2023.09 Ithimba Lamarobhothi
“
Imininingwane
- Umkhiqizo: BUNKER MINI 2.0
- Inguqulo yeManuwali yomsebenzisi: V2.0.1
- Idethi yokukhishwa: 2023.09
- Umthamo Womthwalo Omkhulu: 25KG
- Izinga Lokushisa Lokusebenza: 0~40°C
- Isilinganiso Sokungangeni Manzi Nothuli: IP67 (uma kungenjalo ngasodwa
ngokwezifiso)
Imiyalo yokusetshenziswa komkhiqizo
Ulwazi Lokuphepha
Ngaphambi kokusebenzisa imishini, qiniseka ukuthi ufunda futhi uqonde konke
ulwazi lokuphepha olunikezwe kubhukwana. Yenza ingozi
ukuhlolwa kohlelo oluphelele lwamarobhothi futhi uqinisekise ukwakheka okunembile
kanye nokufakwa kwama-peripherals.
Imvelo
Funda imanyuwali ngokucophelela ngaphambi kokusebenzisa irobhothi okokuqala
isikhathi. Khetha indawo evulekile yokusebenza kude njengoba imoto ishoda
izinzwa zokugwema izithiyo ezizenzakalelayo. Sebenza endaweni ezungezile
izinga lokushisa ngu-0 ~ 40°C.
Ukuhlola
- Qinisekisa ukuthi idivayisi ngayinye inamandla anele.
- Hlola noma yikuphi ukungahambi kahle emotweni.
- Qinisekisa ukuthi amabhethri esilawuli kude agcwele
icala.
Ukusebenza
- Qinisekisa ukuthi indawo ezungezile icacile ngesikhathi sokusebenza.
- Gcina isilawuli kude ngaphakathi kwebanga lokubona.
- Ungadluli umthamo omkhulu wokulayisha ongu-25KG.
- Qinisekisa indawo ephakathi nendawo lapho ufaka okwangaphandle
izandiso. - Shaja idivayisi ngokushesha uma i-alamu yebhethri iphansi ikhala.
- Sebenza endaweni efinyelela izinga lokuvikela
izidingo.
FAQ
Q: Yini okufanele ngiyenze uma idivayisi ikhala ngebhethri ephansi?
IMP: Sicela uyikhokhise ngokushesha ukuze ugweme ukuphazamiseka ngesikhathi
ukusebenza.
Q: Ngingakwazi ukweqa umthamo omkhulu wokulayisha ongu-25KG?
IMP: Cha, kubalulekile ukuthi ungadluli umthamo obekiwe wokulayisha
ukuqinisekisa ukusebenza okuphephile kocingo.
Q: Lithini izinga lokushisa lokusebenza le-BUNKER MINI
2.0?
A: Ibanga lokushisa elinconywayo lokusebenza lisuka ku-0 kuye ku-40
degrees Celsius.
“`
BUNKER
I-MINI
2.0
Umsebenzisi
Imanuwali
BUNKER
Umsebenzisi weqembu le-MINI AgileX Robotics
Imanuwali V.2.0.1
2023.09
Idokhumenti
inguqulo
Cha. Inguqulo
Usuku
Kuhlelwe ngu
Reviewer
1 V1.0.0 2023/1/15
Amanothi okusalungiswa kokuqala
1/38
2 V2.0.0 2023/3/21
3
V2.0.1 2023/09/02
4
V2.0.2 2023/09/06
1. Guqula i-ros driver readme 2. Shintsha i-bunkermini emithathu views 3. Kwengezwe impendulo yolwazi lwesilawuli kude
4. Impendulo yolwazi lwemayela engeziwe
5. Kungezwe impendulo yolwazi lwe-bms
6. Lungiselela ukwakheka kwekhasi
Engeza isithombe esinikezayo Lungisa indlela yokusebenzisa iphakheji ye-ROS
Ukuhlola idokhumenti
Buyekeza isithombe sesilawuli kude Lungiselela file ifomethi yokufakwa kwe-Aviation update
Kubuyekezwe idayagramu yobukhulu bokubukeka
Lesi sahluko siqukethe ulwazi olubalulekile lwezokuphepha okufanele lufundwe futhi luqondwe yinoma yimuphi umuntu noma inhlangano ngaphambi kokusebenzisa okokusebenza lapho irobhothi livuliwe okokuqala ngqa. Ungaxhumana nathi 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.
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Ukuphepha
Ulwazi
Ulwazi olukule manuwali alubandakanyi ukuklama, ukufakwa nokusebenza kohlelo lokusebenza lwerobhothi oluphelele, 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
futhi
Isibopho
Yenza ukuhlolwa kwengozi yohlelo oluphelele lwamarobhothi. Xhumanisa okokusebenza okwengeziwe kokuphepha kweminye imishini njengoba kuchazwa ubungozi
ukuhlola.
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 endaweni yokushisa engu-0~40.
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Uma imoto ingenalo ileveli yokuvikela ye-IP eyenziwe ngokwezifiso, amandla emoto emoto angangeni emanzini futhi angangeni uthuli yi-IP67.
Ukuhlola
Qiniseka ukuthi idivayisi ngayinye inamandla anele. Qinisekisa ukuthi akukho okungavamile okusobala emotweni. Hlola ukuthi amabhethri esilawuli kude ashajwe ngokugcwele yini.
