Benutzeranleitung / Produktwartung 2TM des Produzenten Pioneer
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Pioneer 3™ & Pioneer 2™ H8 -Series Operations Manual.
Copyright © 2003, Activ Media Robotics, LLC. All rights reserved. Under internat ional copyright laws, this manual or any portion of it may not be copied or in any way duplica ted without th e expressed wr itten consent of Ac tiv Media Robotics.
Activ Media Robotics Important Safety Instructions Read the installation and operations in structions before using the equipme nt. Avoid using power extension cords. To prevent fire or shock hazard, do not ex pose the equipm ent to rain or moisture.
Table of Contents CHAPTER 1 IN TRODU CTION ......................................................................................................... ........ 1 R OBOT P ACKAGE ...........................................................................
Activ Media Robotics S TARTING U P C LIENT AND S ERVER ...........................................................................................................24 Drive Se lf-Test .....................................................................
AROS CF ................................................................................................................................................... 54 S TARTING AROS CF ..........................................................................
Activ Media Robotics Introduction Figure 1. Pioneer Mobile Robo ts first appeared commerc ially in 1995. Chapter 1 Congratulations on your purchase and welcome to the rapid ly growing communi ty of developers and enthusiasts of Activ Media Robotics’ intelligent mobile robots.
Congratulations Global Positioning System Heading-correction gyro Compass Bumper rings Serial cables for external connections Many more… User-Supplied Compone nts / System Re.
Activ Media Robotics Access to the pioneer-users newslist is limited to subscribers, so your address is safe from spam. However, the list currently is unmoderated, so please confine your comments and inquir ies to issues concerni ng the operation and programming of Pioneer or PeopleBot robots.
What is Pioneer? What Is Pioneer? Chapter 2 Pioneer is a family of mobile robots, both two-wheel and four-wheel driv e, including the Pione er 1 and Pioneer AT, Pioneer 2™ -DX, -DXe, -DXf, -CE, -AT, the Pioneer 2™-DX8/Dx8 Plus and -AT8/AT8 Plus , and the newest Pioneer 3-DX and - AT mobile robots.
Activ Media Robotics Activ Media robots, including Pioneer 3, Perf ormance PeopleBot, and PowerBot, use a multifunctional Hitachi H8S-based microcontrolle r and new Activ Media Robot ics Operating System (A ROS) software.
What is Pioneer? AT8 Plus now come wi th a lower motor-gearhead reduction for faster speeds, even with much-improved turning power. C LIENT S OFTWARE All Activ Media robots operate as the server in a .
Activ Media Robotics What’s more, it comes with source code so that you may examine the software and modify it for your own sensors and appl ications. Saphira Saphira, including the Colbert language, is a full-featu red robotics control environment developed at SRI Internat ional’s Art ificial Intelligence Cent er.
What is Pioneer? Pioneer 1 and AT Figure 5. The original P ioneer 1s Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 had solid rubber tires and a two- wheel different ial, reversible drive system with a rear caster for balance.
Activ Media Robotics performance 20 M Hz Siemens 88C166-based microcontroller, wit h independ ent motor/ power and sonar-controller boards for a versat ile operating environment.
What is Pioneer? M ODES OF O PERATION You may operate your Pioneer 2 and 3 robo ts in one of five modes: Server Joydrive Self-test Maintenance Standal one Server Mode The Pioneer H8S microcontrol ler comes wi th fully progra mmable 128K FLASH and 32K dynamic RAM included in its Hitachi 18 MH z H8S/2357 microprocessor.
Activ Media Robotics S pecifications & Controls Chapter 3 Activ Media’s Pioneer ro bots may be smaller th an most, but they pa ck an impres sive array of intelligent mobile robot capabilities that rival bigger and much more expensive machines. For ex ample, the Pioneer 3-DX with onboard PC is a fully autonom ous intellig ent mobile robot.
Specifications and Controls M AIN C OMPONEN TS Activ Media robots are composed of severa l main parts: Deck Motor Stop Button User Cont rol Pane l Body, Nose, and Accessory Panels Sonar Array(s) Mot o rs , Whe e ls , an d E nc ode r s Batteries and Power Deck Figure 10.
