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AgileX Ranger Mini 2.0 User Manual

AgileX Ranger Mini 2.0 User Manual

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RANGER MINI 2.0
用 户 手 册
RANGER MINI 2 .0 User Manual
2024.01

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Summary of Contents for AgileX Ranger Mini 2.0

  • Page 1 RANGER MINI 2.0 用 户 手 册 RANGER MINI 2 .0 User Manual 2024.01...
  • Page 3: Important Safety Information

    Before using the robot, any individual or organization must read and understand the manual. If you have any questions about it, please do not hesitate to contact us at support@agilex.ai. It is very important that you should follow and implement all instructions and guidelines in this manual.
  • Page 4: Use Environment

    在 0℃ ~40℃的环境温度中使用。 Please use the RANGER MINI 2.0 under the ambient temperature of 0 ℃ ~ 40 ℃ . 如果车辆非单独定制 IP 防护等级 ,车辆防水、 防尘能力为 IP22。 The RANGER MINI 2.0’s waterproof and dustproof level is IP22 if it is not customized.
  • Page 5: Operation Precautions

    在视距内遥控控制。 Please do remote control within sight. RANGER 最大的载重为 80KG ,在使用时 ,确保有效载荷不超过 80KG。 The maximum load of the RANGER MINI 2.0 is 80 KG. Please ensure that the payload does not exceed 80 KG when using. RANGER 安装外部扩展时 ,确认扩展的质心位置 ,确保在旋转中心。...
  • Page 6 Compared with the four-wheel differential chassis, the RANGER MINI 2.0 has obvious advantages when running on ordinary cement roads and asphalt roads. It not only has higher speed and load capacity, but also reduces the wear and tear on the structure and tires.
  • Page 7 USB to RS232 1.1 性能参数 Specifications 参数类型 Type 项目 Items 指标 Parameters 738×500×338 长 ×宽 ×高 Dimensions ( mm) 轮距 Axle Track( mm) 轴距 Wheel Base( mm) 机械参数 48v 无刷有齿电机 Mechanical 电机 Motor 48 v brushless toothed motor 额定功率 Rated Power(w) 600w×4 额定扭矩...
  • Page 8 参数类型 Type 项目 Items 指标 Parameters 738×500×338 长 ×宽 ×高 Dimensions ( mm) 轴距 Axle Track( mm) 前 / 后轮距 Front/rear track (mm) 整备重量 Kerb weight (Kg) 机械参数 电池类型 Battery type 磷酸铁锂 Lithium iron phosphate Mechanical 电池参数 Battery parameters 48V24AH 动力驱动电机...
  • Page 9 移动和转向控制。RANGER MINI 2.0 配备了标准 CAN 通信接口 ,用户可以通过 CAN 接口进行二次 开发。 The RANGER MINI 2.0 can be equipped with FS remote control when buying. Users can use it to control the 4WD chassis, complete mode switching, movement and steering. The RANGER MINI 2.0 has a standard CAN (Controller Area Network) communication interface to facilitate secondary...
  • Page 10 2.1 状态指示 Status of the RANGER MINI 2.0 用户可以通过 RANGER MINI 2.0 底盘反馈的 CAN 报文来确定车体的状态。具体参数考表 2.1。 The user can check the status of the RANGER MINI 2.0 through its CAN message. Please refer to Table 2.1 for specific status. 状态 Status 描述...
  • Page 11 临界电压前 RANGER MINI 2.0 底盘平台会发出低电压报警通 知 ,用户在使用过程中注意充电。 The RANGER MINI 2.0 has a circular connector for expansion at its rear. The interface can be used to provide power for external equipment (the load current cannot exceed 15 A, and the voltage range is 46 ~ 5 0 V) and transfer information through its CAN communication interface.
  • Page 12 功能及定义 备注 引脚编号 引脚类型 Function and Pin Type Note Pin Number Definition 电源正 , 电压范围 46~50V, Positive terminal. The voltage range is 46~50 电源 Power supply 负载电流不能超过 15A。 The load current cannot exceed 15 A. 电源负 电源 Power supply Negative terminal CAN 总线高...