Ukusebenza
Qinisekisa ukuthi indawo ezungezile icacile ngesikhathi sokusebenza Isilawuli kude ngaphakathi kwebanga lokubona Umthamo omkhulu wokulayisha we-BUNKERMINI ngu-25KG. Uma uyisebenzisa, qiniseka ukuthi ukhokha malini
ayidluli ku-25KG. Uma ufaka izandiso zangaphandle ku-BUNKERMINI, qinisekisa ukuma kwesikhungo sesisindo
yesandiso sokuqinisekisa ukuthi siphakathi nendawo yokuzungezisa Uma idivayisi ikhala ngebhethri eliphansi, sicela uyishaje kusenesikhathi. Sicela usebenzise idivayisi endaweni ehlangabezana nezidingo zeleveli yokuvikela ngokuya ngakho
ezingeni lokuvikela le-IP ledivayisi. Sicela ungayiphushi inqola ngokuqondile Isandiso samandla somsila asidluli ku-10A, futhi amandla esewonke awekho.
ngaphezu kuka-240W.
Ibhethri
izinyathelo zokuzivikela
Ibhethri lemikhiqizo ye-BUNKER MINI alishajiwe ngokugcwele lapho liphuma efekthri. Umthamo webhethri othizetage kanye namandla kungaboniswa nge-voltagimitha yokubonisa ngemuva kwe-chassis ye-BUNKER MINI noma ngevolthi nebhethi kusilawuli kude.
Sicela ungalishaji ibhethri ngemva kokuba seliphelile. Sicela uyishaje ngesikhathi lapho ibhethri yesilawuli kude se-BUNKER MINI ingaphansi kuka-15% noma ivolumu yomsilatagIsibonisi se-e singaphansi kuka-25V.
Izimo zokugcina ezimile: Izinga lokushisa elilungile lesitoreji ngu -10~40. Uma ibhethri lingasebenzi, kufanele lishajwe futhi lishajwe kanye ngenyanga, bese ligcinwa ngomthamo ogcwele.tage. Ungaligcini ibhethri Beka emlilweni, noma ushise ibhethri. Ungawagcini amabhethri emazingeni okushisa aphezulu.
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Ukushaja: Kufanele usebenzise ishaja yebhethri ye-lithium efanayo ukushaja. Ungashaji ibhethri ngaphansi kuka-0°C. Ungasebenzisi amabhethri ajwayelekile okungewona awoqobo, izinsiza zikagesi, namashaja.
Izinyathelo zokuzivikela
okwe
sebenzisa
imvelo
Izinga lokushisa lokusebenza le-BUNKER MINI ngu -10~40. Sicela ungayisebenzisi ezindaweni ezinamazinga okushisa angaphansi kuka -10 noma ngaphezulu kuka-40.
Ungawusebenzisi endaweni enamagesi abolayo noma avuthayo noma eduze nezinto ezivuthayo.
Sicela ungawusebenzisi eduze nezinto zokushisisa ezifana nezifudumezi noma izinsimbi ezinkulu zamakhoyili. I-BUNKER MINI ayingeni emanzini futhi ayingenisi uthuli. Sicela ungayisebenzisi ecwiliswe emanzini isikhathi eside
isikhathi. Hlola futhi ususe ukugqwala njalo. Kunconywa ukuthi ukuphakama kwendawo yokusebenza kungeqi ku-1000M Kunconywa ukuthi umehluko wokushisa phakathi kwemini nobusuku ekusetshenzisweni
imvelo ayidluli 25 Njalo hlola futhi unakekele abacindezela ithrekhi
Ukuphepha
Izinyathelo zokuzivikela
Uma unemibuzo mayelana nenqubo yokusebenzisa, sicela ulandele imanuwali yeziqondiso efanele noma uxhumane nabasebenzi bezobuchwepheshe abafanelekile.
Ngaphambi kokusebenzisa okokusebenza, naka izimo zasendaweni ukuze ugweme ukusebenza okungalungile okungadala izinkinga zokuphepha komuntu siqu.
Esimeni esiphuthumayo, cindezela inkinobho yokumisa isimo esiphuthumayo ukuze ucime okokusebenza. Sicela ungashintshi isakhiwo sedivayisi yangaphakathi ngaphandle kosekelo lobuchwepheshe nemvume. Uma kukhona okungahambi kahle ngesisetshenziswa, sicela uyeke ukusisebenzisa ngokushesha ukuze ugweme
ukulimala kwesibili. Uma kwenzeka okuthile okungavamile emshinini, sicela uxhumane nochwepheshe abafanelekile
futhi ungayiphathi ngaphandle kwemvume.
OKUQUKETHWE
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Idokhumenti
inguqulo
OKUQUKETHWE
Ukuphepha
Ulwazi
OKUQUKETHWE
1 Isingeniso
of
BUNKER
I-MINI
2.0
1.1 Uhlu Lomkhiqizo 1.2 Imingcele yokusebenza 1.3 Edingekayo ukuze kuthuthukiswe
2 I
Okuyisisekelo
2.1 Incazelo yesixhumi esibonakalayo sikagesi 2.2 Imiyalelo yesilawuli kude 2.3 Lawula umyalo nencazelo yokunyakaza
3 Ukuthola
Iqalile
3.1 Ukusetshenziswa nokusebenza 3.2 Ukushaja 3.3 Ukuthuthukiswa
3.3.1 CAN Cable Cable Connection 3.3.2 CAN incazelo yephrothokholi 3.3.3 BUNKER MINI 2.0 ROS Iphakheji Yokusetshenziswa Example
4
Sebenzisa
futhi
ukusebenza
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5
I-Q&A
6
Umkhiqizo
Ubukhulu
6.1 Imifanekiso yobukhulu bohlaka lomkhiqizo 6.2 Imifanekiso yobukhulu bobakaki bokunwetshwa okuphezulu
1 Isingeniso
of
BUNKER
I-MINI
2.0
I-BUNKER MINI 2.0 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.
