本帖最后由 机器谱 于 2023-9-6 09:26 编辑
一、本体说明
1. 底盘概述
该底盘是一款模块化的桌面级应用型底盘,基于应用级软件架构设计、应用级硬件系统设计、典型应用型底盘机械系统设计。
底盘本体为一个采用半独立刚性悬挂的四驱全向底盘。
1. 软件环境介绍
操作系统:Ubuntu18.04系统。基于Debian GNU/Linux,支持x86、amd64(即x64)、ARM和ppc架构。
仿真系统:基于开源机器人操作系统ROS melodic和开源软件平台Arduino开发。上位机采用ROS melodic,基于Rviz完成全向移动底盘slam导航运动规划,采用gazebo完成全向移动底盘物理运动仿真;下位机采用Arduino实现对全向移动底盘运动的控制。
注意:准备一个外接显示器。
2. 硬件配置及主要参数
硬件配置及主要参数表
序号 | 图例 | 模块 | 主要参数 | 1 | | 主机×1
| 尺寸:216mmx200mmx62mm。 主控板:上位机采用ROS系统设计,下位机采用Arduino硬件系统设计;两个主控制器,包括一款基于Cortex A53芯片的嵌入式控制器,预装ROS系统,集成电机驱动、传感器扩展电路。 主机接口:电源接口×1 、USB2.0接口×2、USB3.0接口×2、HDMI接口×1、网口×1、TTL串口×1、2510插头GPIO接口×32、航空头GPIO接口×14、航空头TTL串口x1、总线接口x4、步进电机接口x4。 支持USB/Wifi/ Bluetooth通信。 工作电压:12V | 2 | | 悬架模块×1
| 尺寸:(长×宽×高)380x290x120mm。 半独立悬挂。 支持四轮安装。 安装8个超声测距传感器。
| 3 | | 轮模块×4
| 尺寸:(长×宽×高)105mm×60mm×85mm。 内部安装高精度电机,可扩展为摆动模块。 结构:支持扩展步进电机、编码器直流电机、伺服电机。
| 4 | | 激光雷达×1
| 激光雷达测距范围0.15-12m,360°无死角扫描,测距分辨率<0.5mm,角度分辨率<1°,测量频率最小值不小于1500hz,测量频率最大值8000hz,扫描频率最小值1hz,扫描频率最大值10hz。 含支架。
| 5 | | 高清摄像头×1
| RGB像素:1080P 静态拍照分辨率:1280*720/640*480 接口:USB2.0 输入电压:5v 麦克风:双立体麦克风 音频采样率:16KHz
| 6 | | 其他配件包×1
| 各类线材、工具、电池、电源、显示屏等。
|
4. 认识底盘的电器接口
① 常用接口说明:
底盘尺寸示意图 底盘常用电气接口 ② 扩展电气接口说明:
左侧扩展接口对应图 车头扩展接口对应图 车尾扩展接口对应图 5. 底盘简化的系统框图
底盘的系统框图
6. 资料下载
资料内容:
①样机三维文件
②Ros基础入门学习资料
资料下载地址:桌面级全向底盘-本体说明
二、驱动及控制
1. 控制底盘单个轮子
实现思路
控制底盘的四个轮子分别转动。
下面我们先来了解一下底盘的总线舵机ID号。
底盘的头部、尾部 底盘上总线舵机ID号 操作步骤
① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_single_bus_steering_gear\Control_single_bus_steering_gear.ino: - /*------------------------------------------------------------------------------------
- 版权说明:Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
- Distributed under MIT license.See file LICENSE for detail or copy at
- https://opensource.org/licenses/MIT
- by 机器谱 2023-08-16 https://www.robotway.com/
- ------------------------------*/
- /*
- *Control single bus steering grar
- *
- *
- ///////////////////////////
- * head
- * ID:001 ID:000
- * ___________
- * | |
- * | |
- * | |
- * | |
- * | |
- * | |
- * |___________|
- * ID:003 ID:002
- * Rear end
- *
- * 2020.8.7 by boris
- //////////////////////////
- */
- #define mySerial Serial2 //Serial port used by bus steering gear
- #define Serial_Baud_Rate 115200 //Serial Port baud rate
- #define BusServoSerialBaud 115200 //Bus steering gear baud rate
- #define wheel_speed_forward 0.08 //wheel forward speed
- #define wheel_speed_back -0.08 //wheel back speed
- #define wheel_speed_stop 0.0 //wheel stop speed
- enum{FORWARD_LEFT=1,FORWARD_RIGHT,BACK_LEFT,BACK_RIGHT,STOP};//wheel named
- void setup(){
- delay(1100);Serial.begin(Serial_Baud_Rate);
- mySerial.begin(BusServoSerialBaud);delay(1000);
- }
- void loop(){
- control_bus_steering_gear_test();// control single bus steering gear
- }
- void control_bus_steering_gear_test()
- {
- Car_Move(FORWARD_LEFT,wheel_speed_forward);delay(1000);Stop_car(); //left front wheel forward
- Car_Move(FORWARD_LEFT,wheel_speed_back);delay(1000);Stop_car(); //left front wheel backword
-
- Car_Move(FORWARD_RIGHT,wheel_speed_forward);delay(1000);Stop_car(); //right front wheel forward
- Car_Move(FORWARD_RIGHT,wheel_speed_back);delay(1000);Stop_car(); //right front wheel backword
-
- Car_Move(BACK_LEFT,wheel_speed_forward);delay(1000);Stop_car(); //left rear wheel forward
- Car_Move(BACK_LEFT,wheel_speed_back);delay(1000);Stop_car(); //left rear wheel backword
-
- Car_Move(BACK_RIGHT,wheel_speed_forward);delay(1000);Stop_car(); //right rear wheel backword
- Car_Move(BACK_RIGHT,wheel_speed_back);delay(1000);Stop_car(); //right rear wheel backword
