Ithimba le-Hunter AgileX Robotics
“
Ulwazi Lomkhiqizo
Imininingwane
- Igama Lomkhiqizo: Ithimba le-BUNKER PRO AgileX Robotics
- Inguqulo Yemanuwali Yomsebenzisi: V.2.0.1
- Inguqulo Yombhalo: 2023.09
- Umthwalo omkhulu: 120KG
- Izinga Lokushisa Lokusebenza: -20°C kuya ku-60°C
- I-IP Protection Level: IP66 (uma ingenziwanga ngendlela oyifisayo)
Imiyalo yokusetshenziswa komkhiqizo
Ulwazi Lokuphepha
Ngaphambi kokusebenzisa irobhothi, qiniseka ukuthi ufunda futhi uqonde konke ukuphepha
ulwazi olunikezwe kumanuwali. Yenza ukuhlolwa kwengozi ye
uhlelo oluphelele lwamarobhothi futhi uxhume imishini yokuphepha edingekayo.
Qaphela ukuthi irobhothi alinakho ukuphepha okuphelele kokuzimela
imisebenzi.
Imvelo
Funda imanyuwali ngokucophelela ngaphambi kokusebenzisa kokuqala ukuze uqonde
imisebenzi eyisisekelo kanye nemininingwane. Khetha indawo evulekile yesilawuli kude
lawula njengoba imoto ingenazo izinzwa zokugwema izithiyo ezizenzakalelayo.
Isebenza emazingeni okushisa aphakathi kuka -20°C kuya ku-60°C.
Hlola
Ngaphambi kokusebenza, qiniseka ukuthi zonke izisetshenziswa zishajwe futhi zisesimweni esihle
isimo. Bheka ukuthi akukho yini okungavamile emotweni nakude
lawula ibhethri. Khipha iswishi yokumisa isimo esiphuthumayo ngaphambi kokusetshenziswa.
Ukusebenza
Sebenza ezindaweni ezivulekile ngaphakathi komugqa obonakalayo. Ungeqi i-
umkhawulo omkhulu wokulayisha ongu-120KG. Qinisekisa ukuthi i-centre of mass iku-
isikhungo sokujikeleza lapho ufaka izandiso. Imishini yokushaja
lapho voltage yehla ngaphansi kwe-48V futhi yeka ukusebenzisa ngokushesha uma
okungavamile kutholwa.
FAQ
Q: Yini okufanele ngiyenze uma ngihlangabezana nokungajwayelekile ngenkathi ngisebenzisa
i-BUNKER PRO?
A: Yeka ukusebenzisa okokusebenza ngokushesha ukuze ugweme okwesibili
umonakalo. Xhumana nabasebenzi bezobuchwepheshe abafanelekile ukuze uthole usizo.
Q: Ingabe i-BUNKER PRO ingakwazi ukugwema izithiyo ngokuzenzakalelayo?
A: Cha, imoto ngokwayo ayinaso isithiyo esizenzakalelayo
izinzwa zokugwema. Sebenza ezindaweni ezivulekile uma kuqhathaniswa nezikude
ukulawula.
“`
BUNKER
PRO
Umsebenzisi
Imanuwali
BUNKER
Umsebenzisi weqembu le-PRO AgileX Robotic
Imanuwali V.2.0.1
2023.09
Idokhumenti
inguqulo
Cha. Inguqulo
Usuku
Kuhlelwe ngu
Reviewer
Amanothi
1
V1.0.0 2023/3/17
uhlaka lokuqala
2
V2.0.0 2023/09/02
Engeza isithombe esinikezayo Lungisa indlela yokusebenzisa iphakheji ye-ROS
Ukuhlola idokhumenti
1/35
3
V2.0.1 2023/09/018
Uhlu oluvumelanisiwe lwepharamitha yemoto Kwengezwe Ithebula 3.2 Ulwazi lwamaphutha
ithebula lencazelo
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.
Okubalulekile
Ukuphepha
Ulwazi
Ulwazi olukule manuwali alubandakanyi ukuklama, ukufakwa nokusebenza kohlelo lwerobhothi oluphelele, futhi alufaki zonke izinto ezithinta umngcele ezingase zithinte ukuphepha kwalesi simiso esiphelele. Ukuklanywa nokusetshenziswa kwesistimu ephelele kudingeka kuhambisane nezidingo zokuphepha ezisungulwe kumazinga nemithetho yezwe lapho irobhothi lifakwe khona. Abahlanganisi namakhasimende okugcina e-BUNKERPRO anomthwalo wemfanelo wokuqinisekisa ukuthotshelwa kwemibandela efanele nemithetho nemithethonqubo esebenzayo, nokuqinisekisa ukuthi azikho izingozi ezinkulu ekusetshenzisweni okuphelele kwerobhothi. Lokhu kubandakanya kodwa akukhawulelwe kulokhu okulandelayo:
Ukusebenza kahle
futhi
umthwalo wemfanelo
Yenza ukuhlolwa kwengozi yohlelo oluphelele lwamarobhothi. Xhuma impahla eyengeziwe yokuphepha yeminye imishini echazwe ukuhlolwa kobungozi
ndawonye. Qinisekisa ukuthi idizayini kanye nokufakwa kwawo wonke ama-peripherals wesistimu yerobhothi, okuhlanganisa
isofthiwe nezinhlelo zehadiwe, zilungile.
2/35
Leli robhothi alinayo imisebenzi yokuphepha efanele yerobhothi leselula elizilawulayo eliphelele, okuhlanganisa kodwa elingakhawulelwe ekulweni nokushayisana okuzenzakalelayo, ukulwa nokuwa, isixwayiso sendlela yesidalwa, njll. Imisebenzi efanelekile idinga abahlanganisi namakhasimende wokugcina ukuthi enze ukuhlola kokuphepha ngokuvumelana nezinhlinzeko ezifanele. kanye nemithetho esebenzayo neziqondiso zokuqinisekisa ukuthi irobhothi elithuthukisiwe alinazo izingozi ezinkulu kanye nezingozi ezifihliwe ekusebenzeni okungokoqobo.
Qoqa wonke amadokhumenti ku-technical file: kufaka phakathi ukuhlolwa kobungozi kanye nale manuwali. Yazi izingozi zokuphepha ezingaba khona ngaphambi kokusebenzisa kanye nokusebenzisa okokusebenza.