1.1 Umkhiqizo
Uhlu
Qamba umzimba we-BUNKER MINI 2.0robot
Ishaja yebhethri (AC 220V)
Ipulaki yendiza wesilisa engu-4Pin
Isilawuli kude se-FS (ongakukhetha) I-USB kuya kumojula yokuxhumana ye-CAN
1.2 Ukusebenza
imingcele
Ubuningi x1 x1 x1 x1 x1
Ipharamitha Izinhlobo Ukucaciswa komshini
Izinto L × W × H (mm)
Amanani 690 x 570 x 335
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I-Wheelbase (mm)
Isisekelo samasondo angaphambili/angemuva (mm)
Ukuphakama kwe-chassis
Ububanzi bethrekhi
Isisindo se-Curb (kg)
Uhlobo Lwebhethri
Amapharamitha ebhethri
Injini yokushayela amandla
I-Steering drive motor
Imodi yokupaka
Ukuqondisa
Ifomu lokumiswa
Isilinganiso sokunciphisa isiteringi
Isifaki khodi senjini yokuqondisa
Isilinganiso sokunciphisa imoto yeDrayivu
Shayela inzwa yemoto
Amapharamitha wokusebenza
Ibanga le-IP
Isivinini esiphezulu (km/h)
Irediyasi encane yokujika (mm)
Ukubaleka okuphezulu (°)
80 100 56 Ibhethri ye-lithium 30AH 2×250W DC ibhulashi motor Ithrekhi yohlobo lokuqondisa okuhlukile -
-
-
19.7 1
I-Magnetic braiding 1024 IP22 1.0
Ingajika endaweni
30°
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Lawula
Ubuningi bezithiyo eziwela Ukuvunyelwa komhlaba (mm) Ubuningi bempilo yebhethri (h) Ibanga eliphezulu (km) Isikhathi sokushaja (h)
Izinga lokushisa lokusebenza ()
Imodi yokulawula
I-RC Transmitter System interface
120mm 410 8 14KM 3
-10~40 Isilawuli kude sokulawula Imodi yokulawula i-2.4G/ibanga elidlulele 200M
CAN
1.3 Kuyadingeka
okwe
ukuthuthukiswa
I-BUNKER MINI 2.0 ifakwe isilawuli kude se-FS esivela efektri, abasebenzisi abangasebenzisa ngayo ukulawula i-chassis yerobhothi i-BUNKER MINI 2.0mobile ukuqedela ukunyakaza nokujikeleza. Ngaphandle kwalokho, i-BUNKER MINI 2.0 ifakwe isixhumi esibonakalayo se-CAN, abasebenzisi abangaqhuba ngaso ukuthuthukiswa kwesibili.
2 I
Okuyisisekelo
Le ngxenye izonikeza isingeniso esiyisisekelo se-BUNKER MINI 2.0 ye-chassis yamarobhothi ephathwayo, ukuze abasebenzisi nabathuthukisi babe nokuqonda okuyisisekelo kwe-BUNKER MINI 2.0chassis.
2.1 Ezogesi
esibonakalayo
incazelo
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.
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Umfanekiso 2.1 Isixhumi esibonakalayo sikagesi sangemuva Incazelo yokuxhumana kanye nesixhumi esibonakalayo samandla se-Q5 kuboniswe kuMfanekiso 2-2.
Iphini No.
Uhlobo Lwephini
Umsebenzi Nencazelo
1
Amandla
VCC
2
Amandla
3
CAN
I-GND CAN_H
Ukuphawula
Ukunikezwa kwamandla okuhle, voltagububanzi obungu-24~29V, umkhawulo wamanje ongu-10A Ukunikezwa kwamandla okungalungile kwe-CAN ibhasi ephezulu
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4
CAN
I-CAN_L
CAN ibhasi eliphansi
Umfanekiso 2.2 Iphinikhodi yencazelo yomdwebo wesixhumi esibonakalayo esinwetshiwe sokundiza
2.2 Ekude
ukulawula
imiyalelo
Isilawuli kude se-Fuss siyisisetshenziswa ongasikhetha semikhiqizo ye-BUNKER MINI. Amakhasimende angakhetha ngokuvumelana nezidingo zangempela. Ukusebenzisa isilawuli kude kungalawula kalula i-BUNKER MINI irobhothi chassis yendawo yonke. Kulo mkhiqizo, sisebenzisa ukwakheka kwesisheshisi esingakwesokunxele. Incazelo nemisebenzi yayo ingabhekiselwa kuMfanekiso 2.3. Imisebenzi yezinkinobho ichazwa kanje: I-SWA kanye ne-SWD ayivunyelwe okwesikhashana. I-SWB iyinkinobho yokukhetha imodi yokulawula. Iphushele phezulu ukuze uthole imodi yokulawula yomyalo. Iphushele phakathi ukuze uthole imodi yesilawuli kude. I-SWC iyinkinobho yemodi yokukhanya kwemoto. Iphushele phezulu. Kuyindlela evamile yokukhanyisa amalambu emoto. Ishayele phakathi ukuze ikhanyise izibani uma imoto ihamba. Ishayele ezansi ukuze ushintshe izibani ziye kumodi evamile yokucima. I-S1 iyinkinobho ye-throttle, elawula i-BUNKER MINI ukuya phambili nangemuva; I-S2 ilawula ukuzungezisa, futhi AMANDLA iyinkinobho yamandla. Cindezela bese ubamba ngesikhathi esifanayo ukuze uyivule.
Ngiyacela
inothi:
SWA,
I-SWB,
SWC,
futhi
I-SWD
konke
isidingo
ku
be
at
i
phezulu
nini
i
kude
ukulawula
is
waphenduka
ku.
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Umfanekiso 2.3 Umdwebo wohlelo lwezinkinobho zesilawuli kude se-FS Isilawuli kude
ukulawula
esibonakalayo
incazelo: I-Bunker : imodeli Ivolumu: ibhethri voltage Imoto: isimo se-chassis Batt: I-Chassis power percentage P: Isilawuli-kude sePaki: ileveli yebhethri yesilawuli kude Ikhodi Yephutha: Ulwazi lwephutha (Imele i-byte [5] kuhlaka lwama-211)
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2.3 Ukulawula
umyalo
futhi
umnyakazo
incazelo
Sisungula uhlaka lwereferensi yokuxhumanisa imoto ephathwayo ephansi ngokwezinga le-ISO 8855 njengoba kukhonjisiwe kuMfanekiso 2.4.