Activ Media Robotics User Control Panel The User Control Panel is wher e you have access to the AROS-based onbo ard microcontroller. Found inside the AT’s hinged access panel on the deck or on the l.
Specifications and Controls To engage AROS maintena nce mode, press and hold the whi t e MOTORS button, press and release th e red RESET button, t hen release MOTORS. In the f uture, the w hite MOTORS button may engage other modes, such as when in AROS stand alone mode.
Activ Media Robotics Each sonar array come s with its o wn driver elec tronics for independ ent control . Each array’s sonar are multiplexed; the sonar acquis i tion rate is adju stable, normally set to 25 Hz (40 milliseconds per sonar per array).
Specifications and Controls and slide each battery out of its bay. Sp ring contacts on the robot’s ba ttery power board alleviate th e need for man ually at taching and detaching power cables or connectors.
Activ Media Robotics D OCKING /C HARGING S YSTEM The Pioneer 3/PeopleBot docking/charging accessory is both a manual and an auto mated mec hani sm. Onb oar d contr ols, tri ggere d ei ther by the DE P.
Specifications and Controls mechanism. And the charging mechanism will not a ctivate until yo u diseng age the motors, either manual ly or programmatically. R ADIO C ONTROLS AND A CC ESSORIES All Activ Media robots are server s in a client-server architectur e .
Activ Media Robotics O NBOARD PC Unlike the original Pioneer 1, Pioneer 2 and 3 robots are designed to support an onboard, internally integrat ed PC for fully autonomous operation.
Specifications and Controls The controls and ports use common connec tors: standard monitor DSUB and PS/2 connectors on the mouse and key board. The Ethernet is a 10/100Bas e-T standard RJ-45 socket.
Activ Media Robotics 802.11b-co mpatible wirel ess Ethernet card in one of its slots. The wireless Ethernet antenna sits atop the top deck. To complete the wireless inst allation, you wi ll need to provide an Access Point module ( c o m e s a s a n a c c e s s o r y w i t h m o s t u n i t s ) .
Specifications and Controls below safe operating level of ~11 VDC. 10 , 11 Genpowerd runni ng on the onboard Linux system or ups.exe running under Windows, detects the change of state and initiates OS shutdown after a short wait, during which th e shutdown may be canc eled by raising th e battery voltage, such as by a ttaching a charger.
Activ Media Robotics Quick S t art Chapter 4 This chapter describes how to quickly set up and operate your new Activ Media robo t with the ARIA demon stratio n soft war e.
Quick Start Install Batteries Out of the box, your Activ Media robot comes with its batteries fully charge d, although shipped separately, unless you ha ve the auto mated docking/charging system. For most models, sli de one or up to three bat teries into robot’s batter y box t hrough the back d oor.
Activ Media Robotics needed), by starting and tes ting the robot, and by connecting th e client PC wi th the AROS controller via a serial link. Now it is time to connec t the ARIA demonstration program with your robot.
Quick Start A Successful Connection Table 2. ARIA de mo operation modes MODE HOT K EY DESCRIPTION laser l Displays the closest and furthest readings from the robot’ s laser range finde r io i Displa.
Activ Media Robotics as a demonstration tool, but as a diagnostic one, as we ll, if you s uspect a senso r or effector has failed or is working poorl y. Access each ARIA demo mode by pressing i ts related ho t-key;‘t’, for instance, to selec t teleoperation.
Quick Start To test for range limi t s, simply pick up the robot and move i t closer to the bases tation radio modem or access point. If the robo t was o ut of range, the connection should r e s u m e . I f n o t , c h e c k t o m a k e s u r e t h a t radio mode ms were not inadvertently switched OFF .
Activ Media Robotics Chapter 5 Joydrive and Self-T est s Alth oug h no t all m ode ls come st and ard with a joy stick po rt, your robo t’s H8S- base d controller has a joystick connector and AROS c o n t a i n s a j o y d r i v e s e r v e r f o r m a n u a l operation.
Joydrive and Self Test s E NGAGING S ELF -T ESTS To enable self- test mode, press the white MOTOR S button twice af ter startup or RESET . 14 ATTENTION! Place your robot on the floor or ground and have everyone step back before engaging self-tests. Currently, the only AROS self- test exercises your Activ Media robot’s drive motors.
