uma kunjalo, sicela uxhumane nokwesekwa ngemva kokuthengisa;
• Hlola isimo seswishi yokumisa isimo esiphuthumayo. Qinisekisa ukuthi inkinobho yokumisa izimo eziphuthumayo ye-Q1 ngemuva isesimweni sokukhishwa;
• Uma usebenzisa okokuqala, qinisekisa ukuthi i-Q2 (iswishi yamandla) kuphaneli kagesi yangemuva icindezelwe; uma kunjalo, sicela uyicindezele futhi uyikhulule, futhi izoba sesimweni sokukhululwa

Vala amandla
Cindezela inkinobho yamandla ukuze unqamule amandla;

Inqubo yokusebenza eyisisekelo yesilawuli kude
Ngemuva kokuthi i-BUNKER MINI irobhothi chassis iqalwe ngokujwayelekile, vula isilawuli kude bese ukhetha imodi yokulawula njengemodi yesilawuli kude, ukuze ukunyakaza kwepulatifomu ye-BUNKER MINI kulawulwe yisilawuli kude.

Qalisa

• Cindezela inkinobho yamandla (i-Q2 kuphaneli kagesi), ngaphansi kwezimo ezijwayelekile, isibani seswishi yamandla sizokhanya, futhi i-voltmeter izoveza ivolumu yebhethri.tage ngokujwayelekile;
• Hlola ivolumu yebhethritage. Uma i-voltagi-e inkulu kuno-24V, ikhombisa ukuthi ibhethri linomthamotage ijwayelekile. Uma ingaphansi kuka-24V, ibhethri iphansi, sicela uyishaje;

Isitobhi esiphuthumayo
Cindezela iswishi yokumisa izimo eziphuthumayo ngemuva komzimba we-BUNKER MINI;

Iyashaja
Imikhiqizo ye-BUNKER MINI ifakwe ishaja evamile ngokuzenzakalelayo, engahlangabezana nezidingo zokushaja zamakhasimende.
Inqubo ethile yokusebenza yokushaja imi kanje:

• Qiniseka ukuthi i-BUNKER MINI chassis isesimweni sokucisha ugesi. Ngaphambi kokushaja, sicela uqinisekise ukuthi i-Q2 (iswishi yamandla) kukhonsoli kagesi yangemuva icishiwe;
• Faka ipulaki yeshaja kusixhumi esibonakalayo sokushaja se-Q4 kuphaneli yokulawula kagesi yangemuva;
• Xhuma ishaja endaweni kagesi bese uvula iswishi yeshaja ukuze ufake isimo sokushaja.
• Uma ishaja ngokuzenzakalelayo, akukho ukukhanya okukhomba ku-chassis. Ukuthi iyashaja noma cha kuncike ekuboniseni isimo seshaja.

Intuthuko
Imikhiqizo ye-BUNKER MINI inikeza isixhumi esibonakalayo se-CAN sokuthuthukiswa kwabasebenzisi, lapho abasebenzisi bengakwazi ukuyala futhi balawule indikimba yemoto.
Imikhiqizo ye-BUNKER MINI isebenzisa indinganiso ye-CAN2.0B yezinga lokuxhumana le-CAN, ngezinga lokuxhumana le-baud elingu-500K kanye nefomethi yomlayezo ye-MOTOROLA. Isivinini esihambayo somugqa kanye nesivinini esingama-angular esizungezayo se-chassis singalawulwa ngesixhumi esibonakalayo sebhasi le-CAN. Ngaphandle kwalokho, i-BUNKER MINI izophendula imininingwane yesimo sokunyakaza kwamanje kanye nolwazi lwesifunda lwe-BUNKER MINI chassis ngesikhathi sangempela, njll.
Iphrothokholi ifaka uhlaka lwempendulo yesimo sesistimu, uhlaka lwempendulo yokulawula ukunyakaza, nohlaka lokulawula. Imininingwane yephrothokholi imi kanje:
Umyalo wempendulo yesimo sesistimu uhlanganisa impendulo yesimo somzimba wemoto yamanje, impendulo yesimo semodi yokulawula, umthamo webhethritage impendulo kanye nempendulo yephutha. Okuqukethwe kwephrothokholi kukhonjiswe kuThebula 3.1.

