AgileX RANGER MINI 2.0 Manuel utilisateur

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RANGERMINI2.0

AgileXRoboticsTeam

USERMANUALV.2.0.12023.08

Documentversion

RANGERMINI2.0UserManual

No. Version Date Edited by Reviewer Notes

1 V1.0.0 2023/2/6 何士玉 First draft

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Added odometer data

feedback

Added remote control

data feedback

Changed firmware

upgrade method and

instructions

Optimize layout

Add battery precautions

Added usage

environment

precautions

Add safety precautions

Change self-weight

parameters

Modify the spin

protocol,

Modify the coordinate

system deﬁnition

Modify the rotation

angular velocity unit

Add upper PC

download link

2 V1.0.1 2023/3/1 何士玉

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3 V1.0.2 2023/3/21

何

⼠

⽟

●

4 V1.0.3 2023/5/4

何

⼠

⽟

●

5 V1.0.4 2023/5/20

李

圣

望

●

6 V1.0.5 2023/6/6

吴

忠

义

●

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Before using the robot, any individual or organization must read and understand the manual. If you

have any questions about it, please do not hesitate to contact us at [email protected] . It is very

important that you shouldfollow and implement all instructions and guidelines in this manual.

Please pay extra attention to the warnings.

ImportantSafetyInformation

Add boot instructions in

parking mode

Add charging

instructions

Added remote control

battery replacement

instructions

Change parameters

Add rendering

Adjustment format

Update ROS package

usage description

Add charging icon

description

Added battery

replacement icon

instructions

Add main image

7 V1.0.6 2023/8/22

何

⼠

⽟

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8 V1.0.7 2023/9/02

谢

瑞

亲

●

9 V1.1.0 2023/9/02

何

⼠

⽟

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This manual does not cover the design, installation, and operation of a robotic application, nor

does it include any equipment that may aﬀect the safety of a robotic system. A robotsystem that

uses the RANGER MINI 2.0should bedesigned and used in compliance with the safety

requirements and other standards of the corresponding countries.

Anyusersof the RANGER MINI 2.0should comply with laws and regulations of relevant countries

and ensure that there are no obvious hazards in the application of the RANGER MINI 2.0MINI

2.0MINI 2.0. This includes but is not limited to the following:

Eﬀectivenessandresponsibility

Do a risk assessment of the robotic system that uses the RANGERMINI 2.0.

The risk assessment should include additional safety equipment to other machinery.

Please ensurethat the equipment of the whole robotic system, including software and

hardware, are designed, and installed correctly.

The RANGER MINI 2.0is notanautonomous mobile robot with anti-collision, anti-fall, biological

approach warning, and other safety functions. These safetyfunctions areexpected to be

developedand assessed by system integrators and end customers under relevant safety

regulations and laws to ensure there are not anymajor dangers and potential safety hazards in

their practical applications.

Read all technical documents: including the risk assessment and this manual.

Know the possible safety risks before using the RANGER.

UseEnvironment

For the ﬁrst use, please read this manual carefully to understand the basic operation and

operating speciﬁcations.

Remote control operation should be in a relatively open area. The RANGER MINI 2.0does not

have any automatic obstacle avoidance sensors.

Please use the RANGER MINI 2.0under the ambient temperature of -10 ℃~40℃.

The RANGERMINI 2.0

’

swaterproof and dustproof levelisIP54 if it is not customized.

Check

Make sure each device is fully charged.

Make sure the RANGER MINI 2.0has no obvious abnormalities.

Make sure the remote control has suﬃcient battery power.

●

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Precautions

OperationPrecautions

Ensure that the surrounding area is relatively open when operating the RANGER.

Please do remote control within sight.

The maximum load of the RANGER MINI 2.0is 80 KG. Please ensure that the payload does not

exceed 80 KG when using.

When installingexternal equipment on the RANGERMINI 2.0, Please ensure theircentroid

location is at the RANGERMINI 2.0

’

scenter of rotation.

Please charge the RANGER MINI 2.0in time after low-battery alarm.

When the RANGER MINI 2.0is abnormal, please stop using it immediately to avoid secondary

injury.

When the RANGER MINI 2.0is abnormal, please contact the technical support immediately,

and do not handle it without professional suggestion.

Please use the RANGER MINI 2.0in an environment that does not exceed itsIP protection level.

Do not push the RANGER MINI 2.0directly.

The current of the tail extension power supply does not exceed 15A, and the total power does

not exceed 720w.

Battery

The battery of RANGER MINI products is not fully charged when it leaves the factory. The

speciﬁc battery voltage and power can be displayed through vol and batt on the RANGER MINI

remote control.

