AgileX SCOUT MINI User Manual
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AgileX SCOUT MINI User Manual

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SCOUT MINI USER MANUAL
SCOUT MINI
AgileX Robotics Team
USER MANUAL   V.2.0.1 2023.08
Document version
No.
Version
Date
Edited by
Reviewer
Notes
Update rendering
1
V2.0.0
2023/09/02
谢 亲
Update Contents
This chapter contains important safety information, before the robot is powered on for the first
time, any individual or organization must read and understand this information before using the
device. If you have any questions about use, please contact us at
support@agilex.ai
. Please
follow and implement all assembly instructions and guidelines in the chapters of this manual,
which is very important. Particular attention should be paid to the text related to the warning signs.
1 / 4 3

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Summary of Contents for AgileX SCOUT MINI

  • Page 1 SCOUT MINI USER MANUAL SCOUT MINI AgileX Robotics Team USER MANUAL   V.2.0.1 2023.08 Document version Version Date Edited by Reviewer Notes Update rendering V2.0.0 2023/09/02 谢 亲 Update Contents This chapter contains important safety information, before the robot is powered on for the first time, any individual or organization must read and understand this information before using the device.
  • Page 2 SCOUT MINI integrators and end customers have the responsibility to ensure compliance with the applicable laws and regulations of relevant countries, and to ensure that there are no major dangers in the complete robot application.
  • Page 3 ● Carry out remote control within the range of visibility. ● The maximum load of SCOUT MINI is 20KG. When in use, ensure that the payload does not exceed 20KG. ● When installing an external extension on SCOUT MINI, confirm the position of the center of mass of the extension and make sure it is at the center of rotation.
  • Page 4 Battery precautions ● The battery supplied with SCOUT MINI is not always fully charged in the factory setting, but its specific power capacity can be displayed on the voltmeter at tail end of SCOUT MINI chassis or read via CAN bus communication interface. Once the green indicator light of charger is switched on, it means the battery recharging is completed, but after this indicator light is on, the battery will still be charged slowly with 0.1A current for possibility about 30 minutes;...
  • Page 5 Other notes ● SCOUT MINI has plastic parts in front and rear, please do not directly hit those parts with excessive force to avoid possible damages; ● When handling and setting up, please do not fall off or place the vehicle upside down;...

  • Page 6: Table Of Contents

    2.5 Instructions on lighting control 2.6 Speed mode description 3 Getting Started 3.1 Use and operation 3.2 Charging 3.3 Development 3.3.1 CAN cable connection 3.3.2 Implementation of CAN command control 3.3.3 CAN protocol 3.4 Firmware upgrade 3.5 SCOUT MINI ROS Package 6 / 4 3...

  • Page 7: Introduction To Scout Mini

    The minimum turning radius of the chassis is 0 m, and the climbing angle is close to 30 degrees. SCOUT MINI is still capable of excellent off-road performance although it is only half of SCOUT in size. In addition, it has a breakthrough high-speed, accurate, stable and controllable dynamic control system up to 20 km/h.

  • Page 8: Performance Parameters

    USB to CAN RC transmitter USB to RS232 1.2 Performance parameters Type Items Parameters Mechanical Dimensions (mm) 612x580x245 Axle Track (mm) Front/rear track (mm) Kerb weight (Kg) Battery type Lithium battery Battery parameters 24V 15Ah DC brushless 4 X 150W Power drive motor (Mecanum wheel 150W) Drive type Independent four-wheel drive Steering drive motor Parking type...

  • Page 9: Requirement For Development

    FS RC transmitter is provided optionally in the factory settings of SCOUT MINI and it allows users to control the mobile chassis to move and turn; the CAN provided on SCOUT MINI can be used for secondary development via the CAN interface.

  • Page 10: Status Indication

    The overview of an entire mobile robot chassis is shown in Figure 2.1 and Figure 2.2 below. Based on the concept of modular and intelligent design as a whole, SCOUT MINI combines filled solid tires with independent suspension as its power module, which, along with powerful hub motor, enables the development platform of SCOUT MINI robot chassis to flexibly move on...

  • Page 11: Instructions On Electrical Interfaces

    The position of each module at the tail is as shown in the figure.2.3. SCOUT MINI aviation extension interface is configured with both a set of power supplies and a set of CAN communication interfaces. These interfaces can be used to supply power to extended devices and establish communication.

  • Page 12: Remote Control Instructions

    2.3 Remote control instructions FS RC transmitter is an optional feature of SCOUT MINI for users to choose as actually required. With this RC transmitter designed on the left throttle in this product, users can easily control SCOUT MINI universal robot chassis. Its definitions and functions are shown in Figure 2.5 for reference.
  • Page 13 Figure 2.5 Schematic diagram of FS controller buttons Remote control interface description: Scout : model Vol: battery voltage Car: chassis status Batt: Chassis power percentage P:Park Remoter: remote control battery level Fault Code: Error information (refer to the fault information description table) 1 3 / 4 3...