Imvelo
Okokuqala, sicela ufunde leli bhukwana ngokucophelela ukuze uqonde okuqukethwe okuyisisekelo kokusebenza kanye nezici zokusebenza.
Khetha indawo evulekile uma kuqhathaniswa yesilawuli kude, ngoba imoto ngokwayo ayinazo izinzwa zokugwema izithiyo ezizenzakalelayo.
Sebenzisa endaweni yokushisa ye-20-60. Uma imoto ingenzi ngokwezifiso izinga lokuvikela le-IP ngalinye, ingangenwa amanzi kanye nezintuli-
umthamo wobufakazi yi-IP66.
Hlola
Qinisekisa ukuthi isisetshenziswa ngasinye sineshaji eyanele. Qinisekisa ukuthi imoto ayinakho okungavamile okusobala. Hlola ukuthi ibhethri yesilawulikude sinokushajwa okwanele yini. Qiniseka ukuthi inkinobho yokumisa isimo esiphuthumayo ikhululiwe uma usebenzisa.
Ukusebenza
Qinisekisa ukuthi indawo ezungezile ivulekile ngesikhathi sokusebenza. Isilawuli kude ngaphakathi komugqa wokubuka. Umthwalo omkhulu we-BUNKERPRO ngu-120KG. Lapho isetshenziswa, qiniseka ukuthi inkokhelo ayikhokhi
ngaphezu kwe-120KG. Uma ufaka isandiso sangaphandle se-BUNKERPRO, qinisekisa isikhungo sesisindo
isandiso futhi uqiniseke ukuthi iphakathi nendawo yokuzungezisa. Lapho voltage ingaphansi kuka-48V, sicela uyishaje ngesikhathi. Uma okokusebenza kungavamile, sicela uyeke ukukusebenzisa ngokushesha ukuze ugweme ukulimala kwesibili. Uma okokusebenza kungavamile, sicela uthinte izisebenzi zezobuchwepheshe ezifanele futhi ungakwenzi
yiphathe ngaphandle kwemvume.
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Sicela uyisebenzise endaweni ehlangabezana nezidingo zeleveli yokuvikela ngokuya ngeleveli yokuvikela ye-IP yamathuluzi.
Ungasunduzi imoto ngqo. Lapho ushaja, qiniseka ukuthi izinga lokushisa le-ambient lingaphezulu kuka-0°C.
Isondlo
Hlola njalo ukushuba kwengoma emisiwe, bese uqinisa ithrekhi njalo ngo-150~200H. Ngemva kwamahora angu-500 wokusebenza, hlola amabhawodi namantongomane engxenye ngayinye yomzimba. Ngiyaqinisa
ngokushesha uma zixega. Ukuze uqinisekise umthamo wokugcina webhethri, ibhethri kufanele ligcinwe ngokushajwa,
futhi ibhethri kufanele ishajwe njalo uma ingasetshenziswa isikhathi eside.
Ukunaka
Lesi sigaba siqukethe izinyathelo zokuphepha zokusebenzisa nokuthuthukisa i-BUNKERPRO.
Ibhethri
izinyathelo zokuzivikela
Uma i-BUNKERPRO iphuma efekthri, ibhethri alishaji ngokuphelele. Amandla ebhethri athile angaboniswa ngevolthitagbonisa imitha ku-chassis ye-BUNKERPRO engemuva noma ufunde ngesixhumi esibonakalayo sokuxhumana sebhasi le-CAN;
Sicela ungayishaji ibhethri ngemva kokuba amandla ayo esephelile. Sicela uyishaje ngesikhathi lapho ivolumu iphansitage-BUNKERPRO ngemuva ingaphansi kuka-48V;
Izimo zokugcina ezimile: Izinga lokushisa elingcono kakhulu lokugcina ibhethri ngu -10°C~45°C; uma igcinwa ingasetshenziswa, ibhethri kufanele lishajwe futhi lishajwe kanye njalo ngenyanga engu-1, bese ligcinwa ngevolthi ephelele.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. Ungawashaji ibhethri ngaphansi kuka-0°C, futhi ungawasebenzisi amabhethri, izinto zikagesi, namashaja angajwayelekile.
Izinyathelo zokuzivikela
okwe
ukusebenza
imvelo
Izinga lokushisa lokusebenza le-BUNKERPRO ngu-20 ~ 60; sicela ungayisebenzisi endaweni lapho izinga lokushisa lingaphansi - 20 noma ngaphezulu kuka-60;
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Izidingo zomswakama ohlobene wendawo yokusebenza ye-BUNKERPRO yilezi: umkhawulo ongu-80%, ubuncane obungu-30%; Sicela ungayisebenzisi endaweni enegesi ebolayo nevuthayo noma endaweni eseduze nezinto ezivuthayo;
Ungayigcini ezintweni zokushisisa njengezifudumezi noma izinto eziphikisayo ezinkulu eziboshiwe; Ngaphandle kwenguqulo eyenziwe ngokwezifiso (eyenziwe ngokwezifiso ngezinga lokuvikela le-IP), i-BUNKER PRO
ayivimbeli amanzi, ngakho-ke sicela ungayisebenzisi ezindaweni ezinemvula, iqhwa, noma amanzi amile; Kunconywa ukuthi ukuphakama kwendawo yokusebenza akufanele kudlule i-1000M; Kunconywa ukuthi umehluko wokushisa phakathi kwemini nobusuku ekusebenzeni
imvelo akufanele idlule 25 ° C; Hlola njalo futhi ulondoloze isondo lokudonsa ithrekhi.
Izinyathelo zokuzivikela
okwe
kagesi
ngaphandle
Amandla wamanje wesandiso sangemuva samandla akumele adlule ku-10A, futhi amandla aphelele akufanele adlule ku-480W;
Ukuphepha
izinyathelo zokuzivikela
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 kanye nemvume, sicela ungakushintshi okwangaphakathi mathupha
isakhiwo semishini.
Okunye
izinyathelo zokuzivikela
Ungayiwisi noma uyibhekise phansi imoto lapho uyithwala futhi uyimisa; Kwabangewona ochwepheshe, sicela ungayiqaqi imoto ngaphandle kwemvume.
