2 The Basics
This section provides a brief introduction to the SCOUT 2.0 mobile robot platform, as shown in Figure 2.1 and Figure 2.2.
SCOUT2.0 adopts a modular and intelligent design concept. The composite design of inflate rubber tyre and independent suspension on the power module, coupled with the powerful DC brushless servo motor, makes the SCOUT2.0 robot chassis development platform has strong pass ability and ground adapt ability, and can move flexibly on different ground.Anti-collision beams are mounted around the vehicle to reduce possible damages to the vehicle body during a collision. Lights are both mounted at front and at back of the vehicle, of which the white light is designed for illumination in front whereas the red light is designed at rear end for warning and indication.
Emergency stop buttons are installed on both sides of the robot to ensure easy access and pressing either one can shut down power of the robot immediately when the robot behaves abnormally. Water-proof connectors for DC power and communication interfaces are provided both on top and at the rear of the robot, which not only allow flexible connection between the robot and external components but also ensures necessary protection to the internal of the robot even under severe operating conditions. A bayonet open compartment is reserved on the top for users.
2.1 Status indication
Users can identify the status of vehicle body through the voltmeter, the beeper and lights mounted on SCOUT 2.0. For details, please refer to Table 2.1.
2.2 Instructions on electrical interfaces
2.2.1 Top electrical interface
SCOUT 2.0 provides three 4-pin aviation connectors and one DB9 (RS232) connector. The position of the top aviation connector is shown in Figure 2.3.
SCOUT 2.0 has an aviation extension interface both on top and at rear end, each of which is configured with a set of power supply and a set of CAN communication interface. 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.
It should be noted that, the extended power supply here is internally controlled, which means the power supply will be actively cut off once the battery voltage drops below the pre-specified threshold voltage. Therefore, users need to notice that SCOUT 2.0 platform will send a low voltage alarm before the threshold voltage is reached and also pay attention to battery recharging during use.
2.2.2 Rear electrical interface Specific definitions for pins of Q4 are shown in Figure 2.5.
The extension interface at rear end is shown in Figure 2.6, where Q1 is the key switch as the main electrical switch; Q2 is the recharging interface; Q3 is the power supply switch of drive system; Q4 is DB9 serial port; Q5 is the extension interface for CAN and 24V power supply; Q6 is the display of battery voltage.
2.3 Instructions on remote control FS_i6_S remote control instructions
FS RC transmitter is an optional accessory of SCOUT2.0 for manually controlling the robot. The transmitter comes with a left-hand-throttle configuration. The definition and function shown in Figure 2.8. The function of the button is defined as: SWA and SWD are temporarily disabled, and SWB is the control mode select button, dial to the top is command control mode, dial to the middle is remote control mode; SWC is light control button; S1 is throttle button, control SCOUT2.0 forward and backward; S2 control is control the rotation, and POWER is the power button, press and hold at the same time to turn on.
2.4 Instructions on control demands and movements
A reference coordinate system can be defined and fixed on the vehicle body as shown in Figure 2.9 in accordance with ISO 8855.
As shown in Figure 2.9, the vehicle body of SCOUT 2.0 is in parallel with X axis of the established reference coordinate system. In the remote control mode, push the remote control stick S1 forward to move in the positive X direction, push 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 pushed S1 to the minimum, the movement speed in the negative direction of the X direction is the maximum; the remote control stick S2 controls the steering of the front wheels of the car body, push S2 to the left, and the vehicle turns to the left, pushing it to the maximum, and the steering angle is the largest, S2 Push to the right, the car will turn to the right, and push it to the maximum, at this time the right steering angle is the largest. In the control command mode, the positive value of the linear velocity means movement in the positive direction of the X axis, and the negative value of the linear velocity means movement in the negative direction of the X axis; The positive value of the angular velocity means the car 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 the car body moves from the positive direction of the X axis to the negative direction of the Y axis.
2.5 Instructions on lighting control
Lights are mounted in front and at back of SCOUT 2.0, and the lighting control interface of SCOUT 2.0 is open to the users for convenience. Meanwhile, another lighting control interface is reserved on the RC transmitter for energy saving. Currently the lighting control is only supported with the FS transmitter, and support for other transmitters is still under development. There are 3 kinds of lighting modes controlled with RC transmitter, which can be switched through the SWC. Mode control description: the SWC lever is at the bottom of the normally closed mode, the middle is for the normally open mode, the top is breathing light mode.
NC MODE: IN NC MODE, IF THE CHASSIS IS STILL, THE FRONT LIGHT WILL BE TURNED OFF, AND THE REAR LIGHT WILL ENTER BL MODE TO INDICATE ITS CURRENT OPERATING STATUS; IF THE CHASSIS IS IN THE TRAVELING STATE AT CERTAIN NORMAL SPEED, THE REAR LIGHT WILL BE TURNED OFF BUT THE FRONT LIGHT WILL BE TURNED ON;
NO MODE: IN NO MODE, IF THE CHASSIS IS STILL, THE FRONT LIGHT WILL BE NORMALLY ON, AND THE REAR LIGHT WILL ENTER THE BL MODE TO INDICATE THE STILL STATUS; IF IN MOVEMENT MODE, THE REAR LIGHT IS TURNED OFF BUT THE FRONT LIGHT IS TURNED ON;
BL MODE: FRONT AND REAR LIGHTS ARE BOTH IN BREATHING MODE UNDER ALL CIRCUMSTANCES.
NOTE ON MODE CONTROL:TOGGLING SWC LEVER RESPECTIVELY REFERS TO NC MODE, NO MODE AND BL MODE IN BOTTOM, MIDDLE AND TOP POSITIONS.
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