hitrobotgroup.github.io

delivery

Serial No. Type SSID TVID IP
2bf9800 arcturus 1C hrg-eupro-tj 514554481 192.168.8.200
2c3d700 arcturus 1E hrg-eupro-tj 1149710217 192.168.8.210
30f4201 capella 1F hrg-eupro-tj 142011963 192.168.18.190
30f4211 capella 1G hrg-eupro-tj 305384111 192.168.18.191
30f4212 capella 1G hrg-eupro-tj 1018571372 192.168.18.192
30f4213 capella 1G hrg-eupro-tj 104632377 192.168.18.193
30f4214 capella 1G hrg-eupro-tj 797139998 192.168.18.194
30f4215 capella 1G hrg-eupro-tj 141964761 192.168.18.195
30f4217 capella 1G hrg-eupro-tj 797139998 192.168.18.196
30f4218 capella 1G hrg-eupro-tj 797165232 192.168.18.197
30f4219 capella 1G hrg-eupro-tj 797226720 192.168.18.198
         
3352026 rigel 5S hitrobot-io 838926953 192.168.43.226
334cd25 rigel 5T hrg-jabil-wx 790023098 192.168.43.225
334cd24 rigel 5T hrg-jabil-wx 789977773 192.168.43.224
3120723 rigel 6T hrg-aiko-tj 690786622 192.168.43.223
3120722 rigel 6T hrg-aiko-tj 690765989 192.168.43.222
3120721 rigel 6T hrg-aiko-tj 690797933 192.168.43.221
30ee820 rigel 5T hrg-exhibit-sx 455040363 192.168.43.220
30ee819 rigel 5T hrg-jabil-wx xxxxxxx 192.168.43.219
30ee818 rigel 5T hrg-jabil-wx xxxxxxx 192.168.43.218
30ee817 rigel 5T hrg-jabil-wx 549070183 192.168.43.217
30ee816 rigel 5T hrg-jabil-wx xxxxxxx 192.168.43.216
30ee815 rigel 5T hrg-jabil-wx 925170195 192.168.43.215
30ee814 rigel 5T hrg-jabil-wx xxxxxxx 192.168.43.214
30ee813 rigel 5T eryi-sj xxxxxxx 192.168.43.213
30ee812 rigel 5T eryi-ks 1674275307 192.168.43.212
30ee811 rigel 5T hrg-jabil-wx 1641974105 192.168.43.211
30ee810 rigel 5T hrg-jabil-wx 1566218791 192.168.43.210
2e90b09 rigel 5T hrg-jabil-wx 1415658612 192.168.43.209
2e90b08 rigel 5T hrg-jabil-gz 1319527015 192.168.43.208
2e90b07 rigel 5T hrg-jabil-gz 1295454572 192.168.43.207
2e89706 rigel 5T hrg-jabil-gz 1303841536 192.168.43.206
2e82805 rigel 5T hrg-jabil-gz 1493200192 192.168.43.205
30ee804 rigel 5T hrg-jabil-wh 892964902 192.168.43.204
30ee803 rigel 5T hrg-ruijin-sh 305112762 192.168.43.203
2e6a402 rigel 5T hrg-jabil-wx 1195328755 192.168.43.202
2e69801 rigel 5T hrg-jabil-gz 1169206307 192.168.43.201
30ee008 arcturus 2B hrg-jabil-wx 664209599 192.168.43.200
         
2e71116 capella 2D hrg-wxzj-sx 1319460263 192.168.43.216
2e71115* capella 1H hrg-jabil-gz 1206604628 192.168.43.215
30f4214 capella 2E hitrobot-io xxxxxxx 192.168.43.214
30f4213 capella 1G hrg-jabil-wx 1574194848 192.168.43.213
338bat1 capella 1G hitrobot-io 523534209 192.168.43.212
         