Umfanekiso 2.4 Umdwebo ohleliwe wohlaka lwereferensi yenhlangano yemoto Njengoba kuboniswe ku-2.4, umzimba we-BUNKER MINI 2.0 uhambisana ne-X-axis yohlaka lwesithenjwa olumisiwe.
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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.
3 Ukuthola
Iqalile
Le ngxenye yethula ngokuyinhloko ukusebenza okuyisisekelo nokusetshenziswa kwenkundla ye-BUNKER MINI 2.0, futhi yethula indlela yokwenza ukuthuthukiswa kwesibili kwendikimba yezimoto ngembobo yangaphandle ye-CAN kanye nephrothokholi yebhasi ye-CAN.
3.1 Sebenzisa
futhi
ukusebenza
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
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Qala
up
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;
Amandla
icishiwe
Cindezela inkinobho yamandla ukuze unqamule amandla;
Isimo esiphuthumayo
Ima
Cindezela inkinobho yokumisa izimo eziphuthumayo ngemuva komzimba we-BUNKER MINI 2.0;
Okuyisisekelo
ukusebenza
inqubo
of
kude
ukulawula
Ngemuva kokuthi i-BUNKER MINI 2.0 i-chassis yerobhothi iqalwe ngokujwayelekile, vula isilawuli kude bese ukhetha imodi yokulawula njengemodi yesilawuli kude, ukuze ukunyakaza kweplatifomu ye-BUNKER MINI 2.0 kulawulwe yisilawuli kude.
3.2 Ukushaja
Imikhiqizo ye-BUNKER MINI 2.0 ifakwe ishaja evamile ngokuzenzakalelayo, ekwazi ukuhlangabezana nezidingo zokushaja zamakhasimende. Inqubo ethile yokusebenza yokushaja imi kanje:
Qiniseka ukuthi i-BUNKER MINI 2.0 chassis isesimweni sokucisha ugesi. Ngaphambi kokushaja, sicela uqinisekise ukuthi i-Q2 (iswishi yamandla) kukhonsoli kagesi yangemuva ivuliwe
icishiwe Faka ipulaki yeshaja endaweni yokushaja ye-Q4 kuphaneli yokulawula kagesi engemuva
Xhuma ishaja endaweni kagesi bese uvula iswishi yeshaja ukuze ufake isimo sokushaja.
Uma ishaja ngokuzenzakalelayo, akukho ukukhanya okukhomba ku-chassis. Ukuthi iyashaja noma cha
15/38
kuncike ekuboniseni isimo seshaja.
3.3 Intuthuko
3.3.1
CAN
Ikhebula
Ukuxhumana
I-BUNKER MINI ihanjiswa nemoto futhi inikeza ipulaki yendiza wesilisa njengoba kukhonjisiwe kuMfanekiso 3.1. Incazelo yezintambo iphuzi njenge-CANH, eluhlaza okwesibhakabhaka njenge-CANL, ibomvu njengamandla ephozithivu, futhi emnyama njengokuthi inegethivu. Qaphela:
In
i
okwamanje
BUNKER
I-MINI
inguqulo,
kuphela
i
umsila
esibonakalayo
is
vula
ku
ngaphandle
ukunwetshwa
ukuxhumana.
I
amandla
hlinzeka
in
lokhu
inguqulo
kungaba
hlinzeka
a
esiphezulu
okwamanje
of
10A.
Umfanekiso 3.1 Umdwebo ohleliwe wepulaki yendiza
3.3.2
CAN
Iphrothokholi
incazelo
Imikhiqizo ye-BUNKER MINI inikeza isixhumi esibonakalayo se-CAN sokuthuthukiswa komsebenzisi, lapho abasebenzisi bangayala futhi balawule indikimba yemoto. Izinga lokuxhumana le-CAN emikhiqizweni ye-BUNKER MINI lamukela indinganiso ye-CAN2.0B, izinga lokuxhumana le-baud ngu-500K, futhi ifomethi yomlayezo isebenzisa ifomethi ye-MOTOROLA. Isivinini esihambayo somugqa kanye nesivinini sokuzungeza esingu-angular se-chassis singalawulwa nge-interface yebhasi ye-CAN yangaphandle; I-BUNKER MINI izophendula ulwazi lwamanje lwesimo sokunyakaza kanye nolwazi lwesimo se-BUNKER MINI chassis ngesikhathi sangempela. Iphrothokholi ifaka ozimele bempendulo yesimo sesistimu, amafreyimu empendulo okulawula ukunyakaza, nozimele bokulawula. Okuqukethwe kwephrothokholi kungokulandelayo: Umyalo wempendulo yesimo sesistimu uhlanganisa impendulo yesimo somzimba wemoto samanje, impendulo yemodi yokulawula, umthamo webhethritage impendulo kanye nempendulo yephutha. Okuqukethwe kwephrothokholi kukhonjiswe kuThebula 3.1:
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Ithebula 3.1 I-BUNKER MINI 2.0 I-Chassis State Feedback Frame
Igama lomyalo
Umyalo wempendulo yesimo sesistimu
I-nodi yokuthumela I-Node yokwamukela
ID
Biyela uNksz
Ithola Isikhathi Sokuphela (ms)
I-chassis elawulwa ngocingo
Iyunithi yokulawula izinqumo
0x211
200ms
Lutho
Ubude bedatha
0x08
Indawo
Umsebenzi
Uhlobo Lwedatha
Incazelo
ibhayithi [0]
Isimo somzimba wemoto yamanje
engasayiniwe int8
0x00 Imodi evamile yokuvala yesistimu engu-0x01
0x02 Okuhlukile kwesistimu
