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< p class = "caption" > < span class = "caption-text" > 快速开始< / span > < / p >
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< li class = "toctree-l1 current" > < a class = "current reference internal" href = "#" > 定位循迹< / a > < ul >
< li class = "toctree-l2" > < a class = "reference internal" href = "#id2" > 功能简介< / a > < / li >
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< li class = "toctree-l3" > < a class = "reference internal" href = "#id4" > 一、搭建定位系统< / a > < ul >
< li class = "toctree-l4" > < a class = "reference internal" href = "#id5" > 准备工作< / a > < / li >
< li class = "toctree-l4" > < a class = "reference internal" href = "#id6" > 开始搭建< / a > < / li >
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< p class = "caption" > < span class = "caption-text" > 了解定位系统< / span > < / p >
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< li class = "toctree-l1" > < a class = "reference internal" href = "../marvelmind/doc.html" > 定位系统< / a > < / li >
< li class = "toctree-l1" > < a class = "reference internal" href = "../dashboard/doc.html" > Dashboard 说明< / a > < / li >
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< p class = "caption" > < span class = "caption-text" > 其他< / span > < / p >
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< li > 定位循迹< / li >
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< h1 > 定位循迹< a class = "headerlink" href = "#id1" title = "永久链接至标题" > ¶< / a > < / h1 >
< p > 注：仅导航套件室外版含此功能< / p >
< div class = "section" id = "id2" >
< h2 > 功能简介< a class = "headerlink" href = "#id2" title = "永久链接至标题" > ¶< / a > < / h2 >
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< p > 定位循迹是机器人循着用户提前录好的轨迹自主行走，行走过程中机器人能够自动躲避障碍物，自动规划路线，达到目标点。< / p >
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< p > 软件上提供了可视化的操作按钮和开发接口，可在行走途中对机器人发送停止/启动的指令，用户可以根据自己的需要对机器人进行二次开发。< / p >
< p > 定位循迹使用的定位系统，能够为机器人、自动驾驶车辆、无人机等设备提供 ±2cm 的定位精度。定位系统覆盖范围与定位标签的配置方式和使用个数有关。< / p >
< p > < a class = "reference internal" href = "../marvelmind/doc.html" > < span class = "doc" > > > 详细了解定位系统< / span > < / a > < / p >
< / div >
< div class = "section" id = "id3" >
< h2 > 操作步骤< a class = "headerlink" href = "#id3" title = "永久链接至标题" > ¶< / a > < / h2 >
< ol class = "simple" >
< li > < p > 搭建定位系统< / p > < / li >
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< li > < p > 循迹< / p > < / li >
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< / ol >
< div class = "section" id = "id4" >
< h3 > 一、搭建定位系统< a class = "headerlink" href = "#id4" title = "永久链接至标题" > ¶< / a > < / h3 >
< p > 定位系统中包含车载定位标签，定位标签，定位路由。< / p >
< p > 车载定位标签又称为车载移动定位标签，它安装在车上，随车移动。< / p >
< p > 定位标签又称为固定标签，可将标签固定在高处（墙上、支架）或放置在平稳无遮挡的地方，使用的个数取决于用户的需求。< / p >
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< p > 定位标签包含5个超声波换能器， < / p >
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< p > < img alt = "../../../_images/beacon.png" src = "../../../_images/beacon.png" / > < / p >
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< p > 定位路由是整个定位系统的中心控制器，系统工作时路由必须一直在线，定位路由中没有电池，必须使用供电电源为它供电，如路由没有电源，定位系统会无法工作。< / p >
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< p > < img alt = "../../../_images/modem.png" src = "../../../_images/modem.png" / > < / p >
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< p > < a class = "reference internal" href = "../marvelmind/doc.html" > < span class = "doc" > > > 详细了解定位标签与路由< / span > < / a > < / p >