OKUQUKETHWE
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OKUQUKETHWE
Idokhumenti
inguqulo
Okubalulekile
Ukuphepha
Ulwazi
Ukunaka
OKUQUKETHWE
1
Isingeniso
ku
I-BUNKERPRO
1.1 Uhlu lomkhiqizo 1.2 Imininingwane yezobuchwepheshe 1.3 Imfuneko yokuthuthukiswa
2
I
Okuyisisekelo
2.1Imiyalo yezixhumanisi zikagesi 2.2 Imiyalelo yesilawuli kude 2.3 Imiyalelo mayelana nezimfuno zokulawula nokunyakaza
3
Sebenzisa
futhi
Intuthuko
3.1 Ukusetshenziswa nokusebenza 3.2 Ukushaja 3.3.2 Ikhebula lokuxhuma i-CAN 3.3.3 Ukugcwaliseka kokulawula komyalo we-CAN 3.4 Ukuthuthukiswa kweFirmware 3.5 BUNKERPRO ROS Iphakheji Sebenzisa Example
4
I-Q&A
5
Umkhiqizo
Ubukhulu
5.1 Umdwebo womdwebo wobukhulu bomkhiqizo
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5.2 Umdwebo womdwebo wobukhulu obuphezulu bokusekela obunwetshiwe
1
Isingeniso
ku
I-BUNKERPRO
I-BUNKERPRO iyimoto ye-chassis elandelwayo yezinhlelo zokusebenza zomkhakha wonke. Inezici zokusebenza okulula nokuzwelayo, indawo enkulu yokuthuthukiswa, ifaneleka ukuthuthukiswa nokusetshenziswa emikhakheni ehlukahlukene, uhlelo oluzimele lokumiswa, ukumuncwa ukushaqeka okusindayo, ikhono eliqinile lokukhuphuka, nokukwazi ukukhuphuka izitebhisi. Ingasetshenziselwa ukuthuthukiswa kwamarobhothi akhethekile njengamarobhothi okuhlolwa nokuhlola, ukuhlenga kanye ne-EOD, ukudubula okukhethekile, ukuthutha okukhethekile, njll, ukuxazulula izixazululo zokunyakaza kwamarobhothi.
1.1
Umkhiqizo
uhlu
Igama le-BUNKER PRO Ishaja Yebhethri Yomzimba Werobhothi(AC 220V) Ipulaki yesilisa yendiza (4-Pin) FS isidluliseli esilawula kude (Ongakukhetha) I-USB kuya kumojula yokuxhumana ye-CAN
Ubuningi x1 x1 x1 x1 x1
1.2
Ubuchwepheshe
imininingwane
Ipharamitha Izinhlobo Ukucaciswa komshini
Izinto L × W × H (mm)
I-Wheelbase (mm)
Amanani 1064*845*473
-
7/35
Isisekelo samasondo angaphambili/angemuva (mm)
-
Ukuphakama kwe-chassis
120
Ububanzi bethrekhi
150
Isisindo se-Curb (kg)
180
Uhlobo Lwebhethri
Ibhethri ye-lithium
Amapharamitha ebhethri
60AH
Injini yokushayela amandla
2×1500W Brushless servo motor
I-Steering drive motor
-
Imodi yokupaka
-
Ukuqondisa
Ukuqondisa okuhlukile kohlobo lwethrekhi
Ifomu lokumiswa
Ukumiswa kuka-Christie + ukumiswa kwebhalansi ka-Matilda fourwheel
Ukuncishiswa kwezinjini zokuqondisa
-
isilinganiso
Isifaki khodi se-Steering motor Drive motor reduction ratio
-
1 7.5
Shayela inzwa yemoto
Photoelectric increment 2500
Amapharamitha wokusebenza
Ibanga le-IP
IP22
Isivinini esiphezulu (km/h)
1.7m/s
Irediyasi encane yokujika (mm)
Ingajika endaweni
Ukubaleka okuphezulu (°)
30°
Ubuningi bokuwela izithiyo
180
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Lawula
Ukuvunyelwa phansi (mm) Ubuningi bempilo yebhethri (h) Ibanga eliphezulu (km)
Isikhathi sokushaja (h) Izinga lokushisa lokusebenza ()
Imodi yokulawula
I-RC Transmitter System interface
740 8
15KM 4.5
-10~60 Isilawuli kude sokulawula Imodi yokulawula i-2.4G/ibanga elidlulele 200M
CAN
1.3
Imfuneko
okwe
ukuthuthukiswa
I-BUNKERPRO ifakwe isilawuli kude se-FS efektri, futhi abasebenzisi bangakwazi ukulawula i-BUNKERPRO ye-chassis yerobhothi yeselula ngokusebenzisa isilawuli kude ukuze baqedele ukunyakaza nokujikeleza; I-BUNKERPRO ifakwe isixhumi esibonakalayo se-CAN, futhi abasebenzisi bangakwazi ukwenza intuthuko yesibili ngayo.
2
I
Okuyisisekelo
Lesi sigaba sizonikeza isingeniso esiyisisekelo ku-chassis yerobhothi yeselula ye-BUNKERPRO, ukuze abasebenzisi nabathuthukisi babe nokuqonda okuyisisekelo kwe-chassis ye-BUNKERPRO.
2.1Iziyalezo
on
kagesi
izindawo zokuhlangana
9/35
Izixhumanisi zikagesi zangemuva ziboniswa kuMfanekiso 2.1, lapho i-Q1 iyisixhumi esibonakalayo sendiza ye-CAN kanye ne-48V, i-Q2 iwukushintsha amandla, i-Q3 iyisixhumi esibonakalayo sokushaja, i-Q4 iyi-antenna, i-Q5 ne-Q6 ngokulandelanayo iyisixhumi esibonakalayo sokususa iphutha komshayeli kanye nesixhumi esibonakalayo sokushaja. lawula isixhumi esibonakalayo sokulungisa iphutha (esingavuleki ngaphandle), futhi i-Q7 iwukusebenzisana kwesibonisi samandla.
Umfanekiso 2.1 Izixhumi-buso zikagesi zangemuva Incazelo yokuxhumana kwe-Q1 namandla okusebenza ikhonjisiwe kuMfanekiso 2-2.