Activ Media Robotics ActivMedia Robotics Operating System Chapter 6 All Activ Media robots use a client-server mobile robot-control architecture originall y develo ped a t SRI In ternation al, Inc.
ActivMedia Rob otics Oper ating System a l w a y s f i r s t. S om e d a t a a r e s tr i ng s o f u p to a maximum 200 bytes, prefaced by a leng th byte. Unli ke common data in tegers, the two- byte check sum appears wi t h its most- significant byte first (opposite order).
Activ Media Robotics S ERVER I NFORMATION P ACKETS Like its PSOS and P2OS predecessors, AR OS auto matica lly a nd r epe ated ly sends a packet of information over its HOST serial port to a connected client.
ActivMedia Rob otics Oper ating System C LIENT C OMMA NDS AROS has a structured command format for re ceiving and responding to directions from a client for cont rol and operation of your Activ Media rob ot or the s imu lator.
Activ Media Robotics DCHEAD 22 sint Heading setpoi nt relative to last setpoi nt; ± degrees (+ = ccw) 1.0 SETRA 23 sint Rotational (+)acceleration or (-)deceleration, in degrees/sec/sec 1.
ActivMedia Rob otics Oper ating System to AUX2 H8S serial por t GETAUX 2 67 int Request t o retrieve 1 -200 byt es from t he AUX2 H8S serial port; 0 flushes the bu ffer. 1.1 – – CHARGE 68 int 1 to deploy a utochar ging m echanism; 0 to ret ract 1.
Activ Media Robotics Autoconfiguration (SYNC2) AROS automatically sends robot configu ration information back t o the client following the last synchronization packet ( SYNC2 ). The configurat ion values are th ree NULL- terminated strings that comprise the robot’s FLASH-stored name , class , and subcl ass .
ActivMedia Rob otics Oper ating System With AROS versio ns 1.3 and later, many of th e controller’s operating parameters return to their FLASH-based default values upon disconne ction with the client.
Activ Media Robotics ActivMedia Robots in Motion Activ M edia robots use p ositio n, as opp osed to veloc ity, m otio n contro ls to tra nsl ate the platform a certain distance and turn i t to a particular heading.
ActivMedia Rob otics Oper ating System At the same time, AROS report s back to the client in the st andard SIP the robot’s position and speed. Not all robo ts convert th ese value s into pla tform-indep endent uni t s. ARIA and Saphira clients rely on conversion fact ors found in your robot’s respective “.
Activ Media Robotics Consequen tly, we typic ally use a mi nimum value for Ki in the range of 0 to 1 0 for lightly to heavily loaded robots respecti vely. Position Integration Activ Media robots, including Pioneer 2s and 3s , track their position and orientation based on dead-reckoning from wheel motion de rived from encoder readings.
ActivMedia Rob otics Oper ating System sonar array number one; numb ers nine throug h 16 get added to the sequenc e for sonar array number two; 17- 24 specify the sequ ence for array three; and 25-32 are for array four. You may i nclude up to 16 sona r numbers in the sequence for any single array.
Activ Media Robotics Normally enabl ed (defaul t was disabl ed in P2OS), change E_STALL by sending the AROS command #56. With argument of zero, E_STALL gets disabled.
ActivMedia Rob otics Oper ating System received a command from a client. Restarts on restoration of connection. P2M PACS byte 1 enables alternative SIP. S TALL V AL int Maximum PWM before stall. If > PwmMax, never. S TALL C OUNT int Ms time after a stall for recovery.
Activ Media Robotics For auto -baud, the HOST serial p or t au toma tical ly r ever ts to it s FLA SH defa ult bau d ra te if , after being reset by the HOST BAUD clien t command, it does not recei ve a subseque nt and valid client-command packet within 500 milliseconds.
ActivMedia Rob otics Oper ating System Table 11. GRIPPERpac state byt e BIT FUNCTION STATE 0 Grip limit Paddl es fully open w hen 0; ot herwise betwe en or close d 1 Lift limit Lift fully up or down w.