< div class = "section" id = "id5" >
< h4 > 准备工作< a class = "headerlink" href = "#id5" title = "永久链接至标题" > ¶< / a > < / h4 >
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< ol >
< li > < p > 给定位标签充电< / p >
< p > 打开包装，连接 micro USB 线给定位标签充电，可使用手机充电器(5V)、充电宝(5V)或者电脑 USB 接口充电。充电时定位标签上红色 LED 指示灯闪烁， < / p >
< / li >
< li > < p > 打开定位标签开关< / p >
< p > 两个拨码开关左侧保持远离 LED 指示灯，右侧为电源开关，拨到靠近 LED 指示灯位置为开。< / p >
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< p > < img alt = "../../../_images/switch.png" src = "../../../_images/switch.png" / > < / p >
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< / li >
< li > < p > 打开软件——Dashborad（ < a class = "reference external" href = "http://www.autolabor.com.cn/download" > 下载< / a > ） < / p >
< p > 打开 Dashboard 软件，使用 micro USB 线连接标签或路由到电脑， < / p >
< / li >
< li > < p > 初始化定位路由< / p >
< p > 使用micro USB 线将定位路由与电脑连接，点击 Dashboard 右下 Default 按钮加载默认配置。< / p >
< / li >
< li > < p > 初始化定位标签< / p >
< p > 使用micro USB 线将定位标签与电脑连接，点击 Dashboard 右下 Default 按钮加载默认配置，然后查看标签 id (Device address)并标记到标签外壳上方便使用过程中进行区分。也可对标签 id 进行修改，注意不要出现重复的 id。< / p >
< p > 建议将标签 id 从 2 开始设置，逐个递增。< / p >
< / li >
< li > < p > 初始化车载定位标签< / p >
< p > 首先执行上一步操作初始化标签，接着配置 Hedgehog mode 设置为 enable， < / p >
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< p > < img alt = "../../../_images/settings.png" src = "../../../_images/settings.png" / > < / p >
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< / li >
< / ol >
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< / div >
< div class = "section" id = "id6" >
< h4 > 开始搭建< a class = "headerlink" href = "#id6" title = "永久链接至标题" > ¶< / a > < / h4 >
< p > 以室内4个固定标签为例， （ ， ） ， ： < / p >
< ol class = "simple" >
< li > < p > 固定定位标签< / p > < / li >
< / ol >
< p > 按照以下规则， < / p >
< blockquote >
< div > < p > 为减少遮挡的情况， ， < / p >
< / div > < / blockquote >
< blockquote >
< div > < p > 标签相对地面等高且需要测量出高度值< / p >
< / div > < / blockquote >
< blockquote >
< div > < p > 标签必须两两之间可见（无遮挡、有换能器相对）< / p >
< / div > < / blockquote >
< blockquote >
< div > < p > 标签尽量分散开， < / p >
< / div > < / blockquote >
< blockquote >
< div > < p > 建议任意标签之间的距离控制在20m 以内（ ） < / p >
< / div > < / blockquote >
< blockquote >
< div > < p > 移动标签应在固定标签围成的区域内部运动，布置固定标签时还应考虑此因素< / p >
< / div > < / blockquote >
< ol class = "simple" >
< li > < p > 建立地图< / p > < / li >
< / ol >
< p > 打开 Dashboard 连接路由，连接成功后左下角显示 modem。< / p >
< p > 如非首次使用，本次标签位置与最后一次建图时位置一致，则可跳过此步骤。< / p >
< p > 如重新建图，则需清除路由中可能已经存储的地图，点击设备列表右侧的 Erase map 按钮清除地图，然后点击 Submap 0 按钮。< / p >
< ol class = "simple" >
< li > < p > 点击设备列表中固定标签对应编号唤醒标签， < / p > < / li >
< / ol >
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< p > < img alt = "../../../_images/wakeup.png" src = "../../../_images/wakeup.png" / > < / p >
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< ol class = "simple" >
< li > < p > 点击设备列表中某个在线的标签， ， < / p > < / li >
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< li > < p > 地图会自动构建。等待地图显示中四个绿色固定信标位置基本不再变化、左上角距离表全部为白色、且 freeze map 按钮上方显示橙色 < code class = "docutils literal notranslate" > < span class = "pre" > Freeze< / span > < span class = "pre" > submap!< / span > < / code > 字样后，点击 freeze map 按钮锁定地图。如果锁定后的地图与实际情况手性相反（ ） ， < img alt = "../../../_images/mirror.png" src = "../../../_images/mirror.png" / > 翻转地图。< / p > < / li >
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< / ol >
