From 160d8f7a8bfd31086a67658b080e2d0c91d3d9b1 Mon Sep 17 00:00:00 2001
From: doubleTing <835497784@qq.com>
Date: Sun, 29 Sep 2019 14:23:50 +0800
Subject: [PATCH] update
---
source/version_two/location/guide/doc.md | 240 +++++++++++++-----
.../version_two/location/guide/imgs/map-1.png | Bin 0 -> 55622 bytes
.../location/guide/imgs/map-10.png | Bin 0 -> 8695 bytes
.../location/guide/imgs/map-11.png | Bin 0 -> 32554 bytes
.../location/guide/imgs/map-12.png | Bin 0 -> 17335 bytes
.../location/guide/imgs/map-13.png | Bin 0 -> 10686 bytes
.../location/guide/imgs/map-14.png | Bin 0 -> 4054 bytes
.../location/guide/imgs/map-15.png | Bin 0 -> 9697 bytes
.../location/guide/imgs/map-16.png | Bin 0 -> 9945 bytes
.../location/guide/imgs/map-17.png | Bin 0 -> 73197 bytes
.../location/guide/imgs/map-18.png | Bin 0 -> 33347 bytes
.../version_two/location/guide/imgs/map-2.png | Bin 0 -> 28530 bytes
.../version_two/location/guide/imgs/map-3.png | Bin 0 -> 30562 bytes
.../version_two/location/guide/imgs/map-4.png | Bin 0 -> 15908 bytes
.../version_two/location/guide/imgs/map-5.png | Bin 0 -> 406381 bytes
.../version_two/location/guide/imgs/map-6.png | Bin 0 -> 114527 bytes
.../version_two/location/guide/imgs/map-7.png | Bin 0 -> 24610 bytes
.../version_two/location/guide/imgs/map-8.png | Bin 0 -> 28364 bytes
.../version_two/location/guide/imgs/map-9.png | Bin 0 -> 22377 bytes
.../user_guide/quick_start/slam_doc.md | 2 +-
20 files changed, 176 insertions(+), 66 deletions(-)
create mode 100644 source/version_two/location/guide/imgs/map-1.png
create mode 100644 source/version_two/location/guide/imgs/map-10.png
create mode 100644 source/version_two/location/guide/imgs/map-11.png
create mode 100644 source/version_two/location/guide/imgs/map-12.png
create mode 100644 source/version_two/location/guide/imgs/map-13.png
create mode 100644 source/version_two/location/guide/imgs/map-14.png
create mode 100644 source/version_two/location/guide/imgs/map-15.png
create mode 100644 source/version_two/location/guide/imgs/map-16.png
create mode 100644 source/version_two/location/guide/imgs/map-17.png
create mode 100644 source/version_two/location/guide/imgs/map-18.png
create mode 100644 source/version_two/location/guide/imgs/map-2.png
create mode 100644 source/version_two/location/guide/imgs/map-3.png
create mode 100644 source/version_two/location/guide/imgs/map-4.png
create mode 100644 source/version_two/location/guide/imgs/map-5.png
create mode 100644 source/version_two/location/guide/imgs/map-6.png
create mode 100644 source/version_two/location/guide/imgs/map-7.png
create mode 100644 source/version_two/location/guide/imgs/map-8.png
create mode 100644 source/version_two/location/guide/imgs/map-9.png
diff --git a/source/version_two/location/guide/doc.md b/source/version_two/location/guide/doc.md
index ed8730c..756df93 100644
--- a/source/version_two/location/guide/doc.md
+++ b/source/version_two/location/guide/doc.md
@@ -11,7 +11,7 @@
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。
-[>>详细了解定位系统](../marvelmind/doc.md)
+[>>详细了解定位系统](../marvelmind/doc)