Ithebula 3.1 I-BUNKER MINI Chassis State Feedback Frame

Igama lomyalo	Umyalo wempendulo yesimo sesistimu
Ithumela inodi I-chassis elawulwa ngocingo Ubude bedatha	Ithola i-ID yeNodi engu-0x211 Cycle (ms) Ithola Isikhathi sokuvala (ms)
	Iyunithi yokulawula izinqumo 0x08		200ms	Lutho
Indawo	Umsebenzi	Uhlobo Lwedatha	Incazelo
ibhayithi [0]	Isimo somzimba wemoto yamanje	engasayiniwe int8	0x00 Uhlelo olujwayelekile 0x01 Imodi yokuvala shaqa yesimo esiphuthumayo 0x02 Okuhlukile kwesistimu
ibhayithi [1]	Ukulawula imodi	engasayiniwe int8	0x00 Imodi yokulinda 0x01 CAN umyalo wemodi yokulawula 0x03 Imodi yesilawuli kude
ibhayithi [2]     ibhayithi [3]	Amabhithi angaphezulu ayisishiyagalombili ebhethri voltage Amabhithi ayisishiyagalombili aphansi we ibhethri voltage	engasayiniwe int16	Ivolumu yangempelatage X10 (inembe kuye ku-0.1V)
ibhayithi [4] ibhayithi [5]	Igodliwe Ulwazi lwephutha	- engasayiniwe int8	0x0 Ukuze uthole imininingwane, bona [Incazelo Yephutha]
ibhayithi [6]	Igodliwe	-	0x00
ibhayithi [7]	Bala ukuhlola(ukubala)	engasayiniwe int8	0~255 loop count, ubale phezulu kanye njalo a umyalo uyathunyelwa

Ithebula 3.2 Ithebula lencazelo yolwazi lwamaphutha

Incazelo yolwazi lwephutha
Byte             ibhayithi [5]	Kancane	Incazelo
	kancane [0]	Ukunganakwa kwebhethritage iphutha
	kancane [1]	Ukunganakwa kwebhethritage isixwayiso
	kancane [2]	Ukuvikelwa kokunqanyulwa kwesilawuli kude (0: okuvamile, 1: isilawuli kude ukunqanyulwa)
	kancane [3]	Kugciniwe, okuzenzakalelayo 0
	kancane [4]	Shayela iphutha lokuxhumana eli-2 (0: alikho iphutha, 1: iphutha)
	kancane [5]	Shayela iphutha lokuxhumana eli-3 (0: alikho iphutha, 1: iphutha)
	kancane [6]	Kugciniwe, okuzenzakalelayo 0
	kancane [7]	Kugciniwe, okuzenzakalelayo 0

Umyalo wohlaka lwempendulo yokulawula ukunyakaza uhlanganisa impendulo yesivinini somugqa sokunyakaza komzimba wemoto yamanje kanye nesivinini se-angular. Okuqukethwe okuqondile kwephrothokholi kukhonjiswe kuThebula 3.3.

Ithebula 3.3 Uhlaka Lwempendulo Yokulawula Ukunyakaza

Igama lomyalo	Umyalo wempendulo yokulawula ukunyakaza
I-Node yokuthumela	Ithola umjikelezo we-ID ye-Node (ms) Ithola Isikhathi sokuvala (ms)
I-chassis elawulwa ngocingo	Iyunithi yokulawula izinqumo	0x221	20ms	Lutho
Ubude bedatha	0x08
Indawo	Umsebenzi	Uhlobo Lwedatha	说明
ibhayithi [0]     ibhayithi [1]	Izingcezu ezingaphezulu eziyisishiyagalombili zejubane lokunyakaza Izingcezu eziyisishiyagalombili ezingezansi ze- isivinini sokunyakaza	usayine i-int16	Isivinini sangempela X 1000 (sinembile siye ku-0.001m/s)
ibhayithi [2]     ibhayithi [3]	Amabhithi angaphezulu ayisishiyagalombili esivinini sokuzungezisa Izingcezu eziyisishiyagalombili ezingezansi ze- isivinini sokujikeleza	usayine i-int16	Isivinini sangempela X 1000 (inembe ukuya ku-0.001rad/s)
ibhayithi [4]	Igodliwe	-	0x00
ibhayithi [5]	Igodliwe	-	0x00
ibhayithi [6]	Igodliwe	-	0x00
ibhayithi [7]	Igodliwe	-	0x00

Uhlaka lokulawula luhlanganisa ukuvuleka kokulawula isivinini kwe-angular, ukuvulwa kokulawula isivinini se-angular kanye ne-checksum. Okuqukethwe kwephrothokholi ethile kukhonjisiwe kuThebula 3.4.