  • Page 13 2.3.遥控说明 Remote Control Instructions 图 2.4 遥控器示意图 Figure 2.4 Introduction of the remote control 如上图 ,按键的功能定义为 :SWB 为控制模式选择拨杆 ,拨至最上方为指令控制模式 ,拨至中间或下方为 遥控控制模式;SWA 为灯光控制开关,拨到下方为关闭灯光(需 SWB 先进入遥控模式) ;SWC为超声 波避障使能开关(此版本不支持),拨到中间为打开超声避障功能;SWC拨到下方为驻车模式,此时四轮 四转向呈X形锁止; As shown in the figure above, the functions of the buttons are defined as follows: SWB is the control mode selection lever, dialed to the top is the command control mode, dialed to the middle or down is the remote control mode;...
  • Page 14 (especially note that when the RANGERMINI is turned off in X-shaped parking, it needs to start the switch button twice to turn it on again); SWD 为底盘运动模式设置开关: SWD is the switch for Motion mode: - 11 -...
  • Page 15 SWD 拨到上为①前后阿克曼+②自旋模式 ①左摇杆控制速度 ,右摇杆控制转角;②左摇杆不动 ,右摇杆 左右方向控制自旋; Moving SWD to the top is ① front and rear Ackerman mode (the left joystick controls the speed, and the right joystick controls the steering angle) + ② spin mode (the left joystick does not move, the right joystick controls the spin direction) SWD 拨到下为斜移模式...
  • Page 16 3 使用和开发 Usage and Development 本部分主要介绍 RANGER MINI 2.0 平台的基本操作与使用 ,介绍如何通过外部 CAN 口 ,通过 CAN 总线协议来对 RANGER MINI 2.0 进行二次开发。 This part mainly introduces the basic operation and usage of the RANGER, and how to carry out secondary development through the external CAN interface and the CAN bus protocol.
  • Page 17 本产品默认随车配备一个 10A 的充电器 ,将充电器的插头插入底盘充电插口 ,将充电器连接电源 ,将充电 器上的开关打开 ,即可进入充电状态。 This product is equipped with a 10 A charger by default. To Charge the RANGER MINI 2.0, please insert the plug of the charger into its charging socket, connect the charger to the power supply, and turn on the switch on the charger.
  • Page 18 Start the RANGER MINI 2.0normally, turn on the remote control, and then switch the SWB to the command control mode ( move SWB to the top). At this time, the RANGER MINI 2.0 will accept commands from the CAN bus, and the host can also analyze the status of the RANGER MINI 2.0 using the feedbacked real-time data through the CAN bus.
  • Page 19 movement status information (including the integrated movement information of the vehicle and the detailed movement information of each wheel) and the system status information (including self-diagnostic error codes). 系统状态回馈指令 指令名称 Command System Status Feedback Command 接收超时(ms) 发送节点 接收节点 周期( ms) Receive Node for sending Node for receiving...
  • Page 20 故障信息次高位 byte [5] High order byte of error message 故障信息次低位 byte [6] Low order byte of error message 故障信息最低位 byte [7] Lowest order byte of error message 故障信息说明表 Error message table 故障信息说明 Error message 字节 Byte 含义 Meaning 位 Bit 右前转向伺服报警(0:无故障...
  • Page 21 右后转向零位校准状态(0:无故障 1:故障) Right rear steering zero point calibration bit [1] status (0: unfaulty; 1: faulty) 左后转向零位校准状态(0:无故障 1:故障) Left rear steering zero point calibration status bit [2] (0: unfaulty; 1: faulty) 左前转向零位校准状态(0:无故障 1:故障) Left front steering zero point calibration status bit [3] (0: unfaulty;...
  • Page 22 过温保护(0:无故障 1:故障) over temperature protection status (0: normal; bit [6] 1: triggered) 过流保护(0:无故障 1:故障) Overcurrent protection status (0: normal; 1: bit [7] triggered) 电池欠压故障(0:无故障 1:故障) Battery undervoltage status (0: normal; 1: bit [0] triggered) 超声波避障 ,(0:正常 1:触发避障) bit [1] Ultrasonic obstacle avoidance status (0: normal;...
  • Page 23 发送节点 接 收 节 点 周期( ms) 接收超时(ms) Node for sending Node for receiving Period Receive timeout 线控底盘 决策控制单元 0x221 20ms 无 None Drive-by-wire Decision-making chassis and control unit 数据长度 0x08 Data length 功能 数据类型 说明 位置 Byte Meaning Data type Note 移动速度高八位...