- }
复制代码
② 将底盘轮子朝上,观察每个轮子的转动效果
2. 底盘的基本运动
实现思路
实现底盘前进、后退、左平移、右平移、左转、右转的功能。
操作步骤
① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_Car_Movement\Control_Car_Movement.ino: - /*------------------------------------------------------------------------------------
- 版权说明:Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
- Distributed under MIT license.See file LICENSE for detail or copy at
- https://opensource.org/licenses/MIT
- by 机器谱 2023-08-16 https://www.robotway.com/
- ------------------------------*/
- /*
- * car action test (include:forward, back, turnleft,turnright, left translation, right translation)
- *
- *
- * IP address of bus steering gear
- * head
- * ID:001 ID:000
- * ___________
- * | |
- * | |
- * | |
- * | |
- * | |
- * | |
- * |___________|
- * ID:003 ID:002
- * Rear end
- *
- * 2020.8.7 by boris
- ////////////////////////////////
- */
- #define ActionDelayTimes 1000
- #define mySerial Serial2
- #define BusServoSerialBaud 115200
- #define wheel_speed_forward 0.08 //car forward speed
- #define wheel_speed_back -0.08 //car back speed
- #define wheel_speed_stop 0.0 //car stop speed
- #define wheel_speed_left 0.08 //car turnleft speed
- #define wheel_speed_right -0.08 //car turnright speed
- #define wheel_speed_left_translation 0.08 //speed of car left translation
- #define wheel_speed_right_translation -0.08 //speed of car right translation
- enum{FORWARD=1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP}; //the movement state of the car
- float wheel_Speed[4]={0,0,0,0};
- char cmd_return[200];
- void setup()
- {
- delay(1000);
- Serial.begin(57600);delay(1000);//open serial
- mySerial.begin(BusServoSerialBaud);delay(1000);//open serial2
- car_move_test();
- }
- void loop()
- {
- //car_move_test();//car action test
- //car_stop();
- }
- void car_move_test()//car action test
- {
- Car_Move(FORWARD);delay(ActionDelayTimes); // forward
- car_stop();
- Car_Move(BACK);delay(ActionDelayTimes); // back
- car_stop();
- Car_Move(LEFT_TRANSLATION);delay(ActionDelayTimes); //left translation
- car_stop();
- Car_Move(RIGHT_TRANSLATION);delay(ActionDelayTimes);//right translation
- car_stop();
- Car_Move(LEFT);delay(ActionDelayTimes); //turnleft
- car_stop();
- Car_Move(RIGHT);delay(ActionDelayTimes); //turn right
- car_stop();
- }
复制代码
② 观察底盘的运动情况。
3.资料下载
资料内容:程序源代码
资料下载地址:桌面级全向底盘-驱动及控制
三、传感器使用
1. 底盘循迹-灰度传感器
实现思路
实现全向底盘可以按指定路线进行行走的功能(实验场景如下图所示)。
操作步骤
① 连接电路。如下图所示是全向底盘上的4个灰度接线,但本实验中我们只需要用到头部的两个灰度传感器即可。
底盘的头部、尾部 头部的灰度传感器:接42、44号引脚
② 下载文末资料中的参考程序Base_Experiment\Tracking_Car\Tracking_Car.ino: - /*------------------------------------------------------------------------------------
- 版权说明:Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
- Distributed under MIT license.See file LICENSE for detail or copy at
- https://opensource.org/licenses/MIT
- by 机器谱 2023-08-16 https://www.robotway.com/
- ------------------------------*/
- /*
- *Tracking Car
- *
- * head
- * pin:42 pin:44
- * ___________
- * | |
- * | |
- * | |
- * | |
- * |___________|
- * pin:36 pin:34
- * Rear end
- * 2020.8.7 by boris
- */
- #define mySerial Serial2 //statement serial2
- #define Sensor_Numbers 4 //numbers of sensor
- #define Serial_Baud_Rate 115200 //serial port baud rate
- #define BusServoSerialBaud 115200//bus steering gear baud rate
- #define wheel_speed_forward 0.06 //car forward speed
- #define wheel_speed_back -0.06 //car back speed
- #define wheel_speed_stop 0.0 //car stop speed
