Упатство за употреба на шасијата на мобилниот робот Waveshare UGV02 6x4 за теренски возила

1. Вовед

The Waveshare UGV02 is a versatile 6-wheel drive (6x4WD) mobile robot chassis designed for off-road applications. It features robust construction, excellent shock absorption, and an open-source architecture for extensive secondary development. This manual provides essential information for setting up, operating, and maintaining your UGV02 chassis.

Image: The Waveshare UGV02 6x4 Off-Road Mobile Robot Chassis, showcasing its robust design and wheels.

2. Содржина на пакетот

Проверете дали сите артикли наведени подолу се присутни во вашето пакување. Доколку недостасуваат или се оштетени некои компоненти, ве молиме контактирајте ја службата за корисници.

Слика: Надview of the UGV02 package contents, including the assembled UGV02 kit, accessories pack, power supply, USB cable, Picatinny rail, mounting plate, and camera holder.

• UGV02 Kit (assembled chassis)
• Пакет додатоци
• 12.6V 2A напојување
• USB кабел
• Железничка железница
• Плоча за монтирање
• Држач за камера
• Extension rails and ESP32 slave computer (as part of the kit)

3. Клучни карактеристики

• 6 Wheels x 4WD Design: Provides strong power and increased ground contact for stability and load capacity.
• Способност за надвор од патот: Flexible rubber tires and shock absorption system for complex terrains.
• High-Strength Aluminum Body: Constructed from 2mm thick 5052 Aluminum Alloy for durability and protection.
• Multiple Host Computer Support: Compatible with Raspberry Pi, Jetson Nano, Jetson Orin Nano, etc., communicating via serial port with the ESP32 slave computer.
• ESP32 Slave Computer: Built-in multi-functional robot driver board with Wi-Fi and Bluetooth, supporting serial bus servos, PWM signal output, and TF card expansion.
• 3S UPS Power Supply Module: Supports 3 x 18650 Li batteries (not included) for uninterruptible power, charging, and simultaneous power output.
• Extension Rails: Includes 2 x 1020 European standard profile rails for installing additional peripherals.
• Open-Source Demos & Web Апликација: Facilitates secondary development and remote control.
• Multi-functional Mounting Plate: Allows installation of various peripherals like LIDAR, cameras, and other modules.

Image: Visual representation of the UGV02's key features, including full metal body, extension rails, 6 wheels x 4WD, ESP32 slave computer, 0.91" OLED, UART/I2C communication, open source, web app, 9-axis IMU, shock-absorbing tires, multi-host support, and multi-functional driver board.

4. Водич за поставување

4.1 Инсталација на напојување

The UGV02 requires three 18650 Li-ion batteries (not included) for operation. These batteries are installed in the 3S UPS power supply module.

1. Ensure the UGV02 is powered off.
2. Лоцирајте го преградата за батерии на шасијата.
3. Insert three 18650 Li-ion batteries into the 3S UPS power supply module, ensuring correct polarity.
4. Прицврстете го капакот на преградата за батерии.
5. Connect the power supply module to the UGV02's charging port.

Image: Illustration of the 3S Lithium battery UPS power supply module, showing where three 18650 batteries (not included) are inserted. This module provides uninterruptible power and supports charging.

4.2 Host Computer Connection (Optional)

The UGV02 supports various host computers like Raspberry Pi, Jetson Nano, or Jetson Orin Nano. The host computer communicates with the onboard ESP32 slave computer via a serial port.

1. Choose your desired host computer.
2. Mount the host computer onto the UGV02 chassis using the provided mounting plate or extension rails.
3. Connect the host computer to the ESP32 slave computer via the serial communication interface. Refer to the host computer's documentation for specific serial port configuration.
4. If using Wi-Fi, connect the Wi-Fi antenna to the reserved interface on the UGV02.

Image: Depicts the UGV02 chassis with a multi-functional mounting plate, showing how various host computers like Jetson Orin Nano, Raspberry Pi 4B, and Raspberry Pi Zero can be connected. It also illustrates the mounting plate's design for peripherals like LIDAR and cameras.