Please do not charge the battery after it is exhausted, please charge it in time when the low

battery of the RANGERMINI remote control is less than 15%

Static storage conditions: The optimal storage temperature is -10℃~40℃. When the battery is

not in use, it must be charged and discharged once every month, and then stored at full

voltage. Do not store the battery Place in ﬁre, or heat the battery. Do not store batteries at high

temperatures.

Charging: You must use the matching lithium battery charger for charging. Do not charge the

battery below 0°C. Do not use non-original standard batteries, power supplies, and chargers.

Usageenvironment

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The operating temperature of RANGER MINI is -10°C~40°C, please do not use it in an

environment where the temperature is lower than -10°C and higher than 40°C

Do not use it in an environment with corrosive or ﬂammable gases or near ﬂammable

substances.

Please do not use it around heating elements such as heaters or large winding resistors

RANGER MINI is waterproof and dustproof rated IP55

It is recommended that the altitude of the use environment should not exceed 1000M

It is recommended that the temperature diﬀerence between day and night in the use

environment does not exceed 25℃

Safety

If you have any questions about the use process, please follow the relevant instruction manual

or consult relevant technical personnel.

Before using the equipment, pay attention to the on-site conditions to avoid improper operation

that may cause personal safety problems.

In case of emergency, press the emergency stop button to power oﬀ the equipment.

Do not modify the internal equipment structure without technical support and permission

When the equipment is abnormal, please stop using it immediately to avoid secondary injury

When an abnormality occurs in the equipment, please contact the relevant technical personnel

and do not handle it without authorization.

CONTENTS

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1IntroductiontotheRANGERMINI2.0

CONTENTS

Documentversion

ImportantSafetyInformation

Precautions

CONTENTS

1IntroductiontotheRANGERMINI2.0

1.1 Product List

1.2 Speciﬁcations

1.3 Required for Development

2BasicIntroduction

2.1Status of the RANGERMINI 2.0

2.2 Description of Electrical Interfaces

2.3 Remote Control Instructions

3UsageandDevelopment

3.1Operation

3.2 CAN Communication Protocol

3.3 RANGER MINI 2.0use manual for ROS

3.4 Firmware Upgrade

4ProductSize

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The RANGER MINI 2.0is a programmable omnidirectional UGV (UNMANNED GROUND VEHICLE),

which is a chassis with a modular design. Compared with the four-wheel diﬀerential chassis, the

RANGER MINI 2.0has obvious advantages when running on ordinary cement roadsand asphalt

roads. It not only has higher speed and load capacity, but also reduces the wear and tear on the

structure and tires. Itis also more stable and safer. Compared with Ackermann chassis,the

RANGER MINI2.0 not only reduces the turning radius, but also can turn at 0 angle.The RANGER

MINI 2.0combines the advantages of diﬀerential chassis and Ackermann chassis, which is

suitable for various complex terrains. What

’

smore, it can be equipped with stereo cameras,

LiDAR, GNSS, IMU, manipulators and other equipment to beapplied in ﬁelds such as unmanned

inspection, security, scientiﬁc research, exploration and logistics.

1.1ProductList

1.2Speciﬁcations

Name Quantity

RANGER MINI 2 body ×1

Battery charger (AC 220V) ×1

Aviation plug male (4Pin) ×1

FS remote controller(optional) ×1

USB to CAN communication module ×1

Type Items Parameters

Mechanical Dimensions (mm) 738×500×338

Axle Track (mm) 494

Front/rear track (mm) 364

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Kerb weight (Kg) 64.5

Battery type Lithium iron phosphate

Battery parameters 48V24AH

Power drive motor 350W×4

Steering drive motor 100W×4

Parkingtype Electronic brake

Steering type 4 wheels steering

Suspension Independent suspension

Steering motor reduction ratio 1:50

Steering motor encoder Multiturn absolute encoder (9

bit)

Drive motor reduction ratio 1:4.428

Drive motor sensor Hall

Performation IP grade IP54

Maximum speed

（

km/h

）

5.4

Minimum turning radius (mm) 0mm

（

Spin mode

）

810mm

（

Ackermann model

）

Maximum gradeability (°) 15° with load

Ground clearance (mm) 107

Maximum endurance (h) 7

Maximum travel (km) 35

Charging time (h) 1.5

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1.3RequiredforDevelopment

The RANGER MINI 2.0can be equipped with FS remote control when buying. Users can use it to

control the 4WDchassis, complete mode switching, movement and steering. The RANGER MINI

2.0hasa standard CAN (Controller Area Network) communication interfaceto facilitate secondary

development.

2BasicIntroduction

This part is a basic introduction to the RANGERMINI 2.0, mobile robot chassis. After reading this

part, users and developers can have an overall understanding about it. As shown in Figure 2.1

below, it is an overview of the RANGERMINI 2.0,.

Working temperature (℃) -10~40

Control

Control mode Remote control mode

Command control mode

Remote controller 2.4G/limit distance 200M

Communication Interface CAN

Table des matières

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