ibhayithi [1]
Ukulawula imodi
engasayiniwe int8
0x00 Imodi yokulinda 0x01 CAN imodi yokulawula umyalo
0x03 Imodi yesilawuli kude
ibhayithi [2] ibhayithi [3]
Amabhithi angaphezulu ayisishiyagalombili ebhethri
ivolumutage
Amabhithi ayisishiyagalombili aphansi ebhethri
ivolumutage
engasayiniwe int16 Ivolumu yangempelatage X10 (inembe kuye ku-0.1V)
ibhayithi [4]
Igodliwe
-
0x00
ibhayithi [5]
Imininingwane yephutha ayisayiniwe nge-int8
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 uma kuthunyelwa umyalo
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Ithebula 3.2 Ithebula lencazelo yolwazi lwamaphutha
I-Byte byte [5]
Incazelo yolwazi lwephutha
Kancane
Incazelo
kancane [0]
Ukunganakwa kwebhethritage iphutha
kancane [1]
Ukunganakwa kwebhethritage isixwayiso
kancane [2]
Isilawuli kude
isivikelo sokunqanyulwa 0:
evamile, 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 I-Node
ID
Biyela uNksz
I-chassis elawulwa ngocingo
Iyunithi yokulawula izinqumo
0x221
20ms
Ithola Isikhathi Sokuphela (ms)
Lutho
18/38
Ubude bedatha Indawo
ibhayithi [0] ibhayithi [1] ibhayithi [2] ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7]
0x08
Umsebenzi
Izingcezu ezingaphezulu eziyisishiyagalombili ze-
isivinini sokunyakaza Isishiyagalombili esiphansi
izingcezu zejubane lokunyakaza
Izingcezu ezingaphezulu eziyisishiyagalombili ze-
isivinini sokuzungeza Isishiyagalombili esiphansi
izingcezu zejubane lokujikeleza
Igodliwe
Igodliwe
Igodliwe
Igodliwe
Uhlobo Lwedatha
usayine i-int16
usayine i-int16
-
Incazelo
Isivinini sangempela X 1000 (sinembile siye ku-0.001m/s)
Isivinini sangempela X 100 (inembe ukuya ku-0.01rad/s)
0x00 0x00 0x00 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
I-nodi yokuthumela Inodi yokwamukela
Iyunithi yokulawula izinqumo
I-Chassis node
Lawula umyalo
ID
Biyela uNksz
0x111
20ms
Ithola Isikhathi Sokuphela (ms)
500ms
19/38
Ubude bedatha Indawo ibhayithi [0] ibhayithi [1] ibhayithi [2] ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7]
0x08
Umsebenzi
Amabhithi ayisishiyagalombili aphezulu omugqa
isivinini
Amabhithi ayisishiyagalombili aphansi omugqa
isivinini
Amabhithi ayisishiyagalombili aphezulu
isivinini se-angular
Izingcezu eziyisishiyagalombili ezingezansi ze-
isivinini se-angular
Igodliwe
Igodliwe
Igodliwe
Igodliwe
Uhlobo Lwedatha
usayine i-int16
Isivinini sokuhamba somzimba wemoto, iyunithi mm/s, ibanga lenani [-1300,1300]
usayine i-int16
Isivinini se-angular esijikelezayo somzimba wemoto, iyunithi 0.001rad/s, inani
ububanzi [-2000, 2000]
-
0x00
-
0x00
-
0x00
-
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 Ithumela inodi Yemukela inodi
Umyalo wokusetha imodi yokulawula
ID
Biyela uNksz
Ithola Isikhathi Sokuphela (ms)
20/38
Iyunithi yokulawula izinqumo
Ubude bedatha
Isikhundla
I-Chassis node 0x01
Umsebenzi
ibhayithi [0]
INGAlawula ukunika amandla
0x421
Lutho
Lutho
Uhlobo lwedatha olungasayiniwe nge-int8
Incazelo
0x00 Imodi yokulinda 0x01 CAN imodi yomyalo Ingena kumodi yokulinda ngokuzenzakalelayo
ngemva kokuvula amandla
Qaphela[1] Incazelo yemodi yokulawula
Uma isilawuli kude se-BUNKER MINI 2.0 singavulwanga, imodi yokulawula ezenzakalelayo 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
Biyela uNksz
Ithola Isikhathi Sokuphela (ms)
Iyunithi yokulawula izinqumo
I-Chassis node
0x441
Lutho
Lutho
Ubude bedatha
0x01
Isikhundla
Umsebenzi
Uhlobo lwedatha
Incazelo
ibhayithi [0]
Iphutha lokususa umyalo
d
engasayiniwe int8
0x00 Sula wonke amaphutha angabalulekile 0x01 Sula i-motor 1 iphutha 0x02 Sula iphutha le-motor 2
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Qaphela 3: Example data, idatha elandelayo ezosetshenziswa ukuhlola kuphela 1. Imoto iya phambili ngesivinini esingu-0.15/S
ibhayithi [0] 0x00
ibhayithi [1] 0x96
ibhayithi [2] 0x00
ibhayithi [3] 0x00
ibhayithi [4] 0x00
ibhayithi [5] 0x00
ibhayithi [6] 0x00
ibhayithi [7] 0x00
2. Imoto izungeza ku-0.2RAD/S
ibhayithi [0] 0x00
ibhayithi [1] 0x00
ibhayithi [2] 0x00
ibhathi [3] 0xc8
ibhayithi [4] 0x00
ibhayithi [5] 0x00
ibhayithi [6] 0x00
ibhayithi [7] 0x00