  • Page 14: Description Of Movement By Remote Control And Control By Command

    Figure 3.0 Schematic Diagram of Reference Coordinate System for Vehicle Body As shown in Figure 3.0, the vehicle body of SCOUT MINI is in parallel with X axis of the established reference coordinate system.In the controller mode with RC transmitter, pushing the left rocker of the RC transmitter forward and backward respectively refers to the movement on the positive and negative directions of axis X;...

  • Page 15: Instructions On Lighting Control

    The front and back of SCOUT MINI are equipped with lights. For the convenience of users, SCOUT MINI opens the light control interface to the outside world. At the same time, in order to save energy, a lighting control interface is reserved on the remote control. At present, there are 2...

  • Page 16: Getting Started

    Startup Press the SCOUT MINI power button and wait for a few seconds; Move SWB to the middle and choose the position to be controlled; You can try to manually switch the light mode and make sure that the mode selection is correct;...

  • Page 17: Charging

    Press the SCOUT MINI power button to release. Basic operating procedure of remote control After SCOUT MINI mobile chassis is started correctly, turn on the RC transmitter and select the remote-control mode. Then, the SCOUT MINI platform motion can be controlled by the RC transmitter.

  • Page 18: Can Cable Connection

    Figure 3.2 Schematic diagram of aviation plug male connector 3.3.2 Implementation of CAN command control Power on SCOUT MINI and turn on the remote control, put the SWB switch to the top position to enable command control mode, so that SCOUT MINI would receive the data from the CAN interface, the host computer is able to receive the current status of the chassis with the can interface, please refer to the CAN protocol as below for detail.
  • Page 19 500K and Motorola message format. Via external CAN bus interface, the moving linear speed and the rotational angular speed of chassis can be controlled; SCOUT MINI will feedback the current motion status information, SCOUT MINI chassis status information, etc. The protocol includes...
  • Page 20 byte [4] Reserve 0x00 Failure Informatio Refer to Table3.2 Failure Information byte [5] unsigned int8 Description byte [6] Reserve 0x00 0~255 Loops counting. Count is incremente Count Parity bit ( byte [7] unsigned int8 Count) once while single command sent each time Table 3.2 Description of Failure Information Failure Information Description Byte Description Low-voltage failure(0: Normal 1: Failure) Protection Voltage is bit [0] 20.5V Low-voltage warning[2](0: Normal 1: Warning) Warning voltage is bit [1] 22.5V Remote control signal lost protection(0: Normal 1: Lost...
  • Page 21 The motion control feedback frame includes the feedback of moving and rotation speed of chassis. Please refer to Table 3.3 for detail. Table 3.3 Motion Control Feedback Frame Command Name Motion Control Feedback Frame Receive- Sending node Receiving node Cycle(ms) timeout(ms) Steer-by- Key unit 0x221 20ms None wire chassis Data length 0x08...
  • Page 22 Command Name Motion Command Control Frame Receive- Sending node Receiving node Cycle(ms) timeout(ms) Key Unit Chassis node 0x111 20ms 500ms Data length 0x08 Position Function Data type Description Linear velocity byte [0] upper 8 byte Linear moving speed mm/s(unit)  signed int16 byte [1] Linear velocity Range[-3000,3000] lower 8 byte Angular velocity Rotation angular speed 0.001rad/s(uni byte [2] upper 8 byte signed int16 byte [3] Angular velocity  Range [-2523,2523] lower 8 byte byte [4] Reserve —...
  • Page 23 Description for control mode If SCOUT MINI is power on without the connection with remote control, the default control mode is stand by, the chassis would receive the control command only and not respond to the speed command, enable the CAN control mode before using the CAN control. If you power on the remote control, then the remote control has the highest priority, the chassis would switch the control mode based on remote control only.
  • Page 24 [Note] Sample data, the following data is only for testing 1.The chassis moves forward at 0.15m/s. byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] 0x00 0x96 0x00 0x00 0x00 0x00 0x00 0x00 2.The chassis steering 0.2rad byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6]...
  • Page 25 Receive- Sending node Receiving node Cycle(ms) timeout(ms) Key Unit Chassis   node 0x251~0x254 20ms None Data length 0x08 Location Function Data type Description Motor rotational speed upper byte [0] 8bits signed int16 Motor rotational speed(RPM) byte [1] Motor rotational speed lower 8bits Motor current byte [2]...
  • Page 26 Data length 0x08 Location Function Data type Description Drive voltage byte [0] upper 8 bit unsigned int16 Drive voltage (0.1V) byte [1] Drive voltage lower 8 bit Drive temperature byte [2] upper 8 bit signed int16 Unit: 1℃ byte [3] Drive temperature lower 8 bit...
  • Page 27 bit[5] Reserved bit[6] Reserved bit[7] Reserved The front and the external light are also controlled by command, please refer to the Table3.10 below for detail. Table3.10 Light Control Frame Command Name Light control Frame Receive- Sending node Receiving node Cycle(ms) timeout(ms) Steer-by-wire Key  unit...
  • Page 28 byte [5] Reserved 0x00 byte [6] Reserved 0x00 0once while single command sent Count Parity bit byte [7] unsigned int8 each time~255 Loops counting. (Count) Count is incremented Note[5] This value is only valid with customization mode Table 3.11 Light Control Feedback Frame Command Name Light control feedback Frame Receive-...
  • Page 29 byte [5] Reserved 0x00 byte [6] Reserved 0x00 0once while single command sent Count Parity bit each time~255 Loops counting. byte [7] unsigned int8 (Count) Count is incremented Table 3.12 System Version Enquiry Frame Command Name System Version Enquiry Command Receive- Sending node Receiving node...
  • Page 30 Main board hardware byte [0] version upper 8 bit Upper 8 bit is main version unsigned int16 byte [1] Main board hardware Lower 8 bit is second version version lower 8 bit Drive hardware version byte [2] upper 8 bit Upper 8 bit is main version unsigned int16...
  • Page 31 Left wheel odometer highest bit Left wheel odometer byte [0] second highest byte [1] Left wheel odometer feedback (Unit: signed int32 byte [2] Left wheel odometer byte [3] second lowest Left wheel odometer lowest Right wheel odometer highest bit Right wheel odometer byte [4] second highest...

