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@ -0,0 +1,19 @@
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# 常见问题
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* “电池充电接口、工控机电源接口、Kinect-Hub 电源接口可以互换适配器吗？”
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少年，劝你别有这么大胆的想法！
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尽管这三者物理外形一致，但电气规格**并不通用**，使用时务必注意，错误的接线方式将会导致设备损坏，甚至危及人身安全。
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* “为什么风扇噪音非常大？”
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众所周知，AMD 旗下 CPU 最大的特点就是~~发热量大~~性能强劲，并且工控机内部结构十分紧凑，只有风扇维持在较高转速才保证系统正常工作。
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* “为什么我看不到 Kinect 的数据？”
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Kinect-Hub 的数据线另一端必须插在工控机 **USB3.0** 接口上，否则将无法从工控机读取到Kinect的数据。
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* “ USB-Hub 上面的接口不通用吗（仅 导航套件 二代 用户）？”
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不通用，组装时务必按照文字提示插入设备，错误的接线方式将无法正常建图、定位、避障，甚至危及人身安全。
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@ -51,34 +51,35 @@ Autolabor NavigationKit 文档主页
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欢迎查看 Autolabor NavigationKit 官方文档！
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- 产品介绍：
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- :doc:`introduction/overview/doc`
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- :doc:`introduction/tech_specs/doc`
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- :doc:`introduction/inthebox/doc`
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- 快速开始：
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- :doc:`user_guide/quick_start/slam_doc`
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- :doc:`location/guide/doc`
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- 了解定位系统：
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- :doc:`location/marvelmind/doc`
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- :doc:`location/dashboard/doc`
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- 使用说明：
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- :doc:`user_guide/quick_start/receipt`
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- :doc:`user_guide/assembly_test/doc`
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- :doc:`user_guide/restore_bios/doc`
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- :doc:`user_guide/install_os/doc`
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- :doc:`user_guide/reference/doc`
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@ -1,38 +0,0 @@
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# 发货清单
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| 组件 | 元件 | 数量 |
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| --------------------- | ----------------------- | ---- |
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| Mini计算机 | Autolabor PC | 1 |
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| | 天线 | 1 |
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| | 计算机电源线 | 1 |
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| 显示器 | 显示器 | 1 |
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| | 360°显示器支架 | 1 |
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| | 显示器视频线 | 1 |
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| | 显示器电源线 | 1 |
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| 电源模块 | 电源模块/深度相机集线器 | 1 |
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| 深度相机 | 相机 | 1 |
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| | 相机支架 | 1 |
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| | 深度相机集线盒 | 1 |
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| | 相机数据线 | 1 |
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| | 相机电源线 | 1 |
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| 激光雷达 | 激光雷达组件 | 2 |
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| | 激光雷达数据线 | 2 |
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| USB-Hub | 4口USB 3.0 Hub | 1 |
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| | USB-Hub数据线 | 1 |
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| | USB-Hub电源线 | 1 |
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| 定位系统 <sup>1</sup> | 车载定位标签组件 | 1 |
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| | 车载定位标签支架 | 1 |
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| | 车载定位标签支架角码 | 3 |
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| | 定位标签 | 11 |
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| | 定位标签胶条 | 11 |
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| | 定位路由 | 1 |
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| 其他 | Autolabor OS系统安装U盘 | 1 |
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| | 十字改锥 | 1 |
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| | 内六角扳手 | 2 |
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| | 2020角码 | 2 |
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| | M5大滑块 | 2 |
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| | M5小滑块 | 2 |
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| | M5x12螺钉 | 2 |
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| | M5x16螺钉 | 2 |
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<sup>1</sup> 仅室外导航套件含此组件
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@ -1,3 +0,0 @@
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# 产品概览
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![[product]](imgs/product-1.JPG)
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@ -1,88 +0,0 @@
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# 规格参数
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* Autolabor PC
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| 项目 | 规格 |
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| ------------------- | --------------- |
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| CPU | AMD Ryzen3 2200G |
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| 主板 | 技嘉 GA-AB350N-Gaming WIFI|
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| 内存 | 威刚 万紫千红 DDR4 4GB |
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| 硬盘 | 威刚 SP580 120GB |
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| 电源 | 立人 LR1108 (150W) |
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* CPU （AMD Ryzen3 2200G <sup>1</sup>）
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| 项目 | 规格 |
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| ---------------- | --------------------------|
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| 核心频率 | 3.5 GHz |
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| 加速频率 | 3.7 GHz |
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| 核心/线程 | 4 / 4 |
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| GPU核心 | 4 |
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| 核显 | Radeon Vega 8 1100 MHz |
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| FP16（half） | 2.253 TFLOPS （2：1） |
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| FP32（float） | 1,126 GFLOPS |
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| FP64（double） | 70.40 GFLOPS （1:16） |
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* 电源组件
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| 项目 | 规格 |
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| ------------------- | --------------- |
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| 输入电压 | DC 18-36V |
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| 输出电压 | DC 12v |
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| 输出电流 | 20A |
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| 纹波电压 | < 100mV |
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* 显示器
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| 项目 | 规格 |
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| ------------------- | --------------- |
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| 尺寸 | 13.3 英寸 |
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| 比例 | 16: 9 |
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| 分辨率 | 1920*1080 |
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| 亮度 | 300 cd/m² |
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| 对比度 | 800: 1 |
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| 触摸 | 否 |
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* 激光雷达（FS-D10）
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| 项目 | 规格 |
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| ------------------- | --------------- |
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| 测量距离 | 0.15-10 m @ 10% |
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| 角度分辨率 | 0.36 ° |
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| 扫描速度 | 15 Hz |
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| 重复精度 | ±3 cm |
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| 距离分辨率 | 1 cm |
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* 深度相机（Kinect V2）
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| 项目 | 规格 |
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| ------------------- | --------------- |
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| 原理 | TOF |
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| RGB流 | 1920 x 1280 @ 30 FPS |
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| 深度流 | 512 x 424 @ 30 FPS |
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| 红外流 | 512 x 424 @ 30 FPS |
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| 深度距离 | 0.4 m - 4.5 m |
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| 水平视角 | 70 ° |
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| 垂直视角 | 60 ° |
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| 通信接口 | USB 3.0 |
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* 定位系统 <sup>2</sup>
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| 项目 | 规格 |
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| ------------------- | --------------- |
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| 标签距离 | 30m (理想情况下测试结果) |
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| | <20m (常规建图定位建议距离) |
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| 定位精度 | 绝对精度：距离的1~3% |
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| | 差分精度：±2cm |
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| 定位频率 | 1/20Hz ~ 45Hz |
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| | 与移动标签到固定标签的距离有关（距离越近频率越高） |
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| | 与移动标签的数量有关（数量越多频率越低） |
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| 供电 | 内部：1000mAh 锂电池（根据使用情况可续航2天到数月） |
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| | 外部：USB供电 |
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| 尺寸 | 55 x 55 x 33 mm（含天线：55 x 55 x 65 mm）|
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<sup>1</sup> 附CPU性能天梯图供参考：https://www.mydrivers.com/zhuanti/tianti/cpu/index.html
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<sup>2</sup> 仅室外导航套件含此功能
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@ -1,105 +0,0 @@
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# Dashboard 说明
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## 软件概述
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使用 Dashborad 软件对定位标签或路由进行设置、构建地图以及查看可视化定位结果。软件界面如下图所示
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下载地址：TODO
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## 显示设置
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设置移动标签运动轨迹的显示。
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## 距离表
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距离表显示系统中所有定位标签之间的距离。固定标签之间的距离用来计算地图，移动标签与固定标签之间的距离用来计算移动标签在地图中的坐标。固定标签之间的距离可以通过超声自动测量，也可以用户手动测量，下面详细介绍。
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### 超声自动测量
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大多数情况下，表中的距离由系统自动测量完成。距离值波动较小且背景色为白色表示测距结果稳定可信，如下图。
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如果背景色不是白色，根据下文颜色的定义解决对应的问题。
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只有所有的背景色都是白色的话才能锁定地图（使用这些距离数据构建地图）。
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### 用户手动测量
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固定标签之间的距离难以自动测量时，可以通过其他方式手动测量标签间的距离然后输入到距离表格，这种情况下距离背景色为绿色。在要修改的距离上右键点击 `Enter distance for pair` 菜单项完成距离手动输入，如下图。
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可以看到输入后背景色变为绿色，如下图。
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背景色定义：
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 白色表示距离可靠，可以锁定地图了。
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 黄色表示测距存在异常，锁定地图前还需要对距离与标签进行检查。
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 红色表示距离严重错误，不要在此状态下锁定地图。
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 绿色表示锁定了距离值（手动输入后会自动锁定），可以锁定地图。
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## 换能器开关
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对于特定的安装位置与工作范围，只需要部分换能器工作，此时可通过此处关闭不用的换能器。定位标签上换能器分布如下图所示。不能明确需要哪些换能器时，则开启所有换能器。
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## 设备参数设置
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打开 Dashbord 后，USB 连接定位标签或者路由设置相应参数。
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> 注意：设备（定位标签/路由）会被电脑识别为串口，请确保安装了相应 USB 串口驱动（安装Dashbord时在安装选项中选中 USB Driver 项）!
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定位标签参数设置如下图，一般情况下只需关注或设置图中注释的参数，其他参数保持默认。
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路由参数设置如下图，一般情况下只需关注或设置图中注释的参数，其他参数保持默认。
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## 设备列表
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设备列表包含系统中所有标签，如下图。
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列表中的设备分为固定标签与移动标签两类。固定标签显示为绿色，移动标签显示为蓝色，右键菜单不同，如下图所示。
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## 地图设置
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`Save map` 将地图保存为 ini 文件到 "Dashboard 安装路径/maps"
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`Load map` 从 ini 文件加载地图
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`Erase map` 清除地图
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## 定位标签快速设置面板
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`Reset` 重置设备
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`Sleep` 控制设备进入睡眠模式（省电模式）
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`Wake up` 从睡眠模式唤醒设备
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`Default` 恢复所有设置到出厂状态
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`Time sync` 发送 PC 的时间到设备
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其中 `Reset`、`Sleep`、`Wake up` 可批量设置，按下 Ctrl 键时这三个按钮变为黑体，此时点击按钮对所有设备生效。
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@ -1,182 +0,0 @@
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# 定位循迹
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> 注：仅室外导航套件含此功能
|
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|
||||