Ithebula 3.4 I-Motion Control Command Frame

Igama lomyalo	Lawula umyalo
Ithumela inodi	Ithola umjikelezo we-ID yenodi (ms) Ukuthola Isikhathi Siphelile (ms)
Iyunithi yokulawula izinqumo	I-Chassis node	0x111	20ms	Lutho
Ubude bedatha	0x08
Isikhundla	Umsebenzi	Uhlobo Lwedatha
ibhayithi [0]     ibhayithi [1]	Amabhithi angaphezulu ayisishiyagalombili esivinini somugqa Amabhithi ayisishiyagalombili aphansi we isivinini somugqa	usayine i-int16	Isivinini sokuhamba somzimba wemoto, iyunithi mm/s, ibanga lenani [-1500, 1500]
ibhayithi [2]     ibhayithi [3]	Amabhithi ayisishiyagalombili aphezulu esivinini se-angular Amabhithi ayisishiyagalombili aphansi ka isivinini se-angular	usayine i-int16	Isivinini se-angular esijikelezayo somzimba wemoto, iyunithi 0.001rad/s, ububanzi benani [-1000, 1000]
ibhayithi [4]	Igodliwe	-	0x00
ibhayithi [5]	Igodliwe	-	0x00
ibhayithi [6]	Igodliwe	-	0x00
ibhayithi [7]	Igodliwe	-	0x00

Uhlaka lokusetha imodi lusetshenziselwa ukusetha isixhumi esibonakalayo sokulawula setheminali, futhi okuqukethwe kwayo kwephrothokholi ethile kuboniswa kuThebula 3.5.

Ithebula 3.5 I-Control Mode Setting Frame

Igama lomyalo	Umyalo wokusetha imodi yokulawula
Ithumela inodi	I-node yokwamukela	ID	Umjikelezo (ms)	Ithola Isikhathi Sokuphela (ms)
Iyunithi yokulawula izinqumo	I-Chassis node	0x421	20ms	500ms
Ubude bedatha	0x01
Isikhundla	Umsebenzi	Uhlobo lwedatha	Incazelo
ibhayithi [0]	INGAKWAZI ukulawula inika amandla	engasayiniwe int8	0x00 Imodi yokulinda 0x01 CAN imodi yomyalo inika amandla

Qaphela[1] Incazelo yemodi yokulawula

Uma isilawuli kude se-BUNKER MINI singavulwa, imodi yokulawula okuzenzakalelayo imodi yokulinda, futhi udinga ukushintshela kumodi yomyalo ukuze uthumele umyalo wokulawula ukunyakaza. Uma isilawuli kude sivuliwe, sinegunya eliphakeme kakhulu futhi singavimba ukulawulwa kwemiyalo. Uma isilawuli kude sishintshela kumodi yomyalo, sisadinga ukuthumela umyalo wokusetha imodi yokulawula ngaphambi kokuphendula umyalo wesivinini.

Uhlaka lwesilungiselelo sesimo lusetshenziselwa ukusula amaphutha esistimu, futhi okuqukethwe kwayo kwephrothokholi ethile kuboniswa kuThebula 3.6.

Ithebula 3.6 Uhlaka lokusetha isimo

Igama lomyalo	Umyalo wokusetha wesifunda
Ithumela inodi	I-node yokwamukela	ID	Umjikelezo (ms)	Ithola Isikhathi Sokuphela (ms)
Iyunithi yokulawula izinqumo	I-Chassis node	0x441	Lutho	Lutho
Ubude bedatha	0x01
Isikhundla	Umsebenzi	Uhlobo lwedatha	Incazelo
ibhayithi [0]	Umyalo wokususa iphutha	engasayiniwe int8	0x00 Sula wonke amaphutha 0x01 Sula motor 1 iphutha 0x02 Sula iphutha le-motor 2

Qaphela 3: Example data, idatha elandelayo ingeyokusetshenziswa ukuhlola kuphela

Imoto iya phambili ngesivinini esingu-0.15/S

ibhayithi [0]	ibhayithi [1]	ibhayithi [2]	ibhayithi [3]	ibhayithi [4]	ibhayithi [5]	ibhayithi [6]	ibhayithi [7]
0x00	0x96	0x00	0x00	0x00	0x00	0x00	0x00
2. Imoto izungeza ku-0.2RAD/S
ibhayithi [0]	ibhayithi [1]	ibhayithi [2]	ibhayithi [3]	ibhayithi [4]	ibhayithi [5]	ibhayithi [6]	ibhayithi [7]
0x00	0x00	0x00	0xc8	0x00	0x00	0x00	0x00