2e9cd10 rigel 4X hitrobot-io 1476451630 192.168.43.210
2e9cd09 rigel 4X hitrobot-io 1478757887 192.168.43.209
2e9cd08 rigel 4T hrg-wurth-tj 1696384390 192.168.43.208
2e9cd07 rigel 4X hitrobot-io 1631675375 192.168.43.207
2e9cd06 rigel 4X hitrobot-io 1411504692 192.168.43.206
2e9cd05 rigel 4X hitrobot-io 1415529238 192.168.43.205
2e9cd04 rigel 4S hrg-highly-ah 1425570285 192.168.43.204
2e9cd03 rigel 4S hrg-highly-ah 1430004978 192.168.43.203
2e9cd02 rigel 4S hrg-highly-sh 1408958779 192.168.43.202
2e9cd01 rigel 4S hrg-highly-ah xxxxxxx 192.168.43.201
         
2e7cf01 rigel 4S hrg-intel-sh 1467606344 192.168.43.201
2e7cf02 rigel 4S hrg-intel-sh 1251343921 192.168.43.202
2e7cf03 rigel 4S hrg-intel-sh 1276703383 192.168.43.203
2e7cf04 rigel 4T hrg-exhibit-nc 1264141700 192.168.43.204
2e7cf05 rigel 4T hitrobot-io 1285832347 192.168.43.205
2e7cf06 rigel 4T hitrobot-io xxxxxxx 192.168.43.206
2e7cf07 rigel 4T hrg-wurth-tj 786000570 192.168.43.207
2e7cf08 rigel 4S hitrobot-io 1318967941 192.168.43.208
         
router huawei 4G hrg-innolux 17717874207 10.63.151.96
2c05101 rigel 4S hrg-innolux    
2c05102 rigel 4S hrg-innolux 934675869  
2c05103 rigel 4S hrg-innolux    
2c05104 rigel 4S hrg-innolux    
2c05105 rigel 4T hrg-innolux 792309666  
2c05106 rigel 4S hrg-innolux    
2c05107 rigel 4S hrg-innolux    
2c13200 arcturus 1D hrg-innolux 878192267 10.63.155.11
2c13201 rigel 4S hrg-innolux    
2c13202 rigel 4T hrg-innolux    
2c13203 rigel 4S hrg-innolux    
2c13204 rigel 4T hrg-innolux    
2c13299 arcturus 1D hrg-innolux 922650891  
2c19301 rigel 4T hrg-innolux    
2c19302 rigel 4S hrg-innolux    
2c19303 rigel 4S hrg-innolux    
2c19304 rigel 4S hrg-innolux    
2c19305 rigel 4S hrg-innolux    
2c19306 rigel 4S hrg-innolux    
2c19307 rigel 4S hrg-innolux    
2c19308 rigel 4T hrg-innolux 1060983589  
         
2e76101 ster 2 hrg-tailin-hz 1317271828 192.168.43.201
2e76102 ster 2 hrg-tailin-hz 1208624931 192.168.43.202
2e76103 ster 2 hrg-tailin-hz 1311861379 192.168.43.203
2e76104 ster 2 hrg-tailin-hz 1208621102 192.168.43.204
2e76105 ster 2 hrg-tailin-hz 1212652648 192.168.43.205
2e76106 ster 2 hrg-tailin-hz 1207926530 192.168.43.206
2e76107 ster 2 hrg-tailin-hz 1214637975 192.168.43.207
2e76108 ster 2 hrg-tailin-hz 1216102393 192.168.43.208
2e76109 ster 2 hrg-tailin-hz 1214639585 192.168.43.209
2e76110 ster 2 hrg-tailin-hz 1476695174 192.168.43.210
         
2e70001 rigel 4T hrg-ccb-sh 1343905131 192.168.43.201
2e70002 rigel 4T hrg-ccb-sh 1336897509 192.168.43.202
         
null arcturus 1E hrg-wurth-tj 1297776563 xxx.xxx.xxx.xxx
2c3de01 rigel 4T hrg-wurth-tj 1073476094 192.168.43.201
2c3de02 rigel 4T hrg-wurth-tj 1073487910 192.168.43.202
2c3de03 rigel 4T hrg-wurth-tj 1301723761 192.168.43.203
         
xxxxx01 rigel 4S hrg-diehl-nj 986240921 10.42.0.1
         
null arcturus 1E hrg-foxcomm-ks null xxx.xxx.xxx.xxx
2c38a01 rigel 4T hrg-foxcomm-ks 1271780295 192.168.59.111
2c38a02 rigel 4T hrg-foxcomm-ks 1317925817 192.168.59.112
2c38a03 rigel 4T hrg-foxcomm-ks 1028009040 192.168.59.113
         