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< p > < img alt = "../../../_images/map.png" src = "../../../_images/map.png" / > < / p >
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< ol class = "simple" >
< li > < p > 类似第3、4步的操作唤醒车载标签并设置车载标签相对地面的高度。< / p > < / li >
< li > < p > 定位系统已经开始工作了，车载移动标签在 Dashboard 中查看运动轨迹。之后使用系统定位已经不再依赖 Dashboard 软件，只要给路由供电，数秒后即可从移动标签的串口读取到定位坐标。< / p > < / li >
< / ol >
< p > 注：< / p >
< ul class = "simple" >
< li > < p > 路由连接 Dashboard 可在参数列表中查看所有标签的电量（电压），标签电量过低时界面上会有红色文字提示。< / p > < / li >
< li > < p > 停止使用时路由断电即可， < / p > < / li >
< / ul >
< p > 以上即完成定位系统的搭建< / p >
< / div >
< / div >
< div class = "section" id = "id7" >
< h3 > 二、循迹< a class = "headerlink" href = "#id7" title = "永久链接至标题" > ¶< / a > < / h3 >
< div class = "section" id = "id8" >
< h4 > 操作步骤< a class = "headerlink" href = "#id8" title = "永久链接至标题" > ¶< / a > < / h4 >
< ol class = "simple" >
< li > < p > 车载定位标签测试< / p > < / li >
< li > < p > 激光雷达测试< / p > < / li >
< li > < p > 开始循迹< / p > < / li >
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< li > < p > 终止循迹< / p > < / li >
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< / ol >
< div class = "section" id = "id9" >
< h5 > 车载定位标签测试< a class = "headerlink" href = "#id9" title = "永久链接至标题" > ¶< / a > < / h5 >
< p > 准备工作：< / p >
< ul class = "simple" >
< li > < p > 打开电源模块< / p > < / li >
< li > < p > 打开 Mini 计算机（密码 autolabor ） < / p > < / li >
< li > < p > 确保所有线材连接正确< / p > < / li >
< / ul >
< ol class = "simple" >
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< li > < p > 确认车载定位标签的 USB 线插正确的 USB-Hub 口上< / p > < / li >
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< li > < p > 定位系统设置完毕，定位路由开始工作后，车载定位标签上面会闪着红灯，并发出“哒哒哒…”的高频声音，代表标签功能正常< / p > < / li >
< li > < p > 进入桌面测试文件夹，点击标签测试< / p > < / li >
< li > < p > 查看 RVIZ 中是否有蓝色的点，如有数据则表示连接正常< / p > < / li >
< / ol >
< p > 常见问题：< / p >
< ul >
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< li > < p > 如果使用软件测试时没有显示蓝色数据会有哪些原因？< / p >
< ul class = "simple" >
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< li > < p > 车载定位标签的 USB 线没有插在 USB-Hub 的指定接口上< / p > < / li >
< li > < p > USB-Hub 的 USB 线没有插在 Mini 计算机的指定接口上< / p > < / li >
< li > < p > 车载定位标签的波特率设置错误， ， < / p > < / li >
< li > < p > Mini 计算机 UBS 设备规则有误< / p > < / li >
< / ul >
< / li >
< li > < p > 如果没有显示蓝色数据，那该如何排查？< / p >
< ul >
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< li > < p > 打开terminal， ，
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< code class = "docutils literal notranslate" > < span class = "pre" > ll< / span > < span class = "pre" > /dev/box-3< / span > < / code > < / p > < / li >
< li > < p > 如有该设备则检查波特率设置< / p > < / li >
< li > < p > 如没有该设备，则检查线材连接< / p >
< ul >
< li > < p > USB-Hub 的指示灯是否亮< / p >
< ul >
< li > < p > 如不亮则表示没有插紧< / p > < / li >
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< li > < p > 如亮则检查规则文件，执行< / p >
< p > < code class = "docutils literal notranslate" > < span class = "pre" > vim< / span > < span class = "pre" > /ect/rules.d< / span > < / code > < / p >
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< h5 > 激光雷达测试< a class = "headerlink" href = "#id10" title = "永久链接至标题" > ¶< / a > < / h5 >
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< li > < p > 进入桌面测试文件夹，点击雷达测试< / p > < / li >
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< li > < p > 查看 RVIZ 中是否有红色与黄色激光雷达数据，如有则激光雷达功能正常< / p > < / li >
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< p > 常见问题：< / p >