  • Page 24 决策控制单元 底盘节点 0x111 20ms 500ms Decision-making and control Node for the unit chassis 数据长度 0x08 Data length 数据类型 位置 功能 说明 Meaning Byte Data type Note 车体行进速度,单位 mm/s(有效值 + -1500 ,当转向角度 >20°时有效值+ -750;在前后阿克 曼和斜移模式下生效) 线速度高八位 Speed of the vehicle, whose High order byte of unit is mm/s (valid value + byte [0]...
  • Page 25 保留 Reserved byte [4] byte [5] 转角高八位 转向内转角角度 单位:0.001rad ( 有效值前后阿克曼模式+ -698, High order byte of byte [6] 斜移模式+ - 1571) steering angle signed int16 byte [7] 左转方向为正值 转角低八位 Low order byte of Steering inner corner angle unit: 0.001rad (effective value front and rear Ackerman mode + -698, oblique mode + - 1571) Left turn direction is positive...
  • Page 26 若需要查看各个轮子的详细 转角和速度信息 ,参看 0X271 和 0X281 反馈帧。 As shown in Figure 3.2.1, when the RANGER MINI 2.0 is in front and rear Ackerman mode, the feedback steering angle is (α+β)/2, left steering is negative, and right steering is positive; the feedback speed is the average value of the four wheels ’...
  • Page 27 方向 ,正值为右转方向;反馈的线速度为四轮速度平均值 ,负值为倒车 ,正值为前进。若需要查看各个轮 子的详细转角和速度信息 ,参看 0x271 和 0x281 反馈帧。 As shown in Figure 3.2.2, when the RANGER MINI 2.0 is in oblique motion mode, the feedback steering angle is (α1+α2+α3+α4)/4, left steering is negative, and right steering is positive; the feedback linear speed is the average value of the four wheels’...
  • Page 28 控制指令 指令名称 Command Control Command 接收节点 发送节点 周期( ms) 接收超时(ms) Node for Node for sending Period Receive timeout receiving 决策控制单元 底盘节点 无 无 0x421 Decision-making Node for the None None and control unit chassis 数据长度 0x01 Data length 数据类型 说明 位置...
  • Page 29 位置 数据类型 说明 功能 Meaning Note Byte Data type 0x00 清除全部非严重故障 Clear all non-critical faults 0x01~0x08 分别对应清除 1~8 号 电机驱动器通讯故障 Clear the communication faults of No. 1~8 motor drivers respectively 0x09 清除电池欠压故障 ,并尝试 恢复动力电源 Clear the battery undervoltage fault and try to restore the power 错误清除指令...
  • Page 30 除了底盘的状态信息会进行反馈以外 ,底盘反馈的信息还包括四轮的转角和转速 , 电机的电流信息、编码 器以及温度信息。 In addition to the status of the chassis itself, its feedback information also includes the steering angle and speed of the four wheels, the current of the motor, the encoder information, and the temperature information. 具体协议内容如下:...
  • Page 31 Low order byte of motor current 位置最高位 Highest order byte of position 位置次高位 byte [4] High order byte of 电机当前位置 单位 :脉冲数 position byte [5] signed int32 The current position of the byte [6] 位置次低位 motor, whose unit is the byte [7] Low order byte of number of pulses...
  • Page 32 驱动器温度低八位 byte [3] Low order byte of driver temperature byte [4] signed int8 电机温度 单位 1℃ The unit is 1 ℃. Motor temperature byte [5] unsigned int8 详见表 2 驱动器状态 Driver status See Table 2 for details byte [6] 保留 0X00 Reserved byte [7]...
  • Page 33 Node for Node for sending receiving 线控底盘 决策控制单元 0x271 20ms 无 None Drive-by-wire Decision-making and chassis control unit 数据长度 0x08 Data length 位置 数据类型 说明 功能 Meaning Byte Data type Note 5 号转向转角高八位 High order byte of steering angle of No. 当前转角...
  • Page 34 8 motor 8 号转向转角低八位 Low order byte of steering angle of No. 8 motor 四轮转速反馈 Rotational speed feedback of four wheels 指令名称 四轮转速信息反馈帧 Command Information feedback frame of four wheels’ rotational speed 发送节点 接 收 节 点 周期( ms) 接收超时(ms) Node for Node for receiving Period...
  • Page 35 3 号轮转速高八位 High order byte of rotational speed of 当前转速 单位 mm/s byte [4] No. 3 motor signed int16 The current rotational speed, byte [5] 3 号轮转速低八位 whose unit is mm/s Low order byte of rotational speed of No. 3 motor 4 号轮转速高八位...