Ngokungeziwe kumpendulo yolwazi lwesifunda 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
I-nodi yokuthumela Inodi yokwamukela
ID
Biyela uNksz
Ithola Isikhathi Sokuphela (ms)
I-chassis elawulwa ngocingo
Iyunithi yokulawula izinqumo
0x251~0x254
20ms
Lutho
Ubude bedatha
0x08
Isikhundla
Umsebenzi
Uhlobo lwedatha
Incazelo
ibhayithi [0] ibhayithi [1]
Izingcezu ezingaphezulu eziyisishiyagalombili zejubane lemoto
Amabhithi ayisishiyagalombili aphansi ejubane lemoto
usayine i-int16
Iyunithi yesivinini yamanje ye-Motor RPM
22/38
ibhayithi [2] ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7]
Amabhithi angaphezulu ayisishiyagalombili emotor current
Amabhithi ayisishiyagalombili aphansi we
motor current
Isikhundla samanje se-
injini iphezulu kakhulu
Isikhundla samanje se-
injini ingeyesibili ngobukhulu
Isikhundla samanje se-
injini ingeyesibili ephansi
Isikhundla samanje se-
injini iphansi kakhulu
kusayinwe int16 kusayinwe int16 kusayinwe int16 kusayinwe int16 kusayinwe int16
Iyunithi yamanje yemoto engu-0.1A
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
I-nodi yokuthumela Inodi yokwamukela
ID
Biyela uNksz
Ithola Isikhathi Sokuphela (ms)
I-chassis elawulwa ngocingo
Iyunithi yokulawula izinqumo
0x261~0x264
20ms
Lutho
23/38
Ubude bedatha Indawo ibhayithi [0] ibhayithi [1] ibhayithi [2] ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7]
0x08
Umsebenzi
Izingcezu ezingaphezulu eziyisishiyagalombili zomshayelitage
Izingcezu eziphansi eziyisishiyagalombili zomshayelitage
Izingcezu ezingaphezulu eziyisishiyagalombili zezinga lokushisa lomshayeli
Amabhithi ayisishiyagalombili aphansi wezinga lokushisa lomshayeli
Izinga lokushisa lezimoto
Isimo somshayeli
Igodliwe
Igodliwe
Uhlobo lwedatha olusayinwe nge-int16
usayine nge-int16 usayine nge-int8 engasayiniwe nge-int8
-
Ithebula 3.9 I-Actuator Sate
Incazelo
Umshayeli wamanje voltage iyunithi0.1v
iyunithi 1
unit1 Bheka Ithebula 3-9 ukuze uthole imininingwane
0x00 0x00
ibhayithi [5]
kancane [0] kancane [1] kancane [2]
Incazelo yolwazi lwephutha
Ukuthi ugesi unikezwa yinitagi-e iphansi kakhulu (0: evamile 1: iphansi kakhulu)
Ukuthi injini inezinga lokushisa eleqile yini (0: evamile 1: izinga lokushisa elingaphezulu)
Ukuthi umshayeli usedlulele yini isikhathi (0: okuvamile 1: udlule manje)
24/38
kancane [3] kancane [4] kancane [5] kancane [6] kancane [7]
Ukuthi umshayeli unethempelesha eyeqile (0: evamile 1: izinga lokushisa elingaphezulu)
Isimo senzwa (0: esivamile 1: esingavamile) Isimo sephutha lomshayeli (0: evamile 1: okungavamile) Isimo sokuvumela umshayeli (0: Ukunika amandla 1: Ukukhubaza)
Igodliwe
Ithebula 3.10 I-Odometer Feedback Frame
Igama lomyalo
Uhlaka lwempendulo yolwazi lwe-Odometer
I-nodi yokuthumela Inodi yokwamukela
ID
Biyela uNksz
Ithola Isikhathi Sokuphela (ms)
I-chassis elawulwa ngocingo
Iyunithi yokulawula izinqumo
0x311
20ms
Lutho
Ubude bedatha
0x08
Isikhundla
Umsebenzi
Uhlobo lwedatha
Incazelo
ibhayithi [0] ibhayithi [1]
Ibhithi ephakeme kakhulu yesondo lesokunxele
i-odometer
Ingxenye yesibili ephezulu ye-
i-odometer yesondo lesokunxele
usayine i-int32
Impendulo ye-odometer yesondo langakwesokunxele le-chassis
Iyunithi mm
ibhayithi [2]
Ingxenye yesibili ephansi ye-
i-odometer yesondo lesokunxele
25/38
ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7]
Ibhithi ephansi kakhulu ye-odometer yesondo lesokunxele
Inani eliphakeme kakhulu lama-
i-odometer yesondo elingakwesokudla
Ingxenye yesibili ephezulu ye-
i-odometer yesondo elingakwesokudla
Ingxenye yesibili ephansi ye-
i-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
I-nodi yokuthumela Inodi yokwamukela
ID
Biyela uNksz
Ithola Isikhathi Sokuphela (ms)
I-chassis elawulwa ngocingo
Iyunithi yokulawula izinqumo
0x241
20ms
Lutho
Ubude bedatha
0x08
Isikhundla
Umsebenzi
Uhlobo lwedatha
Incazelo
26/38
ibhayithi [0] ibhayithi [1] ibhayithi [2] ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7]
Isilawuli kude impendulo ye-SW
Induku yokudlala yesokudla kwesokunxele nakwesokudla Induku yokudlala yesokudla phezulu
futhi phansi Kwesokunxele induku yokudlala phezulu