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< li > < p > 看不到激光雷达数据？< / p >
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< li > < p > 检查激光雷达的数据线两头的连接是否插紧< / p > < / li >
< li > < p > 检查激光雷达是否插在 USB-Hub上指定的口， ， < / p > < / li >
< li > < p > USB-Hub 数据线是否插在 Mini 计算机正确的插口上，检查电源连接线< / p > < / li >
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< h5 > 开始循迹< a class = "headerlink" href = "#id11" title = "永久链接至标题" > ¶< / a > < / h5 >
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< li > < p > 录制轨迹< / p > < / li >
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< li > < p > 打开桌面文件夹定位循迹，点击开始循迹< / p > < / li >
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< p > < img alt = "../../../_images/location-1.png" src = "../../../_images/location-1.png" / > < / p >
< p > 程序打开RVIZ后， ， ， ， < / p >
< p > 注：即使用户从未录制轨迹，首次打开程序界面上也会显示一条轨迹，此为系统预置轨迹，用户录制轨迹后，此默认轨迹会被覆盖。< / p >
< p > < img alt = "../../../_images/location-2.png" src = "../../../_images/location-2.png" / > < / p >
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< li > < p > 使用键盘控制 AP1 遥控走一段路，如从未录制过轨迹，在走的过程中 AP1 在RVIZ 中会持续跳动，此时 AP1 是在进行地图坐标匹配，当 AP1 不再跳动时，则表示稳定， 走3-5m， ， （ ） ， < / p > < / li >
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< p > < img alt = "../../../_images/location-3.gif" src = "../../../_images/location-3.gif" / > < / p >
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< li > < p > 如已经录有历史轨迹，遥控 AP1 走一段后，会直接跳到某一位置，表示 AP1 已经在（定位系统）地图中找到自己的位置。< / p > < / li >
< li > < p > 点击 RVIZ 工具栏下方的【录制轨迹】按钮，控制 AP1 在目标路径上走一圈。< / p > < / li >
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< p > < img alt = "../../../_images/location-4.png" src = "../../../_images/location-4.png" / > < / p >
< p > 注：录制的轨迹需闭合。< / p >
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< li > < p > 录制完成后，点击【保存轨迹】按钮。< / p > < / li >
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< p > < img alt = "../../../_images/location-5.png" src = "../../../_images/location-5.png" / > < / p >
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< li > < p > 开始循迹< / p > < / li >
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< li > < p > 按键盘【0】， ， < / p > < / li >
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< p > < img alt = "../../../_images/location-6.png" src = "../../../_images/location-6.png" / > < / p >
< p > 机器人在刚刚录制的路线上开始了循迹任务：< / p >
< p > < img alt = "../../../_images/location-7.gif" src = "../../../_images/location-7.gif" / > < / p >
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< li > < p > 停止循迹< / p > < / li >
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< p > 如想要停止循迹， ， ， < / p >
< p > 注：< / p >
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< li > < p > 如下次再次使用时，仍是在无需录制轨迹的同一环境中，则可跳过录制路线的步骤，测试完毕后直接执行循迹功能。< / p > < / li >
< li > < p > 如重新录制路径会清除上一次已保存的地图。< / p > < / li >
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< a href = "../../../common/q_a/doc.html" class = "btn btn-neutral float-right" title = "常见问题" accesskey = "n" rel = "next" > Next < span class = "fa fa-arrow-circle-right" > < / span > < / a >
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< a href = "../../user_guide/quick_start/slam_doc.html" class = "btn btn-neutral float-left" title = "建图导航" accesskey = "p" rel = "prev" > < span class = "fa fa-arrow-circle-left" > < / span > Previous< / a >
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