2c2a801 rigel 4T hrg-conti-tj 1044134503 192.168.43.201
2c2a802 rigel 4S hrg-conti-tj 1026431999 192.168.43.202
         
router huawei 4G hrg-guoxuan-hf 18380126235 172.17.11.1
‭2c25e01 LD200-PD hrg-guoxuan-hf 1099131165 172.17.11.152
‭2c25e‬02 LD200-PD hrg-guoxuan-hf 1100363879 172.17.11.153
2c25e03 LD200-PD hrg-guoxuan-hf 1103446039 172.17.11.154
2c25e04 LD200-PD hrg-guoxuan-hf 1099115702 172.17.11.155
2c25e05 LD200-PD hrg-guoxuan-hf 1107075576 172.17.11.156
2c25e06 LD500-QF hrg-guoxuan-hf 1106892064 172.17.11.157
2c25e07 LD500-QF hrg-guoxuan-hf 1108642630 172.17.11.158
2c25e08 LD500-QF hrg-guoxuan-hf 1104621283 172.17.11.159
2c25e09 LD500-QF hrg-guoxuan-hf 1107688495 172.17.11.160
2c25e10 LD500-QF hrg-guoxuan-hf 1107710419 172.17.11.161
2c25e11 BJSMI-ML hrg-guoxuan-hf 1106940343 192.168.8.211
2c25e12 BJSMI-ML hrg-guoxuan-hf 1100280621 192.168.8.212
         
2c25701 SZ-GT hrg-shenzhou-cd 1043080077 192.168.43.201
2c25702 SZ-GT hrg-shenzhou-cd 1018242700 192.168.43.202
         
router huawei 4G hrg-harman-sz 17717874307 192.168.0.200
2c0cc01 rigel 4T hrg-harman-sz 841414351 192.168.0.201
2c0cc02 rigel 4T hrg-harman-sz 1285832347 192.168.0.202
         
29ccc01 rigel 4S hrg-sample-sh xxxxxxx 10.42.0.1
29ccc02 rigel 4S hrg-exhibit-ks null 192.168.43.202
29ccc03 rigel 4S hrg-exhibit-sh null 192.168.43.203
29ccc04 rigel 4S hrg-exhibit-yw null 192.168.43.204
29ccc05 rigel 4S hrg-exhibit-hf null 192.168.43.205
29ccc06 rigel 4S hrg-lslb-sh null 192.168.43.206
29ccc07 rigel 3S hrg-exhibit-ks null 192.168.43.207
         
router huawei 4G hrg-yancon-sd 13370233723 192.168.8.1
router tplink 5G wifi hrg-yancon-sd null 192.168.8.2
29b3100 arcturus 1B win hrg-yancon-sd 1036959340 192.168.8.200
29b3101 L500K-GD hrg-yancon-sd 1355230640 192.168.8.201
29b3102 L500K-GD hrg-yancon-sd 1090347283 192.168.8.202
29b3103 L500K-GD hrg-yancon-sd 1137526472 192.168.8.203
29b3104 L500K-GD hrg-yancon-sd 1128732754 192.168.8.204
29b3105 L500K-LT hrg-yancon-sd 1130064914 192.168.8.205
29b3106 L500K-LT hrg-yancon-sd 1354459849 192.168.8.206
29b3107 L500K-LT hrg-yancon-sd 1138313304 192.168.8.207
29b3108 L500K-LT hrg-yancon-sd 1135116559 192.168.8.208
29ae700 arcturus 1B hrg-yancon-sd 216351583 192.168.8.210
29ae701 capella 1D hrg-yancon-sd 1041913709 192.168.8.211
29ae702 capella 1D hrg-yancon-sd 115129885 192.168.8.212
29ae703 capella 1D hrg-yancon-sd 970186345 192.168.8.213
29ae704 capella 1D hrg-yancon-sd 125976047 192.168.8.214
29ae705 capella 1D hrg-yancon-sd 125941387 192.168.8.215
         