futhi phansi Kwesokunxele induku yokudlala
kanye neknobhu yesokunxele i-VRA
Ukuhlola Ukubala Okugodliwe
engasayiniwe int8
kusayinwe int8 kusayinwe int8 kusayinwe int8 kusayinwe int8 kusayinwe int8
-ngasayiniwe 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-down
kancane[6-7]: SWD 2-phezulu 3-phansi Ibanga Levelu [-100,100] Ibanga levelu [-100,100] Ibanga levelu [-100,100] Ibanga levelu [-100,100] Ibanga levelu [-100,100] 0x00 loop 0-255
Ithebula 3.12 Impendulo yedatha yebhethri ye-BMS
Umyalo
Indawo yokuthumela
I-Node yokwamukela
I-chassis yokushayela ngocingo
Iyunithi yokuthatha izinqumo nokulawula
Ubude bedatha
0x08
Byte
Incazelo
Idatha yempendulo ye-BMS
ID
Isikhathi ms
Thola ukuphela kwesikhathi (ms)
0x361
500ms
Lutho
Uhlobo lwedatha
Qaphela
27/38
ibhayithi [0] ibhayithi [1] ibhayithi [2] ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7] Umyalo
I-SOC yebhethri
Isimo Sokukhokhiswa
engasayiniwe int8
Ibhethri SOH (State of
Impilo)
engasayiniwe int8
Ibhayithi yezinga eliphezulu lebhethri voltage Ibhayithi yokuhleleka okuphansi kwebhethri voltage
engasayiniwe int16
Ibhayithi ye-oda eliphezulu lebhethri lamanje I-byte ye-oda eliphansi lebhethri lamanje
usayine i-int16
Ibhayithi yezinga eliphezulu lokushisa kwebhethri
Ibhayithi yokuhleleka okuphansi kwezinga lokushisa lebhethri
usayine i-int16
Ibanga 0~100 Ibanga 0~100 Iyunithi: 0.01 V
Iyunithi: 0.1 A
Iyunithi: 0.1
Ithebula 3.13 Impendulo yedatha yebhethri ye-BMS
Idatha yempendulo ye-BMS
Indawo yokuthumela
I-Node yokwamukela
I-chassis yokushayela ngocingo
Iyunithi yokuthatha izinqumo nokulawula
ID 0x362
Isikhathi ms
Thola ukuphela kwesikhathi (ms)
500ms
Lutho
28/38
I-Byte yobude bedatha
0x04 incazelo
Uhlobo lwedatha
ibhayithi [0]
Isimo se-alamu 1
engasayiniwe int8
ibhayithi [1]
Isimo se-alamu 2
engasayiniwe int8
ibhayithi [2]
Isexwayiso Isimo 1 esingasayiniwe nge-int8
ibhayithi [3]
Isexwayiso Isimo 2 esingasayiniwe nge-int8
Qaphela
I-BIT1: I-Overvoltage; I-BIT2: I-Undervoltage; I-BIT3: Izinga lokushisa eliphezulu; I-BIT4: Izinga lokushisa eliphansi; I-BIT7: Ukukhishwa
i-overcurrent
I-BIT0: Ukushaja i-overcurrent
I-BIT1: I-Overvoltage; I-BIT2: I-Undervoltage; I-BIT3: Izinga lokushisa eliphezulu; I-BIT4: Izinga lokushisa eliphansi; I-BIT7: Ukukhishwa
i-overcurrent
I-BIT0: Ukushaja i-overcurrent
3.3.3
BUNKER
I-MINI
2.0 I-ROS
Iphakheji
Ukusetshenziswa
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.
Intuthuko
ukulungiselela
Izingxenyekazi zekhompuyutha
ukulungiswa kwe-CANlight can communication module X1 Thinkpad E470 Laptop X1 AGILEX BUNKER MINI 2.0 mobile robot chassis X1
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I-AGILEX BUNKER MINI 2.0 isekela isilawuli kude i-FS-i6s X1 AGILEXBUNKER MINI 2.0 isitsha sendiza esiphezulu X1 Environment
incazelo
of
ukusetshenziswa
example Ubuntu 18.04 ROS Git
Izingxenyekazi zekhompuyutha
uxhumano
futhi
ukulungiselela
Khipha ulayini we-CAN we-BUNKER MINI 2.0 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 yeselula ye-BUNKER MINI 2.0, bese uhlola ukuthi amaswishi okumisa izimo eziphuthumayo nhlangothi zombili ayakhululwa yini;
Xhuma i-CAN_TO_USB embobeni ye-USB yekhompuyutha ephathekayo. Umdwebo wokuxhuma ukhonjiswe kuMfanekiso 3.4.
Umfanekiso 3.4 Umdwebo wokuxhumeka komugqa we-CAN
I-ROS
Ukufakwa
futhi
Imvelo
Setha
Ukuze uthole imininingwane yokufaka, sicela ubheke ku-http://wiki.ros.org/kinetic/Installa-tion/Ubuntu
Isivivinyo
OKUKHONA
hardware
futhi
CAN
ukuxhumana
Setha i-adaptha ye-CAN-TO-USB Nika amandla imojuli ye-gs_usb kernel
I-sudo modprobe gs_usb Setha izinga le-baud libe ngu-500k futhi unike amandla i-adaptha ye-CAN-TO-USB
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I-sudo ip link set can0 up type ingabitrate 500000
Uma lingekho iphutha ezinyathelweni ezedlule, ungabheka amadivayisi we-CAN ngomyalo ongezansi
ifconfig -a
Faka futhi usebenzise ama-can-utils ukuhlola i-hardware sudo apt install can-utils
Uma i-adaptha ye-CAN-TO-USB ixhunywe ku-TITAN futhi i-TITAN ivuliwe, umyalo ongezansi ungasetshenziswa ukuqapha idatha evela ku-TITAN.