## 功能简介
|
||||
|
||||
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。可设置多种循迹模式。
|
||||
|
||||
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。
|
||||
|
||||
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)
|
||||
|
||||
## 操作步骤
|
||||
|
||||
1. 搭建定位系统
|
||||
2. 录制轨迹
|
||||
3. 开始循迹
|
||||
|
||||
### 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。
|
||||
|
||||
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。
|
||||
|
||||
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。
|
||||
|
||||
定位标签包含5个超声波换能器，收发各个方向的超声信号。
|
||||
|
||||
|
||||
|
||||
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，如路由没有电源将会影响定位功能。
|
||||
|
||||
|
||||
|
||||
[>>详细了解定位标签与路由](../marvelmind/doc.md)
|
||||
|
||||
#### 准备工作
|
||||
|
||||
1. 给定位标签充电
|
||||
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，充满电后停止闪烁。从低电量到充满电大概需要1-2小时。
|
||||
|
||||
2. 打开定位标签开关
|
||||
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。
|
||||
|
||||
|
||||
3. 打开软件——Dashborad（[下载]()）
|
||||
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
|
||||
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。
|
||||
|
||||
5. 初始化定位标签
|
||||
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。
|
||||
建议将标签 id 从1开始设置，逐个递增。
|
||||
|
||||
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。
|
||||
|
||||
|
||||
|
||||
#### 开始搭建
|
||||
|
||||
以室内4个固定标签为例，快速搭建一个小范围的定位系统（需要4个固定标签+1个车载移动标签+1个路由，关闭其他用不到的标签电源开关），步骤如下：
|
||||
|
||||
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。
|
||||
|
||||
* 为减少遮挡的情况，标签位置尽量高，例如1.8m 以上
|
||||
* 标签相对地面等高且需要测量出高度值
|
||||
* 标签必须两两之间可见（无遮挡、有换能器相对）
|
||||
* 标签尽量分散开，避免4个标签中有3个甚至全部在一条直线上
|
||||
* 建议任意标签之间的距离控制在20m 以内（理论最大30m）
|
||||
* 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
|
||||
|
||||
2. 建立地图
|
||||
|
||||
打开 Dashboard 连接路由，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 10 秒 。
|
||||
|
||||
|
||||
|
||||
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**米**。
|
||||
|
||||
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。
|
||||
|
||||
|
||||
|
||||
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。
|
||||
|
||||
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。
|
||||
|
||||
> 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。
|
||||
* 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。
|
||||
|
||||
以上即完成定位系统的搭建
|
||||
|
||||
### 二、循迹
|
||||
|
||||
#### 操作步骤
|
||||
|
||||
1. 车载定位标签测试
|
||||
2. 激光雷达测试
|
||||
3. 开始导航
|
||||
4. 录制轨迹
|
||||
5. 保存轨迹
|
||||
6. 开始循迹
|
||||
7. 停止循迹
|
||||
|
||||
##### 车载定位标签测试
|
||||
|
||||
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. 确认车载定位标签的 USB 线插正确的 USB-Hub 口上，插上通电后会常亮红色电源灯
|
||||
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
|
||||
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
|
||||
|
||||
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？
|
||||
* 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
|
||||
* 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
|
||||
* 如果没有显示蓝色数据，那该如何排查？
|
||||
* 打开terminal，执行以下内容，查看是否有"box-3"这个设备
|
||||
```bash
|
||||
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
|
||||
* USB-Hub 的指示灯是否亮
|
||||
* 如不亮则表示没有插紧
|
||||
* 如亮则检查规则文件，执行
|
||||
```bash
|
||||
vim /ect/rules.d
|
||||
```
|
||||
|
||||
##### 激光雷达测试
|
||||
|
||||
1. 进入桌面测试文件夹，点击雷达测试
|
||||
2. 查看 RVIZ 中是否有黄色激光雷达数据，如有则激光雷达功能正常
|
||||
|
||||
常见问题：
|
||||
|
||||
* 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
|
||||
* 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
|
||||
|
||||
##### 开始导航
|
||||
|
||||
1. 打开开始导航，查看 RVIZ 中 AP1 是否显示为纯白色，如有 AP1 的模型则 AP1 连接正常。
|
||||
2. 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。
|
||||
3. 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
|
||||
4. 点击开始录制，控制 AP1 在目标路径上走一圈
|
||||
5. 保存轨迹
|
||||
6. 按键盘 `0`，点击执行，开始循迹
|
||||
7. 如想要停止循迹，按键盘 `9`，点击停止，循迹停止
|
||||
|
||||
如下次再次使用时，仍是在无需录制轨迹的同一环境中，则可跳过以上 4、5 步骤，无需录制轨迹，测试完毕后直接执行循迹功能。
|
||||
|
||||
如执行4、5步骤会清楚上一次已保存的地图，请知悉。
|
||||
|
||||
常见问题：
|
||||
|
||||
* “看不到 AP1？”
|
||||
* 检查 AP1 是否在上位机控制模式
|
||||
* 检查 AP1 数据线是否插紧
|
||||
|
|
@ -1,52 +0,0 @@
|
|||
# 定位系统
|
||||
|
||||
## 产品概要
|
||||
|
||||
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。定位系统包含一个由多个固定超声标签构成的基站网络（地图），一个或多个安装在被定位物体上的移动标签和协调整个系统工作的中心路由节点，所有设备之间通过无线电通信。
|
||||
|
||||
|
||||
|
||||
系统通过超声脉冲的飞行时间计算移动标签与固定标签的距离，进而利用三边定位算法计算出移动标签在地图中的位置。固定标签之间也能通过超声测距，因此在合理布置固定标签的情况下，系统能够实现自动建图，避免人工测量距离。
|
||||
|
||||
|
||||
|
||||
## 参数列表
|
||||
|
||||
| 参数 | 技术指标 |
|
||||
| ------- | ---------------------------------------------- |
|
||||
| 标签距离 | 30m (理想情况下测试结果) |
|
||||
| | <20m (常规建图定位建议距离) |
|
||||
| 定位精度 | 绝对精度：距离的1~3% |
|
||||
| | 差分精度：±2cm |
|
||||
| 定位频率 | 1/20Hz ~ 45Hz |
|
||||
| | 与移动标签到固定标签的距离有关（距离越近频率越高） |
|
||||
| | 与移动标签的数量有关（数量越多频率越低） |
|
||||
| 供电 | 内部：1000mAh 锂电池（根据使用情况可续航2天到数月）|
|
||||
| | 外部：USB供电 |
|
||||
| 尺寸 | 55 x 55 x 33 mm（含天线：55 x 55 x 65 mm） |
|
||||
|
||||
## 设备介绍
|
||||
|
||||
### 定位标签
|
||||
|
||||
|
||||
|
||||
一个定位标签包含5个超声波换能器，收发各个方向的超声信号。一个标签可以作为固定标签也可作为移动标签使用，通过 Dashboard 修改配置可以很方便使二者互换。
|
||||
|
||||
固定标签通常被安装在墙上或者天花板上，并且换能器朝下以提供与机器人尽可能大的无遮挡覆盖区域。
|
||||
|
||||
应该合理设计固定标签的位置和角度以提供最大的超声信号覆盖范围，系统的定位效果非常依赖固定标签收到的超声信号的质量。
|
||||
|
||||
建图过程中，固定标签发射并接收超声波信号。地图锁定后定位过程中，固定标签只接收超声波信号，移动标签只发送超声波信号。
|
||||
|
||||
移动标签放置在被定位对象上，为了尽可能避免遮挡提高覆盖范围，应该水平放置在较高处。任何覆盖物都可能降低超声信号的强度导致系统不能正常工作，因此应完全避免标签换能器被覆盖。
|
||||
|
||||
### 路由
|
||||
|
||||
|
||||
|
||||
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。注意路由没有内置电池，只能使用USB供电。
|
||||
|
||||
路由的放置位置需要保证无线电信号覆盖所有标签，一般情况下使用默认的天线时能够达到100m 的覆盖半径。降低无线电通信速率并且使用全尺寸（165mm、433MHz）天线能进一步提高覆盖范围。
|
||||
|
||||
注意路由和标签的距离不能小于0.5-1m，如果需要某个标签与路由距离非常近，则取下标签的天线。
|
||||
|
|
@ -1,77 +0,0 @@
|
|||
# 组装与测试
|
||||
|
||||
本文将引导你安装导航套件并对各部件进行测试
|
||||
|
||||
## 组装
|
||||
|
||||
> 详请参照视频
|
||||
|
||||
### 线材连接
|
||||
|
||||
* Mini 计算机
|
||||
|
||||
|
||||
|
||||
* 显示器
|
||||
|
||||
|
||||
|
||||
* 深度相机
|
||||
|
||||
|
||||
|
||||
* 激光雷达
|
||||
|
||||
|
||||
|
||||
* USB-Hub
|
||||
|
||||
|
||||
|
||||
> 注：USB-Hub数据线**必须**插到计算机上**指定插口**（如下图），否则将影响功能。
|
||||
|
||||
|
||||
|
||||
#### 定位系统
|
||||
|
||||
> 注：
|
||||
> * 仅室外导航套件含此组件
|
||||
> * 仅车载定位标签需要进行线材连接
|
||||
|
||||
|
||||
|
||||
### 电气拓扑
|
||||
|
||||
|
||||
|
||||
> 导航套件（一代） 的 用户请参考： <a href="./imgs/autolabor_navigationkit_v1_electrical_topology.png" > 导航套件（一代）电气拓扑图</a>
|
||||
|
||||
## 测试
|
||||
|
||||
我们提供了一套工具软件，并将其放置在电脑桌面，你可以用来检测导航套件中各部件能否正常工作。
|
||||
|
||||
1. 激光雷达测试
|
||||
|
||||
2. 深度相机测试
|
||||
|
||||
3. 车载定位标签测试
|
||||
|
||||
## 常见问题
|
||||
|
||||
* “电池充电接口、工控机电源接口、Kinect-Hub 电源接口可以互换适配器吗？”
|
||||
|
||||
少年，劝你别有这么大胆的想法！
|
||||
|
||||
尽管这三者物理外形一致，但电气规格**并不通用**，使用时务必注意，错误的接线方式将会导致设备损坏，甚至危及人身安全。
|
||||
|
||||
* “为什么风扇噪音非常大？”
|
||||
|
||||
众所周知，AMD 旗下 CPU 最大的特点就是~~发热量大~~性能强劲，并且工控机内部结构十分紧凑，只有风扇维持在较高转速才保证系统正常工作。
|
||||
|
||||
* “为什么我看不到 Kinect 的数据？”
|
||||
|
||||
Kinect-Hub 的数据线另一端必须插在工控机 **USB3.0** 接口上，否则将无法从工控机读取到Kinect的数据。
|
||||
|
||||
* “ USB-Hub 上面的接口不通用吗（仅 导航套件 二代 用户）？”
|
||||
|
||||
不通用，组装时务必按照文字提示插入设备，错误的接线方式将无法正常建图、定位、避障，甚至危及人身安全。
|
||||
|
|
@ -1,109 +0,0 @@
|
|||
# 收货指南
|
||||
|
||||
## 检查
|
||||
|
||||
收到货后请不要急于签收，先检查外包装有无破损，如包装破损或贴于外包装上的防震标签感应器显示为红色，请拍照为证，并与快递员一同开箱验货，待确认无误后再签收，如需帮助可联系 Autolabor 客户服务平台。
|
||||
|
||||
|
||||
|
||||
# 清点
|
||||
|
||||
收件后打开包装，对照产品装箱单进行清点，如有短缺请于**三日内**联系客服，**过期不补**。
|
||||
|
||||
## Mini 计算机
|
||||
|
||||
| 名称 | 数量 |
|
||||
| :----------: | :--: |
|
||||
| Autolabor PC | 1 |
|
||||
| 天线 | 1 |
|
||||
| 计算机电源线 | 1 |
|
||||
|
||||
|
||||
|
||||
## 显示器
|
||||
|
||||
| 名称 | 数量 |
|
||||
| :-----------: | :--: |
|
||||
| 显示器 | 1 |
|
||||
| 360°显示器支架 | 1 |
|
||||
| 显示器视频线 | 1 |
|
||||
| 显示器电源线 | 1 |
|
||||
|
||||
|
||||
|
||||
## 电源模块
|
||||
|
||||
> 注：深度相机集线器位于电量显示模块的背面，深度相机供电、数据传输使用。
|
||||
|
||||
| 名称 | 数量 |
|
||||
| :-------------------: | :--: |
|
||||
| 电源模块/深度相机集线器 | 1 |
|
||||
|
||||
|
||||
|
||||
|
||||
## 深度相机
|
||||
|
||||
| 名称 | 数量 |
|
||||
| :-----------: | :--: |
|
||||
| 相机 | 1 |
|
||||
| 相机支架 | 1 |
|
||||
| 深度相机集线盒 | 1 |
|
||||
| 相机数据线 | 1 |
|
||||
| 相机电源线 | 1 |
|
||||
|
||||
|
||||
|
||||
## 激光雷达
|
||||
|
||||
| 名称 | 数量 |
|
||||
| :------------: | :--: |
|
||||
| 激光雷达组件 | 2 |
|
||||
| 激光雷达数据线 | 2 |
|
||||
|
||||
|
||||
|
||||
## USB-Hub
|
||||
|
||||
| 名称 | 数量 |
|
||||
| :-----------: | :--: |
|
||||
| USB Hub | 1 |
|
||||
| USB-Hub数据线 | 1 |
|
||||
| USB-Hub电源线 | 1 |
|
||||
|
||||
|
||||
|
||||
## 定位系统
|
||||
|
||||
> 注：仅室外导航套件含此组件。
|
||||
|
||||
| 名称 | 数量 |
|
||||
| :------------------: | :--: |
|
||||
| 车载定位标签组件 | 1 |
|
||||
| 车载定位标签支架 | 1 |
|
||||
| 车载定位标签支架角码 | 3 |
|
||||
| 定位标签 | 11 |
|
||||
| 定位标签胶条 | 11 |
|
||||
| 定位路由 | 1 |
|
||||
|
||||
|
||||
|
||||
## 其他
|
||||
|
||||
| 名称 | 数量 |
|
||||
| :--------------------: | :--: |
|
||||
| Autolabor OS系统安装U盘 | 1 |
|
||||
| 十字改锥 | 1 |
|
||||
| 内六角扳手 | 2 |
|
||||
| 2020角码 | 2 |
|
||||
| M5大滑块 | 2 |
|
||||
| M5小滑块 | 2 |
|
||||
| M5x12螺钉 | 2 |
|
||||
| M5x16螺钉 | 2 |
|
||||
|
||||
|
||||
|
||||
温馨提示：
|
||||
* 为保障产品售后运输途中的安全，请用户保留原厂外包装箱。
|
||||
* 收货方收到货物后请进行清点，如有短缺请于三日内联系，过期不补。
|
||||
* 部分配件可能随版本升级有所改动，但不影响性能，恕不另行通知。
|
||||
|
|
@ -1,113 +0,0 @@
|
|||
# 快速开始
|
||||
|
||||
#### 准备工作：
|
||||
|
||||
1. AP1 导航机器人
|
||||
2. 成套键鼠
|
||||
|
||||
## 操作步骤
|
||||
|
||||
### 一、连接键鼠
|
||||
|
||||
鼠标键盘建议使用普通成套的无线键鼠，避免有线和无线混合使用。
|
||||
|
||||
### 二、启动系统
|
||||
|
||||
打开电源，打开工控机，等待 Autolabor OS 系统启动，输入密码 autolabor，字母全部是小写，回车。
|
||||
|
||||
### 三、SLAM建图导航
|
||||
|
||||
0. 准备工作：
|
||||
|
||||
1. 将 AP1 控制模式切换到上位机控制，打开急停开关，确保急停开关**没有**被按下
|
||||
2. 禁用工控机无线功能
|
||||
> 在建图过程中，如果工控机连接了无线网络，当 AP1 走出无线网络的覆盖区域后，网络连接会自动断开，这将导致AP1控制失控，所以在开始建图之前，为了避免失控，需要将工控机的无线网络连接关闭。
|
||||
3. 进入桌面 `SLAM建图导航` 文件夹
|
||||
|
||||
1. 点击 `开始建图`
|
||||
|
||||
2. 操纵机器人行驶
|
||||
|
||||
打开 RVIZ 工具，能够看到地图中的 AP1，使用键盘的上下左右控制 AP1 行走，边走边建图，可以看到环境地图随着 AP1 的行走不断被构建更新。
|
||||
|
||||
地图中，黑色是不可行走区域，白色是可行走区域，灰色是未知区域，红色是激光雷达实时数据。
|
||||
|
||||
3. 建图完毕，点击 `保存并停止建图`
|
||||
|
||||
4. 点击 `开始导航`
|
||||
|
||||
打开 RVIZ 工具，建好的地图会自动加载。
|
||||
|
||||
接下来这一步请一定不要忘记，按键盘数字键 `0` 关闭键盘控制功能，控制方式将切换至导航程序控制，如不切换机器人接收到目标点命令后将不会自动导航行走。
|
||||
|
||||
点击 `2D Nav Goal`，指定目标位置，拉动鼠标，箭头方向是最终车辆运行至目标的车头朝向，鼠标松开，这样就完成了目标点的指定。
|
||||
|
||||
目标点给定后在地图中我们能看到一条线，这是规划好的路径。根据这个规划好的路径，AP1 向目标点行走。
|
||||
|
||||
当AP1已经到达目标点后，再一次使用 `2D Pose Estimate` 指定初始位置，设置目标位置，AP1 将去到下一个目标点。
|
||||
|
||||
5. 点击 `终止导航`，停止导航功能，导航结束。
|
||||
|
||||
之后在同一环境中需要再次使用导航功能时，无须重复建图，点击【开始导航】即可。
|
||||
|
||||
|
||||
#### 常见问题：
|
||||
|
||||
##### 建图篇
|
||||
|
||||
1. 键盘控制 AP1 行走时，AP1 动作异常，动一下停一下
|
||||
|
||||
可调整显示器的位置，保持接收器不被遮挡，并调整自己的位置，使接收器可以接收到发送的指令信号，建议使用 USB 延长线或 USB-HUB 将接收器放置在架子的高处，无任何遮挡，便于信号传输。
|
||||
|
||||
2. 键盘控制，AP1 一动不动
|
||||
|
||||
1. 确认已将 AP1 电源总开关打开，急停开关没有被按下，AP1 处于上位机控制模式
|
||||
|
||||
2. 新开一个 terminal，执行以下命令，打出关系图，查看键盘节点
|
||||
|
||||
```bash
|
||||
$ rosrun rqt_graph rqt_graph
|
||||
```
|
||||
|
||||
3. 执行以下命令，上下左右控制键盘看是否会有数据打出，如没有数据打出，说明 AP1 没有接收到键盘发送的指令
|
||||
|
||||
```bash
|
||||
$ rostopic echo /cmd_vel
|
||||
```
|
||||
|
||||
4. 执行以下命令，确认 event-kbd 的数量，数量大于一个则有问题
|
||||
```bash
|
||||
$ ll /dev/input/by-path/
|
||||
```
|
||||
|
||||
|
||||
|
||||
5. 请排查是否有多个键盘设备，键盘驱动查找的是最后一个连接的键盘，需要将其他（显示为）键盘设备找出来，拔掉（可能是鼠标、机械键盘、混装键鼠）
|
||||
|
||||
3. AP1 不受键盘控制、失控
|
||||
|
||||
在开始建图前，需要禁用无线功能。如果没有禁用，AP1 在连接了 WIFI 的状态下开始建图，在地图构建过程中，一旦 AP1 离开无线覆盖区域，无线连接断开，ROS 的网络通信中断就会导致 AP1 失去控制。
|
||||
|
||||
##### 导航篇
|
||||
|
||||
1. 目标点给定后，可能会发生 AP1 不动或原地转圈，控制台显示 `Failed to get a plan`/`不能规划路径` 的红色错误，这可能是有两种原因造成：
|
||||
|
||||
* 目标点选择在了障碍物中
|
||||
* 车在地图中所处的位置是在障碍物中
|
||||
|
||||
那么这样的情况，我们可以先尝试重新给定目标点，或者将车换个位置重新给定初始位置。
|
||||
|
||||
2. 在行走的过程中也可能会发生AP1停止不动或原地转圈的现象发生
|
||||
|
||||
这种情况是因为 AP1 在行走过程中，检测到障碍物，无法到达目标点，这个障碍物有可能是真实的障碍物，也有可能是误检，我们可以先等待观察，AP1 会进行自我恢复（不超过一分钟），如果恢复之后 AP1 仍没有行动，导航已自动停止，此时我们需要重新设置目标点。
|
||||
|
||||
3. 建图效果不佳/地图构建要点
|
||||
|
||||
在构建地图的过程，以下几点会影响到建图的准确性：
|
||||
|
||||
* 轮胎气不足影响里程计数据
|
||||
* 运行速度不宜过快，由于激光扫描有一定的频率，车速低时雷达可以扫描到的点更多，构建的地图会更准确一些
|
||||
* 走一个来回，增加激光雷达扫描次数，累计更多的数据
|
||||
* 地图构建的质量也受环境限制，请尽量选择特征比较明显的环境，玻璃、镜子、楼道、空旷等场景会影响建图效果
|
||||
* 构建完成的地图，会发现有些点会飞出，飞出的点可能是由于物体的表面不平或者有空隙激光直接穿越了过去
|
||||
* 当场景很大特征不足的时候，需要规划建图路径时，应先走一个小回环，当回环成功后，可以再多走几圈，消除粒子在这个回环的多样性。接下来走下一个回环，直到把整个地图连通成一个大的回环
|
||||
|
|
@ -1,19 +0,0 @@
|
|||
# Autolabor Pro1 导航套件（一代）使用文档
|
||||
|
||||
### 目录
|
||||
|
||||
* [产品介绍]()
|
||||
|
||||
* 使用指南
|
||||
|
||||
* [组装与测试](user_guide/assembly_test/doc.md)
|
||||
|
||||
* [快速上手]()
|
||||
|
||||
* [常见问题]()
|
||||
|
||||
* [恢复BIOS](../common/restore_bios/doc.md)
|
||||
|
||||
* [安装OS](../common/reinstall_os/doc.md)
|
||||
|
||||
* [参考资料](../common/reference/doc.md)
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
# 收货指南
|
||||
|
||||
## 检查
|
||||
|
||||
收到货后请不要急于签收，先检查外包装有无破损，如包装破损或贴于外包装上的防震标签感应器显示为红色，请拍照为证，并与快递员一同开箱验货，待确认无误后再签收，如需帮助可联系Autolabor客户服务平台。
|
||||
|
||||
|
||||
|
||||
# 清点
|
||||
|
||||
收件后打开包装，对照产品装箱单进行清点，如有短缺请于<u>三日内</u>联系客服，<u>过期不补</u>。
|
||||
|
|
@ -1,88 +0,0 @@
|
|||
# 快速上手
|
||||
|
||||
#### 准备工作：
|
||||
1. AP1导航机器人
|
||||
2. 成套键鼠
|
||||
|
||||
## 操作步骤
|
||||
|
||||
### 一、连接键鼠
|
||||
鼠标键盘建议使用普通成套的无线键鼠，避免有线和无线混合使用。
|
||||
|
||||
### 二、启动系统
|
||||
打开电源，打开工控机，等待Autolabor OS系统启动，输入密码autolabor，字母全部是小写，回车。
|
||||
|
||||
### 三、SLAM建图导航
|
||||
|
||||
|
||||
#### 准备工作：
|
||||
1. 将AP1控制模式切换到上位机控制，打开急停开关，确保急停开关没有被按下
|
||||
2. 禁用工控机无线功能
|
||||
在建图过程中，如果工控机连接了无线网络，当AP1走出无线网络的覆盖区域后，网络连接会自动断开，这将导致AP1控制失控，所以在开始建图之前，为了避免失控，需要将工控机的无线网络连接关闭。
|
||||
3. 进入桌面【SLAM建图导航】文件夹
|
||||
|
||||
#### 1. 点击【开始建图】
|
||||
RVIZ工具打开，能够看到地图中的AP1，使用键盘的上下左右控制AP1行走，边走边建图，可以看到环境地图随着AP1的行走不断被构建更新。
|
||||
|
||||
地图中，黑色是不可行走区域，白色是可行走区域，灰色是未知区域，红色是激光雷达实时数据。
|
||||
|
||||
#### 2. 建图完毕，点击【保存并停止建图】
|
||||
|
||||
#### 3. 点击【开始导航】
|
||||
RVIZ工具打开，建好的地图会自动加载。
|
||||
|
||||
接下来这一步请一定不要忘记，按键盘数字键【0】关闭键盘控制功能，控制方式将切换至导航程序控制，如不切换机器人接收到目标点命令后将不会自动导航行走。
|
||||
|
||||
点击2D Nav Goal，指定目标位置，拉动鼠标，箭头方向是最终车辆运行至目标的车头朝向，鼠标松开，这样就完成了目标点的指定。
|
||||
|
||||
目标点给定后在地图中我们能看到一条线，这是规划好的路径。根据这个规划好的路径，AP1向目标点行走。
|
||||
|
||||
当AP1已经到达目标点后，再一次使用2D Pose Estimate指定初始位置，设置目标位置，AP1将去到下一个目标点。
|
||||
|
||||
|
||||
四、点击【终止导航】，停止导航功能，导航结束。
|
||||
之后在同一环境中需要再次使用导航功能时，无须重复建图，点击【开始导航】即可。
|
||||
|
||||
|
||||
#### 常见问题：
|
||||
|
||||
##### 建图篇
|
||||
|
||||
1. 键盘控制AP1行走时，AP1动作异常，动一下停一下
|
||||
可调整显示器的位置，保持接收器不被遮挡，并调整自己的位置，使接收器可以接收到发送的指令信号，建议使用USB延长线或USB-HUB将接收器放置在架子的高处，无任何遮挡，便于信号传输。
|
||||
2. 键盘控制，AP1一动不动
|
||||
a) 确认已将AP1电源总开关打开，急停开关没有被按下，AP1处于上位机控制模式
|
||||
b) 新开一个terminal，执行以下命令，打出关系图，查看键盘节点
|
||||
`$ rosrun rqt_graph rqt_graph`
|
||||
c) 执行以下命令，上下左右控制键盘看是否会有数据打出，如没有数据打出，说明AP1没有接收到键盘发送的指令
|
||||
`$ rostopic echo /cmd_vel`
|
||||
d)执行以下命令，确认event-kbd的数量，数量大于一个则有问题
|
||||
`ll /dev/input/by-path/ `
|
||||
|
||||
e) 请排查是否有多个键盘设备，键盘驱动查找的是最后一个连接的键盘，需要将其他（显示为）键盘的设备找出来，拔掉（可能是鼠标、机械键盘、混装键鼠）
|
||||
3. AP1不受键盘控制、失控
|
||||
在开始建图前，需要禁用无线功能。如果没有禁用，AP1在连接了WIFI的状态下开始建图，在地图构建过程中，一旦AP1离开无线覆盖区域，无线连接断开，ROS的网络通信中断就会导致AP1控制失控。
|
||||
|
||||
##### 导航篇
|
||||
|
||||
常见问题：
|
||||
1. 定位要走一走
|
||||