2e76101 ster hrg-tailin-hz 1317271828 192.168.43.201
2e76102 ster hrg-tailin-hz 1208624931 192.168.43.202
2e76103 ster hrg-tailin-hz 1311861379 192.168.43.203
2e76104 ster hrg-tailin-hz 1208621102 192.168.43.204
2e76105 ster hrg-tailin-hz 1212652648 192.168.43.205
2e76106 ster hrg-tailin-hz 1207926530 192.168.43.206
2e76107 ster hrg-tailin-hz 1214637975 192.168.43.207
2e76108 ster hrg-tailin-hz 1216102393 192.168.43.208
2e76109 ster hrg-tailin-hz 1214639585 192.168.43.209
2e76110 ster hrg-tailin-hz 1432350207 192.168.43.210
         
298ef01 rigel 2S hrg-extern null 192.168.43.201
298ef02 rigel 2S hrg-extern null 192.168.43.202
298ef03 rigel 2S hrg-extern null 192.168.43.203
298ef04 rigel 2S hrg-extern null 192.168.43.204
298ef05 rigel 1S hrg-sample-sh xxxxxxx 10.42.0.1
298ef06 rigel 2S hrg-extern null 192.168.43.206
298ef07 rigel 2S hrg-extern null 192.168.43.207
         

modbus rtu/tcp

Addr I Port I Item Port Q Addr Q Remarks
100 I modex Q 100 模式切换
           
99.L0 I1 estop.6/joy_lb Q1 101.L0 左避障/左转灯
99.L1 I2 estop.7/joy_rb Q2 101.L1 右避障/右转灯
99.L2 I3 estop.0/estop Q3 101.L2 急停/刹车灯
99.L3 I4 estop.1/start Q4 101.L3 启动/电池继电器
99.L4 I5 estop.2   101.L4 下限位
99.L5 I6 estop.3   101.L5 上限位
99.L6 I7 estop.4   101.L6 后避障
99.L7 I8 estop.5   101.L7 前避障
           
99.H0 I1/9 stick.0 Q1/5 101.H0 手柄
99.H1 I2/10 stick.1 Q2/6 101.H1 扶手
99.H2 I3/11 enable Q3/7 101.H2 使能
99.H3 I4/12 buzzer Q4/8 101.H3 喇叭
99.H4 I1/13 dump Q1/9 101.H4 下降
99.H5 I2/14 load Q2/10 101.H5 上升
99.H6 I3/15 pedal.0 Q3/11 101.H6 踏板
99.H7 I4/16 pedal.1 Q4/12 101.H7 踩踏
           
98 AI1/I7 linear_x AQ1 102 行进
97 AI2/I8 angular_z AQ2 103 转向
96 AI3/I1 angular_z_acc AQ3 104 转向辅助
95 AI4/I2 linear_z AQ4 105 升降
           
94 DI   DQ 106 升降高度
93 DI       行进速度
92 DI       转向角度
91 DI       电池电压
90 DI       电池电流
89 DI       电机温度
88 DI       控制器温度

electrics

Type Color Remarks
UL 10368 18 AWG 动力线
AC L red 红 火
AC N blue 蓝 零
AC U yellow 黄 U
AC V green 绿 V
AC W red 红 W
PE AC/DC yellow/green 黄绿 地
DC + heavy red 红 正
DC - heavy black 黑 负
DC U yellow 黄 U
DC V green 绿 V
DC W blue 蓝 W
DC + under orange 橙 低压
     