ikhandlela can0
Sicela ubhekisele ku-: [1] https://github.com/agilexrobotics/agx_sdk [2] https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux. html
I-AGILEX
BUNKER
I-ROS
IPHAKETHI
Landa
futhi
hlanganisa
Landa ukuncika kwe-ros
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard Clone futhi uhlanganise ikhodi yomthombo ye-bunker_ros
mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src git clone https://github.com/agilexrobotics/ugv_sdk.git git clone https://github.com/agilexrobotics/bunker_ros.git cd .. catkin_make source devel/setup.bash
Inkomba https://github.com/agilexrobotics/bunker_ros
Qala
i
I-ROS
indawo
Qala i-base node
roslaunch bunker_bringup bunker_robot_base.launch
Qalisa i-keyboard_control node roslaunch bunker_bringup bunker_teleop_keyboard.launch
Inkomba yephakheji ye-Github ROS kanye nemiyalelo yokusetshenziswa
*_base:: Inodi ewumongo ye-chassis ukuthumela nokwamukela imilayezo ye-CAN yokuhlelwa kwemibhalo. Ngokusekelwe endleleni yokuxhumana ye-ros, ingakwazi ukulawula ukunyakaza kwe-chassis futhi ifunde isimo se-bunker ngesihloko.
*_msgs: Chaza ifomethi ethile yomlayezo wesihloko sempendulo yesimo se-chassis
*_bringup: isiqalo files yamanodi e-chassis namanodi okulawula ikhibhodi, kanye nemibhalo ukunika amandla imojula ye-usb_to_can
4
Sebenzisa
futhi
ukusebenza
Ukuze kube lula abasebenzisi ukuthi bathuthukise inguqulo ye-firmware ye-BUNKER MINI 2.0 futhi ilethe kumakhasimende umuzwa ophelele, i-BUNKER MINI 2.0 inikeza isixhumi esibonakalayo sehadiwe ukuze kuthuthukiswe i-firmware kanye nesofthiwe yeklayenti ehambisanayo.
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Thuthukisa
Ukulungiselela
I-Agilex INGABE imojuli yokulungisa iphutha X 1 Ikhebula le-USB elincane X 1 BUNKER MINI chassis X 1 Ikhompyutha (WINDOWS OS (Isistimu Esebenzayo) X 1
Thuthukisa
Inqubo
1.Xhuma imojula ye-USBTOCAN kukhompuyutha, bese uvula isofthiwe ye-AgxCandoUpgradeToolV1.3_boxed.exe (ukulandelana angeke kube okungalungile, qala uvule isofthiwe bese uxhuma imojuli, idivayisi ngeke yaziwe). 2.Chofoza inkinobho ethi Open Serial, bese ucindezela inkinobho yamandla emzimbeni wemoto. Uma ukuxhumeka kuphumelele, ulwazi lwenguqulo yesilawuli esikhulu luzobonwa, njengoba kuboniswe esithombeni.
3.Chofoza I-Firmware Yokulayisha File inkinobho yokulayisha i-firmware ezothuthukiswa. Uma ukulayisha kuphumelele, ulwazi lwe-firmware luzotholakala, njengoba kuboniswe esithombeni
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4.Chofoza i-node ezothuthukiswa ebhokisini lohlu lwama-node, bese uchofoza Qala Ukuthuthukisa I-Firmware ukuze uqale ukuthuthukisa i-firmware. Ngemuva kokuthi ukuthuthukiswa kuphumelele, kuzovela ibhokisi le-pop-up.
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5
I-Q&A
Q:
BUNKER
I-MINI
2.0 iqala
ngokujwayelekile,
kodwa
i
imoto
umzimba
kwenza
hhayi
hambisa
nge
i
kude
ukulawula? 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:
Nini
i
BUNKER
I-MINI
2.0 isilawuli kude
ukulawula
is
evamile,
i
i-chassis
isimo
futhi
umnyakazo
ulwazi
impendulo
is
evamile,
futhi
i
ukulawula
ifreyimu
Iphrothokholi
is
khishiwe,
ngani
i
imoto
umzimba
ukulawula
imodi
angeke
be
kushintshiwe,
kanye ne
i-chassis
kwenza
hhayi
phendula
ku
i
ukulawula
ifreyimu
umthetho olandelwayo? A: Ngaphansi kwezimo ezijwayelekile, uma i-BUNKER MINI 2.0 ingalawulwa yisilawuli kude, kusho ukuthi isilawuli sokunyakaza kwe-chassis sijwayelekile, futhi ingathola uhlaka lwempendulo ye-chassis, okusho ukuthi isixhumanisi sesandiso se-CAN sivamile. Sicela uhlole ukuthi ingabe umyalo ushintshelwe kumodi yokulawula ye-CAN..
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Q:
Nini
i
efanele
ukuxhumana
is
thwalwa
ngaphandle
ngokusebenzisa
i
CAN
ibhasi,
futhi
i
i-chassis
impendulo
umyalo
is
evamile,
ngani
kwenza
i
imoto
do
hhayi
phendula
ngemva
i
ukulawula
is
ikhishiwe? A: I-BUNKER MINI 2.0 inendlela yokuvikela ukuxhumana ngaphakathi. I-Chassis inendlela yokuvikela ukuphela kwesikhathi lapho isebenza nemiyalo yokulawula ye-CAN yangaphandle. Uma ucabanga ukuthi ngemuva kokuba imoto ithole uhlaka lwephrothokholi 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.
6
Umkhiqizo
Ubukhulu
6.1 Imifanekiso
of
umkhiqizo
uhlaka
izilinganiso
6.2
Imifanekiso
of
phezulu
ukunwetshwa
ubakaki
izilinganiso
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Amadokhumenti / Izinsiza
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Iqembu le-AgileX 2023.09 Robotics [pdf] Imaniwali yosebenzisayo 2023.09 Ithimba Lerobhothi, 2023.09, Ithimba Lamarobhothi, Ithimba |
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Iqembu le-AgileX 2023.09 Robotics [pdf] Imaniwali yosebenzisayo 2023.09 Ithimba Lerobhothi, 2023.09, Ithimba Lamarobhothi, Ithimba |