Ngokungeziwe kumpendulo yolwazi lwesimo se-chassis, ulwazi lwempendulo ye-chassis luhlanganisa nedatha yemoto kanye nedatha yenzwa

Ithebula 3.7 Impendulo yolwazi lwendawo yesivinini semoto samanje

Igama lomyalo	Uhlaka lwempendulo yomshayeli wemoto enesivinini esiphezulu
Ithumela inodi	I-node yokwamukela	ID	Umjikelezo (ms)	Ithola Isikhathi Sokuphela (ms)
I-chassis elawulwa ngocingo	Iyunithi yokulawula izinqumo	0x251~0x254	20ms Akukho
Ubude bedatha	0x08
Isikhundla	Umsebenzi	Uhlobo lwedatha	Incazelo
ibhayithi [0]     ibhayithi [1]	Izingcezu ezingaphezulu eziyisishiyagalombili zejubane lemoto Amabhithi ayisishiyagalombili aphansi we isivinini semoto	usayine i-int16	Iyunithi yesivinini yamanje ye-Motor RPM
ibhayithi [2]     ibhayithi [3]	Amabhithi angaphezulu ayisishiyagalombili emotor current Amabhithi ayisishiyagalombili aphansi we motor current	usayine i-int16	Iyunithi yamanje yemoto engu-0.1A
ibhayithi [4]     ibhayithi [5]     ibhayithi [6]     ibhayithi [7]	Isikhundla samanje senjini siphezulu kakhulu Isikhundla samanje senjini singesesibili esiphezulu Isikhundla samanje senjini singesesibili esiphansi kakhulu Isikhundla samanje se- injini iphansi kakhulu	usayine i-int16     usayine i-int16 kusayinwe int16 kusayinwe ngo-16	Isikhundla samanje seyunithi yemoto: inani lama-pulses

Ithebula 3.8 Impendulo yokushisa kwemoto, voltage futhi usho ulwazi

Igama lomyalo	Uhlaka lwempendulo yomshayeli wemoto enesivinini esiphansi
Ithumela inodi	Ithola umjikelezo we-ID yenodi (ms) Ukuthola Isikhathi Siphelile (ms)
I-chassis elawulwa ngocingo	Iyunithi yokulawula izinqumo	0x261~0x264	20ms	Lutho
Ubude bedatha	0x08
Isikhundla	Umsebenzi	Uhlobo lwedatha	Incazelo
ibhayithi [0]     ibhayithi [1]	Izingcezu ezingaphezulu eziyisishiyagalombili zomshayelitage Izingcezu eziyisishiyagalombili ezingezansi zomshayeli ivolumutage	usayine i-int16	Umshayeli wamanje voltage iyunithi0.1v
ibhayithi [2]     ibhayithi [3]	Izingcezu ezingaphezulu eziyisishiyagalombili zezinga lokushisa lomshayeli Izingcezu eziyisishiyagalombili ezingezansi zomshayeli izinga lokushisa	usayine i-int16	iyunithi 1℃
ibhayithi [4]	Izinga lokushisa lezimoto	usayine i-int8	iyunithi1℃
ibhayithi [5]	Isimo se-Actuator	engasayiniwe int8	Bheka iThebula 3-9 ukuze uthole imininingwane
ibhayithi [6]	Igodliwe	-	0x00
ibhayithi [7]	Igodliwe		0x00

Ithebula 3.9 I-Actuator Sate

Incazelo yolwazi lwephutha
ibhayithi [5]	kancane [0]	Ukuthi ugesi unikezwa yinitagi-e iphansi kakhulu (0: evamile 1: iphansi kakhulu)
	kancane [1]	Ukuthi injini inezinga lokushisa eleqile (0: evamile 1: izinga lokushisa elingaphezulu)
	kancane [2]	Ukuthi injini ingaphezu kwamanje (0: evamile 1: idlule manje)
	kancane [3]	Ukuthi idrayivu ingaphezu kwezinga lokushisa (0: evamile 1: izinga lokushisa elingaphezulu)
	kancane [4]	Isimo senzwa (0: evamile 1: okungavamile)
	kancane [5]	Isimo sephutha le-Actuator (0: evamile 1: okungavamile)
	kancane [6]	Isimo sokuvumela i-Actuator (0: Ikhubaza 1: Inika amandla)
	kancane [7]	Igodliwe