4.3 Peripheral Installation (Optional)

The UGV02 comes with extension rails and a multi-functional mounting plate for adding peripherals.

• Extension Rails: Use the 1020 European standard profile rails to install additional modules. Boat nuts and M4 screws are included for secure attachment.
• Плоча за монтирање: The multi-functional mounting plate allows for the installation of LIDAR (e.g., LD19, STL 27L), cameras, or other custom modules. Open-source DXF drawings and 3D models are available for secondary development.

Image: Shows the aluminum extension rails on the UGV02 and how additional peripherals can be mounted using boat nuts. It also highlights the Picatinny rail and M4 screws for accessory attachment.

5. Упатства за работа

5.1 Вклучување/исклучување

Locate the Power ON/OFF switch on the UGV02 chassis. Press the switch to power on or power off the robot.

5.2 Basic Control via Web Апликација

The UGV02 features an open-source web application for remote control and monitoring.

1. Power on the UGV02. If it is not connected to a known Wi-Fi network, it will automatically establish a hotspot.
2. Connect your smartphone or computer to the UGV02's Wi-Fi hotspot.
3. Отвори a web browser and navigate to the IP address provided by the UGV02 (usually displayed on the 0.91-inch OLED screen or found in the hotspot details).
4. На web application interface will allow you to control the robot's movement, monitor voltage, heading angle, and other parameters.

Image: A smartphone screen displaying the UGV02's web application interface, showing controls for voltage, heading angle, and IP/MAC address. This interface allows for remote control and monitoring of the robot.

5.3 Advanced Control and Secondary Development

For advanced users, the UGV02's open-source nature allows for extensive customization and development.

• UART комуникација: Send JSON commands via the web application or UART communication to control peripherals, configure serial bus servos, obtain servo feedback, and IMU information.
• PWM Signal Output: Control the angle of PWM servos.
• OLED дисплеј: Modify the content displayed on the 0.91-inch OLED screen.
• Multi-functional Driver Board: The ESP32-based driver board can be used as a sub-controller, handling low-level computations, PID control for wheel speed, inverse kinematics for robotic arm linkages, and position interpolation. It also reads sensor data (9-axis IMU, INA219 battery voltage detection) and can independently stabilize camera vertical movement.

Image: Illustrates the UGV02 with a robotic arm and pan-tilt camera attached, demonstrating the use of serial bus servos and PWM servos. It also shows the slave computer driver board, highlighting its role in controlling various peripherals.

6. Одржување

• Чистење: Regularly clean the chassis and wheels to remove dirt, dust, and debris, especially after off-road use. Use a soft, dry cloth. Avoid using harsh chemicals or excessive moisture.
• Нега на батеријата:
  • Ensure 18650 batteries are charged using the provided power supply.
  • Do not overcharge or deep discharge batteries.
  • Store the UGV02 with partially charged batteries if not in use for extended periods.
• Проверка на гуми: Periodically check the flexible rubber tires for wear, tears, or damage. Replace if necessary to maintain optimal traction and shock absorption.
• Проверка на компоненти: Inspect all connections, screws, and mounted peripherals regularly to ensure they are secure.
• Ажурирања на софтверот: Check the Waveshare official website or community forums for any available firmware or software updates for the ESP32 slave computer or host computer.

7 Смена на проблеми

8. Спецификации

Image: Technical drawing showing the dimensions of the UGV02 chassis in millimeters, including top, side, and front views со клучни мерења.

9. Гаранција и поддршка

За информации за гаранцијата и техничка поддршка, ве молиме погледнете го официјалниот Waveshare webвеб-страницата или директно контактирајте ја нивната служба за корисници. Деталите во врска со специфичните гарантни периоди и каналите за поддршка обично се дадени со вашата документација за купување или на производителот. webсајт.

Производител: Waveshare

Број на модел: UGV02

ASIN: B0C9QQQTDP

За дополнителна помош, можете да ја посетите Waveshare Store on Amazon.