2 The Basics
This section provides a brief introduction to the BUNKER mobile robot platform. It is convenient for users and developers to have a basic understanding of BUNKER chassis.
2.1 Description of electrical interface
The interface at rear end is shown in Figure 2-1, where Q1 is CAN and 48V power supply aviation interface; Q2 is the power switch; Q3 is the recharging interface; Q4 is the aerial; Q5 is the drive test interface; Q6 is the emergency stop switch; Q7 is the display of battery voltage.
The definitions of Q1 communication and power interface as shown in Figure 2-2.
2.2Instructions on remote control
FS RC transmitter is an optional accessory of BUNKER for manually controlling the robot. The transmitter comes with a left-hand-throttle configuration.
The functions of the buttons are defined as: SWA, SWC, SWD are enabled by default. SWB for control mode selection, top position for command control mode and the middle position for remote control mode. When configuring the autowalker navigation system, the bottom is the navigation control mode. S1 is the throttle button to control the forward and backward of BUNKER; S2 controls the rotation, POWER is the power button, and it can be turned on at the same time. It should be noted that when the remote controller is turned on, SWA, SWB, SWC, SWD all need to be at the top.
2.3Instructions on control demands and movements
A reference coordinate system can be defined and fixed on the vehicle body as shown in Figure 2.4 in accordance with ISO 8855.
As shown in Figure 2.4, the vehicle body of BUNKER is in parallel with X axis of the established reference coordinate system. In RC control mode, push the remote control stick S1 forward to move in the positive X direction, push stick S1 backward to move in the negative X direction. When S1 is pushed to the maximum value, the movement speed in the positive X direction is the maximum, when S1 is pushed to the minimum value, the movement speed is the maximum in the negative direction of the X direction.The remote control stick S2 controls the rotation of the car body left and right. The remote control joystick S2 controls the rotation of the car body left and right. When S2 pushes the car body to the left, it rotates from the positive direction of the X axis to the positive direction of the Y axis. When S2 pushes the car body to the right, it rotates from the positive direction of the X axis to the negative direction of the Y axis. S2 When pushing to the left to the maximum value, the counterclockwise rotation speed is the maximum. When S2 is pushed to the right to the maximum value, the clockwise rotation speed is the maximum.
Following this convention, a positive linear velocity corresponds to the forward movement of the vehicle along positive x-axis direction and a positive angular velocity corresponds to positive right-hand rotation about the z-axis.
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