Ithebula 3.10 I-Odometer Feedback Frame

Igama lomyalo	Uhlaka lwempendulo yolwazi lwe-Odometer
Ithumela inodi I-chassis elawulwa ngocingo Ubude bedatha	I-node yokwamukela	ID	Umjikelezo (ms)	Ithola Isikhathi Sokuphela (ms)
	Iyunithi yokulawula izinqumo 0x08	0x311	20ms	Lutho
Isikhundla	Umsebenzi	Uhlobo lwedatha	Incazelo
ibhayithi [0]	Ibhithi ephakeme kakhulu ye-odometer yesondo lesokunxele Ibhithi eliphakeme lesibili le-odometer yesondo lesokunxele Ibhithi yesibili ephansi kakhulu ye-odometer yesondo lesokunxele Incanyana ephansi kakhulu yesondo lesokunxele i-odometer
ibhayithi [1]     ibhayithi [2]		usayine i-int32	Impendulo ye-odometer yesondo langakwesokunxele le-chassis Iyunithi: mm
ibhayithi [3]
ibhayithi [4]     ibhayithi [5]     ibhayithi [6]     ibhayithi [7]	Ibhithi eliphakeme kakhulu le-odometer yesondo elingakwesokudla Ibhithi eliphezulu lesibili le-odometer yesondo elingakwesokudla Ibhithi yesibili ephansi kakhulu ye-odometer yesondo elingakwesokudla Ibhithi eliphansi kakhulu lesondo elingakwesokudla i-odometer	usayine i-int32	Impendulo ye-odometer yesondo elingakwesokudla le-chassis Iyunithi: mm

Ithebula 3.11 Impendulo yolwazi lwesilawuli kude

Igama lomyalo	Uhlaka lwempendulo yolwazi lwesilawuli kude
Ithumela inodi	Ithola umjikelezo we-ID yenodi (ms) Ukuthola Isikhathi Siphelile (ms)
I-chassis elawulwa ngocingo	Iyunithi yokulawula izinqumo	0x241	20ms	Lutho
Ubude bedatha	0x08
Isikhundla	Umsebenzi	Uhlobo lwedatha	Incazelo
ibhayithi [0]	Isilawuli kude impendulo ye-SW	engasayiniwe int8	kancane[0-1]: SWA :2-up 3-down bit[2-3]: SWB:2-up 1-mid 3-down bit[4-5]: SWC:2-up 1-mid 3- phansi kancane[6-7]: SWD:2-phezulu 3-phansi
ibhayithi [1]	Induku yokudlala yesokudla kwesokunxele nakwesokudla	usayine i-int8	Ibanga lenani:[-100,100]
ibhayithi [2]	Induku yokudlala yesokudla phezulu naphansi	usayine i-int8	Ibanga lenani:[-100,100]
ibhayithi [3]	Induku yokudlala yesokunxele phezulu naphansi	usayine i-int8	Ibanga lenani:[-100,100]
ibhayithi [4]	Induku yokudlala yesokunxele kwesokunxele nakwesokudla	usayine i-int8	Ibanga lenani:[-100,100]
ibhayithi [5]	I-VRA yesokunxele	usayine i-int8	Ibanga lenani:[-100,100]
ibhayithi [6]	Igodliwe	-	0x00
ibhayithi [7]	Bala isheke	okungasayiniwe ibe 8	0-255 loop count

CAN ukuxhumeka komugqa
I-BUNKER MINI inikeza ipulaki yendiza yesilisa njengoba kukhonjisiwe kuMfanekiso 3.2. Incazelo yomugqa ukuthi ophuzi yi-CANH, oluhlaza okwesibhakabhaka yi-CANL, obomvu wumthombo wamandla omuhle, futhi omnyama ukunikezwa kwamandla okungekuhle.
Qaphela: Inguqulo yamanje ye-BUNKER MINI inesixhumi esibonakalayo esiphezulu kuphela esivulekele isixhumi esibonakalayo sangaphandle. Ukunikezwa kwamandla kule nguqulo kunganikeza umkhawulo wamanje wamanje ongu-10A.

