2 The Basics
Last updated
Last updated
This Section will basically introduce the basic knowledge about SCOUT MINI mobile robot chassis to users and developers. The overview of an entire mobile robot chassis is shown in Figure 2.1 and Figure 2.2 below.
Based on the concept of modular and intelligent design as a whole, SCOUT MINI combines filled solid tires with independent suspension as its power module, which, along with powerful hub motor, enables the development platform of SCOUT MINI robot chassis to flexibly move on different ground surfaces with high passing ability and ground adaptability. The hub motor saves the complex transmission structure design and makes it possible for the model to become more compact. Anti-collision fence is mounted in the front of the vehicle to protect the front and reduce possible damages to the vehicle body during a collision. The front of the vehicle is equipped with white lights, which can be illuminated. Electrical interfaces for DC power and communication interfaces are provided at the rear of the robot to facilitate secondary development. The electrical interfaces adopt waterproof plug-in components, not only allowing flexible connection between the robot and external components for customers but also allowing the use of the robot even under severe operating conditions. A standard aluminum extension support is installed at the top of the vehicle to facilitate the use of external equipment extension.
Users can identify the status of vehicle body through the voltmeter, the power supply and lights mounted on SCOUT MINI.
Tail power switch: When the power switch is pressed, the ring indicator light will enter constant mode.
Power indication: the tail power display module showing the information of the power capacity and voltage of the current battery.
Front light: Front width light, can be switched by RC transmitter and command.
In the SCOUT MINI tail minimalist design, all electrical interfaces are in the tail. The interfaces include voltage display interactive module, extension interface, power switch and charging interface. The position of each module at the tail is as shown in the figure.2.3.
SCOUT MINI aviation extension interface is configured with both a set of power supplies and a set of CAN communication interfaces. These interfaces can be used to supply power to extended devices and establish communication. The specific definitions of pins are shown in Figure 2.4.
FS RC transmitter is an optional feature of SCOUT MINI for users to choose as actually required. With this RC transmitter designed on the left throttle in this product, users can easily control SCOUT MINI universal robot chassis. Its definitions and functions are shown in Figure 2.5 for reference. The RC transmitter is preset the mapping of keys at factory. Do not arbitrarily change the key mapping, otherwise normal control will be unavailable. The lever SWB switches control mode; the lever SWC is the manual control switch to control the light off; the lever SWD controls speed mode; the left rocker controls forward and backward movement; the right rocker controls the vehicle for left rotation and right rotation. It is worth noting that the mobile chassis on the internal control is mapped by percentage, so the speed will be constant when the lever is in the same position.
A reference coordinate system shown in Figure 3.0 is established in accordance with ISO 8855 standard for moving vehicles on ground.
As shown in Figure 3.0, the vehicle body of SCOUT MINI is in parallel with X axis of the established reference coordinate system.In the controller mode with RC transmitter, pushing the left rocker of the RC transmitter forward and backward respectively refers to the movement on the positive and negative directions of axis X; when the left rocker of the RC transmitter is pushed to the maximum position, the speed of movement towards the position direction of axis X reaches the maximum; when the left rocker of the RC transmitter is pushed to the minimum position, the speed of movement towards the negative direction of axis X reaches the maximum; the right rocker of the RC transmitter controls the rotational movement of vehicle body to left and right; pushing the right rocker of the RC transmitter to left and right respectively refers to the rotational movement of vehicle body from the positive direction of axis X to the positive direction of axis Y and from the positive direction of axis X to the negative direction of axis Y; when the right rocker of the RC transmitter is pushed to the maximum position on the left, the rotational linear speed on anticlockwise direction reaches the maximum; when the right rocker of the RC transmitter is pushed to the maximum position on the right, the rotational linear speed on clockwise direction reaches the maximum. In the control command mode, the positive value of linear speed refers to movement towards the positive direction of axis X, and the negative value of linear speed refers to movement towards the negative direction of axis X; the positive value of angular speed refers to the rotational movement of vehicle body from the positive direction of axis X to the positive direction of axis Y, and the negative value of angular speed refers to the rotational movement of vehicle body from the positive direction of axis X to the negative direction of axis Y.
Lights are mounted in front and at back of SCOUT MINI, and the lighting control interface of SCOUT MINI is open to the users for convenience. Meanwhile, another lighting control interface is reserved on the RC transmitter for energy saving. There are 3 kinds of lighting modes controlled with RC transmitter, which can be switched among each other by SWC lever toggling:
Normally closed mode: In normally closed mode, if the chassis is still, the light will be turned off; if the chassis is in the traveling state at certain normal speed, the light will be turned on;
Normally open mode: In normally open mode, if the chassis is still, the light will be normally on; if in motion mode, the light will be turned on;
Breathing light mode: The light is in breathing mode. Note on mode control:
Toggling SWC lever respectively to bottom, middle and top positions refers to normally closed mode, normally open mode and breathing light mode.