  • Page 36 - 30 -...
  • Page 37 0x00 切换完成 switching is 是否处于运动模 completed. 型切换过程 0x01 运动模型切换中 in the Whether the process of switching motion mode byte [1] unsigned int8 chassis is in the 模型切换过程不响应速度控制指令 process of The chassis does not respond to switching the speed control commands in the motion model process of switching motion mode.
  • Page 38 线控底盘 决策控制单元 0 ×311 20ms 无 - 31 -...
  • Page 39 None Drive-by-wire Decision-making chassis and control unit 数据长度 0×08 Data length 字节 数据类型 说明 描述 Description Byte Data type Note 前轮左轮里程计最高位 Highest order byte of front left wheel odometer 前轮左轮里程计次高位 底盘左轮里程计反馈, Sub-high order byte of byte [0] 单位 :mm byte [1] front left wheel odometer signed Chassis left wheel...
  • Page 40 Node for Node for Period Receive timeout sending receiving 线控底盘 决策控制单元 无 0 ×312 20ms Drive-by-wire Decision-making None chassis and control unit 数据长度 0×08 Data length 字节 数据类型 说明 描述 Description Byte Data type Note 后轮左轮里程计最高 位 Highest order byte of rear left wheel odometer 后轮左轮里程计次高...
  • Page 41 位 Sub-high order byte of rear right wheel odometer 后轮右轮里程计次低 位 Second low order byte of rear right wheel odometer 后轮右轮里程计最低 位 Lowest order byte of rear right wheel odometer 遥控器信息反馈帧如下表 The remote controller information feedback frame is as follows 指令名称...
  • Page 42 bit[6-7]: SWD:2-Up 3-Down byte [1] unsigned int8 右边拨杆左右 值域:[-100,100] Right joystick left Range:[-100,100] and right byte [2] unsigned int8 右边拨杆上下 值域:[-100,100] Right joystick up Range:[-100,100] and down byte [3] unsigned int8 左边拨杆上下 值域:[-100,100] Left joystick up Range:[-100,100] and down byte [4] unsigned int8 左边拨杆左右...
  • Page 43 电池 SOH unsigned 范围 0~100 Range byte [1] Battery SOH ( State of 0~100 int8 Health) 电池电压值高八位 High order byte of battery 单位 :0.01V voltage byte [2] unsigned byte [3] 电池电压值低八位 int16 0.01 V Unit: Low order byte of battery voltage 电池电流值高八位...
  • Page 44 温 BIT4:低温 BIT7:放电过流 int8 BIT1: Overvoltage; BIT2: Undervoltage; BIT3: High temperature; BIT4: Low temperature; BIT7: Discharge overcurrent BIT0:充电过流 unsigned byte [1] Alarm Status 2 BIT0: Charging int8 overcurrent BIT1:过压 BIT2:欠压 BIT3:高 温 BIT4:低温 BIT7:放电过流 unsigned BIT1: Overvoltage; BIT2: byte [2] Warning Status 1 Undervoltage;...
  • Page 45 断开串口线 ,底盘断电 ,再次通电即可。 Disconnect the serial cable, power off the chassis, and power on it again. 3.4 RANGER MINI 2.0ROS 使用说明 RANGER MINI 2.0 use manual for ROS 提供一些标准操作系统服务 ,例如硬件抽象 ,底层设备控制 ,常用功能实现 ,进程间消息以及数据包 管理。 ROS 是基于一 种图状架构 ,从而不同节点的进程能接受 ,发布 ,聚合各种信息(例如传感 ,控制,...
  • Page 46 ROS Kinetic(后续版本亦测试过 also been tested on the later versions) ● ● 硬件连接与准备 Hardware Connection and Preparation 将 RANGER MINI 2.0 尾部航空插头 can 线引出,将 can 线中 can_H 和 can_L 分别与 CAN_TO_USB 适配器相连; 打开 RANGER MINI 2.0 移动机器人底盘电源开关;将 CAN_TO_USB 连接至笔记本的 usb 口。连接示意如图所示。 on the rear of RANGER MINI 2.0...
  • Page 47 ● 以监听来自 RANGER MINI 2.0 底盘的数据了 If the CAN-TO-USB adapter has been connected to the RANGER MINI 2.0 and the RANGER MINI 2.0 has been powered on, the command below can be used to monitor the data from the RANGER.
  • Page 48 Note that the AgileX USB_TO_CAN module needs to be enabled before running the RANGER MINI 2.0 node. The command is as follows: rosrun ranger_bringup bringup_ can2 usb.bash. This command only needs to be executed once after the USB_TO_CAN module is powered on.
  • Page 49 5、产品尺寸 Product Size - 42 -...