Iphinikhodi engu-1
Amandla Ohlobo Lwephini
Umsebenzi Nencazelo
Ukuphawula
VCC
Ukunikezwa kwamandla okuhle, voltage ububanzi 46~54V, umkhawulo wamanje 10A
10/35
2
Amandla
3
CAN
4
CAN
I-GND CAN_H CAN_L
Ukunikezwa kwamandla okungekuhle kwe-CAN ibhasi eliphezulu le-CAN ibhasi liphansi
Umfanekiso 2.2 Iphinikhodi Incazelo ye-Rear Aviation Extension Interface
2.2
Iziyalezo
on
kude
ukulawula
I-Fs isilawuli kude siyisisetshenziswa ongasikhetha semikhiqizo ye-BUNKER PRO. Amakhasimende angakhetha ngokuvumelana nezidingo zangempela. Ukusebenzisa isilawuli kude kungalawula kalula i-BUNKER PRO i-universal robot chassis. Kulo mkhiqizo, sisebenzisa idizayini ye-throttle engakwesokunxele. Incazelo nemisebenzi yayo ingabhekiselwa kuMfanekiso 2.3. Imisebenzi yezinkinobho ichazwa ngokuthi: SWA, SWB, SWC, SWD. I-SWD ayikasebenzi, phakathi kwayo i-SWB yinkinobho yokukhetha imodi yokulawula, eshayelwa phezulu imodi yokulawula umyalo, eshayelwe phakathi imodi yesilawuli kude, i-S1 iyinkinobho yokudonsa, ilawula i-BUNKER PRO ukuze iye phambili futhi emuva; I-S2 ilawula ukuzungezisa, futhi AMANDLA Izinkinobho zokuphakela amandla, cindezela futhi uzibambe ngesikhathi esifanayo ukuze uzivule. Kumele kuqashelwe ukuthi uma isilawuli kude sivuliwe, i-SWA, i-SWB, i-SWC, ne-SWD zonke zidinga ukuba phezulu.
11/35
Umfanekiso 2.3 Umdwebo wohlelo wezinkinobho 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)
12/35
2.3
Iziyalezo
on
ukulawula
izimfuno
futhi
ukunyakaza
Sakha uhlelo lwereferensi lokuxhumanisa imoto ephathwayo ephansi ngokwezinga le-ISO 8855 njengoba kukhonjisiwe kuMfanekiso 2.4.
Umfanekiso 2.4 Umdwebo Wohlelo Lwesistimu Yezithenjwa Zokudidiyelwa Komzimba Wemoto Njengoba kuboniswe kuMfanekiso 2.4, indikimba yemoto ye-BUNKERPRO ihambisana ne-eksisi engu-X yesistimu yokuhlanganisa ireferensi emisiwe. Kumodi yesilawuli kude, phushela isilawuli esikude i-rocker S1 ukuya phambili ukuya ohlangothini oluhle luka-X, phusha i-S1 emuva ukuze uye ohlangothini olungeluhle lokuthi Uma uphushelwa enanini elincane, isivinini sokunyakaza siye ohlangothini olunegethivu lwemoto. umzimba uzungeza usuka ohlangothini oluhle lwe-X-eksisi uye ohlangothini olungeluhle lwe-Y-eksisi. Uma i-S2 iphushelwa kwesokunxele kuya kunani eliphezulu, isivinini somugqa wokuzungezisa ngokuphambene newashi siwumkhawulo. Uma i-S2 iphushelwa kwesokudla ukuya enanini eliphezulu, ukunyakaza komugqa wokuzungezisa ngokwewashi isivinini esikhulu. Kumodi yomyalo wokulawula, inani eliphozithivu lejubane lomugqa lisho ukuhamba liye ohlangothini oluhle lwe-axis engu-X, futhi inani elingalungile lejubane lomugqa lisho ukuhamba ngendlela engafanele ye-Ivelu eyinegethivu yesivinini se-angular isho ukuthi umzimba wemoto uhamba usuka ohlangothini oluhle lwe-X-eksisi uye ohlangothini olungeluhle lwe-Y-eksisi.
3
Sebenzisa
futhi
Intuthuko
Lesi sigaba sethula ngokuyinhloko ukusebenza okuyisisekelo nokusetshenziswa kwenkundla ye-BUNKERPRO, kanye nendlela yokwenza ukuthuthukiswa kwesibili komzimba wemoto ngokusebenzisa isixhumi esibonakalayo se-CAN sangaphandle kanye nephrothokholi yebhasi ye-CAN.
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3.1
Sebenzisa
futhi
ukusebenza
Hlola
Hlola isimo somzimba wemoto. Hlola ukuthi indikimba yemoto inokungajwayelekile yini okusobala; uma kunjalo, sicela uxhumane nokwesekwa ngemva kokuthengisa;
Uma usebenzisa okokuqala, qinisekisa ukuthi i-Q2 (iswishi yamandla) kuphaneli kagesi yangemuva icindezelwe; uma ingacindezelwe, sicela uyicindezele futhi uyikhulule, lapho-ke isesimweni sokukhishwa.
Qalisa
Cindezela inkinobho yamandla (Q2 kuphaneli kagesi); ngaphansi kwezimo ezijwayelekile, isibani sokushintsha amandla sizokhanya, futhi i-voltmeter izoveza ivolumu yebhethritage ngokujwayelekile;
Hlola ivolumu yebhethritage. Uma i-voltagu-e mkhulu kuno-48V, kusho ivolumu yebhethritage ijwayelekile. Uma i-voltage ingaphansi kuka-48V, sicela ukhokhise; lapho i-voltagi-e ingaphansi kuka-46V, i-BUNKERPRO ayikwazi ukunyakaza ngokujwayelekile.
Vala shaqa
Cindezela inkinobho yamandla ukuze unqamule amandla;
Okuyisisekelo
ukusebenza
izinqubo
of
kude
ukulawula
Ngemva kokuqala i-chassis yerobhothi ye-BUNKERPRO ngokujwayelekile, qala isilawuli kude bese ukhetha imodi yesilawuli kude ukuze ulawule ukunyakaza kweplathifomu ye-BUNKER PRO ngesilawuli kude.
3.2
Iyashaja
I-BUNKERPRO ifakwe ishaja ejwayelekile ngokuzenzakalelayo, engahlangabezana nezidingo zokushaja zamakhasimende. I
ethize
ukusebenza
izinqubo
of
ukushaja
kukhona
as
kuyalandela: Qiniseka ukuthi i-chassis ye-BUNKERPRO isesimweni sokuvala shaqa. Ngaphambi kokushaja, sicela wenze
qiniseka ukuthi i-Q2 (ukushintsha amandla) kukhonsoli kagesi yangemuva ivaliwe; faka ipulaki yeshaja kusixhumi esibonakalayo sokushaja se-Q3 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 kuncike kunkomba yesimo seshaja.