Ukwenziwa kokulawula komyalo we-CAN
Qala i-BUNKER MINI irobhothi chassis ngokujwayelekile, uvule i-FS remote control, bese ushintsha i-control mode ukuze ulawule umyalo, okungukuthi, cindezela inkinobho yokukhetha imodi ye-SWB ye-FS remote control iye phezulu, bese i-BUNKER MINI chassis yamukela umyalo ovela kusixhumi esibonakalayo se-CAN, futhi umsingathi uphinde ahlaziye isimo samanje se-chassis ngedatha yesikhathi sangempela efakwe ibhasi le-CAN. Bheka iphrothokholi yokuxhumana ye-CAN ngokuqukethwe kwephrothokholi ethile

Sebenzisa nokusebenza

Ukuze kube lula abasebenzisi ukuthi bathuthukise inguqulo ye-firmware ye-BUNKER MINI futhi ilethe kumakhasimende umuzwa ophelele, i-BUNKER MINI inikeza isixhumi esibonakalayo sezingxenyekazi zekhompuyutha zokuthuthukisa i-firmware kanye nesofthiwe yeklayenti ehambisanayo. I-interface yeklayenti layo iboniswe kuMfanekiso 3.3

Thuthukisa ukulungiselela

• I-Serial X 1 USB ukuya embobeni ye-serial X 1
• I-BUNKER MINI chassisX 1
• I-PC(WINDOWS uhlelo lokusebenza) X 1

Isofthiwe yokuthuthukisa i-Firmware

https://github.com/agilexrobotics/agilex_firmware

Thuthukisa ukulungiselela

• Qinisekisa ukuthi i-chassis yerobhothi ivaliwe ngaphambi kokuxhuma;
• Sebenzisa i-Serial ukuze uxhume ku-chassis ye-BUNKER MINI ukuze uthuthukise imbobo ye-serial, futhi uyixhume kukhompyutha;
• Vula isofthiwe yeklayenti;
• khetha inombolo yembobo;
• I-BUNKER MINIchassis ivuliwe, chofoza okuthi Qala Uxhumano ngokushesha, (BUNKER MINI) chassis izolinda i-6S ngaphambi kokukhanyisa; uma isikhathi sidlula i-6S, izofaka isicelo); uma uxhumano kuphumelela, luzokwenza ukuthi "uxhumano luphumelele" ebhokisini lombhalo;
• Layisha i-BIN file;
• Chofoza okuthi thuthukisa bese ulinda isaziso sokuthi ukuthuthukiswa kuqediwe; Nqamula i-Serial, cisha i-chassis, bese uyivula futhi.

  

I-BUNKER MINI ROS Ukusetshenziswa Kwephakheji Example
I-ROS ihlinzeka ngamasevisi athile esistimu yokusebenza ajwayelekile, njengokudonswa kwezingxenyekazi zekhompiyutha, ukulawula idivayisi yezinga eliphansi, ukuqaliswa kwemisebenzi evamile, ukulayeza phakathi kwezinqubo, nokuphathwa kwephakethe ledatha. I-ROS isekelwe ekwakhiweni kwesithombe, ukuze izinqubo zamanodi ahlukene zikwazi ukuthola, ukushicilela, nokuhlanganisa ulwazi oluhlukahlukene (njengenzwa, ukulawula, isimo, ukuhlela, njll.). Okwamanje i-ROS isekela kakhulu i-UBUNTU.

Ukulungiselela intuthuko

Ukulungiswa kwehardware

• I-Canlight can communication module X1
• I-Thinkpad E470 I-Laptop X1
• I-AGILEX BUNKER MINI yerobhothi yeselula ye-chassis X1
• I-AGILEX BUNKER MINI isekela isilawuli kude i-FS-i6s X1
• I-AGILEXBUNKER MINI isitsha sezindiza esiphezulu X1

Incazelo yendawo yokusetshenziswa example

• Ubuntu 16.04 LTS (lena inguqulo ye-beta, ehlolwe ku-Ubuntu 18.04 LTS)
• I-ROS Kinetic (nayo ihlolwe ezinguqulweni ezilandelayo)
• I-Git

Ukuxhumeka kwezingxenyekazi zekhompuyutha nokulungiselela

• Khipha ulayini we-CAN we-BUNKER MINI 4-core aviation noma ipulagi yangemuva, bese uxhuma i-CAN_H ne-CAN_L kulayini we-CAN ku-adaptha ye-CAN_TO_USB ngokulandelana;
• Vula inkinobho ye-chassis knob yerobhothi leselula le-BUNKER MINI, bese uhlola ukuthi amaswishi okumisa izimo eziphuthumayo nhlangothi zombili akhululiwe yini;
• Xhuma i-CAN_TO_USB embobeni ye-USB yekhompuyutha ephathekayo. Umdwebo wokuxhuma ukhonjiswe kuMfanekiso 3.4.