2. 建图地图质量不好，障碍物颜色虚，效果好墙面黑色实现
|
||||
3. 周围没有明显的特征信息，使得机器人能够找到自己的位置，开到有折角拐弯或明显标志物附近，能够加速机器人找到自己的位置
|
||||
2. 建图白，多走几遍，
|
||||
3. 镜面，建图
|
||||
|
||||
1. 目标点给定后，可能会发生AP1不动或原地转圈，控制台显示【Failed to get a plan/不能规划路径】的红色错误，这可能是有两种原因造成：
|
||||
* 目标点选择在了障碍物中
|
||||
* 车在地图中所处的位置是在障碍物中
|
||||
那么这样的情况，我们可以先尝试重新给定目标点，或者将车换个位置重新给定初始位置。
|
||||
2. 在行走的过程中也可能会发生AP1停止不动或原地转圈的现象发生
|
||||
这种情况是因为AP1在行走过程中，检测到障碍物，无法到达目标点，这个障碍物有可能是真实的障碍物，也有可能是误检，我们可以先等待观察，AP1会进行自我恢复（不超过一分钟），如果恢复之后AP1仍没有行动，导航已自动停止，此时我们需要重新设置目标点。
|
||||
3. 建图效果不佳/地图构建要点
|
||||
在构建地图的过程，以下几点会影响到建图的准确性：
|
||||
* 轮胎气不足影响里程计数据
|
||||
* 运行速度不宜过快，由于激光扫描有一定的频率，车速低时雷达可以扫描到的点更多，构建的地图会更准确一些
|
||||
* 走一个来回，增加激光雷达扫描次数，累计更多的数据
|
||||
* 地图构建的质量也受环境限制，请尽量选择特征比较明显的环境，玻璃、镜子、楼道、空旷等场景会影响建图效果
|
||||
* 构建完成的地图，会发现有些点会飞出，飞出的点可能是由于物体的表面不平或者有空隙激光直接穿越了过去
|
||||
* 当场景很大特征不足的时候，需要规划建图路径时，应先走一个小回环，当回环成功后，可以再多走几圈，消除粒子在这个回环的多样性。接下来走下一个回环，直到把整个地图连通成一个大的回环
|
||||
|
|
@ -1,54 +0,0 @@
|
|||
# 组装与测试
|
||||
|
||||
本文将引导你安装导航套件并对各部件进行测试
|
||||
|
||||
|
||||
## 组装
|
||||
|
||||
详请参照视频
|
||||
|
||||
### 电气拓扑
|
||||
|
||||
|
||||
|
||||
## 测试
|
||||
|
||||
我们提供了一套工具软件，并将其放置在电脑桌面，用户可以用来检测导航套件中各部件能否正常工作。
|
||||
|
||||
|
||||
|
||||
|
||||
1. 激光雷达测试
|
||||
|
||||
|
||||
|
||||
|
||||
2. 惯导测试
|
||||
|
||||
|
||||
|
||||
|
||||
3. Kinect测试
|
||||
|
||||
|
||||
|
||||
4. 联合测试
|
||||
|
||||
点击`开始建图`，尝试使用键盘方向键控制小车运动。
|
||||
|
||||
## 常见问题
|
||||
|
||||
* “电池充电接口、工控机电源接口、Kinect-Hub电源接口可以互换适配器吗？”
|
||||
|
||||
少年，劝你别有这么大胆的想法！
|
||||
|
||||
|
||||
尽管这三者物理外形一致，但电气规格`并不通用`，使用时务必注意，错误的接线方式将会导致设备损坏，甚至危及人身安全。
|
||||
|
||||
* “为什么风扇噪音非常大？”
|
||||
|
||||
Kinect-Hub 的数据线另一端必须插在工控机 `USB3.0` 接口上，否则将无法从工控机读取到Kinect的数据。
|
||||
|
||||
* “为什么建图时无法使用键盘控制小车运动？”
|
||||
|
||||
尝试拔掉多余的鼠标或键盘，最好只保留一把键盘与工控机连接，然后重新尝试建图。
|
||||
|
|
@ -1,91 +0,0 @@
|
|||
# 收货指南
|
||||
|
||||
## 检查
|
||||
|
||||
收到货后请不要急于签收，先检查外包装有无破损，如包装破损或贴于外包装上的防震标签感应器显示为红色，请拍照为证，并与快递员一同开箱验货，待确认无误后再签收，如需帮助可联系Autolabor客户服务平台。
|
||||
|
||||
|
||||
|
||||
# 清点
|
||||
|
||||
收件后打开包装，对照产品装箱单进行清点，如有短缺请于<u>三日内</u>联系客服，<u>过期不补</u>。
|
||||
|
||||
|
||||
## Mini 计算机
|
||||
|
||||
| 名称 | 数量 |
|
||||
| ------------ | ---- |
|
||||
| Autolabor PC | 1 |
|
||||
| 天线 | 1 |
|
||||
| 计算机电源线 | 1 |
|
||||
|
||||
|
||||
|
||||
## 显示器
|
||||
|
||||
| 名称 | 数量 |
|
||||
| -------------- | ---- |
|
||||
| 显示器 | 1 |
|
||||
| 360°显示器支架 | 1 |
|
||||
| 显示器视频线 | 1 |
|
||||
| 显示器电源线 | 1 |
|
||||
|
||||
|
||||
|
||||
## 电源模块
|
||||
|
||||
注：深度相机集线器位于电量显示模块的背面，深度相机供电、数据传输使用。
|
||||
|
||||
| 名称 | 数量 |
|
||||
| -------------- | ---- |
|
||||
| 电源模块/深度相机集线器 | 1 |
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## 深度相机
|
||||
|
||||
| 名称 | 数量 |
|
||||
| -------------- | ---- |
|
||||
| 相机 | 1 |
|
||||
| 相机支架 | 1 |
|
||||
| 深度相机集线盒 | 1 |
|
||||
| 相机数据线 | 1 |
|
||||
| 相机电源线 | 1 |
|
||||
|
||||
|
||||
|
||||
## 激光雷达
|
||||
|
||||
| 名称 | 数量 |
|
||||
| -------------- | ---- |
|
||||
| 激光雷达组件 | 1 |
|
||||
| 激光雷达数据线 | 1 |
|
||||
|
||||
|
||||
|
||||
## 惯导
|
||||
|
||||
|
||||
|
||||
## 其他
|
||||
|
||||
| 名称 | 数量 |
|
||||
| ---- | ---- |
|
||||
| Autolabor OS系统安装U盘 | 1 |
|
||||
| 十字改锥 | 1 |
|
||||
| 内六角扳手 | 2 |
|
||||
| 2020角码 | 2 |
|
||||
| M5大滑块 | 2 |
|
||||
| M5小滑块 | 2 |
|
||||
| M5x12螺钉 | 2 |
|
||||
| M5x16螺钉 | 2 |
|
||||
|
||||
|
||||
|
||||
|
||||
温馨提示：
|
||||
* 为保障产品售后运输途中的安全，请用户保留原厂外包装箱。
|
||||
* 收货方收到货物后请进行清点，如有短缺请于三日内联系，过期不补。
|
||||
* 部分配件可能随版本升级有所改动，但不影响性能，恕不另行通知。
|
||||
|
|
@ -1,88 +0,0 @@
|
|||
# 快速开始
|
||||
|
||||
#### 准备工作：
|
||||
1. AP1导航机器人
|
||||
2. 成套键鼠
|
||||
|
||||
## 操作步骤
|
||||
|
||||
### 一、连接键鼠
|
||||
鼠标键盘建议使用普通成套的无线键鼠，避免有线和无线混合使用。
|
||||
|
||||
### 二、启动系统
|
||||
打开电源，打开工控机，等待Autolabor OS系统启动，输入密码autolabor，字母全部是小写，回车。
|
||||
|
||||
### 三、SLAM建图导航
|
||||
|
||||
|
||||
#### 准备工作：
|
||||
1. 将AP1控制模式切换到上位机控制，打开急停开关，确保急停开关没有被按下
|
||||
2. 禁用工控机无线功能
|
||||
在建图过程中，如果工控机连接了无线网络，当AP1走出无线网络的覆盖区域后，网络连接会自动断开，这将导致AP1控制失控，所以在开始建图之前，为了避免失控，需要将工控机的无线网络连接关闭。
|
||||
3. 进入桌面【SLAM建图导航】文件夹
|
||||
|
||||
#### 1. 点击【开始建图】
|
||||
RVIZ工具打开，能够看到地图中的AP1，使用键盘的上下左右控制AP1行走，边走边建图，可以看到环境地图随着AP1的行走不断被构建更新。
|
||||
|
||||
地图中，黑色是不可行走区域，白色是可行走区域，灰色是未知区域，红色是激光雷达实时数据。
|
||||
|
||||
#### 2. 建图完毕，点击【保存并停止建图】
|
||||
|
||||
#### 3. 点击【开始导航】
|
||||
RVIZ工具打开，建好的地图会自动加载。
|
||||
|
||||
接下来这一步请一定不要忘记，按键盘数字键【0】关闭键盘控制功能，控制方式将切换至导航程序控制，如不切换机器人接收到目标点命令后将不会自动导航行走。
|
||||
|
||||
点击2D Nav Goal，指定目标位置，拉动鼠标，箭头方向是最终车辆运行至目标的车头朝向，鼠标松开，这样就完成了目标点的指定。
|
||||
|
||||
目标点给定后在地图中我们能看到一条线，这是规划好的路径。根据这个规划好的路径，AP1向目标点行走。
|
||||
|
||||
当AP1已经到达目标点后，再一次使用2D Pose Estimate指定初始位置，设置目标位置，AP1将去到下一个目标点。
|
||||
|
||||
|
||||
四、点击【终止导航】，停止导航功能，导航结束。
|
||||
之后在同一环境中需要再次使用导航功能时，无须重复建图，点击【开始导航】即可。
|
||||
|
||||
|
||||
#### 常见问题：
|
||||
|
||||
##### 建图篇
|
||||
|
||||
1. 键盘控制AP1行走时，AP1动作异常，动一下停一下
|
||||
可调整显示器的位置，保持接收器不被遮挡，并调整自己的位置，使接收器可以接收到发送的指令信号，建议使用USB延长线或USB-HUB将接收器放置在架子的高处，无任何遮挡，便于信号传输。
|
||||
2. 键盘控制，AP1一动不动
|
||||
a) 确认已将AP1电源总开关打开，急停开关没有被按下，AP1处于上位机控制模式
|
||||
b) 新开一个terminal，执行以下命令，打出关系图，查看键盘节点
|
||||
`$ rosrun rqt_graph rqt_graph`
|
||||
c) 执行以下命令，上下左右控制键盘看是否会有数据打出，如没有数据打出，说明AP1没有接收到键盘发送的指令
|
||||
`$ rostopic echo /cmd_vel`
|
||||
d)执行以下命令，确认event-kbd的数量，数量大于一个则有问题
|
||||
`ll /dev/input/by-path/ `
|
||||
|
||||
e) 请排查是否有多个键盘设备，键盘驱动查找的是最后一个连接的键盘，需要将其他（显示为）键盘的设备找出来，拔掉（可能是鼠标、机械键盘、混装键鼠）
|
||||
3. AP1不受键盘控制、失控
|
||||
在开始建图前，需要禁用无线功能。如果没有禁用，AP1在连接了WIFI的状态下开始建图，在地图构建过程中，一旦AP1离开无线覆盖区域，无线连接断开，ROS的网络通信中断就会导致AP1控制失控。
|
||||
|
||||
##### 导航篇
|
||||
|
||||
常见问题：
|
||||
1. 定位要走一走
|
||||
2. 建图地图质量不好，障碍物颜色虚，效果好墙面黑色实现
|
||||
3. 周围没有明显的特征信息，使得机器人能够找到自己的位置，开到有折角拐弯或明显标志物附近，能够加速机器人找到自己的位置
|
||||
2. 建图白，多走几遍，
|
||||
3. 镜面，建图
|
||||
|
||||
1. 目标点给定后，可能会发生AP1不动或原地转圈，控制台显示【Failed to get a plan/不能规划路径】的红色错误，这可能是有两种原因造成：
|
||||
* 目标点选择在了障碍物中
|
||||
* 车在地图中所处的位置是在障碍物中
|
||||
那么这样的情况，我们可以先尝试重新给定目标点，或者将车换个位置重新给定初始位置。
|
||||
2. 在行走的过程中也可能会发生AP1停止不动或原地转圈的现象发生
|
||||
这种情况是因为AP1在行走过程中，检测到障碍物，无法到达目标点，这个障碍物有可能是真实的障碍物，也有可能是误检，我们可以先等待观察，AP1会进行自我恢复（不超过一分钟），如果恢复之后AP1仍没有行动，导航已自动停止，此时我们需要重新设置目标点。
|
||||
3. 建图效果不佳/地图构建要点
|
||||
在构建地图的过程，以下几点会影响到建图的准确性：
|
||||
* 轮胎气不足影响里程计数据
|
||||
* 运行速度不宜过快，由于激光扫描有一定的频率，车速低时雷达可以扫描到的点更多，构建的地图会更准确一些
|
||||
* 走一个来回，增加激光雷达扫描次数，累计更多的数据
|
||||
* 地图构建的质量也受环境限制，请尽量选择特征比较明显的环境，玻璃、镜子、楼道、空旷等场景会影响建图效果
|
||||
* 构建完成的地图，会发现有些点会飞出，飞出的点可能是由于物体的表面不平或者有空隙激光直接穿越了过去
|
||||
* 当场景很大特征不足的时候，需要规划建图路径时，应先走一个小回环，当回环成功后，可以再多走几圈，消除粒子在这个回环的多样性。接下来走下一个回环，直到把整个地图连通成一个大的回环
|
||||
|
|
@ -2,85 +2,57 @@
|
|||
|
||||
本文将引导你安装导航套件并对各部件进行测试
|
||||
|
||||
|
||||
## 组装
|
||||
|
||||
详请参照视频
|
||||
> 详请参照视频
|
||||
|
||||
### 线材连接
|
||||
|
||||
#### Mini 计算机
|
||||
* Mini 计算机
|
||||
|
||||
|
||||
|
||||
#### 显示器
|
||||
* 显示器
|
||||
|
||||
|
||||
|
||||
#### 深度相机
|
||||
* 深度相机
|
||||
|
||||
|
||||
|
||||
#### 激光雷达
|
||||
* 激光雷达
|
||||
|
||||
|
||||
|
||||
#### USB-Hub
|
||||
* USB-Hub
|
||||
|
||||
|
||||
|
||||
注：USB-Hub数据线**必须**插到计算机上**指定插口**（如下图），否则将影响功能。
|
||||
> 注：USB-Hub数据线**必须**插到计算机上**指定插口**（如下图），否则将影响功能。
|
||||
|
||||
|
||||
|
||||
#### 定位系统
|
||||
|
||||
注：
|
||||
* 仅室外导航套件含此组件
|
||||
* 仅车载定位标签需要进行线材连接
|
||||
> 注：
|
||||
> * 仅室外导航套件含此组件
|
||||
> * 仅车载定位标签需要进行线材连接
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### 电气拓扑
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## 测试
|
||||
|
||||
我们提供了一套工具软件，并将其放置在电脑桌面的测试文件夹中，用户可以用来检测导航套件中各部件能否正常工作。
|
||||
我们提供了一套工具软件，并将其放置在电脑桌面的**测试**文件夹中，用户可以用来检测导航套件中各部件能否正常工作。
|
||||
|
||||
|
||||
|
||||
|
||||
1. 激光雷达测试
|
||||
|
||||
|
||||
|
||||
2. 深度相机测试
|
||||
|
||||
|
||||
|
||||
3. 车载定位标签测试
|
||||
|
||||
## 常见问题
|
||||
|
||||
* “电池充电接口、Mini 计算机电源接口、Kinect-Hub电源接口可以互换适配器吗？”
|
||||
|
||||
少年，劝你别有这么大胆的想法！
|
||||
|
||||
尽管这三者物理外形一致，但电气规格`并不通用`，使用时务必注意，错误的接线方式将会导致设备损坏，甚至危及人身安全。
|
||||
|
||||
* “为什么风扇噪音非常大？”
|
||||
|
||||
众所周知，AMD旗下CPU最大的特点就是~~发热量大~~ 性能强劲，并且Mini 计算机内部结构十分紧凑，只有风扇维持在较高转速才保证系统正常工作。
|
||||
|
||||
* “为什么我看不到 Kinect 的数据？”
|
||||
|
||||
Kinect-Hub 的数据线另一端必须插在Mini 计算机 `USB3.0` 接口上，否则将无法从Mini 计算机读取到Kinect的数据。
|
||||
|
||||
* “ USB-Hub 上面的接口不通用吗？”
|
||||
|
||||
不通用，组装时务必按照文字提示插入设备，错误的接线方式将无法正常建图、定位、避障，甚至危及人身安全。
|
||||
|
|
|
|||
|
|
@ -36,9 +36,7 @@
|
|||
<link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/css/page.css" type="text/css" />
|
||||
<link rel="index" title="索引" href="../../genindex.html" />
|
||||
<link rel="search" title="搜索" href="../../search.html" />
|
||||
<link rel="next" title="设备参考资料" href="../reference/doc.html" />
|
||||
<link rel="prev" title="恢复 BIOS" href="../restore_bios/doc.html" />
|
||||
<link rel="search" title="搜索" href="../../search.html" />
|
||||
</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
||||
|
|
@ -86,36 +84,6 @@
|
|||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Autolabor NavigationKit 文档主页</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">产品介绍</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../introduction/overview/doc.html">产品概览</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../introduction/tech_specs/doc.html">规格参数</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../introduction/inthebox/doc.html">发货清单</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">快速开始</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../quick_start/slam_doc.html">快速开始</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../location/guide/doc.html">定位循迹</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">了解定位系统</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../location/marvelmind/doc.html">定位系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../location/dashboard/doc.html">Dashboard 说明</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">使用说明</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1"><a class="reference internal" href="../quick_start/receipt.html">收货指南</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../quick_start/receipt.html#id3">清点</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../assembly_test/doc.html">组装与测试</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../restore_bios/doc.html">恢复 BIOS</a></li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">安装操作系统</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id2">准备</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id3">开始</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id4">常见问题</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../reference/doc.html">设备参考资料</a></li>
|
||||
</ul>
|
||||
|
||||
|
||||
|
||||
|
|
@ -166,7 +134,7 @@
|
|||
<li class="wy-breadcrumbs-aside">
|
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|
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|
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<a href="../../_sources/user_guide/install_os/doc.md.txt" rel="nofollow"> View page source</a>
|
||||
<a href="../../_sources/common/install_os/doc.md.txt" rel="nofollow"> View page source</a>
|
||||
|
||||
|
||||
</li>
|
||||
|
|
@ -216,15 +184,6 @@
|
|||
</div>
|
||||
<footer>
|
||||
|
||||
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
|
||||
|
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<a href="../reference/doc.html" class="btn btn-neutral float-right" title="设备参考资料" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
|
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|
||||
|
||||
<a href="../restore_bios/doc.html" class="btn btn-neutral float-left" title="恢复 BIOS" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
|
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|
||||
</div>
|
||||
|
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|
||||
<hr/>
|
||||
|
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|
|
@ -8,7 +8,7 @@
|
|||
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0">
|
||||
|
||||
<title>Autolabor Pro1 导航套件（一代）使用文档 — Autolabor Box 文档</title>
|
||||
<title>常见问题 — Autolabor Box 文档</title>
|
||||
|
||||
|
||||
|
||||
|
|
@ -84,31 +84,6 @@
|
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../index.html">Autolabor NavigationKit 文档主页</a></li>
|
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</ul>
|
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<p class="caption"><span class="caption-text">产品介绍</span></p>
|
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<ul>
|
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<li class="toctree-l1"><a class="reference internal" href="../introduction/overview/doc.html">产品概览</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../introduction/tech_specs/doc.html">规格参数</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../introduction/inthebox/doc.html">发货清单</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">快速开始</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../user_guide/quick_start/slam_doc.html">快速开始</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../location/guide/doc.html">定位循迹</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">了解定位系统</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../location/marvelmind/doc.html">定位系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../location/dashboard/doc.html">Dashboard 说明</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">使用说明</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../user_guide/quick_start/receipt.html">收货指南</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../user_guide/quick_start/receipt.html#id3">清点</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../user_guide/assembly_test/doc.html">组装与测试</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../user_guide/restore_bios/doc.html">恢复 BIOS</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../user_guide/install_os/doc.html">安装操作系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../user_guide/reference/doc.html">设备参考资料</a></li>
|
||||
</ul>
|
||||
|
||||
|
||||
|
||||
|
|
@ -153,13 +128,13 @@
|
|||
|
||||
<li><a href="../index.html">Docs</a> »</li>
|
||||
|
||||
<li>Autolabor Pro1 导航套件（一代）使用文档</li>
|
||||
<li>常见问题</li>
|
||||
|
||||
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
|
||||
|
||||
<a href="../_sources/version_one/index.md.txt" rel="nofollow"> View page source</a>
|
||||
<a href="../_sources/common/q&a.md.txt" rel="nofollow"> View page source</a>
|
||||
|
||||
|
||||
</li>
|
||||
|
|
@ -172,24 +147,23 @@
|
|||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="section" id="autolabor-pro1">
|
||||
<h1>Autolabor Pro1 导航套件（一代）使用文档<a class="headerlink" href="#autolabor-pro1" title="永久链接至标题">¶</a></h1>
|
||||
<div class="section" id="id1">
|
||||
<h2>目录<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h2>
|
||||
<ul class="simple">
|
||||
<li><p><a class="reference external" href="#">产品介绍</a></p></li>
|
||||
<li><p>使用指南</p>
|
||||
<div class="section" id="id1">
|
||||
<h1>常见问题<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
|
||||
<ul>
|
||||
<li><p><a class="reference internal" href="user_guide/assembly_test/doc.html"><span class="doc">组装与测试</span></a></p></li>
|
||||
<li><p><a class="reference external" href="#">快速上手</a></p></li>