Activ Media Robotics Onboard PC Communication be tween the onboard PC and the H8S microcontroller is RS232 serial through the respective COM1 (Windows) or /dev/ttyS0 (Linux) and internal HOST ports. Set the HostBaud FLASH communication rate to ma tch the PC clien t-software’s serial port rate .
ActivMedia Rob otics Oper ating System modifications to the robot's he ading are done on the client side, as supported in the latest versions ( 1 .3 and later) of ARIA. To enable the gy ro, you mu st set the HasGyro FLASH parameter to 1 using the AROScf tool (see nex t chapter).
Activ Media Robotics For example, here’s the A ROS client comm and to set di gital output por ts one and three ( OD1 and OD3 ), reset port four ( OD4 ), and leave all the rest alone ( hexadecimal no.
ActivMedia Rob otics Oper ating System Expansion I/O Four alternative A/D por ts appear at the 40-posi tion Expansion I/O conn ector of the H8S microcontroller. 24 U se t he ADSEL client command number 35 to select and subsequen t ly have the A/D value fr om one of the alterna t ive ports AN2-5 appear in the standard SIP.
Activ Media Robotics disengage the motors while charging, such as by disconnecting, you will have to re- engage them f rom the client or by manually pressing the MOTORS button on the controller. Re-engaging the motors automa tically retracts the charging mechanism.
ActivMedia Rob otics Oper ating System The "overcharge" bit ID7 is set ( 1) when the ba tteries are well belo w full charge a nd the charger is at full charging cu rrent. During this bulk-charg ing period, the battery voltage rises to around 13.
Activ Media Robotics Up dating & Reconfiguring AROS Chapter 7 The AROS software and a set of operating parameters for your Activ Media robot get stored in the H8S microcont roller's FLASH ROM. With spec ial upload and configuration software tools, you change and update the FLASH memory image.
Updating and Reconfiguring AROS Text prompts will help you get connected with yo ur Activ M edia robot’s H8S-based controller and update its AROS server s.
Activ Media Robotics Similarly, this Linux xterm command uploads a fresh copy of AROS to your robot’s H8S- based microcontroller and then exits, much like the simple dl_AROS1_0 program: % .
Updating and Reconfiguring AROS See the respective cont rol command and parame ter Tables ne arby for a full description of AROScf operation. Table 16. AROScf control commands COMMAND DESCRIPTION KEYWORD <value> Alone, a keyword displays current, edited value.
Activ Media Robotics Table 17. AROS FLASH configuration para me ters with values for Pioneer 3–DX KEYWORD Type Default Description CONSTANTS Should not be changed PTYPE str Pioneer Identifies the robot type. PSTYPE str P3DX Identifies the Activ Media robot model.
Updating and Reconfiguring AROS ROTKP int 30 Proportional PID for rotation ROTKV int 200 Differential PID for rotation ROTKI int 0 Integral PID for rotation TRANSACC int 300 Translational acceleration.
Activ Media Robotics Ticksmm and revcount affect only the conversion of your motion command arguments into platfo rm-depend ent values. Your cli ent must i ndepend ently convert values reported back from the server, such as X-Pos and Th , int o platform-independent v alues.
Updating and Reconfiguring AROS Set the FrontBump and RearBump pa ramet ers t o th e numbe r of bumper segments for the f r o n t a n d r e a r b u m p e r s , r e p e c t i v e l y ; o r t o 0 if y ou don't have a part icular bumper. F or pre- AROS 1 .
Activ Media Robotics Maintenance & Rep air Chapter 8 Your Activ Media robot is bu ilt to last a lifet ime and requires littl e maintenance. T IRE I NFLATION Maintain even t ire inflation for proper nav igation of your Pionee r 3 or 2 robot. We ship with each p neuma tic tir e in fla ted to 23 p si.
Maintenance and Repair to t he c harger and in sert i t in to the c harge s ocket that is just bel ow your robot’ s Main Power switch. The LEDs on the charger indica t e charge status, as marked on its case.
Activ Media Robotics Remove the small p lastic plug which is near the hinge on th e t op plate and near the edge by the wheel. Under it, you will see the head of a large hex bo lt . This bolt tightens (clockwise) or loosens (counter-clo ckwise) the drive belt for that side of the robot.