  

Ukufakwa kwe-ROS kanye Nokusethwa Kwemvelo
Ukuze uthole imininingwane yokufaka, sicela ubheke http://wiki.ros.org/kinetic/Installa-tion/Ubuntu

Hlola ihadiwe ye-CANABLE kanye nokuxhumana kwe-CAN

Setha i-CAN-TO-USB

• i-adaptha Inika amandla
  gs_usb kernel module
  $ sudo modprobe gs_usb
• Setha isilinganiso se-baud esingu-500k kanye nokuvumela i-adaptha ye-can-to-usb$ sudo ip link set can0 up type ingabitrate 500000Uma
• awekho amaphutha enzeke ezinyathelweni ezedlule, kufanele ukwazi view i-can idivayisi ngokushesha ngomyalo
  $ ifconfig -a
• Faka futhi usebenzise ama-can-utils ukuze uhlole ihadiwe
  $ sudo apt ukufaka ama-can-utils
• Uma i-can-to-usb ixhunywe irobhothi le-BUNKER ngalesi sikhathi, futhi imoto ivuliwe, sebenzisa imiyalo elandelayo ukuze ugade idatha evela ku-BUNKERchassis
  $ candump can0
• Ireferensi:
  https://github.com/agilexrobotics/agx_sdk
  https://wiki.rdu.im/_pages/Notes/Embed-ded-System/Linux/can-bus-in-linux.html

I-AGILEX BUNKER ROS PACKAGE Landa futhi uhlanganise

• Landa ukuncika kwe-ros
  $ sudo kufanele ufake i-ros-$ROS_DISTRO-teleop-twist-key- board$ sudo kufanele ufake i-libasio-dev
• Hlanganisa futhi uhlanganise ikhodi yomthombo ye-bunker_ros$ cd ~/catkin_ws/src
  • $ git clone -recursive
    https://github.com/agilexrobotics/ugv_sdk.git
    $ git clone
    https://github.com/agilexrobotics/bunker_ros.git
    $ cd..
    $ catkin_make
  • Ireferensi:
    https://github.com/agilexrobotics/bunker_ros

Qala i-ROS node

• Qala i-base node
  $ roslaunch bunker_bringup
  bunker_minimal.launch Qala inodi yokusebenza eyirimothi yekhibhodi
• $ roslaunch bunker_bringup
  i-bunker_teleop_keyboard.launch

Ukunaka

Le ngxenye iqukethe amaphuzu okufanele anakwe lapho usebenzisa futhi uthuthukisa i-BUNKER MINI.

Izinyathelo zokuqapha ibhethri

• Ibhethri lomkhiqizo we-BUNKER MINI alishajiwe ngokugcwele lapho liphuma efekthri. Amandla ebhethri athile angaboniswa yi-BUNKER MINI chassis yangemuva voltage bonisa noma ufunde nge-CAN yokuxhumana ngebhasi;
• Sicela ungalishaji ibhethri ngemva kokuba seliphelile. Sicela uyishaje ngesikhathi lapho ivolumu iphansitage ngemuva kwe-BUNKER MINI ikhombisa ngaphansi kuka-24V;
• Izimo zokugcina ezimile: Izinga lokushisa elingcono kakhulu lokugcina ngu -10℃~45℃. Ibhethri kufanele ishajwe futhi ishajwe kanye ngenyanga noma ngaphezulu uma ingasebenzi, bese ibhethri igcinwe igcwele ivolumu.tage. Ungalifaki ibhethri emlilweni, noma ushise ibhethri, futhi ungaligcini ibhethri ezingeni lokushisa eliphezulu;
• Ukushaja: Kufanele ishaje ngeshaja ekhethekile yamabhethri e-lithium. Ungashaji ibhethri ngaphansi kuka-0°C, futhi ungawasebenzisi amabhethri, izinto zikagesi namashaja angajwayelekile embonini yokuqala.

Izinyathelo zokuphepha endaweni yokusebenza 

• Izinga lokushisa lokusebenza le-BUNKER MINI liyi
  - 10 ℃ ~ 45 ℃, sicela ungayisebenzisi endaweni lapho izinga lokushisa lingaphansi
  - 10 ℃ nangaphezulu kuka-45 ℃;
• Ungawusebenzisi endaweni enamagesi abolayo noma avuthayo noma endaweni eseduze nezinto ezivuthayo;
• Ungayigcini ezintweni zokushisisa njengezifudumezi noma izinto eziphikisayo ezinkulu eziboshiwe;
• Ibanga le-BUNKER MINI elingangeni manzi nelingenawo uthuli yi-IP67, sicela ungayisebenzisi emanzini isikhathi eside, futhi uhlole ukususa ukugqwala njalo;
•  Kunconywa ukuthi ukuphakama kwemvelo akufanele kudlule i-1000M;
• Kunconywa ukuthi umehluko wokushisa phakathi kwemini nobusuku akufanele udlule 25℃;
• Hlola njalo futhi unakekele ama-tensioners ethrekhi.