## 操作步骤
@@ -21,7 +21,7 @@
### 一、搭建定位系统
-定位系统中包含车载定位标签，定位标签，定位路由。
+定位系统中包含 车载定位标签，定位标签，定位路由。
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。
@@ -35,7 +35,7 @@
-[>>详细了解定位标签与路由](../marvelmind/doc.md)
+[>>详细了解定位标签与路由](../marvelmind/doc)
#### 准备工作
@@ -51,24 +51,44 @@
3. 打开软件——Dashborad（[下载](http://www.autolabor.com.cn/download)）
- 打开 Dashboard 软件，使用 micro USB 线连接标签或路由到电脑，Dashboard 识别后将会显示配置信息。
+ 
-4. 初始化定位路由
+ 打开 Dashboard 软件，使用 micro USB 线连接设备到电脑，Dashboard 识别后将会显示配置信息。
- 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。
+4. 确认配置
-5. 初始化定位标签
+ 确认固件版本与配置参数，如与以下内容不同，可参考文末【恢复出厂配置】的教程重新配置。
- 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。
+ 1. **定位路由：**
- 建议将标签 id 从 2 开始设置，逐个递增。
+ 
-6. 初始化车载定位标签
+ Firmware version -> V6.07 modem HW v4.9
- 首先执行上一步操作初始化标签，接着配置 Hedgehog mode 设置为 enable，将配置 Interfaces 的第一个子项 UART speed 设置为115200。
+ Channel -> 0
- 
+ 2. **车载定位标签：**
+ 
+
+ Firmware version -> V6.07 beacon HW v4.9
+
+ Hedgehog mode -> enable
+
+ Channel -> 0
+
+ UART speed -> 115200
+
+ 3. **固定定位标签：**
+
+ 
+
+ Firmware version -> V6.07 beacon HW v4.9
+
+ Channel -> 0
+
+
+准备工作结束，开始准备搭建。
#### 开始搭建
@@ -77,7 +97,7 @@
1. 固定定位标签
-按照以下规则，将已经打开电源开关的4个固定标签固定到墙壁或其他可安装位置上。
+按照以下规则，将**电源已打开**的4个固定标签固定到墙壁或其他可安装位置上。
>为减少遮挡的情况，标签位置尽量高，例如1.8m 以上
@@ -94,32 +114,54 @@
2. 建立地图
-打开 Dashboard 连接路由，连接成功后左下角显示 modem。
+打开 Dashboard 使用micro USB 线连接路由到电脑，连接成功后左下角显示 modem。
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。
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。
-3. 点击设备列表中固定标签对应编号唤醒标签，过程大概需要10s。
+3. 点击设备列表中固定标签对应编号(beacon xx) 唤醒标签，过程大概需要10s。
-4. 点击设备列表中某个在线的标签，则右侧列表为该标签的参数设置。依次设置4个固定标签的 Height 参数为第1步布置的高度，注意单位为 m。
+4. 点击设备列表中某个在线的标签，则右侧列表为该标签的参数设置。依次设置4个固定标签的 Height 参数为标签布置的高度，注意单位为 m。
-5. 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 `Freeze submap!` 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（例如地图中从1到2到3是逆时针而实际布置的是顺时针），点击镜像按钮翻转地图。
+
-
+5. 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 `Freeze submap!` 字样后，点击 freeze map 按钮锁定地图。
-6. 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。
+ 如果锁定后的地图与实际情况顺序相反（例如地图中从1到2到3是逆时针而实际布置的是顺时针），点击镜像按钮翻转地图。
-7. 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。
+ 
+
+ **距离表 ↓**
+
+ 
+
+ **freeze map ↓**
+
+ 
+
+ **镜像按钮 ↓**
+
+ 
+
+6. 点击设备列表中的车载标签，设置车载标签相对地面的高度。
+
+7. 此时定位系统已经开始工作，可在 Dashboard 的地图中查看车载移动标签的运动轨迹。
+
+ 配置完成后，定位循迹功能不再依赖 Dashboard 软件，只需保持定位路由的供电，数秒后即可从车载移动标签的串口读取到机器人的定位坐标。
注：
-* 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。
+1. 定位路由连接 Dashboard 后，可在参数列表中查看所有标签的电量（电压），当标签电量过低时界面上会有红色文字提示（满电约为4.2 ）。
-* 停止使用时路由断电即可，1min 后所有标签会自动进入睡眠状态。长时间不使用时请关闭标签电源开关。
+ 
+
+
+2. 停止使用定位系统时，只需将定位路由断电即可，1min 后所有标签会自动进入睡眠状态。长时间不使用时请关闭标签电源开关，左侧开关保持不变，右侧电源开关拨下。
+ 
以上即完成定位系统的搭建
@@ -139,48 +181,51 @@
准备工作：
-* 打开电源模块
-* 打开 Mini 计算机（密码 autolabor ）
-* 确保所有线材连接正确
+1. 打开电源模块
-1. 确认车载定位标签的 USB 线插正确的 USB-Hub 口上
+2. 打开 Mini 计算机（密码 autolabor ）
+
+3. 确保所有线材连接正确，确认车载定位标签的 USB 线插正确的 USB-Hub 口上
+
+ 
-2. 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
+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。
-3. 进入桌面测试文件夹，点击标签测试
-
-
-4. 查看 RVIZ 中是否有蓝色的点，如有数据则表示连接正常
+进入桌面测试文件夹，点击标签测试，查看 RVIZ 中是否有蓝色的点，如有数据则表示连接正常。