3.3
Intuthuko
14/35
I-BUNKERPRO inikeza isixhumi esibonakalayo se-CAN sokuthuthukiswa komsebenzisi, futhi umsebenzisi angakwazi ukulawula indikimba yemoto ngalesi sikhombimsebenzisi.
Izinga lokuxhumana le-CAN ku-BUNKERPRO lamukela izinga le-CAN2.0B; izinga lokuxhumana le-baud lingu-500K, futhi ifomethi yomlayezo isebenzisa ifomethi ye-MOTOROLA. Isivinini somugqa sokuhamba kanye nesivinini se-angular sokujikeleza kwe-chassis singalawulwa nge-interface yangaphandle ye-CAN yebhasi; I-BUNKERPRO izophendula ngolwazi lwamanje lwesimo sokunyakaza kanye nolwazi lwesimo se-chassis ye-BUNKERPRO ngesikhathi sangempela.
Iphrothokholi ifaka uhlaka lwempendulo yesimo sesistimu, uhlaka lwempendulo yokulawula ukunyakaza, nohlaka lokulawula. Okuqukethwe kwephrothokholi kungokulandelayo:
Umyalo wempendulo yesimo sesistimu uhlanganisa impendulo yesimo somzimba wemoto yamanje, impendulo yemodi yokulawula, umthamo webhethritage impendulo, kanye nempendulo yephutha. Okuqukethwe kwephrothokholi kukhonjiswe kuThebula 3.1.
Ithebula 3.1 Uhlaka Lwempendulo Yesimo Sesistimu ye-Chassis ye-BUNKERPRO
Igama lomyalo
Umyalelo wempendulo yesimo sesistimu
I-nodi yokuthumela Inodi yokwamukela
I-chassis yokuqondisa ngocingo
Iyunithi yokulawula yokwenza izinqumo
ID 0x211
Umjikelezo (ms)
Thola ukuphela kwesikhathi (ms)
200ms
Lutho
Ubude bedatha Isikhundla
0x08 Umsebenzi
Uhlobo lwedatha
ibhayithi [0]
Isimo samanje somzimba wemoto
engasayiniwe int8
Incazelo
0x00 Uhlelo olusesimweni esivamile 0x01 Imodi yokumisa izimo eziphuthumayo 0x02 Okuhlukile kwesistimu
15/35
ibhayithi [1] ibhayithi [2] ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7] ibhayithi [5]
Ukulawula imodi
Ibhethri voltagi-e ingamabhithi angu-8 ngaphezulu Ivolumu yebhethritagi-e ingamabhithi ayisishiyagalombili ngaphansi Igodliwe
Imininingwane yokwehluleka Igodliwe
Isheke lokubala (ukubala)
engasayiniwe int8
engasayiniwe int16
engasayiniwe int8
engasayiniwe int8
0x00 Imodi yokulinda 0x01 CAN imodi yokulawula umyalo
0x03 Imodi yesilawuli kude
Ivolumu yangempelatage × 10 (ngokunemba kwe-0.1V)
0x0 Bheka ku-[Incazelo Yephutha
Ulwazi] 0X00
0~255 isibalo somjikelezo; njalo uma kuthunyelwa umyalelo,
isibalo sizokhula kanye
Ithebula 3.2 Incazelo Yolwazi Lwephutha
Incazelo Yemininingwane Yephutha
Kancane
Incazelo
kancane [0]
Ukunganakwa kwebhethritage iphutha
kancane [1]
Ukunganakwa kwebhethritage isixwayiso
kancane [2]
Ukuvikelwa kokunqanyulwa kwesilawuli kude (0: evamile, 1: ukunqanyulwa kwesilawuli kude)
kancane [3]
No.1 ukwehluleka kokuxhumana kwezimoto (0: Akukho ukwehluleka 1: Ukwehluleka)
kancane [4]
No.2 ukwehluleka kokuxhumana kwezimoto (0: Akukho ukwehluleka 1: Ukwehluleka)
16/35
kancane [5] kancane [6] kancane [7]
Kugciniwe, okuzenzakalelayo 0 Kugciniwe, okuzenzakalelayo 0 Kugciniwe, okuzenzakalelayo 0
Umyalo wohlaka lwempendulo yokulawula ukunyakaza uhlanganisa impendulo yesivinini somugqa wamanje kanye nesivinini esingama-angular somzimba wemoto ehambayo. Okuqukethwe kwephrothokholi ethile kukhonjiswe kuThebula 3.3.
Ithebula 3.3 Uhlaka Lwempendulo Yokulawula Ukunyakaza
Igama lomyalo
I-Movement Control Feedback Command
I-nodi yokuthumela Inodi yokwamukela
ID
Biyela uNksz
Thola ukuphela kwesikhathi (ms)
I-chassis yokuqondisa ngocingo
Iyunithi yokulawula yokwenza izinqumo
0x221
20ms
Lutho
Ubude bedatha
0x08
Isikhundla
Umsebenzi
Uhlobo lwedatha
Incazelo
ibhayithi [0] ibhayithi [1]
8-bit high ezihambayo isivinini
8-bit low ezihambayo isivinini
usayine i-int16
Isivinini sangempela × 1000 (ngokunemba okungu-0.001m/s)
ibhayithi [2] ibhayithi [3]
8-bit isivinini sokujikeleza esiphezulu
8-bit isivinini sokuzungeza esiphansi
usayine i-int16
Isivinini sangempela × 1000 (ngokunemba kwe-0.001rad/s)
ibhayithi [4]
Igodliwe
-
0x00
ibhayithi [5]
Igodliwe
-
0x00
17/35
ibhayithi [6]
Igodliwe
-
ibhayithi [7]
Igodliwe
-
0x00 0x00
Uhlaka lokulawula luhlanganisa ukuvuleka kokulawula isivinini somugqa, ukuvulwa kokulawula isivinini se-angular kanye nesamba sokuhlola. Okuqukethwe okuqondile kwephrothokholi kukhonjiswe kuThebula 3.4.