|
||||
<li><p><a class="reference external" href="#">常见问题</a></p></li>
|
||||
<li><p><a class="reference external" href="../common/restore_bios/doc">恢复BIOS</a></p></li>
|
||||
<li><p><a class="reference external" href="../common/reinstall_os/doc">安装OS</a></p></li>
|
||||
<li><p><a class="reference external" href="../common/reference/doc">参考资料</a></p></li>
|
||||
</ul>
|
||||
<li><p>“电池充电接口、工控机电源接口、Kinect-Hub 电源接口可以互换适配器吗？”</p>
|
||||
<p>少年，劝你别有这么大胆的想法！</p>
|
||||
<p>尽管这三者物理外形一致，但电气规格<strong>并不通用</strong>，使用时务必注意，错误的接线方式将会导致设备损坏，甚至危及人身安全。</p>
|
||||
</li>
|
||||
<li><p>“为什么风扇噪音非常大？”</p>
|
||||
<p>众所周知，AMD 旗下 CPU 最大的特点就是~~发热量大~~性能强劲，并且工控机内部结构十分紧凑，只有风扇维持在较高转速才保证系统正常工作。</p>
|
||||
</li>
|
||||
<li><p>“为什么我看不到 Kinect 的数据？”</p>
|
||||
<p>Kinect-Hub 的数据线另一端必须插在工控机 <strong>USB3.0</strong> 接口上，否则将无法从工控机读取到Kinect的数据。</p>
|
||||
</li>
|
||||
<li><p>“ USB-Hub 上面的接口不通用吗（仅 导航套件 二代 用户）？”</p>
|
||||
<p>不通用，组装时务必按照文字提示插入设备，错误的接线方式将无法正常建图、定位、避障，甚至危及人身安全。</p>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
|
|
@ -36,8 +36,7 @@
|
|||
<link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
|
||||
<link rel="stylesheet" href="../../_static/css/page.css" type="text/css" />
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<link rel="index" title="索引" href="../../genindex.html" />
|
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<link rel="search" title="搜索" href="../../search.html" />
|
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<link rel="prev" title="安装操作系统" href="../install_os/doc.html" />
|
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<link rel="search" title="搜索" href="../../search.html" />
|
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</head>
|
||||
|
||||
<body class="wy-body-for-nav">
|
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|
|
@ -85,31 +84,6 @@
|
|||
<ul>
|
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<li class="toctree-l1"><a class="reference internal" href="../../index.html">Autolabor NavigationKit 文档主页</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">产品介绍</span></p>
|
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<ul>
|
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/overview/doc.html">产品概览</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/tech_specs/doc.html">规格参数</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/inthebox/doc.html">发货清单</a></li>
|
||||
</ul>
|
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<p class="caption"><span class="caption-text">快速开始</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../quick_start/slam_doc.html">快速开始</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="../../location/guide/doc.html">定位循迹</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">了解定位系统</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../location/marvelmind/doc.html">定位系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../location/dashboard/doc.html">Dashboard 说明</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">使用说明</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1"><a class="reference internal" href="../quick_start/receipt.html">收货指南</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="../quick_start/receipt.html#id3">清点</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../assembly_test/doc.html">组装与测试</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../restore_bios/doc.html">恢复 BIOS</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../install_os/doc.html">安装操作系统</a></li>
|
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<li class="toctree-l1 current"><a class="current reference internal" href="#">设备参考资料</a></li>
|
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</ul>
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|
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|
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|
|
@ -160,7 +134,7 @@
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<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/user_guide/reference/doc.md.txt" rel="nofollow"> View page source</a>
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@ -190,13 +164,6 @@
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<footer>
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<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
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<link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
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@ -86,36 +84,6 @@
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../../index.html">Autolabor NavigationKit 文档主页</a></li>
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<p class="caption"><span class="caption-text">产品介绍</span></p>
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/overview/doc.html">产品概览</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/inthebox/doc.html">发货清单</a></li>
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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"><a class="reference internal" href="../quick_start/slam_doc.html">快速开始</a></li>
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</ul>
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<p class="caption"><span class="caption-text">了解定位系统</span></p>
|
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<ul>
|
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<li class="toctree-l1"><a class="reference internal" href="../../location/marvelmind/doc.html">定位系统</a></li>
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</ul>
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<p class="caption"><span class="caption-text">使用说明</span></p>
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="../quick_start/receipt.html">收货指南</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../quick_start/receipt.html#id3">清点</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../assembly_test/doc.html">组装与测试</a></li>
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<li class="toctree-l1 current"><a class="current reference internal" href="#">恢复 BIOS</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="#id1">准备</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id2">开始</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id3">常见问题</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../install_os/doc.html">安装操作系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../reference/doc.html">设备参考资料</a></li>
|
||||
</ul>
|
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|
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|
||||
|
||||
|
|
@ -166,7 +134,7 @@
|
|||
<li class="wy-breadcrumbs-aside">
|
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|
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|
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<a href="../../_sources/user_guide/restore_bios/doc.md.txt" rel="nofollow"> View page source</a>
|
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<a href="../../_sources/common/restore_bios/doc.md.txt" rel="nofollow"> View page source</a>
|
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|
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|
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</li>
|
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|
@ -214,15 +182,6 @@
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|
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<footer>
|
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|
@ -85,31 +85,6 @@
|
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="introduction/overview/doc.html">产品概览</a></li>
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|
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</ul>
|
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<p class="caption"><span class="caption-text">快速开始</span></p>
|
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<ul>
|
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<li class="toctree-l1"><a class="reference internal" href="user_guide/quick_start/slam_doc.html">快速开始</a></li>
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</ul>
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<p class="caption"><span class="caption-text">了解定位系统</span></p>
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<ul>
|
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<li class="toctree-l1"><a class="reference internal" href="location/marvelmind/doc.html">定位系统</a></li>
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</ul>
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<p class="caption"><span class="caption-text">使用说明</span></p>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="user_guide/quick_start/receipt.html">收货指南</a></li>
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|
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<li class="toctree-l1"><a class="reference internal" href="user_guide/install_os/doc.html">安装操作系统</a></li>
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|
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</ul>
|
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|
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|
|
@ -36,8 +36,7 @@
|
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<link rel="stylesheet" href="_static/pygments.css" type="text/css" />
|
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</head>
|
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|
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<body class="wy-body-for-nav">
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@ -85,31 +84,6 @@
|
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<ul class="current">
|
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<li class="toctree-l1 current"><a class="current reference internal" href="#">Autolabor NavigationKit 文档主页</a></li>
|
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</ul>
|
||||
<p class="caption"><span class="caption-text">产品介绍</span></p>
|
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<ul>
|
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<li class="toctree-l1"><a class="reference internal" href="introduction/overview/doc.html">产品概览</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="introduction/tech_specs/doc.html">规格参数</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="introduction/inthebox/doc.html">发货清单</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">快速开始</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="user_guide/quick_start/slam_doc.html">快速开始</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="location/guide/doc.html">定位循迹</a></li>
|
||||
</ul>
|
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<p class="caption"><span class="caption-text">了解定位系统</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="location/marvelmind/doc.html">定位系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="location/dashboard/doc.html">Dashboard 说明</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">使用说明</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="user_guide/quick_start/receipt.html">收货指南</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="user_guide/quick_start/receipt.html#id3">清点</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="user_guide/assembly_test/doc.html">组装与测试</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="user_guide/restore_bios/doc.html">恢复 BIOS</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="user_guide/install_os/doc.html">安装操作系统</a></li>
|
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<li class="toctree-l1"><a class="reference internal" href="user_guide/reference/doc.html">设备参考资料</a></li>
|
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</ul>
|
||||
|
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|
||||
|
||||
|
|
@ -189,30 +163,30 @@
|
|||
<ul class="simple">
|
||||
<li><p>产品介绍：</p>
|
||||
<ul>
|
||||
<li><p><a class="reference internal" href="introduction/overview/doc.html"><span class="doc">产品概览</span></a></p></li>
|
||||
<li><p><a class="reference internal" href="introduction/tech_specs/doc.html"><span class="doc">规格参数</span></a></p></li>
|
||||
<li><p><a class="reference internal" href="introduction/inthebox/doc.html"><span class="doc">发货清单</span></a></p></li>
|
||||
<li><p><span class="xref std std-doc">introduction/overview/doc</span></p></li>
|
||||
<li><p><span class="xref std std-doc">introduction/tech_specs/doc</span></p></li>
|
||||
<li><p><span class="xref std std-doc">introduction/inthebox/doc</span></p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p>快速开始：</p>
|
||||
<ul>
|
||||
<li><p><a class="reference internal" href="user_guide/quick_start/slam_doc.html"><span class="doc">快速开始</span></a></p></li>
|
||||
<li><p><a class="reference internal" href="location/guide/doc.html"><span class="doc">定位循迹</span></a></p></li>
|
||||
<li><p><span class="xref std std-doc">user_guide/quick_start/slam_doc</span></p></li>
|
||||
<li><p><span class="xref std std-doc">location/guide/doc</span></p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p>了解定位系统：</p>
|
||||
<ul>
|
||||
<li><p><a class="reference internal" href="location/marvelmind/doc.html"><span class="doc">定位系统</span></a></p></li>
|
||||
<li><p><a class="reference internal" href="location/dashboard/doc.html"><span class="doc">Dashboard 说明</span></a></p></li>
|
||||
<li><p><span class="xref std std-doc">location/marvelmind/doc</span></p></li>
|
||||
<li><p><span class="xref std std-doc">location/dashboard/doc</span></p></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><p>使用说明：</p>
|
||||
<ul>
|
||||
<li><p><a class="reference internal" href="user_guide/quick_start/receipt.html"><span class="doc">收货指南</span></a></p></li>
|
||||
<li><p><a class="reference internal" href="user_guide/assembly_test/doc.html"><span class="doc">组装与测试</span></a></p></li>
|
||||
<li><p><a class="reference internal" href="user_guide/restore_bios/doc.html"><span class="doc">恢复 BIOS</span></a></p></li>
|
||||
<li><p><a class="reference internal" href="user_guide/install_os/doc.html"><span class="doc">安装操作系统</span></a></p></li>
|
||||
<li><p><a class="reference internal" href="user_guide/reference/doc.html"><span class="doc">设备参考资料</span></a></p></li>
|
||||
<li><p><span class="xref std std-doc">user_guide/quick_start/receipt</span></p></li>
|
||||
<li><p><span class="xref std std-doc">user_guide/assembly_test/doc</span></p></li>
|
||||
<li><p><span class="xref std std-doc">user_guide/restore_bios/doc</span></p></li>
|
||||
<li><p><span class="xref std std-doc">user_guide/install_os/doc</span></p></li>
|
||||
<li><p><span class="xref std std-doc">user_guide/reference/doc</span></p></li>
|
||||
</ul>
|
||||
</li>