常见问题：
-* 如果使用软件测试时没有显示蓝色数据会有哪些原因？
+1. 如果使用软件测试时没有显示蓝色数据会有哪些原因？
- * 车载定位标签的 USB 线没有插在 USB-Hub 的指定接口上
- * USB-Hub 的 USB 线没有插在 Mini 计算机的指定接口上
+ 1. 车载定位标签的 USB 线没有插在 USB-Hub 的指定接口上
- * 车载定位标签的波特率设置错误，正确应为设置为115200，回到上文初始化车载定位标签步骤重新设置
- * Mini 计算机 UBS 设备规则有误
+ 2. USB-Hub 的 USB 线没有插在 Mini 计算机的指定接口上
-* 如果没有显示蓝色数据，那该如何排查？
- * 打开terminal，执行以下命令内容，查看是否有"box-3"这个设备
+ 3. 车载定位标签的波特率设置错误
+
+
+ 4. Mini 计算机 UBS 设备规则有误
+
+2. 如果没有显示蓝色数据，那该如何排查？
+
+ 1. 打开terminal，执行以下命令内容，查看是否有"box-3"这个设备
`ll /dev/box-3`
- * 如有该设备则检查波特率设置
- * 如没有该设备，则检查线材连接
+ 2. 如有该设备则检查车载定位标签波特率设置，正确应为115200，如不是则查看文末"恢复出厂设置"内容，重新设置
+ 
- * USB-Hub 的指示灯是否亮
+ 3. 如没有该设备，则检查线材连接
- * 如不亮则表示没有插紧
+ 1. USB-Hub 的指示灯是否亮
- * 如亮则检查规则文件，执行
+ 1. 如不亮则表示没有插紧
- `vim /ect/rules.d`
+ 2. 如亮则检查规则文件，执行 `vim /ect/rules.d`
##### 激光雷达测试
@@ -189,20 +234,20 @@
常见问题：
-* 看不到激光雷达数据？
+看不到激光雷达数据？
- * 检查激光雷达的数据线两头的连接是否插紧
+1. 检查激光雷达的数据线两头的连接是否插紧
- * 检查激光雷达是否插在 USB-Hub上指定的口，前侧雷达插前雷达，后侧雷达插后雷达
+2. 检查激光雷达是否插在 USB-Hub上指定的口，前侧雷达插前雷达，后侧雷达插后雷达
- * 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
+3. 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
##### 开始循迹
1. 录制轨迹
-* 打开桌面文件夹定位循迹，点击开始循迹
+打开桌面文件夹定位循迹，点击开始循迹
@@ -210,37 +255,37 @@
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。
-
+
-* 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，边走边转动，障碍物信息不再变化（跳），如下图所示。
-
-
-
-* 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。
+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，边走边转动，障碍物信息不再变化（跳），如下图所示。
-* 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。
+
-
+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。
+
+
+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。
+
+
注：录制的轨迹需闭合。
-* 录制完成后，点击【保存轨迹】按钮。
-
-
+录制完成后，点击【保存轨迹】按钮。
+
2. 开始循迹
-* 按键盘【0】，点击【开始任务】，循迹任务开始
+按键盘【0】，点击左下角按钮【开始任务】，循迹任务开始
-
+
机器人在刚刚录制的路线上开始了循迹任务：
-
+
@@ -251,5 +296,70 @@
注：
-* 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。
-* 如重新录制路径会清除上一次已保存的地图。
+1. 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。
+2. 如重新录制路径会清除上一次已保存的地图。
+
+## 补充知识
+
+#### 恢复出厂配置
+
+1. 初始化定位路由
+
+ 1. 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。
+
+ Channel -> 0
+
+ 一套定位系统中，路由和标签要保持同一 Channel/频道，这样才能进行通信。
+
+ 2. 查看 固件型号 ， Firmware version - > V6.07 modem HW v4.9 如不相同，则需更新固件。
+
+ 点击 dashboard 左上角 firmware ，点击 Upload firmware。
+
+ 
+
+ 选择固件
+
+ 
+
+ 路由固件为：modem
+
+ 
+
+ 固件更新过程中，注意不要拔出，烧写完成后点击 OK，固件更新完毕。
+
+ 
+
+5. 初始化定位标签
+
+ 1. 使用micro USB 线将定位标签与电脑连接
+
+ 2. 点击 Dashboard 右下 Default 按钮加载默认配置
+
+ 3. 然后查看标签 id (Device address)，将此参数与标签外壳上贴的数字保持一致。
+
+ 4. 如标签外壳上未贴数字，用户可自行对标签进行编号，按照顺序 id 从 2开始设置，逐个递增，修改后将 id 标记到标签外壳上方便使用过程中进行区分，注意不要出现重复的 id。
+
+ 5. 开启换能器开关
+
+ 
+
+ 点击右上 RX1 -> RX5 的方格，使所有方格都为绿色。
+
+ 模式为 AGC 模式
+
+ 6. 查看 固件型号 ， Firmware version - > V6.07 beacon HW v4.9 如不相同，则需更新固件。
+
+ 固件烧写方法与路由一致，注意选择对应的固件。
+
+ 标签固件为：beacon
+
+ 
+
+
+6. 初始化车载定位标签
+
+ 首先执行上一步操作初始化标签，接着配置 Hedgehog mode 设置为 enable，将配置 Interfaces 的第一个子项 UART speed 设置为115200。
+
+ 
+
+以上标签恢复出厂完毕。
diff --git a/source/version_two/location/guide/imgs/map-1.png b/source/version_two/location/guide/imgs/map-1.png
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