Ithebula 3.4 Uhlaka Lokulawula Ukunyakaza
Igama lomyalo
I-nodi yokuthumela Inodi yokwamukela
Iyunithi yokulawula yokwenza izinqumo
I-Chassis node
Ubude bedatha
0x08
Isikhundla
Umsebenzi
ibhayithi [0]
8-bit isivinini somugqa ophezulu
ibhayithi [1]
8-bit isivinini esiphansi somugqa
ibhayithi [2]
Isivinini esingu-8-bit esiphezulu se-angular
ibhayithi [3]
Isivinini esingu-8-bit esiphansi se-angular
ibhayithi [4]
Igodliwe
ibhayithi [5]
Igodliwe
ibhayithi [6]
Igodliwe
ibhayithi [7]
Igodliwe
Imiyalo Yokulawula
ID
Umjikelezo (ms)
Thola ukuphela kwesikhathi (ms)
0x111
20ms
Lutho
Uhlobo lwedatha
Incazelo
usayine i-int16
Isivinini esihambayo somzimba wemoto , iyunithi: mm/s, ububanzi [-1700,1700]
usayine i-int16
Isivinini se-engular sokuzungezisa umzimba wemoto, iyunithi: 0.001rad/s, ububanzi
[- 3140,3140]
-
0x00
-
0x00
-
0x00
-
0x00
18/35
Uhlaka lokusetha imodi lusetshenziselwa ukusetha isixhumi esibonakalayo sokulawula setheminali. Okuqukethwe kwephrothokholi ethile kukhonjiswe kuThebula 3.5
Ithebula 3.5 I-Control Mode Setting Frame
Igama lomyalo
I-nodi yokuthumela Inodi yokwamukela
Iyunithi yokulawula yokwenza izinqumo
I-Chassis node
Ubude bedatha
0x01
Isikhundla
Umsebenzi
ibhayithi [0]
INGABE ukulawula amandla
I-Control Mode Setting Command
ID
Umjikelezo (ms)
Thola ukuphela kwesikhathi (ms)
0x421
20ms
500ms
Uhlobo lwedatha olungasayiniwe nge-int8
Incazelo
0x00 Imodi yokulinda 0x01 CAN imodi yomyalo uvule amandla
Qaphela [1] Incazelo yemodi yokulawula
Uma isilawuli kude se-BUNKERPRO singavulwanga, imodi yokulawula iba yimodi yokulinda ngokuzenzakalela, futhi udinga ukuyishintsha ibe yimodi yomyalo ukuze uthumele umyalo wokulawula ukunyakaza. Uma isilawuli kude sivuliwe, isilawuli kude sinegunya eliphakeme kakhulu futhi singavikela ukulawulwa kwemiyalo. Uma isilawuli-kude sishintshelwa kumodi yomyalo, sisadinga ukuthumela umyalo wokusetha imodi yokulawula ngaphambi kokuphendula umyalo wesivinini.
Uhlaka lokusetha isimo lusetshenziselwa ukusula amaphutha esistimu. Okuqukethwe kwephrothokholi ethile kukhonjiswe kuThebula 3.6.
Ithebula 3.6 Uhlaka Lokumisa Isimo
Igama lomyalo
I-nodi yokuthumela Inodi yokwamukela
Iyunithi yokulawula yokwenza izinqumo
I-Chassis node
Umyalo Wokusetha Isimo
ID
Umjikelezo (ms)
Thola ukuphela kwesikhathi (ms)
0x441
Lutho
Lutho
19/35
Ubude bedatha Isikhundla
ibhayithi [0]
0x01 Umsebenzi
Uhlobo lwedatha
Iphutha lokusula umyalo
engasayiniwe int8
Incazelo
0x00 sula wonke amaphutha 0x01 Sula iphutha le-motor 1 0x02 Sula iphutha le-motor 2
Qaphela 3: Sample idatha; idatha elandelayo eyezinjongo zokuhlola kuphela 1. Imoto ihamba 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 olwazini lwesimo se-chassis luzobuyiselwa, ulwazi lwempendulo ye-chassis luhlanganisa nedatha yemoto kanye nedatha yenzwa.
Ithebula 3.7 Isivinini Semoto Yamanje Ulwazi Lwesikhundla Sempendulo
Igama lomyalo
Uhlaka Lwempendulo Yolwazi Lwe-Motor Drive High Speed
I-nodi yokuthumela Inodi yokwamukela
ID
I-chassis yokuqondisa ngocingo
Ukwenza isinqumbo
iyunithi yokulawula
0x251~0x254
Umjikelezo (ms)
Thola ukuphela kwesikhathi (ms)
20ms
Lutho
Ubude bedatha
0x08
20/35
Ibhayithi yokuma [0] ibhayithi [1] ibhayithi [2] ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7]
Umsebenzi 8-bit high motor
isivinini 8-bit motor low
isivinini Sigodliwe 8-bit izinga lokushisa eliphansi ledrayivu Egciniwe Isimo seDrayivu Igodliwe Igodliwe
Uhlobo lwedatha
usayine i-int16
I-int8 engabhalisiwe -
Incazelo
Ijubane lemoto yamanje Iyunithi RPM
0x00 iyunithi 1
0x00 Bheka Ithebula 3.9 ukuze uthole imininingwane
0x00 0x00
Ithebula 3.8 Motor Temperature, Voltage kanye Nempendulo Yemininingwane Yesimo
Igama lomyalo
I-Motor Drive Ulwazi Oluphansi Lolwazi Lwempendulo Uhlaka
I-nodi yokuthumela Inodi yokwamukela
ID
Umjikelezo (ms)
Thola ukuphela kwesikhathi (ms)
I-chassis yokuqondisa ngocingo
Ukwenza isinqumbo
iyunithi yokulawula
0x261~0x264
Lutho
Lutho
Ubude bedatha
0x08
Isikhundla
Umsebenzi
Uhlobo lwedatha
Incazelo
ibhayithi [0]
Igodliwe
-
ibhayithi [1]
Igodliwe
-
Ijubane lemoto yamanje Iyunithi RPM
21/35
ibhayithi [2] ibhayithi [3] ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7]
8-bit izinga lokushisa eliphezulu
8-bit low drive lokushisa
Igodliwe
Isimo seDrayivu
Igodliwe
Igodliwe
usayine i-int16
engasayiniwe int8
-