Maintenance and Repair Figure 22. Rem ove indicat ed screws from Pioneer 2- or 3-DX or -AT rear deck to open plate. Careful: The computer’s hard-drive, fan, an d speaker have attached wire harnesses that you need to relieve before completely detaching the nose from the body.
Activ Media Robotics Appendix A H8S P ORTS & C ONNECTIONS Figure 23. Mini- and micro-fit styl e connector numbering This Appendix contains pinout and electrical specifications for the ext ernal and internal ports and connectors on the H8S microcont roller, motor-power interface, and User Control boards.
Appendix A: Ports and Connecti o ns Serial Ports Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxi liary serial ports for the H8S controller.
Activ Media Robotics Lift direction Inner breakbeam IR 9 ID4 DIGIN bit 4; Left paddle contact 10 OD4 DIGOUT bit 4; Automated docking/charging “inhibit” 11 ID5 DIGIN bit 5; Right paddle contact 12 .
Appendix A: Ports and Connecti o ns Table 24. Bump er ports (10-pos latching IDC) PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 BP0 Bumper bit 0 2 BP1 Bumper bit 1 3 BP2 Bumper bit 2 4 BP3 Bumper bi.
Activ Media Robotics Joystick Port An 8-position microfit socket provides signal lines for c onnecti on to an anal og joyst ick. Indicated lin es (*) are shared on o ther connectors.
Appendix B: Motor-Power Board Connectors Appendix B Power Distribution Activ Media Robotics’ original H8 S-based Pioneer 2 robots ha ve two separate boards which interface with the H8S microcontroller and provide power for the motors as well as conditioned power and signal pat hs fo r the standard and accessory onboard electronics.
Activ Media Robotics Table 28. Mo t or Tempera ture Sensors Connec t or (4-pos micro f it) PIN SIGNAL DESCRIPTION 1 Vcc 5 VDC 2 T2 To AN2-based temp sensor circuit 3 T1 To AN1-based temp sensor circui.
Appendix B: Motor-Power Board Connectors Table 32. User Power connector (12-pos latchlock; unsw itched) PIN CONNECTION PIN CONNECTION 1 Vcc 7 Vcc 2 Gnd 8 Gnd 3 Vpp 9 Vpp 4 Vcc 10 Vcc 5 Gnd 11 Gnd 6 Vp.
Activ Media Robotics Appendix C R ADIO M ODEM S ETTINGS The radio modem-based wireless serial accessory com es pre-configured for use wit h your Activ Media robot for client-server connect ions. One modem comes installed in the robot (robot’s HOST serial port pins 7 and 8 jumpered; powered 5 VDC from RADIO s wi t c h) .
Appendix D: Serial Ethernet Se ttings Appendix D S ERIAL E THERNET S ETTINGS The Ethernet-to-Serial device settings are ma de at the fact ory and stored in FLASH. Pressing and holding the test button for more than five se conds restores those settings.
Activ Media Robotics 2. Attach a cross-over serial cable between your PC and the serial port on th e device 3. Start minicom (Linux), HyperTerminal (W indo ws) or comparable serial console on your PC 4. Serial settings are 1 15,200 ba ud, 8 bits, one st op, no parity and hard ware handshaking.
Appendix D: Serial Ethernet Se ttings Appendix E S PECIFICATIONS DXe DX8/P3DX AT/AT8 Perf PB PB V1 CE Physical Characteristics Length (cm) 44.5 44.5 50 47 47 44 Width (cm) 40 40 49 38 38 33 Height (cm) 24.5 24.5 24 124 104 22 Clearance (cm) 6.5 6.5 5.
Activ Media Robotics Sensors DXE DX8/P3DX AT/ AT8 Perf PB PB V1 CE Sonar Front Array (one each side, six forward @ 20° intervals) 8 8 8 8 8 8 Rear Sonar Array (one each side, six rear @ 20° interval.
W arranty & Liabilities Your Activ Media robot is fully warranted against de fective parts or assembly for one year after it is shipped to you from the factory.
19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax htt p ://www.mobilerobots.com.
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