Izinyathelo zokuqapha zokunwetshwa kwangaphandle kukagesi 
Umthombo wamandla wokunwebeka wangemuva awudluli u-6.25A, futhi amandla aphelele aweqi ama-300W;

Izinyathelo zokuphepha

• Uma unemibuzo phakathi nenqubo yokusebenzisa, sicela ulandele iziqondiso ezifanele noma uxhumane nabasebenzi bezobuchwepheshe abafanelekile;
• Ngaphambi kokusebenzisa okokusebenza, qaphela isimo esikuso ukuze ugweme izinkinga zokuphepha kwabasebenzi ezibangelwa ukungasetshenziswa kahle;
• Esimeni esiphuthumayo, cisha okokusebenza ngokuthepha inkinobho yokumisa isimo esiphuthumayo;
• Ungashintshi ukwakheka kwedivayisi yangaphakathi ngaphandle kosekelo lobuchwepheshe nemvume

Ezinye izinyathelo zokuphepha

• Uma uphethe futhi usetha ukusebenza, sicela ungawuwisi noma uwubhekise phansi;
• kwabangewona ochwepheshe, sicela ningayihlakazi ngaphandle kwemvume.

I-Q&A

• Q: I-BUNKER MINI iqala ngokujwayelekile, kodwa umzimba wemoto awuhambi ngesilawuli kude?
  A: Okokuqala, thola ukuthi iswishi yamandla iyacindezelwa yini nokuthi iswishi yokumisa isimo esiphuthumayo iyakhululwa, bese uqinisekisa ukuthi imodi yokulawula ekhethwe iswishi yokukhetha imodi engxenyeni engenhla kwesokunxele sesilawuli kude ilungile yini.
• Q: Uma isilawuli kude se-BUNKER MINI sijwayelekile, impendulo yesimo se-chassis nolwazi olunyakazayo ijwayelekile, futhi iphrothokholi yohlaka lokulawula ikhishwa, kungani imodi yokulawula umzimba wemoto ayikwazi ukushintshwa, futhi i-chassis ayiphenduli kuphrothokholi yozimele wokulawula. ?
  A: Ngaphansi kwezimo ezijwayelekile, uma i-BUNKER MINI ingalawulwa yisilawuli kude, kusho ukuthi isilawuli sokunyakaza kwe-chassis sijwayelekile, futhi ingathola uhlaka lwempendulo ye-chassis, okusho ukuthi isixhumanisi sesandiso se-CAN sijwayelekile. Sicela uhlole ukuthi ingabe umyalo ushintshelwe kumodi yokulawula ye-CAN..
• Q: Uma ukuxhumana okufanelekile kwenziwa ngebhasi le-CAN, futhi umyalo wempendulo ka-chassis ujwayelekile, kungani imoto ingaphenduli ngemva kokukhishwa kokulawula?
  A: I-BUNKER MINI inendlela yokuvikela ukuxhumana ngaphakathi. I-Chassis inendlela yokuvikela ukuphela kwesikhathi lapho isebenza nemiyalo yokulawula ye-CAN yangaphandle. Uma ucabanga ukuthi ngemva kokuba imoto ithole uhlaka lwe-protocol yokuxhumana, ayitholi uhlaka olulandelayo lwemiyalo yokulawula engaphezu kuka-500MS, futhi izongena ekuvikelweni kokuxhumana ngesivinini esingu-0, ngakho-ke umyalo ovela kukhompyutha yokusingatha kufanele ube ngezikhathi ezithile. ikhishwe.

Ubukhulu bomkhiqizo

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Isikhulu sokusabalalisa sales@generationrobots.com

+33 5 56 39 37 05
www.generationrobots.com

Amadokhumenti / Izinsiza

I-AGILEX ROBOTICS Bunker Mini Hlola Izingxenyekazi Zerobhothi [pdf] Imaniwali yosebenzisayo I-Bunker Mini Hlola I-Robot Platform, i-Bunker Mini, Hlola ama-Robot Platform, ama-Robot Platform

Izithenjwa

• Imaniwali yosebenzisayo