Ithebula 3.9 Isimo SeDrayivu
Iyunithi 1
0x00 Bheka Ithebula 3.9 ukuze uthole imininingwane
0x00 0x00
I-Byte byte [5]
Incanyana [0] ncanyana [1] ncanyana [2] ncanyana [3] ncanyana [4] ncanyana [5] ncanyana [6] ncanyana [7]
Incazelo Ukuthi amandla kagesi voltagi-e iphansi kakhulu (0:Okuvamile
1:Phansi kakhulu) Ukuthi injini ishise ngokweqile (0: Okujwayelekile 1:
Kushiswe ngokweqile) Okugciniwe Okugciniwe Okugciniwe Kugciniwe Kugciniwe
Ithebula 3.10 I-Odometer Feedback Frame
Igama lomyalo
I-Odometer Information Feedback Frame
22/35
I-nodi yokuthumela Inodi yokwamukela
ID
I-chassis yokuqondisa ngocingo
Ukwenza isinqumbo
iyunithi yokulawula
Ubude bedatha
0x08
Isikhundla
Umsebenzi
ibhayithi [0]
Ibhithi eliphakeme kakhulu le-odometer yesondo lesokunxele
ibhayithi [1]
Ibhithi lesibili eliphakeme kakhulu lesondo langakwesokunxele
i-odometer
ibhayithi [2]
Ibhilidi lesibili eliphansi kakhulu lesondo langakwesokunxele
i-odometer
ibhayithi [3]
Ibhilidi eliphansi kwesokunxele
i-odometer yesondo
ibhayithi [4]
Ibhithi eliphakeme kakhulu le-odometer yesondo lesokudla
ibhayithi [5]
Ingxenye yesibili ephezulu yesokudla
i-odometer yesondo
ibhayithi [6]
Ingxenye yesibili ephansi yesokudla
i-odometer yesondo
0x311 Uhlobo lwedatha olusayinwe nge-int32 olusayinwe nge-int32
Umjikelezo (ms)
Thola ukuphela kwesikhathi (ms)
20ms
Lutho
Incazelo
Impendulo ye-odometer yesondo lesokunxele ye-Chassis: mm
Impendulo ye-odometer yesondo langakwesokudla le-Chassis: mm
23/35
ibhayithi [7]
Ibhithi eliphansi kakhulu le-odometer yesondo lesokudla
Ithebula 3.11 Impendulo yolwazi lokulawula kude
Igama lomyalo
Uhlaka Lwempendulo Yolwazi Lwesilawuli kude
I-nodi yokuthumela Inodi yokwamukela
I-chassis yokuqondisa ngocingo
Ukwenza isinqumbo
iyunithi yokulawula
ID 0x241
Umjikelezo (ms)
Thola ukuphela kwesikhathi (ms)
20ms
Lutho
Ubude bedatha Isikhundla
0x08 Umsebenzi
Uhlobo lwedatha
ibhayithi [0]
Isilawuli kude impendulo ye-SW
engasayiniwe int8
Incazelo
kancane[0-1]: SWA: 2-Phezulu 3-Phansi kancane[2-3]: SWB: 2-Phezulu 1-Phakathi 3-
Ibhithi eliphansi[4-5]: SWC: 2-Phezulu 1-Phakathi 3-
Ibhithi eliphansi[6-7]: SWD: 2-Phezulu 3-Phansi
ibhayithi [1] ibhayithi [2]
Ilever yesokudla kwesokunxele nakwesokudla
Ilever yesokudla phezulu naphansi
kusayinwe int8 kusayinwe ngo-8
Ibanga: [-100,100] Ibanga: [-100,100]
ibhayithi [3]
I-lever yesobunxele phezulu naphansi
usayine i-int8
Ibanga: [-100,100]
24/35
ibhayithi [4] ibhayithi [5] ibhayithi [6] ibhayithi [7]
Kwesokunxele kwesobunxele nakwesokudla
I-VRA yesokunxele
Igodliwe
Bala isheke
usayine i-int8
usayine i-int8 -
engasayiniwe int8
Ibanga: [-100,100] Ibanga: [-100,100] 0x00
0-255 isibalo somjikelezo
3.3.2
CAN
ikhebula
uxhumano
I-BUNKERPRO ithunyelwa ngesixhumi sowesilisa sepulaki lendiza njengoba kukhonjisiwe kuMfanekiso 3.2. Incazelo yekhebuli: okuphuzi yi-CANH, okuluhlaza okwesibhakabhaka kungu-CANL, okubomvu ku-positive amandla, futhi emnyama inamandla angenayo.
Qaphela:
In
i
okwamanje
I-BUNKERPRO
inguqulo,
i
ngaphandle
isandiso
esibonakalayo
is
kuphela
vula
ku
i
ngemuva
esibonakalayo.
In
lokhu
inguqulo,
i
amandla
hlinzeka
kungaba
hlinzeka
a
esiphezulu
okwamanje
of
10A.
Umfanekiso 3.2 Umdwebo Wezinhlelo Zepulagi Yesixhumi Sesilisa Sokundiza
3.3.3
Ukuqaphela
of
CAN
umyalo
ukulawula
25/35
Qala i-BUNKERPRO i-chassis yerobhothi yeselula ngokujwayelekile, vula isilawuli kude se-FS, bese ushintsha imodi yokulawula ukuze ulawule, okungukuthi, vula ukukhetha kwemodi ye-SWB yesilawuli kude se-FS siye phezulu. Ngalesi sikhathi, i-chassis ye-BUNKERPRO izokwamukela umyalo ovela kusixhumi esibonakalayo se-CAN, futhi umsingathi angaphinda ahlaziye isimo samanje se-chassis ngedatha yesikhathi sangempela etholwe ibhasi le-CAN ngesikhathi esifanayo. Bheka kuphrothokholi yokuxhumana ye-CAN ngokuqukethwe kwephrothokholi ethile.
3.4
I-Firmware
thuthukisa
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.
Thuthukisa
Ukulungiselela
I-Agilex INGABE imojuli yokulungisa iphutha X 1 Ikhebula le-USB elincane X 1 I-BUNKER PRO 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.
26/35
3.Chofoza I-Firmware Yokulayisha File inkinobho yokulayisha i-firmware ezothuthukiswa. Uma ukulayisha kuphumelele, ulwazi lwe-firmware luzotholakala, njengoba kuboniswe esithombeni
27/35
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.
