2 The Basics

This section will give a basic introduction to the BUNKERPRO mobile robot chassis, so that users and developers have a basic understanding of the BUNKERPRO chassis.

2.1Instructions on electrical interfaces

The rear electrical interfaces are shown in Figure 2.1, where Q1 is the CAN and 48V power aviation interface, Q2 is the power switch, Q3 is the charging interface, Q4 is the antenna, Q5 and Q6 are respectively the driver debugging interface and the main control debugging interface (not open to the outside), and Q7 is the power display interaction.

Figure 2.1 Rear Electrical Interfaces

The definition of Q1's communication and power interface is shown in Figure 2-2.

Figure 2.2 Pin Definition of the Rear Aviation Extension Interface

2.2 Instructions on remote control

FS remote control is an optional accessory for BUNKERPRO. Customers can choose according to actual needs. The remote control can easily control the BUNKERPRO universal robot chassis. In this product, we use the left-hand throttle design. Refer to Figure 2.3 for its definition and function. The functions of the buttons are defined as: SWA, SWC and SWD are temporarily disabled; SWB is the control mode selection button, dialed to the top is the command control mode, dialed to the middle is the remote control mode; S1 is the throttle button, which controls the BUNKERPRO forward and backward; S2 controls rotation, while POWER is the power button, and you can turn on the remote control by pressing them at the same time. It should be noted that SWA, SWB, SWC, and SWD need to be at the top when the remote control is turned on.

Figure 2.3 Schematic diagram of the FS remote control buttons

2.3 Instructions on control demands and movements

We set up a coordinate reference system for ground mobile vehicle according to the ISO 8855 standard as shown in Figure 2.4.

Figure 2.4 Schematic Diagram of Reference Coordinate System for Vehicle Body

As shown in Figure 2.4, the vehicle body of BUNKERPRO is parallel to the X axis of the established reference coordinate system. In the remote control mode, push the remote control joystick S1 forward to move in the positive direction of the X axis, and push S1 backward to move in the negative direction of the X axis. When S1 is pushed to the maximum value, the movement velocity in the positive direction of the X axis is the maximum, and when it’s pushed to the minimum value, the movement velocity in the negative direction of the X axis is the maximum; the remote control joystick S2 controls the rotation of the vehicle body left and right. When S2 is pushed to the left, the vehicle body rotates from the positive direction of the X axis to the positive direction of the Y axis, and when S2 is pushed to the right, the vehicle body rotates from the positive direction of the X axis to the negative direction of the Y axis. When S2 is pushed to the left to the maximum value, the linear velocity of counterclockwise rotation is the maximum, and when S2 is pushed to the right to the maximum value, the linear velocity of clockwise rotation is the maximum. In the control command mode, the positive value of the linear velocity means moving in the positive direction of the X axis, and the negative value of the linear velocity means moving in the negative direction of the X axis; the positive value of the angular velocity means that the vehicle body moves from the positive direction of the X axis to the positive direction of the Y axis, and the negative value of the angular velocity means that the vehicle body moves from the positive direction of the X axis to the negative direction of the Y axis.