|
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</ul>
|
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|
|
@ -224,13 +198,6 @@
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</div>
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<footer>
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<hr/>
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@ -1,401 +0,0 @@
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|
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<!DOCTYPE html>
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<ul class="current">
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<li class="toctree-l1 current"><a class="current reference internal" href="#">发货清单</a></li>
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</ul>
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<p class="caption"><span class="caption-text">快速开始</span></p>
|
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<ul>
|
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/slam_doc.html">快速开始</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../location/guide/doc.html">定位循迹</a></li>
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</ul>
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<p class="caption"><span class="caption-text">了解定位系统</span></p>
|
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<ul>
|
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<li class="toctree-l1"><a class="reference internal" href="../../location/marvelmind/doc.html">定位系统</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../location/dashboard/doc.html">Dashboard 说明</a></li>
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</ul>
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<p class="caption"><span class="caption-text">使用说明</span></p>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/receipt.html">收货指南</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/receipt.html#id3">清点</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/assembly_test/doc.html">组装与测试</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/restore_bios/doc.html">恢复 BIOS</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/install_os/doc.html">安装操作系统</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/reference/doc.html">设备参考资料</a></li>
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</nav>
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="../../index.html">Autolabor Box</a>
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</nav>
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<div class="wy-nav-content">
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|
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<div role="navigation" aria-label="breadcrumbs navigation">
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<li><a href="../../index.html">Docs</a> »</li>
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<li>发货清单</li>
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<li class="wy-breadcrumbs-aside">
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<a href="../../_sources/introduction/inthebox/doc.md.txt" rel="nofollow"> View page source</a>
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</li>
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</ul>
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<hr/>
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</div>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
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<div itemprop="articleBody">
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||||
<div class="section" id="id1">
|
||||
<h1>发货清单<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>组件</th>
|
||||
<th>元件</th>
|
||||
<th>数量</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>Mini计算机</td>
|
||||
<td>Autolabor PC</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>天线</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>计算机电源线</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>显示器</td>
|
||||
<td>显示器</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>360°显示器支架</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>显示器视频线</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>显示器电源线</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>电源模块</td>
|
||||
<td>电源模块/深度相机集线器</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>深度相机</td>
|
||||
<td>相机</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>相机支架</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>深度相机集线盒</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>相机数据线</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>相机电源线</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>激光雷达</td>
|
||||
<td>激光雷达组件</td>
|
||||
<td>2</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>激光雷达数据线</td>
|
||||
<td>2</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>USB-Hub</td>
|
||||
<td>4口USB 3.0 Hub</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>USB-Hub数据线</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>USB-Hub电源线</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>定位系统 <sup>1</sup></td>
|
||||
<td>车载定位标签组件</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>车载定位标签支架</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>车载定位标签支架角码</td>
|
||||
<td>3</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>定位标签</td>
|
||||
<td>11</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>定位标签胶条</td>
|
||||
<td>11</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>定位路由</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>其他</td>
|
||||
<td>Autolabor OS系统安装U盘</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>十字改锥</td>
|
||||
<td>1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>内六角扳手</td>
|
||||
<td>2</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>2020角码</td>
|
||||
<td>2</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>M5大滑块</td>
|
||||
<td>2</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>M5小滑块</td>
|
||||
<td>2</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>M5x12螺钉</td>
|
||||
<td>2</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>M5x16螺钉</td>
|
||||
<td>2</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><sup>1</sup> 仅室外导航套件含此组件</p>
|
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</div>
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||||
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<li class="toctree-l1"><a class="reference internal" href="../inthebox/doc.html">发货清单</a></li>
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<p class="caption"><span class="caption-text">快速开始</span></p>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/slam_doc.html">快速开始</a></li>
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|
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/restore_bios/doc.html">恢复 BIOS</a></li>
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<h1>产品概览<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
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<p><img alt="../../_images/product-1.JPG" src="../../_images/product-1.JPG" />[product]</p>
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<input type="hidden" name="check_keywords" value="yes" />
|
||||
<input type="hidden" name="area" value="default" />
|
||||
</form>
|
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</div>
|
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|
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|
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</div>
|
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|
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<div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<p class="caption"><span class="caption-text">主页</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../index.html">Autolabor NavigationKit 文档主页</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">产品介绍</span></p>
|
||||
<ul class="current">
|
||||
<li class="toctree-l1"><a class="reference internal" href="../overview/doc.html">产品概览</a></li>
|
||||
<li class="toctree-l1 current"><a class="current reference internal" href="#">规格参数</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../inthebox/doc.html">发货清单</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">快速开始</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/slam_doc.html">快速开始</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../location/guide/doc.html">定位循迹</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">了解定位系统</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../location/marvelmind/doc.html">定位系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../location/dashboard/doc.html">Dashboard 说明</a></li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">使用说明</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/receipt.html">收货指南</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/receipt.html#id3">清点</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/assembly_test/doc.html">组装与测试</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/restore_bios/doc.html">恢复 BIOS</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/install_os/doc.html">安装操作系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/reference/doc.html">设备参考资料</a></li>
|
||||
</ul>
|
||||
|
||||
|
||||
|
||||
</div>
|
||||
</div>
|
||||
</nav>
|
||||
|
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<section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
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<nav class="wy-nav-top" aria-label="top navigation">
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<i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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<a href="../../index.html">Autolabor Box</a>
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</nav>
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<div class="wy-nav-content">
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<div class="rst-content">
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|
||||
|
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|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
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|
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|
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|
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|
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|
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<div role="navigation" aria-label="breadcrumbs navigation">
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|
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<ul class="wy-breadcrumbs">
|
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|
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<li><a href="../../index.html">Docs</a> »</li>
|
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|
||||
<li>规格参数</li>
|
||||
|
||||
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
|
||||
|
||||
<a href="../../_sources/introduction/tech_specs/doc.md.txt" rel="nofollow"> View page source</a>
|
||||
|
||||
|
||||
</li>
|
||||
|
||||
</ul>
|
||||
|
||||
|
||||
<hr/>
|
||||
</div>
|
||||
<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="section" id="id1">
|
||||
<h1>规格参数<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
|
||||
<ul class="simple">
|
||||
<li><p>Autolabor PC</p></li>
|
||||
</ul>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>项目</th>
|
||||
<th>规格</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>CPU</td>
|
||||
<td>AMD Ryzen3 2200G</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>主板</td>
|
||||
<td>技嘉 GA-AB350N-Gaming WIFI</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>内存</td>
|
||||
<td>威刚 万紫千红 DDR4 4GB</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>硬盘</td>
|
||||
<td>威刚 SP580 120GB</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>电源</td>
|
||||
<td>立人 LR1108 (150W)</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><ul class="simple">
|
||||
<li><p>CPU （AMD Ryzen3 2200G <sup>1</sup>）</p></li>
|
||||
</ul>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>项目</th>
|
||||
<th>规格</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>核心频率</td>
|
||||
<td>3.5 GHz</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>加速频率</td>
|
||||
<td>3.7 GHz</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>核心/线程</td>
|
||||
<td>4 / 4</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>GPU核心</td>
|
||||
<td>4</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>核显</td>
|
||||
<td>Radeon Vega 8 1100 MHz</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>FP16（half）</td>
|
||||
<td>2.253 TFLOPS （2：1）</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>FP32（float）</td>
|
||||
<td>1,126 GFLOPS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>FP64（double）</td>
|
||||
<td>70.40 GFLOPS （1:16）</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><ul class="simple">
|
||||
<li><p>电源组件</p></li>
|
||||
</ul>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>项目</th>
|
||||
<th>规格</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>输入电压</td>
|
||||
<td>DC 18-36V</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>输出电压</td>
|
||||
<td>DC 12v</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>输出电流</td>
|
||||
<td>20A</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>纹波电压</td>
|
||||
<td>< 100mV</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><ul class="simple">
|
||||
<li><p>显示器</p></li>
|
||||
</ul>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>项目</th>
|
||||
<th>规格</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>尺寸</td>
|
||||
<td>13.3 英寸</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>比例</td>
|
||||
<td>16: 9</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>分辨率</td>
|
||||
<td>1920*1080</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>亮度</td>
|
||||
<td>300 cd/m²</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>对比度</td>
|
||||
<td>800: 1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>触摸</td>
|
||||
<td>否</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><ul class="simple">
|
||||
<li><p>激光雷达（FS-D10）</p></li>
|
||||
</ul>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>项目</th>
|
||||
<th>规格</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>测量距离</td>
|
||||
<td>0.15-10 m @ 10%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>角度分辨率</td>
|
||||
<td>0.36 °</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>扫描速度</td>
|
||||
<td>15 Hz</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>重复精度</td>
|
||||