UL 10368 / 3302 28 AWG 信号线
DC + light brown 棕 正
DC - light blue 蓝 负
DC OUT black 黑 输出
A twisted red 红 A
B twisted white 白 B
RX + yellow 黄 收（设备）
TX - green 绿 发（设备）
PLC Q yellow 黄 出（控制）
PLC I green 绿 入（控制）
H + A purple 紫（暖色系）
L + B grey 灰（冷色系）
     
UL 2xxx   双绞线

线长标准：0.1m 0.2m 0.5m 大于0.5m则是0.5m的倍数

bios settings

PA3

  1. Keep pressing delete in order to enter in BIOS.
  2. Advanced -> Module Serial port -> Serial port [0-1] -> Change to “Enable”
  3. Chipset -> South Bridge -> USB Configuration -> XHCI Mode -> Change to “Enable”
  4. Boot -> Power Loss Control -> Set “Remain off” when applies to will 2 that M4 will send order to enable PA3 power on. Set “turn on” when applies to previous verison will that press the main button to enable PA3 power on.
  5. Press F10 (save and quit).

NUC

  1. Keep pressing F2 in order to enter in BIOS.
  2. Power -> After Power Failure -> Set “turn on” to enable PA3 power on.
  3. Press F10 (save and quit).

install system

keep pressing “del”(for PA3) or “F10”(for NUC) to select boot disk install_start select_language select_custom select_type select_location select_keyboard

note that if ubuntu system was reinstalled this hostname settings page would not be presented select_hostname install_wait install_complete

update options

upgrade old version (the 2.0 version for will2)

  1. Download and unzip the files namely ‘hitrobotgroup.github.io-master’ from the link ‘https://github.com/hitrobotgroup/hitrobotgroup.github.io’
  2. Copy the ‘./bin/zip/dbparam-indigo.zip’ to the root directory of our own USB Stick
  3. Plug this USB Stick in the Navigation IPC(i.e. PA3, YanXiang.etc)
  4. Run Index.html in the root directory of the folder ‘hitrobotgroup.github.io-master’
  5. Set the correct IP address(192.168.0.7 typically). Then press connect.
  6. Choose ‘U盘威尔2升级包’ and then click ‘update’
  7. If the update information is ‘success’, the update of the new version is done.
  8. Please remeber to reboot the Linux system in order to active the upgrade.

regular update

  1. Download and unzip the files namely ‘hitrobotgroup.github.io-master’ from the link ‘https://github.com/hitrobotgroup/hitrobotgroup.github.io’
  2. Copy the given file ‘release-indigo.zip’ to ‘./bin/pkg/’. (The name of the folder has to be ‘pkg’ if missed. Make sure that the folder ‘hitrobotgroup.github.io-master’ inculding all the files are in the upper PC or Navigation IPC.)
  3. Use update.cmd(for windows) or update.sh(for linux) in ‘./bin/’ to transmit zip files to ubuntu. If the default name is correct, then return.
  4. Run Index.html in the root directory of the folder ‘hitrobotgroup.github.io-master’
  5. Set the correct IP address(192.168.0.7 typically). Then press connect.
  6. Choose ‘离线本地更新’ and then click ‘update’
  7. If the update information is ‘success’, the update of the latest version is done.
  8. Please remeber to reboot the Linux system in order to active the upgrade.

visit https://hitrobotgroup.github.io/ for update tutorial

map transmition

  1. In the path ‘./bin/map’, click ‘map_edit-get.cmd’ to get map_edit.pgm. Click ‘map_edit-set.cmd’ to upload the modified map_edit.pgm

以下未更新

ubuntu-windows 文件共享










From: http://www.sijiazhentan.top/news/c2pfZjcxZDY…

Installation_Will

Work Instruction of Will installation.