  • Page 32: Firmware Upgrade

    Receive- Sending node Receiving node Cycle(ms) timeout(ms) Steer-by-wire Key unit 0x241 20ms None chassis Data length 0x08 Location Function Data type Description bit[0-1]: SWA 2- Up 3-Down bit[2-3]: SWB : 2-Up 1-Middle 3- Down byte[0] SW feedback unsigned int8 bit[4-5]: SWC : 2-Up 1-Middle 3- Down bit[6-7]: SWD 2-Up 3-Down Right joystick...
  • Page 33 To facilitate the customer's upgrading of the firmware version used by SCOUT MINI and bring the customer a better experience, SCOUT MINI provides a hardware interface for the firmware upgrading, and the corresponding client software as well. Upgrade Preparation ● Agilex CAN debugging module  X 1 ●...
  • Page 34 3.Click the Load Firmware File button to load the firmware to be upgraded. If the loading is successful, the firmware information will be obtained, as shown in the figure 4.Click the node to be upgraded in the node list box, and then click Start Upgrade Firmware to start upgrading the firmware.

  • Page 35: Scout Mini Ros Package

    3.5 SCOUT MINI ROS Package 3 5 / 4 3...
  • Page 36 ● Hardware connection and preparation ● Lead out the CAN wire of the SCOUT MINI top aviation plug or the tail plug, and connect CAN_H and CAN_L in the CAN wire to the CAN_TO_USB adapter respectively; ● Turn on the knob switch on the SCOUT MINI mobile robot chassis, and check whether the emergency stop switches on both sides are released ●...
  • Page 37 Install and use can-utils to test hardware 复 代 sudo install can-utils SCOUT MINI ● If the can-to-usb has been connected to the robot this time, and the car has SCOUT MINI been turned on, use the following commands to monitor the data from the chassis 复...
  • Page 38 AGILEX SCOUT MINI ROS PACKAGE download and compile ● Download ros package 复 代 sudo apt install -y libasio-dev sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard ● Clone compile SCOUT MINI code 复 代 $ cd ~/catkin_ws/src clone https://github.com/agilexrobotics/ugv_sdk.git $ git clone https://github.com/agilexrobotics/scout_ros.git $ cd .. $ catkin_make Please refer to: https://github.com/agilexrobot-ics/scout_mini_ros...
  • Page 39 A: Normally, if SCOUT MINI can be controlled by a RC transmitter, it means the chassis movement is under proper control; if the chassis feedback frame can be accepted, it means CAN extension link is in normal condition. Please check the CAN control frame sent to see whether the data check is correct and whether the control mode is command control mode.
  • Page 40 A: The tire wear of SCOUT MINI is normally seen when it is running. As SCOUT MINI is based on the four-wheel differential steering design, sliding friction and rolling friction both occur when the vehicle body rotates. If the floor is not smooth but rough, tire surfaces will be worn out. In order to reduce or slow down the wear, small-angle turning can be conducted for less turning on a pivot.
  • Page 41 5.2 Illustration diagram of top extended support dimensions 4 1 / 4 3...
  • Page 42 4 2 / 4 3...
  • Page 43 4 3 / 4 3...

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