- #define wheel_speed_left 0.1 //car turnleft speed
- #define wheel_speed_right -0.1 //car turnright speed
- enum{FORWARD=1,BACK,LEFT,RIGHT,STOP};//the movement state of the car
- const int Gray_Sensor_Pin[Sensor_Numbers] = {44,42,36,34};//define gray sensor pin
- const int GraySensorNumbers = sizeof(Gray_Sensor_Pin)/sizeof(Gray_Sensor_Pin[0]);
- char cmd_return[200];
- void setup(){
- delay(1100);Serial.begin(Serial_Baud_Rate);
- Gray_Sensor_Init();
- mySerial.begin(BusServoSerialBaud);delay(1000);
- }
- void loop(){
- tracking_car();//car tracking
- //Car_Move(STOP);
- }
- void Gray_Sensor_Init()//sensor init
- {
- for(int i=0;i<Sensor_Numbers;i++)
- {
- pinMode(Gray_Sensor_Pin[i],INPUT);delay(2);
- } delay(200);
- }
- void tracking_car() //car tracking
- {
- int sensor_data[Sensor_Numbers] = {0,0,0,0};
- int sum = 0;
- for(int i=0;i<Sensor_Numbers-2;i++)
- {
- sensor_data[i] = digitalRead(Gray_Sensor_Pin[i]);
- sum |= sensor_data[i] << i;
- }
- switch(sum)
- {
- case 0: Car_Move(FORWARD); break;
- case 1: Car_Move(LEFT); break;
- case 2: Car_Move(RIGHT); break;
- case 3: Car_Move(FORWARD); break;
- default: break;
- }
- }
复制代码 ③ 观察全向底盘循迹的效果。
2. 底盘避障-超声测距
实现思路
实现全向底盘可以在模拟的场景下进行避障然后行进的功能(实验场景如下图所示)。
操作步骤
① 连接电路,如下图所示是全向底盘的8个超声测距接线图。
② 下载文末资料中的参考程序Base_Experiment\Avoiding_Obstacles_Car\Avoiding_Obstacles_Car.ino: - /*------------------------------------------------------------------------------------
- 版权说明:Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
- Distributed under MIT license.See file LICENSE for detail or copy at
- https://opensource.org/licenses/MIT
- by 机器谱 2023-08-16 https://www.robotway.com/
- ------------------------------*/
- /*
- * Avoid obstacles car
- *
- *
- * 车身位置及传感器接线:
- *
- * // Y
- * // |
- * // |
- * // | t:53 t:8
- * // | (ID:003) e:A15 e:9 (ID:001)
- * // | t:37 A - - - - - - - - - - - - - - - - - -Y: t:39
- * // | e:38 | | e:40
- * // | | | 车头
- * // | t:31 | | t:45
- * // | e:32 Z - - - - - - - - - - - - - - - - - -X: e:46
- * // | (ID:002) t:47 t:A13 (ID:000)
- * // | e:48 e:A14
- * // 0-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- X
- * ////////////////////////////////////////////////////////////////////////////////////////////////
- *
- * 2020.8.7 by boris
- */
- #define mySerial Serial2 //Serial port used by bus steering gear
- #define Serial_Baud_Rate 115200 //Serial Port baud rate
- #define BusServoSerialBaud 115200 //Bus steering gear baud rate
- #define wheel_speed_forward 0.04 //car forward speed
- #define wheel_speed_forward_up 0.06 //forward speed up
- #define wheel_speed_back -0.04 //car back speed
- #define wheel_speed_stop 0.0 //car stop speed
- #define wheel_speed_left 0.1 //car turnleft speed
- #define wheel_speed_right -0.1 //car turnright speed
- #define wheel_speed_left_translation 0.04 //speed of car left translation
- #define wheel_speed_right_translation -0.04 //speed of car right translation
- enum{FORWARD=1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP,FORWARD_UP}; //the movement state of the car
- char cmd_return[200];
- float wheel_Speed[4]={0,0,0,0};
- void setup(){
- delay(1100);Serial.begin(Serial_Baud_Rate);
- init_Ultrasonic();delay(200);
- mySerial.begin(BusServoSerialBaud);delay(1000);
- }
- void loop(){
- //Car_Move(STOP);delay(1000);
- car_move();
- //get_ultrasonic_sensor_data();
- }
复制代码
③ 观察全向底盘避障的效果。
3. 资料下载
资料内容:程序源代码
资料下载地址:桌面级全向底盘-传感器使用 https://www.robotway.com/h-col-260.html
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