威尔机器人路由器，驱动器和工控机的配置流程：

请准备好，RS485转usb串口线， 此网页上的Software_backup程序。

切记，如果有手柄，手柄的上端模式永远保持X，切勿切换到D！

  1. The Default of COMPUTER(Linux)’s IP: 192.168.0.7
    工控机IP默认为192.168.0.7

  2. The Default of Lidar IP 激光传感器默认 IP是： 192.168.0.10

  3. Router implementatin. 路由器安装流程。

Firstly, click advanced setup option:

首先，水星默认登陆ip是192.168.1.1，我们使用的ip是192.168.0.8，网络参数中可以设置IP地址，如下两张图所示。

Secondly, Set Router Parameter:

完成了下面参数的设置后，在确保wifi连上此路由器（在路由器正面上有名字）的前提下，尝试用上位机（win）或远程，ping一下192.168.0.8，手机连接路由器登陆也是一个办法。

Router IP 192.168.0.8 ; NAME: hitrobot_test(randomly); code: hitrobot; Tryout: cmd -> ping 192.168.0.8

Thereafter, open the DHCP service to get dynamic IP distribution.

之后，打开DHCP动态分配接入设备的ip地址，防止ip冲突带来的网络问题。

Bridging the Internet to get online if it is necessary.

按照下图位置进行桥接，第一次设置会有向导扫描，第二次可以在WDS开关的下方点击向导进行重新扫描，如不需要外网，也是以下位置关闭桥接。

Note that if internet is not essential, please remeber to turn the WDS off.

Remote desktop. In the WINDOWS: Open mstsc.exe -> 192.168.0.7 -> vnc-any -> 192.168.0.7 (No password).

远程连接设置，主要用于上位机（win）连接工控机，可以通过在菜单栏里输入搜索mstsc.exe，输入192.168.0.7，选 vnc-any，再次输入 192.168.0.7，没有密码，点连接。

Learning via aqmdbls_demo-c0.90.exe. Drivers(CP210x) via RS485 direct connection.

驱动器配置，准备好485转USB线，aqmdbls程序，在本网页的上方Software_backup里有下载。 如果没有驱动，使用win里面的驱动精灵进行下载usbcp2102驱动的下载。

Firstly, check the com order via cmd -> devmgmt.msc and check the order number in the drivers.

首选，在设备管理器里确定对应的com口的数字。

Set the correct com, driver and Baud rate and, then open the port.

设置正确的参数，默认的驱动器波特率是9600， 我们使用的是115200，打开串口。

In the 系统参数:

系统参数栏：

Click 读取 to get all data.

点击读取获得数据。

Give 115200 to the baud rate, then chick 配置.

如果波特率已经是115200，请忽略这条，如果是9600的，请修改为115200，然后配置。

Close the port, then keep other port info the same but change baud rate to 115200 and then open the port again.

如果修改了波特率，重新设定波特率，重新开启串口。

Click 读取

点击读取。

Set the values as follows in red in 系统参数 as follows:

在以下三个位置中设定以下参数。

Note: three places need filling.

In the 电机参数:

电机参数栏：

Click 读取 to get all data.

点击读取获得参数。

Choose 速度闭环控制 as follows:

选择速度闭环控制模式。

Start to learn in 电机参数:

学习

配置

Now you can start to try:

在电机控制栏，现在你可以尝试拖动以下pwm，点击操作，如果机器人运行2秒会自动停止，则成功，可以用485转usb线重新连另一个驱动器。

Drag 输出PWM then click 操作, if necessary to stop, please click 停止.

SICK_LIDAR_Setup

The process of SICK lidar setting

#PC网络IP地址设置   控制面板 -> 本地连接 -> 属性 -> Internet 协议版本 4（TCP/IPv4）

电脑IP地址设置为：192.168.0.X
子掩码为：255.255.255.0
网关：0.0.0.0

#SICK lidar 连接 第一步是要连接上激光。
点击ip地址旁的编辑图标，如下图：

点击ip地址为自动。然后点确定，能顺利连接。

#ip修改 接下来重复上面的连接步骤，在自动之前把ip地址定位192.168.0.X 子掩码为255.255.255.0 如下图：

点击确定， 然后在设备的右上角的三角下拉菜单里，点切换到在线。

然后会自动弹出写入和读取参数的窗口。

写入参数，如下图

#永久保存 这是最重要的一步，点一下显示的激光设备，再点参数 -> 永久保存

#结束  

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