<td>±3 cm</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>距离分辨率</td>
|
||||
<td>1 cm</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><ul class="simple">
|
||||
<li><p>深度相机（Kinect V2）</p></li>
|
||||
</ul>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>项目</th>
|
||||
<th>规格</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>原理</td>
|
||||
<td>TOF</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>RGB流</td>
|
||||
<td>1920 x 1280 @ 30 FPS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>深度流</td>
|
||||
<td>512 x 424 @ 30 FPS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>红外流</td>
|
||||
<td>512 x 424 @ 30 FPS</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>深度距离</td>
|
||||
<td>0.4 m - 4.5 m</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>水平视角</td>
|
||||
<td>70 °</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>垂直视角</td>
|
||||
<td>60 °</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>通信接口</td>
|
||||
<td>USB 3.0</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><ul class="simple">
|
||||
<li><p>定位系统 <sup>2</sup></p></li>
|
||||
</ul>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>项目</th>
|
||||
<th>规格</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>标签距离</td>
|
||||
<td>30m (理想情况下测试结果)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td><20m (常规建图定位建议距离)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>定位精度</td>
|
||||
<td>绝对精度：距离的1~3%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>差分精度：±2cm</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>定位频率</td>
|
||||
<td>1/20Hz ~ 45Hz</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>与移动标签到固定标签的距离有关（距离越近频率越高）</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>与移动标签的数量有关（数量越多频率越低）</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>供电</td>
|
||||
<td>内部：1000mAh 锂电池（根据使用情况可续航2天到数月）</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>外部：USB供电</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>尺寸</td>
|
||||
<td>55 x 55 x 33 mm（含天线：55 x 55 x 65 mm）</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><sup>1</sup> 附CPU性能天梯图供参考：https://www.mydrivers.com/zhuanti/tianti/cpu/index.html</p>
|
||||
<p><sup>2</sup> 仅室外导航套件含此功能</p>
|
||||
</div>
|
||||
|
||||
|
||||
</div>
|
||||
|
||||
</div>
|
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<footer>
|
||||
|
||||
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
|
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|
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<a href="../inthebox/doc.html" class="btn btn-neutral float-right" title="发货清单" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
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|
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|
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|
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|
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<p>
|
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© Copyright 2019, Autolabor
|
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<a href="../../index.html" class="icon icon-home"> Autolabor Box
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../../index.html">Autolabor NavigationKit 文档主页</a></li>
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</ul>
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<p class="caption"><span class="caption-text">产品介绍</span></p>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/overview/doc.html">产品概览</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/tech_specs/doc.html">规格参数</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/inthebox/doc.html">发货清单</a></li>
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||||
</ul>
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<p class="caption"><span class="caption-text">快速开始</span></p>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/slam_doc.html">快速开始</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../guide/doc.html">定位循迹</a></li>
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</ul>
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<p class="caption"><span class="caption-text">了解定位系统</span></p>
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<ul class="current">
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<li class="toctree-l1"><a class="reference internal" href="../marvelmind/doc.html">定位系统</a></li>
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<li class="toctree-l1 current"><a class="current reference internal" href="#">Dashboard 说明</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="#id1">软件概述</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id2">显示设置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id3">距离表</a><ul>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id4">超声自动测量</a></li>
|
||||
<li class="toctree-l3"><a class="reference internal" href="#id5">用户手动测量</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id6">换能器开关</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id7">设备参数设置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id8">设备列表</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id9">地图设置</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id10">定位标签快速设置面板</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
<p class="caption"><span class="caption-text">使用说明</span></p>
|
||||
<ul>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/receipt.html">收货指南</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/receipt.html#id3">清点</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/assembly_test/doc.html">组装与测试</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/restore_bios/doc.html">恢复 BIOS</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/install_os/doc.html">安装操作系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../../user_guide/reference/doc.html">设备参考资料</a></li>
|
||||
</ul>
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||||
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||||
|
||||
</div>
|
||||
</div>
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</nav>
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<div role="navigation" aria-label="breadcrumbs navigation">
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<ul class="wy-breadcrumbs">
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||||
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||||
<li><a href="../../index.html">Docs</a> »</li>
|
||||
|
||||
<li>Dashboard 说明</li>
|
||||
|
||||
|
||||
<li class="wy-breadcrumbs-aside">
|
||||
|
||||
|
||||
<a href="../../_sources/location/dashboard/doc.md.txt" rel="nofollow"> View page source</a>
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||||
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</li>
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<hr/>
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</div>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="section" id="dashboard">
|
||||
<h1>Dashboard 说明<a class="headerlink" href="#dashboard" title="永久链接至标题">¶</a></h1>
|
||||
<div class="section" id="id1">
|
||||
<h2>软件概述<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h2>
|
||||
<p>使用 Dashborad 软件对定位标签或路由进行设置、构建地图以及查看可视化定位结果。软件界面如下图所示</p>
|
||||
<p><img alt="../../_images/dashboard.png" src="../../_images/dashboard.png" /></p>
|
||||
<p>下载地址：TODO</p>
|
||||
</div>
|
||||
<div class="section" id="id2">
|
||||
<h2>显示设置<a class="headerlink" href="#id2" title="永久链接至标题">¶</a></h2>
|
||||
<p>设置移动标签运动轨迹的显示。</p>
|
||||
<p><img alt="../../_images/display_settings.png" src="../../_images/display_settings.png" /></p>
|
||||
</div>
|
||||
<div class="section" id="id3">
|
||||
<h2>距离表<a class="headerlink" href="#id3" title="永久链接至标题">¶</a></h2>
|
||||
<p>距离表显示系统中所有定位标签之间的距离。固定标签之间的距离用来计算地图，移动标签与固定标签之间的距离用来计算移动标签在地图中的坐标。固定标签之间的距离可以通过超声自动测量，也可以用户手动测量，下面详细介绍。</p>
|
||||
<div class="section" id="id4">
|
||||
<h3>超声自动测量<a class="headerlink" href="#id4" title="永久链接至标题">¶</a></h3>
|
||||
<p>大多数情况下，表中的距离由系统自动测量完成。距离值波动较小且背景色为白色表示测距结果稳定可信，如下图。</p>
|
||||
<p><img alt="../../_images/distance_table.png" src="../../_images/distance_table.png" /></p>
|
||||
<p>如果背景色不是白色，根据下文颜色的定义解决对应的问题。</p>
|
||||
<p>只有所有的背景色都是白色的话才能锁定地图（使用这些距离数据构建地图）。</p>
|
||||
</div>
|
||||
<div class="section" id="id5">
|
||||
<h3>用户手动测量<a class="headerlink" href="#id5" title="永久链接至标题">¶</a></h3>
|
||||
<p>固定标签之间的距离难以自动测量时，可以通过其他方式手动测量标签间的距离然后输入到距离表格，这种情况下距离背景色为绿色。在要修改的距离上右键点击 <code class="docutils literal notranslate"><span class="pre">Enter</span> <span class="pre">distance</span> <span class="pre">for</span> <span class="pre">pair</span></code> 菜单项完成距离手动输入，如下图。</p>
|
||||
<p><img alt="../../_images/distance_table_menu.png" src="../../_images/distance_table_menu.png" /></p>
|
||||
<p>可以看到输入后背景色变为绿色，如下图。</p>
|
||||
<p><img alt="../../_images/distance_table_enter.png" src="../../_images/distance_table_enter.png" /></p>
|
||||
<p>背景色定义：</p>
|
||||
<p><img alt="../../_images/backcolor_white.png" src="../../_images/backcolor_white.png" /> 白色表示距离可靠，可以锁定地图了。</p>
|
||||
<p><img alt="../../_images/backcolor_yellow.png" src="../../_images/backcolor_yellow.png" /> 黄色表示测距存在异常，锁定地图前还需要对距离与标签进行检查。</p>
|
||||
<p><img alt="../../_images/backcolor_red.png" src="../../_images/backcolor_red.png" /> 红色表示距离严重错误，不要在此状态下锁定地图。</p>
|
||||
<p><img alt="../../_images/backcolor_green.png" src="../../_images/backcolor_green.png" /> 绿色表示锁定了距离值（手动输入后会自动锁定），可以锁定地图。</p>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="id6">
|
||||
<h2>换能器开关<a class="headerlink" href="#id6" title="永久链接至标题">¶</a></h2>
|
||||
<p>对于特定的安装位置与工作范围，只需要部分换能器工作，此时可通过此处关闭不用的换能器。定位标签上换能器分布如下图所示。不能明确需要哪些换能器时，则开启所有换能器。</p>
|
||||
<p><img alt="../../_images/sensor.png" src="../../_images/sensor.png" /></p>
|
||||
</div>
|
||||
<div class="section" id="id7">
|
||||
<h2>设备参数设置<a class="headerlink" href="#id7" title="永久链接至标题">¶</a></h2>
|
||||
<p>打开 Dashbord 后，USB 连接定位标签或者路由设置相应参数。</p>
|
||||
<blockquote>
|
||||
<div><p>注意：设备（定位标签/路由）会被电脑识别为串口，请确保安装了相应 USB 串口驱动（安装Dashbord时在安装选项中选中 USB Driver 项）!</p>
|
||||
</div></blockquote>
|
||||
<p>定位标签参数设置如下图，一般情况下只需关注或设置图中注释的参数，其他参数保持默认。</p>
|
||||
<p><img alt="../../_images/beacon_settings.png" src="../../_images/beacon_settings.png" /></p>
|
||||
<p>路由参数设置如下图，一般情况下只需关注或设置图中注释的参数，其他参数保持默认。</p>
|
||||
<p><img alt="../../_images/modem_settings.png" src="../../_images/modem_settings.png" /></p>
|
||||
</div>
|
||||
<div class="section" id="id8">
|
||||
<h2>设备列表<a class="headerlink" href="#id8" title="永久链接至标题">¶</a></h2>
|
||||
<p>设备列表包含系统中所有标签，如下图。</p>
|
||||
<p><img alt="../../_images/device_list.png" src="../../_images/device_list.png" /></p>
|
||||
<p>列表中的设备分为固定标签与移动标签两类。固定标签显示为绿色，移动标签显示为蓝色，右键菜单不同，如下图所示。</p>
|
||||
<p><img alt="../../_images/device_list_beacon.png" src="../../_images/device_list_beacon.png" /> <img alt="../../_images/device_list_hedge.png" src="../../_images/device_list_hedge.png" /></p>
|
||||
</div>
|
||||
<div class="section" id="id9">
|
||||
<h2>地图设置<a class="headerlink" href="#id9" title="永久链接至标题">¶</a></h2>
|
||||
<p><img alt="../../_images/map_settings.png" src="../../_images/map_settings.png" /></p>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">Save</span> <span class="pre">map</span></code> 将地图保存为 ini 文件到 “Dashboard 安装路径/maps”</p>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">Load</span> <span class="pre">map</span></code> 从 ini 文件加载地图</p>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">Erase</span> <span class="pre">map</span></code> 清除地图</p>
|
||||
</div>
|
||||
<div class="section" id="id10">
|
||||
<h2>定位标签快速设置面板<a class="headerlink" href="#id10" title="永久链接至标题">¶</a></h2>
|
||||
<p><img alt="../../_images/control_panel.png" src="../../_images/control_panel.png" /></p>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">Reset</span></code> 重置设备</p>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">Sleep</span></code> 控制设备进入睡眠模式（省电模式）</p>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">Wake</span> <span class="pre">up</span></code> 从睡眠模式唤醒设备</p>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">Default</span></code> 恢复所有设置到出厂状态</p>
|
||||
<p><code class="docutils literal notranslate"><span class="pre">Time</span> <span class="pre">sync</span></code> 发送 PC 的时间到设备</p>
|
||||
<p>其中 <code class="docutils literal notranslate"><span class="pre">Reset</span></code>、<code class="docutils literal notranslate"><span class="pre">Sleep</span></code>、<code class="docutils literal notranslate"><span class="pre">Wake</span> <span class="pre">up</span></code> 可批量设置，按下 Ctrl 键时这三个按钮变为黑体，此时点击按钮对所有设备生效。</p>
|
||||
</div>
|
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<li class="toctree-l1 current"><a class="current reference internal" href="#">定位循迹</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="#id2">功能简介</a></li>
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<li class="toctree-l2"><a class="reference internal" href="#id3">操作步骤</a><ul>
|
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<li class="toctree-l3"><a class="reference internal" href="#id4">一、搭建定位系统</a><ul>
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<li class="toctree-l4"><a class="reference internal" href="#id5">准备工作</a></li>
|
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<li class="toctree-l4"><a class="reference internal" href="#id6">开始搭建</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#id7">二、循迹</a><ul>
|
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<li class="toctree-l4"><a class="reference internal" href="#id8">操作步骤</a></li>
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||||
<div class="section" id="id1">
|
||||
<h1>定位循迹<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
|
||||
<blockquote>
|
||||
<div><p>注：仅室外导航套件含此功能</p>
|
||||
</div></blockquote>
|
||||
<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>
|
||||
<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。可设置多种循迹模式。</p>
|
||||
<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>
|
||||
<li><p>录制轨迹</p></li>
|
||||
<li><p>开始循迹</p></li>
|
||||
</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>
|
||||
<p>定位标签包含5个超声波换能器，收发各个方向的超声信号。</p>
|
||||
<p><img alt="../../_images/beacon.png" src="../../_images/beacon.png" /></p>
|
||||
<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，如路由没有电源将会影响定位功能。</p>
|
||||
<p><img alt="../../_images/modem.png" src="../../_images/modem.png" /></p>
|
||||
<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>
|
||||
<ol class="simple">
|
||||
<li><p>给定位标签充电
|
||||
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，充满电后停止闪烁。从低电量到充满电大概需要1-2小时。</p></li>
|
||||
<li><p>打开定位标签开关
|
||||
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。
|
||||