28/35
3.5
I-BUNKERPRO
I-ROS
Iphakheji
Sebenzisa
Example
I-ROS inikeza izinsiza ezithile ezijwayelekile zesistimu yokusebenza, njengokuthatha ihadiwe, ukulawulwa kwemishini yezinga eliphansi, ukuqaliswa kwemisebenzi evamile, umlayezo ophakathi kwezinqubo kanye nokuphathwa kwephakethe ledatha. I-ROS isekelwe ekwakhiweni kwegrafu, ukuze izinqubo zamanodi ahlukene zikwazi ukuthola, ukukhulula, nokuhlanganisa ulwazi oluhlukahlukene (njengokuzwa, ukulawula, isimo, ukuhlela, njll.). Okwamanje i-ROS isekela kakhulu i-UBUNTU.
Intuthuko
ukulungiselela
Izingxenyekazi zekhompuyutha
ukulungiselela CANlight can communication module X1 Thinkpad E470 notebook X1 AGILEX BUNKERPRO mobile robhothi chassis X1 AGILEX BUNKERPRO isekela isilawuli kude FS-i6s X1 AGILEX BUNKERPRO top zendiza isokhethi X1 Sebenzisa
example
imvelo
incazelo Ubuntu 18.04 ROS Git
Izingxenyekazi zekhompuyutha
uxhumano
futhi
ukulungiselela
Khipha ikhebuli ye-CAN yepulagi yendiza ephezulu ye-BUNKERPRO noma ipulaki yomsila, bese uxhuma i-CAN_H ne-CAN_L kukhebula ye-CAN ku-adaptha ye-CAN_TO_USB ngokulandelana;
Vula inkinobho ye-knob ku-chassis yerobhothi ephathwayo ye-BUNKERPRO, futhi uhlole ukuthi amaswishi okumisa isimo esiphuthumayo nhlangothi zombili akhululiwe yini;
Xhuma i-CAN_TO_USB kusixhumi esibonakalayo se-usb sebhukwana. Umdwebo wokuxhuma ukhonjiswe kuMfanekiso 3.4.
Umfanekiso 3.4 Umdwebo Wohlelo lwe-CAN CABLE Connection
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I-ROS
ukufakwa
futhi
imvelo
setting
Ukuze uthole imininingwane yokufaka, sicela ubheke ku-http://wiki.ros.org/kinetic/Installation/Ubuntu
Isivivinyo
OKUKHONA
hardware
futhi
CAN
ukuxhumana
Ukusetha i-adaptha ye-CAN-TO-USB Nika amandla imojuli ye-gs_usb kernel
I-sudo modprobe gs_usb
Ukusetha izinga le-Baud engu-500k futhi unike amandla i-adaptha ye-can-to-usb i-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 ukuhlola i-hardware sudo apt install 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
ikhandlela can0
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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
I-BUNKERPRO
I-ROS
IPHAKETHI
download
futhi
hlanganisa
Landa iphakheji encike ku-ros
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
Hlanganisa futhi uhlanganise ikhodi yomthombo ye-bunker_ros
mkdir -p ~/catkin_ws/src 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 umthombo /setha.bash
Umthombo wesithenjwa: https://github.com/agilexrobotics/bunker_ros
Qala
i
I-ROS
ama-node
Qala i-base node
roslaunch bunker_bringup bunker_robot_base.launch Qala inodi yokusebenza yesilawuli kude sekhibhodi
roslaunch bunker_bringup bunker_teleop_keyboard.launch
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Uhla lwemibhalo lwephakheji ye-Github ROS kanye nemiyalelo yokusetshenziswa *_base:: Inodi eyinhloko ye-chassis ukuze ithumele futhi yamukele imilayezo ye-CAN ye-hierarchical. 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: startup files yamanodi e-chassis namanodi okulawula ikhibhodi, kanye nemibhalo ukunika amandla imojula ye-usb_to_can
4
I-Q&A
I-Q BUNKERPRO iqalwa ngokujwayelekile, kodwa kungani inganyakazi uma usebenzisa isilawuli kude ukuya
lawula indikimba yemoto?
A Okokuqala, qinisekisa ukuthi iswishi yamandla icindezelwe yini; bese, uqinisekise ukuthi ukulawula
Imodi ekhethwe ngeswishi yokukhetha imodi engxenyeni engenhla kwesokunxele sesilawuli kude ilungile.
Q: Isilawuli kude se-BUNKERPRO sijwayelekile; isimo se-chassis kanye nempendulo yolwazi lokunyakaza ijwayelekile; kodwa kungani imodi yokulawula yenhlangano yemoto ingashintshwa, futhi kungani i-chassis ingaphenduli kuphrothokholi yohlaka lokulawula lapho kukhishwa iphrothokholi yohlaka lokulawula? A: Ngaphansi kwezimo ezijwayelekile, uma i-BUNKERPRO ingalawulwa yisilawuli kude, kusho ukuthi ukulawulwa kokunyakaza kwe-chassis kujwayelekile; uma ingathola uhlaka lwempendulo ye-chassis, kusho ukuthi isixhumanisi sesandiso se-CAN sijwayelekile. Sicela uhlole ukuthi umyalo ushintshelwe kumodi yokulawula.
Q: Uma uxhumana ngebhasi le-CAN, umyalo wempendulo ka-chassis ujwayelekile; kodwa kungani imoto ingaphenduli lapho ikhipha isilawuli? A: I-BUNKERPRO inendlela yokuvikela ukuxhumana ngaphakathi. I-chassis inendlela yokuvikela ukuphela kwesikhathi lapho icubungula imiyalo yokulawula i-CAN kusuka ngaphandle. Ake sithi ngemva kokuba imoto ithola uhlaka lwe-protocol yokuxhumana, kodwa ayitholi uhlaka olulandelayo lokulawula umyalo ongaphezu kuka-500MS, izongena ekuvikelweni kokuxhumana, futhi isivinini sayo ngu-0. Ngakho-ke, imiyalo evela kukhompyutha ephethe kufanele ikhishwe ngezikhathi ezithile.
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5
Umkhiqizo
Ubukhulu
5.1
Umfanekiso
umdwebo
of
umkhiqizo
izilinganiso
33/35
5.2
Umfanekiso
umdwebo
of
phezulu
kunwetshiwe
ukusekela
izilinganiso
34/35
35/35
Amadokhumenti / Izinsiza
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Iqembu le-AgileX Hunter AgileX Robotics [pdf] Imaniwali yosebenzisayo Ithimba le-Hunter AgileX Robotics, Ithimba le-AgileX Robotics, Ithimba Lamarobhothi, Ithimba |