<img alt="../../_images/switch.png" src="../../_images/switch.png" /></p></li>
|
||||
<li><p>打开软件——Dashborad（<a class="reference external" href="#">下载</a>）
|
||||
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。</p></li>
|
||||
<li><p>初始化定位路由
|
||||
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
|
||||
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。
|
||||
建议将标签 id 从1开始设置，逐个递增。</p></li>
|
||||
<li><p>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。</p></li>
|
||||
</ol>
|
||||
<p><img alt="../../_images/settings.png" src="../../_images/settings.png" /></p>
|
||||
</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，快速搭建一个小范围的定位系统（需要4个固定标签+1个车载移动标签+1个路由，关闭其他用不到的标签电源开关），步骤如下：</p>
|
||||
<ol class="simple">
|
||||
<li><p>固定定位标签</p></li>
|
||||
</ol>
|
||||
<p>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。</p>
|
||||
<ul class="simple">
|
||||
<li><p>为减少遮挡的情况，标签位置尽量高，例如1.8m 以上</p></li>
|
||||
<li><p>标签相对地面等高且需要测量出高度值</p></li>
|
||||
<li><p>标签必须两两之间可见（无遮挡、有换能器相对）</p></li>
|
||||
<li><p>标签尽量分散开，避免4个标签中有3个甚至全部在一条直线上</p></li>
|
||||
<li><p>建议任意标签之间的距离控制在20m 以内（理论最大30m）</p></li>
|
||||
<li><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></li>
|
||||
</ul>
|
||||
<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 <code class="docutils literal notranslate"><span class="pre">modem</span></code>。</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 <code class="docutils literal notranslate"><span class="pre">Erase</span> <span class="pre">map</span></code> 按钮清除地图，然后点击 <code class="docutils literal notranslate"><span class="pre">Submap</span> <span class="pre">0</span></code> 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，过程大概需要 10 秒 。</p></li>
|
||||
</ol>
|
||||
<p><img alt="../../_images/wakeup.png" src="../../_images/wakeup.png" /></p>
|
||||
<ol class="simple">
|
||||
<li><p>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<strong>米</strong>。</p></li>
|
||||
<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 <code class="docutils literal notranslate"><span class="pre">freeze</span> <span class="pre">map</span></code> 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 <code class="docutils literal notranslate"><span class="pre">freeze</span> <span class="pre">map</span></code> 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<img alt="../../_images/mirror.png" src="../../_images/mirror.png" />翻转地图。</p></li>
|
||||
</ol>
|
||||
<p><img alt="../../_images/map.png" src="../../_images/map.png" /></p>
|
||||
<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>
|
||||
<blockquote>
|
||||
<div><p>注：</p>
|
||||
</div></blockquote>
|
||||
<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，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。</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>开始导航</p></li>
|
||||
<li><p>录制轨迹</p></li>
|
||||
<li><p>保存轨迹</p></li>
|
||||
<li><p>开始循迹</p></li>
|
||||
<li><p>停止循迹</p></li>
|
||||
</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">
|
||||
<li><p>确认车载定位标签的 USB 线插正确的 USB-Hub 口上，插上通电后会常亮红色电源灯</p></li>
|
||||
<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>
|
||||
<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">
|
||||
<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，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</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>
|
||||
<li><p>打开terminal，执行以下内容，查看是否有”box-3”这个设备</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ll /dev/box-3
|
||||
</pre></div>
|
||||
</div>
|
||||
</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>
|
||||
<li><p>如亮则检查规则文件，执行</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>vim /ect/rules.d
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="section" id="id10">
|
||||
<h5>激光雷达测试<a class="headerlink" href="#id10" title="永久链接至标题">¶</a></h5>
|
||||
<ol class="simple">
|
||||
<li><p>进入桌面测试文件夹，点击雷达测试</p></li>
|
||||
<li><p>查看 RVIZ 中是否有黄色激光雷达数据，如有则激光雷达功能正常</p></li>
|
||||
</ol>
|
||||
<p>常见问题：</p>
|
||||
<ul class="simple">
|
||||
<li><p>看不到激光雷达数据？</p>
|
||||
<ul>
|
||||
<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，前侧雷达插前雷达，后侧雷达插后雷达</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>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
<div class="section" id="id11">
|
||||
<h5>开始导航<a class="headerlink" href="#id11" title="永久链接至标题">¶</a></h5>
|
||||
<ol class="simple">
|
||||
<li><p>打开开始导航，查看 RVIZ 中 AP1 是否显示为纯白色，如有 AP1 的模型则 AP1 连接正常。</p></li>
|
||||
<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。</p></li>
|
||||
<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>点击开始录制，控制 AP1 在目标路径上走一圈</p></li>
|
||||
<li><p>保存轨迹</p></li>
|
||||
<li><p>按键盘 <code class="docutils literal notranslate"><span class="pre">0</span></code>，点击执行，开始循迹</p></li>
|
||||
<li><p>如想要停止循迹，按键盘 <code class="docutils literal notranslate"><span class="pre">9</span></code>，点击停止，循迹停止</p></li>
|
||||
</ol>
|
||||
<p>如下次再次使用时，仍是在无需录制轨迹的同一环境中，则可跳过以上 4、5 步骤，无需录制轨迹，测试完毕后直接执行循迹功能。</p>
|
||||
<p>如执行4、5步骤会清楚上一次已保存的地图，请知悉。</p>
|
||||
<p>常见问题：</p>
|
||||
<ul class="simple">
|
||||
<li><p>“看不到 AP1？”</p>
|
||||
<ul>
|
||||
<li><p>检查 AP1 是否在上位机控制模式</p></li>
|
||||
<li><p>检查 AP1 数据线是否插紧</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
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|
||||
|
||||
|
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|
||||
|
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|
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|
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<li class="toctree-l1"><a class="reference internal" href="../../user_guide/quick_start/slam_doc.html">快速开始</a></li>
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|
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|
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|
||||
<li class="toctree-l3"><a class="reference internal" href="#id5">定位标签</a></li>
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||||
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||||
<div class="section" id="id1">
|
||||
<h1>定位系统<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
|
||||
<div class="section" id="id2">
|
||||
<h2>产品概要<a class="headerlink" href="#id2" title="永久链接至标题">¶</a></h2>
|
||||
<p>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。定位系统包含一个由多个固定超声标签构成的基站网络（地图），一个或多个安装在被定位物体上的移动标签和协调整个系统工作的中心路由节点，所有设备之间通过无线电通信。</p>
|
||||
<p><img alt="../../_images/location.png" src="../../_images/location.png" /></p>
|
||||
<p>系统通过超声脉冲的飞行时间计算移动标签与固定标签的距离，进而利用三边定位算法计算出移动标签在地图中的位置。固定标签之间也能通过超声测距，因此在合理布置固定标签的情况下，系统能够实现自动建图，避免人工测量距离。</p>
|
||||
<p><img alt="../../_images/starter_set.png" src="../../_images/starter_set.png" /></p>
|
||||
</div>
|
||||
<div class="section" id="id3">
|
||||
<h2>参数列表<a class="headerlink" href="#id3" title="永久链接至标题">¶</a></h2>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th>参数</th>
|
||||
<th>技术指标</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>标签距离</td>
|
||||
<td>30m (理想情况下测试结果)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td><20m (常规建图定位建议距离)</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>定位精度</td>
|
||||
<td>绝对精度：距离的1~3%</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>差分精度：±2cm</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>定位频率</td>
|
||||
<td>1/20Hz ~ 45Hz</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>与移动标签到固定标签的距离有关（距离越近频率越高）</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>与移动标签的数量有关（数量越多频率越低）</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>供电</td>
|
||||
<td>内部：1000mAh 锂电池（根据使用情况可续航2天到数月）</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>外部：USB供电</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td>尺寸</td>
|
||||
<td>55 x 55 x 33 mm（含天线：55 x 55 x 65 mm）</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table></div>
|
||||
<div class="section" id="id4">
|
||||
<h2>设备介绍<a class="headerlink" href="#id4" title="永久链接至标题">¶</a></h2>
|
||||
<div class="section" id="id5">
|
||||
<h3>定位标签<a class="headerlink" href="#id5" title="永久链接至标题">¶</a></h3>
|
||||
<p><img alt="../../_images/beacon1.png" src="../../_images/beacon1.png" /></p>
|
||||
<p>一个定位标签包含5个超声波换能器，收发各个方向的超声信号。一个标签可以作为固定标签也可作为移动标签使用，通过 Dashboard 修改配置可以很方便使二者互换。</p>
|
||||
<p>固定标签通常被安装在墙上或者天花板上，并且换能器朝下以提供与机器人尽可能大的无遮挡覆盖区域。</p>
|
||||
<p>应该合理设计固定标签的位置和角度以提供最大的超声信号覆盖范围，系统的定位效果非常依赖固定标签收到的超声信号的质量。</p>
|
||||
<p>建图过程中，固定标签发射并接收超声波信号。地图锁定后定位过程中，固定标签只接收超声波信号，移动标签只发送超声波信号。</p>
|
||||
<p>移动标签放置在被定位对象上，为了尽可能避免遮挡提高覆盖范围，应该水平放置在较高处。任何覆盖物都可能降低超声信号的强度导致系统不能正常工作，因此应完全避免标签换能器被覆盖。</p>
|
||||
</div>
|
||||
<div class="section" id="id6">
|
||||
<h3>路由<a class="headerlink" href="#id6" title="永久链接至标题">¶</a></h3>
|
||||
<p><img alt="../../_images/modem1.png" src="../../_images/modem1.png" /></p>
|
||||
<p>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。注意路由没有内置电池，只能使用USB供电。</p>
|
||||
<p>路由的放置位置需要保证无线电信号覆盖所有标签，一般情况下使用默认的天线时能够达到100m 的覆盖半径。降低无线电通信速率并且使用全尺寸（165mm、433MHz）天线能进一步提高覆盖范围。</p>
|
||||
<p>注意路由和标签的距离不能小于0.5-1m，如果需要某个标签与路由距离非常近，则取下标签的天线。</p>
|
||||
</div>
|
||||
</div>
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<div class="section" id="id1">
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||||
<h1>组装与测试<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
|
||||
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">本文将引导你安装导航套件并对各部件进行测试</span>
|
||||
</pre></div>
|
||||
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|
||||
<div class="section" id="id2">
|
||||
<h2>组装<a class="headerlink" href="#id2" title="永久链接至标题">¶</a></h2>
|
||||
<blockquote>
|
||||
<div><p>详请参照视频</p>
|
||||
</div></blockquote>
|
||||
<div class="section" id="id3">
|
||||
<h3>线材连接<a class="headerlink" href="#id3" title="永久链接至标题">¶</a></h3>
|
||||
<ul class="simple">
|
||||
<li><p>Mini 计算机</p></li>
|
||||
</ul>
|
||||
<p><img alt="../../_images/wire-2.jpg" src="../../_images/wire-2.jpg" /></p>
|
||||
<ul class="simple">
|
||||
<li><p>显示器</p></li>
|
||||
</ul>
|
||||
<p><img alt="../../_images/wire-1.jpg" src="../../_images/wire-1.jpg" /></p>
|
||||
<ul class="simple">
|
||||
<li><p>深度相机</p></li>
|
||||
</ul>
|
||||
<p><img alt="../../_images/wire-3.jpg" src="../../_images/wire-3.jpg" /></p>
|
||||
<ul class="simple">
|
||||
<li><p>激光雷达</p></li>
|
||||
</ul>
|
||||
<p><img alt="../../_images/wire-4.jpg" src="../../_images/wire-4.jpg" /></p>
|
||||
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|
||||
<li><p>USB-Hub</p></li>
|
||||
</ul>
|
||||
<p><img alt="../../_images/wire-6.jpg" src="../../_images/wire-6.jpg" /></p>
|
||||
<blockquote>
|
||||
<div><p>注：USB-Hub数据线<strong>必须</strong>插到计算机上<strong>指定插口</strong>（如下图），否则将影响功能。</p>
|
||||
</div></blockquote>
|
||||
<p><img alt="../../_images/wire-7.jpg" src="../../_images/wire-7.jpg" /></p>
|
||||
<div class="section" id="id4">
|
||||
<h4>定位系统<a class="headerlink" href="#id4" title="永久链接至标题">¶</a></h4>
|
||||
<blockquote>
|
||||
<div><p>注：</p>
|
||||
<ul class="simple">
|
||||
<li><p>仅室外导航套件含此组件</p></li>
|
||||
<li><p>仅车载定位标签需要进行线材连接</p></li>
|
||||
</ul>
|
||||
</div></blockquote>
|
||||
<p><img alt="../../_images/wire-5.jpg" src="../../_images/wire-5.jpg" /></p>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="id5">
|
||||
<h3>电气拓扑<a class="headerlink" href="#id5" title="永久链接至标题">¶</a></h3>
|
||||
<p><img alt="../../_images/autolabor_navigationkit_v2_electrical_topology.png" src="../../_images/autolabor_navigationkit_v2_electrical_topology.png" /></p>
|
||||
<blockquote>
|
||||
<div><p>导航套件（一代） 的 用户请参考： <a href="./imgs/autolabor_navigationkit_v1_electrical_topology.png" > 导航套件（一代）电气拓扑图</a></p>
|
||||
</div></blockquote>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="id6">
|
||||
<h2>测试<a class="headerlink" href="#id6" title="永久链接至标题">¶</a></h2>
|
||||
<p>我们提供了一套工具软件，并将其放置在电脑桌面，你可以用来检测导航套件中各部件能否正常工作。</p>
|
||||
<ol class="simple">
|
||||
<li><p>激光雷达测试</p></li>
|
||||
<li><p>深度相机测试</p></li>
|
||||
<li><p>车载定位标签测试</p></li>
|
||||
</ol>
|
||||
</div>
|
||||
<div class="section" id="id7">
|
||||
<h2>常见问题<a class="headerlink" href="#id7" title="永久链接至标题">¶</a></h2>
|
||||
<ul>
|
||||
<li><p>“电池充电接口、工控机电源接口、Kinect-Hub 电源接口可以互换适配器吗？”</p>
|
||||
<p>少年，劝你别有这么大胆的想法！</p>
|
||||
<p>尽管这三者物理外形一致，但电气规格<strong>并不通用</strong>，使用时务必注意，错误的接线方式将会导致设备损坏，甚至危及人身安全。</p>
|
||||
</li>
|
||||
<li><p>“为什么风扇噪音非常大？”</p>
|
||||
<p>众所周知，AMD 旗下 CPU 最大的特点就是~~发热量大~~性能强劲，并且工控机内部结构十分紧凑，只有风扇维持在较高转速才保证系统正常工作。</p>
|
||||
</li>
|
||||
<li><p>“为什么我看不到 Kinect 的数据？”</p>
|
||||
<p>Kinect-Hub 的数据线另一端必须插在工控机 <strong>USB3.0</strong> 接口上，否则将无法从工控机读取到Kinect的数据。</p>
|
||||
</li>
|
||||
<li><p>“ USB-Hub 上面的接口不通用吗（仅 导航套件 二代 用户）？”</p>
|
||||
<p>不通用，组装时务必按照文字提示插入设备，错误的接线方式将无法正常建图、定位、避障，甚至危及人身安全。</p>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
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|
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/overview/doc.html">产品概览</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../introduction/inthebox/doc.html">发货清单</a></li>
|
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</ul>
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<p class="caption"><span class="caption-text">快速开始</span></p>
|
||||
<ul>
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<li class="toctree-l1"><a class="reference internal" href="slam_doc.html">快速开始</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../location/guide/doc.html">定位循迹</a></li>
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<ul>
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<li class="toctree-l1"><a class="reference internal" href="../../location/marvelmind/doc.html">定位系统</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../../location/dashboard/doc.html">Dashboard 说明</a></li>
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</ul>
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<p class="caption"><span class="caption-text">使用说明</span></p>
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<ul class="current">
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<li class="toctree-l1 current"><a class="current reference internal" href="#">收货指南</a><ul>
|
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<li class="toctree-l2"><a class="reference internal" href="#id2">检查</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="#id3">清点</a><ul>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#mini">Mini 计算机</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id4">显示器</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id5">电源模块</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id6">深度相机</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id7">激光雷达</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#usb-hub">USB-Hub</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id8">定位系统</a></li>
|
||||
<li class="toctree-l2"><a class="reference internal" href="#id9">其他</a></li>
|
||||
</ul>
|
||||
</li>
|
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<li class="toctree-l1"><a class="reference internal" href="../assembly_test/doc.html">组装与测试</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../restore_bios/doc.html">恢复 BIOS</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../install_os/doc.html">安装操作系统</a></li>
|
||||
<li class="toctree-l1"><a class="reference internal" href="../reference/doc.html">设备参考资料</a></li>
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<a href="../../_sources/user_guide/quick_start/receipt.md.txt" rel="nofollow"> View page source</a>
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</li>
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<hr/>
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</div>
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<div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
|
||||
<div itemprop="articleBody">
|
||||
|
||||
<div class="section" id="id1">
|
||||
<h1>收货指南<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
|
||||
<div class="section" id="id2">
|
||||
<h2>检查<a class="headerlink" href="#id2" title="永久链接至标题">¶</a></h2>
|
||||
<p>收到货后请不要急于签收，先检查外包装有无破损，如包装破损或贴于外包装上的防震标签感应器显示为红色，请拍照为证，并与快递员一同开箱验货，待确认无误后再签收，如需帮助可联系 Autolabor 客户服务平台。</p>
|
||||
<p><img alt="../../_images/slamSet-label.png" src="../../_images/slamSet-label.png" /></p>
|
||||
</div>
|
||||
</div>
|
||||
<div class="section" id="id3">
|
||||
<h1>清点<a class="headerlink" href="#id3" title="永久链接至标题">¶</a></h1>
|
||||
<p>收件后打开包装，对照产品装箱单进行清点，如有短缺请于<strong>三日内</strong>联系客服，<strong>过期不补</strong>。</p>
|
||||
<div class="section" id="mini">
|
||||
<h2>Mini 计算机<a class="headerlink" href="#mini" title="永久链接至标题">¶</a></h2>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th align="center">名称</th>
|
||||
<th align="center">数量</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td align="center">Autolabor PC</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">天线</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">计算机电源线</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><img alt="../../_images/receipt-1.JPG" src="../../_images/receipt-1.JPG" /></p>
|
||||
</div>
|
||||
<div class="section" id="id4">
|
||||
<h2>显示器<a class="headerlink" href="#id4" title="永久链接至标题">¶</a></h2>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th align="center">名称</th>
|
||||
<th align="center">数量</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td align="center">显示器</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">360°显示器支架</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">显示器视频线</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">显示器电源线</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><img alt="../../_images/receipt-2.JPG" src="../../_images/receipt-2.JPG" /></p>
|
||||
</div>
|
||||
<div class="section" id="id5">
|
||||
<h2>电源模块<a class="headerlink" href="#id5" title="永久链接至标题">¶</a></h2>
|
||||
<blockquote>
|
||||
<div><p>注：深度相机集线器位于电量显示模块的背面，深度相机供电、数据传输使用。</p>
|
||||
</div></blockquote>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th align="center">名称</th>
|
||||
<th align="center">数量</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td align="center">电源模块/深度相机集线器</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><img alt="../../_images/receipt-3-1.JPG" src="../../_images/receipt-3-1.JPG" />
|
||||
<img alt="../../_images/receipt-3-2.JPG" src="../../_images/receipt-3-2.JPG" /></p>
|
||||
</div>
|
||||
<div class="section" id="id6">
|
||||
<h2>深度相机<a class="headerlink" href="#id6" title="永久链接至标题">¶</a></h2>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th align="center">名称</th>
|
||||
<th align="center">数量</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td align="center">相机</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">相机支架</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">深度相机集线盒</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">相机数据线</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">相机电源线</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><img alt="../../_images/receipt-4.JPG" src="../../_images/receipt-4.JPG" /></p>
|
||||
</div>
|
||||
<div class="section" id="id7">
|
||||
<h2>激光雷达<a class="headerlink" href="#id7" title="永久链接至标题">¶</a></h2>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th align="center">名称</th>
|
||||
<th align="center">数量</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td align="center">激光雷达组件</td>
|
||||
<td align="center">2</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">激光雷达数据线</td>
|
||||
<td align="center">2</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><img alt="../../_images/receipt-5.JPG" src="../../_images/receipt-5.JPG" /></p>
|
||||
</div>
|
||||
<div class="section" id="usb-hub">
|
||||
<h2>USB-Hub<a class="headerlink" href="#usb-hub" title="永久链接至标题">¶</a></h2>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th align="center">名称</th>
|
||||
<th align="center">数量</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td align="center">USB Hub</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">USB-Hub数据线</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">USB-Hub电源线</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><img alt="../../_images/receipt-6.JPG" src="../../_images/receipt-6.JPG" /></p>
|
||||
</div>
|
||||
<div class="section" id="id8">
|
||||
<h2>定位系统<a class="headerlink" href="#id8" title="永久链接至标题">¶</a></h2>
|
||||
<blockquote>
|
||||
<div><p>注：仅室外导航套件含此组件。</p>
|
||||
</div></blockquote>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th align="center">名称</th>
|
||||
<th align="center">数量</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td align="center">车载定位标签组件</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">车载定位标签支架</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">车载定位标签支架角码</td>
|
||||
<td align="center">3</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">定位标签</td>
|
||||
<td align="center">11</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">定位标签胶条</td>
|
||||
<td align="center">11</td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td align="center">定位路由</td>
|
||||
<td align="center">1</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table><p><img alt="../../_images/receipt-7.JPG" src="../../_images/receipt-7.JPG" /></p>
|
||||
</div>
|
||||
<div class="section" id="id9">
|
||||
<h2>其他<a class="headerlink" href="#id9" title="永久链接至标题">¶</a></h2>
|
||||
<table border="1" class="docutils">
|
||||
<thead>
|
||||
<tr>
|
||||
<th align="center">名称</th>
|
||||
<th align="center">数量</th>
|
||||
</tr>
|
||||
</thead>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td align="center">Autolabor OS系统安装U盘</td>
|
||||
<td align="center">1</td>
|
||||
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|
||||
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|
||||
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|
||||
<td align="center">1</td>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
<td align="center">2</td>
|
||||
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|
||||
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|
||||
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|
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|
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<li><p>收货方收到货物后请进行清点，如有短缺请于三日内联系，过期不补。</p></li>
|
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<li><p>部分配件可能随版本升级有所改动，但不影响性能，恕不另行通知。</p></li>
|
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<li class="toctree-l2"><a class="reference internal" href="#id2">准备工作：</a></li>
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<li class="toctree-l2"><a class="reference internal" href="#id3">操作步骤</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="#id4">一、连接键鼠</a></li>
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<li class="toctree-l4"><a class="reference internal" href="#id6">常见问题：</a></li>
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<div class="section" id="id1">
|
||||
<h1>快速开始<a class="headerlink" href="#id1" title="永久链接至标题">¶</a></h1>
|
||||
<div class="section" id="id2">
|
||||
<h2>准备工作：<a class="headerlink" href="#id2" title="永久链接至标题">¶</a></h2>
|
||||
<ol class="simple">
|
||||
<li><p>AP1 导航机器人</p></li>
|
||||
<li><p>成套键鼠</p></li>
|
||||
</ol>
|
||||
</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>
|
||||
<div class="section" id="id4">
|
||||
<h3>一、连接键鼠<a class="headerlink" href="#id4" title="永久链接至标题">¶</a></h3>
|
||||
<p>鼠标键盘建议使用普通成套的无线键鼠，避免有线和无线混合使用。</p>
|
||||
</div>
|
||||
<div class="section" id="id5">
|
||||
<h3>二、启动系统<a class="headerlink" href="#id5" title="永久链接至标题">¶</a></h3>
|
||||
<p>打开电源，打开工控机，等待 Autolabor OS 系统启动，输入密码 autolabor，字母全部是小写，回车。</p>
|
||||
</div>
|
||||
<div class="section" id="slam">
|
||||
<h3>三、SLAM建图导航<a class="headerlink" href="#slam" title="永久链接至标题">¶</a></h3>
|
||||
<ol>
|
||||
<li><p>准备工作：</p>
|
||||
<ol>
|
||||
<li><p>将 AP1 控制模式切换到上位机控制，打开急停开关，确保急停开关<strong>没有</strong>被按下</p></li>
|
||||
<li><p>禁用工控机无线功能</p>
|
||||
<blockquote>
|
||||
<div><p>在建图过程中，如果工控机连接了无线网络，当 AP1 走出无线网络的覆盖区域后，网络连接会自动断开，这将导致AP1控制失控，所以在开始建图之前，为了避免失控，需要将工控机的无线网络连接关闭。</p>
|
||||
</div></blockquote>
|
||||
</li>
|
||||
<li><p>进入桌面 <code class="docutils literal notranslate"><span class="pre">SLAM建图导航</span></code> 文件夹</p></li>
|
||||
</ol>
|
||||
</li>
|
||||
<li><p>点击 <code class="docutils literal notranslate"><span class="pre">开始建图</span></code></p></li>
|
||||
<li><p>操纵机器人行驶</p>
|
||||
<p>打开 RVIZ 工具，能够看到地图中的 AP1，使用键盘的上下左右控制 AP1 行走，边走边建图，可以看到环境地图随着 AP1 的行走不断被构建更新。</p>
|
||||
<p>地图中，黑色是不可行走区域，白色是可行走区域，灰色是未知区域，红色是激光雷达实时数据。</p>
|
||||
</li>
|
||||
<li><p>建图完毕，点击 <code class="docutils literal notranslate"><span class="pre">保存并停止建图</span></code></p></li>
|
||||
<li><p>点击 <code class="docutils literal notranslate"><span class="pre">开始导航</span></code></p>
|
||||
<p>打开 RVIZ 工具，建好的地图会自动加载。</p>
|
||||
<p>接下来这一步请一定不要忘记，按键盘数字键 <code class="docutils literal notranslate"><span class="pre">0</span></code> 关闭键盘控制功能，控制方式将切换至导航程序控制，如不切换机器人接收到目标点命令后将不会自动导航行走。</p>
|
||||
<p>点击 <code class="docutils literal notranslate"><span class="pre">2D</span> <span class="pre">Nav</span> <span class="pre">Goal</span></code>，指定目标位置，拉动鼠标，箭头方向是最终车辆运行至目标的车头朝向，鼠标松开，这样就完成了目标点的指定。</p>
|
||||
<p>目标点给定后在地图中我们能看到一条线，这是规划好的路径。根据这个规划好的路径，AP1 向目标点行走。</p>
|
||||
<p>当AP1已经到达目标点后，再一次使用 <code class="docutils literal notranslate"><span class="pre">2D</span> <span class="pre">Pose</span> <span class="pre">Estimate</span></code> 指定初始位置，设置目标位置，AP1 将去到下一个目标点。</p>
|
||||
</li>
|
||||
<li><p>点击 <code class="docutils literal notranslate"><span class="pre">终止导航</span></code>，停止导航功能，导航结束。</p>
|
||||
<p>之后在同一环境中需要再次使用导航功能时，无须重复建图，点击【开始导航】即可。</p>
|
||||
</li>
|
||||
</ol>
|
||||
<div class="section" id="id6">
|
||||
<h4>常见问题：<a class="headerlink" href="#id6" title="永久链接至标题">¶</a></h4>
|
||||
<div class="section" id="id7">
|
||||
<h5>建图篇<a class="headerlink" href="#id7" title="永久链接至标题">¶</a></h5>
|
||||
<ol>
|
||||
<li><p>键盘控制 AP1 行走时，AP1 动作异常，动一下停一下</p>
|
||||
<p>可调整显示器的位置，保持接收器不被遮挡，并调整自己的位置，使接收器可以接收到发送的指令信号，建议使用 USB 延长线或 USB-HUB 将接收器放置在架子的高处，无任何遮挡，便于信号传输。</p>
|
||||
</li>
|
||||
<li><p>键盘控制，AP1 一动不动</p>
|
||||
<ol>
|
||||
<li><p>确认已将 AP1 电源总开关打开，急停开关没有被按下，AP1 处于上位机控制模式</p></li>
|
||||
<li><p>新开一个 terminal，执行以下命令，打出关系图，查看键盘节点</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ rosrun rqt_graph rqt_graph
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p>执行以下命令，上下左右控制键盘看是否会有数据打出，如没有数据打出，说明 AP1 没有接收到键盘发送的指令</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ rostopic <span class="nb">echo</span> /cmd_vel
|
||||
</pre></div>
|
||||
</div>
|
||||
</li>
|
||||
<li><p>执行以下命令，确认 event-kbd 的数量，数量大于一个则有问题</p>
|
||||
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>$ ll /dev/input/by-path/
|
||||
</pre></div>
|
||||
</div>
|
||||
<p><img alt="../../_images/keyboard.png" src="../../_images/keyboard.png" /></p>
|
||||
</li>
|
||||
<li><p>请排查是否有多个键盘设备，键盘驱动查找的是最后一个连接的键盘，需要将其他（显示为）键盘设备找出来，拔掉（可能是鼠标、机械键盘、混装键鼠）</p></li>
|
||||
</ol>
|
||||
</li>
|
||||
<li><p>AP1 不受键盘控制、失控</p>
|
||||
<p>在开始建图前，需要禁用无线功能。如果没有禁用，AP1 在连接了 WIFI 的状态下开始建图，在地图构建过程中，一旦 AP1 离开无线覆盖区域，无线连接断开，ROS 的网络通信中断就会导致 AP1 失去控制。</p>
|
||||
</li>
|
||||
</ol>
|
||||
</div>
|
||||
<div class="section" id="id8">
|
||||
<h5>导航篇<a class="headerlink" href="#id8" title="永久链接至标题">¶</a></h5>
|
||||
<ol>
|
||||
<li><p>目标点给定后，可能会发生 AP1 不动或原地转圈，控制台显示 <code class="docutils literal notranslate"><span class="pre">Failed</span> <span class="pre">to</span> <span class="pre">get</span> <span class="pre">a</span> <span class="pre">plan</span></code>/<code class="docutils literal notranslate"><span class="pre">不能规划路径</span></code> 的红色错误，这可能是有两种原因造成：</p>
|
||||
<ul class="simple">
|
||||
<li><p>目标点选择在了障碍物中</p></li>
|
||||
<li><p>车在地图中所处的位置是在障碍物中</p></li>
|
||||
</ul>
|
||||
<p>那么这样的情况，我们可以先尝试重新给定目标点，或者将车换个位置重新给定初始位置。</p>
|
||||
</li>
|
||||
<li><p>在行走的过程中也可能会发生AP1停止不动或原地转圈的现象发生</p>
|
||||
<p>这种情况是因为 AP1 在行走过程中，检测到障碍物，无法到达目标点，这个障碍物有可能是真实的障碍物，也有可能是误检，我们可以先等待观察，AP1 会进行自我恢复（不超过一分钟），如果恢复之后 AP1 仍没有行动，导航已自动停止，此时我们需要重新设置目标点。</p>
|
||||
</li>
|
||||
<li><p>建图效果不佳/地图构建要点</p>
|
||||
<p>在构建地图的过程，以下几点会影响到建图的准确性：</p>
|
||||
<ul class="simple">
|
||||
<li><p>轮胎气不足影响里程计数据</p></li>
|
||||
<li><p>运行速度不宜过快，由于激光扫描有一定的频率，车速低时雷达可以扫描到的点更多，构建的地图会更准确一些</p></li>
|
||||
<li><p>走一个来回，增加激光雷达扫描次数，累计更多的数据</p></li>
|
||||
<li><p>地图构建的质量也受环境限制，请尽量选择特征比较明显的环境，玻璃、镜子、楼道、空旷等场景会影响建图效果</p></li>
|
||||
<li><p>构建完成的地图，会发现有些点会飞出，飞出的点可能是由于物体的表面不平或者有空隙激光直接穿越了过去</p></li>
|
||||
<li><p>当场景很大特征不足的时候，需要规划建图路径时，应先走一个小回环，当回环成功后，可以再多走几圈，消除粒子在这个回环的多样性。接下来走下一个回环，直到把整个地图连通成一个大的回环</p></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ol>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
</div>
|
||||
|
||||
</div>
|
||||
<footer>
|
||||
|
||||
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
|
||||
|
||||
<a href="../../location/guide/doc.html" class="btn btn-neutral float-right" title="定位循迹" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
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|
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<a href="../../introduction/inthebox/doc.html" class="btn btn-neutral float-left" title="发货清单" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
|
||||
|
||||
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|
||||
|
||||
|
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|
||||
|
||||
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|
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<p>
|
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